CN115455593A - Real-time hybrid test method based on multi-task loading, electronic equipment and storage medium - Google Patents
Real-time hybrid test method based on multi-task loading, electronic equipment and storage medium Download PDFInfo
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Abstract
A real-time hybrid test method based on multi-task loading, electronic equipment and a storage medium belong to the technical field of real-time hybrid tests. The method aims to solve the problems that the real-time performance of numerical calculation is difficult to ensure in a real-time mixing test of a complex toughness structure and all key components cannot be loaded due to the limitation of test conditions. The numerical substructure and the test substructure carry out full-time-course data interaction, and the multi-task full-time-course loading of one test substructure is adopted to reproduce the actual measurement response of all the test substructures. The method comprises the steps of firstly carrying out time lag compensation on full-time loading displacement given by a numerical substructure, secondly carrying out command selection, sending full-time loading commands of a corresponding task 1, a task 2, a. The invention is suitable for the condition that the test substructure has the characteristic of repeatable loading.
Description
Technical Field
The invention belongs to the technical field of real-time hybrid tests, and particularly relates to a real-time hybrid test method based on multi-task loading, electronic equipment and a storage medium.
Background
The hybrid test method is a novel anti-seismic test method combining physical tests of real test pieces and numerical simulation of a computer, and can obtain more accurate test results by loading critical complex parts with strong structural nonlinearity; the numerical simulation is carried out through the computer, so that the test cost is greatly reduced, and the test applicability is improved; the data of the two are transmitted in real time by constructing a high-speed data exchange channel between the two, and the test requirements of test pieces with speed and acceleration related characteristics can be met. However, a series of operations such as motion equation solution, loading command transmission, power loading, data feedback and the like are required to be completed within the ith time step, and the key point is to avoid the divergence phenomenon caused by numerical calculation and power loading system delay.
Due to the complexity of numerical simulation calculation and boundary coordination conditions, real-time transmission and real-time loading of data are difficult to guarantee. At present, for a large-scale complex damping structure, the modeling freedom degree is high, a plurality of key components show complex nonlinear stress behaviors under the action of strong shock, a plurality of actuators are needed to load, but the loading difficulty of all the key components is high, so that some key components need to be simulated, and the requirement on the numerical simulation precision is improved.
The model updating-based hybrid test method can effectively improve the numerical simulation precision, but the performance of the substructure of the simulation test is different from the measured data obtained by directly carrying out the test, and meanwhile, the method is difficult to meet the high real-time synchronism of numerical calculation and physical loading. The force correction iterative hybrid test method can effectively solve the calculation time lag, but does not consider the adverse effects caused by physical loading time lag and a plurality of nonlinear key components.
Disclosure of Invention
The invention provides a real-time hybrid test method based on multi-task loading, electronic equipment and a storage medium, and aims to solve the problems that the real-time performance of numerical calculation is difficult to guarantee in a real-time hybrid test of a complex toughness structure and all key components cannot be loaded due to test conditions.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a real-time hybrid test method based on multi-task loading comprises the following steps:
s1, dividing the overall structure into a numerical substructure and a test substructure, and establishing a numerical substructure model and a test substructure model;
s2, solving the motion equation by adopting a step-by-step integration method, calculating a time course displacement matrix and a time course restoring force matrix from the layer 1 to the layer n of the numerical substructure model, when the number of integration steps i is less than k, continuously solving the motion equation by adopting the step-by-step integration method, wherein k is the total number of step-by-step integration, and when the number of integration steps i = k, performing the next step;
s3, performing time lag compensation on the numerical value substructure time course displacement matrix obtained in the step S2 to obtain a time course command displacement matrix of the numerical value substructure;
s4, extracting time interval command displacement from the 1 st layer to the nth layer of the numerical value substructure from the time interval command displacement matrix of the numerical value substructure obtained in the step S3, generating n time interval loading tasks by adopting a multi-task loading controller, and transmitting the n time interval loading tasks to a servo loading controller;
s5, according to the time course loading task generated in the step S4, carrying out S times of task loading on a test substructure with an actuator, acquiring a time course actual measurement displacement matrix and a time course actual measurement counterforce matrix, judging the loading times S and the time course loading task times n, continuing to carry out loading when S is less than n, and carrying out the next step when S = n;
s6, correcting the time-course actual measurement reaction matrix obtained in the step S5 based on the test substructure model established in the step S1 and the time-course actual measurement displacement matrix of two adjacent iteration rounds obtained in the step S5 to obtain a corrected test substructure time-course reaction matrix;
s7, carrying out convergence judgment on the time course actual measurement displacement matrix of the two adjacent iteration rounds obtained in the step S5, if the time course actual measurement displacement matrix is converged, finishing the test and outputting a test result, and if the time course actual measurement displacement matrix is not converged, carrying out the next step;
and S8, transmitting the actual measurement displacement matrix in the step S5 and the time course reaction force matrix of the correction test substructure in the step S6 to the next iteration turn by adopting an iteration convergence control method, and repeating the steps S2-S6.
Further, the equation of motion in step S2 is calculated as:
wherein M is N 、C N Respectively a mass matrix and a damping matrix of the numerical substructure,
respectively is a time course acceleration matrix, a time course speed matrix and a time course displacement matrix of the ith step of the jth round of the numerical substructure,
is calculated by the j-th round numerical substructureA time-course resilience matrix is formed,
is a time-course reaction matrix after the substructure of the j-1 th round of test is corrected,
respectively measuring a time course displacement matrix and a time course speed matrix of the ith step of the j-1 th round by using the test substructure; n and E are respectively a numerical substructure and a test substructure; i is the number of integration steps; j is the iteration round; a is g,i Is seismic acceleration recording.
Further, in the iteration 1 round in the step S2, the time course reaction matrix of the test substructure participating in the solution of the equation of motion is obtained by assuming the numerical model calculation of the test substructure; in the j (j is more than or equal to 2) th iteration round, the test substructure time course counter-force matrix participating in the solution of the motion equation is a test substructure time course counter-force matrix which is obtained by executing n times of full time loading tasks, measuring the time course counter-force matrix by adopting a force sensor and correcting the time course counter-force matrix by a force correction strategy.
Further, the step-by-step integration method at step S2 is a Dial method, and the specific method is as follows:
a N,i ＝[-M N a g,i -C N v N,i -F N (d N,i )-F E (d E,i ,v E,i )]/M N
d N,i+1 ＝d N,i +v N,i Δt+(1/2+ψ)a N,i Δt 2 -ψa N,i-1 Δt 2
v N,i+1 ＝v N,i +(1+φ)a N,i Δt-φa N,i-1 Δt
wherein psi and phi are parameters introduced by the Zhai method, d N,i+1 Time course displacement matrix, v, of step i +1 of the numerical substructure N,i+1 Time course velocity matrix of step i +1 of the numerical substructure, a N,i-1 Is a time-course acceleration matrix of the (i-1) th step of the numerical substructure, and delta t is an integral step length.
Further, the time lag compensation method in step S3 adopts a polynomial extrapolation method, and the specific method is as follows:
wherein, tau is system time lag, b is data point number, t i Is the time of step i, d N Is a numerical substructure displacement matrix, d Nc Time-course command displacement matrix, d, for numerical substructures Em And (4) measuring a displacement matrix for the time course of the test substructure.
Further, the step S3-the step S5 are an inner ring multi-task loading process, so that multi-task loading by adopting one test substructure is realized, actual measurement responses of all the test substructures are reproduced, and the requirements of the traditional real-time hybrid test method on test equipment are reduced. The key technology is that firstly, a numerical value substructure time course command displacement matrix is selected, secondly, corresponding full-time power loading tasks are fed back to a loading controller one by one, finally, the full-time loading commands of the tasks 1, 2, n and n are executed through a test substructure with an actuator, and the time course displacement matrix and the time course counter-force matrix of the n test substructures are measured.
Further, the specific method for correcting the test substructure time course reaction matrix in step S6 is as follows:
in the formula (I), the compound is shown in the specification,
is a time-course actual measurement reaction matrix of a test substructure of the jth iteration round,
is a numerical model of the substructure of the equivalent test,
respectively is a time interval actual measurement displacement matrix measured in the ith step of the jth round of the test substructure and a time interval actual measurement speed matrix calculated,
and (4) a j-th round correction test substructure time course reaction matrix.
Further, step S6 is to perform force correction one by one on the test substructure time course counter-force matrix measured by the multi-task loading system based on the equivalent test substructure numerical model and the time course actual measurement displacement difference of two adjacent iteration rounds, but not to correct the restoring force array;
further, the convergence judgment in step S7 adopts a root mean square error and a relative area error to perform the judgment:
where RMSE is the root mean square error, RAE is the relative area error, and T is the total time of a time interval.
Further, the iterative convergence control method in step S8 adopts a stationary point iterative method; actual measurement displacement matrix of output time interval for j-th round
Actually measured displacement matrix of j +1 th round output time interval
Expressed as:
the iteration target F (d) is set to:
for an arbitrary initial value
Satisfy the requirement of
Convergence of stationary point iteration method is completed, d * Is the solution of F (d). a and b are the start and end points of the numerical range.
The electronic equipment comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the steps of the real-time hybrid test method based on multi-task loading when executing the computer program.
A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the real-time hybrid test method based on multitasking loading.
The invention has the beneficial effects that:
according to the real-time mixing test method based on multi-task loading, due to the fact that the real-time mixing test data interaction mode is changed, the real-time mixing test can be completed under the non-real-time numerical calculation condition, and the real-time mixing test adopting a refined model becomes possible.
The real-time mixed test method based on multi-task loading allows multi-task loading of one test substructure to be adopted, actual measurement responses of all the test substructures are reproduced, and requirements of a traditional real-time mixed test method on test equipment are lowered. The key steps are that firstly, a numerical value substructure time course command displacement matrix is selected, secondly, corresponding full-time power loading tasks are fed back to a loading controller one by one, and finally, a test substructure with an actuator is used for executing full-time loading commands of a task 1, a task 2 and a task n.
According to the real-time hybrid test method based on multi-task loading, provided by the invention, the repetition precision of a test substructure during multi-task loading is improved by combining a time-lag compensation method; through a binding force correction strategy, the iterative convergence efficiency is improved, and the test time consumption is shortened; and finally converging to the structure real response by combining an iterative convergence control algorithm.
The real-time hybrid test method based on multi-task loading provided by the invention has the key point that the adopted gradual integral algorithm, the time lag compensation method, the force correction method and the iterative convergence control algorithm are not limited to a specific method, and the adopted method can achieve the test purpose.
Drawings
FIG. 1 is a flow chart of a real-time hybrid test method based on multitasking loading according to the present invention;
FIG. 2 is a schematic diagram of a real-time hybrid test method based on multitasking loading according to the present invention (taking an n-layer frame damping structure with n viscous dampers as an example);
fig. 3 is a schematic diagram of a real-time hybrid test method based on multitasking loading according to the present invention (taking a high-speed train car equipped with n anti-hunting dampers as an example).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and the detailed description. It is to be understood that the embodiments described herein are illustrative only and are not limiting, i.e., that the embodiments described are only a few embodiments, rather than all, of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations, and the present invention may have other embodiments.
Thus, the following detailed description of specific embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the detailed description of the invention without inventive step, are within the scope of protection of the invention.
For a further understanding of the contents, features and effects of the present invention, the following embodiments will be illustrated in detail with reference to the accompanying drawings 1-3:
the first embodiment is as follows:
the basic principle and the using steps of the method are explained by taking an n-layer frame shock absorption structure provided with n viscous dampers as an example.
The viscous damper is used as an energy dissipation and shock absorption technology and has the advantages of reusability, simple structure, clear shock absorption mechanism and the like. In the real-time hybrid test method, due to the nonlinear mechanical behavior of the viscous damper, the viscous damper is generally used as a test substructure and used as a brake for loading, and the rest parts of the structure are used as numerical substructures, and the real-time transmission of data in the ith integration step is ensured by utilizing computer simulation and a high-speed data exchange channel. Therefore, large-scale and even full-scale tests can be realized, and more accurate and effective test results can be obtained. The difficulty of the embodiment is that there are n structural nonlinear parts, which are limited by laboratory conditions, it is often unrealistic to take out all key components for loading, and meanwhile, the real-time hybrid test method is difficult to ensure the reliability of the numerical structure model, and also brings more complicated coupling multidimensional boundary conditions, and because a smaller sampling step length is needed, real-time calculation and real-time loading of data cannot be ensured, and the realization of the real-time hybrid test method becomes more difficult. Therefore, the embodiment proposes a real-time hybrid test method based on multi-task loading, the basic principle of the method is shown in fig. 2, and the specific flow of the method is as follows:
s1, dividing n layers of frame shock absorption structures provided with n viscous dampers, taking the n viscous dampers as test substructures, taking the n layers of frame structures as numerical substructures, and respectively establishing corresponding numerical models;
s2, solving the motion equation by adopting a step-by-step integration method, calculating a time course displacement matrix and a time course restoring force matrix from the layer 1 to the layer n of the numerical substructure model, when the number of integration steps i is less than k, continuously solving the motion equation by adopting the step-by-step integration method, wherein k is the total number of step-by-step integration, and when the number of integration steps i = k, performing the next step;
further, the equation of motion in step S2 is calculated as:
wherein M is N 、C N Respectively a mass matrix and a damping matrix of the numerical substructure,
respectively is a time course acceleration matrix, a time course speed matrix and a time course displacement matrix of the ith step of the jth round of the numerical substructure,
is the time course resilience matrix calculated by the j-th round numerical substructure,
is a time-course reaction matrix after the substructure of the j-1 th round of test is corrected,
respectively measuring a time course displacement matrix and a time course speed matrix of the ith step of the j-1 th round by using the test substructure; n and E are respectively a numerical substructure and a test substructure; i is the number of integration steps; j is the iteration round; a is g,i Is seismic acceleration recording;
further, the step-by-step integration method in step S2 adopts a zhai method, and the specific method is as follows:
a N,i ＝[-M N a g,i -C N v N,i -F N (d N,i )-F E (d E,i ,v E,i )]/M N
d N,i+1 ＝d N,i +v N,i Δt+(1/2+ψ)a N,i Δt 2 -ψa N,i-1 Δt 2
v N,i+1 ＝v N,i +(1+φ)a N,i Δt-φa N,i-1 Δt
wherein psi and phi are parameters introduced by the Zhai method, d N,i+1 Time course displacement matrix, v, of step i +1 of the numerical substructure N,i+1 Time course velocity matrix of step i +1 of numerical substructure, a N,i-1 The time-course acceleration matrix of the (i-1) th step of the numerical substructure is obtained, and delta t is an integral step length;
s3, performing time lag compensation on the numerical value substructure time course displacement matrix obtained in the step S2 to obtain a time course command displacement matrix of the numerical value substructure;
further, the time lag compensation method in step S3 adopts a polynomial extrapolation method, and the specific method is as follows:
wherein tau is system time lag, b is data point number, t i Is the time of step i, d N Is a numerical substructure displacement matrix, d Nc Time-course command displacement matrix, d, being a numerical substructure Em And actually measuring a displacement matrix for the time course of the test substructure.
S4, extracting time-course command displacements from the layer 1 to the layer n of the numerical substructure from the time-course command displacement matrix of the numerical substructure obtained in the step S3, generating n time-course loading tasks by adopting a multi-task loading controller, and transmitting the n time-course loading tasks to a servo loading controller;
s5, according to the time course loading task generated in the step S4, carrying out S times of task loading on a test substructure with an actuator, acquiring a time course actual measurement displacement matrix and a time course actual measurement counterforce matrix, judging the loading times S and the time course loading task times, continuing the loading when S is less than n, and carrying out the next step when S = n;
s6, correcting the time-course actual measurement reaction matrix obtained in the step S5 based on the test substructure model established in the step S1 and the time-course actual measurement displacement matrix of two adjacent iteration rounds obtained in the step S5 to obtain a corrected test substructure time-course reaction matrix;
further, the specific method for correcting the test substructure time course reaction matrix in step S6 is as follows:
in the formula (I), the compound is shown in the specification,
is a time-course actual measurement reaction matrix of a test substructure of the jth iteration round,
is a numerical model of the equivalent test substructure,
respectively is a time interval actual measurement displacement matrix measured in the ith step of the jth round of the test substructure and a time interval actual measurement speed matrix calculated,
is a j-th round correction test substructure time course reaction matrix;
s7, carrying out convergence judgment on the time course actual measurement displacement matrix of the two adjacent iteration rounds obtained in the step S5, if the time course actual measurement displacement matrix is converged, finishing the test and outputting a test result, and if the time course actual measurement displacement matrix is not converged, carrying out the next step;
further, the convergence judgment in step S7 adopts a root mean square error and a relative area error to perform the judgment:
wherein, RMSE is root mean square error, RAE is relative area error, T is total time of a time course;
s8, transmitting the actual measurement displacement matrix in the step S5 and the time course reaction force matrix of the correction test substructure in the step S6 to the next iteration turn by adopting an iteration convergence control method, and repeating the steps S2-S6;
further, the iterative convergence control method in the step S8 adopts a stationary point iterative method; actual measurement displacement matrix of output time interval for j-th round
Actually measured displacement matrix of j +1 th round output time interval
Expressed as:
the iteration target F (d) is set to:
for an arbitrary initial value
Satisfy the requirement of
Convergence of stationary point iteration method is completed, d * And a and b are the starting and ending points of the numerical range.
In the real-time mixing test method based on multi-task loading according to the embodiment, the real-time mixing test can be completed under the non-real-time numerical calculation condition due to the change of the real-time mixing test data interaction mode, so that the real-time mixing test adopting a refined model becomes possible.
The real-time hybrid test method based on multi-task loading in the embodiment allows multi-task loading of one test substructure to be adopted, actual measurement responses of all the test substructures are reproduced, and requirements of a traditional real-time hybrid test method on test equipment are reduced. The key steps are that firstly, a numerical value substructure time-course command displacement matrix is selected, secondly, corresponding full-time-course dynamic loading tasks are fed back to a loading controller one by one, and finally, full-time-course loading commands of the tasks 1, 2.
According to the real-time hybrid test method based on multi-task loading, the repetition precision of a test substructure during multi-task loading is improved by combining a time-lag compensation method; through a binding force correction strategy, the iterative convergence efficiency is improved, and the test time consumption is shortened; and finally converging to the structure real response by combining an iterative convergence control algorithm.
In the real-time hybrid test method based on multi-task loading according to the embodiment, the step-by-step integration algorithm, the time lag compensation method, the force correction method and the iterative convergence control algorithm are not limited to a specific method, and the key point is that the adopted method can achieve the test purpose.
The second embodiment is as follows:
the invention is applied to other large-scale complex vibration reduction structures and has similar basic principles; the basic principle and the using steps of the method are explained by taking a high-speed train as an example.
Transverse vehicle snaking vibration can occur in the running process of the high-speed train, the severe snaking vibration can influence the running safety and stability of the train, and the instability critical speed of the high-speed train is reduced. The snake-like motion of the train can be effectively inhibited by installing the snake-like motion resistant shock absorber, and the critical speed and the running stability of the high-speed train are improved. Therefore, the test is carried out aiming at the anti-snake-like vibration damper, the action effect of the anti-snake-like vibration damper in the running process of the train is researched, and the test has great significance for improving the stable running of the train and further improving the running speed of the train. However, since the dynamic response of a high-speed train is a high-frequency dynamic problem, and since the train is complex in structure and has a large number of degrees of freedom, and since the number of shock absorbers is often large and non-linear stress behaviors are shown, a plurality of actuators are needed to load, but the loading is limited by laboratory conditions, and it is not practical to take out all key components to load. However, the current real-time hybrid test method based on model update is limited by the real-time requirement of the test and the way of simulating the performance of the test piece, which will result in the distortion of the test result. Therefore, the invention provides a real-time hybrid test method based on multi-task loading, the basic principle of the method is shown in fig. 3, and the specific process of the method is as follows:
s1, dividing a high-speed train compartment structure provided with n anti-snaking shock absorbers, taking the n anti-snaking shock absorbers as a test substructure and the high-speed train compartment as a numerical substructure, and respectively establishing corresponding numerical models;
s2, solving the motion equation by adopting a step-by-step integration method, calculating a time course displacement matrix and a time course restoring force matrix from the layer 1 to the layer n of the numerical substructure model, when the number of integration steps i is less than k, continuously solving the motion equation by adopting the step-by-step integration method, wherein k is the total number of step-by-step integration, and when the number of integration steps i = k, performing the next step;
further, the equation of motion in step S2 is calculated as:
wherein M is N 、C N Respectively a mass matrix and a damping matrix of the numerical substructure,
respectively a time course acceleration matrix, a time course speed matrix and a time course displacement matrix of the ith step of the jth round of the numerical substructure,
is the time course resilience matrix calculated by the j-th round numerical substructure,
is a time course reaction matrix after the substructure of the j-1 th round of test is corrected,
respectively measuring a time course displacement matrix and a time course speed matrix of the ith step of the j-1 th round by using the test substructure; n and E are respectively a numerical substructure and a test substructure; i is the number of integration steps; j is the iteration round; a is a g,i Is seismic acceleration recording;
further, the step-by-step integration method in step S2 adopts a zhai method, and the specific method is as follows:
a N,i ＝[-M N a g,i -C N v N,i -F N (d N,i )-F E (d E,i ,v E,i )]/M N
d N,i+1 ＝d N,i +v N,i Δt+(1/2+ψ)a N,i Δt 2 -ψa N,i-1 Δt 2
v N,i+1 ＝v N,i +(1+φ)a N,i Δt-φa N,i-1 Δt
wherein psi and phi are parameters introduced by the Dial method, d N,i+1 Time course displacement matrix, v, of step i +1 of the numerical substructure N,i+1 Time course velocity matrix of step i +1 of the numerical substructure, a N,i-1 The time course acceleration matrix is the time course acceleration matrix of the step i-1 of the numerical substructure, and delta t is the integral step length;
s3, performing time lag compensation on the numerical value substructure time course displacement matrix obtained in the step S2 to obtain a time course command displacement matrix of the numerical value substructure;
further, the time lag compensation method in step S3 adopts a polynomial extrapolation method, and the specific method is as follows:
wherein tau is system time lag, b is data point number, t i Is the time of step i, d N Is a numerical substructure displacement matrix, d Nc Time-course command displacement matrix, d, being a numerical substructure Em And (4) measuring a displacement matrix for the time course of the test substructure.
S4, extracting time interval command displacement from the 1 st layer to the nth layer of the numerical value substructure from the time interval command displacement matrix of the numerical value substructure obtained in the step S3, generating n time interval loading tasks by adopting a multi-task loading controller, and transmitting the n time interval loading tasks to a servo loading controller;
s5, according to the time course loading task generated in the step S4, carrying out S times of task loading on a test substructure with an actuator, acquiring a time course actual measurement displacement matrix and a time course actual measurement counterforce matrix, judging the loading times S and the time course loading task times n, continuing to carry out loading when S is less than n, and carrying out the next step when S = n;
s6, correcting the time-course actual measurement reaction matrix obtained in the step S5 based on the test substructure model established in the step S1 and the time-course actual measurement displacement matrix of two adjacent iteration rounds obtained in the step S5 to obtain a corrected test substructure time-course reaction matrix;
further, the specific method for correcting the test substructure time course reaction matrix in step S6 is as follows:
in the formula (I), the compound is shown in the specification,
is a time-course actual measurement reaction matrix of a test substructure of the jth iteration round,
is a numerical model of the substructure of the equivalent test,
respectively a time interval actual measurement displacement matrix measured in the ith step of the jth round of the test substructure and a time interval actual measurement speed matrix calculated,
is a j round correction test substructure time course reaction matrix;
s7, carrying out convergence judgment on the time course actual measurement displacement matrix of the two adjacent iteration rounds obtained in the step S5, if the time course actual measurement displacement matrix is converged, finishing the test and outputting a test result, and if the time course actual measurement displacement matrix is not converged, carrying out the next step;
further, the convergence judgment in step S7 adopts a root mean square error and a relative area error to perform the judgment:
wherein, RMSE is root mean square error, RAE is relative area error, T is total time of a time interval;
s8, transmitting the actual measurement displacement matrix in the step S5 and the time course reaction force matrix of the correction test substructure in the step S6 to the next iteration turn by adopting an iteration convergence control method, and repeating the steps S2-S6;
further, the iterative convergence control method in step S8 uses the stationary pointAn iterative method; actual measurement displacement matrix of output time interval for j-th round
Actually measured displacement matrix of j +1 th round output time interval
Expressed as:
the iteration target F (d) is set to:
for an arbitrary initial value
Satisfy the requirement of
Convergence of stationary point iteration method is completed, d * Is the solution of F (d), and a and b are the starting and ending points of the numerical range.
Through the test process, the force-displacement response of the anti-snaking shock absorber of the high-speed train under the real running condition can be finally obtained, and a research basis is provided for high-speed and stable running of the high-speed train. In addition, the test method can be used for carrying out a multi-task loading test on a plurality of complex strong nonlinear components with repeatability by different substructure division modes aiming at the anti-snake vibration absorber.
In the real-time mixing test method based on multi-task loading according to the embodiment, the real-time mixing test can be completed under the non-real-time numerical calculation condition due to the change of the real-time mixing test data interaction mode, so that the real-time mixing test adopting a refined model becomes possible.
The real-time hybrid test method based on multi-task loading in the embodiment allows multi-task loading of one test substructure to be adopted, actual measurement responses of all the test substructures are reproduced, and requirements of a traditional real-time hybrid test method on test equipment are reduced. The key steps are that firstly, a numerical value substructure time course command displacement matrix is selected, secondly, corresponding full-time power loading tasks are fed back to a loading controller one by one, and finally, a test substructure with an actuator is used for executing full-time loading commands of a task 1, a task 2 and a task n.
According to the real-time hybrid test method based on multi-task loading, the repetition precision of a test substructure during multi-task loading is improved by combining a time-lag compensation method; through a binding force correction strategy, the iterative convergence efficiency is improved, and the test time consumption is shortened; and finally converging to the structure real response by combining an iterative convergence control algorithm.
In the real-time hybrid test method based on multi-task loading according to the embodiment, the step-by-step integration algorithm, the time lag compensation method, the force correction method and the iterative convergence control algorithm are not limited to a specific method, and the key point is that the adopted method can achieve the test purpose.
The third concrete implementation mode:
the electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the real-time hybrid test method based on multi-task loading according to one or two of the specific embodiments when executing the computer program.
The computer device of the present invention may be a device including a processor, a memory, and the like, for example, a single chip microcomputer including a central processing unit and the like. And the processor is used for implementing the steps of the recommendation method capable of modifying the relationship-driven recommendation data based on the CREO software when executing the computer program stored in the memory.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card, FC), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The fourth concrete implementation mode:
the computer-readable storage medium, on which a computer program is stored, wherein the computer program, when executed by a processor, implements a method for real-time hybrid testing based on multitasking loading according to one or both of the embodiments.
The computer readable storage medium of the present invention may be any form of storage medium that can be read by a processor of a computer device, including but not limited to non-volatile memory, ferroelectric memory, etc., and the computer readable storage medium has stored thereon a computer program that, when the computer program stored in the memory is read and executed by the processor of the computer device, can implement the above-mentioned steps of the CREO-based software that can modify the modeling method of the relationship-driven modeling data.
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. 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.
It is noted that 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 phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
While the application has been described above with reference to specific embodiments, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, the various features of the embodiments disclosed herein may be used in any combination that is not inconsistent with the structure, and the failure to exhaustively describe such combinations in this specification is merely for brevity and resource conservation. Therefore, it is intended that the application not be limited to the particular embodiments disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. A real-time hybrid test method based on multitask loading is characterized in that: the method comprises the following steps:
s1, dividing the overall structure into a numerical substructure and a test substructure, and establishing a numerical substructure model and a test substructure model;
s2, solving the motion equation by adopting a step-by-step integration method, calculating a time course displacement matrix and a time course restoring force matrix from the layer 1 to the layer n of the numerical substructure model, when the number of integration steps i is less than k, continuously solving the motion equation by adopting the step-by-step integration method, wherein k is the total number of step-by-step integration, and when the number of integration steps i = k, performing the next step;
s3, performing time lag compensation on the numerical value substructure time course displacement matrix obtained in the step S2 to obtain a time course command displacement matrix of the numerical value substructure;
s4, extracting time-course command displacements from the layer 1 to the layer n of the numerical substructure from the time-course command displacement matrix of the numerical substructure obtained in the step S3, generating n time-course loading tasks by adopting a multi-task loading controller, and transmitting the n time-course loading tasks to a servo loading controller;
s5, according to the time course loading task generated in the step S4, performing task loading on a test substructure with an actuator for S times, acquiring a time course actual measurement displacement matrix and a time course actual measurement counterforce matrix, judging the loading times S and the time course loading task times n, continuing loading when S is less than n, and performing the next step when S = n;
s6, correcting the time-course actual measurement reaction matrix obtained in the step S5 based on the test substructure model established in the step S1 and the time-course actual measurement displacement matrix of two adjacent iteration rounds obtained in the step S5 to obtain a corrected test substructure time-course reaction matrix;
s7, carrying out convergence judgment on the time-course actual measurement displacement matrix of the two adjacent iteration rounds obtained in the step S5, if the time-course actual measurement displacement matrix is converged, ending the test and outputting a test result, and if the time-course actual measurement displacement matrix is not converged, carrying out the next step;
and S8, transmitting the actual measurement displacement matrix in the step S5 and the time course reaction force matrix of the correction test substructure in the step S6 to the next iteration turn by adopting an iteration convergence control method, and repeating the steps S2-S6.
2. The real-time hybrid test method based on multitasking loading according to claim 1, characterized by comprising the following steps: the equation of motion in step S2 is calculated as:
wherein, M N 、C N Respectively a mass matrix and a damping matrix of the numerical substructure,
respectively is a time course acceleration matrix, a time course speed matrix and a time course displacement matrix of the ith step of the jth round of the numerical substructure,
is the time course resilience matrix of the j-th round numerical substructure calculation,
is a time course reaction matrix after the substructure of the j-1 th round of test is corrected,
respectively measuring a time course displacement matrix and a time course speed matrix of the ith step of the j-1 th round by using the test substructure; n and E are respectively a numerical substructure and a test substructure; i is the number of integration steps; j is the iteration round; a is g,i Is a seismic acceleration recording.
3. The real-time hybrid test method based on multitasking loading according to claim 2, characterized by comprising the following steps: the step-by-step integration method in the step S2 adopts a Zhai method, and the specific method is as follows:
a N,i ＝[-M N a g,i -C N v N,i -F N (d N,i )-F E (d E,i ,v E,i )]/M N
d N,i+1 ＝d N,i +v N,i Δt+(1/2+ψ)a N,i Δt 2 -ψa N,i-1 Δt 2
v N,i+1 ＝v N,i +(1+φ)a N,i Δt-φa N,i-1 Δt
wherein psi and phi are parameters introduced by the Zhai method, d N,i+1 Time course displacement matrix, v, of step i +1 of the numerical substructure N,i+1 Time course velocity matrix of step i +1 of the numerical substructure, a N,i-1 Is a time-course acceleration matrix of the (i-1) th step of the numerical substructure, and delta t is an integral step length.
4. The real-time hybrid test method based on multitasking loading according to claim 3, characterized by comprising the following steps: the time lag compensation method in the step S3 adopts a polynomial extrapolation method, and the specific method is as follows:
wherein tau is system time lag, b is data point number, t i Is the time of step i, d N Is a numerical substructure displacement matrix, d Nc Time-course command displacement matrix, d, being a numerical substructure Em And (4) measuring a displacement matrix for the time course of the test substructure.
5. The real-time hybrid test method based on multitasking loading according to claim 4, characterized by that: s6, the concrete method for correcting the test substructure time course reaction matrix is as follows:
in the formula (I), the compound is shown in the specification,
is a time-course actual measurement reaction matrix of a test substructure of the jth iteration round,
is a numerical model of the equivalent test substructure,
respectively is a time interval actual measurement displacement matrix measured in the ith step of the jth round of the test substructure and a time interval actual measurement speed matrix calculated,
and (4) a j-th round correction test substructure time course reaction matrix.
6. The real-time hybrid test method based on multitasking loading according to claim 5, characterized in that: the convergence judgment in the step S7 adopts the root mean square error and the relative area error for judgment:
wherein, RMSE is root mean square error, RAE is relative area error, and T is total time of a time interval.
7. The real-time hybrid test method based on multitasking loading according to claim 6, characterized in that: the iteration convergence control method in the step S8 adopts a fixed point iteration method; actual measurement displacement matrix of output time interval for jth round
Actually measured displacement matrix of j +1 th round output time interval
Expressed as:
the iteration target F (d) is set to:
for an arbitrary initial value
Satisfy the requirements of
Convergence of stationary point iteration method is completed, d * And (b) is the solution of F (d), and a and b are the starting point and the end point of the numerical range.
8. Electronic device, characterized in that it comprises a memory and a processor, the memory storing a computer program, the processor implementing the steps of a real-time hybrid test method based on multitasking loading according to any of claims 1-7 when executing said computer program.
9. Computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for real-time hybrid testing based on multitasking and loading according to any one of claims 1-7.
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| CN117131741B (en) * | 2023-09-04 | 2024-05-07 | 东北电力大学 | Wind-resistant real-time hybrid experiment method and system for power transmission tower substructure |
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