CN114397074A - Control method, system and device for sine vibration table - Google Patents
Control method, system and device for sine vibration table Download PDFInfo
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Abstract
The invention discloses a method, a system and a device for controlling a sine vibration table, wherein the method comprises the following steps: measuring the displacement of the vibration table; calculating a vibration table displacement feedback signal according to the displacement measurement value; introducing a dead zone relay module, and inputting a vibration table displacement feedback signal to the dead zone relay module; introducing a low-pass filter, and inputting the output signal of the dead zone relay module into the low-pass filter; measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal; and introducing a PID controller, and calculating by combining the deviation signal to obtain an actuator control signal. The system comprises: the device comprises a displacement measurement module, a displacement feedback calculation module, a dead zone relay module, a low-pass filter introduction module, a deviation calculation module and a control calculation module. The apparatus includes a memory and a processor for performing the sinusoidal vibration table control method described above. By using the invention, the distortion degree of the output waveform of the vibration table is reduced. The invention can be widely applied to the field of vibration control.
Description
Technical Field
The invention relates to the field of vibration control, in particular to a method, a system and a device for controlling a sinusoidal vibration table.
Background
The vibration environment simulation test is to evaluate the reliability, stability and other indexes of a product in the environment by simulating the vibration environment experienced by the product in the transportation and use processes in the service life cycle under the laboratory condition, and is widely applied to the industrial fields and departments of aviation, aerospace, weapons, ships, automobiles, buildings and the like at present. Sinusoidal vibration is a typical vibration form, various periodic vibrations can be researched by using the sinusoidal vibration form, and the reliability of the product can be checked by analyzing test data and improving exposed product defects by carrying out vibration tests on the product.
Most of the existing sinusoidal vibration control algorithms send a master control signal by a computer, and a deviation signal is obtained by correctly measuring a feedback signal and comparing the feedback signal with the feedback signal, and the system is adjusted by a controller. However, there still exist some problems, the output signal of the vibration table and the input signal have a certain amplitude error and phase lag, and the output signal often contains higher harmonics, which results in serious distortion of the output waveform.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a method, a system and a device for controlling a sinusoidal vibration table, which can reduce the distortion of the output waveform of the vibration table.
The first technical scheme adopted by the invention is as follows: a sinusoidal vibration table control method comprising the steps of:
measuring the displacement of the vibration table to obtain a displacement measured value;
calculating a vibration table displacement feedback signal according to the displacement measurement value;
introducing a nonlinear module-a dead zone relay module, and inputting a displacement feedback signal of the vibration table to the nonlinear module-the dead zone relay module to obtain an output signal of the dead zone relay module;
introducing a low-pass filter, inputting the output signal of the dead zone relay module into the low-pass filter, and outputting a filtering feedback signal;
measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal;
and introducing a PID controller, and calculating by combining the deviation signal to obtain an actuator control signal.
Further, the calculation formula of the displacement feedback signal of the vibration table is as follows:
in the above formula, yiRepresenting a displacement measurement, and n represents the number of sensors acquiring the displacement measurement.
Further, the formula of the nonlinear module-the dead zone relay module is expressed as follows:
in the above formula, a (t) represents the displacement feedback signal of the vibration table, asAnd (t) represents the output signal of the dead zone relay characteristic module, h represents the dead zone width, and M represents the relay output upper limit.
Further, the low-pass filter adopts a first-order low-pass filter, and the formula is as follows:
in the above equation, s represents an operator generated by laplace transform, and ω represents a filter cutoff frequency.
Further, the calculation formula of the deviation signal is as follows:
e＝-x0-x
in the above formula, x0Representing the filtered feedback signal, x representing actuator displacement, and e representing the deviation signal.
Further, the calculation formula of the control signal is as follows:
in the above formula, KiDenotes the integration constant, KpDenotes the proportionality coefficient, KdRepresenting a differential constant.
The second technical scheme adopted by the invention is as follows: a sinusoidal vibration table control system comprising:
the displacement measurement module is used for measuring the displacement of the vibration table to obtain a displacement measurement value;
the displacement feedback calculation module is used for calculating a displacement feedback signal of the vibration table according to the displacement measurement value;
the dead zone relay module is used for introducing the nonlinear module, namely the dead zone relay module, and inputting a displacement feedback signal of the vibration table to the nonlinear module, namely the dead zone relay module to obtain an output signal of the dead zone relay module;
the low-pass filter introducing module is used for introducing a low-pass filter, inputting the output signal of the dead zone relay module into the low-pass filter and outputting a filtering feedback signal;
the deviation calculation module is used for measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal;
and the control calculation module is used for introducing a PID controller and calculating by combining the deviation signal to obtain an actuator control signal.
The third technical scheme adopted by the invention is as follows: a sinusoidal vibration table control system comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a sinusoidal vibration table control method as described above.
The method, the system and the device have the advantages that: the invention does not need a computer master control signal generating device, utilizes the self-excited oscillation characteristic of the system, is based on a nonlinear stability analysis method, and controls the output signal of the sine vibration table by the self-excited oscillation generated by the system, thereby avoiding the amplitude error and the phase lag generated by the output waveform and reducing the distortion of the output waveform.
Drawings
FIG. 1 is a flow chart of the steps of a sinusoidal vibration table control method of the present invention;
FIG. 2 is a flow diagram framework of an embodiment of the present invention;
FIG. 3 is a block diagram of a sinusoidal vibration table control system according to the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
Referring to fig. 1 and 2, the present invention provides a sinusoidal vibration table control method, including the steps of:
s1, measuring the displacement of the vibration table to obtain a displacement measurement value;
specifically, the displacement y of the vibration table is measured by displacement sensors distributed on the vibration table surface1,y2,...,ynThe number n of the sensors is determined by the configuration of the vibration table, the number of the vibration table top and the test piece is 1 under the condition that the uniformity of the vibration table top and the test piece is small, and the number of the sensors is two or more than two under the condition that the vibration table top and the test piece are large and the uniformity of the vibration table top and the test piece is poor.
S2, calculating a vibration table displacement feedback signal according to the displacement measurement value;
specifically, the calculation formula of the displacement feedback signal of the vibration table top is as follows by using a multipoint average control method:
in the above formula, yiRepresenting a displacement measurement, and n represents the number of sensors acquiring the displacement measurement.
S3, introducing a nonlinear module, namely a dead zone relay module, and inputting a vibration table displacement feedback signal to the nonlinear module, namely the dead zone relay module to obtain a dead zone relay module output signal;
specifically, the formula of the nonlinear module, the dead zone relay module, is expressed as follows:
in the above formula, a (t) represents the displacement feedback signal of the vibration table, asAnd (t) represents the output signal of the dead zone relay characteristic module, h represents the dead zone width, and M represents the relay output upper limit.
In the step, a dead zone relay module is introduced, and the input signal of the dead zone relay module can be output only when the dead zone relay module crosses the dead zone width, so that the output of the system can be preliminarily judged when the dead zone width h has a threshold value. In addition, the relay output upper limit M jointly determines whether the system has stable output under the condition of different dead zone widths h, and the threshold value of the relay output upper limit M changes with the different dead zone widths h. Therefore, if it is required to judge whether the system has stable output, the solution method needs to solve the threshold of the dead zone width h and the relay output upper limit M, and comprises the following steps:
first, an open-loop transfer function G(s) Nyquist plot is plotted, and an intersection H (X) with the real axis is foundH,0)；
Secondly, drawing a negative-inverse description function image of the dead zone relay module, wherein the description function of the dead zone relay module is
A is the amplitude of the input signal of the dead zone relay characteristic module;
thirdly, if the system does not have stable self-oscillation, the input signal a (t) of the dead zone relay characteristic module is a sine attenuation signal, and the maximum value | a (t) of the attenuation process | a (t) | existsmaxThe specific numerical value is related to the initial state of the system and the environment;
again, the dead zone width h should be greater than | a (t) & gtinscribedmaxI.e. dead zone width threshold h0＝|a(t)|max；
Again, guiding electricity when h > | a (t)maxUnder the condition, if the system has stable self-oscillation, the requirement is satisfied
Namely relay output upper limit threshold
And under the condition of obtaining the dead zone width threshold and the relay output upper limit threshold, correcting the dead zone width h and the relay output upper limit M to enable the system to have stable self-oscillation.
When the system has stable self-excited oscillation motion, only the upper relay limit M needs to be changed if the vibration amplitude of the actuator needs to be changed on the premise of not changing the value of the dead zone width h.
S4, introducing a low-pass filter, inputting the output signal of the dead zone relay module into the low-pass filter, and outputting a filtering feedback signal;
specifically, the low-pass filter is a first-order low-pass filter, and the formula is as follows:
s represents the operator generated by the laplace transform and ω represents the filter cut-off frequency.
S5, measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal;
specifically, the calculation formula of the deviation signal is: e ═ x0-x，x0Representing the filtered feedback signal, x representing actuator displacement, and e representing the deviation signal.
And S6, introducing a PID controller, calculating by combining the deviation signal to obtain an actuator control signal, and displacing the actuator after obtaining the control signal and outputting force to further push the vibration table to displace.
Specifically, the calculation formula of the control signal is as follows:
Kidenotes the integration constant, KpDenotes the proportionality coefficient, KdRepresents a microAnd (4) dividing the constant.
Aiming at the problems of amplitude error, phase lag, serious distortion degree of output waveform and the like in the application process of the existing sinusoidal vibration table control algorithm, the invention removes a computer main control signal generating device by designing a novel sinusoidal vibration table control algorithm based on a nonlinear stability analysis method, finishes sinusoidal vibration signal output by utilizing the self-oscillation characteristic of a system, reduces state feedback variables and reduces the distortion degree of the output waveform of the vibration table.
As shown in fig. 3, a sinusoidal vibration table control system includes:
the displacement measurement module is used for measuring the displacement of the vibration table to obtain a displacement measurement value;
the displacement feedback calculation module is used for calculating a displacement feedback signal of the vibration table according to the displacement measurement value;
the dead zone relay module is used for introducing the nonlinear module, namely the dead zone relay module, and inputting a displacement feedback signal of the vibration table to the nonlinear module, namely the dead zone relay module to obtain an output signal of the dead zone relay module;
the low-pass filter introducing module is used for introducing a low-pass filter, inputting the output signal of the dead zone relay module into the low-pass filter and outputting a filtering feedback signal;
the deviation calculation module is used for measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal;
and the control calculation module is used for introducing a PID controller and calculating by combining the deviation signal to obtain an actuator control signal.
A sinusoidal vibration table control apparatus:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a sinusoidal vibration table control method as described above.
The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A control method of a sine vibration table is characterized by comprising the following steps:
measuring the displacement of the vibration table to obtain a displacement measured value;
calculating a vibration table displacement feedback signal according to the displacement measurement value;
introducing a nonlinear module-a dead zone relay module, and inputting a displacement feedback signal of the vibration table to the nonlinear module-the dead zone relay module to obtain an output signal of the dead zone relay module;
introducing a low-pass filter, inputting the output signal of the dead zone relay module into the low-pass filter, and outputting a filtering feedback signal;
measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal;
and introducing a PID controller, and calculating by combining the deviation signal to obtain an actuator control signal.
2. The sinusoidal vibration table control method according to claim 1, wherein the vibration table displacement feedback signal is calculated as follows:
in the above formula, yiRepresenting a displacement measurement, and n represents the number of sensors acquiring the displacement measurement.
3. The sinusoidal vibration table control method according to claim 2, wherein the formula of the nonlinear module-dead zone relay module is as follows:
in the above formula, a (t) represents the displacement feedback signal of the vibration table, asAnd (t) represents the output signal of the dead zone relay characteristic module, h represents the dead zone width, and M represents the relay output upper limit.
4. The sinusoidal vibration table control method according to claim 3, wherein the low pass filter is a first order low pass filter, and is formulated as follows:
in the above equation, s represents an operator generated by laplace transform, and ω represents a filter cutoff frequency.
5. The sinusoidal vibration table control method according to claim 4, wherein the deviation signal is calculated as follows:
e＝-x0-x
in the above formula, x0Representing the filtered feedback signal, x representing actuator displacement, and e representing the deviation signal.
6. The sinusoidal vibration table control method according to claim 5, wherein the control signal is calculated as follows:
in the above formula, KiDenotes the integration constant, KpDenotes the proportionality coefficient, KdRepresents a differential constant。
7. A sinusoidal vibration table control system, comprising:
the displacement measurement module is used for measuring the displacement of the vibration table to obtain a displacement measurement value;
the displacement feedback calculation module is used for calculating a displacement feedback signal of the vibration table according to the displacement measurement value;
the dead zone relay module is used for introducing the nonlinear module, namely the dead zone relay module, and inputting a displacement feedback signal of the vibration table to the nonlinear module, namely the dead zone relay module to obtain an output signal of the dead zone relay module;
the low-pass filter introducing module is used for introducing a low-pass filter, inputting the output signal of the dead zone relay module into the low-pass filter and outputting a filtering feedback signal;
the deviation calculation module is used for measuring the displacement of the actuator and calculating a deviation signal by combining the filtering feedback signal;
and the control calculation module is used for introducing a PID controller and calculating by combining the deviation signal to obtain an actuator control signal.
8. A sinusoidal vibration table control apparatus, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a sinusoidal vibration table control method as claimed in any one of claims 1-6.
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