CN108344494A - Low frequency electromagnetic shake table movement velocity detection device based on induction coil - Google Patents
Low frequency electromagnetic shake table movement velocity detection device based on induction coil Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种基于感应线圈的低频电磁振动台运动速度检测装置。The invention relates to a motion speed detection device for a low-frequency electromagnetic vibrating table based on an induction coil.
技术背景technical background
电磁振动台具有频率范围宽、可控性好、输出波形精度高等优点，广泛地应用于产品的模拟振动环境试验、测振传感器校准等重要领域。通常情况下，为改善电磁振动台在低频情况下输出波形的精度(降低失真度)，需构建闭环控制系统，闭环控制的前提是检测得到电磁振动台的输出振动信号，并将此信号作为反馈信号反馈到振动台的原始驱动系统，以求得的偏差信号驱动振动台运动，从而实现对振动台输出振动波形精度的反馈控制。一般情况下，闭环控制系统采用测振传感器(位移、速度以及加速度传感器)检测振动台的输出振动信号。然而，常规低频测振传感器价格昂贵、体积大、安装过程复杂，这些特点限制了它们在低频电磁振动台控制系统中的应用。The electromagnetic vibrating table has the advantages of wide frequency range, good controllability, and high output waveform accuracy, and is widely used in important fields such as simulated vibration environmental tests of products, vibration sensor calibration, etc. Usually, in order to improve the accuracy of the output waveform of the electromagnetic vibrating table at low frequencies (reduce the degree of distortion), it is necessary to build a closed-loop control system. The premise of the closed-loop control is to detect the output vibration signal of the electromagnetic vibrating table and use this signal as feedback The signal is fed back to the original drive system of the vibration table, and the obtained deviation signal is used to drive the motion of the vibration table, so as to realize the feedback control of the output vibration waveform accuracy of the vibration table. In general, the closed-loop control system uses vibration sensors (displacement, speed and acceleration sensors) to detect the output vibration signal of the vibration table. However, conventional low-frequency vibration sensors are expensive, bulky, and complicated to install, which limit their application in low-frequency electromagnetic vibration table control systems.
目前有一种低频电磁振动台相对运动量的提取装置，并基于该装置提取的振动台运动量构建了反馈控制系统，该相对运动量提取装置包括纯电阻，第一减法器和第一比例放大器；纯电阻与振动台的驱动线圈串联连接，纯电阻与驱动线圈的总压降作为被减数输入所述的第一减法器中；纯电阻两端的压降经所述的第一比例放大器放大K1倍后作为减数输入所述的第一减法器中，其中，，R是振动台驱动线圈的等效直流电阻，R1是纯电阻的阻值；第一减法器的输出信号即表征振动台的相对运动速度。At present, there is a device for extracting the relative motion of a low-frequency electromagnetic vibration table, and a feedback control system is constructed based on the motion of the vibration table extracted by the device. The device for extracting relative motion includes a pure resistor, a first subtractor and a first proportional amplifier; a pure resistor and The driving coils of the vibrating table are connected in series, and the total voltage drop of the pure resistance and the driving coil is input into the first subtractor as the subtrahend; the voltage drop at both ends of the pure resistance is amplified by K 1 times through the first proportional amplifier As the subtrahend input in the first subtractor, wherein, , R is the equivalent DC resistance of the driving coil of the vibrating table, R 1 is the resistance value of pure resistance; the output signal of the first subtractor represents the relative motion speed of the vibrating table.
上述专利的缺点在于：The shortcoming of above-mentioned patent is:
1、振动台的驱动线圈等效直流电阻R无法准确测量，为获得第一比例放大器的放大倍数K1，须经过较为复杂的参数调整过程，从而增加了系统的使用难度。1. The equivalent DC resistance R of the driving coil of the vibrating table cannot be accurately measured. In order to obtain the amplification factor K 1 of the first proportional amplifier, a relatively complicated parameter adjustment process is required, which increases the difficulty of using the system.
2、该装置通过与振动台驱动线圈串接纯电阻，并构建模拟电路网络提取振动台的振动速度信号，热损耗较大且系统较为复杂。2. The device connects the pure resistance in series with the driving coil of the vibrating table, and constructs an analog circuit network to extract the vibration velocity signal of the vibrating table, so the heat loss is large and the system is relatively complicated.
发明内容Contents of the invention
为克服构建低频电磁振动台反馈控制系统时，现有输出振动信号检测技术存在的成本高、热损耗大或系统操作复杂等缺点，本发明提供了一种结构简单、操作方便的基于感应线圈的低频电磁振动台运动速度检测装置。In order to overcome the disadvantages of high cost, large heat loss or complicated system operation in the existing output vibration signal detection technology when constructing a low-frequency electromagnetic vibration table feedback control system, the present invention provides a simple structure and convenient operation based on induction coils. A low-frequency electromagnetic vibration table motion speed detection device.
本发明采用的技术方案是：The technical scheme adopted in the present invention is:
基于感应线圈的低频电磁振动台运动速度检测装置，其特征在于：包括感应线圈、分压单元及信号修正单元，感应线圈缠绕于振动台动圈，分压单元与感应线圈并联，分压单元的输出电压经信号修正单元补偿频率响应后作为反馈控制的输入信号。The low-frequency electromagnetic vibrating table motion speed detection device based on the induction coil is characterized in that: it includes an induction coil, a voltage dividing unit and a signal correction unit, the induction coil is wound around the moving coil of the vibrating table, the voltage dividing unit is connected in parallel with the induction coil, and the voltage dividing unit The output voltage is used as the input signal of the feedback control after the frequency response is compensated by the signal correction unit.
当振动台动圈上的驱动线圈通电时，振动台动圈输出振动信号，感应线圈两端产生感应电压。根据电磁感应定律，当感应线圈所在气隙磁场的磁感应强度保持不变的情况下，输出感应电压应该和振动速度成正比，然而由于感应线圈和驱动线圈之间存在互感现象，使得感应电压产生幅值变化和相移。信号修正单元将幅值变化和相移补偿后，使电压与速度成正比，将修正后的信号作为反馈控制的输入信号，提高反馈控制的精度。When the drive coil on the vibrating table moving coil is energized, the vibrating table moving coil outputs a vibration signal, and an induced voltage is generated at both ends of the induction coil. According to the law of electromagnetic induction, when the magnetic induction intensity of the air gap magnetic field where the induction coil is located remains constant, the output induced voltage should be proportional to the vibration speed. However, due to the mutual inductance between the induction coil and the drive coil, the induced voltage produces a value changes and phase shifts. The signal correction unit compensates the amplitude change and phase shift, makes the voltage proportional to the speed, and uses the corrected signal as the input signal of the feedback control to improve the precision of the feedback control.
进一步，所述感应线圈的直径远远小于驱动线圈的直径。从而增加了感应线圈的匝数及总长度，提高了感应线圈产生的感应电压的信噪比。Further, the diameter of the induction coil is much smaller than that of the driving coil. Therefore, the number of turns and the total length of the induction coil are increased, and the signal-to-noise ratio of the induced voltage generated by the induction coil is improved.
进一步，分压单元的输入阻抗接近无穷大。分压电阻接近无穷大，避免感应线圈内出现寄生电流，使驱动线圈内不耦合寄生电流，从而使流过感应线圈的感应电流尽可能接近0，避免了感应线圈的引入对驱动线圈中电流的干扰。Further, the input impedance of the voltage dividing unit is close to infinity. The voltage dividing resistance is close to infinity, avoiding the parasitic current in the induction coil, so that the parasitic current is not coupled in the driving coil, so that the induction current flowing through the induction coil is as close to 0 as possible, and avoids the introduction of the induction coil to the current in the driving coil. Interference .
进一步，所述感应线圈与驱动线圈共同缠绕于振动台动圈的同一绕线槽，驱动线圈在内，感应线圈在外。Further, the induction coil and the driving coil are wound together in the same winding slot of the moving coil of the vibrating table, the driving coil is inside, and the induction coil is outside.
或者，振动台动圈上具有感应线圈绕线槽和驱动线圈绕线槽，感应线圈缠绕于感应线圈绕线槽内，驱动线圈缠绕于驱动线圈绕线槽。Alternatively, the moving coil of the vibrating table has an induction coil winding groove and a driving coil winding groove, the induction coil is wound in the induction coil winding groove, and the driving coil is wound in the driving coil winding groove.
本发明的工作原理为：Working principle of the present invention is:
通常情况下，电磁振动台由磁路结构、支撑悬浮结构及动圈等组成，当向动圈上的驱动线圈施加正弦输入电压并在其中产生正弦电流时，在振动台磁路结构产生的均匀气隙磁场中，由于安培力的作用，振动台运动部件将产生正弦振动。本发明通过在振动台运动部件所在均匀磁场区域部分缠绕感应线圈检测振动台输出振动速度。为提高感应线圈产生感应电压的灵敏度，并考虑到振动台运动部件尺寸的限制，感应线圈的线径设计为远远小于驱动线圈的线径，从而增加了感应线圈的匝数及总长度。同时，由于感应线圈与驱动线圈之间存在互感现象，这导致感应线圈输出的电压并不能直接代表线圈的速度信号，需要通过信号修正单元对感应线圈输出电压的幅值和相位进行修正，以使感应线圈两端产生的感应电压与振动台运动部件输出的振动速度成正比，通过检测修正后的感应电压即可实现对振动台输出振动速度的检测。Normally, an electromagnetic vibrating table is composed of a magnetic circuit structure, a supporting suspension structure, and a moving coil. When a sinusoidal input voltage is applied to the driving coil on the moving coil and a sinusoidal current is generated in it, the magnetic circuit structure of the vibrating table produces a uniform In the air gap magnetic field, due to the effect of Ampere force, the moving parts of the vibrating table will produce sinusoidal vibration. The invention detects the output vibration speed of the vibration table by winding an induction coil in the uniform magnetic field area where the moving parts of the vibration table are located. In order to improve the sensitivity of the induced voltage generated by the induction coil, and considering the limitation of the size of the moving parts of the vibrating table, the wire diameter of the induction coil is designed to be much smaller than the wire diameter of the drive coil, thereby increasing the number of turns and the total length of the induction coil. At the same time, due to the mutual inductance phenomenon between the induction coil and the driving coil, the voltage output by the induction coil cannot directly represent the speed signal of the coil, and the amplitude and phase of the output voltage of the induction coil need to be corrected by the signal correction unit so that The induced voltage generated at both ends of the induction coil is proportional to the output vibration velocity of the moving parts of the vibrating table, and the output vibration velocity of the vibrating table can be detected by detecting the corrected induced voltage.
此外，本发明设计了分压单元，用于将感应电压按比例调整为适用于后续信号修正单元可处理的信号幅值大小。所述的分压单元具有远远大于感应线圈阻抗的输入阻抗，从而使感应线圈中产生较小的感应电流，以避免该感应电流对驱动线圈中电流的影响，进而导致对振动台运动部件输出振动的干扰。In addition, the present invention designs a voltage dividing unit, which is used to proportionally adjust the induced voltage to be suitable for the signal amplitude that can be processed by the subsequent signal correction unit. The voltage dividing unit has an input impedance that is much larger than the impedance of the induction coil, so that a small induction current is generated in the induction coil, so as to avoid the influence of the induction current on the current in the drive coil, thereby causing the output of the moving parts of the vibrating table Vibration interference.
本发明提出的低频电磁振动台振动速度检测装置不使用昂贵的速度传感器检测速度，从而降低了成本；也不用与振动台驱动线圈串接纯电阻的方法得到速度的复杂电路系统，避免了对系统参数的复杂调整过程，进一步简化了系统结构及振动速度的检测难度。The vibration speed detection device of the low-frequency electromagnetic vibrating table proposed by the present invention does not use an expensive speed sensor to detect the speed, thereby reducing the cost; it also does not need to connect the pure resistance with the driving coil of the vibrating table to obtain the complex circuit system of the speed, which avoids system damage. The complex adjustment process of parameters further simplifies the detection difficulty of system structure and vibration velocity.
本发明的有益效果是：结构简单、操作方便、降低成本。The invention has the beneficial effects of simple structure, convenient operation and reduced cost.
附图说明Description of drawings
图1为本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.
图2为本发明的感应线圈与驱动线圈同槽安装图。Fig. 2 is an installation diagram of the induction coil and the drive coil in the same slot of the present invention.
图3为本发明的驱动线圈的电模型与机械模型的转化示意图。FIG. 3 is a schematic diagram of transformation between the electrical model and the mechanical model of the drive coil of the present invention.
图4为本发明的驱动线圈与感应线圈与并排安装图。FIG. 4 is a side-by-side installation diagram of the driving coil and the induction coil of the present invention.
具体实施方式Detailed ways
下面结合具体实施例来对本发明进行进一步说明，但并不将本发明局限于这些具体实施方式。本领域技术人员应该认识到，本发明涵盖了权利要求书范围内所可能包括的所有备选方案、改进方案和等效方案。The present invention will be further described below in conjunction with specific examples, but the present invention is not limited to these specific implementations. Those skilled in the art will realize that the present invention covers all alternatives, modifications and equivalents as may be included within the scope of the claims.
实施例一Embodiment one
参见图1、图2，基于感应线圈的低频电磁振动台运动速度检测装置，包括感应线圈12、分压单元以及信号修正单元。所述感应线圈12与驱动线圈11共同缠绕于振动台运动部件1的同一绕线槽内，以使其处于均匀气隙磁场中，分压单元与感应线圈12并联，当振动台运动部件1输出振动信号时，感应线圈12两端产生感应电压，该感应电压经分压单元后，连接于后面的信号修正单元，经其中基于感应线圈逆模型的修正单元处理后，产生与振动台运动部件1的振动速度成正比的电压信号，从而实现对运动部件输出振动速度的检测。Referring to Fig. 1 and Fig. 2, the detection device for the motion speed of a low-frequency electromagnetic vibrating table based on an induction coil includes an induction coil 12, a voltage dividing unit and a signal correction unit. The induction coil 12 and the driving coil 11 are wound together in the same winding slot of the moving part 1 of the vibrating table, so that it is in a uniform air gap magnetic field, and the voltage dividing unit is connected in parallel with the induction coil 12. When the vibration signal is generated, an induced voltage is generated at both ends of the induction coil 12. The induced voltage is connected to the subsequent signal correction unit after passing through the voltage divider unit. The vibration speed is proportional to the voltage signal, so as to realize the detection of the output vibration speed of the moving parts.
本发明的工作原理为：Working principle of the present invention is:
通常情况下，电磁振动台由磁路结构、支撑悬浮结构及运动部件等组成，当向缠绕于振动台运动部件1上的驱动线圈11施加正弦输入电压并产生正弦电流时，在振动台磁路结构产生的均匀气隙磁场的中，由于安培力的作用，振动台运动部件1产生正弦振动。本发明通过在振动台运动部件1处于均匀磁场区域部分上缠绕感应线圈12检测振动台输出振动速度。为提高感应线圈12产生的感应电压的信噪比，并考虑到振动台运动部件1尺寸的限制，感应线圈12的直径设计为远远小于驱动线圈11的直径，从而增加了感应线圈12的匝数及总长度，提高了感应线圈提取速度信号的灵敏度。进一步，感应线圈12两端的感应电压经过基于感应线圈逆模型的信号修正单元处理后与振动台运动部件1输出的振动速度成正比，通过检测信号修正单元输出的电压即可实现对振动台输出振动速度的检测。Normally, the electromagnetic vibrating table is composed of magnetic circuit structure, supporting suspension structure and moving parts. In the uniform air gap magnetic field generated by the structure, due to the effect of Ampere force, the moving part 1 of the vibrating table produces sinusoidal vibration. The present invention detects the output vibration speed of the vibration table by winding the induction coil 12 on the part of the vibration table moving part 1 in the uniform magnetic field region. In order to improve the signal-to-noise ratio of the induced voltage generated by the induction coil 12, and considering the limitation of the size of the moving part 1 of the vibrating table, the diameter of the induction coil 12 is designed to be much smaller than the diameter of the drive coil 11, thereby increasing the number of turns of the induction coil 12 The number and the total length improve the sensitivity of the induction coil to extract the speed signal. Further, the induced voltage at both ends of the induction coil 12 is directly proportional to the vibration speed output by the moving part 1 of the vibration table after being processed by the signal correction unit based on the inverse model of the induction coil, and the output vibration of the vibration table can be realized by detecting the voltage output by the signal correction unit. speed detection.
此外，本发明设计了分压单元，用于将感应电压按比例调整为适用于后续信号修正单元可处理的信号幅值大小。所述的分压单元具有极大的输入阻抗，从而使流过感应线圈12的感应电流接近于0，避免了感应线圈12的引入对振动台运动部件输出振动的干扰。In addition, the present invention designs a voltage dividing unit, which is used to proportionally adjust the induced voltage to be suitable for the signal amplitude that can be processed by the subsequent signal correction unit. The voltage dividing unit has a very large input impedance, so that the induced current flowing through the induction coil 12 is close to 0, avoiding the introduction of the induction coil 12 to interfere with the output vibration of the moving parts of the vibrating table.
本发明的检测原理如下：The detection principle of the present invention is as follows:
对于常规低频电磁振动台，驱动线圈11(线圈长度为ld)可以简化为电阻Rd与电感Ld串联结构。当向驱动线圈11两端施加正弦输入电压ui，驱动线圈11上产生正弦电流id，在振动台磁路结构产生的均匀气隙磁场(磁感应强度为B)的作用下，驱动线圈11受到正弦安培力的作用产生正弦振动。由于驱动线圈11与振动台运动部件1固定安装，所以振动台运动部件1输出振动信号。考虑到电磁振动台是典型的机电耦合系统，当振动台运动部件1输出振动时，驱动线圈11产生与振动速度(x为振动台运动部件的位移，为x的一阶导数)成正比的感应电动势 For a conventional low-frequency electromagnetic vibrating table, the drive coil 11 (coil length l d ) can be simplified as a series structure of a resistor R d and an inductor L d . When a sinusoidal input voltage u i is applied to both ends of the drive coil 11, a sinusoidal current id is generated on the drive coil 11. Under the action of the uniform air gap magnetic field (magnetic induction intensity is B) generated by the magnetic circuit structure of the vibrating table, the drive coil 11 is subjected to The action of a sinusoidal ampere force produces sinusoidal vibrations. Since the driving coil 11 is fixedly installed with the vibrating table moving part 1, the vibrating table moving part 1 outputs a vibration signal. Considering that the electromagnetic vibrating table is a typical electromechanical coupling system, when the moving part 1 of the vibrating table vibrates, the driving coil 11 generates vibration speed (x is the displacement of the moving parts of the vibrating table, is the first derivative of x) proportional to the induced electromotive force
同理，感应线圈12(长度为ls)也可以简化为电阻Rs与电感Ls串联结构，考虑到感应线圈12与驱动线圈11同轴安装，当振动台运动部件1输出振动时，感应线圈12也产生与振动速度成正比的感应电动势 Similarly, the induction coil 12 (with a length of 1 s ) can also be simplified as a series structure of a resistance R s and an inductance L s . Considering that the induction coil 12 and the drive coil 11 are coaxially installed, when the vibration table moving part 1 outputs vibration, the induction Coil 12 also produces vibration speeds related to Induced EMF proportional to
本实施例分压单元用于提取感应线圈12两端产生的感应电压，并将此电压信号按比例调整为适用于后续信号修正单元可处理的信号幅值大小，方便后续信号处理电路的构建。The voltage dividing unit in this embodiment is used to extract the induced voltage generated at both ends of the induction coil 12, and adjust the voltage signal proportionally to a signal amplitude suitable for processing by the subsequent signal correction unit, so as to facilitate the construction of subsequent signal processing circuits.
根据稳态磁路耦合原理，可以假设感应线圈12与驱动线圈11通过互感M相互耦合。进一步，振动台运动部件1的振动过程可以简化为质量-弹簧-阻尼系统单自由度振动，m、k、c分别为等效质量、等效刚度及等效阻尼，如图3所示，得到整体的机电耦合关系为According to the principle of steady-state magnetic circuit coupling, it can be assumed that the induction coil 12 and the drive coil 11 are coupled to each other through the mutual inductance M. Further, the vibration process of the moving part 1 of the shaking table can be simplified as a single-degree-of-freedom vibration of the mass-spring-damper system, where m, k, and c are the equivalent mass, equivalent stiffness, and equivalent damping, respectively, as shown in Figure 3. The overall electromechanical coupling relationship is
式中，us为感应线圈12两端产生的感应电压，is为流过感应线圈12的感应电流，t为某一时间瞬时，和分别为x的一阶导数和二阶导数。In the formula, u s is the induced voltage generated at both ends of the induction coil 12, i s is the induced current flowing through the induction coil 12, t is an instant at a certain time, and are the first and second derivatives of x, respectively.
所述的分压单元的阻抗接近无穷大，从而使流过感应线圈12的感应电流is的幅值尽可能接近0，可以认为is≈0，进一步，当振动频率f较低时，有dis/dt＝2πfis≈0，式(1)可以进一步简化为The impedance of the voltage dividing unit is close to infinity, so that the magnitude of the induced current i s flowing through the induction coil 12 is as close to 0 as possible, and it can be considered that i s ≈ 0. Further, when the vibration frequency f is low, there is di s /dt = 2πfi s ≈ 0, formula (1) can be further simplified as
基于(2)中第1和第3式可以计算得到振动台输入电压ui与输出振动速度之间的传递函数Gvi为Based on the first and third equations in (2), the input voltage u i and the output vibration velocity of the vibration table can be calculated The transfer function between G vi is
式中，X(s)、Ui(s)分别为x、ui的拉普拉斯变换。In the formula, X(s), U i (s) are the Laplace transforms of x and u i respectively.
此外，基于式(2)还可以求得输入电压ui与感应电压us之间的传递函数为In addition, based on formula (2), the transfer function between the input voltage u i and the induced voltage u s can also be obtained as
式中，Us(s)为us的拉普拉斯变换。比较式(3)与式(4)可得In the formula, U s (s) is the Laplace transform of u s . Comparing formula (3) and formula (4), we can get
令make
为信号修正单元的传递函数，则根据(5)式可由感应线圈输出电压得到振动台输出速度信号。又由式(6)可见，该信号修正单元为一个二阶系统，容易通过模拟电路或者数字信号处理单元实现。is the transfer function of the signal correction unit, then according to formula (5), the output speed signal of the vibrating table can be obtained from the output voltage of the induction coil. It can also be seen from formula (6) that the signal correction unit is a second-order system, which can be easily realized by an analog circuit or a digital signal processing unit.
本发明提出的低频电磁振动台振动速度检测装置不用与振动台驱动线圈串接纯电阻及构建复杂电路系统，避免了对系统参数的复杂调整过程，进一步简化了系统结构及振动速度的检测难度。与此同时，本发明还降低了系统的构建成本。The vibration speed detection device of the low-frequency electromagnetic vibration table proposed by the present invention does not need to connect pure resistance in series with the driving coil of the vibration table and construct a complex circuit system, avoids the complicated adjustment process of system parameters, and further simplifies the system structure and the detection difficulty of vibration speed. At the same time, the invention also reduces the construction cost of the system.
实施例二Embodiment two
参见图4，本实施例与实施例一的区别在于：所述的感应线圈12与驱动线圈11同轴安装，感应线圈12与驱动线圈11并排缠绕在振动台运动部件1的不同绕线槽内，但均处于均匀气隙磁场之中，并保证感应线圈12与驱动线圈11同轴，其余结构及原理与实施例一相同。Referring to Fig. 4, the difference between the present embodiment and the first embodiment is that the induction coil 12 and the driving coil 11 are coaxially installed, and the induction coil 12 and the driving coil 11 are wound side by side in different winding grooves of the moving part 1 of the vibrating table , but they are all in the uniform air-gap magnetic field, and ensure that the induction coil 12 is coaxial with the drive coil 11, and the rest of the structure and principle are the same as those in Embodiment 1.
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