CN112985727A - Control method, control system, medium and equipment of linear vibration table - Google Patents
Control method, control system, medium and equipment of linear vibration table Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
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Abstract
The invention provides a control method, a control system, a medium and equipment of a linear vibration table, wherein the method comprises the following steps: controlling to provide compressed air for a static pressure air floatation supporting system, so that all air feet in the static pressure air floatation supporting system float to control a rotor of a double-air-gap motor to perform undamped linear motion only along a Z axis; sending a data acquisition control instruction to a frequency measurement system to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor; receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system; generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor; and sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information. The control method enables the linear vibration table to support the rotor to perform high-acceleration high-precision linear vibration motion, and the servo control precision is high.
Description
Technical Field
The invention relates to the technical field of simulation tests, in particular to a control method, a control system, a medium and equipment of a linear vibration table.
Background
The linear vibration table is an inertia test device and is used for calibrating and compensating a nonlinear error coefficient and a high-order term error coefficient of an inertia instrument under an overload condition.
In the prior art, a paper "electromagnetic permanent magnet direct-drive vibration table test and control research" (Shanghai university Master graduate thesis, Xiebanking, 5 months 2018) makes a set of test indexes and methods for a novel electromagnetic permanent magnet direct-drive vibration table, including rated parameter test and output performance test. Aiming at low-frequency displacement output below 5 Hz, indexes such as amplitude uniformity of a table board, waveform distortion degree, dynamic hysteresis characteristics and the like are tested; aiming at the problem of frequency multiplication caused by nonlinearity in the vibration table, an adaptive inverse controller based on an Fx-LMS algorithm is designed, the waveform tracking performance of the controller on displacement, acceleration and force signals is verified through experiments, and the result shows that the algorithm can effectively track the sine output waveform of a frequency band above 1Hz of the vibration table; aiming at the problem of waveform distortion caused by hysteresis nonlinearity of a low-frequency band of a vibration table, a hysteresis nonlinear decomposition method is applied to solve the problem, and a complex process of hysteresis modeling is avoided.
The inventor finds that the servo control precision of the existing linear vibration table is not high in the process of implementing the invention.
Disclosure of Invention
In view of this, the present invention provides a linear vibration table, which can support a mover to perform high-acceleration and high-precision linear vibration motion, and can realize automatic control and higher servo control precision on the linear vibration table.
In a first aspect, a method for controlling a linear vibration table is provided, the method comprising:
controlling to provide compressed air for a static pressure air floatation supporting system, so that all air feet in the static pressure air floatation supporting system float to control a rotor of a double-air-gap motor to perform undamped linear motion only along a Z axis;
sending a data acquisition control instruction to a frequency measurement system to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor;
receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system;
generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor;
and sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information.
In some possible embodiments, the generating control information according to the vibration displacement and the vibration frequency of the dual air gap motor may include:
generating preliminary control information according to the vibration displacement and the vibration frequency of the double-air-gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information;
the sending of the control information to a PWM driving system, so that the PWM driving system drives the dual air gap motor to move according to the control information, includes:
and sending the adjusted control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to move according to the adjusted control information.
In some possible embodiments, the adjusting the control information by using the error estimation compensation to generate the adjusted control information may include:
and adjusting the preliminary control information by adopting a zero-phase tracking error control algorithm to generate adjusted control information.
In some possible embodiments, the receiving of the vibration displacement and the vibration frequency of the dual air gap motor fed back by the frequency measurement system may include:
and receiving the vibration frequency and the vibration amplitude of the double-air-gap motor fed back by the frequency measurement system in a plurality of data acquisition periods.
In a second aspect, there is provided a control system for a linear vibration table, the system comprising:
the air floatation control module is used for controlling compressed air to be provided for the static pressure air floatation supporting system, so that all air feet in the static pressure air floatation supporting system float to control the rotor of the double-air-gap motor to perform undamped linear motion only along the Z axis;
the data acquisition control module is used for sending a data acquisition control instruction to the frequency measurement system so as to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor;
the receiving module is used for receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system;
the control information generation module is used for generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor;
and the driving control module is used for sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information.
In some possible embodiments, the control information generating module is configured to generate preliminary control information according to a vibration displacement and a vibration frequency of the dual air gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information;
and the drive control module is used for sending the adjusted control information to a PWM (pulse-width modulation) drive system so that the PWM drive system drives the double-air-gap motor to move according to the adjusted control information.
In some possible embodiments, the control information generating module is specifically configured to adjust the preliminary control information by using a zero-phase tracking error control algorithm, and generate the adjusted control information.
In some possible embodiments, the receiving module is specifically configured to receive the vibration frequency and the vibration amplitude of the double air gap motor fed back by the frequency measurement system over multiple data acquisition cycles.
In a third aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements any of the methods of controlling a linear vibration table described above.
In a fourth aspect, a computer device is provided, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement any of the methods of controlling a linear vibration table described above.
Further, the static pressure air flotation supporting system comprises three groups of symmetrical static pressure air feet; the group of symmetrical static pressure air feet are arranged in the X-axis direction of the rotor of the double-air-gap motor system and used for limiting parasitic rotation of the rotor in the X-axis direction; the other two groups of symmetrical static pressure air feet are respectively arranged on the Y-axis directions at the two ends of the rotor and used for limiting the parasitic rotation of the rotor in the Y-axis direction, so that the rotor can perform undamped linear motion without parasitic rotation along the Z axis.
Further, the management and control system comprises an upper computer and an RTX real-time control system which are sequentially connected, wherein the RTX real-time control system comprises a plurality of RTX real-time control units
The RTX real-time control system comprises a zero-phase error tracking controller, and the zero-phase error tracking controller is configured to adjust parameters of the RTX real-time control system in an error estimation and compensation manner.
Furthermore, the double-air-gap motor system comprises a double-air-gap motor and a frequency measurement system, wherein the frequency measurement system is used for sampling the vibration displacement and the vibration frequency of the double-air-gap motor and sending the vibration displacement and the vibration frequency of the double-air-gap motor to the RTX real-time control system.
Further, the PWM driving system is a single-phase H-bridge topology inversion PWM driving system.
Further, the PWM driving system includes a motor driver.
Further, the motor driver inputs a 380V three-phase alternating current power supply and outputs single-phase electric current to the double-air-gap motor.
Further, the motor driver adopts a PI control closed-loop system without dead-time tracking for a current loop corresponding to the single-phase current.
Further, an optical coupling isolation module is arranged between a power module and a driving module of the motor driver.
Further, a 2.5 micron air film is generated between the lower surfaces of the three groups of symmetrical static pressure air feet and the stator.
Furthermore, the frequency measurement system adopts a Renilsha VONiC incremental linear grating frequency measurement system.
According to the embodiment of the invention, a control system generates control information according to the vibration displacement and the vibration frequency of a double-air-gap motor, the control information is sent to a PWM (pulse-width modulation) driving system, the PWM driving system drives the double-air-gap motor to move, the double-air-gap motor drives a dynamic and static pressure air-floating supporting system to operate, three groups of air-foot limitation supporting rotors of the static pressure air-floating supporting system are used for carrying out high-acceleration high-precision linear vibration motion, and meanwhile, the high-acceleration precision measurement of a linear vibration table is realized by sampling the vibration displacement and the vibration frequency of the double-air-gap motor, so that the automatic control of the linear vibration table is realized, and the higher.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method for controlling a linear vibration table according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a control system of a linear vibration table according to an embodiment of the present invention;
fig. 3 is a block diagram of a line vibration table according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a linear vibration table according to an embodiment of the present invention.
Fig. 5 is a schematic top view of a structure of a linear vibration table according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a static pressure air-floating support system in a linear vibration table according to an embodiment of the present invention, in which a mover is shown for convenience of understanding.
Fig. 7 is a schematic structural diagram of a mover of a linear vibration table according to an embodiment of the present invention.
Fig. 8 is a schematic diagram of a working principle of a zero-phase error tracking controller in a linear vibration table according to an embodiment of the present invention;
FIG. 9 is a functional block diagram of a computer-readable storage medium according to an embodiment of the present invention;
fig. 10 is a functional block diagram of a computer device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
It should be noted that, in the case of no conflict, the features in the following embodiments and examples may be combined with each other; moreover, all other embodiments that can be derived by one of ordinary skill in the art from the embodiments disclosed herein without making any creative effort fall within the scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
Fig. 1 is a flowchart of a method for controlling a linear vibration table according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
s110: controlling to provide compressed air for the static pressure air flotation supporting system, so that all air feet in the static pressure air flotation supporting system float to control a rotor of the double-air-gap motor to perform undamped linear motion only along the Z axis;
s120: sending a data acquisition control instruction to a frequency measurement system to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor;
s130: receiving vibration displacement and vibration frequency of the double-air-gap motor fed back by the frequency measurement system;
s140: generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor;
s150: and sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information.
Alternatively, the generating of the control information according to the vibration displacement and the vibration frequency of the dual air gap motor in step S140 may include: generating preliminary control information according to the vibration displacement and the vibration frequency of the double-air-gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information;
the sending of the control information to the PWM driving system in step S150 to enable the PWM driving system to drive the dual air gap motor to move according to the control information may include: and sending the adjusted control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to move according to the adjusted control information.
In some possible embodiments, the adjusting the control information by using the error estimation compensation to generate the adjusted control information may include:
and adjusting the preliminary control information by adopting a zero phase tracking error control algorithm to generate adjusted control information.
In some possible embodiments, the PWM is pulse width modulated, by outputting different duty cycles, thereby converting the dc voltage into an analog signal of different voltage values. In the motor control, the higher the voltage is, the faster the motor speed is, and different output speeds of the motor can be achieved by outputting different analog voltages through PWM. The embodiment of the invention provides pulse electricity with adjustable pulse width with certain frequency to the double-air-gap motor through a PWM (pulse width modulation) pulse width modulator (namely a PWM driving system). The larger the pulse width, i.e. the larger the duty cycle, the larger the average voltage supplied to the double air gap motor, and the higher the rotation speed of the double air gap motor. On the contrary, the smaller the pulse width is, the smaller the duty ratio is, the smaller the average voltage supplied to the dual air gap motor is, and the lower the rotating speed of the dual air gap motor is. The control information is associated with the duty cycle of the PWM pulse width modulated output.
In some possible embodiments, the step S130 of receiving the vibration displacement and the vibration frequency of the dual air gap motor fed back by the frequency measurement system may include:
and receiving the vibration frequency and the vibration amplitude of the double-air-gap motor fed back by the frequency measurement system in a plurality of data acquisition periods.
The method can automatically control the linear vibration table and realize higher servo control precision.
Fig. 2 is a functional block diagram of a control system of a linear vibration table according to an embodiment of the present invention. As shown in fig. 2, the control system or controller 200 includes:
the air floatation control module 210 is used for controlling the supply of compressed air to the static pressure air floatation support system, so that all air in the static pressure air floatation support system floats to control the rotor of the double-air-gap motor to perform undamped linear motion only along the Z axis;
the data acquisition control module 220 is configured to send a data acquisition control instruction to the frequency measurement system to control the frequency measurement system to perform data acquisition on the vibration displacement and the vibration frequency of the dual air gap motor;
the receiving module 230 is configured to receive the vibration displacement and the vibration frequency of the dual air gap motor fed back by the frequency measurement system;
a control information generating module 240, configured to generate control information according to the vibration displacement and the vibration frequency of the dual air gap motor;
and the driving control module 250 is configured to send control information to the PWM driving system, so that the PWM driving system drives the dual air gap motor to perform linear vibration motion according to the control information.
In some possible embodiments, the control information generating module 240 is configured to generate preliminary control information according to the vibration displacement and the vibration frequency of the dual air gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information;
and the driving control module 250 is configured to send the adjusted control information to the PWM driving system, so that the PWM driving system drives the dual air gap motor to move according to the adjusted control information.
In some possible embodiments, the control information generating module 240 is specifically configured to adjust the preliminary control information by using a zero-phase tracking error control algorithm to generate the adjusted control information.
In some possible embodiments, the receiving module 230 is specifically configured to receive the vibration frequency and the vibration amplitude of the dual air gap motor fed back by the frequency measurement system in multiple data acquisition cycles.
Fig. 3 is a block diagram of a line vibration table according to an embodiment of the present invention. As shown in fig. 3 in detail, the wire vibrating table includes: the control system comprises a control system (namely, a comprehensive control system shown in fig. 3 and described below), a PWM (pulse-width modulation) driving system (namely, a single-phase H-bridge topological inversion PWM driving system shown in fig. 3 and described below), a double-air-gap motor system (namely, a double-air-gap spliceable series motor system shown in fig. 3 and described below) and a static pressure air-flotation supporting system (namely, a symmetrical multi-directional static pressure air-flotation supporting system shown in fig. 3 and described below) which.
The control system is further connected with the double-air-gap motor system and used for receiving the input control instruction and the vibration displacement and the vibration frequency of the double-air-gap motor system and generating control information according to the control instruction and the vibration displacement and the vibration frequency of the double-air-gap motor system. And the PWM driving system is used for driving the double-air-gap motor system to move according to the control information so as to drive the static pressure air floatation supporting system to operate.
Fig. 4 and 5 are schematic structural views of the linear vibration table shown in fig. 3, wherein a stator a and a stator B of the dual air gap motor shown in fig. 3 correspond to the stator 1 and the stator 3 shown in fig. 4 and 5, respectively, the mover in fig. 1 is the mover 2 shown in fig. 4 and 5, and the static pressure air-bearing support system shown in fig. 3 is the static pressure air-bearing support system 4 shown in fig. 4 and 5.
Specifically, as shown in fig. 6 and 7, the static pressure air flotation supporting system comprises three groups of symmetrical static pressure air feet; one group of symmetrical static pressure air feet (such as the air foot C, D shown in fig. 6) is arranged in the X-axis direction of the rotor of the double-air-gap motor system and used for limiting the parasitic rotation of the rotor in the X-axis direction; the other two groups of symmetrical static pressure air feet (such as the air feet A, B, E, F shown in fig. 6) are respectively arranged in the Y-axis direction at the two ends of the rotor and are used for limiting the parasitic rotation of the rotor in the Y-axis direction, so that the rotor can perform undamped linear motion without parasitic rotation along the Z axis. Compared with the mechanical structure of the traditional linear vibration table, the rotor 2 is supported to perform high-acceleration and high-precision linear vibration motion. The air foot is a special air-float bearing based on air suspension technology, and the air foot forms an air film between the air-float ball bearing and the ball sleeve by means of compressed air, so that the motion with approximate zero friction is realized. Preferably, a 2.5 micron air film is created between the lower surface of each air foot and the stator to eliminate frictional damping in the corresponding direction.
Preferably, the dual air gap spliceable series motor system comprises a dual air gap motor and a frequency measurement system. The double-air-gap motor realizes thrust equivalent to two motors by one rotor and improves the motor thrust by splicing and connecting in series. One motor of the double-air-gap structure is provided with 2 stators, a stator A of the double-air-gap motor and a stator B of the double-air-gap motor, and half of the stators, namely 1 stator, is considered during calculation, so that the two motors are equivalently changed, and only one rotor is arranged, so that compared with the two motors, the rotor quality is reduced by half, and because the magnetic yoke of the common motor is not arranged, the motor loss is reduced, the efficiency is also improved, and the power-to-quality ratio is improved by at least two times.
The frequency measurement system is used for high-precision and high-speed sampling of vibration displacement and vibration frequency. And simultaneously measuring vibration displacement and vibration frequency, wherein on one hand, the position data of the vibration displacement is used for vibration table servo control, and on the other hand, the vibration frequency and the vibration amplitude of each period, namely the maximum vibration displacement, are used for calculating the precision of the vibration acceleration, so that the self precision of the linear vibration table can be calibrated, and the self precision of the linear vibration table can also be used as the real input of the accelerometer of each period for testing and compensating (the instantaneous acceleration of each week) during the test of the accelerometer. Thereby realizing the tracking of the acceleration of the vibration table. Specifically, the frequency measurement system can adopt a renikao VONiC incremental linear grating frequency measurement system.
By adopting the double-air-gap motor, the motor loss is reduced, the efficiency is improved, and the power-to-mass ratio is improved by at least two times; and a frequency measurement system is arranged, so that the self precision of the vibration table can be calibrated, and the self precision can also be used as the real input of the accelerometer in each period for testing and compensation during the test of the accelerometer.
Preferably, the PWM drive system may be a single-phase H-bridge topology inverter PWM drive system, including a motor driver. In order to ensure the control precision, a single-phase motor is adopted and is designed to have no commutation within the required travel range. The method cancels the influence of a commutator of the direct current motor, and also eliminates the influence of phase change of the brushless direct current motor and the difficulty of vector control of the alternating current motor. The harmonic burr is reduced, and the anti-electromagnetic interference capability is greatly improved. The motor driver inputs a 380V three-phase alternating current power supply, outputs single-phase power to the motor, obtains direct-current bus voltage in an uncontrolled rectification mode, and obtains required alternating-current sinusoidal current by adopting single-phase H-bridge topological structure inversion and bipolar PWM modulation. Because the single-phase current entering the motor is the quadrature-axis current directly, and the quadrature-axis current and the thrust are in a linear relation, the system has the advantages of high linearity and high acceleration. In order to ensure high-precision indexes, a PI control closed-loop system without static tracking is adopted for a current loop. The power part and the driving part adopt optical coupling isolation to improve the anti-electromagnetic interference capability.
The single-phase linear motor has the outstanding advantages that:
1) the electromagnetic compatibility is good, and because no reversing exists in the range of the vibration stroke, harmonic burrs are avoided, and the anti-electromagnetic interference capability is greatly improved.
2) Compared with vector control, the method has the advantages that the required alternating current sinusoidal current is obtained by adopting single-phase H-bridge topological structure inversion and bipolar PWM modulation, the single-phase current entering the motor is the quadrature axis current directly, and the quadrature axis current and the thrust are in a linear relation, so that the system has high linearity, the requirement on the linear vibration with high distortion degree is met, the good linear control characteristic is extremely important, the control precision can be improved, the distortion of sinusoidal waveforms is reduced, and a good foundation is laid for the design of a linear vibration control system.
The comprehensive management and control system is used for guaranteeing the servo tracking precision of the linear vibration table under high dynamic conditions and providing a friendly upper computer operation interface. Preferably, the integrated management and control system may include an upper computer (providing a friendly upper computer operation interface) and an RTX real-time control system (for servo tracking accuracy), wherein, in order to ensure real-time performance of the control system, an RTX-based real-time system scheme is used, the RTX is a hard real-time system of a Windows platform developed by InterverZero corporation, has excellent real-time control performance, high-efficiency expandability and stability, and is the most excellent software-based hard real-time solution on the Windows platform so far, and the RTX provides precise control over IRQ, I/O, and memory to ensure high reliability in real-time task execution. RTX supports a continuous interrupt trigger frequency of 30KHz, with an average interrupt delay of less than 1 us. The RTX platform has the advantages that the real-time performance of servo control can be guaranteed, and meanwhile, the system is more convenient and flexible in the aspects of man-machine interaction, data acquisition and system debugging.
Considering that the parameters of the control system of the actual linear vibration table cannot be accurately obtained, if the system is interfered, the zero and the pole of the transfer function are affected, and then the controller designed by the traditional method cannot completely cancel the zero and the pole, so that the tracking performance of the system is weakened. Therefore, an improved zero-phase error tracking controller is applied, based on the idea of closed-loop control, an error estimation compensation mode is adopted to improve the system, the tracking error is used as an input signal of the zero-phase error tracking controller for compensation, and the schematic block diagram of the zero-phase error tracking controller is shown in fig. 8.
Wherein the content of the first and second substances,
is a signal estimator;
respectively real-time tracking error, estimation error and compensated tracking error of the system;
the number of sampling points of a signal in a signal period;
is a memory cell. Since the tracking error is a periodic signal, in order to obtain the future
Error value at time of day, i.e. implementation
After the previous cycle
The error at the time is taken as the future value.
For the zero phase tracking error control algorithm, reference may be made to the paper "improved zero phase error tracking control with error estimation compensation" (shenyang university, grandson, limni, liuchuangfang), and for the application of the zero phase tracking error control algorithm to the online vibrating table, reference may be made to the paper "research on control algorithm of linear vibrating table" (the book of university of harbin, university of university, university of great university, zhufming, 6 months 2019), which is not described herein again.
The improved zero-phase error tracking controller designed by the thought can better solve the influence caused by parameter uncertainty and design deviation, has good robustness and is suitable for engineering development and application, a simulation debugging system is carried out on the improved zero-phase error tracking controller for verification, when the frequency of an input signal is 50Hz, the tracking error and the distortion degree are shown in the following table 1, wherein the tracking error is the tracking error after the system stably works.
TABLE 1 tracking error and distortion table
The working process of the high-acceleration high-precision linear vibration table comprises the following steps: and a user sends a control instruction to the upper computer, the RTX real-time control system receives a feedback signal of the frequency measurement system, and sends control information to the single-phase H-bridge topology inversion PWM driving system to drive the motor to move. Compared with a mechanical structure of a traditional linear vibration table, the symmetrical multi-directional static pressure air floatation supporting system supports the rotor to perform high-acceleration high-precision linear vibration motion and track high-acceleration signals.
In the embodiment, a user sends a control instruction to an RTX real-time control system on an upper computer, the frequency measurement system samples the vibration displacement and the vibration frequency of a double-air-gap motor, the RTX real-time control system receives a feedback signal of the frequency measurement system, the RTX real-time control system sends control information to a single-phase H-bridge topological inversion PWM driving system, the single-phase H-bridge topological inversion PWM driving system drives the double-air-gap motor to move, and the double-air-gap motor drives a symmetrical multidirectional static pressure air-flotation supporting system to operate; the rotor is supported to carry out high-acceleration high-precision linear vibration motion, and an improved zero-phase error tracking controller is adopted, so that the influence caused by parameter uncertainty and design deviation can be better solved, and the rotor has good robustness and is suitable for engineering development and application; meanwhile, high acceleration and high-precision measurement of the linear vibration table are realized by sampling the vibration displacement and the vibration frequency of the double-air-gap motor, so that high acceleration tracking is realized.
As shown in fig. 9, an embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps of any one of the above-mentioned methods for controlling a linear vibration table.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. Of course, there are other ways of storing media that can be read, such as quantum memory, graphene memory, and so forth. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
An embodiment of the present invention further provides an electronic device, as shown in fig. 10, including one or more processors 301, a communication interface 302, a memory 303, and a communication bus 304, where the processors 301, the communication interface 302, and the memory 303 complete communication with each other through the communication bus 304.
A memory 303 for storing a computer program;
the processor 301, when executing the program stored in the memory 303, implements the following steps:
controlling to provide compressed air for a static pressure air floatation supporting system, so that all air feet in the static pressure air floatation supporting system float to control a rotor of a double-air-gap motor to perform undamped linear motion only along a Z axis;
sending a data acquisition control instruction to a frequency measurement system to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor;
receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system;
generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor;
and sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information.
In one possible design, the processor 301 executes a process for generating control information according to the vibration displacement and the vibration frequency of the dual air gap motor, including: generating preliminary control information according to the vibration displacement and the vibration frequency of the double-air-gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information; the sending of the control information to a PWM driving system, so that the PWM driving system drives the dual air gap motor to move according to the control information, includes: and sending the adjusted control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to move according to the adjusted control information.
In one possible design, the processing performed by processor 301, which adjusts the control information in the manner of compensating for the error estimation, to generate adjusted control information includes: and adjusting the preliminary control information by adopting a zero-phase tracking error control algorithm to generate adjusted control information.
In one possible design, the processor 301 executes a process for receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system, which includes:
and receiving the vibration frequency and the vibration amplitude of the double-air-gap motor fed back by the frequency measurement system in a plurality of data acquisition periods.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus. The communication interface is used for communication between the electronic equipment and other equipment.
The bus 304 includes hardware, software, or both to couple the above-described components to one another. For example, a bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a Hyper Transport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an infiniband interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a video electronics standards association local (VLB) bus, or other suitable bus or a combination of two or more of these. A bus may include one or more buses, where appropriate. Although specific buses have been described and shown in the embodiments of the invention, any suitable buses or interconnects are contemplated by the invention.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a vehicle-mounted human-computer interaction device, a cellular telephone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.
Although the present application provides method steps as described in an embodiment or flowchart, more or fewer steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one manner of performing the steps in a multitude of orders and does not represent the only order of execution. When an actual apparatus or end product executes, it may execute sequentially or in parallel (e.g., parallel processors or multi-threaded environments, or even distributed data processing environments) according to the method shown in the embodiment or the figures.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device, the electronic device and the readable storage medium embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A method of controlling a linear vibration table, the method comprising:
controlling to provide compressed air for a static pressure air floatation supporting system, so that all air feet in the static pressure air floatation supporting system float to control a rotor of a double-air-gap motor to perform undamped linear motion only along a Z axis;
sending a data acquisition control instruction to a frequency measurement system to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor;
receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system;
generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor;
and sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information.
2. The method of claim 1, wherein generating control information based on the vibrational displacement and the vibrational frequency of the dual air gap motor comprises:
generating preliminary control information according to the vibration displacement and the vibration frequency of the double-air-gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information;
the sending of the control information to a PWM driving system, so that the PWM driving system drives the dual air gap motor to move according to the control information, includes:
and sending the adjusted control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to move according to the adjusted control information.
3. The method of claim 2, wherein the adjusting the control information by compensating for the error estimate to generate the adjusted control information comprises:
and adjusting the preliminary control information by adopting a zero-phase tracking error control algorithm to generate adjusted control information.
4. The method of claim 1, wherein the receiving the vibration displacement and the vibration frequency of the double air gap motor fed back by the frequency measurement system comprises:
and receiving the vibration frequency and the vibration amplitude of the double-air-gap motor fed back by the frequency measurement system in a plurality of data acquisition periods.
5. A control system for a linear vibration table, the system comprising:
the air floatation control module is used for controlling compressed air to be provided for the static pressure air floatation supporting system, so that all air feet in the static pressure air floatation supporting system float to control the rotor of the double-air-gap motor to perform undamped linear motion only along the Z axis;
the data acquisition control module is used for sending a data acquisition control instruction to the frequency measurement system so as to control the frequency measurement system to acquire data of the vibration displacement and the vibration frequency of the double-air-gap motor;
the receiving module is used for receiving the vibration displacement and the vibration frequency of the double-air-gap motor fed back by the frequency measurement system;
the control information generation module is used for generating control information according to the vibration displacement and the vibration frequency of the double-air-gap motor;
and the driving control module is used for sending the control information to a PWM driving system so that the PWM driving system drives the double-air-gap motor to perform linear vibration motion according to the control information.
6. The system of claim 5, wherein the control information generation module is configured to generate preliminary control information according to the vibration displacement and the vibration frequency of the dual air gap motor; adjusting the preliminary control information by adopting an error estimation compensation mode to generate adjusted control information;
and the drive control module is used for sending the adjusted control information to a PWM (pulse-width modulation) drive system so that the PWM drive system drives the double-air-gap motor to move according to the adjusted control information.
7. The system of claim 6, wherein the control information generation module is specifically configured to adjust the preliminary control information using a zero-phase tracking error control algorithm to generate the adjusted control information.
8. The system of claim 5, wherein the receiving module is specifically configured to receive a vibration frequency and a vibration amplitude of the double air gap motor fed back by the frequency measurement system over a plurality of data acquisition cycles.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method of controlling a wire vibration table according to any one of claims 1-4.
10. A computer device, comprising:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method of controlling a string shaker as claimed in any of claims 1-4.
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