CN117991645B - Multipoint cooperative control method of road simulation system - Google Patents
Multipoint cooperative control method of road simulation system Download PDFInfo
- Publication number
- CN117991645B CN117991645B CN202410363698.7A CN202410363698A CN117991645B CN 117991645 B CN117991645 B CN 117991645B CN 202410363698 A CN202410363698 A CN 202410363698A CN 117991645 B CN117991645 B CN 117991645B
- Authority
- CN
- China
- Prior art keywords
- control
- acceleration
- displacement
- controller
- designing
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000004088 simulation Methods 0.000 title claims abstract description 21
- 230000001133 acceleration Effects 0.000 claims abstract description 59
- 238000006073 displacement reaction Methods 0.000 claims abstract description 35
- 238000011217 control strategy Methods 0.000 claims abstract description 15
- 239000003381 stabilizer Substances 0.000 claims abstract description 4
- 230000003313 weakening effect Effects 0.000 claims abstract description 4
- 230000005284 excitation Effects 0.000 claims description 17
- 230000015572 biosynthetic process Effects 0.000 claims description 12
- 238000003786 synthesis reaction Methods 0.000 claims description 12
- 239000013598 vector Substances 0.000 claims description 12
- 230000000694 effects Effects 0.000 claims description 9
- 238000013016 damping Methods 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 6
- 238000012546 transfer Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 101100001674 Emericella variicolor andI gene Proteins 0.000 claims description 3
- 238000003491 array Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009977 dual effect Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 12
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
The invention provides a multipoint cooperative control method of a road simulation system, which is characterized by comprising the following steps of: s1, a signal generator generates a reference signal and converts a degree-of-freedom acceleration reference signal into a degree-of-freedom position signal; s2, designing a compensation controller, correcting an input reference acceleration command by using an inverse model of an acceleration closed-loop system, and then inputting the corrected acceleration command into a control system as a new reference signal; s3, designing a filter; s4, designing a three-state feedforward controller, wherein the adopted control strategy is displacement feedforward control, speed feedforward control and acceleration feedforward control; s5, designing a three-state feedback controller, wherein the adopted control strategy is to introduce speed feedback control on the basis of combining position feedback control and acceleration feedback control; s6, designing a pressure stabilizer for weakening internal force among the vibration exciters; s7, outputting displacement and acceleration signals by the vibration exciter.
Description
Technical Field
The invention belongs to the technical field of vehicle vibration testing, and particularly relates to a multipoint cooperative control method of a road simulation system.
Background
In the field of traffic engineering, a multipoint cooperative control method of a road simulation system is an important and continuously developed technology. Because of a certain risk and high test cost in real road tests, the indoor road simulation test is widely applied to the research and development fields of various vehicles due to the advantages of high safety, good repeatability, road test cost saving, test period shortening and the like.
In conventional road simulation systems, control of the loading stimulus is primarily dependent on a single point or local control strategy. Although the method can simulate the actual condition of the road to a certain extent, due to lack of cooperative control among multiple points, the method is difficult to accurately simulate the common influence of multiple excitation sources in the real road condition in the road system on the vehicle, so that the problems of low loading excitation precision and the like are caused. Therefore, with the continuous development of technology, higher requirements are put on the loading excitation control of the road simulation system. Therefore, there is a need to develop a coordinated control technique of multiple excitation sources for road simulation systems to meet the requirements of vehicle vibration testing. The multipoint collaborative loading excitation control method gradually becomes a research hot spot in the field of road simulation systems, and realizes collaborative control among multiple points by integrating multiple loading excitation devices so as to more accurately simulate complex loading conditions in the road systems. The method not only can improve the accuracy and efficiency of road simulation, but also can provide more real and reliable data support for the fields of road design, vehicle test and the like.
Disclosure of Invention
The invention provides a multipoint cooperative control method of a road simulation system, which comprises the following steps:
S1, generating a reference signal through a signal generator;
the signal generator converts the degree-of-freedom acceleration reference signal into a degree-of-freedom position signal, and the generated degree-of-freedom position signal comprises a sine signal, a road surface unevenness signal or a random signal;
S2, designing a compensation controller;
The compensation controller adopts a feedforward inverse compensation control strategy, namely, an inverse model of an acceleration closed-loop system is utilized to correct an input reference acceleration command, and then the corrected acceleration command is input into a control system as a new reference signal, and the method comprises the following steps:
s2-1, establishing an acceleration closed-loop system model with control quantity, wherein the model is as follows
A(z-1)y(k)＝z-dB(z-1)u(k)+C(z-1)ν(k)；
Wherein: u (k) is a system input excitation signal, y (k) is a system output signal, v (k) is a random disturbance signal, d is a pure time delay, and z －1 is a backward operator; a (z －1)、B(z－1) and C (z －1) are polynomials comprising a back-shift operator, which can be expressed in the following form:
Wherein: n a、nb and n c are the system orders to be determined;
s2-2, identifying an acceleration closed-loop system model, generating random road surface unevenness signals by using a reference signal generator, and defining vectors to be estimated Data vectorIs that
Wherein:
vector to be estimated based on RELS recursive algorithm Is expressed as
Wherein: k represents the kth moment, I is the identity matrix, P (K) is the covariance matrix, and K (K) is the gain vector;
S2-3, designing an acceleration feedforward inverse model
Obtaining an acceleration closed loop system model according to the steps S2-1 and S2-2, and assuming that the transfer function isExpressed in the following form
Wherein: to identify the resulting molecular polynomials that contain all the stable zeros, To identify the resulting molecular polynomials that contain all the unstable zeros,A denominator polynomial obtained for identification; let polynomialIs thatWherein: l is the order of the unstable zero point polynomial, then the acceleration system is inverse modelRepresented as
Wherein: z q is an added delay link for maintaining the causality of the designed inverse model, namely ensuring that the order of denominator is not less than the order of the numerator; Is that In the form of dual, all zeros andIs in inverse relation to the zero point of (C), and has the expression of
S3, designing a filter;
the filter is a notch filter with a transfer function of
Wherein K 1 is a parameter for adjusting the center frequency of the notch filter; k 2 is a parameter that adjusts the width of the notch filter; k 3 is a parameter that adjusts the depth of the notch filter; k 4 is a parameter that adjusts the amplitude at the low frequency of the notch filter; k 5 is a parameter that adjusts the amplitude at the high frequency of the notch filter; k 6 is a parameter for adjusting the depth of the notch filter, and the effect is opposite to K 3;
s4, designing a three-state feedforward controller;
The control strategy adopted by the three-state feedforward controller is displacement feedforward control, speed feedforward control and acceleration feedforward control, and the three-state feedforward controller meets the following conditions
The three-state feedforward controller parameters are
S5, designing a three-state feedback controller;
The control strategy adopted by the three-state feedback controller is to introduce speed feedback control on the basis of combining displacement feedback control and acceleration feedback control, and the speed feedback control is decomposed into two cases:
1) When the frequency of the reference signal is in a low frequency range, the displacement feedback control is taken as a main part, and the acceleration feedback control is taken as an auxiliary part; if the control effect of the system can reach the control precision, the speed feedback control is not introduced; otherwise, intervention is performed;
2) When the frequency of the reference signal is in a high frequency range, acceleration feedback control is taken as a main part, and displacement feedback control is taken as an auxiliary part; if the control effect of the system can reach the control precision, the speed feedback control is not introduced; otherwise, intervention is performed;
s6, designing a pressure stabilizer;
The pressure stabilizing controller is used for weakening the internal force between the vibration exciters, the control strategy is to take the pressure difference of each vibration exciter as feedback quantity, calculate the internal force of each vibration exciter, and then add the internal force value of each vibration exciter into the respective control loop according to a certain proportion after inverting;
s7, outputting displacement and acceleration signals by the vibration exciter.
Preferably, the criterion expression of the speed feedback control intervention adopted by the three-state feedback controller is
Wherein error is the output error of the vibration exciter; the displacement of the j-th vibration exciter output at the moment i; xj i is the output displacement of the j-th vibration exciter referenced at the moment i; kk is the total number of vibration exciters; nn is the observed output displacement time sequence length; η is the allowable control error.
In a preferred scheme, in the speed feedback control adopted by the three-state feedback controller, the speed synthesis adopts the following modes:
1) When the system is in a low frequency band, adopting a displacement derivative synthesis mode;
2) When the system is in a high frequency band, adopting an acceleration integration synthesis mode;
During speed synthesis, firstly, the acquired displacement and acceleration signals are respectively subjected to derivative and integral operation, and then the operation results are respectively synthesized through low-pass and high-pass filters to obtain the required speed feedback signals.
Preferably, the displacement, speed and acceleration feedback control parameter values of the three-state feedback controller are selected according to the following rules:
Wherein: omega r is the expected bandwidth of the position control system, omega nc is the expected natural frequency of the hydraulic system, ζ nc is the expected damping ratio of the hydraulic system, omega h is the natural angular frequency of the hydraulic system, ζ h is the hydraulic damping ratio, and K v is the system gain coefficient.
Preferably, the operation process of the press stabilization controller includes:
The output of each hydraulic vibration exciter in the first group of vibration excitation arrays z1 is P' z11、P'z12、P'z13、P'z14, wherein the internal force caused by coupling is P z11、Pz12、Pz13、Pz14 respectively, and the available internal force is as follows:
the difference value between the output of each hydraulic vibration exciter and the average force in the vertical direction can be obtained by the geometric relation among the actuators
Then, the introduced control amount is
Wherein K z11、Kz12、Kz13、Kz14 is the pressure gain of each hydraulic vibration exciter.
Compared with the prior art, the invention has the advantages that: the coordinated control scheme of the multipoint excitation sources in the road simulation test process is provided, so that the test vibration table can generate matched actions by utilizing the corresponding action machines of the excitation sources, and the common influence of various excitation sources in the real environment on the vehicle is reflected more truly, and the requirements of the tests of various types of vehicles in the road simulation test process are met.
Drawings
FIG. 1 is a topology diagram of excitation signal processing for a road simulation system.
Detailed Description
The scheme of the application is further described with reference to fig. 1 as follows:
to ensure that the output acceleration response of the system tracks the reference signal more accurately, each actuator of the excitation system must be loaded accurately. And obtaining a desired time domain driving signal by using the reference signal, a control algorithm and a strategy, and exciting the corresponding actuator by using each driving signal so as to generate a control output signal matched with the reference signal.
The multipoint cooperative control method of the road simulation system comprises the following steps:
S1, generating a reference signal through a signal generator;
the signal generator converts the degree-of-freedom acceleration reference signal into a degree-of-freedom position signal, and the generated degree-of-freedom position signal comprises a sine signal, a road surface unevenness signal or a random signal;
S2, designing a compensation controller;
The compensation controller adopts a feedforward inverse compensation control strategy, namely, an inverse model of an acceleration closed-loop system is utilized to correct an input reference acceleration command, and then the corrected acceleration command is input into a control system as a new reference signal, and the method comprises the following steps:
s2-1, establishing an acceleration closed-loop system model with control quantity, wherein the model is as follows
A(z-1)y(k)＝z-dB(z-1)u(k)+C(z-1)ν(k)；
Wherein: u (k) is a system input excitation signal, y (k) is a system output signal, v (k) is a random disturbance signal, d is a pure time delay, and z －1 is a backward operator; a (z －1)、B(z－1) and C (z －1) are polynomials comprising a back-shift operator, which can be expressed in the following form:
Wherein: n a、nb and n c are the system orders to be determined;
s2-2, identifying an acceleration closed-loop system model, generating random road surface unevenness signals by using a reference signal generator, and defining vectors to be estimated Data vectorIs that
Wherein:
vector to be estimated based on RELS recursive algorithm Is expressed as
Wherein: k represents the kth moment, I is the identity matrix, P (K) is the covariance matrix, and K (K) is the gain vector;
S2-3, designing an acceleration feedforward inverse model
Obtaining an acceleration closed loop system model according to the steps S2-1 and S2-2, and assuming that the transfer function isExpressed in the following form
Wherein: to identify the resulting molecular polynomials that contain all the stable zeros, To identify the resulting molecular polynomials that contain all the unstable zeros,A denominator polynomial obtained for identification; let polynomialIs thatWherein: l is the order of the unstable zero point polynomial, then the acceleration system is inverse modelRepresented as
Wherein: z q is an added delay link for maintaining the causality of the designed inverse model, namely ensuring that the order of denominator is not less than the order of the numerator; Is that In the form of dual, all zeros andIs in inverse relation to the zero point of (C), and has the expression of
S3, designing a filter;
the filter is a notch filter with a transfer function of
Wherein K 1 is a parameter for adjusting the center frequency of the notch filter; k 2 is a parameter that adjusts the width of the notch filter; k 3 is a parameter that adjusts the depth of the notch filter; k 4 is a parameter that adjusts the amplitude at the low frequency of the notch filter; k 5 is a parameter that adjusts the amplitude at the high frequency of the notch filter; k 6 is a parameter for adjusting the depth of the notch filter, and the effect is opposite to K 3;
s4, designing a three-state feedforward controller;
The control strategy adopted by the three-state feedforward controller is displacement feedforward control, speed feedforward control and acceleration feedforward control, and the three-state feedforward controller meets the following conditions
The three-state feedforward controller parameters are
S5, designing a three-state feedback controller;
The control strategy adopted by the three-state feedback controller is to introduce speed feedback control on the basis of combining displacement feedback control and acceleration feedback control, and the speed feedback control is decomposed into two cases:
1) When the frequency of the reference signal is in a low frequency range, the displacement feedback control is taken as a main part, and the acceleration feedback control is taken as an auxiliary part; if the control effect of the system can reach the control precision, the speed feedback control is not introduced; otherwise, intervention is performed;
2) When the frequency of the reference signal is in a high frequency range, acceleration feedback control is taken as a main part, and displacement feedback control is taken as an auxiliary part; if the control effect of the system can reach the control precision, the speed feedback control is not introduced; otherwise, intervention is performed;
specifically, the criterion expression of the speed feedback control intervention adopted by the three-state feedback controller is that
Wherein error is the output error of the vibration exciter; the displacement of the j-th vibration exciter output at the moment i; xj i is the output displacement of the j-th vibration exciter referenced at the moment i; kk is the total number of vibration exciters; nn is the observed output displacement time sequence length; η is the allowable control error.
In the speed feedback control adopted by the three-state feedback controller, the speed synthesis adopts the following modes:
1) When the system is in a low frequency band, adopting a displacement derivative synthesis mode;
2) When the system is in a high frequency band, adopting an acceleration integration synthesis mode;
During speed synthesis, firstly, the acquired displacement and acceleration signals are respectively subjected to derivative and integral operation, and then the operation results are respectively synthesized through low-pass and high-pass filters to obtain the required speed feedback signals.
The displacement, speed and acceleration feedback control parameter value selection rules of the three-state feedback controller are as follows:
Wherein: omega r is the expected bandwidth of the position control system, omega nc is the expected natural frequency of the hydraulic system (generally 1.05 omega h-1.2 omega h), and xi nc is the expected damping ratio of the hydraulic system (generally about 0.7); omega h is the natural angular frequency of the hydraulic system, ζ h is the hydraulic damping ratio, and K v is the system gain coefficient;
s6, designing a pressure stabilizer;
The pressure stabilizing controller is used for weakening the internal force between the vibration exciters, the control strategy is to take the pressure difference of each vibration exciter as feedback quantity, calculate the internal force of each vibration exciter, and then add the internal force value of each vibration exciter into the respective control loop according to a certain proportion after inverting; the specific process comprises the following steps:
The output of each hydraulic vibration exciter in the first group of vibration excitation arrays z1 is P' z11、P'z12、P'z13、P'z14, wherein the internal force caused by coupling is P z11、Pz12、Pz13、Pz14 respectively, and the available internal force is as follows:
the difference value between the output of each hydraulic vibration exciter and the average force in the vertical direction can be obtained by the geometric relation among the actuators
Then, the introduced control amount is
Wherein K z11、Kz12、Kz13、Kz14 is the pressure gain of each hydraulic vibration exciter;
s7, outputting displacement and acceleration signals by the vibration exciter.
The above-mentioned preferred embodiments should be regarded as illustrative examples of embodiments of the present application, and all such technical deductions, substitutions, improvements made on the basis of the same, similar or similar embodiments of the present application should be regarded as the protection scope of the present patent.
Claims (5)
1. The multipoint cooperative control method of the road simulation system is characterized by comprising the following steps of:
S1, generating a reference signal through a signal generator;
the signal generator converts the degree-of-freedom acceleration reference signal into a degree-of-freedom position signal, and the generated degree-of-freedom position signal comprises a sine signal, a road surface unevenness signal or a random signal;
S2, designing a compensation controller;
The compensation controller adopts a feedforward inverse compensation control strategy, namely, an inverse model of an acceleration closed-loop system is utilized to correct an input reference acceleration command, and then the corrected acceleration command is input into a control system as a new reference signal, and the method comprises the following steps:
s2-1, establishing an acceleration closed-loop system model with control quantity, wherein the model is as follows
A(z-1)y(k)＝z-dB(z-1)u(k)+C(z-1)ν(k)；
Wherein: u (k) is a system input excitation signal, y (k) is a system output signal, v (k) is a random disturbance signal, d is a pure time delay, and z －1 is a backward operator; a (z －1)、B(z－1) and C (z －1) are polynomials comprising a back-shift operator, which can be expressed in the following form:
Wherein: n a、nb and n c are the system orders to be determined;
s2-2, identifying an acceleration closed-loop system model, generating random road surface unevenness signals by using a reference signal generator, and defining vectors to be estimated Data vectorIs that
Wherein:
vector to be estimated based on RELS recursive algorithm Is expressed as
Wherein: k represents the kth moment, I is the identity matrix, P (K) is the covariance matrix, and K (K) is the gain vector;
S2-3, designing an acceleration feedforward inverse model
Obtaining an acceleration closed loop system model according to the steps S2-1 and S2-2, and assuming that the transfer function isExpressed in the following form
Wherein: to identify the resulting molecular polynomials that contain all the stable zeros, To identify the resulting molecular polynomials that contain all the unstable zeros,A denominator polynomial obtained for identification; let polynomialIs thatWherein: l is the order of the unstable zero point polynomial, then the acceleration system is inverse modelRepresented as
Wherein: z q is an added delay link for maintaining the causality of the designed inverse model, namely ensuring that the order of denominator is not less than the order of the numerator; Is that In the form of dual, all zeros andIs in inverse relation to the zero point of (C), and has the expression of
S3, designing a filter;
the filter is a notch filter with a transfer function of
Wherein K 1 is a parameter for adjusting the center frequency of the notch filter; k 2 is a parameter that adjusts the width of the notch filter; k 3 is a parameter that adjusts the depth of the notch filter; k 4 is a parameter that adjusts the amplitude at the low frequency of the notch filter; k 5 is a parameter that adjusts the amplitude at the high frequency of the notch filter; k 6 is a parameter for adjusting the depth of the notch filter, and the effect is opposite to K 3;
s4, designing a three-state feedforward controller;
The control strategy adopted by the three-state feedforward controller is displacement feedforward control, speed feedforward control and acceleration feedforward control, and the three-state feedforward controller meets the following conditions
The three-state feedforward controller parameters are
S5, designing a three-state feedback controller;
The control strategy adopted by the three-state feedback controller is to introduce speed feedback control on the basis of combining displacement feedback control and acceleration feedback control, and the speed feedback control is decomposed into two cases:
1) When the frequency of the reference signal is in a low frequency range, the displacement feedback control is taken as a main part, and the acceleration feedback control is taken as an auxiliary part; if the control effect of the system can reach the control precision, the speed feedback control is not introduced; otherwise, intervention is performed;
2) When the frequency of the reference signal is in a high frequency range, acceleration feedback control is taken as a main part, and displacement feedback control is taken as an auxiliary part; if the control effect of the system can reach the control precision, the speed feedback control is not introduced; otherwise, intervention is performed;
s6, designing a pressure stabilizer;
The pressure stabilizing controller is used for weakening the internal force between the vibration exciters, the control strategy is to take the pressure difference of each vibration exciter as feedback quantity, calculate the internal force of each vibration exciter, and then add the internal force value of each vibration exciter into the respective control loop according to a certain proportion after inverting;
s7, outputting displacement and acceleration signals by the vibration exciter.
2. The multipoint cooperative control method of the road simulation system according to claim 1, wherein: the criterion expression of the speed feedback control intervention adopted by the three-state feedback controller is that
Wherein error is the output error of the vibration exciter; the displacement of the j-th vibration exciter output at the moment i; xj i is the output displacement of the j-th vibration exciter referenced at the moment i; kk is the total number of vibration exciters; nn is the observed output displacement time sequence length; η is the allowable control error.
3. The multipoint cooperative control method of the road simulation system according to claim 2, wherein: in the speed feedback control adopted by the three-state feedback controller, the speed synthesis adopts the following modes:
1) When the system is in a low frequency band, adopting a displacement derivative synthesis mode;
2) When the system is in a high frequency band, adopting an acceleration integration synthesis mode;
During speed synthesis, firstly, the acquired displacement and acceleration signals are respectively subjected to derivative and integral operation, and then the operation results are respectively synthesized through low-pass and high-pass filters to obtain the required speed feedback signals.
4. A multipoint cooperative control method of a road simulation system according to claim 3, wherein: the displacement, speed and acceleration feedback control parameter value selection rules of the three-state feedback controller are as follows:
Wherein: omega r is the expected bandwidth of the position control system, omega nc is the expected natural frequency of the hydraulic system, ζ nc is the expected damping ratio of the hydraulic system, omega h is the natural angular frequency of the hydraulic system, ζ h is the hydraulic damping ratio, and K v is the system gain coefficient.
5. The multipoint cooperative control method of the road simulation system according to claim 1, wherein: the operation process of the pressure stabilizing controller comprises the following steps:
The output of each hydraulic vibration exciter in the first group of vibration excitation arrays z1 is P' z11、P'z12、P'z13、P'z14, wherein the internal force caused by coupling is P z11、Pz12、Pz13、Pz14 respectively, and the available internal force is as follows:
the difference value between the output of each hydraulic vibration exciter and the average force in the vertical direction can be obtained by the geometric relation among the actuators
Then, the introduced control amount is
Wherein K z11、Kz12、Kz13、Kz14 is the pressure gain of each hydraulic vibration exciter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410363698.7A CN117991645B (en) | 2024-03-28 | Multipoint cooperative control method of road simulation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410363698.7A CN117991645B (en) | 2024-03-28 | Multipoint cooperative control method of road simulation system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117991645A CN117991645A (en) | 2024-05-07 |
| CN117991645B true CN117991645B (en) | 2024-07-02 |
Family
ID=
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274770A (en) * | 2019-06-12 | 2019-09-24 | 湖南科技大学 | A kind of Vehicular vibration environmental simulation excitation loading device with crawler belt operation |
| CN115200903A (en) * | 2022-06-13 | 2022-10-18 | 中国第一汽车股份有限公司 | Displacement measurement system for road simulation test |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110274770A (en) * | 2019-06-12 | 2019-09-24 | 湖南科技大学 | A kind of Vehicular vibration environmental simulation excitation loading device with crawler belt operation |
| CN115200903A (en) * | 2022-06-13 | 2022-10-18 | 中国第一汽车股份有限公司 | Displacement measurement system for road simulation test |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Yang et al. | Output feedback control of electro-hydraulic servo actuators with matched and mismatched disturbances rejection | |
| Hiramoto et al. | Optimal sensor/actuator placement for active vibration control using explicit solution of algebraic Riccati equation | |
| CN101546173B (en) | Method and apparatus for controlling system | |
| CN108363301B (en) | Contour error cross-coupling control method based on interference observation sliding mode variable structure | |
| CN104796111B (en) | It is a kind of to be used for Dynamic Hysteresis system modelling and the nonlinear adaptable filter of compensation | |
| CN110488749B (en) | Contour error controller of multi-axis motion system and control method thereof | |
| US9600000B2 (en) | Method and device for active control of mechanical vibrations by implementation of a control law consisting of a central corrector and a Youla parameter | |
| CN104345638A (en) | ADRAC (active-disturbance-rejection adaptive control) method for hydraulic motor position servo system | |
| CN107807531B (en) | Self-adaptive inverse tracking control method for giant magnetostrictive tracking platform | |
| CN114278695B (en) | Semi-active control method for processing vibration of thin-wall part based on magneto-rheological damper | |
| CN117991645B (en) | Multipoint cooperative control method of road simulation system | |
| Qiu et al. | Multi-agent cooperative structural vibration control of three coupled flexible beams based on value decomposition network | |
| CN117991645A (en) | Multipoint cooperative control method of road simulation system | |
| CN116449710A (en) | Negative blurring method for flexible system with high resonance mode | |
| CN109324503B (en) | Multilayer neural network motor system control method based on robust integration | |
| CN114216693B (en) | Dynamic load simulation method and test bench for vehicle composite braking system | |
| KR101905743B1 (en) | New congruency-based hysteresis modeling of a piezoactuator incorporating an adaptive neuron fuzzy inference system and compensator thereof | |
| CN113110069B (en) | Iterative neural network robust control method based on magnetic suspension planar motor | |
| Seki et al. | Modeling and disturbance compensation aided by multibody dynamics analysis in shaking table systems | |
| Mai et al. | Fault tolerant tracking control for nonlinear systems based on derivative estimation | |
| Pei et al. | Model reference adaptive PID control of hydraulic parallel robot based on RBF neural network | |
| Zhao et al. | Intelligent compound control of vehicle active suspension based on RBF neural network | |
| Daly et al. | Experimental results for output feedback adaptive robot control | |
| Hang et al. | Model reference adaptive control using only input and output measurements | |
| Moura et al. | Frequency-shaped sliding modes: analysis and experiments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |