CN116007964A - Verification device and method for vibration reduction control strategy of carrier - Google Patents
Verification device and method for vibration reduction control strategy of carrier Download PDFInfo
- Publication number
- CN116007964A CN116007964A CN202211563457.4A CN202211563457A CN116007964A CN 116007964 A CN116007964 A CN 116007964A CN 202211563457 A CN202211563457 A CN 202211563457A CN 116007964 A CN116007964 A CN 116007964A
- Authority
- CN
- China
- Prior art keywords
- vibration
- controller
- characteristic parameters
- instruction
- control strategy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000011217 control strategy Methods 0.000 title claims abstract description 57
- 230000009467 reduction Effects 0.000 title claims abstract description 57
- 238000012795 verification Methods 0.000 title claims abstract description 45
- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000013016 damping Methods 0.000 claims abstract description 103
- 239000006096 absorbing agent Substances 0.000 claims abstract description 10
- 238000004088 simulation Methods 0.000 claims abstract description 4
- 238000012545 processing Methods 0.000 claims description 14
- 238000004458 analytical method Methods 0.000 claims description 12
- 230000008859 change Effects 0.000 claims description 9
- 238000003491 array Methods 0.000 claims description 7
- 230000035939 shock Effects 0.000 claims description 6
- 230000003595 spectral effect Effects 0.000 claims description 3
- 238000001845 vibrational spectrum Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 claims description 2
- 238000010200 validation analysis Methods 0.000 claims 1
- 239000000725 suspension Substances 0.000 description 13
- 238000010586 diagram Methods 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 238000011160 research Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Abstract
The invention discloses a verification device and a verification method for vibration reduction control strategies of a carrier, wherein the device comprises the following components: a controller for loading a damping control strategy; the simulation actual vibrator is used for simulating the vibration of the actual carrying tool and performing vertical vibration; the first sensor is used for acquiring and simulating vibration characteristic parameters of the actual vibrator and transmitting the vibration characteristic parameters to the controller; the controller is also used for generating a vibration damping instruction by using a vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration damping instruction to the vibration damper; the vibration absorber is used for carrying out vibration opposite to the vibration direction of the simulated actual vibrator according to the vibration reduction instruction; the second sensor is used for collecting vibration characteristic parameters of the vibration damper and transmitting the vibration characteristic parameters to the controller; and the controller is also used for verifying the functional effectiveness of the vibration reduction control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration damper. The invention can well verify the functional effectiveness of the vibration damping control strategy.
Description
Technical Field
The invention relates to the technical field of vibration damping control of a carrier, in particular to a verification device and a verification method of a vibration damping control strategy of the carrier.
Background
At present, vibration damping control devices exist on railway vehicles, automobile vehicles, ships and other transportation tools, and although the existing vibration damping control technology can resist partial vibration influence, the main flow vibration damping technology still can not realize self-adaptive active control. Suspension systems are an important component of a vehicle for vibration damping. For example, the train runs on the rail, and the suspension transfers the forces and moments exerted by the rail on the wheels to the vehicle body. Therefore, research on suspension systems is of great importance to improve overall vehicle performance. The active suspension can dynamically and adaptively adjust the rigidity and the damping of the suspension according to the change of the running condition of the train, so that the suspension system is always in an optimal vibration reduction state. Control studies on active suspensions have therefore been of great interest. Along with development and application of microcomputer technology and control theory, intelligent control is introduced into the field of suspension research to form an intelligent suspension system of a vehicle, so that the self-adaptive capacity of the suspension technology can be improved. At present, the research on the vibration damping control strategy of the vehicle-mounted tool is more, but the practical application test is very little, and for the reason of the fact, the device or the method for verifying the vibration damping control strategy is relatively less, and particularly, no scheme for verifying the control effect of active vibration damping and self-adaptive vibration damping of the vehicle-mounted tool exists at present.
Disclosure of Invention
The invention provides a verification device and a verification method for a vibration damping control strategy of a carrier, which are used for verifying the vibration damping control strategy of the carrier. The technical scheme is as follows:
in one aspect, there is provided an apparatus for validating a damping control strategy of a vehicle, the apparatus comprising: a controller, a simulated actual vibrator, a first sensor, a shock absorber and a second sensor, wherein,
the controller is used for loading a vibration reduction control strategy of the carrier;
the simulated actual vibrator is used for simulating the vibration of an actual carrying tool and performing vertical vibration;
the first sensor is used for collecting vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration characteristic parameters to the controller;
the controller is also used for generating a vibration damping instruction by using the vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration damping instruction to the vibration damper;
the vibration damper is used for vibrating in the direction opposite to the vibration direction of the simulated actual vibrator according to the vibration damping instruction;
the second sensor is used for collecting vibration characteristic parameters of the shock absorber and transmitting the vibration characteristic parameters to the controller;
the controller is further used for verifying the functional effectiveness of the vibration reduction control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration absorber.
Optionally, the simulating actual vibrator specifically includes: the device comprises a signal generator, at least one vibration exciter and a vibration platform, wherein,
the signal generator is used for generating a vibration instruction simulating an actual vibration spectral line and transmitting the vibration instruction to the corresponding vibration exciter;
the vibration exciter is used for exciting the vibration platform to perform vertical vibration.
Optionally, the first sensor is placed on the vibration platform, and the first sensor is specifically configured to collect a vibration characteristic parameter of the vibration platform and transmit the vibration characteristic parameter to the controller.
Optionally, the controller specifically includes: an analysis processing sub-module and an instruction generation sub-module, wherein,
the analysis processing sub-module is used for analyzing the vibration characteristic parameters of the vibration platform and generating vibration reduction information by using the vibration reduction control strategy, wherein the vibration reduction information is reverse vibration waveforms, and the data form is a row of arrays which change along with time;
the instruction generation sub-module is used for converting the vibration reduction information into vibration reduction instructions of the electric signals.
Optionally, the vibration damper specifically includes an actuator, the actuator is placed on the vibration platform, and the actuator performs vibration opposite to the vibration direction of the vibration platform according to the vibration damping instruction.
Optionally, the simulated actual vibrator further comprises a base, the base is fixed on the ground, a plurality of support rods are arranged on the base, each support rod is connected with the vibration platform through an upper spring and a lower spring, and the vibration platform can vibrate vertically; the vibration exciter is fixed on the base and excites the vibration platform through a connecting rod; the actuator is directly fixed on the vibration platform.
Optionally, the vibration amplitude of the vibration exciter is controllable in (-5 mm, +5 mm), the vibration frequency is controllable in (5, 100 Hz), the maximum output force is 200N, and the weight is not more than 15kg;
the amplitude of the actuator is controllable in (-5 mm, +5 mm), the vibration frequency is controllable in (5,100 Hz), the maximum force (200N) is not more than 15kg;
the size of the vibration platform is within 700 x 500 x 10mm, and the weight is not more than 7kg.
In another aspect, a method for verifying a vibration damping control strategy of a vehicle is provided, the method comprising:
s1, loading a vibration reduction control strategy of the carrier to a controller of a verification device;
s2, simulating the vibration of an actual carrying tool by using a simulated actual vibrator of the verification device, and performing vertical vibration;
s3, a first sensor of the verification device collects vibration characteristic parameters of the simulated actual vibrator and transmits the vibration characteristic parameters to the controller;
s4, the controller generates a vibration damping instruction by using the vibration damping control strategy according to the vibration characteristic parameter of the simulated actual vibrator and transmits the vibration damping instruction to the vibration damper of the verification device, and the vibration damper performs vibration opposite to the vibration direction of the simulated actual vibrator according to the vibration damping instruction;
s5, a second sensor collects vibration characteristic parameters of the vibration damper and transmits the vibration characteristic parameters to the controller, and the controller verifies the functional effectiveness of the vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration damper.
Optionally, the simulating actual vibrator specifically includes: the system comprises a signal generator, at least one vibration exciter and a vibration platform, wherein the simulation actual vibrator of the verification device of S2 simulates the vibration of an actual carrying tool to perform vertical vibration, and specifically comprises the following steps:
the signal generator generates a vibration instruction simulating an actual vibration spectrum line and transmits the vibration instruction to the corresponding vibration exciter;
and the vibration exciter excites the vibration platform to perform vertical vibration.
Optionally, the vibration damper specifically includes an actuator, the controller in S4 generates a vibration damping command using the vibration damping control strategy according to the vibration characteristic parameter of the simulated actual vibrator, and transmits the vibration damping command to the vibration damper of the verification device, and the vibration damper performs vibration opposite to the vibration direction of the simulated actual vibrator according to the vibration damping command specifically includes:
the analysis processing submodule of the controller analyzes the vibration characteristic parameters of the vibration platform, and generates vibration reduction information by using the vibration reduction control strategy, wherein the vibration reduction information is reverse vibration waveforms, and the data form is a series of arrays which change with time;
the instruction generation submodule of the controller converts the vibration reduction information into a vibration reduction instruction of an electric signal and transmits the vibration reduction instruction to the actuator, and the actuator vibrates in the direction opposite to the vibration direction of the vibration platform according to the vibration reduction instruction.
The technical scheme provided by the invention has the beneficial effects that at least:
the invention can well verify the functional effectiveness of the vibration reduction control strategy of the carrier, can provide scientific, standard and objective verification capability for the feasibility of the active control technology, promotes the rapid deployment of the active control technology on the carrier, can promote the structural optimization and the functional improvement of the carrier, improves the dynamic characteristics of the carrier such as vehicles, ships and the like in the transportation process, reduces the mechanical friction and vibration loss, and improves the equipment reliability and the riding comfort.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a block diagram of a verification device for a vibration damping control strategy for a vehicle in accordance with an embodiment of the present invention;
FIG. 2 is a detailed block diagram of a verification device for a vibration damping control strategy of a vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for verifying a vibration damping control strategy for a vehicle in accordance with an embodiment of the present invention;
FIG. 4 is a block diagram of a damping control verification system provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of an operation interface of a vibration damping control verification system according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides a verification device of a vibration damping control strategy of a carrier, which comprises the following components: a controller, a simulated actual vibrator, a first sensor, a shock absorber and a second sensor, wherein,
the controller is used for loading a vibration reduction control strategy of the carrier;
the simulated actual vibrator is used for simulating the vibration of an actual carrying tool and performing vertical vibration;
the first sensor is used for collecting vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration characteristic parameters to the controller;
the controller is also used for generating a vibration damping instruction by using the vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration damping instruction to the vibration damper;
the vibration damper is used for vibrating in the direction opposite to the vibration direction of the simulated actual vibrator according to the vibration damping instruction;
the second sensor is used for collecting vibration characteristic parameters of the shock absorber and transmitting the vibration characteristic parameters to the controller;
the controller is further used for verifying the functional effectiveness of the vibration reduction control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration absorber.
Referring to fig. 1-2, a verification device for vibration damping control strategy of a vehicle according to an embodiment of the present invention is described in detail.
As shown in fig. 1, optionally, the simulating actual vibrator specifically includes: the device comprises a signal generator, at least one vibration exciter and a vibration platform, wherein,
the signal generator is used for generating a vibration instruction simulating an actual vibration spectral line and transmitting the vibration instruction to the corresponding vibration exciter;
the vibration exciter is used for exciting the vibration platform to perform vertical vibration.
The vibration exciter of the embodiment of the invention can be two vibration exciters of the vibration exciter 1 and the vibration exciter 2, and can also be 1 or other quantity, and the embodiment of the invention is not limited in quantity and is within the protection scope of the embodiment of the invention.
Optionally, the first sensor is placed on the vibration platform, and the first sensor is specifically configured to collect a vibration characteristic parameter of the vibration platform and transmit the vibration characteristic parameter to the controller.
Specifically, the first sensor may be an acceleration sensor.
Optionally, the controller specifically includes: an analysis processing sub-module and an instruction generation sub-module, wherein,
the analysis processing sub-module is used for analyzing the vibration characteristic parameters of the vibration platform and generating vibration reduction information by using the vibration reduction control strategy, wherein the vibration reduction information is reverse vibration waveforms, and the data form is a row of arrays which change along with time;
the instruction generation sub-module is used for converting the vibration reduction information into vibration reduction instructions of the electric signals.
Optionally, the vibration damper specifically includes an actuator, the actuator is placed on the vibration platform, and the actuator performs vibration opposite to the vibration direction of the vibration platform according to the vibration damping instruction.
The actuator acts according to the vibration damping command (vibration in the opposite direction to the vibration of the vibration platform), with the purpose of counteracting the mechanical vibration transmitted by the vibration platform to the actuator itself.
Optionally, the second sensor is placed on the actuator, and is used for acquiring a vibration characteristic parameter of the actuator and transmitting the vibration characteristic parameter to the controller;
specifically, the second sensor may be an acceleration sensor.
Optionally, the controller is further configured to verify the functional validity of the vibration damping control strategy according to the vibration characteristic parameter of the vibration platform and the vibration characteristic parameter of the actuator.
Optionally, the verification device further comprises a power amplifier 1, a power amplifier 2 and a power amplifier 3, wherein the power amplifier 1 is arranged between the signal generator and the vibration exciter 1 and is used for amplifying a vibration instruction generated by the signal generator; the power amplifier 2 is arranged between the signal generator and the vibration exciter 2 and is used for amplifying a vibration instruction generated by the signal generator; the power amplifier 3 is arranged between the controller and the actuator and is used for amplifying a vibration reduction instruction generated by the controller.
As shown in fig. 2, optionally, the simulated actual vibrator further includes a base, where the base is fixed on the ground, and a plurality of support rods, for example, 4 support rods in fig. 2, are disposed on the base, and each support rod is connected to the vibration platform through two upper springs and two lower springs, so as to ensure that the vibration platform can vibrate vertically up and down; the vibration exciter is fixed on the base and excites the vibration platform through a connecting rod; the actuator is directly fixed on the vibration platform.
Optionally, the vibration amplitude of the vibration exciter is controllable in (-5 mm, +5 mm), the vibration frequency is controllable in (5, 100 Hz), the maximum output force is 200N, and the weight is not more than 15kg;
the amplitude of the actuator is controllable in (-5 mm, +5 mm), the vibration frequency is controllable in (5,100 Hz), the maximum force (200N) is not more than 15kg;
the size of the vibration platform is within 700 x 500 x 10mm, and the weight is not more than 7kg.
The verification device of the vibration damping control strategy of the carrying tool in the embodiment of the invention is better configuration after verification when the vibration exciter, the actuator and the vibration platform take the values, but the vibration exciter, the actuator and the vibration platform can take other values, the verification device is not limited by the values, the verification device is in the protection scope of the embodiment of the invention, and the placement and the construction form of the verification device can be properly adjusted according to objective conditions, and the verification device is also in the protection scope of the embodiment of the invention.
On the other hand, as shown in fig. 3, the embodiment of the invention further provides a method for verifying a vibration damping control strategy of a vehicle, which comprises the following steps:
s1, loading a vibration reduction control strategy of the carrier to a controller of a verification device;
s2, simulating the vibration of an actual carrying tool by using a simulated actual vibrator of the verification device, and performing vertical vibration;
s3, a first sensor of the verification device collects vibration characteristic parameters of the simulated actual vibrator and transmits the vibration characteristic parameters to the controller;
s4, the controller generates a vibration damping instruction by using the vibration damping control strategy according to the vibration characteristic parameter of the simulated actual vibrator and transmits the vibration damping instruction to the vibration damper of the verification device, and the vibration damper performs vibration opposite to the vibration direction of the simulated actual vibrator according to the vibration damping instruction;
s5, a second sensor collects vibration characteristic parameters of the vibration damper and transmits the vibration characteristic parameters to the controller, and the controller verifies the functional effectiveness of the vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration damper.
Optionally, the simulating actual vibrator specifically includes: the system comprises a signal generator, at least one vibration exciter and a vibration platform, wherein the simulation actual vibrator of the verification device of S2 simulates the vibration of an actual carrying tool to perform vertical vibration, and specifically comprises the following steps:
the signal generator generates a vibration instruction simulating an actual vibration spectrum line and transmits the vibration instruction to the corresponding vibration exciter;
and the vibration exciter excites the vibration platform to perform vertical vibration.
Optionally, the vibration damper specifically includes an actuator, the controller in S4 generates a vibration damping command using the vibration damping control strategy according to the vibration characteristic parameter of the simulated actual vibrator, and transmits the vibration damping command to the vibration damper of the verification device, and the vibration damper performs vibration opposite to the vibration direction of the simulated actual vibrator according to the vibration damping command specifically includes:
the analysis processing submodule of the controller analyzes the vibration characteristic parameters of the vibration platform, and generates vibration reduction information by using the vibration reduction control strategy, wherein the vibration reduction information is reverse vibration waveforms, and the data form is a series of arrays which change with time;
the instruction generation submodule of the controller converts the vibration reduction information into a vibration reduction instruction of an electric signal and transmits the vibration reduction instruction to the actuator, and the actuator vibrates in the direction opposite to the vibration direction of the vibration platform according to the vibration reduction instruction.
The following describes in detail a verification method of vibration damping control strategy of a vehicle according to an embodiment of the present invention with reference to fig. 4 and 5.
The verification method of the vibration damping control strategy of the carrier tool provided by the embodiment of the invention can be embodied by a vibration damping control verification system shown in fig. 4, wherein the system is divided into two large modules of interface display and background processing, and the interface display module comprises a vibration signal display sub-module and a control button display sub-module; the background processing submodule comprises three submodules of system initialization, data acquisition, analysis processing, instruction generation and the like.
1. Interface display module
(1) Vibration signal display sub-module:
during system operation, the submodule is used for displaying:
1) The first sensor collects data in the current time 1-2s, and displays the data on the left side of the system interface in a waveform diagram mode, and refreshes the data every 1s, so that the effect of feeding back the visual vibration condition in real time is achieved.
2) After analysis and calculation by the system, the waveform diagram of the actuator is output at the current moment, and the waveform diagram is displayed on the right side of a system interface and refreshed every 1s, so that the effect of feeding back visual output signals in real time is achieved.
(2) Control button display sub-module:
when the system is running, the submodule provides a man-machine interaction interface for a user to realize the functions that the user can control the system to execute corresponding tasks, such as starting vibration reduction, stopping vibration reduction, selecting different vibration reduction modes and the like by clicking a button.
2. Background processing sub-module
(1) System initialization submodule:
when the system is started, the system is connected with the two sensors and the controller, so that the system can continuously receive signals collected by the sensors after the system is started, output signals can be changed at any time, and the controller can generate corresponding vibration damping instructions to control the actuator.
(2) And a data acquisition sub-module:
the module is used for realizing the function of reading the data of the two sensors by the system. By means of this module it will be possible to set the acquisition frequency, acquisition delay and acquisition duration of the sensor while driving the sensor to continuously present data to the system main program in an easy-to-read manner. The module is written in C# language and packaged into an exe file, so that the main program can be directly called.
(3) And an analysis processing sub-module:
the system analyzes the vibration condition of the suspension system (vibration platform) by calling the module, and generates vibration damping information by using a vibration damping control strategy, wherein the vibration damping information is basically reverse vibration waveform for equipment using an actuator as vibration damping hardware, and the data form is a series of arrays which change with time.
(4) An instruction generation sub-module:
after the system calculates vibration damping information for vibration damping in the current state, the instruction generation submodule is used for converting the vibration damping information into an electric signal. And the electric signals are amplified by the power amplifier and then output to vibration damping hardware equipment (actuators) to realize the whole vibration damping control flow. The module is written in G language and packaged into dll file, so that the main program can be directly called.
The verification method comprises the following steps:
when the user uses the device, the vibration damping control strategy of the carrier can be loaded to the controller in the form of python, matlab, C language codes, a vibration damping control verification system in the controller operating system is opened, and a vibration damping control strategy code file is preloaded.
1. Start-up system
And (3) double-clicking the system, then selecting an operation environment which can meet the conditions, and after the operation is finished, pressing a start button to start the system.
The system will initialize and if successful, the system may be used at this point.
2. Starting or stopping vibration damping
After the system is operated for a period of time, the data acquired by the first sensor is displayed in a waveform diagram in the left side block diagram of the interface as shown in fig. 5. After the system acquires the first sensor data, vibration damping operation can be performed, at this time, a vibration damping button is clicked in the middle of the system interface as shown in fig. 5, the system calculates an output for vibration damping, and an output signal is displayed in a block diagram on the right side of the interface as shown in fig. 5. When the output signal is transmitted to the actuator, the intensity of vibration of the suspension system is greatly reduced, and at this time, the fluctuation of the data of the first sensor on the left side is smoothed. In the present case, the user may click the stop damping button to return the suspension system to the non-damped state.
3. Selecting vibration damping mode
Before starting vibration damping, the user may select a vibration damping mode based on the on vibration damping button at the interface shown in fig. 5. Different vibration damping modes can generate different vibration damping effects, so that different use scenes can be dealt with. If not, the intelligent vibration reduction mode is adopted by default.
4. Delay calibration
For damping control, an important factor in determining how good the damping effect is whether the system knows explicitly the time difference between the output signal and the feedback generated by the actuator, i.e. the response delay. Typically, the delay time is distributed over 1-3 seconds and is fixed as the system starts. There are few cases where the delay will change during system operation, where the delay calculated during system initialization is no longer applicable to the current scenario, and therefore it is necessary to manually let the system recalculate the delay, i.e. click the delay calibration button, to do this. After performing the delay calibration, the system displays the delay calibration result in the right block diagram of the system interface.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (10)
1. A validation apparatus for a vibration damping control strategy of a vehicle, the apparatus comprising: a controller, a simulated actual vibrator, a first sensor, a shock absorber and a second sensor, wherein,
the controller is used for loading a vibration reduction control strategy of the carrier;
the simulated actual vibrator is used for simulating the vibration of an actual carrying tool and performing vertical vibration;
the first sensor is used for collecting vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration characteristic parameters to the controller;
the controller is also used for generating a vibration damping instruction by using the vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and transmitting the vibration damping instruction to the vibration damper;
the vibration damper is used for vibrating in the direction opposite to the vibration direction of the simulated actual vibrator according to the vibration damping instruction;
the second sensor is used for collecting vibration characteristic parameters of the shock absorber and transmitting the vibration characteristic parameters to the controller;
the controller is further used for verifying the functional effectiveness of the vibration reduction control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration absorber.
2. The device according to claim 1, characterized in that said simulating an actual vibrator comprises in particular: the device comprises a signal generator, at least one vibration exciter and a vibration platform, wherein,
the signal generator is used for generating a vibration instruction simulating an actual vibration spectral line and transmitting the vibration instruction to the corresponding vibration exciter;
the vibration exciter is used for exciting the vibration platform to perform vertical vibration.
3. The apparatus of claim 2, wherein the first sensor is placed on the vibration platform, the first sensor being specifically configured to acquire a vibration characteristic parameter of the vibration platform and transmit the vibration characteristic parameter to the controller.
4. A device according to claim 3, wherein the controller comprises: an analysis processing sub-module and an instruction generation sub-module, wherein,
the analysis processing sub-module is used for analyzing the vibration characteristic parameters of the vibration platform and generating vibration reduction information by using the vibration reduction control strategy, wherein the vibration reduction information is reverse vibration waveforms, and the data form is a row of arrays which change along with time;
the instruction generation sub-module is used for converting the vibration reduction information into vibration reduction instructions of the electric signals.
5. The apparatus of claim 4, wherein the vibration dampener includes an actuator, the actuator being disposed on the vibration platform, the actuator performing vibrations in a direction opposite to a vibration direction of the vibration platform in response to the vibration dampening command.
6. The device according to claim 5, wherein the simulated actual vibrator further comprises a base, the base is fixed on the ground, a plurality of support rods are arranged on the base, each support rod is connected with the vibration platform through two springs at the upper part and the lower part, and the vibration platform can vibrate vertically; the vibration exciter is fixed on the base and excites the vibration platform through a connecting rod; the actuator is directly fixed on the vibration platform.
7. The device according to claim 6, wherein the vibration exciter has a controllable amplitude within (-5 mm, +5 mm) and a controllable vibration frequency within (5,100 hz), a maximum output force of 200N, and a weight of no more than 15kg;
the amplitude of the actuator is controllable in (-5 mm, +5 mm), the vibration frequency is controllable in (5,100 Hz), the maximum force (200N) is not more than 15kg;
the size of the vibration platform is within 700 x 500 x 10mm, and the weight is not more than 7kg.
8. A method of validating a vibration damping control strategy for a vehicle, the method comprising:
s1, loading a vibration reduction control strategy of the carrier to a controller of a verification device;
s2, simulating the vibration of an actual carrying tool by using a simulated actual vibrator of the verification device, and performing vertical vibration;
s3, a first sensor of the verification device collects vibration characteristic parameters of the simulated actual vibrator and transmits the vibration characteristic parameters to the controller;
s4, the controller generates a vibration damping instruction by using the vibration damping control strategy according to the vibration characteristic parameter of the simulated actual vibrator and transmits the vibration damping instruction to the vibration damper of the verification device, and the vibration damper performs vibration opposite to the vibration direction of the simulated actual vibrator according to the vibration damping instruction;
s5, a second sensor collects vibration characteristic parameters of the vibration damper and transmits the vibration characteristic parameters to the controller, and the controller verifies the functional effectiveness of the vibration damping control strategy according to the vibration characteristic parameters of the simulated actual vibrator and the vibration characteristic parameters of the vibration damper.
9. The method according to claim 8, characterized in that said simulating an actual vibrator comprises in particular: the system comprises a signal generator, at least one vibration exciter and a vibration platform, wherein the simulation actual vibrator of the verification device of S2 simulates the vibration of an actual carrying tool to perform vertical vibration, and specifically comprises the following steps:
the signal generator generates a vibration instruction simulating an actual vibration spectrum line and transmits the vibration instruction to the corresponding vibration exciter;
and the vibration exciter excites the vibration platform to perform vertical vibration.
10. The method according to claim 9, wherein the vibration damper specifically includes an actuator, the controller of S4 generates a vibration damping command using the vibration damping control strategy according to the vibration characteristic parameter of the simulated actual vibrator, and transmits the vibration damping command to the vibration damper of the verification device, and the vibration damper performs vibration in a direction opposite to the vibration direction of the simulated actual vibrator according to the vibration damping command, specifically including:
the analysis processing submodule of the controller analyzes the vibration characteristic parameters of the vibration platform, and generates vibration reduction information by using the vibration reduction control strategy, wherein the vibration reduction information is reverse vibration waveforms, and the data form is a series of arrays which change with time;
the instruction generation submodule of the controller converts the vibration reduction information into a vibration reduction instruction of an electric signal and transmits the vibration reduction instruction to the actuator, and the actuator vibrates in the direction opposite to the vibration direction of the vibration platform according to the vibration reduction instruction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211563457.4A CN116007964A (en) | 2022-12-07 | 2022-12-07 | Verification device and method for vibration reduction control strategy of carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211563457.4A CN116007964A (en) | 2022-12-07 | 2022-12-07 | Verification device and method for vibration reduction control strategy of carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116007964A true CN116007964A (en) | 2023-04-25 |
Family
ID=86018252
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211563457.4A Pending CN116007964A (en) | 2022-12-07 | 2022-12-07 | Verification device and method for vibration reduction control strategy of carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116007964A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11142282A (en) * | 1997-11-06 | 1999-05-28 | Hitachi Ltd | Method for inspecting vibration test device of structure |
| CN101315114A (en) * | 2007-06-01 | 2008-12-03 | 奇瑞汽车股份有限公司 | Vibration damping and energy-absorbing device of vehicle auxiliary frame and method thereof |
| CN204439372U (en) * | 2015-02-02 | 2015-07-01 | 中南大学 | Movable numerically-controlled model car |
| DE102014115612A1 (en) * | 2014-10-28 | 2016-04-28 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Test arrangement and method for testing a vibration damper |
| JP2016080538A (en) * | 2014-10-17 | 2016-05-16 | 三菱重工業株式会社 | Vibration testing device, vibration testing method |
| KR101665422B1 (en) * | 2015-06-01 | 2016-10-24 | 한국항공우주산업 주식회사 | The test apparatus for active vibration control of helicopter and the method of active vibration control |
| CN106092474A (en) * | 2016-05-31 | 2016-11-09 | 中国航空工业集团公司西安飞机设计研究所 | A kind of wing hanging engine vibration-damping STS system test set |
| CN207991781U (en) * | 2017-12-29 | 2018-10-19 | 石家庄铁道大学 | Test device for subtracting shock insulation control system |
| CN109799052A (en) * | 2019-02-14 | 2019-05-24 | 上海工程技术大学 | A kind of testing stand of analog orbit travelled by vehicle portion vibration dynamics system |
| CN110567665A (en) * | 2019-10-10 | 2019-12-13 | 河北建筑工程学院 | Vibration reduction and isolation model test device for railway vibration source |
| CN110823542A (en) * | 2019-11-06 | 2020-02-21 | 中车青岛四方机车车辆股份有限公司 | Shock absorber testing device and shock absorber testing method |
-
2022
- 2022-12-07 CN CN202211563457.4A patent/CN116007964A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11142282A (en) * | 1997-11-06 | 1999-05-28 | Hitachi Ltd | Method for inspecting vibration test device of structure |
| CN101315114A (en) * | 2007-06-01 | 2008-12-03 | 奇瑞汽车股份有限公司 | Vibration damping and energy-absorbing device of vehicle auxiliary frame and method thereof |
| JP2016080538A (en) * | 2014-10-17 | 2016-05-16 | 三菱重工業株式会社 | Vibration testing device, vibration testing method |
| DE102014115612A1 (en) * | 2014-10-28 | 2016-04-28 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Test arrangement and method for testing a vibration damper |
| CN204439372U (en) * | 2015-02-02 | 2015-07-01 | 中南大学 | Movable numerically-controlled model car |
| KR101665422B1 (en) * | 2015-06-01 | 2016-10-24 | 한국항공우주산업 주식회사 | The test apparatus for active vibration control of helicopter and the method of active vibration control |
| CN106092474A (en) * | 2016-05-31 | 2016-11-09 | 中国航空工业集团公司西安飞机设计研究所 | A kind of wing hanging engine vibration-damping STS system test set |
| CN207991781U (en) * | 2017-12-29 | 2018-10-19 | 石家庄铁道大学 | Test device for subtracting shock insulation control system |
| CN109799052A (en) * | 2019-02-14 | 2019-05-24 | 上海工程技术大学 | A kind of testing stand of analog orbit travelled by vehicle portion vibration dynamics system |
| CN110567665A (en) * | 2019-10-10 | 2019-12-13 | 河北建筑工程学院 | Vibration reduction and isolation model test device for railway vibration source |
| CN110823542A (en) * | 2019-11-06 | 2020-02-21 | 中车青岛四方机车车辆股份有限公司 | Shock absorber testing device and shock absorber testing method |
Non-Patent Citations (3)
| Title |
|---|
| 欧阳平超;焦宗夏;: "减振测试振动台及其控制系统", 沈阳航空工业学院学报, no. 05, 15 October 2007 (2007-10-15), pages 69 - 72 * |
| 欧阳平超;焦宗夏;: "减振测试振动台及其控制系统", 沈阳航空工业学院学报, no. 05, pages 69 - 72 * |
| 韦伟: "电磁主动悬架设计与控制策略研究", 工程科技Ⅱ辑, pages 107 - 109 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4158367B2 (en) | Vibration test apparatus and vibration response evaluation method | |
| US5610330A (en) | Effective road profile control method for a spindle-coupled road simulator | |
| US5648902A (en) | Method for measuring a damping force of a shock absorber in a suspension system for a motor vehicle and a measuring system thereof | |
| CN103575493A (en) | Device and method for appraising vibration test clamp | |
| CN207336090U (en) | A kind of active engine mount testing equipment | |
| JPH1137904A (en) | Device and method for testing vehicle | |
| CN107631886A (en) | Quiet, dynamic stiffness the test system and method for testing of a kind of suspending cushion | |
| CN101644629A (en) | Method of measuring torsional dynamics of a steering column at small dynamic amplitudes | |
| CN207263413U (en) | Half active two is locomotive suspension vibration control experiment platform | |
| CN110439959A (en) | A kind of robot and its vibration suppressing method | |
| KR102032490B1 (en) | System for measuring resistance of model ship using active vibration control technology | |
| JP2003083841A (en) | Vibration testing device | |
| CN105872930A (en) | Microphone testing equipment and microphone testing method capable of reducing interference vibration | |
| CN116007964A (en) | Verification device and method for vibration reduction control strategy of carrier | |
| Son et al. | Experiment of shock vibration control using active momentum exchange impact damper | |
| Koch et al. | Design and modeling of a quarter-vehicle test rig for active suspension control | |
| CN107907325A (en) | Transmission system vibration passes letter test system and method | |
| JP5282976B2 (en) | Contribution analysis method and apparatus | |
| CN106989880A (en) | Simulate ground seismic wave function lower member forces testing method and apparatus | |
| KR102032491B1 (en) | Method for measuring resistance of model ship using active vibration control technology | |
| CN113341769B (en) | Control algorithm testing method, system and equipment | |
| CN109799052A (en) | A kind of testing stand of analog orbit travelled by vehicle portion vibration dynamics system | |
| Stein | An electro-pneumatic active vibration control system for the driver's seat of agricultural tractors | |
| CN105136472B (en) | A kind of integration testing and the vehicle body damping detecting system of evaluation | |
| KR101252514B1 (en) | Apparatus for evaluating control logic of damper in real time |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |