CN114397074B - Sinusoidal vibration table control method, system and device - Google Patents
Sinusoidal vibration table control method, system and device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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Abstract
The invention discloses a sinusoidal vibration table control method, a sinusoidal vibration table control system and a sinusoidal vibration table control device, wherein the sinusoidal vibration table control method comprises the following steps: measuring the displacement of the vibrating table; calculating a vibration table top displacement feedback signal according to the displacement measured value; introducing a dead zone relay module, and inputting a table surface displacement feedback signal for calculating vibration to the dead zone relay module; introducing a low-pass filter, and inputting the output signal of the dead zone relay module to the low-pass filter; measuring the displacement of the actuator and calculating a deviation signal in combination with the filtered 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 vibrating 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 sinusoidal vibration table control method, a sinusoidal vibration table control system and a sinusoidal vibration table control device.
Background
The vibration environment simulation test is to examine the reliability, stability and other indexes of the product in the environment by simulating the vibration environment experienced by the product in the transportation and use processes in the service life period 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, and various periodic vibrations can be studied by using the form of sinusoidal vibration, and by performing vibration test on a product, the reliability thereof can be checked by analyzing test data, and the exposed product defects thereof can be improved.
Most of the existing sinusoidal vibration control algorithms send out main control signals by a computer, and after the feedback signals are correctly measured and compared, deviation signals are obtained and the system is adjusted by a controller. However, there are still some problems that the output signal of the vibrating table has a certain amplitude error and phase lag with the input signal, 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 technical problems, the invention aims to provide a sinusoidal vibration table control method, a sinusoidal vibration table control system and a sinusoidal vibration table control device, which can reduce the distortion degree 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 vibrating table to obtain a displacement measurement value;
calculating a vibration table top displacement feedback signal according to the displacement measured value;
introducing a nonlinear module-dead zone relay module, and inputting a vibration table surface displacement feedback signal to the nonlinear module-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 to the low-pass filter, and outputting a filtering feedback signal;
measuring the displacement of the actuator and calculating a deviation signal in combination with the filtered 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 vibration table displacement feedback signal is as follows:
in the above, y i Representing displacement measurements, n represents the number of sensors that acquire the displacement measurements.
Further, the formula of the nonlinear module-dead zone relay module is as follows:
in the above, a (t) represents a vibration table displacement feedback signal, a s (t) represents a dead zone relay characteristic module output signal, h represents a dead zone width, and M represents a 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 the laplace transform, and ω represents a filter cut-off frequency.
Further, the calculation formula of the deviation signal is as follows:
e＝-x 0 -x
in the above, x 0 Representing the filtered feedback signal, x representing the actuator displacement, e representing the deviation signal.
Further, the calculation formula of the control signal is as follows:
in the above, K i Represent the integral constant, K p Representing the proportionality coefficient, K d Representing the differential constant.
The second technical scheme adopted by the invention is as follows: a sinusoidal vibration table control system, comprising:
the displacement measuring module is used for measuring the displacement of the vibrating table to obtain a displacement measuring value;
the displacement feedback calculation module is used for calculating a vibration table top displacement feedback signal according to the displacement measured value;
the dead zone relay module is used for introducing the nonlinear module-dead zone relay module and inputting the vibration table surface displacement feedback signal to the nonlinear module-dead zone relay module to obtain an output signal of the dead zone relay module;
the low-pass filter introduction module is used for introducing the low-pass filter, inputting the output signal of the dead zone relay module to 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 filtered feedback signal;
and the control calculation module is used for introducing a PID controller and calculating to obtain an actuator control signal by combining the deviation 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;
the at least one program, when executed by the at least one processor, causes 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 beneficial effects that: according to the invention, a computer master control signal generating device is not needed, the self-oscillation characteristic of the system is utilized, the sinusoidal vibration table output signal control is performed by generating self-oscillation by the system based on a nonlinear stability analysis method, the amplitude error and the phase lag of the output waveform are avoided, and the distortion degree of the output waveform is reduced.
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 schematic diagram of a flow framework in accordance with an embodiment of the present invention;
fig. 3 is a block diagram of a sinusoidal vibration table control system of the present invention.
Detailed Description
The invention will now be described in further detail with reference to the drawings and to specific examples. The step numbers in the following embodiments are set for convenience of illustration only, and the order between the steps is not limited in any way, and the execution order of the steps in the embodiments may be adaptively adjusted 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 comprising the steps of:
s1, measuring displacement of a vibrating table to obtain a displacement measurement value;
specifically, the table displacement y is measured by displacement sensors distributed over the table 1 ,y 2 ,...,y n The number n of the sensors is determined by the configuration of the vibrating table, the number of the vibrating table is 1 under the conditions that the vibrating table surface and the test piece are smaller and the table surface uniformity is better, and the number of the sensors is two or more under the conditions that the vibrating table surface and the test piece are larger and the table surface uniformity is worse.
S2, calculating a vibration table top displacement feedback signal according to the displacement measured value;
specifically, the calculation formula of the vibration table displacement feedback signal is as follows by using a multipoint average control method:
in the above, y i Representing displacement measurements, n represents the number of sensors that acquire the displacement measurements.
S3, introducing a nonlinear module-dead zone relay module, and inputting a vibration table surface displacement feedback signal to the nonlinear module-dead zone relay module to obtain an output signal of the dead zone relay module;
specifically, the formula of the nonlinear module-dead zone relay module is as follows:
in the above, a (t) represents a vibration table displacement feedback signal, a s (t) represents the dead band relay characteristic module output signal,h represents the dead zone width, and M represents the relay output upper limit.
The dead zone relay module is introduced in the step, and the input signal of the dead zone relay module can enable the dead zone relay module to have output only when the dead zone width is crossed, so that the dead zone width h has a threshold value, and the system can be primarily judged to have output. 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 along with the different dead zone widths h. Therefore, if the system needs to judge whether stable output exists, the dead zone width h and the threshold value of the relay output upper limit M are required to be solved, and the solving method is as follows:
first, the Nyquist diagram of the open-loop transfer function G(s) is plotted to find the intersection point H (X) with the real axis H ,0)；
Secondly, drawing a dead zone relay module negative inverse description function image, wherein the dead zone relay module description function is as followsA is the amplitude of the input signal of the dead zone relay characteristic module;
and if the system does not have stable self-oscillation, the dead zone relay characteristic module input signal a (t) is a sine attenuation signal, and the attenuation process |a (t) | has a maximum value |a (t) | max The 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) | max I.e. dead zone width threshold h 0 ＝|a(t)| max ；
Again, at h > |a (t) | max Under the condition that the system has stable self-oscillation, the condition is satisfiedI.e. relay output upper threshold +.>
Under the condition that the dead zone width threshold value and the relay output upper limit threshold value are obtained, the dead zone width h and the relay output upper limit M are corrected, so that the system has stable self-oscillation.
When the system has stable self-oscillation motion, on the premise of not changing the value of the dead zone width h, if the vibration amplitude of the actuator is required to be changed, only the upper limit M of the relay is required to be changed.
S4, introducing a low-pass filter, inputting the output signal of the dead zone relay module to the low-pass filter, and outputting a filtering feedback signal;
specifically, the low-pass filter adopts a first-order low-pass filter, and the formula is as follows:s denotes an operator generated by the laplace transform, ω denotes the filter cut-off frequency.
S5, measuring the displacement of the actuator and calculating a deviation signal by combining the filtered feedback signal;
specifically, the calculation formula of the deviation signal: e= -x 0 -x，x 0 Representing the filtered feedback signal, x representing the actuator displacement, e representing the deviation signal.
S6, introducing a PID controller, calculating by combining the deviation signal to obtain an actuator control signal, and enabling the actuator to displace and output force after obtaining the control signal so as to push the vibrating table to displace.
Specifically, the calculation formula of the control signal is as follows:K i represent the integral constant, K p Representing the proportionality coefficient, K d Representing the differential 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 conventional 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, completes 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, comprising:
the displacement measuring module is used for measuring the displacement of the vibrating table to obtain a displacement measuring value;
the displacement feedback calculation module is used for calculating a vibration table top displacement feedback signal according to the displacement measured value;
the dead zone relay module is used for introducing the nonlinear module-dead zone relay module and inputting the vibration table surface displacement feedback signal to the nonlinear module-dead zone relay module to obtain an output signal of the dead zone relay module;
the low-pass filter introduction module is used for introducing the low-pass filter, inputting the output signal of the dead zone relay module to 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 filtered feedback signal;
and the control calculation module is used for introducing a PID controller and calculating to obtain an actuator control signal by combining the deviation signal.
A sinusoidal vibration table control device:
at least one processor;
at least one memory for storing at least one program;
the at least one program, when executed by the at least one processor, causes the at least one processor to implement a sinusoidal vibration table control method as described above.
The content in the method embodiment is applicable to the embodiment of the device, and the functions specifically realized by the embodiment of the device are the same as those of the method embodiment, and the obtained beneficial effects are the same as those of the method embodiment.
While the preferred embodiment of the present invention has been described in detail, the invention is not limited to the embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the invention, and these modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (7)
1. A sinusoidal vibration table control method, characterized by comprising the steps of:
measuring the displacement of the vibrating table to obtain a displacement measurement value;
calculating a vibration table top displacement feedback signal according to the displacement measured value;
introducing a nonlinear module-dead zone relay module, and inputting a vibration table surface displacement feedback signal to the nonlinear module-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 to the low-pass filter, and outputting a filtering feedback signal;
measuring the displacement of the actuator and calculating a deviation signal in combination with the filtered feedback signal;
introducing a PID controller, and calculating by combining the deviation signal to obtain an actuator control signal;
the formula of the nonlinear module-dead zone relay module is expressed as follows:
in the above, a (t) represents a vibration table displacement feedback signal, a s (t) represents a dead zone relay characteristic module output signal, h represents a dead zone width, and M represents a relay output upper limit;
the solving method of h and M is as follows:
first, the Nyquist diagram of the open-loop transfer function G(s) is plotted to find the intersection point H (X) with the real axis H ,0)；
Secondly, drawing a dead zone relay module negative inverse description function image, wherein the dead zone relay module description function is as followsA is the amplitude of the input signal of the dead zone relay characteristic module;
and if the system does not have stable self-oscillation, the dead zone relay characteristic module input signal a (t) is a sine attenuation signal, and the attenuation process |a (t) | has a maximum value |a (t) | max ；
Again, the dead zone width h should be greater than |a (t) | max I.e. dead zone width threshold h 0 ＝|a(t)| max ；
Again, at h > |a (t) | max Under the condition that the system has stable self-oscillation, the condition is satisfiedI.e. relay output upper threshold +.>
2. The sinusoidal vibration table control method of claim 1, wherein the vibration table displacement feedback signal is calculated as follows:
in the above, y i Representing displacement measurements, n represents the number of sensors that acquire the displacement measurements.
3. The method for controlling a sinusoidal vibration table according to claim 2, wherein the low-pass filter is a first-order low-pass filter, and the formula is as follows:
in the above equation, s represents an operator generated by the laplace transform, and ω represents a filter cut-off frequency.
4. A sinusoidal vibration table control method according to claim 3, characterized in that the calculation formula of the deviation signal is as follows:
e＝-x 0 -x
in the above, x 0 Representing the filtered feedback signal, x representing the actuator displacement, e representing the deviation signal.
5. The sinusoidal vibration table control method of claim 4, wherein the control signal is calculated as:
in the above, K i Represent the integral constant, K p Representing the proportionality coefficient, K d Representing the differential constant.
6. A sinusoidal vibration table control system, comprising:
the displacement measuring module is used for measuring the displacement of the vibrating table to obtain a displacement measuring value;
the displacement feedback calculation module is used for calculating a vibration table top displacement feedback signal according to the displacement measured value;
the dead zone relay module is used for introducing the nonlinear module-dead zone relay module and inputting the vibration table surface displacement feedback signal to the nonlinear module-dead zone relay module to obtain an output signal of the dead zone relay module;
the low-pass filter introduction module is used for introducing the low-pass filter, inputting the output signal of the dead zone relay module to 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 filtered feedback signal;
the control calculation module is used for introducing a PID controller and calculating to obtain an actuator control signal by combining the deviation signal;
the formula of the nonlinear module-dead zone relay module is expressed as follows:
on the upper partWherein a (t) represents a vibration table displacement feedback signal, a s (t) represents a dead zone relay characteristic module output signal, h represents a dead zone width, and M represents a relay output upper limit;
the solving method of h and M is as follows:
first, the Nyquist diagram of the open-loop transfer function G(s) is plotted to find the intersection point H (X) with the real axis H ,0)；
Secondly, drawing a dead zone relay module negative inverse description function image, wherein the dead zone relay module description function is as followsA is the amplitude of the input signal of the dead zone relay characteristic module;
and if the system does not have stable self-oscillation, the dead zone relay characteristic module input signal a (t) is a sine attenuation signal, and the attenuation process |a (t) | has a maximum value |a (t) | max ；
Again, the dead zone width h should be greater than |a (t) | max I.e. dead zone width threshold h 0 ＝|a(t)| max ；
Again, at h > |a (t) | max Under the condition that the system has stable self-oscillation, the condition is satisfiedI.e. relay output upper threshold +.>
7. A sinusoidal vibration table control device, comprising:
at least one processor;
at least one memory for storing at least one program;
when the at least one program is executed by the at least one processor, the at least one processor is caused to implement a sinusoidal vibration table control method as claimed in any one of claims 1-5.
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