JP7249243B2 - Damper inspection data error estimation system and damper inspection data error estimation method - Google Patents

Description

The present invention relates to a damper inspection data error estimation system and a damper inspection data error estimation method.

The inspection device includes a controller and an output section that provides an output to the damper according to an input from the controller, and inspects the performance of the damper. The controller feeds back the output of the output unit and controls the inspection device according to predetermined inspection conditions to the damper to vibrate the damper.

As such an inspection device, for example, there is a vibration inspection device. The vibration inspection device has a vibration exciter as an output unit, and vibrates a specimen such as a mechanical part or a damper with the vibration exciter. In this case, the output of the vibration inspection apparatus is physical quantities such as the load, velocity, and displacement applied to the specimen. Displacement is given (see, for example, Patent Document 1).

JP 2019-032261 A

Damper inspection data obtained by inspecting a damper with such an inspection apparatus is used by an inspection operator to determine whether the damper is acceptable. Pass/fail judgment is made based on whether the value of the damper inspection data satisfies the product acceptance criteria.

As described above, the inspection device is feedback-controlled and tries to apply ideal vibration to the damper according to the inspection conditions, but due to noise, disturbance, etc., the ideal vibration cannot be applied, and an error occurs in the output of the inspection device. In some cases, the damper inspection data may include non-negligible errors due to variations in the performance of the dampers, which are the specimens.

When damper inspection data containing such errors is used, it becomes impossible to accurately judge whether the equivalent damping coefficient, maximum load, and minimum load of the damper meet the product acceptance criteria. While there is a need to know how much error damper test data contains, there has been no system or method for determining such error.

Accordingly, an object of the present invention is to provide a damper inspection data error estimation system and a damper inspection data error estimation method capable of estimating an error contained in the damper inspection data.

To achieve the above object, a damper inspection data error estimation system according to the present invention is a damper inspection data error estimation system obtained by a vibration inspection in which a damper is vibrated, and includes a processor for processing the damper inspection data. an equivalent damping coefficient calculation unit for obtaining an estimated value of the equivalent damping coefficient of the damper by inputting damper inspection data obtained when the processing device applies vibration to the damper to a viscoelastic model representing the damper; a damping coefficient error estimator that obtains, as a damping coefficient error, the difference between the theoretical value and the estimated value of the equivalent damping coefficient of the viscoelastic model when a sinusoidal vibration indicated by the damper inspection conditions is applied to the viscoelastic model; there is The method of estimating the error of the damper inspection data according to the present embodiment is a method of estimating the error of the damper inspection data obtained by the vibration inspection in which the damper is vibrated. Equivalent damping coefficient calculation process in which the estimated value of the equivalent damping coefficient of the damper is obtained by inputting the damper inspection data obtained when given and a damping coefficient error estimation process for obtaining the difference between the theoretical value and the estimated value of the equivalent damping coefficient of the viscoelastic model as a damping coefficient error.

In the damper inspection data error estimation system and damper inspection data error estimation method configured as described above, the damping coefficient error that is assumed to be included in the equivalent damping coefficient obtained from the damper inspection data is obtained. It can be used as an index indicating the magnitude of the error contained in the inspection data. Further, the inspection operator can grasp the error contained in the damper inspection data from the value of the damping coefficient error, and can also grasp the reliability of the damper inspection data.

In the damper inspection data error estimating system, the processing unit further filters the load and velocity waveform disturbances of the damper inspection data, and the maximum and minimum values of the load in the waveform before filtering. and a load error estimator for estimating the load error based on the maximum and minimum values of the load in the filtered waveform. In the damper inspection data error estimation system configured in this way, the load error that is assumed to be included in the maximum and minimum values of the load obtained from the damper inspection data is obtained. can be used as an indicator of the size of Therefore, according to the damper inspection data error estimation system, the error contained in the damper inspection data can be estimated. Moreover, the inspection operator can grasp the error contained in the damper inspection data from the value of the load error, and can also grasp the reliability of the damper inspection data.

Furthermore, in the damper inspection data error estimation system, the processing device may include a determination unit that compares the damping coefficient error and the load error with threshold values respectively set to determine whether or not a warning regarding the damper product acceptance or rejection is necessary. . According to the damper inspection data error estimation system configured in this way, when it is determined that an error that is considered to be included in the damper inspection data cannot be overlooked, it is possible to determine that a warning is necessary, and the inspection operator who determines whether the damper is acceptable or not. can draw attention to

In the damper inspection data error estimation system, the equivalent damping coefficient of the damper obtained from the damper inspection data by the judgment unit, the upper limit value and the Each threshold value may be set based on the smaller value of the difference between the lower limit value, the equivalent damping coefficient, and the maximum and minimum values of the load. According to the damper inspection data error estimation system configured in this way, it is possible to foresee the possibility that there is an error in the product acceptance determination of the damper, and to accurately determine whether or not a warning is necessary.

Then, in the damper inspection data error estimation system, the equivalent damping coefficient calculation unit uses the Maxwell model as the viscoelastic model, Cex as the estimated value, F as the load of the damper, and X as the displacement of the damper, and the following equation ( 1) may be calculated to obtain the estimated value Cex.

このように構成されたダンパ検査データの誤差推定システムによれば、等価減衰係数を求める式（１）にパラメータとして周波数が含まれていないので、検査装置がダンパに与える振動に検査条件の正弦波振動の周波数以外の周波数成分が重畳していても、正確に等価減衰係数の推定値を求め得る。

According to the damper inspection data error estimation system configured as described above, the frequency is not included as a parameter in the equation (1) for obtaining the equivalent damping coefficient. Even if frequency components other than the vibration frequency are superimposed, the estimated value of the equivalent damping coefficient can be obtained accurately.

According to the damper inspection data error estimation system and the damper inspection data error estimation method of the present invention, the error contained in the damper inspection data can be estimated.

1 is a configuration diagram of an error estimation system for damper inspection data in one embodiment; FIG. It is a side view of an inspection device. 4 is a graph showing ideal waveforms and waveforms of load, velocity and displacement; It is a block diagram of a processing apparatus. FIG. 2 is a configuration diagram of a damper represented by a Maxwell model; FIG. 4 is a diagram showing characteristics of load with respect to damper speed; FIG. 5 is a diagram showing velocity and load characteristics when vibration is applied to a damper; FIG. 5 is a diagram showing waveforms obtained by filtering waveforms of characteristics of speed and load when vibration is applied to a damper. It is the flowchart which showed an example of the processing procedure in a processing apparatus.

BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below based on embodiments shown in the drawings. As shown in FIG. 1, the damper inspection data error estimation system in one embodiment includes a processing device 1 for processing the damper inspection data, and calculates the error of the damper inspection data obtained by an inspection device T that vibrates the damper. presume.

The inspection device T, as shown in FIG. 2, is a vibration inspection device that vibrates a damper D as a specimen. A damper D as a specimen is a telescopic damper having a cylinder 5 and a rod 6 that moves in and out of the cylinder 5. When the rod 6 is displaced in the axial direction with respect to the cylinder 5, the damping force is applied. Demonstrate.

The inspection apparatus T, as shown in FIG. 2, includes a controller CTL, a vibrator VM, and a sensor 2 for detecting the load F of the damper D, the velocity V during expansion and contraction, and the displacement X during expansion and contraction. The vibration exciter VM includes a frame 10, a holding portion 11 that is provided on the frame 10 and is movable in the horizontal direction in FIG. and an actuator 13 connected to the damper D to vibrate the damper D.

The actuator 13 includes a cylinder 11a, a piston (not shown) which is movably inserted into the cylinder 11a and partitions the inside of the cylinder 11a into an expansion side chamber and a compression side chamber (not shown), and a piston which is movably inserted into the cylinder 11a. It is provided with a rod 11b connected to a piston and a servo valve 11c for selectively feeding pressurized oil supplied from a pump (not shown) to the expansion side chamber and the pressure side chamber.

Although not shown in detail, the servo valve 11c includes a hollow housing, a spool that is movably inserted into the housing, a solenoid that drives the spool, a spring that positions the spool at a neutral position, and a spring that positions the spool at a neutral position. and a drive circuit that receives an input and drives the solenoid. The solenoid can change the thrust applied to the spool according to the amount of current supplied from the drive circuit, and can adjust the position of the spool. Depending on the position of the spool, the servo valve 11c has a position that supplies pressure oil to the expansion side chamber, a position that supplies pressure oil to the compression side chamber, and a position that cuts off the supply of pressure oil to both. , and the flow rate is adjusted according to the amount of current supplied to the solenoid at the position where pressure oil is supplied to the expansion side chamber or the compression side chamber.

In this embodiment, when the servo valve 11c receives a current command I as an input, it adjusts the thrust of the solenoid, adjusts the position of the spool with respect to the housing, and either the expansion side chamber or the compression side chamber is instructed by the input. The chamber is supplied with pressurized oil at the rate indicated by the input. The actuator 13 expands the chamber to which the pressurized oil is supplied from the servo valve 11c and contracts the chamber to which the pressurized oil is not supplied to extend and contract. In this way, the vibration exciter VM, upon receiving an input from the controller CTL, causes the actuator 13 to expand and contract, vibrates one end of the damper D, and vibrates the damper D. As shown in FIG. The drive circuit has a current sensor that detects the current flowing through the solenoid, feeds back the current detected by the current sensor, and supplies current to the solenoid according to the current command I input from the controller CTL. The drive circuit may be included in the controller CTL instead of the servo valve 11c side.

When the damper D is inspected by the inspection apparatus T, the controller CTL repeatedly gives the actuator 13 a current command I for expanding and contracting the actuator 13 of the vibration exciter VM with a sine wave of a predetermined cycle according to inspection conditions. In this way, the inspection conditions are such that the actuator 13 is driven to repeatedly apply sinusoidal vibration to the damper D, which is the specimen. Actuator 13 is provided. Therefore, each waveform of the ideal load, ideal velocity, and ideal displacement to be applied to the damper D by the vibration exciter VM indicated by the inspection conditions, that is, the ideal waveform Wa changes as a sine wave with a predetermined period as shown in FIG. waveform. It should be noted that the predetermined period is set according to the inspection conditions.

Subsequently, the sensor 2 detects the load F, velocity V, and displacement X of the damper D during the inspection in which the damper D is vibrated by the current command I given to the vibration exciter VM from the controller CTL. Thus, in this embodiment, the damper inspection data are the load F, velocity V, and displacement X of the damper D. FIG. Therefore, the sensor 2 includes a load cell 2a installed between the actuator 13 and the damper D to detect the load applied to the damper D by the actuator 13, and a load cell 2a mounted on the rod 11b of the actuator 13 to detect the expansion/contraction speed of the damper D. A speed sensor 2b for detection and a stroke sensor 2c for detecting the displacement X of the damper D by detecting the expansion/contraction displacement of the actuator 13 are provided.

Then, the sensor 2 detects the load F, the velocity V and the displacement X detected at a predetermined sampling period, and the inspection device T puts together the data groups of the load F, the velocity V and the displacement X into a CSV file, is sent as damper inspection data to a terminal (not shown) used by the inspection operator. Also, the damper inspection data is input to the processing device 1 . The damper inspection data may be input to the processing device 1 directly from the sensor 2, or may be input to the processing device 1 from the terminal or another route. The inspection device T may have a printing device, and graph the values of the damper inspection data and the damper inspection data and print out on a paper medium. The speed sensor 2b detects the acceleration of the rod 11b and integrates the detected acceleration to detect the speed V of the inspection apparatus T. The speed V is detected by differentiating the displacement X detected by the stroke sensor 2c. You may make it Further, in detecting the speed, the acceleration of the expansion and contraction of the damper D detected by the acceleration sensor provided on the rod 11b is input to the processing device 1, and the processing device 1 integrates the acceleration to detect the speed V of the rod 11b. may

The processor 1 is a computer system, as shown in FIG. an interface 1c that receives signals from a load cell 2a, a speed sensor 2b, and a stroke sensor 2c; an input device 1d such as a keyboard or a mouse; a display device 1e; an auxiliary storage device 1f; It has a printer 1g as a printing device and a bus 1h for communicably connecting these devices. The processing device 1 may also serve as a terminal used by the inspection operator.

The arithmetic processing unit 1a is a CPU or the like that performs arithmetic processing, and controls each part of the processing unit 1 by executing an operating system and other programs. A process of obtaining an estimated value Cex of the equivalent damping coefficient of the damper D based on X and estimating the damping coefficient error ΔC, a filtering process of removing disturbances in the load and velocity waveforms of the damper inspection data, and a process of estimating the load error ΔF; Further, a process for determining whether or not to issue a warning regarding the acceptance/rejection of the damper D as a product is performed. The storage device 1b has a hard disk in addition to a ROM and a RAM. The interface 1c converts an analog signal input from the inspection apparatus T into a digital signal readable by the arithmetic processing unit 1a. The display device 1e has a screen for displaying data processed by the arithmetic processing device 1a, and is, for example, a liquid crystal display. The auxiliary storage device 1f is composed of a computer-readable recording medium and a storage medium drive device, and the storage medium is a magnetic disk, a magneto-optical disk, an optical disk, a semiconductor memory, or the like. In addition, the processing device 1 detects the values of the load F, the velocity V, and the displacement X detected by the load cell 2a, the velocity sensor 2b, and the stroke sensor 2c, the graph plotting the values, the estimated value Cex, the damping coefficient error ΔC, the load error ΔF and warning display on the screen of the display device 1e for viewing, and an application program for obtaining the estimated value Cex, the damping coefficient error ΔC, and the load error ΔF is stored in the storage device 1b.

In the present embodiment, the arithmetic processing device 1a of the processing device 1 executes a program for obtaining the estimated value Cex, the damping coefficient error ΔC, and the load error ΔF. An equivalent damping coefficient calculator 1a1 for obtaining Cex, a damping coefficient error estimator 1a2 for obtaining a damping coefficient error ΔC, a filter processing unit 1a3 for removing disturbances in the waveforms of the load F and the velocity V of the damper inspection data, and a load A load error estimator 1a4 for estimating the errors ΔFmax and ΔFmin, and a judgment unit 1a5 for judging whether or not to issue a warning regarding the product acceptability of the damper D are realized.

Processing in the processing device 1 will be described in detail below. First, the equivalent attenuation coefficient calculator 1a1 will be described in detail. The equivalent damping coefficient calculator 1a1 obtains a theoretical value of the equivalent damping coefficient of the damper D for the vibration of the ideal waveform Wa indicated by the solid line in FIG. In obtaining this theoretical value, as shown in FIG. 5, the viscoelastic model representing the damper D is a Maxwell model, and the load F and the displacement X of the ideal waveform Wa are input to the virtual damper represented by this Maxwell model. think of.

In Maxwell's model, a damper D is represented by a dash pod 20 with a damping coefficient C and a spring 21 with a spring constant K. The dash pod 20 represents a damping element that exerts a damping force by displacement of the damper D, and the spring 21 represents the overall rigidity of the oil in the damper D and the parts constituting the damper D, that is, the rigidity of the device.

Let the left end of the damper D represented by the Maxwell model be the stationary end and the right end be the free end, and let the vibration indicated by the inspection conditions be given to the free end. Assuming that the displacement of the right end of the dash pod 20 is Yd and the displacement of the right end of the spring 21 is Xd, Maxwell's equation of motion is expressed by the following equation (2).

また、ダッシュポッド２０が出力する荷重Ｆｄは、ばね２１の変形による弾発力に等しいので、以下の式（３）が成り立つ。

Also, since the load Fd output by the dash pod 20 is equal to the elastic force due to the deformation of the spring 21, the following equation (3) holds.

以上の式（２）と式（３）とからマクスウェルモデルで表現されたダンパＤが吸収する振動エネルギＥｄは、ダンパＤが発揮する荷重をＦｄとすると、以下の式（４）で表せる。

The vibration energy Ed absorbed by the damper D represented by the Maxwell model from the above equations (2) and (3) can be expressed by the following equation (4), where Fd is the load exerted by the damper D.

他方、マクスウェルモデルで表現されたダンパＤの等価減衰係数Ｃｅｑとすると、ダンパＤが吸収する振動エネルギＥｄは、以下の式（５）で表すことができる。

On the other hand, assuming that the equivalent damping coefficient Ceq of the damper D is represented by the Maxwell model, the vibration energy Ed absorbed by the damper D can be represented by the following equation (5).

すると、式（４）および式（５）から下の式（６）が成り立つ。

Then, the following formula (6) holds from formulas (4) and (5).

以上より、マクスウェルモデルで表現されたダンパＤの等価減衰係数Ｃｅｑは、以下の式（７）によって求めることができる。

From the above, the equivalent damping coefficient Ceq of the damper D represented by Maxwell's model can be obtained by the following equation (7).

式（７）を利用して等価減衰係数Ｃｅｑを求めるには、式（７）中のパラメータである荷重Ｆｄと、変位の微分値ｄＸｄ／ｄｔ、つまり、ダンパＤの伸縮における速度Ｖｄであることが分かる。

In order to obtain the equivalent damping coefficient Ceq using the equation (7), the load Fd, which is a parameter in the equation (7), and the differential value dXd/dt of the displacement, that is, the velocity Vd in the expansion and contraction of the damper D I understand.

From the equation (7), if vibration is input to the damper D represented by the Maxwell model and the load Fd and the velocity Vd are observed, the integral value of Fd×Vd and the integral value of ^Vd2 can be obtained. Therefore, the equivalent damping coefficient Ceq can be calculated.

Therefore, the equivalent damping coefficient calculation unit 1a1 simulates the vibration of the ideal waveform Wa, specifically the load Fd and the velocity Vd when the ideal velocity and ideal displacement are input to the damper D represented by the Maxwell model. It is obtained every two sampling periods. Then, since the value of the set of the calculated load Fd and the speed Vd is obtained for each sampling period, the equivalent damping coefficient calculator 1a1 successively substitutes the values of the set of the obtained load Fd and the speed Vd to obtain Fd× The value of Vd is obtained and added, and the value of ^Vd2 is obtained and added to calculate the values of the numerator and denominator of equation (7) to obtain the equivalent damping coefficient Ceq. The equivalent damping coefficient Ceq obtained in this manner is the theoretical value Cref of the equivalent damping coefficient of the damper D represented by Maxwell's model based on the ideal vibration input. Note that the equivalent damping coefficient calculator 1a1 may obtain the theoretical value Cref in advance if the inspection conditions are constant, so there is no need to obtain the theoretical value Cref each time the damping coefficient error ΔC is estimated.

Subsequently, the equivalent damping coefficient calculation unit 1a1 inputs the damper inspection data obtained by the sensor 2 when the inspection device T gives vibration to the damper D with respect to the Maxwell model described above, and calculates the equivalent damping coefficient of the damper D. An estimated value Cex of is obtained. Specifically, the equivalent damping coefficient calculation unit 1a1 calculates the load Fm and the velocity when the velocity V and the displacement X of the damper inspection data obtained when the damper D is inspected are input to the damper D represented by the Maxwell model. Vm is obtained for each sampling period of the sensor 2 by simulation. Then, the equivalent damping coefficient calculation unit 1a1 sequentially substitutes the obtained values of the set of the load Fm and the velocity Vm to obtain and add the value of Fm×Vm, and obtains and adds the value of ^Vm2 , The values of the numerator and denominator of equation (7) are calculated to obtain the estimated value Cex of the equivalent damping coefficient (equivalent damping coefficient calculation process). The estimated value Cex obtained in this manner is the equivalent damping coefficient of the damper D represented by the Maxwell model based on the measured values (damper inspection data).

In general, the absorbed energy E of the damper D from the measured value of the damper D is obtained by setting the damping coefficient of the damper D to C1, the device rigidity of the damper D to K1, the frequency of the vibration given to the damper D by the inspection device T to f1, and the vibration is represented by the following equation (8). Therefore, the equivalent damping coefficient Ceq of the damper D can be obtained from the damper inspection data by substituting the absorbed energy E into the left side of the equation (4) and substituting the value of the velocity V of the damper inspection data into the right side dx/dt. . However, since high-frequency components are superimposed on the waveforms of the load F and the displacement X of the damper D in the actual damper inspection data due to disturbance and noise, the equivalent damping cannot be accurately achieved by using the equation (8) with the frequency f as a parameter. Coefficients cannot be obtained.

これに対して、粘弾性モデルで表現したダンパＤの等価減衰係数Ｃｅｑを求める式（７）にはパラメータとして周波数が含まれていないので、検査装置ＴがダンパＤに与える振動に検査条件の正弦波振動の周波数以外の周波数成分が重畳していても、正確に等価減衰係数の理論値Ｃｒｅｆと推定値Ｃｅｘを求めることができる。

On the other hand, the equation (7) for obtaining the equivalent damping coefficient Ceq of the damper D represented by the viscoelastic model does not include the frequency as a parameter. Even if frequency components other than the wave vibration frequency are superimposed, the theoretical value Cref and the estimated value Cex of the equivalent damping coefficient can be obtained accurately.

The aforementioned theoretical value Cref represents an equivalent damping coefficient when ideal vibration is given and the damper D expands and contracts ideally. The other estimated value Cex of the equivalent damping coefficient is the equivalent damping coefficient of the damper D expressed by the Maxwell model of actually obtained damper inspection data. Therefore, if the difference between the theoretical value Cref and the estimated value Cex is taken, it does not include the disturbance caused by the damper D, and the estimated error of the equivalent damping coefficient caused by the vibration deviating from the inspection conditions by the inspection device T is calculated. can ask.

Therefore, when the equivalent damping coefficient calculator 1a1 obtains the estimated value Cex, the damping coefficient error estimator 1a2 calculates the difference between the theoretical value Cref and the estimated value Cex, and uses this difference as the damping coefficient error ΔC (damping coefficient error estimation process).

The viscoelastic model that expresses the damper D is not limited to the Maxwell model, and may be a Kelvin Voigt model or a standard linear solid model. can be done.

Next, the filter processing section 1a3 will be described. As shown in FIG. 6, when the damper D has the characteristic that the damping coefficient changes at the velocities Va and -Va, when the damper D is subjected to sinusoidal vibration and inspected, the load F and the velocity V of the obtained damper inspection data are The characteristic describes a waveform W as shown in FIG. In FIG. 7, the characteristic line of the load F and the velocity V does not pass through the origin because the damper D has hysteresis. If the inspection apparatus T cannot give an ideal sinusoidal vibration to the damper D due to noise, disturbance, or other influences, a disturbance Z may appear in the waveform W of this characteristic.

When the disturbance Z appears in the characteristic waveform in this way, if the value of the disturbance Z portion takes the maximum value Fmax or minimum value Fmin of the load F, this is recognized as the maximum load or minimum load of the damper D. may be lost. The turbulence Z occurs when the load is suddenly detected to be too large or too small due to some influence. Incorrectly recognize the maximum or minimum load.

Therefore, the filter processing unit 1a3 performs filter processing to remove the disturbance Z from the waveform W of the characteristics of the load F and the velocity V, and obtains a waveform Wc from which the disturbance Z is removed as shown in FIG. A low-pass filter may be used as the filter, but if a median filter is used, a smoothly continuous waveform Wc can be obtained.

The waveform Wc filtered by the filter processing unit 1a3 is a waveform in which the turbulence Z is removed by removing the vibration component from the characteristic line. Therefore, the maximum value Fcmax and the minimum value Fcmin of the load F of this waveform Wc can be regarded as values approximate to the actual maximum load and minimum load of the damper D.

In this way, the maximum value Fcmax and the minimum value Fcmin of the load F of the waveform Wc can be regarded as values approximate to the actual maximum load and minimum load of the damper D. If the turbulence Z is removed from the maximum value Fmax and minimum value Fmin of the load F obtained from W and the maximum value Fcmax and minimum value Fcmin after filtering are subtracted, the inspection apparatus T gives vibration that deviates from the inspection conditions. It is possible to obtain an estimation error of the load F caused by the result of the calculation.

Therefore, load error estimator 1a4 extracts maximum value Fmax and minimum value Fmin of load F in waveform W before filtering, and maximum value Fcmax and minimum value Fcmin of load F in waveform Wc after filtering. Then, the difference between the maximum values Fmax and Fcmax and the difference between the minimum values Fmin and Fcmin are obtained. The load error estimator 1a4 sets the difference between the maximum values Fmax and Fcmax as the maximum load error ΔFmax, and the difference between the minimum values Fmin and Fcmin as the minimum load error ΔFmin.

The determination unit 1a5 compares the damping coefficient error ΔC and the threshold values t1, t2, and t3 set for the load errors ΔFmax and ΔFmin on the maximum and minimum values, respectively, and determines whether or not to issue a warning regarding the acceptance/rejection of the damper D as a product. to decide.

Specifically, when the absolute value of the damping coefficient error ΔC exceeds a threshold value t1 set for the damping coefficient error ΔC, the determination unit 1a5 determines that the damper inspection data, which is the inspection result of the damper D, indicates that the damper inspection data contains a large error. Since the credibility of the data is low, it is determined that it is necessary to warn the inspection operator regarding the acceptance or rejection of the damper D as a product. On the other hand, when the absolute value of the damping coefficient error ΔC is equal to or less than the threshold value t1 set for the damping coefficient error ΔC, the determination unit 1a5 determines that the error included in the damper inspection data is small and the damper inspection data, which is the inspection result of the damper D Since the credibility of the Dumper D is low, it is determined that it is necessary to warn the inspection operator about the acceptance/rejection of the damper D as a product. The threshold t1 set for the damping coefficient error ΔC can be set to any value. It can be judged that a warning is necessary because an error that cannot be overlooked is included and an appropriate inspection is not performed.

Further, the determination unit 1a5 may set the smaller value of the difference between the equivalent damping coefficient Ceq of the damper D and the lower limit value α1 and the upper limit value α2 that define the product acceptable range set in the equivalent damping coefficient Ceq as the threshold value t1. . As a result of the inspection of the damper D, in order to judge whether the damper D passes as a product, the equivalent damping coefficient obtained from the damper inspection data must be within the product acceptance range including the equivalent damping coefficient required for the damper D. It is judged whether it is included or not. The acceptable product range is defined by the lower limit value α1 and the upper limit value α2. The equivalent damping coefficient Ceq can be obtained from the damper inspection data using the equations (4) and (8) as described above.

Determining unit 1a5 obtains the difference between equivalent damping coefficient Ceq and lower limit value α1 and the difference between equivalent damping coefficient Ceq and upper limit value α2, and sets the difference having a small value as threshold value t1. For example, the design value of the equivalent damping coefficient is 4×10 ⁷ N·s/m, the lower limit α1 is 4.4×10 ⁷ N·s/m, and the upper limit α2 is 3.6×10 ⁷ N·s/m. and the equivalent damping coefficient Ceq obtained from the damper inspection data is 4.3×10 ⁷ N·s/m, the difference between the equivalent damping coefficient Ceq and the lower limit value α1 is 0.1 ×10 ⁷ N·s/m, and the difference between the equivalent damping coefficient Ceq and the upper limit value α2 is 0.7 × 10 ⁷ N·s/m. Therefore, in this case, the determination unit 1a5 sets the smaller value of 0.1×10 ⁷ N·s/m among the two difference values as the threshold value t1. Here, when the damping coefficient error ΔC is 0.2×10 ⁷ N·s/m, it is determined that a warning is necessary because the absolute value of the damping coefficient error ΔC exceeds the threshold value t1. Since the equivalent damping coefficient Ceq is within the product acceptance range, the damper ^D is determined to be acceptable. Therefore, the damper D with an actual equivalent damping coefficient of 4.5×10 ⁷ N·s/m, which is outside the product acceptance range, is 4.3×10 ⁷ N·s/m due to an error. There is a possibility that the damper D, which has been determined to be the damper D with the equivalent damping coefficient Ceq and has been rejected, has been determined to be acceptable.

When the damping coefficient error ΔC exceeds the threshold value t1 in this way, even if the equivalent damping coefficient Ceq is within the product acceptable range, the actual equivalent damping coefficient may be outside the product acceptable range. , even if the equivalent damping coefficient Ceq is out of the product acceptable range, the actual equivalent attenuation coefficient may be within the product acceptable range.

Therefore, when the difference between the equivalent damping coefficient Ceq and the lower limit value α1 and the difference between the equivalent damping coefficient Ceq and the upper limit value α2 are obtained, and the difference having a small value among them is set as the threshold value t1, the damper inspection data The error estimation system can foresee the possibility that there is an error in the product acceptance determination of the damper D, and can accurately determine whether or not a warning is necessary.

The determination unit 1a5 performs the same processing as that performed on the damping coefficient error ΔC, and compares the load errors ΔFmax and ΔFmin on the maximum and minimum values with the threshold values t2 and t3 to determine the damper D Determines whether a warning is required for product pass/fail.

If the absolute value of the load error ΔFmax on the maximum value side exceeds the threshold value t2 set for this load error ΔFmax, the determination unit 1a5 determines that the error included in the damper inspection data is large and that the damper inspection data, which is the inspection result of the damper D, is Since the credibility is low, it is determined that it is necessary to warn the inspection operator about the acceptance or rejection of the damper D as a product. Further, when the absolute value of the load error ΔFmin on the minimum value side exceeds the threshold value t3 set for this load error ΔFmin, the determination unit 1a5 determines that the error included in the damper inspection data is large, and the damper inspection result, which is the inspection result of the damper D, is detected. Since the credibility of the data is low, it is determined that it is necessary to warn the inspection operator regarding the acceptance or rejection of the damper D as a product. On the other hand, when the absolute value of the load error ΔFmax on the maximum value side is equal to or less than the threshold value t2 and the absolute value of the load error ΔFmin on the minimum value side is equal to or less than the threshold value t3, the determination unit 1a5 determines the error included in the damper inspection data. is small, and the credibility of the damper inspection data, which is the inspection result of the damper D, is low. The threshold values t2 and t3 set for the maximum and minimum load errors ΔFmax and ΔFmin can be set to arbitrary values. If set, it can be judged that a warning is necessary because the damper inspection data contains an unacceptable error and proper inspection is not performed.

Further, the judgment unit 1a5 determines the product acceptance range set to the maximum value Fmax of the load F in the damper inspection data obtained by the inspection of the damper D, similarly to the necessity judgment of the warning using the damping coefficient error ΔC. A smaller value of the difference between the defined lower limit value β1 and upper limit value β2 may be set as the threshold value t2. Further, the determination unit 1a5 determines the product acceptance range set to the minimum value Fmin of the load F in the damper inspection data obtained by the inspection of the damper D, similarly to the necessity determination of the warning using the damping coefficient error ΔC. A smaller value of the difference between the defined lower limit value γ1 and upper limit value γ2 may be set as the threshold value t3. When the threshold values t2 and t3 are set in this way, the threshold value t1 for the damping coefficient error ΔC is obtained by obtaining the difference between the equivalent damping coefficient Ceq and the lower limit value α1, and the difference between the equivalent damping coefficient Ceq and the upper limit value α2, and then calculating the smaller value. For the same reason as in the case of setting the difference between them as the threshold value t1, it is possible to foresee the possibility that there is an error in the product acceptance determination, and to accurately determine whether or not a warning is necessary.

If the value obtained by dividing the damping coefficient error ΔC by the equivalent damping coefficient Ceq exceeds a threshold set for this value, the determination unit 1a5 may determine that a warning is necessary. A warning is required if the value divided by the maximum value Fmax of exceeds the threshold set for this value, or if the value obtained by dividing the load error ΔF by the maximum value Fmax of the load F exceeds the threshold set for this value may be determined to be

When the determination unit 1a5 determines that a warning is necessary, the processing device 1 displays the damping coefficient error ΔC, the maximum load error ΔFmax, and the minimum load error ΔFmin on the display device 1e, and displays a warning. display. For example, if the damping coefficient error ΔC exceeds the threshold value t1, a warning such as "damping coefficient error is excessive" is displayed. Note that the warning may be given on the screen of the display device 1e of the processing device 1 in a manner that attracts the inspection operator's attention, and errors that require a warning may be displayed in a different color from errors that do not require a warning. If the processor 1 is equipped with a speaker, a warning sound may be emitted to call the inspection operator's attention. In addition to printing the error ΔFmax and the load error ΔFmin on the minimum value side, if a warning is required, a warning message may be printed for the error requiring a warning among the three errors.

The processing of the damper inspection data error estimation system described above will be described with reference to the flowchart shown in FIG. A damper D, which is a specimen, is attached to the inspection apparatus T, and a current command I is repeatedly input from the controller CTL to drive the actuator 13 to apply vibration to the damper D (step ST1). X is detected by the load cell 2a, speed sensor 2b and stroke sensor 2c to obtain damper inspection data (step ST2). The obtained damper inspection data is input from the inspection device T to the arithmetic processing device 1 a of the processing device 1 .

The processing device 1 performs a simulation by inputting the values of the velocity V and the displacement X in the damper inspection data to the Maxwell model representing the damper D, and obtains the load Fm and the velocity Vm of the damper D represented by the Maxwell model. , an estimated value Cex of the equivalent damping coefficient is obtained from the obtained load Fm and velocity Vm (step ST3). The processing device 1 also obtains the difference between the estimated value Cex and the theoretical value Cref as the attenuation coefficient error ΔC (step ST4).

Further, the processing device 1 filters the waveform W of the load F and the velocity V in the damper inspection data to obtain the waveform Wc (step ST5), the maximum value Fmax of the load F in the waveform W and the The difference between the maximum value Fcmax of the load Fc and the difference between the minimum value Fmin of the load F in the waveform W and the minimum value Fcmin of the load Fc in the waveform Wc are the load errors ΔFmax on the maximum value side and the minimum value side, respectively. ΔFmin is obtained (step ST6).

Then, the processing device 1 compares the damping coefficient error ΔC and each load error ΔFmax, ΔFmin with the threshold values t1, t2, t3 respectively set therein to determine whether or not a warning is necessary (step ST7). If it is determined in step ST7 that a warning is necessary, the damping coefficient error ΔC and each load error ΔFmax, ΔFmin are displayed on the screen of the display device 1e, and a warning message is displayed (step ST8). On the other hand, if it is determined in step ST7 that a warning is unnecessary, the damping coefficient error ΔC and each load error ΔFmax, ΔFmin are displayed on the screen of the display device 1e (step ST9).

The damper inspection data error estimation system operates as described above to find the damping coefficient error ΔC and the load errors ΔFmax and ΔFmin between the maximum value side and the minimum value side, and the equivalent damping coefficient Ceq obtained from the damper inspection data, Estimate and visualize the error that the maximum value Fmax and the minimum value Fmin of the load F might contain.

As described above, the damper inspection data error estimation system of the present embodiment is an error estimation system for damper inspection data obtained by the inspection device T that vibrates the damper D, and includes the processing device 1 that processes the damper inspection data. Equivalent damping for determining the estimated value Cex of the equivalent damping coefficient of the damper D by inputting the damper inspection data obtained when the processing device 1 gives vibration to the damper D to the viscoelastic model expressing the damper D. The coefficient calculation unit 1a1 calculates the difference between the theoretical value Cref and the estimated value Cex of the equivalent damping coefficient of the viscoelastic model when the viscoelastic model is subjected to the sinusoidal vibration indicated by the inspection conditions of the damper D as the damping coefficient error ΔC. and a damping coefficient error estimator 1a2 to be obtained. Further, the method of estimating the error of the damper inspection data according to the present embodiment is a method of estimating the error of the damper inspection data obtained by the vibration inspection in which the damper D is vibrated. The equivalent damping coefficient calculation process for obtaining the estimated value Cex of the equivalent damping coefficient of the damper D by inputting the damper inspection data obtained when the vibration is applied to D, and the sine indicated by the inspection conditions of the damper D in the viscoelastic model It includes a damping coefficient error estimating process for determining the difference between the theoretical value Cref and the estimated value Cex of the equivalent damping coefficient of the viscoelastic model when wave vibration is applied as the damping coefficient error ΔC.

In the damper inspection data error estimation system configured in this manner, the damping coefficient error ΔC that is assumed to be included in the equivalent damping coefficient Ceq obtained from the damper inspection data is obtained, and the damping coefficient error ΔC is included in the damper inspection data. It can be used as an index showing the magnitude of the error. Therefore, according to the damper inspection data error estimation system, the error contained in the damper inspection data can be estimated. Further, the inspection operator can grasp the error contained in the damper inspection data from the value of the damping coefficient error ΔC, and can also grasp the reliability of the damper inspection data.

In the damper inspection data error estimating system of the present embodiment, the processing device 1 further performs filter processing to remove disturbance Z of the waveforms of the load F and velocity V of the damper inspection data, and a load error estimation unit 1a4 for estimating load errors ΔFmax and ΔFmin based on the maximum value Fmax and minimum value Fmin of the load F in the waveform W and the maximum value Fcmax and minimum value Fcmin of the load Fc in the filtered waveform Wc; may be provided. In the damper inspection data error estimation system configured as described above, the load errors ΔFmax and ΔFmin that are considered to be included in the maximum value Fmax and minimum value Fmin of the load F obtained from the damper inspection data are obtained. ΔFmin can be used as an index indicating the magnitude of the error contained in the damper inspection data. Therefore, according to the damper inspection data error estimation system, the error contained in the damper inspection data can be estimated. Further, the inspection operator can grasp the error included in the damper inspection data from the values of the load errors ΔFmax and ΔFmin, and can also grasp the reliability of the damper inspection data. The damper D may be inspected based on whether the equivalent damping coefficient Ceq and the maximum value Fmax and minimum value Fmin of the load F satisfy the product acceptance criteria. Since the error is also estimated for the maximum value Fmax and the minimum value Fmin, the inspection operator can grasp whether or not the vibration is given according to the inspection conditions during the inspection of the damper D, and can accurately judge the pass/fail of the damper D. become.

Further, in the damper inspection data error estimation system of the present embodiment, the processing device 1 compares the damping coefficient error ΔC and the load error ΔFmax, ΔFmin with the threshold values t1, t2, and t3 respectively set to determine whether the damper D is acceptable. A judgment unit 1a5 may be provided for judging whether or not a warning is required. According to the damper inspection data error estimation system configured in this way, it is possible to determine that a warning is necessary when it is determined that an error that is considered to be included in the damper inspection data cannot be overlooked, and an inspection that performs pass/fail determination of the damper D. It can alert the operator.

Further, in the damper inspection data error estimation system of the present embodiment, each of the equivalent damping coefficient Ceq of the damper D obtained from the damper inspection data by the determination unit 1a5 and the maximum value Fmax and minimum value Fmin of the load F of the damper D is Based on the smaller value of the difference between the lower limit values α1, β1, γ1 and upper limit values α2, β2, γ2 that define the set product acceptance range, the equivalent damping coefficient Ceq, the maximum value Fmax and the minimum value Fmin of the load F Each threshold value t1, t2, t3 may be set by According to the damper inspection data error estimation system configured in this way, it is possible to foresee the possibility of an error in the product acceptance determination of the damper D, and to accurately determine whether a warning is required.

In the damper inspection data error estimation system of the present embodiment, the equivalent damping coefficient calculator 1a1 uses the Maxwell model as the viscoelastic model, the estimated value as Cex, the load of the damper D as F, and the displacement of the damper D as may be calculated as X, and the estimated value Cex may be obtained by calculating the following equation (9).

このように構成された本実施の形態のダンパ検査データの誤差推定システムによれば、等価減衰係数Ｃｅｑを求める式（９）にパラメータとして周波数が含まれていないので、検査装置がダンパに与える振動に検査条件の正弦波振動の周波数以外の周波数成分が重畳していても、正確に等価減衰係数の推定値Ｃｅｘを求め得る。

According to the damper inspection data error estimation system of the present embodiment configured as described above, the frequency is not included as a parameter in the equation (9) for obtaining the equivalent damping coefficient Ceq. Even if a frequency component other than the frequency of the sinusoidal vibration of the inspection condition is superimposed on the frequency, the estimated value Cex of the equivalent damping coefficient can be obtained accurately.

Although preferred embodiments of the invention have been described in detail above, modifications, variations, and changes are possible without departing from the scope of the claims.

Reference Signs List 1 processing device 1a1 equivalent damping coefficient calculator 1a2 damping coefficient error estimator 1a3 filter processor 1a4 load error estimator 1a5 decision unit

Claims (6)

An error estimation system for damper inspection data obtained by a vibration inspection that vibrates a damper,
A processing device for processing the damper inspection data,
The processing device is
an equivalent damping coefficient calculator for obtaining an estimated value of an equivalent damping coefficient of the damper by inputting the damper inspection data obtained when the damper is vibrated to a viscoelastic model representing the damper;
Damping coefficient error estimation for obtaining, as a damping coefficient error, the difference between the theoretical value and the estimated value of the equivalent damping coefficient of the viscoelastic model when a sinusoidal vibration indicated by the damper inspection conditions is applied to the viscoelastic model A damper inspection data error estimation system characterized by comprising: The processing device further comprises:
a filter processing unit that performs filter processing to remove disturbances in the load and velocity waveforms of the damper inspection data;
a load error estimator for estimating a load error based on the maximum and minimum values of the load in the waveform before the filtering and the maximum and minimum values of the load in the waveform after the filtering; The error estimation system for damper inspection data according to claim 1, characterized in that: 3. The processing device according to claim 2, further comprising a determination unit that compares the damping coefficient error and the load error with threshold values respectively set to determine whether or not to issue a warning regarding product acceptability of the damper. damper inspection data error estimation system. The determination unit determines an upper limit value and a lower limit value that define a product acceptance range set for the equivalent damping coefficient of the damper obtained from the damper inspection data, the maximum value and the minimum value of the load of the damper, respectively; The system for estimating the error of damper inspection data according to claim 3, wherein each of the threshold values is set based on the smaller value of the difference between the equivalent damping coefficient and the maximum value and minimum value of the load. The equivalent damping coefficient calculation unit uses Maxwell model as the viscoelastic model, Cex as the estimated value, F as the load of the damper, and X as the displacement of the damper, and calculates the following equation (10): The error estimation system for damper inspection data according to any one of claims 1 to 4, wherein the estimated value is obtained.

A method for estimating an error in damper inspection data obtained by a vibration inspection that vibrates a damper,
an equivalent damping coefficient calculation process for obtaining an estimated value of an equivalent damping coefficient of the damper by inputting the damper inspection data obtained when the damper is vibrated to a viscoelastic model expressing the damper;
A damping coefficient error estimating process for obtaining, as a damping coefficient error, the difference between the theoretical value and the estimated value of the equivalent damping coefficient of the viscoelastic model when a sinusoidal vibration indicated by the damper inspection conditions is applied to the viscoelastic model. An error estimation method for damper inspection data, comprising:

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