JP2012237634A - Vibration testing system and method for controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibration testing system for facilitating control of response amplitude of the maximum displacement amount and the maximum acceleration of a test object to a target value, and a method for controlling the same.SOLUTION: A vibration testing system 100 performs a vibration test by loading a test object 13 on a table 1, and exciting the test object 13 with a hydraulic exciter 2. The vibration testing system 100 includes: a servo controller 3 which controls the hydraulic exciter 2; an excitation controller 4 which controls the servo controller 3; a load sensor 11 which detects a load to be added from the hydraulic exciter 2 to the table; a displacement sensor 5, an acceleration sensor 6 which detect displacement and acceleration of the table; a displacement sensor 14, and an acceleration sensor 15 which detect displacement and acceleration of the test object 13. A response waveform calculation processing part 45 of the excitation controller 4 calculates relation between a characteristic frequency and the maximum amplitude of the test object 13 to a command waveform. A main vibration test condition setting part 47 sets main vibration test conditions from the relation between the characteristic frequency and the maximum amplitude of the test object 13 to the command waveform.

Description

  The present invention relates to a vibration test apparatus and a control method thereof, and more particularly to a vibration test apparatus and a vibration test method suitable for testing a structure under test.

In a vibration test apparatus for testing the strength of the test object, for example, a table on which the test object is installed is connected to a hydraulic shaker, and the test object on the table is controlled by the servo control apparatus. Vibrates.
In Patent Document 1, in order to generate a target waveform signal when the vibration test apparatus vibrates the device under test, the displacement and acceleration due to the vibration generated when the device under test is vibrated is fed back to the device under test. The technique of the vibration test apparatus which makes the target waveform of the vibration applied to the body is described.
At that time, before actually performing the vibration test of the actual test object, the test object fixed to the table is vibrated to obtain the dynamic characteristics of the hydraulic shaker, the table and the test object. The command waveform output from the servo controller to the hydraulic exciter is corrected using the dynamic characteristics, and the device under test is vibrated with the corrected vibration waveform.

  In Patent Document 2, in order to drive the hydraulic exciter so as to obtain a desired target waveform, an excitation command waveform such as a random waveform including all frequency bands constituting the target waveform is created, and this vibration is generated. There is described a technique of a vibration test apparatus that outputs a waveform from a servo control apparatus to a hydraulic shaker to vibrate a table on which a device under test is mounted. In the technique described in Patent Document 2, the actual vibration signal is digitally processed to obtain a transfer function of the entire vibration system including the device under test, and the command waveform is corrected using this transfer function.

Japanese Patent Laid-Open No. 2006-090761 JP-A-57-151840

  However, in the vibration test apparatuses described in Patent Documents 1 and 2, the excitation command waveform is corrected so that the table on which the device under test is mounted has a desired target waveform before the vibration test is performed. Yes. And when correcting the command waveform, after mounting the device under test on the table, the table is first vibrated using the basic vibration command waveform such as random wave, and the vibration system including the device under test The overall transfer function is obtained. Thereafter, the vibration command waveform is corrected using the obtained transfer function, and the table is vibrated with the corrected command waveform.

  That is, the vibration test apparatus described in Patent Documents 1 and 2, for example, confirms that the strength of the test object is sufficient by accurately reproducing the target waveform of the ground motion selected as the reference for the vibration test, The purpose is to confirm that the response characteristics of the DUT are in good agreement with the simulation calculations performed separately, and the degree of match between the target waveform and the response displacement waveform of the table or the response acceleration waveform of the table is high. It becomes important.

  On the other hand, there is a case where a vibration test is performed for the purpose of generating a target displacement amount or target acceleration in the device under test and grasping the influence of the device under test. In this case, it is important to reach the maximum displacement or maximum acceleration of the device under test up to the target amplitude value.

  If the device under test has linear vibration characteristics, it can be handled by a conventional vibration test apparatus. However, for example, a test object that simulates a building such as a house, a bridge, or a high-rise building, or a test object that simulates a moving object such as a road, a railroad track, a monorail track, an airport, or the like on the ground or on a track. In a vibration test when the vibration characteristic is characteristic of nonlinearity, it is difficult to accurately grasp the transfer function of the entire vibration system due to the nonlinearity of the vibration characteristic of the DUT. As a result, the amplitude of the command waveform could not be corrected using the transfer function. For this reason, confirm the response of the DUT with the DUT mounted on the table and vibrated with the hydraulic shaker, and the amplitude of the displacement and acceleration of the command waveform input to the servo controller, that is, It was necessary to adjust the vibration waveform, and a lot of time was spent on the vibration test.

  In addition, while adjusting the amplitude of the vibration waveform displacement and acceleration during the vibration test, the table on which the DUT is mounted continues to be vibrated, so the DUT may be deformed or damaged during this time. There was a risk. In addition, if the DUT cannot reach the target displacement amplitude or target acceleration amplitude unless the DUT is brought close to the resonance state in the natural vibration of the DUT, the command waveform can be set near the natural frequency of the DUT. It is necessary to adjust to the frequency.

  The present invention has been made in view of the above-described problems of the prior art, and a vibration test apparatus capable of easily controlling the response amplitude of the maximum displacement amount and the maximum acceleration of the device under test to a target value and its An object is to provide a control method.

  In order to solve the above-described problem, the vibration test apparatus of the present invention is configured such that the vibration control device that outputs a command waveform as a vibration command signal to the servo control device has at least an amplitude of a vibration displacement amount for generating the command waveform. Or an input means for receiving an input of a command amplitude that is either an amplitude of vibration acceleration, a first command waveform generating means for generating a command waveform based on the command amplitude input from the input means, and a first command Based on the command waveform generated in the waveform generating means, the control output means for outputting the command waveform as the vibration command signal to the servo control device, and the servo control device operated the vibrator according to the vibration command signal In this case, the command amplitude of the command waveform generated by the first command waveform generating means and the signal from the test object response sensor are obtained, and the natural frequency of the test object with respect to the command amplitude is calculated in parallel. Vibration characteristic calculation means for calculating the maximum amplitude of at least one of the displacement and acceleration of the object to be tested, and the test target calculated by the vibration characteristic calculation means in correspondence with the command amplitude input from the input means Storage means for storing the natural frequency and maximum amplitude of the body, and input means with reference to information on the correspondence relationship between the set of command amplitudes stored in the storage means and the natural frequency and maximum amplitude of the device under test In order to obtain the target maximum amplitude of the DUT input during the actual vibration test, the command amplitude during the actual vibration test and the corresponding command waveform are generated, and the control output means is excited. Second command waveform generating means for outputting as a command signal, and the control output means outputs the command waveform output from the second command waveform generating means to the servo controller as an excitation command signal, Operate the machine Characterized in that to perform the vibration test turn.

The first command waveform generating means desirably generates the command waveform by changing the frequency based on the frequency change information input from the input means.
The servo control device performs feedback control so that the vibration of the command waveform output from the control output means is applied to the table based on the signals from the plurality of control sensors and the table response sensor.

  The present invention also includes a method for controlling a vibration test apparatus.

According to the present invention, the first command waveform generation means generates the command waveform by changing the frequency based on the frequency change information input from the input means, and the vibration characteristic calculation means has the first command The command amplitude of the command waveform generated by the waveform generation means and the signal from the DUT response sensor are acquired, and at least the natural frequency of the DUT with respect to the command amplitude, the displacement amount and acceleration of the DUT Is calculated, and the natural frequency and the maximum amplitude of the device under test calculated in the vibration characteristic calculation means are stored in the storage means in correspondence with the command amplitude input from the input means. .
Then, the second command waveform generation means is input from the input means with reference to the information on the correspondence relationship between the plurality of sets of command amplitudes stored in the storage means and the natural frequency and maximum amplitude of the device under test. In order to obtain the target maximum amplitude of the device under test during the actual vibration test, a command amplitude and a corresponding command waveform during the actual vibration test are generated. Since the actual vibration test is performed by operating the shaker based on the generated command waveform, the shaker adds to the target vibration waveform of the displacement amount of the table on which the device under test is mounted. The maximum displacement amount and the maximum acceleration response amplitude of the DUT can be easily realized as the target values, not the degree of coincidence of the displacement amount with the actual vibration waveform.

  That is, in the vibration test of the DUT, it is not necessary to adjust the excitation command waveform while the DUT is being vibrated, and unnecessary vibration is applied to the DUT before the vibration test on the actual DUT. The time and number of times of giving can be reduced.

  ADVANTAGE OF THE INVENTION According to this invention, the vibration test apparatus which can make it easy to control the response amplitude of the maximum displacement amount and the maximum acceleration of a to-be-tested object to a target value, and its control method can be provided.

1 is a schematic block diagram of a vibration test apparatus according to an embodiment. It is a functional block block diagram of the vibration control apparatus in FIG. 4 is a flowchart showing a flow of control in which an actual vibration test is performed by acquiring vibration characteristics of a device under test with respect to a command displacement amount amplitude in the vibration control device. FIG. 4 is a continuation of the flowchart of FIG. 3. It is a continuation of the flowchart of FIG. It is explanatory drawing of the command waveform which a hydraulic shaker applies to a table, (a) is explanatory drawing of the command displacement amount waveform which is a command waveform, (b) respond | corresponds to the command displacement amount waveform which (a) shows. It is explanatory drawing of an acceleration amplitude waveform. It is explanatory drawing of the to-be-tested object vibration characteristic obtained with respect to instruction | command displacement amount amplitude. 4 is a flowchart showing a flow of control in which an actual vibration test is performed by acquiring vibration characteristics of a test object with respect to a command acceleration amplitude in the vibration control device. It is a continuation of the flowchart of FIG. FIG. 10 is a continuation of the flowchart of FIG. 9. It is explanatory drawing of the command waveform which a hydraulic shaker applies to a table, (a) is explanatory drawing of a command acceleration waveform, (b) is explanatory drawing of the command waveform corresponding to a command acceleration waveform. It is explanatory drawing of the to-be-tested object vibration characteristic obtained with respect to command acceleration amplitude.

Hereinafter, a vibration test apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a schematic block diagram of a vibration test apparatus according to the embodiment.
The vibration test apparatus 100 of the present embodiment is, for example, a structure such as a house, a high-rise building, a bridge, a moving body on a track such as a railroad or a monorail, or a vehicle on a ground such as a road or an airport. The body is a test object 13 to be vibrated. In addition, for example, devices, instruments, and the like mounted on the above-described moving body are also objects of the device under test 13.
In the vibration testing apparatus 100 according to the present embodiment, the natural frequency of the device under test 13 is unknown, or the natural frequency changes due to a displacement or the like inside the device under test 13 caused by the displacement amplitude or acceleration amplitude. Assumed. Further, the vibration characteristics of the device under test 13 are non-linear, and the vibration waveform applied to the base of the device under test 13 becomes a target site of the device under test 13 unless a detailed calculation is performed in advance over a considerable time. It is assumed that it is difficult to predict and calculate in advance the vibration characteristics of the DUT 13 that cannot be predicted and calculated how it is transmitted.

  The vibration test apparatus 100 mainly excites the table 1 on which the DUT 13 is mounted and fixed, the hydraulic exciter (vibrator) 2 that excites the table 1, and the hydraulic exciter 2 with hydraulic pressure. Servo control device 3, vibration control device 4 for outputting and controlling command waveform signal (vibration command signal) Ws to servo control device 3, display device 9 connected to vibration control device 4, and input device (input means) 10 and various sensors.

The table 1 is supported on a foundation 8 via a bearing 7. However, the bearing 7 is not essential and is not necessary depending on the configuration of the vibration test apparatus 100. One end of the hydraulic shaker 2 is fixed to the side wall of the foundation 8. A cylindrical rod-shaped drive unit 2 a connected to a piston (not shown) provided inside the hydraulic shaker 2 is connected to the table 1.
The hydraulic pressure generated by the piston in the hydraulic exciter 2 by a hydraulic source (not shown) is supplied to the left and right sides of the hydraulic shaker 2 partitioned by the piston via piping and servo valves (not shown). In addition to one of the piston chambers (not shown), the pressure of the other piston chamber is released, and conversely, the hydraulic pressure of one of the left and right piston chambers (not shown) in the hydraulic shaker 2 is released and the other piston chamber is released. By applying pressure to the chamber, the piston is driven in the left-right direction in the figure. As a result, the movement of the piston in the left-right direction is transmitted as the left-right direction movement of the table 1 via the drive unit 2a, and the table 1 is vibrated in the left-right direction.

A device under test 13 is mounted on the table 1 and fixed to the table 1 by a fixing jig (not shown).
An acceleration sensor 6 is attached to the table 1. In addition, a displacement sensor (first displacement sensor) 14 and an acceleration sensor (first acceleration sensor) 15 are attached to a site of interest of the device under test 13.
In FIG. 1, the displacement sensor 14 and the acceleration sensor 15 are installed in different parts of the device under test 13, but this is merely schematically displayed, and in some cases, the device under test 13 is noted. In some cases, the displacement sensor 14 and the acceleration sensor 15 are installed at the same location. Further, when there are a plurality of parts of interest for which the amount of displacement and / or acceleration of the DUT 13 is to be measured, the displacement sensor 14 and / or the acceleration sensor 15 are to be measured for each of the parts of interest. It is installed according to the amount of displacement and / or acceleration.
Hereinafter, as shown in FIG. 1, an example in which the displacement sensor 14 and the acceleration sensor 15 are separately attached to the subject under test 13 at different parts of interest will be described.

Pressure sensors (control sensors) 12A and 12B for monitoring the hydraulic pressures of the left and right piston chambers are attached to the hydraulic shaker 2. When the pistons move left and right, the pressure states of the piston chambers are increased. A signal indicating the detected pressure is input to a servo control device 3 to be described later.
A displacement sensor (second displacement sensor, control sensor, table response sensor) 5 is installed in the drive unit 2a, detects the movement amount (displacement amount) of the drive unit 2a, and detects the detected displacement amount. The response displacement signal S ₁ shown is input to an excitation control device 4 and a servo control device 3 which will be described later. A load sensor 11 for measuring a reaction force (a load applied to the table) from the table 1 side is attached between the table 1 and the drive unit 2a, and a response reaction force signal S indicating the detected reaction force. ₃ is input to the servo control device 3.
Various other sensors such as a temperature sensor for detecting the oil temperature and a sensor for detecting the vibration frequency are attached to the hydraulic shaker 2 as necessary, and the oil temperature and the vibration frequency detected by the various sensors are attached. Are input to the servo controller 3.
An acceleration sensor 6 is set on the table 1 on which the device under test is mounted, and the acceleration applied to the table 1 is detected.

  The hydraulic shaker 2 is connected to a vibration control device 4 that is a higher-level control means via a servo control device 3. The vibration control device 4 creates a command waveform to be generated by the hydraulic vibration exciter 2 and outputs it as a signal. Then, the vibration control device 4 outputs a command waveform signal Ws for a command waveform to be generated by the hydraulic shaker 2 to the servo control device 3.

The servo control device 3 feeds back the state quantities of various sensors such as the pressure sensors 12A and 12B, the displacement sensor 5, the load sensor 11 and the acceleration sensor 6 attached to the table 1 attached to the hydraulic exciter 2 to the target. It compares with the command waveform which is a value, and feedback control of the hydraulic shaker 2 is performed based on the deviation. At that time, the servo control device 3 uses the command waveform signal Ws input from the vibration control device 4 as a target value, the response displacement signal S ₁ input from the displacement sensor 5 or the response acceleration signal input from the acceleration sensor 6. generating a servo control command based on at least one of the signals S _2. The created servo command is used as a servo control signal for controlling the hydraulic shaker 2. This servo control command generation method is a known technique and will not be described in detail.

The servo control device 3 and the vibration control device 4 are a CPU (Central Processing Unit) that performs high-speed digital computation, a storage device such as a memory or a hard disk that records various information, an analog output circuit that outputs an analog signal, an analog signal from the outside It includes an analog input circuit that captures.
The servo control device 3 and the vibration control device 4 are connected by a bidirectional communication line, for example, a network line such as a LAN (Local Area Network), etc. The command waveform signal Ws can be output to the servo control device 3, and signals from various sensors received by the servo control device 3 can be transferred and received.

Outputs of various sensors such as a displacement sensor 5, pressure sensors 12 </ b> A and 12 </ b> B, a load sensor 11, and an acceleration sensor 6 on the table 1 that measure the driving state of the hydraulic shaker 2 are input to an analog input circuit of the servo control device 3. Is done.
At least the response displacement signal S ₁ and the response acceleration signal S ₂ output from the displacement sensor 5 and the acceleration sensor 6 are input to the analog input circuit of the vibration control device 4. The vibration control device 4 measures the condition of the hydraulic vibrator 2 and Table 1 on the basis of the response displacement signal S ₁ and the response acceleration signal S _2.
Signals detected by these various sensors are transmitted to the servo control device 3 or the vibration control device 4 in a wired or wireless manner. In this transmission, a network line such as a LAN can also be used.

The vibration control device 4 includes the display device 9 and the input device 10 as described above. The display device 9 is, for example, a liquid crystal display device or a touch panel display device that also has an input function, and is connected to the vibration control device 4, an operation screen for operating the vibration test device 100, and servo control. The command waveform to be output to the device 3 and the measurement results of the various sensors described above are displayed.
The input device 10 is a device such as a console panel having a switch such as a button for a user to operate the vibration testing device 100, a mouse, a keyboard, and the like. It is used for operations of a recording device and a printer (not shown) that are stored in a connected storage medium.

In addition, the response displacement signal S ₄ and the response acceleration signal S ₅ from the displacement sensor 14 and the acceleration sensor 15 attached to the region of interest of the device under test 13 are input to the vibration control device 4.

<< Functional Description of Excitation Control Device 4 >>
Next, a detailed functional configuration of the vibration control device 4 will be described. FIG. 2 is a functional block configuration diagram of the vibration control device in FIG. The vibration control device 4 includes an input / output control unit 41, a command waveform as a functional unit realized by reading and executing a program stored in a storage unit (storage unit) 46, which will be described later in a hard disk or the like, in advance in the CPU. Generating unit (first command waveform generating unit) 42, command waveform output control unit (control output unit) 43, response waveform acquisition unit 44, response waveform calculation processing unit 45, storage unit 46, vibration test condition setting unit 47, A response waveform display processing unit 48 is provided.
The input / output control unit 41 controls display on the display device 9, accepts input from the display device 9 or the input device 10 by the user, a command waveform generation unit 42 for a vibration command by input from the input device 10, and command waveform The control function includes an output control unit 43, a response waveform acquisition unit 44, a response waveform calculation processing unit 45, a storage unit 46, a vibration test condition setting unit 47, and a response waveform display processing unit 48.
The vibration control device 4 generates the command waveform signal Ws to the servo control device 3 and performs vibration control, while the following two vibration control modes, (1) displacement amount setting mode, (2) The acceleration amplitude setting mode can be selected and used.

When the displacement amount amplitude setting mode is selected, the input / output control unit 41 receives the start vibration displacement amount amplitude a1 and the vibration displacement amount amplitude from the input device 10 as the setting input for the vibration characteristic acquisition condition of the DUT 13. The increase amount b1, the start frequency c1, the end frequency d1, the frequency change time Ts, and the end test object displacement amount amplitude e1 are received (see FIG. 3), and the command waveform generation unit 42, the command waveform output control unit 43, and the response accordingly Control commands to the waveform acquisition unit 44, response waveform calculation processing unit 45, storage unit 46, vibration test condition setting unit 47, and response waveform display processing unit 48 are output.
Here, the start frequency c1, the end frequency d1, and the frequency change time Ts correspond to “frequency change information” described in the claims.

When the acceleration amplitude setting mode is selected, the input / output control unit 41 receives the start excitation acceleration amplitude a2 and the excitation acceleration amplitude increase b2 from the input device 10 as the setting input for the vibration characteristic acquisition condition of the device under test 13. , The start frequency c2, the end frequency d2, the frequency change time Ts, and the end test object acceleration amplitude e2 are received (see FIG. 8), and the command waveform generation unit 42, the command waveform output control unit 43, and the response waveform acquisition unit 44 are received accordingly. , A response waveform calculation processing unit (vibration characteristic calculation means) 45, a storage unit 46, a vibration test condition setting unit 47, and a control command to the response waveform display processing unit 48 are output.
Here, the start frequency c2, the end frequency d2, and the frequency change time Ts correspond to “frequency change information” recited in the claims.

(Excitation control in displacement amplitude setting mode)
First, the function of each functional component block of the vibration control device 4 in the displacement amount amplitude setting mode will be described with reference to FIGS. 1 and 2 as appropriate with reference to FIGS. FIG. 3 to FIG. 5 are flowcharts showing the flow of control in which the vibration control device acquires the vibration characteristics of the DUT with respect to the command displacement amount amplitude and performs the actual vibration test. FIG. 6 is an explanatory diagram of a command waveform applied to the table by the hydraulic shaker, (a) is an explanatory diagram of a command displacement amount waveform that is a command waveform, and (b) is a command displacement amount indicated by (a). It is explanatory drawing of the acceleration amplitude waveform corresponding to a waveform.

  On the selection screen (not shown) of (1) displacement amplitude setting mode and (2) acceleration amplitude setting mode displayed on the display device 9 by the user, the input device 10 completes the selection input of the displacement amplitude setting mode. The mode selection signal Sm from the input / output control unit 41 is transmitted to the command waveform generation unit 42, the command waveform output control unit 43, the response waveform acquisition unit 44, the response waveform calculation processing unit 45, the storage unit 46, the vibration test condition setting unit 47, The flowcharts of FIGS. 3 to 5 start after being output to the response waveform display processing unit 48.

  In step S <b> 101, the input / output control unit 41 receives a setting input for the specimen vibration characteristic acquisition condition (“setting input for the specimen vibration characteristic acquisition condition”). Specifically, the input / output control unit 41 displays an input screen (not shown) of the test object vibration characteristic acquisition condition in the displacement amount amplitude setting mode on the display device 9 to display the test object vibration characteristic acquisition condition. As setting inputs, setting input of start vibration displacement amount amplitude a1, vibration displacement amount amplitude increase amount b1, start frequency c1, end frequency d1, frequency change time Ts, end test object displacement amount amplitude e1 is accepted. Incidentally, at least an input completion icon button is prepared on this input screen.

In step S102, the input / output control unit 41 displays the input setting input of the test object vibration characteristic acquisition condition described above on the display device 9, and checks whether the input is completed. Whether or not the user has completed the input is checked, for example, after the input completion icon button is clicked with a mouse or the like, the input / output control unit 41 determines whether or not there is an input omission. If there is an input omission (No), it is determined that the input has not been completed, and the process returns to Step S101. If the input has been completed (Yes), the process proceeds to Step S103.
Further, in the case of Yes in step S102, the arrow is omitted in FIG. 2, but the input / output control unit 41 has the start excitation displacement amount amplitude a1, the excitation displacement amount amplitude increase amount b1 acquired in step S101, Data of setting inputs of the start frequency c1, the end frequency d1, the frequency change time Ts, and the end object displacement amplitude e1 are input to the command waveform generation unit 42 and the response waveform calculation processing unit 45.

In step S103, the command waveform generation unit 42 sets the start excitation displacement amount amplitude a1 acquired in step S101 as the command displacement amount amplitude (command amplitude) X of the command waveform Xf (“X = a1”).
Next, in step S104, the command waveform generation unit 42 generates a command waveform Xf based on the start frequency c1, the end frequency d1, and the frequency change time Ts acquired in step S101 (“command displacement amount amplitude X, Generation of command waveform Xf of frequency change "). Then, the command waveform generation unit 42 outputs the generated command waveform Xf to the command waveform output control unit 43, the command displacement amount amplitude X to the response waveform acquisition unit 44, and the command waveform Xf to the response waveform calculation processing unit 45. input.
This step S104 corresponds to “first command waveform generation means” described in the claims.

More specifically, the command waveform generation unit 42 uses a sine wave as the command waveform Xf, sets the amplitude of the sine wave as the command displacement amplitude X as shown in FIG. Is changed from the start frequency c1 to the end frequency d1 at a constant rate. For example, if the time after the start of vibration is t and the frequency change time changing from the start frequency c1 to the end frequency d1 is Ts, the vibration frequency f (t) at time t is expressed by the following equation (1). The
f (t) = c1 + (d1-c1) t / Ts (1)
Incidentally, in FIG. 6A, for the sake of easy understanding, for example, the displacement amount of the table 1 due to vibration is a half cycle of a sine wave, that is, 1/2 · T _n (n = 1 to 5). The command waveform Xf is displayed so that the frequency changes every time and the sine wave having a different frequency is smoothly connected every half cycle of the sine wave, and T ₁ > T ₂ > T ₃ > T ₄ > T ₅ and are displayed. However, the command waveform Xf is not limited to such a discrete change in the excitation frequency f (t), and may be one in which the frequency of the sine wave is continuously changed. Therefore, strictly speaking, the command waveform Xf does not need to have a sine wave shape with a predetermined time width.

An acceleration waveform obtained by differentiating the command waveform Xf shown in FIG. 6A twice with respect to time is as shown in FIG. As shown in FIG. 6A, when the command waveform Xf is schematically shaped so that sine waves having different frequencies are smoothly connected every half cycle of the sine wave, the amplitude of the acceleration waveform is Xa ₁ <Xa ₂ <Xa ₃ <Xa ₄ <Xa ₅

  Returning to FIG. 3, in step S <b> 105, the command waveform output control unit 43 samples the command waveform Xf input from the command waveform generation unit 42 at a predetermined sampling period, generates a command waveform signal Ws, and temporarily The stored and temporarily stored command waveform signal Ws is sequentially input to the servo control device 3 (“command waveform Xf output control”). Incidentally, the predetermined sampling period of the command waveform Xf in the command waveform output control unit 43 is automatically set in the command waveform output control unit 43 so that the sampling is sufficiently accurate with respect to the end frequency d1.

Then, the servo controller 3 drives the hydraulic shaker 2 based on the input command waveform signal Ws to vibrate the table 1 (“hydraulic shaker operation”).
In step S106, the response waveform acquisition unit 44 acquires the displacement amount of the table 1, the acceleration of the table, the excitation frequency f, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the test object. . For example, the displacement amount of the table 1, the acceleration of the table, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the DUT using a sampling period automatically set by the command waveform output control unit 43, for example. The signals from the displacement sensor 5, the acceleration sensor 6, the displacement sensor 14, and the acceleration sensor 15 are acquired as digital data.
Incidentally, the excitation frequency f can be easily obtained from the start frequency c1, the end frequency d1, and the frequency change time Ts set in step S101 by the equation (1).

  The signals from the various sensors acquired in step S106 are stored in the storage unit 46 in correspondence with the command displacement amount amplitude X and sent to the response waveform display processing unit 48. The response waveform display processing unit 48 performs waveform display processing on the digital data of signals from the various sensors, and the displacement sensor 5, acceleration sensor 6, displacement sensor 14, and acceleration sensor 15 are displayed on the display device 9 via the input / output control unit 41. Is displayed along the time axis as a signal waveform from.

  When the command waveform signal Ws temporarily stored in step S105 is sequentially input to the servo control device 3 (“output control of the command waveform Xf”), the response waveform acquisition unit 44 in step S106 acquires the various data described above. This is done in parallel during the operation of the hydraulic shaker 2.

When the frequency change time Ts ends, the operation of the hydraulic exciter 2 slowly stops in a predetermined manner. When the frequency change time Ts of the operation of the hydraulic exciter 2 ends and a predetermined delay time elapses, that is, when various data are acquired, the process proceeds to step S107. This predetermined delay time is for acquiring response data from each sensor during the delay time because the vibration due to the vibration of the DUT 13 by the hydraulic exciter 2 naturally has a delay time. Incidentally, in the example of the flowcharts of FIGS. 3 and 4, the operation of the hydraulic shaker 2 is stopped during the control of Step S107 to Step S110.
In step S107, the response waveform calculation processing unit 45 calculates the vibration characteristics of the test object.
Specifically, in step S107, based on the digital data from the displacement sensor 14 stored in the storage unit 46 corresponding to the command displacement amount amplitude X, the natural frequency fs of the test object with respect to the command displacement amount amplitude X, The specimen maximum displacement amplitude Ym is calculated.

A detailed method for calculating the specimen natural frequency fs and the specimen maximum displacement amplitude Ym with respect to the command displacement amplitude X in the response waveform calculation processing unit 45 in step S107 will be described below.
If the command waveform Xf is a sine wave, the command displacement amount amplitude X generated in step S104 is used. The calculation method of the test object natural frequency fs and the test object maximum displacement amplitude Ym includes a method using time axis data and a method using frequency axis data, and both methods are used here.

In the calculation based on the time axis data, the maximum value of the test object displacement amount response waveform Yf based on the response displacement signal S ₄ (see FIG. 2) from the displacement sensor 14 is obtained and set as the test object maximum displacement amount amplitude Ym. The frequency of the command waveform Xf is obtained from the time tm of the maximum displacement amplitude Ym of the test object and the equation (1), and is set as the natural frequency fs of the test object.
In the calculation using the frequency axis data, the command waveform Xf and the DUT displacement response waveform Yf are Fourier transformed. Assuming that the value of the Fourier-transformed command waveform Xf is Xf _FT and the value of the Fourier-transformed specimen displacement response waveform Yf is Yf _FT , Xf _FT is expressed by Equation (2), and Yf _FT is expressed by Equation (3). expressed. Here, FT (Xf) and FT (Yf) mean Fourier transform.
Xf _FT (s) = FT (Xf) (2)
Yf _FT (s) = FT (Yf) (3)

If the transfer function displacement amount amplitude ratio from the servo control device 3 to the device under test 13 is G, G is expressed by Expression (4).
G (s) = Yf _FT (s) / Xf _FT (s) (4)
When the maximum value of the transfer function displacement amount amplitude ratio G (s) from the servo control device 3 to the device under test 13 is Gm, the device under test maximum displacement amount amplitude Ym with respect to the command displacement amount amplitude X is expressed by the following equation (5). It is represented by
Ym = Gm · X (5)
The frequency f at the maximum value Gm of the transfer function displacement amount amplitude ratio G (s) is defined as the natural frequency fs of the test object.

After step S107, the process proceeds to step S108 of FIG. 4 according to the connector (A), and the response waveform calculation processing unit 45 performs the command displacement amount amplitude X, the specimen natural frequency fs, and the specimen maximum displacement amplitude Ym. Are stored in the storage unit 46 as a set of data of the vibration characteristics of the device under test (“store the vibration characteristics calculation result of the device under test”).
An example of the contents of the stored data is shown in FIG. FIG. 7 is an explanatory diagram of the vibration characteristics of the DUT obtained with respect to the command displacement amount amplitude. A data map 51 of the vibration characteristics of the device under test (information on the correspondence relationship between the command amplitude and the natural frequency and maximum amplitude of the device under test) 51 corresponds to the command displacement amount amplitude X as shown in the column 51a. The test object natural frequency fs is stored in 51b, and the maximum displacement amplitude Ym of the test object is stored in a column 51c as one set of data. The command displacement is indicated by adding numerals in parentheses to the data code X (command displacement amplitude), fs (test object natural frequency), and Ym (test object maximum displacement amplitude). Since the vibration is repeated while changing the value of the quantity amplitude X, the value of the command displacement quantity amplitude X has changed, and the values of fs and Ym correspond to the value of the command displacement quantity amplitude X. Is shown.

  In step S109, the response waveform calculation processing unit 45 checks whether or not the maximum specimen displacement amplitude Ym exceeds the end specimen displacement amplitude e1 set in step S101. When the maximum specimen displacement amplitude Ym exceeds the finished specimen displacement amplitude amplitude e1 (Yes), the vibration test for obtaining the vibration characteristics of the specimen 13 is terminated, and the process proceeds to step S111 and the main vibration. The test condition setting unit 47 and the input / output control unit 41 are notified that the vibration for acquiring the vibration characteristics of the test object has been completed. In response to this, the input / output control unit 41 displays a message on the display device 9 indicating that the vibration for obtaining the vibration characteristics of the device under test has been completed, although omitted in the flowchart of FIG.

  If the DUT maximum displacement amplitude Ym does not exceed the end DUT displacement amplitude e1 (No), the process proceeds to step S110, and the command waveform generator 42 updates the command displacement amplitude X (X = X + b1). Thereafter, the process returns to step S104 in FIG. 3 according to the connector (B). Steps S104 to S108 are subsequently performed, and it is checked in step S109 whether or not the maximum specimen displacement amount amplitude Ym exceeds the end specimen displacement amount amplitude e1.

  The test object vibration characteristic data 51 stored in step S108 is stored for the number of times of repeated excitation by updating the command displacement amount amplitude X in order to obtain the test object vibration characteristic, as shown in FIG. The test piece vibration characteristic data 51 is obtained. Here, n indicates the number of repetitions.

Steps S111 and subsequent steps in FIGS. 4 and 5 are flowcharts showing a control flow in the vibration control device 4 (see FIG. 2) that performs the main vibration test (the actual vibration test) of the device under test 13.
First, in step S111, in order to perform the main vibration test of the device under test 13, the main vibration test condition setting unit 47 reads the data 51 of the device under test vibration characteristics stored in the storage unit 46 in step S108 (“ Reading the vibration characteristics calculation result of the DUT ").
In step S112, the vibration test condition setting unit 47 sets the vibration test conditions. Specifically, the target displacement amplitude Yt to be tested and the excitation frequency ft of the sine wave used in the vibration test are set as follows. For example, when the value of the test object target displacement amplitude (maximum target amplitude of the test object) Yt is between the value of the test object maximum displacement amplitude Ym (1) and the value of Ym (2), the sine The wave excitation frequency ft is obtained from the following equation (6).

ft = fs (1) + (Yt−Ym (1)) / (Ym (2) −Ym (1))
× (fs (2) −fs (1)) (6)
Further, the target displacement amount amplitude Xt of the command waveform Xft which is a sine wave is obtained from the following equation (7).
Xt = X (1) + (Yt−Ym (1)) / (Ym (2) −Ym (1))
× (X (2) -X (1)) (7)
As described above, the conditions for generating the command waveform Xft used when the vibration under test of the device under test 13 with the target amplitude are set.

In addition, when the value of the specimen target displacement amplitude Yt is outside the range of the specimen maximum displacement amplitude Ym (1) to Ym (n), the nearest two points Ym (1), Ym A command waveform which is a sine wave used in the vibration test for the target displacement amplitude Yt of the object under test by linear extrapolation from the value of (2) or the values of Ym (n-1) and Ym (n) at the two nearest points. An Xft excitation frequency ft and a target displacement amplitude Xt are set.
At this time, the vibration time is also set to a predetermined preset value, for example.

In step S113, the vibration test condition setting unit 47 determines the vibration frequency ft, the target displacement amount amplitude Xt, the acceleration amplitude, the vibration time of the command waveform Xft of the vibration test, and a predetermined portion of the device under test 13 (attention). The displacement amplitude by the prediction calculation of the (part) is sent to the input / output control unit 41 and displayed on the display device 9 (see FIG. 2) (“the excitation frequency ft of the command waveform Xft of this vibration test, the target displacement amount amplitude Xt, Display acceleration amplitude, excitation time, and displacement amplitude by predictive calculation of a predetermined part of the DUT ").
Incidentally, the acceleration amplitude of the command waveform Xft can be easily calculated by obtaining the second derivative of the command waveform Xft, which is a sine wave of the excitation frequency ft and the target displacement amplitude Xt. Moreover, the displacement amount amplitude by the prediction calculation of the predetermined part (part of interest) of the DUT 13 is the DUT target displacement amplitude Yt.
On the display screen of the display device 9, it is possible to accept correction input by input from the input device 10. For example, “confirmation OK” and “correction input end” icon buttons are prepared.

In step S114, the input / output control unit 41 confirms whether or not the setting of the vibration test condition satisfies what the user intends and is acceptable (“confirmation OK?”). If the “confirmation OK” icon button is pressed (Yes), the process proceeds to step S117 of FIG. 5 according to the connector (C). If the “confirmation OK” icon button is not pressed (No), step S115 is performed. Proceed to
In step S115, the input / output control unit 41 receives correction of the excitation frequency ft, the target displacement amount amplitude Xt, and the excitation time of the command waveform Xft of the vibration test ("correction reception by input"). In step S116, the input / output control unit 41 checks whether or not the “correction input end” icon button has been pressed, that is, whether or not correction input has ended. If the correction input is completed (Yes), the process proceeds to step S117 of FIG. 5 according to the connector (C). If the correction input is not completed (No), step S115 is repeated.
Incidentally, steps S101 to S116 described above are preparations for the main vibration test (actual vibration test), and steps S117 to S120 are execution of the main vibration test.

In step S117, the command waveform generation unit 42 generates the command waveform Xft based on the conditions of the target displacement amount amplitude Xt and the excitation frequency ft of the command waveform Xft set in steps S112 to S115 (“this vibration test Generation of command waveform Xft "). Then, the command waveform generation unit 42 outputs the generated command waveform Xft to the command waveform output control unit 43 and inputs the target displacement amount amplitude Xt to the response waveform acquisition unit 44.
Here, steps S112 to S117 correspond to “second command waveform generation means” described in the claims.

  In step S118, the command waveform output control unit 43 samples the command waveform Xft input from the command waveform generation unit 42 at a predetermined sampling period, generates a command waveform signal Ws, and temporarily stores it. The stored command waveform signal Ws is sequentially input to the servo controller 3 (“command waveform Xft output control”). Incidentally, the predetermined sampling period of the command waveform Xf in the command waveform output control unit 43 is automatically set in the command waveform output control unit 43 so as to obtain sufficiently accurate sampling with respect to the excitation frequency ft. .

Then, the servo controller 3 drives the hydraulic shaker 2 based on the input command waveform signal Ws to vibrate the table 1 (“hydraulic shaker operation”).
In step S119, the response waveform acquisition unit 44 acquires the displacement amount of the table 1 due to the vibration, the acceleration of the table, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the test object. For example, the displacement amount of the table 1, the acceleration of the table, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the DUT using a sampling period automatically set by the command waveform output control unit 43, for example. The signals from the displacement sensor 5, the acceleration sensor 6, the displacement sensor 14, and the acceleration sensor 15 are acquired as digital data.
The signals from the various sensors acquired in step S120 are stored in the storage unit 46 in correspondence with the target displacement amount amplitude Xt and sent to the response waveform display processing unit 48. The response waveform display processing unit 48 performs waveform display processing on the digital data of signals from the various sensors, and the displacement sensor 5, acceleration sensor 6, displacement sensor 14, and acceleration sensor 15 are displayed on the display device 9 via the input / output control unit 41. Is displayed along the time axis and printed out from a printer (not shown) in response to a command input from the input device 10 when the excitation time is over ("display the acquired data" And printout ").

  This completes the acquisition of the vibration characteristics (see FIG. 7) of the DUT 13 in the displacement amplitude setting mode and the vibration test for obtaining the DUT target displacement amplitude Yt based on the acquired vibration characteristics.

  According to the method for acquiring the vibration characteristic of the DUT 13 in such a displacement amount amplitude setting mode, a complicated DUT that requires a lot of time and cost for the prediction calculation for obtaining the vibration characteristic of the DUT 13. The vibration characteristics of the device under test 13 can be acquired simply by performing a short vibration test on the body 13. Then, based on the acquired vibration characteristics, the test object target displacement amplitude Yt is obtained, and the conditions of the vibration test can be easily set.

Accordingly, the target object displacement amplitude Yt is obtained by changing the vibration frequency and the displacement amount amplitude of the table 1 at the time of vibration while vibrating the device 13 before the vibration test as in the prior art. It is possible to reduce or shorten the troublesome work of tuning the vibration conditions that can be performed over time. As a result, it is possible to avoid the possibility that the device under test 13 is deformed or broken by continuing to vibrate the device under test 13 for a long time before the vibration test.
Furthermore, there is no possibility of applying excessive vibration to the device under test 13, and the vibration test can be performed by exciting the allowable displacement amount amplitude of the device under test 13. According to the present embodiment, the operational efficiency of the vibration test apparatus 100 is increased.

(Excitation control in acceleration amplitude setting mode)
Next, the function of each functional component block of the vibration control device 4 in the acceleration amplitude setting mode will be described with reference to FIGS. 1 and 2 as appropriate with reference to FIGS. FIG. 8 to FIG. 10 are flowcharts showing the flow of control in which the vibration control device acquires the vibration characteristics of the device under test with respect to the commanded acceleration amplitude and performs the actual vibration test. FIG. 11 is an explanatory diagram of a command waveform applied to the table by the hydraulic exciter, (a) is an explanatory diagram of the command acceleration waveform, and (b) is a command waveform corresponding to the command acceleration waveform shown in (a). It is explanatory drawing of.

  On the selection screen (not shown) of (1) displacement amount amplitude setting mode and (2) acceleration amplitude setting mode displayed on the display device 9 by the user, the input device 10 completes the selection input of the acceleration amplitude setting mode. The mode selection signal Sm from the output control unit 41 is sent to the command waveform generation unit 42, the command waveform output control unit 43, the response waveform acquisition unit 44, the response waveform calculation processing unit 45, the storage unit 46, the vibration test condition setting unit 47, the response The flowcharts of FIGS. 8 to 10 start after being output to the waveform display processing unit 48.

  In step S <b> 201, the input / output control unit 41 receives a setting input for the specimen vibration characteristic acquisition condition (“setting input for the specimen vibration characteristic acquisition condition”). Specifically, the input / output control unit 41 displays an input screen (not shown) of the test object vibration characteristic acquisition condition in the acceleration amplitude setting mode on the display device 9 to set the test object vibration characteristic acquisition condition. As inputs, setting inputs of start excitation acceleration amplitude a2, excitation acceleration amplitude increase b2, start frequency c2, end frequency d2, frequency change time Ts, end test object acceleration amplitude e2 are received. Incidentally, at least an input completion icon button is prepared on this input screen.

In step S <b> 202, the input / output control unit 41 displays the input setting input of the test object vibration characteristic acquisition condition described above on the display device 9 and checks whether or not the input is completed. Whether or not the user has completed the input is checked, for example, after the input completion icon button is clicked with a mouse or the like, the input / output control unit 41 determines whether or not there is an input omission. If there is an input omission (No), it is determined that the input has not been completed, and the process returns to step S201. If the input has been completed (Yes), the process proceeds to step S203.
In the case of Yes in step S202, the arrow is omitted in FIG. 2, but the input / output control unit 41 determines that the start excitation acceleration amplitude a2, the excitation acceleration amplitude increase b2, and the start frequency acquired in step S201. The setting input data of c2, the end frequency d2, the frequency change time Ts, and the end test object acceleration amplitude e2 are input to the command waveform generation unit 42 and the response waveform calculation processing unit 45.

In step S203, the command waveform generation unit 42 sets the start excitation acceleration amplitude a2 acquired in step S201 as the command acceleration amplitude (command amplitude) Xa of the command acceleration waveform Xfa (“Xa = a2”).
Next, in step S204A, the command waveform generator 42 generates a command acceleration waveform Xfa based on the start frequency c2, the end frequency d2, and the frequency change time Ts acquired in step S201 (“corresponding to the command acceleration amplitude Xa”). Generation of command acceleration waveform Xfa of frequency change to be performed "). Then, the command waveform generation unit 42 inputs the command acceleration amplitude Xa to the response waveform acquisition unit 44 and the command acceleration waveform Xfa to the response waveform calculation processing unit 45.

More specifically, the command waveform generator 42 uses a sine wave as the command acceleration waveform Xfa that generates the command waveform Xf, and commands the amplitude of the sine wave as shown in FIG. It is assumed that the acceleration amplitude is Xa and the excitation frequency f is changed at a constant rate from the start frequency c2 to the end frequency d2. For example, if the time after the start of excitation is t and the frequency change time changing from the start frequency c2 to the end frequency d2 is Ts, the excitation frequency f (t) at time t is expressed by the following equation (8). The
f (t) = c2 + (d2-c2) t / Ts (8)
Incidentally, in FIG. 11A, for example, for easy understanding, for example, the excitation acceleration of the table 1 by excitation is a half cycle of a sine wave, that is, 1/2 · T _n (n = 1 to 1). The command acceleration waveform Xfa is displayed so that the frequency changes every 5), and sine waves having different frequencies are smoothly connected every half cycle of the sine wave, and T ₁ > T ₂ > T ₃ > T ₄ > T ₅ is displayed. However, the command acceleration waveform Xfa is not limited to such a discrete change of the excitation frequency f (t), and may be one that continuously changes the frequency of the sine wave. Therefore, strictly speaking, the command acceleration waveform Xfa does not need to have a sine wave shape with a predetermined time width.

In step S204B, the command waveform generation unit 42 generates the command waveform Xf by double-time integration of the command acceleration waveform Xfa generated in step S204A (“Conversion generation of the command acceleration waveform Xfa to the command waveform Xf”). ).
A command waveform Xf that is a double time integration of the command acceleration waveform Xfa is as shown in FIG. Even in the case where the command acceleration waveform Xfa is schematically shaped so that the command acceleration amplitude Xa is constant for every half cycle of the sine wave and the sine wave is smoothly connected as shown in FIG. The amplitude of the command waveform Xf, which is a displacement amount waveform, is X ₁ > X ₂ > X ₃ > X ₄ > X ₅ . Then, the command waveform generation unit 42 outputs the generated command waveform Xf to the command waveform output control unit 43.
Here, steps S204A and S204B correspond to “first command waveform generation means” described in the claims.

  Returning to FIG. 8, in step S205, the command waveform output control unit 43 samples the command waveform Xf input from the command waveform generation unit 42 at a predetermined sampling period to generate a command waveform signal Ws and temporarily. The stored and temporarily stored command waveform signal Ws is sequentially input to the servo control device 3 (“command waveform Xf output control”). Incidentally, the predetermined sampling period of the command waveform Xf in the command waveform output control unit 43 is automatically set in the command waveform output control unit 43 so as to obtain sufficiently accurate sampling with respect to the end frequency d2.

Then, the servo controller 3 drives the hydraulic shaker 2 based on the input command waveform signal Ws to vibrate the table 1 (“hydraulic shaker operation”).
In step S206, the response waveform acquisition unit 44 acquires the displacement amount of the table 1, the acceleration of the table, the excitation frequency f, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the DUT. . For example, the displacement amount of the table 1, the acceleration of the table, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the DUT using a sampling period automatically set by the command waveform output control unit 43, for example. The signals from the displacement sensor 5, the acceleration sensor 6, the displacement sensor 14, and the acceleration sensor 15 are acquired as digital data.
Incidentally, the excitation frequency f can be easily obtained from the start frequency c2, the end frequency d2, and the frequency change time Ts set in step S201 by the equation (8).

  The signals from the various sensors acquired in step S206 are stored in the storage unit 46 in correspondence with the commanded acceleration amplitude Xa and sent to the response waveform display processing unit 48. The response waveform display processing unit 48 performs waveform display processing on the digital data of signals from the various sensors, and the displacement sensor 5, acceleration sensor 6, displacement sensor 14, and acceleration sensor 15 are displayed on the display device 9 via the input / output control unit 41. Is displayed along the time axis as a signal waveform from.

  When the command waveform signal Ws temporarily stored in step S205 is sequentially input to the servo control device 3 (“output control of the command waveform Xf”), the response waveform acquisition unit 44 in step S206 acquires the various data described above. This is done in parallel during hydraulic exciter operation.

When the frequency change time Ts ends, the operation of the hydraulic exciter 2 slowly stops in a predetermined manner. When the frequency change time Ts of the operation of the hydraulic exciter 2 ends and a predetermined delay time elapses, that is, when various data are acquired, the process proceeds to step S207. This predetermined delay time is for acquiring response data from each sensor during the delay time because the vibration due to the vibration of the DUT 13 by the hydraulic exciter 2 naturally has a delay time. Incidentally, in the example of the flowcharts of FIGS. 8 and 9, the operation of the hydraulic shaker 2 is stopped during the control of steps S207 to S210.
In step S207, the response waveform calculation processing unit 45 calculates the vibration characteristics of the test object.
Specifically, in step S207, based on the digital data from the acceleration sensor 15 stored in the storage unit 46 in correspondence with the command acceleration amplitude Xa, the natural frequency fs of the device under test 13 for the command acceleration amplitude Xa, The specimen maximum acceleration amplitude Yam is calculated.

A detailed method for calculating the test object natural frequency fs and the test object maximum acceleration amplitude Yam in the response waveform calculation processing unit 45 in step S207 will be described below.
When the command waveform Xf is a sine wave, the command acceleration amplitude Xa of the command acceleration waveform Xfa generated in step S204A is used. There are two methods for calculating the natural frequency fs of the test object and the maximum acceleration amplitude Yam of the test object, using the time axis data and the frequency axis data. Both methods are used here.

In the calculation based on the time axis data, the maximum value of the test object acceleration response waveform Yfa based on the response acceleration signal S ₅ (see FIG. 2) from the acceleration sensor 15 is obtained and used as the maximum test object acceleration amplitude Yam. The frequency of the command waveform Xf is obtained from the time tam of the maximum acceleration amplitude Yam to be tested and Equation (8), and is set as the natural frequency fs of the device under test.
In the calculation based on the frequency axis data, the command acceleration waveform Xfa and the DUT acceleration response waveform Yfa are Fourier transformed. Assuming that the value of the Fourier-transformed command acceleration waveform Xfa is Xfa _FT and the value of the Fourier-transformed object acceleration response waveform Yfa is Yfa _FT , Xfa _FT is expressed by equation (9), and Yfa _FT is expressed by equation (10). expressed. Here, FT (Xfa) and FT (Yfa) mean Fourier transform.
Xfa _FT (s) = FT (Xfa) (9)
Yfa _FT (s) = FT (Yfa) (10)

If the transfer function acceleration amplitude ratio from the servo control device 3 to the device under test 13 is Ga, Ga is expressed by Expression (11).
Ga (s) = Yfa _FT (s) / Xfa _FT (s) (11)
When the maximum value of the transfer function acceleration amplitude ratio Ga (s) from the servo control device 3 to the device under test 13 is Gam, the device under test maximum acceleration amplitude Yam with respect to the command acceleration amplitude Xa is expressed by the following equation (12). The
Yam = Gam · Xa (12)
The frequency f at the maximum value Gam of the transfer function acceleration amplitude ratio Ga (s) is defined as the natural frequency fs of the test object.

After step S207, the process proceeds to step S208 of FIG. 9 according to the connector (D), and the response waveform calculation processing unit 45 receives the command acceleration amplitude Xa, the specimen natural frequency fs, and the specimen maximum acceleration amplitude Yam. The data is stored in the storage unit 46 as a set of data of the specimen vibration characteristics (“store the vibration characteristics calculation result of the specimen”).
An example of the contents of the stored data is shown in FIG. FIG. 12 is an explanatory diagram of the vibration characteristics of the DUT obtained with respect to the command acceleration amplitude. A data map 53 of the vibration characteristics of the device under test (information on the correspondence relationship between the command amplitude and the natural frequency and maximum amplitude of the device under test) 53 corresponds to the command acceleration amplitude Xa as shown in the column 53a. Are stored as a set of data of the test object natural frequency fs and the test object maximum acceleration amplitude Yam in the column 53c. Symbols Xa (command acceleration amplitude), fs (test object natural frequency), and Yam (test object maximum acceleration amplitude) with numbers added in parentheses are shown as command acceleration amplitude Xa. Since the vibration is repeated while changing each of the values, it is indicated that the value of the commanded acceleration amplitude Xa has changed and that the values of fs and Yam correspond to the value of the commanded acceleration amplitude Xa. .

  In step S209, the response waveform calculation processing unit 45 checks whether the DUT maximum acceleration amplitude Yam has exceeded the end DUT acceleration amplitude e2 set in step S201. When the maximum acceleration amplitude Yama under test exceeds the end acceleration under test object acceleration e2 (Yes), the vibration test for acquiring the vibration characteristics of the device under test 13 is terminated, and the process proceeds to step S211 and the vibration test conditions are satisfied. The setting unit 47 and the input / output control unit 41 are notified that the vibration for acquiring the vibration characteristics of the test object has been completed. In response to this, the input / output control unit 41 displays a message on the display device 9 indicating that the vibration for obtaining the vibration characteristics of the DUT has been completed, although omitted in the flowchart of FIG.

  If the DUT maximum acceleration amplitude Ya does not exceed the end DUT acceleration amplitude e2 (No), the process proceeds to step S210, and the command waveform generator 42 updates the command acceleration amplitude Xa (Xa = Xa + b2). Thereafter, the process returns to step S204A of FIG. 8 according to the connector (E). Subsequently, Steps S204A to S208 are performed, and it is checked in Step S209 whether or not the maximum specimen acceleration amplitude Ya exceeds the end specimen acceleration amplitude e2.

  The test object vibration characteristic data 53 stored in step S208 is stored for the number of times of repeated excitation by updating the command acceleration amplitude Xa in order to obtain the test object vibration characteristic, and as shown in FIG. It becomes data 53 of body vibration characteristics. Here, n indicates the number of repetitions.

Steps S211 and subsequent steps in FIG. 9 and FIG. 10 are flowcharts showing a control flow in the vibration control device 4 (see FIG. 2) that performs the main vibration test (the actual vibration test) of the DUT 13.
First, in step S211, in order to perform the main vibration test of the DUT 13, the main vibration test condition setting unit 47 reads the data 53 of the DUT vibration characteristics stored in the storage unit 46 in step S208 (“ Reading the vibration characteristics calculation result of the DUT ").
In step S212, the vibration test condition setting unit 47 sets the vibration test conditions. Specifically, the target acceleration amplitude Yat of the DUT 13 and the sine wave excitation frequency ft used in the vibration test are set as follows. For example, when the value of the target acceleration amplitude Yat of the device under test 13 is between the value of the device under test maximum acceleration amplitude Yam (1) and the value of Yam (2), the sine wave excitation frequency ft is expressed by the following equation ( 13).

ft = fs (1) + (Yat−Yam (1)) / (Yam (2) −Yam (1))
× (fs (2) −fs (1)) (13)
Further, the target acceleration amplitude Xat of the command acceleration waveform Xfat that is a sine wave is obtained from the following equation (14).
Xat = Xa (1) + (Yat−Yam (1)) / (Yam (2) −Yam (1))
× (Xa (2) -Xa (1)) (14)
As described above, the conditions for generating the command acceleration waveform Xfat to be used when the device under test 13 is subjected to the main vibration test with the target acceleration amplitude Xat are set.

If the value of the target acceleration amplitude Yat of the device under test 13 is outside the range of the device under test maximum acceleration amplitudes Yam (1) to Yam (n), the nearest two points Yam (1), Yam A command which is a sine wave used in the main vibration test for the target acceleration amplitude Yat of the device under test 13 by linear extrapolation from the value of (2) or the values of the nearest two points Yam (n-1) and Yam (n) An excitation frequency ft and a target acceleration amplitude Xat of the acceleration waveform Xfat are set.
At this time, the vibration time is also set to a predetermined preset value, for example.

In step S213, the vibration test condition setting unit 47 determines the vibration frequency ft, the displacement amount amplitude Xt, the target acceleration amplitude Xat, the vibration time of the command waveform Xft of the vibration test, and a predetermined location ( The acceleration amplitude Yat based on the prediction calculation of the region of interest is sent to the input / output control unit 41 and displayed on the display device 9 (see FIG. 2) (“excitation frequency ft, displacement amount amplitude Xt of command waveform Xft of this vibration test, The target acceleration amplitude Xat, the vibration time, and the acceleration amplitude Yat obtained by measurement calculation of a predetermined portion of the DUT 13 are displayed.
Incidentally, the vibration test condition setting unit 47 integrates the command acceleration waveform Xfat with the target acceleration amplitude Xat and the excitation frequency ft to perform a double-time integration, thereby generating a command that is a sine wave of the target displacement amplitude Xt. A waveform Xft is calculated. In addition, the acceleration amplitude of the predetermined location (of the target region) of the device under test 13 by the prediction calculation is the target acceleration amplitude Yat of the device under test 13.
On the display screen of the display device 9, it is possible to accept correction input by input from the input device 10. For example, “confirmation OK” and “correction input end” icon buttons are prepared.

In step S214, the input / output control unit 41 confirms whether or not the setting of the vibration test condition satisfies the user's intention and is acceptable (“confirmation OK?”). When the “confirmation OK” icon button is pressed (Yes), the process proceeds to step S217 of FIG. 10 according to the connector (F). When the “confirmation OK” icon button is not pressed (No), step S215 is performed. Proceed to
In step S215, the input / output control unit 41 receives correction of the excitation frequency ft, the target acceleration amplitude Xat, and the excitation time of the command acceleration waveform Xfat of the vibration test (“correction reception by input”). In step S216, the input / output control unit 41 checks whether or not the correction input end icon button has been pressed, that is, whether or not the correction input has ended. If the correction input is completed (Yes), the process proceeds to step S217 of FIG. 10 according to the connector (F). If the correction input is not completed (No), step S215 is repeated.
Incidentally, steps S201 to S216 described above are preparations for the main vibration test (actual vibration test), and steps S217 to S220 are execution of the main vibration test.

In step S217, the command waveform generation unit 42 generates the command waveform Xft based on the conditions of the target acceleration amplitude Xat and the excitation frequency ft of the command acceleration waveform Xfat set in steps S212 to S215 (“this vibration test Generation of command waveform Xft "). This command waveform Xft can be easily obtained by integrating the command acceleration waveform Xfat for a double time. Then, the command waveform generation unit 42 outputs the generated command waveform Xft to the command waveform output control unit 43 and inputs the target acceleration amplitude Xat to the response waveform acquisition unit 44.
Here, steps S212 to S217 correspond to “second command waveform generation means” recited in the claims.

  In step S218, the command waveform output control unit 43 samples the command waveform Xft input from the command waveform generation unit 42 at a predetermined sampling period, generates a command waveform signal Ws, and temporarily stores it. The stored command waveform signal Ws is sequentially input to the servo controller 3 (“command waveform Xft output control”). Incidentally, the predetermined sampling period of the command waveform Xf in the command waveform output control unit 43 is automatically set in the command waveform output control unit 43 so as to obtain sufficiently accurate sampling with respect to the excitation frequency ft. .

Then, the servo controller 3 drives the hydraulic shaker 2 based on the input command waveform signal Ws to vibrate the table 1 (“hydraulic shaker operation”).
In step S219, the response waveform acquisition unit 44 acquires the displacement amount of the table 1 due to the vibration, the acceleration of the table, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the test object. For example, the displacement amount of the table 1, the acceleration of the table, and the displacement amount and acceleration data of a predetermined portion (part of interest) of the DUT using a sampling period automatically set by the command waveform output control unit 43, for example. The signals from the displacement sensor 5, the acceleration sensor 6, the displacement sensor 14, and the acceleration sensor 15 are acquired as digital data.
The signals from the various sensors acquired in step S220 are stored in the storage unit 46 in correspondence with the target acceleration amplitude Xat and sent to the response waveform display processing unit 48. The response waveform display processing unit 48 performs waveform display processing on the digital data of signals from the various sensors, and the displacement sensor 5, acceleration sensor 6, displacement sensor 14, and acceleration sensor 15 are displayed on the display device 9 via the input / output control unit 41. Is displayed along the time axis and printed out from a printer (not shown) in response to a command input from the input device 10 when the excitation time is over ("display the acquired data" And printout ").

  As a result, the vibration characteristics (see FIG. 12) of the device under test 13 in the acceleration amplitude setting mode and the vibration test for obtaining the target acceleration amplitude Yat of the device under test 13 based on the acquired vibration characteristics are completed.

  According to the method for acquiring the vibration characteristics of the device under test 13 in such an acceleration amplitude setting mode, a complicated device under test in which prediction calculation for obtaining the vibration characteristics of the device under test 13 is very time consuming and expensive. The vibration characteristics of the device under test 13 can be obtained simply by performing a vibration test for a short time with respect to 13. Then, the target acceleration amplitude Yat of the device under test 13 is obtained based on the acquired vibration characteristics, and the conditions of the vibration test can be easily set.

Accordingly, the target acceleration amplitude Yat of the DUT 13 is changed by changing the excitation frequency or the displacement amplitude of the table 1 during the vibration while the DUT 13 is vibrated before the vibration test as in the prior art. It is possible to reduce or shorten the troublesome work of tuning the vibration conditions that can be obtained over time. As a result, it is possible to avoid the possibility that the device under test 13 is deformed or broken by continuing to vibrate the device under test 13 for a long time before the vibration test.
Furthermore, there is no fear of applying excessive vibration to the device under test, and the vibration test can be performed by exciting the allowable acceleration amplitude of the device under test 13. According to the present embodiment, the operational efficiency of the vibration test apparatus 100 is increased.

In addition, although the vibration test apparatus 100 of the present embodiment has been illustrated as an example that vibrates in one direction (left-right direction in FIG. 1), it may be one that can vibrate the device under test 13 in the vertical direction. Further, the device under test 13 may be able to vibrate in multiple directions of one direction and up and down directions in the horizontal direction, or in two directions and up and down directions in the horizontal direction. Further, the hydraulic exciter 2 may be installed by a method other than that shown in FIG. 1, for example, a method in which a rigid frame is provided instead of being embedded in the foundation 8 (see FIG. 1) and fixed thereto. The exciter is also a hydraulic exciter, but may be another type of exciter such as an electromagnetic exciter.
In this embodiment, the functions of the response waveform acquisition unit 44 (see FIG. 2), the response waveform calculation processing unit 45 (see FIG. 2) of the device under test 13 and the vibration test condition setting unit 47 (see FIG. 2) are provided. Although provided in the vibration control device 4, these functions may be processed by a computer or the like that is communicably connected to the vibration control device 4. In that case, the vibration control device 4 and the servo control device 3 may be integrated.

1 Table 2 Hydraulic shaker (vibrator)
2a Drive unit 3 Servo control device 4 Excitation control device 5 Displacement sensor (control sensor, table response sensor, second displacement sensor)
6 Acceleration sensor (table response sensor, second acceleration sensor)
7 Bearing 8 Basic 9 Display device 10 Input device (input means)
11 Load sensor (control sensor)
12A, 12B Pressure sensor (control sensor)
13 DUT 14 Displacement sensor (DUT response sensor, first displacement sensor)
15 Acceleration sensor (DUT response sensor, first acceleration sensor)
41 Input / output control unit 42 Command waveform generation unit (first command waveform generation means, first command waveform generation means)
43 Command waveform output control section (control output means)
44 Response waveform acquisition unit 45 Response waveform calculation processing unit (vibration characteristic calculation means)
46 storage unit (storage means)
47 Vibration test condition setting unit (second command waveform generating means)
48 Response waveform display processing unit 51, 53 Map 100 Vibration test apparatus a1 Start excitation displacement amount amplitude a2 Start excitation acceleration amplitude b1 Excitation displacement amount amplitude increase b2 Excitation acceleration amplitude increase amount c1, c2 Start frequency d1, d2 End frequency e1 End test object displacement amplitude e2 End test object acceleration amplitude f Excitation frequency fs EUT natural frequency ft Excitation frequency G Transfer function displacement amplitude ratio Ga Transfer function acceleration amplitude ratio Ws Command waveform signal ( (Excitation command signal)
X Command displacement amplitude (command amplitude)
Xf command waveform Xt target displacement amplitude Xa command acceleration amplitude (command amplitude)
Xft Command waveform of this vibration test Xfa Command acceleration waveform Xat Target acceleration amplitude Xfat Command acceleration waveform Ym Maximum displacement amplitude of test object Yf Displacement response waveform of test object Yt Target displacement amplitude of test object (target target amplitude of test object) Maximum amplitude)
Yfa DUT acceleration response waveform Yam DUT maximum acceleration amplitude Yat Target acceleration amplitude (maximum target amplitude of DUT)

Claims (11)

A table on which the device under test is mounted, a vibration exciter that excites the table, a servo control device that controls the vibration exciter, and an excitation control that outputs a command waveform to the servo control device as a vibration command signal An apparatus, a plurality of control sensors for detecting the displacement and pressure of the shaker, a load applied to the table from the shaker, and a table response for detecting at least one of the displacement and acceleration of the table In a vibration test apparatus including a sensor and a test object response sensor that detects at least one of a displacement amount and acceleration of the test object,
The vibration control device includes:
An input means for receiving an input of a command amplitude which is at least one of an amplitude of a vibration displacement amount and an amplitude of a vibration acceleration for generating the command waveform;
First command waveform generating means for generating the command waveform based on the command amplitude input from the input means;
Control output means for outputting the command waveform as an excitation command signal to the servo control device based on the command waveform generated by the first command waveform generating means;
When the servo control device operates the vibration exciter in response to the vibration command signal, the command amplitude of the command waveform generated by the first command waveform generation means, and the DUT response Vibration characteristic calculating means for obtaining a signal from a sensor, calculating a natural frequency of the device under test with respect to the command amplitude, and calculating a maximum amplitude of at least one of a displacement amount and acceleration of the device under test; ,
Storage means for storing the natural frequency and maximum amplitude of the device under test calculated in the vibration characteristic calculation means in correspondence with the command amplitude input from the input means;
When performing a real vibration test input from the input means with reference to information on the correspondence relationship between the command amplitudes stored in the storage means and the natural frequency and maximum amplitude of the device under test. In order to obtain the target maximum amplitude of the device under test, the command amplitude in the actual vibration test and the command waveform corresponding thereto are generated and output to the control output means as the vibration command signal Second command waveform generation means,
The control output means outputs the command waveform output from the second command waveform generating means to the servo control device as an excitation command signal, and activates the shaker to perform a real vibration test. ,
The servo control device performs feedback control so that the vibration of the command waveform output from the control output unit is applied to the table based on signals from the plurality of control sensors and a table response sensor. A vibration test apparatus characterized by that.   2. The vibration test apparatus according to claim 1, wherein the first command waveform generation unit generates the command waveform by changing a frequency based on frequency change information input from the input unit. . A table on which the device under test is mounted, a vibration exciter that excites the table, a servo control device that controls the vibration exciter, and an excitation control that outputs a command waveform to the servo control device as a vibration command signal An apparatus, a plurality of control sensors for detecting the displacement and pressure of the shaker, a load applied to the table from the shaker, and a table response for detecting at least one of the displacement and acceleration of the table A control method in a vibration test apparatus comprising: a sensor; and a test object response sensor that detects at least one of a displacement amount and acceleration of the test object,
The excitation control device has input means, first command waveform generation means, control output means, vibration characteristic calculation means, storage means, and second command waveform generation means,
Receiving an input of a command amplitude that is at least one of an amplitude of vibration displacement and an amplitude of vibration acceleration for generating the command waveform from the input means;
The first command waveform generating means generates the command waveform based on the command amplitude input from the input means,
The control output means outputs the command waveform as an excitation command signal to the servo control device based on the command waveform generated by the first command waveform generation means,
The vibration characteristic calculation means is configured to reduce the command amplitude of the command waveform generated by the first command waveform generation means when the servo controller operates the vibration exciter according to the vibration command signal. And a signal from the device under test response sensor, calculating a natural frequency of the device under test with respect to the command amplitude, and calculating a maximum amplitude of at least one of the displacement amount and acceleration of the device under test. Further, the storage means stores the natural frequency and the maximum amplitude of the device under test calculated by the vibration characteristic calculation means in correspondence with the command amplitude input from the input means,
The second command waveform generation means refers to information on the correspondence relationship between the plurality of sets of command amplitudes stored in the storage means and the natural frequency and maximum amplitude of the device under test, from the input means. The control output means generates the command amplitude and the corresponding command waveform corresponding to the actual vibration test so as to obtain the target maximum amplitude of the device under test during the input real vibration test. Is output as the excitation command signal,
The control output means outputs the command waveform output from the second command waveform generating means to the servo control device as an excitation command signal, and activates the shaker to perform a real vibration test. ,
The servo control device performs feedback control so that the vibration of the command waveform output from the control output unit is applied to the table based on signals from the plurality of control sensors and a table response sensor. A control method in a vibration test apparatus.   The vibration test apparatus according to claim 3, wherein the first command waveform generating unit generates the command waveform by changing a frequency based on frequency change information input from the input unit. Control method. In a vibration test apparatus that mounts a device under test on a table, vibrates with a vibration exciter, detects a response vibration of the device under test, and performs a vibration test.
A servo control device for controlling the shaker;
An excitation control device for controlling the servo control device;
A first displacement sensor for detecting a response displacement amount in the response vibration of a predetermined part of the device under test;
A first acceleration sensor for detecting a response acceleration in the response vibration of a predetermined part of the device under test;
With
The vibration control device includes:
Input means for receiving at least an input of a command amplitude for generating a command waveform;
First command waveform generating means for generating the command waveform based on the command amplitude input from the input means;
Control output means for outputting the command waveform as an excitation command signal to the servo control device based on the command waveform generated by the first command waveform generating means;
The command amplitude of the command waveform generated by the first command waveform generating means and the first displacement when the servo control device operates the vibration exciter according to the vibration command signal. A vibration characteristic calculating means for acquiring a signal from the sensor or the first acceleration sensor, and calculating a natural frequency and a maximum amplitude of the device under test with respect to the command amplitude;
Display means for displaying at least the command amplitude of the command waveform and the natural frequency and maximum amplitude of the device under test calculated by the vibration characteristic calculation means;
A vibration test apparatus comprising: The vibration control device includes:
Storage means for storing the natural frequency and maximum amplitude of the device under test calculated in the vibration characteristic calculation means in correspondence with the command amplitude input from the input means;
With reference to information on the correspondence relationship between the stored plural sets of the command amplitudes and the natural frequency and maximum amplitude of the device under test, the device under test at the time of the actual vibration test input from the input means A second command for generating the command amplitude and the command waveform corresponding to the actual vibration test so as to obtain the maximum target amplitude of the body, and outputting the command waveform to the control output means as the vibration command signal Waveform generating means,
The control output means outputs the command waveform output from the second command waveform generation means as an excitation command signal to the servo control device, and operates the shaker to perform a real vibration test. The vibration test apparatus according to claim 5. The command amplitude and the maximum amplitude of the DUT are
The target amplitude of the displacement amount in the command waveform applied to the table by the vibration exciter and the response displacement detected by the first displacement sensor at the part of the device under test where the first displacement sensor is installed The maximum amplitude of the quantity,
Alternatively, the target amplitude of acceleration in the command waveform applied to the table by the vibration exciter and the response detected by the first acceleration sensor at the part of the device under test where the first acceleration sensor is installed The vibration test apparatus according to claim 5, wherein the vibration test apparatus is a combination of any one of the maximum acceleration amplitudes. The vibration characteristic calculation means includes
When the command amplitude is the target amplitude of the displacement amount in the command waveform that the shaker adds to the table,
When the servo control device operates the vibration exciter in response to the vibration command signal, at least the first displacement sensor corresponds to the command amplitude input to the first command waveform generation means. Obtaining the detected response displacement amount, calculating the natural frequency of the device under test with respect to the command amplitude and the maximum amplitude of the response displacement amount detected by the first displacement sensor,
A correspondence relationship between the natural frequency of the device under test with respect to a plurality of sets of the command amplitude and the maximum amplitude of the response displacement detected by the first displacement sensor is expressed as follows: the command amplitude and the natural frequency of the device under test; The vibration test apparatus according to claim 5, wherein the storage unit stores the information as a correspondence relationship with a maximum amplitude. The vibration characteristic calculation means includes
If the command amplitude is the target amplitude of acceleration in the command waveform that the shaker adds to the table,
When the servo control device operates the vibration exciter in response to the vibration command signal, at least the first acceleration sensor corresponds to the command amplitude input to the first command waveform generation means. Obtaining the detected response acceleration, calculating the natural frequency of the device under test with respect to the command amplitude and the maximum amplitude of the response acceleration detected by the first acceleration sensor,
The correspondence between the natural frequency of the device under test with respect to a plurality of the command amplitudes and the maximum amplitude of the response acceleration detected by the first acceleration sensor is expressed as follows: the command amplitude and the natural frequency and maximum amplitude of the device under test The vibration test apparatus according to claim 5 or 6, wherein the information is stored in the storage unit as information on the correspondence relationship between the vibration test apparatus and the vibration test apparatus. A second displacement sensor for detecting a displacement amount of the table by the vibration exciter based on the command waveform;
A second acceleration sensor for detecting acceleration of the table by the shaker based on the command waveform;
A load sensor for detecting a load applied from the shaker to the table based on the command waveform,
When the servo controller controls the vibration exciter based on the command waveform from the control output means,
When the command waveform is generated based on the target amplitude of the amount of displacement applied by the shaker to the table, the signal from the load sensor and the signal from the second displacement sensor are fed back, Control the shaker to be the command waveform,
When the command waveform is generated based on a target amplitude of acceleration applied by the shaker to the table, the signal from the load sensor and the signal from the second acceleration sensor are fed back, The vibration test apparatus according to any one of claims 5 to 9, wherein the vibration exciter is controlled to have a command waveform.   The said 1st command waveform production | generation means produces | generates the said command waveform by changing a frequency based on the frequency change information input from the said input means, Any one of Claim 5-9 The vibration test apparatus according to claim 1.

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