JPS5963543A - Controller for vibrating table - Google Patents

Abstract

PURPOSE:To prevent the rotational motion and vertical motion of a vibrating table induced by horizontal excitation by generating a rotation stop signal which adjusts an amplitude ratio and a phase difference externally and optionally, and controlling one vertical exciting machine by a signal obtained by multiplying the rotation stop signal by alpha, and the other exciting machine by a signal obtained by inverting and multiplying the rotation stop signal by (1-alpha). CONSTITUTION:The rotational motion (pitching) and vertical motion of the vibrating table A induced by horizontal excitation are measured by an A vertical accelerometer 4 and a B vertical accelerometer 5; their vertical acceleration signals are separated into a rotary acceleration signal and a translational acceleration signal through the operation of a rotation/translation separating circuit and converted into the amplitude of a basic wave component by a tracking filter 15, and the amplitude is displayed on a rotation extent display device 20 and a vertical acceleration display device 22. An operator looks at the rotational acceleration on the rotation extent display device 20 and adjusts the amplitude and phase of the rotation stop signal through a rotation stop input amplitude adjusting device 34 and a phase adjusting device 37. The amplitude ratio signal 36 of the ratio of the rotation input to a vertical input and the phase difference signal 39 of the difference of the rotation input from the horizontal input are sent to and displayed on the rotation extent display device 20. The output 38 of the phase difference adjusting device 37 and the signal 41 obtained by inverting its phase are processed as specified.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention provides a vibration table that is excited in the horizontal and vertical directions by a horizontal vibration exciter and a vertical vibration exciter. The present invention relates to a shaking table control device having a prevention function.

As shown in FIG.
(31 is connected via a universal joint (not shown) The vibration is excited in two axes, horizontal and vertical, which are excited in the Z-axis direction (vertical direction), and the vertical vibration exciter (the differential between Ik(]l and (21(2)) This allows for rotational movement (pitching) around the Y axis.

However, in the conventional shaking table, the shaking table (AI
A tall specimen ((Zl w) is mounted on top as shown in Figure 2,
Horizontal vibrator (31) When the vibration table (AI Rotational motion (pitching) and vertical motion as shown in Figure 2 are induced, making it difficult to accurately excite only horizontal constraints.

The present invention provides the above-mentioned chick point wM in the conventional shaking table.
It was developed to eliminate the horizontal excitation signal in a drive stand that is vibrated by a horizontal vibrator and at least one pair of vertical vibrators. Using the amplitude ratio and phase difference with respect to the horizontal excitation signal as a reference, a rotation prevention signal that can be adjusted in arbitrary gM is generated from outside the vibration generator, and the one vertical vibration exciter is controlled by a signal multiplied by α of the rotation prevention signal. The other vertical vibration exciter is controlled by a signal obtained by multiplying the rotation prevention signal by 1-α, and the rotation of the vibration table induced by horizontal vibration is caused by vertical vibration. Preventing movement - The control mechanism has a feature, and its purpose is to prevent the rotational movement and vertical movement of one unit, which is induced by horizontal excitation. The present invention provides a shaking table control device having the following features.

The present invention has the above-mentioned configuration, uses a horizontal excitation signal as a reference, generates a rotation prevention signal whose amplitude ratio and phase difference with respect to the horizontal excitation signal can be arbitrarily adjusted from the outside, and generates the rotation prevention signal. One of the vertical vibrators is controlled by a signal multiplied by α, and the rotation prevention signal is inverted (1-α).
The control mechanism uses the doubled signal to control the other vertical vibration exciter to prevent rotation and vertical movement of the vibration table induced by horizontal vibration. Setting the rotation prevention signal by adjusting the amplitude ratio and phase difference, and α times (1-α) in the rotation prevention signal
By adjusting the number of times, it is extremely easy to set a suitable rotation prevention signal that corresponds to the rotation and vertical movement of the vibration table induced by horizontal excitation. The control accuracy of the vibration machine can be significantly improved, and the control function for preventing rotational movement and vertical movement of the vibration table induced by horizontal vibration can be significantly improved.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

An embodiment of the present invention is shown in FIG. 6 and FIG. 4, and in FIG.
Vertical exciter (Ilfll, B vertical exciter (21) and horizontal exciter (31) are connected to each other via a universal joint (not shown), and the horizontal exciter (31+31) are simultaneously driven to generate vibrations in the horizontal direction. A, B vertical vibrator fi++1
1 (21 (21) can be excited in the vertical direction by simultaneously driving A vertical vibrator (11+II) and B vertical vibrator (
Rotational motion (pitching) is possible due to the 212+ differential, and the image of the vibration table is equipped with an A vertical accelerometer (111°B vertical accelerometer (5) and a horizontal accelerometer (6)). They are arranged as shown.

Further, the vibration table VC is equipped with a control device as shown in FIG. 4, which includes a vertical accelerometer A (4),
Each acceleration measured by B vertical accelerometer (5) and horizontal accelerometer 161 is converted into signals 10, 11, 12 by acceleration conversion 6 (71 (8) (9)), and both vertical accelerations are converted into rotation/ Translational acceleration component signal 14 in translational separation circuit
and a rotational acceleration component signal 13.

The separation is performed according to the following equation.

Rotational acceleration component signal 13=-(signal 10-signal 11) Translational acceleration component signal 14=-(signal 10+signal 11) The signals 12.13 and 14 are sine wave oscillation groups whose oscillation frequencies can be set arbitrarily. It becomes an input to a tracking filter 05) which extracts only the frequency component (fundamental frequency component) of the sine wave 60' outputted by the sine wave 60'.

The tracking filter outputs the amplitude of the fundamental frequency component included in the rotational acceleration component signal 16, and the rotational acceleration amplitude signal is input to the rotation amount display 4 by the signal #jQ61.

Similarly, the amplitude of the fundamental component of the translational acceleration component signal 14 is outputted to the signal line (171) by the tracking filter 05) and displayed on the vertical acceleration indicator IL:'bJ.

Similarly, the horizontal acceleration signal 12 is also passed through the tracking filter (1
51, the swing part of the basic component is outputted to the signal aSS: and displayed on the horizontal acceleration display (21).

The reference sine wave oscillator (3o) oscillates a sine wave with a period that can be arbitrarily set from the outside, and the signal is input to the amplitude adjustment section C31+, and the amplitude adjustment section generates an amplitude that can be arbitrarily set from the outside. This signal 32 is converted into a sine wave signal (horizontal excitation signal) 62 with The signal 52 simultaneously becomes an input to an example anti-rotation input amplitude regulator.

The regulator G multiplies the input signal by a ratio that can be arbitrarily set from the outside and outputs a sine wave signal 35.

At the same time, the amplitude ratio signal 66 is displayed on the quadruple overlapping display (2).

Further, the signal 65 becomes an input to a phase difference adjuster t, 3'rI, and the phase difference adjuster is a circuit that generates a signal having the same amplitude as the signal 65 but different only in phase. The phase difference can be arbitrarily set from the outside. The phase difference signal 69 is input to the rotation amount indicator (2α, and the input signal 65
One of the sinusoidal output signals 68 having a phase difference of 2 becomes an input to the ratio adjuster (42), and the other becomes an input to the phase inversion circuit (40).

The phase inversion circuit (40) is a circuit that delays the phase vignetting of the input signal by 80 degrees, and the signal 41 whose phase has been inverted also serves as an input to the ratio rectifier (42).

Ratio adjuster (A2 performs the following calculation.

However, z: sine wave signal 68; one person z2 receives sine wave signal 43; zlB; sine wave signal 41; Z; sine wave signal 44; The signal 44 becomes an input to the B vertical exciter drive circuit (46) and controls the driving of the A vertical exciter (2). It is configured.

The illustrated embodiment has the above-mentioned configuration, and its operation will be explained next.
+ is set to the desired amplitude, and the signal 62 is sent to the horizontal vibration exciter drive circuit 3 to drive the horizontal vibration exciter (31), which becomes a horizontal vibration signal and causes the vibration table (A) to move in the horizontal direction. A horizontal acceleration signal that is excited and measured by a horizontal accelerometer (6) is converted into the amplitude of a fundamental wave component by a tracking filter 09, and then displayed on a horizontal acceleration display (21).

The rotational motion (pitching) and vertical motion of the vibration table (A) induced by the horizontal excitation are measured by the A vertical accelerometer (4) and the B vertical accelerometer (5), and the vertical acceleration of both is measured by the A vertical accelerometer (4) and the B vertical accelerometer (5). The signal is separated into rotational acceleration and translational acceleration by the action of the rotational/translational separation circuit, converted into the amplitude of the fundamental wave component by the tracking filter 05), and then displayed on the rotational amount indicator (4) and the vertical acceleration indicator (2). The amplitude is displayed.

The operator looks at the rotational acceleration 2 of the rotation amount indicator (20) and adjusts the amplitude and phase of the rotation prevention signal input using the rotation prevention input amplitude adjuster (3f) and the phase difference adjuster (:) η.

An amplitude ratio signal 36 of the rotational input to the horizontal input and a phase difference signal 69 of the rotational input to the horizontal input are sent to and displayed on the rotation amount display 20i.

Calculation of equation 11 is performed on the phase difference adjuster (the output 68 of the output 68 and the phase-inverted signal 41). (α in equation 11 can be adjusted by the operator, and normally α = 05 and the rotation is The vibration table fAt adds only motion and eliminates the induction of rotational motion.
When the upper sample (α) is biased toward the horizontal vibrator (3), vertical motion is induced, so α'! l' thicker than 0.5 (by adjusting the command iB vertical shaker tl+ for A vertical shaker tl+ (thicker than 210 command) to prevent the induction of vertical If it is biased to the side, α' can be adjusted to be smaller than 0.5 to prevent vertical motion from being induced.

Therefore, according to the embodiment, (a) when horizontal vibration is performed, the rotational motion of the vibration platform (vibrating table body) induced around the Y-axis is displayed on the rotation amount indicator (4), and By displaying the amplitude ratio and phase difference of the rotation prevention input to the horizontal input on the display, the operating situation can be easily grasped.

(b) Diagram of rotation prevention input amplitude adjuster and phase difference adjuster (3
7), it is possible to prevent rotational movement (pitching) of the vibration table (A) induced by horizontal vibration.

(c) By adjusting the ratio α by the ratio adjustment device tA21, that is, adjusting the rotation prevention signal by α times or (1-α) times, it is possible to prevent the induced vertical movement of the vibration table (AI).

As mentioned above, using the horizontal excitation signal as a reference, setting the rotation prevention signal by adjusting the amplitude ratio and phase difference with respect to it, and adjusting the rotation prevention signal by α times and (1-α) times, It is extremely easy to set a suitable rotation prevention signal that corresponds to the rotational movement and vertical movement of the shaking table induced by vibration, and based on this, (A vertical shaker and
The differential motion of the vertical vibrator makes it possible to induce rotational and vertical movements, and the control function for preventing the rotational and vertical movements is significantly improved.

In addition, in the IMc example, a two-axis vibrating table for the X and Z axes was explained, but rotational motion (pitching, rolling, yawing) occurring on a six-axis vibrating table for the X, Y, and Z axes was explained. The present invention can also be applied to the prevention of

Although the present invention has been described above with reference to embodiments, it goes without saying that the present invention is not limited to such embodiments (and that various design modifications may be made without departing from the spirit of the present invention). be.

[Brief explanation of drawings]

FIG. 1 is a perspective view of a conventional shaking table, FIG. 2 is an explanation showing the movement of the shaking table in FIG. 1, and FIG. FIG. 4, a side view of the shaking table, is a block diagram showing a control device in an embodiment of the present invention. A: Vibration table 1: A vertical vibrator 2: B vertical vibrator 6
:Horizontal vibrator 4:A vertical accelerometer 52B vertical accelerometer 6:Horizontal accelerometer 202 Rotation amount indicator 21;Horizontal acceleration indicator 22:Vertical acceleration indicator 60:Reference sine wave transmitter 61:Amplitude Adjustment section 62: Sine wave signal (
(horizontal wave excitation signal) Ro: Horizontal exciter drive circuit Ro: 4: Rotation prevention input amplitude adjuster 66: Amplitude ratio signal 37 Two-phase difference adjuster 69 Two-phase difference signal 40: Phase inversion circuit 4
2: Ratio adjuster 45: A Vertical exciter drive circuit 46: B
Vertical exciter drive circuit Sub-agent: Patent attorney, 2 persons outside of Kaimoto Important Literature Figure 1 (Figure 9)

Claims (1)

[Claims] In a vibration table that is excited by a horizontal vibration exciter and a pair of vertical vibration exciters, the amplitude ratio and phase difference with respect to the horizontal vibration signal can be arbitrarily adjusted externally using the horizontal vibration signal as a reference. A rotation prevention signal is generated, and a signal obtained by multiplying the rotation prevention signal by α is used to control the one vertical exciter, and a signal obtained by multiplying the rotation prevention signal by 1-α) is used to control the other vertical vibration exciter. A vibration table control device that is characterized by a control mechanism that controls the vibration table and prevents rotation and vertical movement of the vibration table induced by horizontal vibration.