CN111957543A - Vibration exciter output force control method and control model - Google Patents
Vibration exciter output force control method and control model Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
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Abstract
The application belongs to the technical field of automatic control, and relates to a vibration exciter output force control method and a control model, wherein the method comprises the following steps: calculating the speed of the excitation point according to the target value of the output force and the test piece structure output model; calculating the induced electromotive force of the vibration exciter according to the speed of the excitation point; superposing the induced electromotive force on a preset input voltage to obtain a first output voltage compensated by the electromotive force; according to the resistance and the inductance of the vibration exciter, a controller model for eliminating the influence of the inductance and the resistance on the vibration exciter is constructed, and the controller model is arranged behind the first output voltage to obtain a second output voltage compensated by the resistance and the inductance; and inputting the second output voltage into the vibration exciter to generate output force. The control model comprises a test piece structure output model, an induced electromotive force coefficient circuit and a controller model and is used for achieving the method. The method and the device have the advantages of low modeling order and high modeling parameter precision, and can realize multichannel control of a wider frequency band.
Description
Technical Field
The application belongs to the technical field of automatic control, and particularly relates to a vibration exciter output force control method and a control model.
Background
The existing vibration exciters are most common electromagnetic vibration exciters, the dynamic characteristics of the vibration exciters and the influence of induced electromotive force in a coil of the vibration exciters caused by structural vibration can cause serious amplitude distortion and phase deviation of output force of the vibration exciters, in a general vibration test, the amplitude and phase information of a force is not concerned, so that the force does not need to be controlled, but for some fields needing to accurately reproduce an external vibration environment, the control of excitation force is more important, real-time feedback control is needed to ensure accurate simulation of the excitation force, the existing single-channel vibration table has more control research on the output force, but the existing research method has fewer control methods and strategies under the combined loading state of a plurality of vibration exciters, and the existing research method can only control in a limited bandwidth, so that the control bandwidth range is limited.
Disclosure of Invention
In order to solve the technical problems, the application provides a vibration exciter output force control method and a control model, on one hand, the output force distortion caused by induced electromotive force is solved by introducing a speed compensation quantity, and then the coupling effect among a plurality of channels is eliminated, and on the other hand, the output force distortion caused by an inductor and a resistor is eliminated by introducing a controller model.
The first aspect of the present application provides a method for controlling output force of a vibration exciter, which is used to ensure that the preset input voltage and output force of the vibration exciter have the same value, and mainly includes:
calculating the speed of an excitation point according to the target value of the output force and a test piece structure output model;
calculating the induced electromotive force of the vibration exciter according to the speed of the excitation point;
superposing the induced electromotive force on a preset input voltage to obtain a first output voltage compensated by the electromotive force;
according to the resistance and the inductance of the vibration exciter, a controller model for eliminating the influence of the inductance and the resistance on the vibration exciter is constructed, and the controller model is arranged behind the first output voltage to obtain a second output voltage compensated by the resistance and the inductance;
and inputting the second output voltage into the vibration exciter to generate output force.
Preferably, the test piece structure output model is constructed by a system identification method and is used for representing the relationship between the speed of the test piece structure under the action of the exciting force and the exciting force.
Preferably, before constructing the test piece structure output model, the method further comprises:
the method comprises the steps of utilizing a vibration exciter to carry out frequency sweeping excitation on a test piece structure, arranging a speed sensor at a position corresponding to the vibration excitation point, and measuring excitation force and speed signals.
Preferably, the controller model K is:
wherein, L is the line inductance of the vibration exciter, R is the line resistance of the vibration exciter, and s is the Laplace operator.
Preferably, if the exciter carries a power amplifier, a linear compensation controller is provided, which is formed by the inverse of the amplification factor of the power amplifier.
The second aspect of the application provides a vibration exciter output force control model, which is used for realizing the vibration exciter output force control method, and mainly comprises a test piece structure output model, an induced electromotive force coefficient circuit and a controller model, wherein the test piece structure output model is connected in series with the induced electromotive force coefficient circuit and is used for calculating an input voltage to obtain an induced electromotive force of the vibration exciter and superposing the induced electromotive force on the input voltage to obtain a first output voltage; the controller model is connected in series between the first output voltage and the vibration exciter and used for performing resistance and inductance compensation to obtain a second output voltage compensated by the resistance and the inductance, and the second output voltage is used for being input into the vibration exciter.
Preferably, if the vibration exciter carries a power amplifier, the vibration exciter output force control model further includes a linear compensation controller, and the linear compensation controller is serially connected between the first output voltage and the controller model and is used for canceling an amplification effect of the power amplifier on a voltage input into the vibration exciter.
The method establishes an equation of the output force, the input voltage and the structural dynamics characteristic of the vibration exciter through theoretical derivation, and determines parameters in the equation in a test identification mode. By introducing the speed compensation quantity, the output force distortion caused by induced electromotive force is solved, and the coupling effect among a plurality of channels is eliminated. In order to further improve the control precision, the relation between voltage and current is established based on kirchhoff's law, the Laplace transform is carried out on the equation, the transfer characteristics of input voltage and output current are obtained, and the correction of the transfer characteristics is realized in a mode that a transfer function inverse model is connected with an original system in series, so that the control of the exciting force is realized.
According to the principle of the output force of the vibration exciter, the reason for the distortion of the output force of the vibration exciter is obtained through analysis, the control of the exciting force is realized through designing corresponding compensation, and compared with a test modeling method, the method is low in modeling order, and can theoretically realize the multichannel control of a wider frequency band under the condition that the precision of modeling parameters is high.
Drawings
Fig. 1 is a flow chart of a preferred embodiment of the vibration exciter output force control method.
Fig. 2 is a schematic diagram of an output force control model of the vibration exciter.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below with reference to the accompanying drawings in the embodiments of the present application. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application, and should not be construed as limiting the present application. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application. Embodiments of the present application will be described in detail below with reference to the drawings.
The method is based on the working principle of the vibration exciter, establishes the relation between the output force and the input voltage of the vibration exciter, analyzes the reason of the output force distortion, provides a scheme for solving the output force distortion and provides a control strategy.
In a first aspect, the present application provides a method for controlling an output force of an exciter, which is used to ensure that a preset input voltage and an output force of the exciter have the same value, as shown in fig. 1, and the method mainly includes:
and step S1, calculating the speed of the excitation point according to the target value of the output force and the test piece structure output model.
And step S2, calculating the induced electromotive force of the vibration exciter according to the speed of the excitation point.
And step S3, superposing the induced electromotive force on a preset input voltage to obtain a first output voltage compensated by electromotive force.
And step S4, according to the resistance and the inductance of the vibration exciter, constructing a controller model for eliminating the influence of the inductance and the resistance on the vibration exciter, and setting the controller model behind the first output voltage to obtain a second output voltage compensated by the resistance and the inductance.
And step S5, inputting the second output voltage into the vibration exciter to generate output force.
As described in the background, the output force of the exciter is inconsistent with the expected output force due to the voltage distortion of the existing exciter, and after the input voltage preset by the exciter is given outside, the consistent output force is expected to be obtained, for example, 1V voltage is given, and 1N output force is expected to be obtained, however, the technical defect that 0.8-0.9N output force is obtained given 1V voltage exists in the prior art.
Therefore, the present application analyzes the output force distortion caused by electromotive force as the main cause of the above defects and the output force distortion caused by resistance and inductance as the secondary cause, based on the operating principle of the vibration exciter.
Steps S1-S3 are for resolving output force distortion caused by electromotive force, and step S4 is for resolving output force distortion caused by resistance and inductance. The following analyzes specific principles.
The output of the exciter is determined by the following formula (1), the force acting on the moving coil
With current in the moving coil
In proportion, equation (2) can be obtained from kirchhoff's law of the circuit.
In the formula (1), the reaction mixture is,
in order to induce the electromotive force coefficient, in formula (2), L is the line inductance of the vibration exciter, R is the line resistance of the vibration exciter, and s is the laplace operator, it can be seen that the current in the coil is affected by the inductance L, the resistance R and the induced electromotive force in the circuit, the induced electromotive force is proportional to the moving speed of the moving coil, and assuming that the vibration exciter connecting rod is rigid enough, the induced electromotive force is proportional to the speed of the structure excitation point, and in the combined loading of a plurality of vibration exciters, different vibration exciters are also coupled together through this term. In force control, since the excitation force is known, assuming that the excitation force is accurately applied to the structure, the velocity of the excitation point is also known as shown in step S1, and therefore the magnitude of the induced electromotive force, such asAs shown in step S2, the influence of the induced electromotive force can be removed by compensating the input voltage, as shown in step S3.
In order to eliminate the influence of inductance and resistance on the output force, the induced electromotive force term in the above formula (2) is removed and subjected to laplace transformation to obtain:
wherein,
for the lagrange transformation of the input voltage, in order to perform compensation control on the above equation, in some alternative embodiments, the following controller model K is designed:
the link is connected with the original system in series, K is an inverse model of the original system (the numerator and denominator are exchanged), so that 0.000001s is added to the denominator to keep the energy of the system conservative, and the coefficient value is small, so that the influence on the whole output is small.
The distortion of the output force caused by the circuit link can be solved through the steps, and the distortion caused by the rigidity and the mass of the moving coil is usually considered in the design process of the vibration exciter, so that the distortion can not be considered in practice.
The invention analyzes the reason of output distortion from the principle of the output force of the vibration exciter, realizes the control of the exciting force by designing corresponding compensation, has lower modeling order compared with a test modeling method, and can theoretically realize the multichannel control of a wider frequency band under the condition of higher precision of modeling parameters.
The method used in the invention starts from theoretical model building, determines the output force distortion reason of the vibration exciter in principle, designs and compensates the induced electromotive force, and controls the output force of the system by connecting the inverse model of the vibration exciter and the original system in series.
In the present application, steps S1-S5 may be all solidified into a circuit structure, for example, steps S1-S2 are solidified into a circuit structure for calculating speed and electromotive force, step S3 incorporates the output voltage of step S2 into the original circuit, and step S4 is solidified into a controller model and connected in series with the original circuit.
In some optional embodiments, the speed-calculating circuit structure is determined according to a test piece structure output model, the test piece structure output model is constructed through a system identification method and is used for representing the relation between the speed of the test piece structure under the action of the exciting force and the exciting force, after the test piece structure outputs the speed of the model, induced electromotive force is calculated through an induced electromotive force coefficient circuit, and the induced electromotive force coefficient circuit is shown as formula (1), namely
。
In some optional embodiments, before constructing the test piece structure output model, the method further comprises: the method comprises the steps of utilizing a vibration exciter to carry out frequency sweeping excitation on a test piece structure, arranging a speed sensor at a position corresponding to the vibration excitation point, and measuring excitation force and speed signals.
The method determines a structural model through a system identification method, establishes a relation between structural response speed and input exciting force, and is used for compensation of induced electromotive force.
In some optional embodiments, according to the above description, the method for constructing the controller model mainly involves an inductor and a resistor, and the resistor and inductor parameters of the vibration exciter can be identified by adopting the prior art to obtain specific values, thereby improving the modeling accuracy; in order to verify the precision of the parameters, the output of the vibration exciter can also be simulated and compared with the real test excitation force, and then a controller model is built by using the vibration exciter electrical parameters obtained by the deformation of the formula (2):
wherein, L is the line inductance of the vibration exciter, R is the line resistance of the vibration exciter, and s is the Laplace operator.
The method is characterized in that a control inverse model method is designed, in order to solve the problem that the energy of a direct inverse model is not conservative, a high-order term is added in a denominator and a smaller system is set, so that on one hand, the energy conservation of the system is ensured, and on the other hand, the influence on the output of the system is small.
In some alternative embodiments, if the exciter carries a power amplifier, a linear compensation controller formed by the inverse of the amplification factor of the power amplifier is provided.
A second aspect of the present application provides a vibration exciter output power control model, configured to implement the vibration exciter output power control method, as shown in fig. 2, including a test piece structure output model, an induced electromotive force coefficient circuit, and a controller model, where the test piece structure output model is connected in series with the induced electromotive force coefficient circuit, and is configured to calculate an input voltage to obtain an induced electromotive force of the vibration exciter, and superimpose the induced electromotive force on the input voltage to obtain a first output voltage; the controller model is connected in series between the first output voltage and the vibration exciter and used for performing resistance and inductance compensation to obtain a second output voltage compensated by the resistance and the inductance, and the second output voltage is used for being input into the vibration exciter.
In some optional embodiments, if the vibration exciter carries a power amplifier, the vibration exciter output force control model further comprises a linear compensation controller, which is arranged in series between the first output voltage and the controller model, and is used for counteracting the amplification effect of the power amplifier on the voltage input into the vibration exciter.
In order to ensure that the preset input voltage and output force of the vibration exciter have the same value, the target force F and the input voltage in figure 2 are the same, namely, the exact preset input voltage value is input for the whole model, and the invention aims to ensure that the final output actual force F1In agreement with the target force F, it can be seenWhen the input voltage value is the same as the target force F, the test piece structure output model can calculate the speed of an excitation point according to the target force F, then the speed value is converted into electromotive force through an induced electromotive force coefficient circuit, and the induced electromotive force coefficient
The final compensation to the original input voltage can be obtained through test, so that the distortion influence of the rear vibration exciter on the voltage is counteracted.
Then, the linear compensation controller is connected in series in the model, and the controller model enters the existing physical structure, namely the power amplifier and the vibration exciter. It can be understood that the linear compensation controller corresponds to the power amplifier, Ka is the amplification factor of the power amplifier, and can be obtained by comparing the input voltage and the output voltage, and the linear compensation controller is used for compensating the voltage amplitude amplification factor Ka of the power amplifier, and is obtained by inverting Ka. The controller model is the model for eliminating the influence of the inductance and the resistance on the vibration exciter.
The method provided by the application is verified by simulation, and the actual force F is compared1And (4) testing and comparing with the target force F, wherein the comparison result shows that the actual output force is basically consistent with the target force, and the control is proved to reach the set target.
According to the method, a corresponding compensation circuit is designed according to the principle of the output force of the vibration exciter, the control of the exciting force is realized, and compared with a test modeling method, the method is low in modeling order and can theoretically realize the multichannel control of a wider frequency band under the condition that the precision of modeling parameters is high.
Claims (7)
1. A vibration exciter output force control method is used for ensuring that the preset input voltage and output force of a vibration exciter have the same value, and is characterized by comprising the following steps:
calculating the speed of an excitation point according to the target value of the output force and a test piece structure output model;
calculating the induced electromotive force of the vibration exciter according to the speed of the excitation point;
superposing the induced electromotive force on a preset input voltage to obtain a first output voltage compensated by the electromotive force;
according to the resistance and the inductance of the vibration exciter, a controller model for eliminating the influence of the inductance and the resistance on the vibration exciter is constructed, and the controller model is arranged behind the first output voltage to obtain a second output voltage compensated by the resistance and the inductance;
and inputting the second output voltage into the vibration exciter to generate output force.
2. The vibration exciter output force control method according to claim 1, wherein the test piece structure output model is constructed by a system identification method and is used for representing the relation between the speed of the test piece structure under the action of the exciting force and the exciting force.
3. The vibration exciter output force control method according to claim 2, wherein before constructing the test piece structure output model, the method further comprises:
the method comprises the steps of utilizing a vibration exciter to carry out frequency sweeping excitation on a test piece structure, arranging a speed sensor at a position corresponding to the vibration excitation point, and measuring excitation force and speed signals.
4. The vibration exciter output force control method according to claim 1, wherein said controller model K is:
wherein, L is the line inductance of the vibration exciter, R is the line resistance of the vibration exciter, and s is the Laplace operator.
5. The vibration exciter output force control method according to claim 1, wherein if said vibration exciter is equipped with a power amplifier, a linear compensation controller formed by the inverse of the amplification factor of said power amplifier is provided.
6. An exciter output force control model for realizing the exciter output force control method according to claim 1, which is characterized by comprising a test piece structure output model, an induced electromotive force coefficient circuit and a controller model, wherein the test piece structure output model is connected in series with the induced electromotive force coefficient circuit and is used for calculating an input voltage to obtain an induced electromotive force of the exciter and superposing the induced electromotive force on the input voltage to obtain a first output voltage; the controller model is connected in series between the first output voltage and the vibration exciter and used for performing resistance and inductance compensation to obtain a second output voltage compensated by the resistance and the inductance, and the second output voltage is used for being input into the vibration exciter.
7. The exciter output force control model according to claim 6, wherein if the exciter carries a power amplifier, the exciter output force control model further comprises a linear compensation controller, the linear compensation controller is arranged in series between the first output voltage and the controller model, and is used for counteracting the amplification effect of the power amplifier on the voltage input into the exciter.
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