CN117346993A - Load disturbance force compensation method for two-degree-of-freedom electro-hydraulic vibrating table - Google Patents
Load disturbance force compensation method for two-degree-of-freedom electro-hydraulic vibrating table Download PDFInfo
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- 239000011159 matrix material Substances 0.000 claims description 10
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 4
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- 239000010720 hydraulic oil Substances 0.000 claims description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/06—Multidirectional test stands
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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Abstract
The invention discloses a load disturbance force compensation method of a two-degree-of-freedom electro-hydraulic vibration table, which comprises the following steps: acceleration reference signal R of two-degree-of-freedom electrohydraulic vibrating table a As the input signal of the feedforward filter module, the output signal is denoted as R d The method comprises the steps of carrying out a first treatment on the surface of the R is R d As the input signal of the reference signal generator module, the output signal is denoted as q am The method comprises the steps of carrying out a first treatment on the surface of the Will q am As the input signal of the first integrator, the output signal is denoted q vm The method comprises the steps of carrying out a first treatment on the surface of the Will q vm As input signal to the second integrator module, the output signal is denoted q dm The method comprises the steps of carrying out a first treatment on the surface of the Obtaining pose signals q of two degrees of freedom of the electrohydraulic vibrating table d Angular velocity signal q v And angular acceleration signal q a The method comprises the steps of carrying out a first treatment on the surface of the Calculating an output signal u of the load disturbance force compensator module; u is taken as the driving signals of the two valve-controlled cylinder mechanisms. The invention can output the acceleration signal and add the acceleration of the electrohydraulic acceleration servo systemThe time domain peak value error of the speed reference signal is controlled within 30%, and the tracking precision of the acceleration reference signal is remarkably improved.
Description
Technical Field
The invention relates to a two-degree-of-freedom electro-hydraulic vibration table, in particular to a load disturbance force compensation method of the two-degree-of-freedom electro-hydraulic vibration table.
Background
The two-degree-of-freedom electrohydraulic vibration table has larger displacement and stronger anti-overturning moment, greatly improves the vibration testing efficiency of products, and is key equipment for carrying out vibration environment simulation test on large structural members. The acceleration servo control system is a core technology of the electrohydraulic vibrating table. The acceleration control can better reflect the forces and accelerations experienced by the structure under test in a vibratory environment, thereby more accurately testing the vibration resistance of the equipment and structure.
In the design process of the traditional two-degree-of-freedom electrohydraulic vibrating table controller, firstly, the command signals of two degrees of freedom are resolved into the motion signals of two actuators through kinematic analysis, and the design thought ignores the dynamic coupling between the two degrees of freedom of the electrohydraulic vibrating table caused by loads. In order to achieve vibration testing of large structural members, coupling between degrees of freedom is unavoidable. Meanwhile, the control precision of the electrohydraulic vibration table is seriously affected due to the zero offset of the servo valve. Taking the roll degree of freedom of the electrohydraulic vibrating table as an example, when the two-degree-of-freedom vibrating table system has load interference and zero offset of a servo valve, the traditional control method is adopted, and the time domain peak value of the acceleration tracking error of the vibrating table exceeds 40%, so that the tracking precision of an acceleration reference signal is seriously influenced.
The Chinese patent ZL202110736897.4 discloses a disturbance force compensation method of a two-degree-of-freedom electro-hydraulic vibration table, which comprises the steps of resolving two-degree-of-freedom signals of the two-degree-of-freedom electro-hydraulic vibration table into control signals of two actuators through kinematic analysis, and then designing a disturbance force compensator. The method ignores dynamic coupling between two degrees of freedom of the electrohydraulic vibration table caused by the load, so that the compensation effect on the load disturbance force is limited.
Disclosure of Invention
In order to solve the problems in the prior art, the invention designs a two-degree-of-freedom electrohydraulic vibrating table load disturbance force compensation method, which can inhibit the influence of load disturbance force on the control precision of an electrohydraulic servo system under the condition of considering degree-of-freedom coupling and can effectively improve the tracking precision of an acceleration reference signal.
In order to achieve the above object, the technical scheme of the present invention is as follows: the load disturbance force compensation method of the two-degree-of-freedom electro-hydraulic vibration table comprises two vertical valve control cylinder mechanisms, a large Hooke hinge, a support, an upper platform and a lower platform; the two vertical valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 1 and a valve control cylinder mechanism No. 2; the lower ends of the valve control cylinder mechanism No. 1 and the valve control cylinder mechanism No. 2 are respectively connected with the lower platform through respective spherical hinges, the upper ends of the valve control cylinder mechanism and the valve control cylinder mechanism are respectively connected with the upper platform through respective spherical hinges, the upper platform is connected with the support through a large Hooke hinge, and the lower end of the support is fixedly connected with the lower platform. The upper platform performs rolling and pitching movements around the center of the large hook hinge.
And setting the center of the large Hooke hinge as a control point, and establishing an OXYZ coordinate system at the control point. The positive direction of the OX shaft points to the center of a connecting line of the center of a spherical hinge at the upper end of the valve control cylinder mechanism No. 1 and the valve control cylinder mechanism No. 2 from an O point; the OZ axis positive direction vertically points to the lower platform; the directions of the three coordinate axes OX, OY and OZ meet the right hand rule. d, d 1 Is half of the connecting line distance between the valve control cylinder mechanism No. 1 and the spherical hinge center at the upper end of the valve control cylinder mechanism No. 2, d 2 The projection length of the connecting line between the center of the large Hooke joint and the center of the spherical joint at the upper end of the No. 1 valve control cylinder mechanism on the OX shaft.
The load disturbance force compensation method comprises the following steps:
A. defining the acceleration reference signal of the two-degree-of-freedom electrohydraulic vibrating table as R a ，R a For a 2 x 1 vector, the expression is:
R a ＝[R ax R ay ] T
wherein R is ax An acceleration command signal representing a degree of freedom of roll; r is R ay An acceleration command signal indicating the degree of freedom of pitching. The superscript T denotes the transpose of the matrix. R is R a As the input signal of the feedforward filter module, the output signal is denoted as R d ，R d For a 2×1 vector, the calculation formula is:
where s is a complex variable in the Laplace transform, ω 0 Is natural frequency, zeta is damping ratio, K ar Is the acceleration gain, K vr Is the speed gain.
B. R is R d As the input signal of the reference signal generator module, the output signal is denoted as q am ，q am For a 2×1 vector, the calculation formula is:
wherein f 1 、f 2 Are all turning frequencies, and f 1 <f 2 。
C. Will q am As the input signal of the first integrator, the output signal is denoted q vm The calculation formula is as follows:
D. will q vm As input signal to the second integrator module, the output signal is denoted q dm The calculation formula is as follows:
E. acquiring displacement signals x of two sets of hydraulic cylinders in two-degree-of-freedom electrohydraulic vibrating table 1 、x 2 Velocity signal v 1 、v 2 Acceleration signal a 1 、a 2 Differential pressure signal P of two cavities of hydraulic cylinder L1 、P L2 . By inverse kinematics solution, the displacement signals x of the two actuators are determined 1 、x 2 Velocity signal v 1 、v 2 Acceleration signal a 1 、a 2 Respectively inputting the synthetic matrices to obtain pose signals q of two degrees of freedom of the electrohydraulic vibration table d Angular velocity signal q v And angular acceleration signal q a . Namely:
q d ＝J -1 [x 1 x 2 ] T
q v ＝J -1 [v 1 v 2 ] T
q a ＝J -1 [a 1 a 2 ] T
wherein J is a jacobian matrix, and the expression is:
J -1 is the inverse of jacobian J. P (P) L 2X 1 vector composed of two hydraulic cylinder differential pressure signals;
P L ＝[P L1 P L2 ] T
F. signal q d 、q v 、q a 、P L 、q dm 、q vm 、q am As an input signal of the load disturbance force compensator module, calculating an output signal u of the load disturbance force compensator module, wherein the calculation formula is as follows:
α 2 ＝-MK 1 (q v -q vm )+J T AP Lm -K 2 K 1 (q d -q dm )-K 2 (q v -q vm )
-D 1 tanh[ε 1 -1 (K 1 q d -K 1 q dm +q v -q vm )]
wherein M is a load mass matrix, A is annular effective area between the piston and the piston rod of the hydraulic cylinder, and V t Is the total volume of two cavities, k of the hydraulic cylinder f For feeding back gain coefficients, k d For the electric gain coefficient, K of the servo valve ce Is the sum of the flow pressure coefficient of the servo valve and the leakage coefficient in the hydraulic cylinder, K q0 Maximum flow gain beta of no-load servo valve e For the bulk modulus of the hydraulic oil, K 1 、K 2 、K 3 、D 1 、D 2 、ε 1 、ε 2 Are both second order diagonal arrays. Wherein K is 1 、K 2 、K 3 、D 1 、D 2 、ε 1 、ε 2 Are all set by engineers in the field.
G. And the output signal u of the load disturbance force compensator module is used as a driving signal of the two valve control cylinder mechanisms and is input into the two valve control cylinder mechanisms to drive the two-degree-of-freedom electro-hydraulic vibration table to move. .
Compared with the prior art, the invention has the following beneficial effects:
1. the time domain peak value error of the acceleration control of the electro-hydraulic vibration table exceeds 40% when the traditional control method is adopted by taking rolling as an example under the influence of dynamic coupling between two degrees of freedom of the electro-hydraulic vibration table caused by load, zero offset of a servo valve and other factors. The invention can control the time domain peak value error of the acceleration output signal and the acceleration reference signal of the electrohydraulic acceleration servo system within 30 percent, and remarkably improves the tracking precision of the acceleration reference signal.
2. All steps of the present invention may be implemented by software programming. The method is tested on an Advantech industrial personal computer IPC-610 with a CPU of Intel PD 2.6G and a memory of 1G, the running period of the algorithm is less than 1ms, and the experimental requirement of an electrohydraulic acceleration servo system can be met, so that the method is easy to realize by adopting computer digital control.
Drawings
Fig. 1 is a flow chart of the present invention.
FIG. 2 is a schematic diagram of a two-degree-of-freedom electro-hydraulic vibration table used in the present invention.
Fig. 3 is a simplified top view of fig. 2.
In the figure: 1. the device comprises a valve control cylinder mechanism No. 1, valve control cylinder mechanisms No. 2 and 2, a support, a large Hooke hinge, an upper platform, a lower platform and a lower platform.
Detailed Description
The invention is further described below with reference to the accompanying drawings. 1-3, a load disturbance force compensation method of a two-degree-of-freedom electro-hydraulic vibration table comprises two vertical valve control cylinder mechanisms, a large Hooke hinge 4, a support 3, an upper platform 5 and a lower platform 6; the two vertical valve control cylinder mechanisms are respectively a valve control cylinder mechanism 1 and a valve control cylinder mechanism 2; the lower ends of the valve control cylinder mechanisms 1 and 2 are respectively connected with the lower platform 6 through respective spherical hinges, the upper ends of the valve control cylinder mechanisms are respectively connected with the upper platform 5 through respective spherical hinges, the upper platform 5 is connected with the support 3 through the large Hooke hinge 4, and the lower end of the support 3 is fixedly connected with the lower platform 6. The upper platform 5 performs rolling and pitching movements around the center of the large hook joint 4.
And setting the center of the large Hooke joint 4 as a control point, and establishing an OXYZ coordinate system at the control point. The positive direction of the OX shaft points to the center of a connecting line of the center of a spherical hinge at the upper end of the valve control cylinder mechanism 1 and the valve control cylinder mechanism 2 from an O point; the OZ axis positive direction vertically points to the lower platform 6; the directions of the three coordinate axes OX, OY and OZ meet the right hand rule. d, d 1 Is half of the connecting line distance between the centers of the spherical hinges at the upper ends of the valve control cylinder mechanism 1 and the valve control cylinder mechanism 2, d 2 The projection length of the connecting line between the center of the large Hooke joint 4 and the center of the spherical joint at the upper end of the valve control cylinder mechanism 1 is the projection length of the connecting line on the OX shaft.
The load disturbance force compensation method comprises the following steps:
A. defining the acceleration reference signal of the two-degree-of-freedom electrohydraulic vibrating table as R a ，R a For a 2 x 1 vector, the expression is:
R a ＝[R ax R ay ] T
wherein R is ax Acceleration command signal indicating degree of freedom of rollA number; r is R ay An acceleration command signal indicating the degree of freedom of pitching. The superscript T denotes the transpose of the matrix. R is R a As the input signal of the feedforward filter module, the output signal is denoted as R d ，R d For a 2×1 vector, the calculation formula is:
where s is a complex variable in the Laplace transform, ω 0 Is natural frequency, zeta is damping ratio, K ar Is the acceleration gain, K vr Is the speed gain.
B. R is R d As the input signal of the reference signal generator module, the output signal is denoted as q am ，q am For a 2×1 vector, the calculation formula is:
wherein f 1 、f 2 Are all turning frequencies, and f 1 <f 2 。
C. Will q am As the input signal of the first integrator, the output signal is denoted q vm The calculation formula is as follows:
D. will q vm As input signal to the second integrator module, the output signal is denoted q dm The calculation formula is as follows:
E. acquiring displacement signals x of two sets of hydraulic cylinders in two-degree-of-freedom electrohydraulic vibrating table 1 、x 2 Velocity signal v 1 、v 2 Acceleration signal a 1 、a 2 Differential pressure signal P of two cavities of hydraulic cylinder L1 、P L2 . By inverse kinematics solution, the displacement signals x of the two actuators are determined 1 、x 2 Velocity signal v 1 、v 2 Acceleration signal a 1 、a 2 Respectively inputting the synthetic matrices to obtain pose signals q of two degrees of freedom of the electrohydraulic vibration table d Angular velocity signal q v And angular acceleration signal q a . Namely:
q d ＝J -1 [x 1 x 2 ] T
q v ＝J -1 [v 1 v 2 ] T
q a ＝J -1 [a 1 a 2 ] T
wherein J is a jacobian matrix, and the expression is:
J -1 is the inverse of jacobian J. P (P) L 2X 1 vector composed of two hydraulic cylinder differential pressure signals;
P L ＝[P L1 P L2 ] T
F. signal q d 、q v 、q a 、P L 、q dm 、q vm 、q am As an input signal of the load disturbance force compensator module, calculating an output signal u of the load disturbance force compensator module, wherein the calculation formula is as follows:
α 2 ＝-MK 1 (q v -q vm )+J T AP Lm -K 2 K 1 (q d -q dm )-K 2 (q v -q vm )
-D 1 tanh[ε 1 -1 (K 1 q d -K 1 q dm +q v -q vm )]
wherein M is a load mass matrix, A is annular effective area between the piston and the piston rod of the hydraulic cylinder, and V t Is the total volume of two cavities, k of the hydraulic cylinder f For feeding back gain coefficients, k d For the electric gain coefficient, K of the servo valve ce Is the sum of the flow pressure coefficient of the servo valve and the leakage coefficient in the hydraulic cylinder, K q0 Maximum flow gain beta of no-load servo valve e For the bulk modulus of the hydraulic oil, K 1 、K 2 、K 3 、D 1 、D 2 、ε 1 、ε 2 Are both second order diagonal arrays. Wherein K is 1 、K 2 、K 3 、D 1 、D 2 、ε 1 、ε 2 Are all set by engineers in the field.
G. And the output signal u of the load disturbance force compensator module is used as a driving signal of the two valve control cylinder mechanisms and is input into the two valve control cylinder mechanisms to drive the two-degree-of-freedom electro-hydraulic vibration table to move.
The present invention is not limited to the present embodiment, and any equivalent concept or modification within the technical scope of the present invention is listed as the protection scope of the present invention.
Claims (1)
1. The load disturbance force compensation method of the two-degree-of-freedom electro-hydraulic vibration table comprises two vertical valve control cylinder mechanisms, a large Hooke hinge (4), a support (3), an upper platform (5) and a lower platform (6); the two vertical valve control cylinder mechanisms are respectively a valve control cylinder mechanism No. 1 and a valve control cylinder mechanism No. 2 (2); the lower ends of the valve control cylinder mechanisms No. 1 and No. 2 are respectively connected with the lower platform (6) through respective spherical hinges, the upper ends of the valve control cylinder mechanisms are respectively connected with the upper platform (5) through respective spherical hinges, the upper platform (5) is connected with the support (3) through a large Hooke hinge (4), and the lower end of the support (3) is fixedly connected with the lower platform (6); the upper platform (5) performs rolling and pitching movements around the center of the large hook hinge (4);
setting the center of the large Hooke joint (4) as a control point, and building the control pointAn OXYZ coordinate system is established; the positive direction of the OX shaft points to the center of a connecting line of the center of a spherical hinge at the upper end of the valve-controlled cylinder mechanism No. 1 and the valve-controlled cylinder mechanism No. 2 from an O point; the OZ axis positive direction vertically points to the lower platform (6); the directions of three coordinate axes of OX, OY and OZ meet the right hand rule; d, d 1 Is half of the connecting line distance between the upper spherical hinge centers of the valve control cylinder mechanism No. 1 (1) and the valve control cylinder mechanism No. 2 (2), d 2 The projection length of a connecting line between the center of the large Hooke joint (4) and the center of the spherical joint at the upper end of the valve control cylinder mechanism (1) on the OX shaft is as follows;
the method is characterized in that: the load disturbance force compensation method comprises the following steps:
A. defining the acceleration reference signal of the two-degree-of-freedom electrohydraulic vibrating table as R a ，R a For a 2 x 1 vector, the expression is:
R a ＝[R ax R ay ] T
wherein R is ax An acceleration command signal representing a degree of freedom of roll; r is R ay An acceleration command signal indicating a pitch degree of freedom; the superscript T denotes the transpose of the matrix; r is R a As the input signal of the feedforward filter module, the output signal is denoted as R d ，R d For a 2×1 vector, the calculation formula is:
where s is a complex variable in the Laplace transform, ω 0 Is natural frequency, zeta is damping ratio, K ar Is the acceleration gain, K vr Is the speed gain;
B. r is R d As the input signal of the reference signal generator module, the output signal is denoted as q am ，q am For a 2×1 vector, the calculation formula is:
wherein f 1 、f 2 Are all turning frequencies, andf 1 <f 2 ；
C. will q am As the input signal of the first integrator, the output signal is denoted q vm The calculation formula is as follows:
D. will q vm As input signal to the second integrator module, the output signal is denoted q dm The calculation formula is as follows:
E. acquiring displacement signals x of two sets of hydraulic cylinders in two-degree-of-freedom electrohydraulic vibrating table 1 、x 2 Velocity signal v 1 、v 2 Acceleration signal a 1 、a 2 Differential pressure signal P of two cavities of hydraulic cylinder L1 、P L2 The method comprises the steps of carrying out a first treatment on the surface of the By inverse kinematics solution, the displacement signals x of the two actuators are determined 1 、x 2 Velocity signal v 1 、v 2 Acceleration signal a 1 、a 2 Respectively inputting the synthetic matrices to obtain pose signals q of two degrees of freedom of the electrohydraulic vibration table d Angular velocity signal q v And angular acceleration signal q a The method comprises the steps of carrying out a first treatment on the surface of the Namely:
q d ＝J -1 [x 1 x 2 ] T
q v ＝J -1 [v 1 v 2 ] T
q a ＝J -1 [a 1 a 2 ] T
wherein J is a jacobian matrix, and the expression is:
J -1 is jacobian momentAn inverse matrix of array J; p (P) L 2X 1 vector composed of two hydraulic cylinder differential pressure signals;
P L ＝[P L1 P L2 ] T
F. signal q d 、q v 、q a 、P L 、q dm 、q vm 、q am As an input signal of the load disturbance force compensator module, calculating an output signal u of the load disturbance force compensator module, wherein the calculation formula is as follows:
α 2 ＝-MK 1 (q v -q vm )+J T AP Lm -K 2 K 1 (q d -q dm )-K 2 (q v -q vm )-D 1 tanh[ε 1 -1 (K 1 q d -K 1 q dm +q v -q vm )]
wherein M is a load mass matrix, A is annular effective area between the piston and the piston rod of the hydraulic cylinder, and V t Is the total volume of two cavities, k of the hydraulic cylinder f For feeding back gain coefficients, k d For the electric gain coefficient, K of the servo valve ce Is the sum of the flow pressure coefficient of the servo valve and the leakage coefficient in the hydraulic cylinder, K q0 Maximum flow gain beta of no-load servo valve e For the bulk modulus of the hydraulic oil, K 1 、K 2 、K 3 、D 1 、D 2 、ε 1 、ε 2 Are both second order diagonal arrays. Wherein K is 1 、K 2 、K 3 、D 1 、D 2 、ε 1 、ε 2 Are all set by engineers on site;
G. and the output signal u of the load disturbance force compensator module is used as a driving signal of the two valve control cylinder mechanisms and is input into the two valve control cylinder mechanisms to drive the two-degree-of-freedom electro-hydraulic vibration table to move.
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