CN112540586B - Distributed sound vibration active control system based on star network - Google Patents
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Abstract
本发明公开了一种基于星型网络的分布式声振主动控制系统，主要由主机和多个控制器构成，其中主机通过网线与所有控制器相连，而各控制器之间不存在直接的网络连接，系统整体呈星型网络形式。主机由第一网络通信模块、控制监测模块、控制参数选择模块和显示模块构成。控制器主要由第二网络通信模块、自适应控制算法模块、信号采集模块、信号输出及驱动模块构成。本发明通过增加主机和通讯模块，将各分散式子控制系统通过星型网络链接起来，实现了对各子控制系统状态的监测，并进一步对各子控制系统的控制参数实施动态调整，从而在保障系统总体稳定的前提下，维持了分散式控制中各子系统的独立性。
The invention discloses a distributed sound and vibration active control system based on a star network, which is mainly composed of a host computer and a plurality of controllers, wherein the host computer is connected with all the controllers through network cables, and there is no direct network between the controllers. connected, the system as a whole is in the form of a star network. The host is composed of a first network communication module, a control monitoring module, a control parameter selection module and a display module. The controller is mainly composed of a second network communication module, an adaptive control algorithm module, a signal acquisition module, a signal output and a drive module. By adding a host computer and a communication module, the invention links all the distributed sub-control systems through a star network, realizes the monitoring of the state of each sub-control system, and further implements dynamic adjustment of the control parameters of each sub-control system, so as to achieve On the premise of ensuring the overall stability of the system, the independence of each subsystem in the distributed control is maintained.
Description
Technical Field
The invention belongs to the field of noise and vibration control, and particularly relates to a distributed acoustic vibration active control system based on a star network.
Background
The rotating and reciprocating machinery is a common industrial device, and the periodic line spectrum noise and vibration excited during operation are one of the main components of the industrial noise vibration, so that the line spectrum noise and vibration are increasingly concerned to be effectively inhibited, and the rotating and reciprocating machinery has an important application background in the industries of aviation, electric power, ships and the like.
In practical applications, in order to effectively suppress the whole line spectrum noise and vibration of a large-scale structural body, a plurality of actuators and sensor units are often required to be arranged to implement multichannel control. The traditional lumped control method connects all actuators and sensors to the same controller, and the system is regarded as a whole to implement control. With the increase of the number of channels, the method puts higher requirements on the realization of the controller, and meanwhile, the wiring is complex and the universality is poor, so the application of the method is limited.
Compared with the lumped control, the distributed control simplifies a multi-channel system into superposition of a plurality of subsystems and equates a complex high-order control problem into parallel connection of a plurality of simple low-order control systems, so that the realization difficulty of the whole system can be greatly simplified, and the universality is improved. However, decentralized control has a potential instability problem due to neglect of physical coupling between subsystems, which greatly limits the utility of the technology. In view of this problem, a method for solving the potential instability of distributed control is also disclosed in the prior art, and the potential instability problem of distributed control is solved by optimizing parameters of an adaptive algorithm in each control unit. However, this method requires that all control units must be operated simultaneously, and the shutdown of any control subsystem puts the system back into instability, i.e. when the control subsystems lose operational independence.
Compared with distributed control, distributed control realizes a lumped control algorithm accurately or approximately by establishing network connection relation among all controllers, thereby showing better system stability. In the existing technical solution, distributed control is implemented by a ring network or a mesh network in which only adjacent nodes have a link relationship, and generally each node only implements single-channel control. In the implementation process of the distributed control, a large amount of real-time data transmission exists among the nodes, and the influence of network communication delay on the control effect is large; in addition, a monitoring mechanism for the overall control effect is lacked in the system, and the damage or the shutdown of a certain control node can cause the failure of the whole system.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides a distributed acoustic vibration active control system based on a star network, which aims at line spectrum noise and vibration and realizes globally stable distributed adaptive control.
The technical scheme adopted by the invention is as follows:
a distributed acoustic vibration active control system mainly comprises a host and a plurality of controllers, wherein the host is connected with all the controllers through network cables, direct network connection does not exist among the controllers, and the whole system is in a star network form;
the host comprises a control parameter selection module; the control parameter selection module is configured to generate a control frequency value according to line spectrum noise or vibration frequency information input from the outside or set inside and download the control frequency value to each controller; the control parameter selection module selects a corresponding group of control parameters according to the actual working state of each current controller and downloads the control parameters to each controller;
the controller comprises an adaptive control algorithm module; the adaptive control algorithm module utilizes the acquired sensor signal to perform adaptive control on line spectrum noise or vibration according to the control frequency value and the control parameter transmitted by the host, and the output digital control signal is input into the signal output and drive module on one hand and is uploaded to the host on the other hand.
As a further technical scheme, the host further comprises a first network communication module, and the first network communication module receives sensor sampling data and controller output data uploaded by each controller in real time and inputs the data to a control monitoring module of the host.
As a further technical scheme, the control monitoring module calculates and evaluates the current control effect by using the received data, and inputs the result into a display module of the host computer for display; meanwhile, the control monitoring module monitors the working state of each controller in real time according to the input data and inputs the working state to the control parameter selection module.
As a further technical solution, the control parameter selection module triggers network communication only when the generated control frequency value or the selected control parameter changes, and downloads the current parameter to each controller.
As a further technical scheme, the number of the sensors connected with each controller is not less than the number of the actuators.
As a further technical scheme, the controller further comprises a signal acquisition module, wherein the signal acquisition module is externally connected with a plurality of sensors and is responsible for acquiring output signals of the sensors and converting the output signals into digital signals, and the signals are input into the adaptive control algorithm module on one hand and uploaded to the host through the second network communication module on the other hand.
As a further technical scheme, the controller comprises a second network communication module, and the second network communication module is responsible for uploading the sensor signals and the control signals output by the control algorithm to the host in real time, receiving the control frequency and the control parameters transmitted by the host, and writing the control frequency and the control parameters into the adaptive control algorithm module.
As a further technical solution, the controller includes a signal output and drive module, and the signal output and drive module receives the digital control signal output by the adaptive control algorithm module, converts the digital control signal into an analog signal, and drives an external actuator connected to the module through a power amplifier to perform active control of noise or vibration.
As a further technical scheme, the distributed acoustic vibration active control system further comprises an initialization module, wherein the initialization module firstly identifies the frequency responses of all actuators to all sensors at the control frequency in sequence; secondly, calculating and storing a control parameter value which can make the control system globally stable aiming at the switch combination state of each controller by using the identified frequency response data; and finally, downloading the control parameters corresponding to the current working state and the control frequency to each controller, and starting a control function.
The main advantages of the invention are:
(1) compared with the existing distributed active control method, the invention links all the distributed sub-control systems through a star network by adding the host and the communication module, realizes the monitoring of the state of each sub-control system, and further dynamically adjusts the control parameters of each sub-controller (mainly realized through the control parameter selection module of the host), thereby maintaining the independence of each sub-system in the distributed control on the premise of ensuring the overall stability of the system, namely independently closing one or some sub-systems does not influence the control stability of other sub-systems, and better meets the requirement of practical application;
(2) compared with the existing distributed active control method, the method expands the single-channel control of each controller into multiple channels, and establishes network links by using the host and the star structure, thereby greatly reducing the data flow and the overall calculation amount of network communication, eliminating the influence of network communication delay on the control effect, monitoring the overall control effect of the system in real time by using the host, and eliminating the adverse effect of damage or closing of a certain control node on the whole system.
Drawings
FIG. 1 is a block diagram of a distributed active acoustic vibration control system according to the present invention;
fig. 2 is a block diagram of an adaptive control algorithm in an embodiment of the present invention.
The specific implementation mode is as follows:
it is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, unless the invention expressly state otherwise, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
the structure of the embodiment is as shown in fig. 1, the distributed active acoustic vibration control system based on the star network is mainly composed of 1 host and N controllers, wherein the host is connected with all the N controllers through a network cable or a wireless communication mode, direct network connection does not exist among the controllers, the whole system is in the form of the star network, and a distributed control mode is formed;
further, the host in this embodiment is mainly composed of a first network communication module, a control monitoring module, a control parameter selection module, and a display module.
The first network communication module receives sensor sampling data and controller output data uploaded by N controllers in real time and inputs the data into the control monitoring module;
the control monitoring module calculates and evaluates the current control effect by using the data, and inputs the result into the display module for display; meanwhile, the control monitoring module monitors the working state of each controller in real time according to the input data and inputs the working state to the control parameter selection module.
The control parameter selection module is connected with a tachometer of external rotating equipment (vibration source), generates a control frequency value according to the signal and downloads the control frequency value to each controller through the first network communication module; in addition, the control parameter selection module is 2 from the actual switch state of each current controllerN-selecting a set of control parameters corresponding to the current state from the 1 pre-stored control parameters and downloading the set of control parameters to each controller via the first network communication module.
The control parameter selection module triggers network communication only when the generated control frequency value or the selected control parameter changes, and downloads the updated frequency or control parameter to each controller. In other embodiments, the line spectrum noise or vibration frequency information can be obtained from other sensors or devices, and can also be directly set manually.
Further, the controller in this embodiment is mainly composed of a second network communication module, a self-adaptive control algorithm module, a signal acquisition module, and a signal output and drive module;
the signal acquisition module is externally connected with K accelerometers and is responsible for acquiring output signals of the accelerometers and converting the output signals into digital signals, and the digital signals are input into the adaptive control algorithm module on one hand and uploaded to the host through the second network communication module on the other hand.
The self-adaptive control algorithm module utilizes the acquired K paths of acceleration signals, and carries out self-adaptive control on line spectrum vibration excited by external rotating equipment according to a control frequency value omega and a control parameter C transmitted by the host through the first network communication module, and M paths of digital control signals output by the self-adaptive control algorithm module are input into the signal output and drive module on one hand and are uploaded to the host through the second network communication module on the other hand.
The signal output and drive module receives M paths of digital control signals output by the self-adaptive control algorithm module, converts the M paths of digital control signals into analog signals, and then drives M (M < (K) > vibration exciters connected with the module through a power amplifier to implement active vibration control. The second network communication module is responsible for uploading the K paths of acceleration signals and the M paths of control signals output by the control algorithm to the host in real time, receiving the control frequency and the control parameters transmitted by the host and writing the control frequency and the control parameters into the self-adaptive control algorithm module. In other embodiments, the number of sensors and actuators connected to each controller may not be the same, but the number of sensors should be no less than the number of actuators.
Fig. 2 shows a specific implementation structure of the adaptive control algorithm module of the controller in this embodiment. Firstly, a reference signal is generated according to a control frequency omega transmitted by a host
xc(n)＝cos(ωn),xs(n)＝sin(ωn)
Secondly, an output signal vector is calculated
y(n)＝xc(n)wc(n)+xs(n)ws(n)
In the above formula wc(n)、ws(n) is an M × 1 dimensional controller vector, and y (n) is an M × 1 dimensional output signal vector.
Further, the vector of the controller is adaptively updated according to the LMS algorithm by using the input vector e (n) of the K multiplied by 1-dimensional acceleration signal
wc(n+1)＝wc(n)-μRc(n)e(n)
ws(n+1)＝ws(n)-μRs(n)e(n)
Rc(n)＝Re<C>xc(n)+Im<C>xs(n)
Rs(n)＝Re<C>xs(n)-Im<C>xc(n)
Where μ is the update step size and the M × K dimensional matrix C is the control parameters transmitted by the host. In other embodiments, active control may be implemented using other existing line spectrum adaptive control algorithms.
The distributed vibration active control system in this embodiment needs to be initialized when the system is started up for the first time, and includes the following steps: firstly, sequentially identifying the frequency responses of all vibration exciters to all accelerometers at a control frequency; secondly, using the identified frequency response data, aim at 2N-1 switching combination state of the controller, calculating and storing control parameter values enabling global stabilization of the control system according to the method given in the prior paper (https:// doi. org/10.1016/j. jsv.2020.115763)
The subscript j of C corresponds to the jth controller, and the superscript i corresponds to different controller switch combination states; and finally, sequentially downloading a group of control parameters corresponding to the current working state and the control frequency to the corresponding controllers, and starting the control function. When the switch state of one or more controllers in the system is changed, the control parameters are read again according to the current state and are sequentially downloaded to the corresponding controllers.
In other embodiments, a microphone, a speaker, or both may be connected to each controller, enabling active control of line spectrum noise or mixed active control of line spectrum noise and vibration.
In addition to the above embodiments, any technical solutions formed by equivalent substitutions or equivalent transformations fall within the scope of the claims of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
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