CN210802831U - Electromagnetic servo excitation system - Google Patents
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- CN210802831U CN210802831U CN201921109942.8U CN201921109942U CN210802831U CN 210802831 U CN210802831 U CN 210802831U CN 201921109942 U CN201921109942 U CN 201921109942U CN 210802831 U CN210802831 U CN 210802831U
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Abstract
The utility model provides an electromagnetism servo excitation system, wherein, the system includes: the system comprises an electromagnetic type excitation subsystem, a plurality of sensors and a controller, wherein the electromagnetic type excitation subsystem is connected with the sensors, and the electromagnetic type excitation subsystem and the sensors are both connected with the controller; the sensor is used for acquiring real-time response data of the electromagnetic excitation subsystem and the excited object in the current discrete control step; and the controller is used for generating a control signal of the current discrete control step in real time according to the target response data by using a discrete real-time control strategy. The utility model discloses the realization is to the real-time servo tracking of complicated dynamic characteristic excitation target, solves among the prior art very difficult realization excitation target's accurate tracking, output error great, need advance the technical problem of identification system dynamic characteristic.
Description
Technical Field
The utility model relates to a servo excitation technical field especially relates to an electromagnetism servo excitation system.
Background
The servo vibration exciter can accurately reproduce the vibration and even random vibration signals required by excited equipment, and the excitation test is gradually developed from the previous single-frequency sine or sine sweep excitation to the random excitation along with the continuous improvement of the requirements on product performance and reliability in recent years, so that the load spectrum waveform experienced by a tested piece can be accurately reproduced.
The existing device for realizing servo excitation has two types of hydraulic servo and electric servo. The hydraulic servo vibration exciter is mainly realized by controlling the pressure of a hydraulic actuating cylinder through a hydraulic proportional valve, has the advantages of high power density, wide output frequency band and the like, but has high system maintenance and operation cost, and a matched hydraulic station needs larger floor area. The electric servo vibration exciter utilizes the servo motor to drive the ball screw to serve as a moving cylinder, closed-loop control of excitation output is realized by controlling the rotating speed and the rotating angle of the servo motor, the electric servo vibration exciter has the advantage of simple maintenance, but the output torque of the motor is mainly used for overcoming the inertia force of a moving part, so the operation efficiency is low, and the closed-loop control of the excitation force is difficult to realize.
The closed-loop control method of the existing servo excitation device has two types of on-line and off-line, the on-line control adopts PID control, for a complex system, if an excited system has multi-stage resonance in an analysis frequency band or a target of servo tracking is far away from an excitation point, due to the coupling of the dynamic characteristics of the excited system and the excitation system, the accurate tracking of the excited target is difficult to realize by adopting simple PID control, and the output error is large; the off-line control is a frequency domain method, the dynamic characteristic of the system needs to be identified in advance through an excitation test, the output signal is obtained through a load identification method, for a system with complex dynamic characteristic or obvious nonlinearity, the excitation output of the system needs to be gradually converged through a multi-iteration method, and the operation process is very complex.
Disclosure of Invention
The present invention aims at solving at least one of the technical problems in the related art to a certain extent.
Therefore, the utility model aims to provide an electromagnetic servo excitation system to realize the real-time servo tracking to complicated dynamic characteristic excitation target, thereby, solve among the prior art difficult accurate tracking, the output error that realize the excitation target great, need the technical problem of the dynamic characteristic of identification system in advance.
In order to achieve the above object, an embodiment of the present invention provides an electromagnetic servo excitation system, including: the system comprises an electromagnetic type excitation subsystem, a plurality of sensors and a controller, wherein the electromagnetic type excitation subsystem is connected with the sensors, and both the electromagnetic type excitation subsystem and the sensors are connected with the controller; the sensor is used for acquiring real-time response data of the electromagnetic excitation subsystem and the excited object in the current discrete control step; and the controller is used for generating a control signal of the current discrete control step in real time according to the target response data by using a discrete real-time control strategy.
The utility model discloses electromagnetic servo excitation system, by electromagnetic type excitation subsystem, a sensor, the controller is constituteed, electromagnetic type excitation subsystem, exert exciting force to the excited vibration thing according to control signal, the sensor is installed and is measured the excitation head and exert force or displacement to the excited vibration thing on the excitation head, response data such as acceleration, perhaps install other positions at the excited vibration thing, measure vibration response such as its displacement, speed, acceleration or strain, as the real-time feedback of excitation effect, thereby the controller utilizes the real-time control algorithm to calculate the control signal for electromagnetic type excitation subsystem and realizes the real-time closed loop servo tracking of excitation system actual response to target response data. Therefore, the dynamic characteristics of the system do not need to be identified in advance, an offline identification link does not exist, and the real-time closed-loop servo tracking of the complex dynamic system is realized by utilizing the electromagnetic vibration exciter.
In one embodiment of the present invention, the electromagnetic excitation subsystem includes an electromagnetic exciter and a power amplifier, wherein the power amplifier is connected to the controller.
In an embodiment of the utility model, the electromagnetic vibration exciter, include: the electromagnetic excitation device comprises an electromagnetic excitation head and a fixing device, wherein the electromagnetic excitation head is connected with the fixing device.
In an embodiment of the present invention, the sensor is disposed on the electromagnetic excitation head; and/or the sensor is arranged on the excited object.
The utility model discloses an embodiment, the real-time response data of current discrete control step, include: one or more of excitation force response data of an excitation head, acceleration response data on the excitation head, speed response data on the excitation head and displacement response data on the excitation head in the electromagnetic excitation subsystem, and/or one or more of acceleration response data of an excited object, speed response data of the excited object, displacement response data of the excited object and strain response data of the excited object.
In an embodiment of the present invention, the controller includes: the device comprises a target signal processing assembly, a sensor signal acquisition assembly, a control signal output assembly and a calculation assembly.
The utility model discloses an embodiment, the controller still includes: a status display component, and/or an operation control component.
In one embodiment of the present invention, the target signal processing component includes an analog signal port, and/or a digital communication port.
The utility model discloses an embodiment, the control signal of present discrete control step is calculated according to target response data and historical control signal to the computational component.
In one embodiment of the present invention, the target response data includes: a sinusoidal signal, a sinusoidal frequency sweep signal, a triangular wave signal, a narrow-band random white noise signal, and a combination of one or more of the actual random load spectra of the excited object.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an electromagnetic servo excitation system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a specific electromagnetic servo excitation system according to an embodiment of the present invention;
fig. 3 is a schematic diagram of an electromagnetic excitation system using excitation displacement as an excitation target according to an embodiment of the present invention;
fig. 4 is a schematic diagram of an electromagnetic excitation system according to an embodiment of the present invention, which takes a certain point strain on a test piece as an excitation target;
fig. 5 is a flowchart of a real-time adaptive control method for an electromagnetic servo excitation system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
The electromagnetic servo excitation system according to the embodiment of the present invention is described below with reference to the drawings.
Fig. 1 is a schematic structural diagram of an electromagnetic servo excitation system according to an embodiment of the present invention.
As shown in fig. 1, the electromagnetic servo excitation system comprises an electromagnetic excitation subsystem 10, a sensor 20 and a controller 30, wherein both the electromagnetic excitation subsystem 10 and the sensor 20 are connected to the controller 30, and the electromagnetic excitation subsystem 10 is configured to apply an excitation force to an excited object 40 according to a control signal sent by the controller 30; the sensor 20 is used for acquiring real-time response data of the electromagnetic excitation subsystem and the excited object in the current discrete control step; and the controller 30 is used for generating a control signal of the current discrete control step in real time according to the target response data by using the discrete real-time control strategy.
Specifically, as shown in fig. 2, the electromagnetic servo excitation system comprises an electromagnetic excitation subsystem 10, a sensor 20 and a controller 30, wherein the electromagnetic excitation subsystem 10 converts an electrical signal into mechanical vibration of the excitation head 120 to apply an excitation force to the excited object, the sensor 20 is used for collecting real-time response data of the electromagnetic excitation subsystem 10 and the excited object in the current discrete control step, wherein the sensor 220 is mounted on the excitation head 120 to measure the excitation force response data applied by the excitation head 120 to the excited object 40, the sensor 230 is mounted on the excitation head 120 to measure one or more of acceleration response data on the excitation head, speed response data on the excitation head and displacement response data on the excitation head, the sensor 210 is mounted on the excited object 40 to measure the acceleration response data of the excited object at a position on the excited object 40, and the controller 30, In the velocity response data of the excited object, the displacement response data of the excited object, and the strain response data of the excited object, the actual response data may be one or more of the response data measured by the sensor, and is used as the real-time feedback of the excitation effect, and the controller 30 generates the control signal of the current discrete control step in real time according to the target response data by using the discrete real-time control strategy.
Specifically, in the present embodiment, the controller 30 includes: the device comprises a target signal processing assembly, a sensor signal acquisition assembly, a control signal output assembly and a calculation assembly. Further comprising: a status display component, and/or an operation control component. The target response data receiving/generating component includes a signal receiving module, and/or a signal generating module. The target signal processing component includes an analog signal port, and/or a digital communication port. The calculation component calculates the control signal in real time according to the target response data and the actual response data and historical data of the control signal. The signal generation module may autonomously generate the required target response data. Wherein the target response data may be one or more of a sinusoidal signal, a sinusoidal swept frequency signal, a triangular wave signal, a narrow band random white noise signal, or a random loading spectrum of the excited object. Depending on the purpose of the excitation test, the physical meaning of the target control signal may be the excitation force applied to the excited body 40, the excitation displacement, velocity or acceleration applied by the exciter 12, or the displacement, velocity, acceleration or strain response of other parts on the excited body 40.
Specifically, in the present embodiment, the electromagnetic excitation subsystem 10 includes an electromagnetic exciter 12 and a power amplifier 11, where the power amplifier 11 is connected to the electromagnetic exciter 12 and the controller 30, and the power amplifier 11 is configured to convert a control signal sent by the controller 30 into a power control signal; the electromagnetic exciter 12 is used for controlling the excited object 40 to vibrate mechanically according to a power control signal, and comprises: the electromagnetic excitation head 120 and the fixing device 121, wherein the electromagnetic excitation head 120 is connected with the fixing device 121, and the fixing device 121 is used for providing a fixing supporting force for the electromagnetic excitation head 120; the electromagnetic excitation head 120 is used to apply an excitation force to the excited object 40.
It can be understood that, in the embodiment of the present invention, as shown in fig. 2, the vibration exciter 12 is divided into a moving part (excitation head) and a stationary part, the excitation signal output by the controller 30 is amplified by the power amplifier 11 to be a power signal, the vibration exciter 12 is driven, and under the action of electromagnetic force, the moving part of the vibration exciter 12 moves relative to the stationary part, so as to apply excitation to the excited body 40. Due to the complex dynamic characteristic coupling between the exciter 12 and the excited body 40, the exciting force applied to the excited body 40 by the exciter 12 measured by the sensor 220, the displacement response data on the exciting head measured by the sensor 230, the velocity response data on the exciting head, the acceleration response data on the exciting head, or the displacement response data of the excited body 40, the velocity response data of the excited body, the acceleration response data of the excited body, the strain response data of the excited body measured by the sensor 210, and the like have a complex amplitude and phase relationship with the excitation signal output by the controller 30.
According to an embodiment of the present invention, the sensor 220 of the electromagnetic servo excitation system is disposed between the electromagnetic excitation head 120 and the excited object 40; and/or, the sensor 230 is disposed on the electromagnetic excitation head 120; and/or the sensor 210 is disposed on the excited object 40.
Specifically, as shown in fig. 2, the sensor 20 included in the system may be a plurality of types of sensors such as force, displacement, velocity, acceleration, or strain according to different servo excitation targets, wherein the force sensor 220 is installed between the excitation head 120 and the excited body 40 when the excitation force of the exciter 12 on the excited body 40 is taken as the servo target, the corresponding sensor 230 is installed on the excitation head 120 when the excitation displacement, velocity, or acceleration applied by the exciter 12 is taken as the servo target, or the sensor 210 may be installed at another part of the excited body 40 to realize servo tracking of the response of the far end of the excited body 40. During operation, a control algorithm integrated in the controller 30 calculates the signal output of the electromagnetic excitation subsystem in real time according to the feedback signal of the sensor 20, and completes closed-loop servo tracking of response data output by the excitation subsystem.
For example, as a specific embodiment of the present invention, as shown in fig. 3, the embodiment of the present invention is applied to the implementation of the detection of the shock absorber by the electromagnetic servo excitation system. The vibration damper is an excited body 40, the upper part of which is fixed to the frame part of the test bed, and the lower part of which is excited by the excitation head 120. A displacement sensor that reflects the vibration displacement of the vibration head 120 with respect to the vibration damper is attached to the vibration head 120. During the test, the upper computer generates a required excitation displacement signal according to the detection requirement of the shock absorber, and transmits the excitation displacement signal to the controller 30 through the ethernet port. The controller 30 receives the target response data, measures the actual feedback signal of the sensor 20, identifies the dynamic characteristics of the whole system including control signal output, power amplification, electromagnetic vibration exciter output, vibration absorber coupling and the like in real time, and adjusts the signal output to the vibration exciter 12 in real time, so that the displacement response of the vibration exciter head 120 to the vibration exciter 12 can accurately track the target response data sent by an upper computer, and the whole vibration exciting process is completed.
As another specific embodiment of the present invention, as shown in fig. 4, the embodiment of the present invention is specifically applied to a fatigue test of a test piece by an electromagnetic servo excitation system. The specimen is a specimen to be excited, the specimen 40 is fixed according to the constraint state when the specimen works, and the excitation head 120 excites the stress point of the specimen through an optional loading tool. And mounting a strain gauge at a fatigue sensitive point on the test piece, and taking the strain response of the point as the target response of excitation. During the test, the upper computer transmits the random load spectrum signal of the test piece to the controller 30 through the D/A output port as target response data. The controller 30 receives the target response data, measures the actual feedback signal of the sensor 30, identifies the dynamic characteristics of the whole system including control signal output, power amplification, electromagnetic vibration exciter output, tested piece coupling, strain response and the like in real time, and adjusts the signal output to the vibration exciter 12 in real time, so that the strain response of the tested piece at a target point can accurately reproduce a random load spectrum signal to be simulated, thereby completing the whole fatigue test process. Because the entire closed loop control system incorporates the dynamics of the test piece from the force input point to the sensor 20 response point, the test point (sensor placement point) may be selected at a different location than the force input point.
For example, in this embodiment, the calculation model may be composed of three modules, which are a minimum variance controller, an optimal prediction model, and a real-time parameter estimation. As shown in fig. 5, the controlled system covers all the links of the output of the controller in fig. 2, signal transmission, a power amplifier, electric/magnetic/force coupling of the electromagnetic exciter, the excited object, the sensor, and sensor signal measurement of the controller. For a controlled system, its input is a control signal generated by the controller to be transmitted to the power amplifier, and its output is measured response data of the sensor feedback. The real-time parameter estimation algorithm obtains model parameters of the controlled system by a recursive parameter estimation method according to historical data (u and y) so far. Because the controlled object generally has delay, the current control action can influence the output after a period of time, and the optimal prediction module makes optimal prediction on the output quantity in advance on the basis of the minimum error value of response data and a control signal. Finally, the minimum variance control module adjusts the control input quantity u to the controlled system according to the principle that the error value of the response data and the control signal is minimum, and when the error value is smaller than or equal to a preset threshold value, a target control signal is input into a pre-established calculation model to obtain a new control signal output by the calculation model; and when the error value is larger than the preset threshold value, updating the calculation model according to the error value, inputting the target control signal into the updated calculation model, and acquiring a new control signal output by the updated calculation model, thereby completing the servo tracking of the actual excitation output control signal.
It should be noted that, since the dynamic characteristics of the excited object are various, important parameters of the controlled system model are as follows: the order and the delay time are different for different excited bodies, and in order to reduce the human intervention in the excitation process, the order and the delay time of the model are evaluated and corrected in real time in the calculation model according to the error terms in the parameter estimation, optimal prediction and minimum variance control module so as to achieve the maximum automation.
To sum up, the utility model discloses electromagnetic servo excitation system comprises electromagnetic type excitation subsystem, sensor, controller, and the electromagnetic type excitation subsystem is applyed the exciting force to the excited vibration thing according to control signal, and the sensor is installed and is measured the excitation head and to the response data such as the power of being exerted or displacement, acceleration by the excited vibration thing on the excitation head, and as the real-time feedback of excitation effect, thereby the controller utilizes the real-time control algorithm to calculate the control signal for electromagnetic type excitation subsystem and realizes the real-time closed loop servo tracking of excitation system actual response to target response data. Therefore, the dynamic characteristics of the system do not need to be identified in advance, an offline identification link does not exist, and the real-time closed-loop servo tracking of the complex dynamic system is realized by utilizing the electromagnetic vibration exciter.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In addition, each functional unit in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (7)
1. An electromagnetic servo excitation system, comprising: the system comprises an electromagnetic type excitation subsystem, a plurality of sensors and a controller, wherein the electromagnetic type excitation subsystem is connected with the sensors, the electromagnetic type excitation subsystem and the sensors are both connected with the controller,
the electromagnetic type excitation subsystem is used for applying an excitation force to an excited object according to a control signal of the current discrete control step; the electromagnetic excitation subsystem comprises:
the power amplifier is connected with the electromagnetic exciter and the controller; the electromagnetic vibration exciter comprises: the device comprises an electromagnetic excitation head and a fixing device, wherein the electromagnetic excitation head is connected with the fixing device;
the sensor is used for acquiring real-time response data of the electromagnetic excitation subsystem and the excited object in the current discrete control step; the sensor is arranged on the electromagnetic excitation head; and/or the presence of a gas in the gas,
the sensor is arranged on the excited object;
and the controller is used for generating a control signal of the current discrete control step in real time according to the target response data by using a discrete real-time control strategy.
2. The system of claim 1, wherein the real-time response data for the current discrete control step comprises:
one or more of excitation force response data of an excitation head in the electromagnetic excitation subsystem, acceleration response data on the excitation head, speed response data on the excitation head, and displacement response data on the excitation head, and/or,
one or more of acceleration response data of the excited object, velocity response data of the excited object, displacement response data of the excited object, and strain response data of the excited object.
3. The system of claim 1, wherein the controller comprises:
the device comprises a target signal processing assembly, a sensor signal acquisition assembly, a control signal output assembly and a calculation assembly.
4. The system of claim 3, wherein the controller further comprises:
a status display component, and/or an operation control component.
5. The system of claim 4, wherein the target signal processing component comprises an analog signal port, and/or a digital communication port.
6. The system of claim 3, wherein the calculation component calculates the control signal for the current discrete control step based on the target response data and the historical control signal.
7. The system of claim 1, wherein the target response data comprises:
a sinusoidal signal, a sinusoidal frequency sweep signal, a triangular wave signal, a narrow-band random white noise signal, and a combination of one or more of the actual random load spectra of the excited object.
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