多点激励振动试验系统的控制策略研究
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摘要
振动试验可以检验产品耐振动能力,考核产品在振动环境应力下的性能及表现,发现它们的设计缺陷以改进产品设计,从而提高产品的性能与质量。单点激励振动试验是目前振动试验领域广泛采用的试验方式,但随着产品结构的复杂化和多样化,单点激励振动试验的弱点与不足越来越多地为人们所认识到。多点激励振动试验相对单点激励振动试验更加真实地模拟实际振动环境,同时它能够克服单点激励存在的一些缺点,如推力不足、振动应力分布不均匀和易造成局部欠试验或过试验等。本文围绕多点激励振动试验控制策略进行了深入研究,并将其研究成果应用至控制系统设计中,为多点激励振动试验控制系统开发提供理论指导。
多点激励振动试验控制系统辨识。为实现系统的有效控制,必须要掌握系统特性,对系统进行辨识。多点激励振动试验控制系统是一个控制算法复杂的实时控制系统,论文在对系统辨识模型研究的基础上,根据多点激励振动试验控制系统的特点,确定频响函数模型是适用于多点激励振动试验控制系统的辨识方法。提出采用偏相干残差法进行多点激励振动试验控制系统频响估计,归纳总结出用于多点激励振动试验控制系统频响矩阵估计的计算流程,并将其应用至控制系统设计中。偏相干残差法估计系统频响矩阵是通过对对角线为1的上三角矩阵求逆获得,相对传统的频响矩阵估计方法计算量更小,非常适用于多点激励振动试验这种实时性要求较高的系统,同时它能够提供更多的输入输出之间相干信息。
多点正弦振动试验最优控制策略研究。针对传统多点正弦控制方法中频响特性不更新和迭代步长不变导致控制系统潜在不稳定的缺点,提出了采用最优控制策略进行系统控制。最优控制能对控制迭代步长与频响矩阵根据系统特性进行实时更新,在保证控制系统稳定的基础上,加快了控制系统的收敛速度。同时文中对多点正弦信号幅值与相位估计方法进行研究,利用最小二乘法完成对多点正弦信号幅值与相位的估计。
多点随机振动试验控制策略研究。文中对多点随机驱动信号的生成方法进行了研究,采用时域随机化技术生成符合控制系统要求的真随机信号。对多点随机振动试验的参考谱矩阵的设定条件进行了讨论,推导出谱矩阵的正定性是判定参考谱设置是否合理的重要依据。对多点随机振动试验控制算法进行了研究,在对传统控制算法分析的基础上,提出了综合均衡的控制算法,它能够克服传统控制算法存在的一些缺点,改善了控制系统的性能。由于非高斯随机振动环境与实际振动环境更加相近,成为目前随机振动试验发展中的热点,文中对非高斯随机振动试验控制研究提出了并行控制策略,实现峭度控制与功率谱控制的相互独立。对非高斯随机信号的生成方法展开研究,提出基于泊松过程的非高斯随机信号生成方法。
多点激励振动试验控制系统构建与实验研究。针对多点激励振动试验控制系统设计中的关键技术,确定了多点激励振动试验控制系统设计的体系结构,最终构建了振动试验控制系统的硬件平台与软件平台。在对多点激励振动试验控制策略研究的基础上,结合构建好的振动试验控制系统软硬件平台,进行了相关的实验研究,分别对多点正弦、多点随机和非高斯随机进行了实验研究。在相同的实验条件下,多点激励正弦振动试验分别采用传统控制算法与最优控制算法进行比较研究,在奇异点附近采用最优控制算法的幅值控制结果相对传统控制算法波动要小,控制效果更好。多点随机振动控制系统自闭环控制实验表明控制系统的控制动态范围达到90dB,连接振动台实验结果表明振动控制系统的控制响应自功率谱都控制在±1.5dB范围内。非高斯随机振动控制系统自闭环振动实验结果表明控制系统的控制动态范围达到90dB,连接振动台的非高斯随机振动实验结果表明在试验频率范围内各频率点的功率谱都控制在±1.5dB范围,非高斯随机信号的峭度值始终控制目标峭度附近,在很小的范围内波动,从振动台上采集获得的非高斯响应信号幅值变化剧烈,呈现明显非高斯性。
Vibration test is intended to examine the anti-vibration capability of products and their performance in vibration environment so that design faults of products can be found out in vibration test accompanying with improving design and quality of these products. So far, Single-exciter vibration test has been widely adopted in the vibration testing, however, its shortages also attract people's attention since the structure of product is becoming more and more complicated. Multi-exciter vibration test actually can simulate the practical environment better than single-exciter vibration test, the latter bears some disadvantages, such as pushing force insufficiency, non-uniform vibration stress distribution, under-test and over-test and so on, while the former can overcome those drawbacks. The deep investigation to the control strategy of multi-exciter vibration test is conducted, and research findings are also applied into the design of the control system, which provides theoretical support to the development of multi-exciter vibration test control system.
Identification of multi-exciter vibration test control system. To identify system and understand system characteristics should be finished before achieving effective system control. Control system for multi-exciter vibration test is complicated in algorithm, it is confirmed that frequency response function model is a suitable way in indentifying control system of multi-exciter vibration test based on the investigation to system identification model and consideration to the system characteristics. Partial coherence residual method is proposed to conduct frequency response estimation, meanwhile, calculation procedure of frequency response matrix estimation for the control system is also summarized and applied into system control. Compared with traditional way, frequency response function estimated by making use of the Partial coherence residual method is achieved through calculating inverse matrix to the upper triangular matrices, which leads to less calculation works and therefore is suitable to multi-exciter vibration test where harshly requires real-time capability, furthermore, more coherent information between input and output of the control system is provided by the method mentioned above.
Optimal control strategies of multi-exciter sine vibration test. An optimal control strategy is proposed so that the drawbacks in traditional multi-exciter sine control algorithm adopting constant iterative step length and no updating for frequency response function can be avoided. The optimal control strategy whose iterative step length and frequency response function can update in real time according to system characteristic is able to speed up convolution speed of the control system on the basis of guaranteeing stability of the system, the way to estimate the amplitude and phrase of the multi-exciter sine signal is investigated in this thesis, the least square method is adopted to estimate the amplitude and phrase of the multi-exciter sine signal.
Control strategies of multi-exciter random vibration test. The way to generate the multi-exciter random drive signal is studied, the true random signal which satisfies the requirement of the system is generated by using time domain randomization technology. Setting conditions to the reference spectrum matrix of the multi-exciter random vibration test is explored, and whether the reference spectrum setting is reasonable or not can be judged by analyzing positive definiteness of the spectrum matrix. Control algorithm of the multi-exciter random vibration test is investigated, a comprehensive equalization control algorithm is proposed based on the analysis to the traditional control algorithm, which contributes to overcome the shortages existed in traditional control strategy and improve the performance of control system. Non-Gaussian random vibration test has become the hot field in vibration test since it can simulate realistic environment better, Concurrent control strategy research for non-Gaussian random vibration test is proposed, which achieves independent control to the kurtosis control and power spectrum control respectively. Generation algorithm of non-Gaussian random signal is investigated, and no-Gaussian random signal generation algorithm based on the Poisson process is given in paper.
Control system building and its experiment for multi-exciter vibration test. In conclusion, the whole system design is finished in this study, and hardware and software platform of the control system are built on the basis of the critical technology of the control system in multi-exciter random vibration test. The experiments concerned are conducted. The experiments including multi-exciter sine vibration test and multi-exciter random vibration test as well as non-Gaussian vibration test are carried out on the mentioned platforms. The comparison between optimal control strategy and traditional control algorithm in the same experimental conditions is made in multi-exciter sine vibration test, the former has better control performance and bears less fluctuation than latter in singular points nearby. self-closed loop control for multi-exciter random vibration test indicates that dynamic range for control system reaches 90dB, and control response power spectrum in multi-exciter random vibration test is under control within±1.5dB. Self-closed loop control for non-Gaussian random vibration test indicates that dynamic range for control system reaches 90dB, and all the points contained in the range of frequency for control response power spectrum in non-Gaussian random vibration test is also under control within±1.5dB. Non-Gaussian random kurtosis value is fluctuating nearby target, the amplitudes of non-Gaussian random signal collected from the shaker changes dramatically and bears distinct non-Gaussian characteristics.
多点激励振动试验控制系统辨识。为实现系统的有效控制,必须要掌握系统特性,对系统进行辨识。多点激励振动试验控制系统是一个控制算法复杂的实时控制系统,论文在对系统辨识模型研究的基础上,根据多点激励振动试验控制系统的特点,确定频响函数模型是适用于多点激励振动试验控制系统的辨识方法。提出采用偏相干残差法进行多点激励振动试验控制系统频响估计,归纳总结出用于多点激励振动试验控制系统频响矩阵估计的计算流程,并将其应用至控制系统设计中。偏相干残差法估计系统频响矩阵是通过对对角线为1的上三角矩阵求逆获得,相对传统的频响矩阵估计方法计算量更小,非常适用于多点激励振动试验这种实时性要求较高的系统,同时它能够提供更多的输入输出之间相干信息。
多点正弦振动试验最优控制策略研究。针对传统多点正弦控制方法中频响特性不更新和迭代步长不变导致控制系统潜在不稳定的缺点,提出了采用最优控制策略进行系统控制。最优控制能对控制迭代步长与频响矩阵根据系统特性进行实时更新,在保证控制系统稳定的基础上,加快了控制系统的收敛速度。同时文中对多点正弦信号幅值与相位估计方法进行研究,利用最小二乘法完成对多点正弦信号幅值与相位的估计。
多点随机振动试验控制策略研究。文中对多点随机驱动信号的生成方法进行了研究,采用时域随机化技术生成符合控制系统要求的真随机信号。对多点随机振动试验的参考谱矩阵的设定条件进行了讨论,推导出谱矩阵的正定性是判定参考谱设置是否合理的重要依据。对多点随机振动试验控制算法进行了研究,在对传统控制算法分析的基础上,提出了综合均衡的控制算法,它能够克服传统控制算法存在的一些缺点,改善了控制系统的性能。由于非高斯随机振动环境与实际振动环境更加相近,成为目前随机振动试验发展中的热点,文中对非高斯随机振动试验控制研究提出了并行控制策略,实现峭度控制与功率谱控制的相互独立。对非高斯随机信号的生成方法展开研究,提出基于泊松过程的非高斯随机信号生成方法。
多点激励振动试验控制系统构建与实验研究。针对多点激励振动试验控制系统设计中的关键技术,确定了多点激励振动试验控制系统设计的体系结构,最终构建了振动试验控制系统的硬件平台与软件平台。在对多点激励振动试验控制策略研究的基础上,结合构建好的振动试验控制系统软硬件平台,进行了相关的实验研究,分别对多点正弦、多点随机和非高斯随机进行了实验研究。在相同的实验条件下,多点激励正弦振动试验分别采用传统控制算法与最优控制算法进行比较研究,在奇异点附近采用最优控制算法的幅值控制结果相对传统控制算法波动要小,控制效果更好。多点随机振动控制系统自闭环控制实验表明控制系统的控制动态范围达到90dB,连接振动台实验结果表明振动控制系统的控制响应自功率谱都控制在±1.5dB范围内。非高斯随机振动控制系统自闭环振动实验结果表明控制系统的控制动态范围达到90dB,连接振动台的非高斯随机振动实验结果表明在试验频率范围内各频率点的功率谱都控制在±1.5dB范围,非高斯随机信号的峭度值始终控制目标峭度附近,在很小的范围内波动,从振动台上采集获得的非高斯响应信号幅值变化剧烈,呈现明显非高斯性。
Vibration test is intended to examine the anti-vibration capability of products and their performance in vibration environment so that design faults of products can be found out in vibration test accompanying with improving design and quality of these products. So far, Single-exciter vibration test has been widely adopted in the vibration testing, however, its shortages also attract people's attention since the structure of product is becoming more and more complicated. Multi-exciter vibration test actually can simulate the practical environment better than single-exciter vibration test, the latter bears some disadvantages, such as pushing force insufficiency, non-uniform vibration stress distribution, under-test and over-test and so on, while the former can overcome those drawbacks. The deep investigation to the control strategy of multi-exciter vibration test is conducted, and research findings are also applied into the design of the control system, which provides theoretical support to the development of multi-exciter vibration test control system.
Identification of multi-exciter vibration test control system. To identify system and understand system characteristics should be finished before achieving effective system control. Control system for multi-exciter vibration test is complicated in algorithm, it is confirmed that frequency response function model is a suitable way in indentifying control system of multi-exciter vibration test based on the investigation to system identification model and consideration to the system characteristics. Partial coherence residual method is proposed to conduct frequency response estimation, meanwhile, calculation procedure of frequency response matrix estimation for the control system is also summarized and applied into system control. Compared with traditional way, frequency response function estimated by making use of the Partial coherence residual method is achieved through calculating inverse matrix to the upper triangular matrices, which leads to less calculation works and therefore is suitable to multi-exciter vibration test where harshly requires real-time capability, furthermore, more coherent information between input and output of the control system is provided by the method mentioned above.
Optimal control strategies of multi-exciter sine vibration test. An optimal control strategy is proposed so that the drawbacks in traditional multi-exciter sine control algorithm adopting constant iterative step length and no updating for frequency response function can be avoided. The optimal control strategy whose iterative step length and frequency response function can update in real time according to system characteristic is able to speed up convolution speed of the control system on the basis of guaranteeing stability of the system, the way to estimate the amplitude and phrase of the multi-exciter sine signal is investigated in this thesis, the least square method is adopted to estimate the amplitude and phrase of the multi-exciter sine signal.
Control strategies of multi-exciter random vibration test. The way to generate the multi-exciter random drive signal is studied, the true random signal which satisfies the requirement of the system is generated by using time domain randomization technology. Setting conditions to the reference spectrum matrix of the multi-exciter random vibration test is explored, and whether the reference spectrum setting is reasonable or not can be judged by analyzing positive definiteness of the spectrum matrix. Control algorithm of the multi-exciter random vibration test is investigated, a comprehensive equalization control algorithm is proposed based on the analysis to the traditional control algorithm, which contributes to overcome the shortages existed in traditional control strategy and improve the performance of control system. Non-Gaussian random vibration test has become the hot field in vibration test since it can simulate realistic environment better, Concurrent control strategy research for non-Gaussian random vibration test is proposed, which achieves independent control to the kurtosis control and power spectrum control respectively. Generation algorithm of non-Gaussian random signal is investigated, and no-Gaussian random signal generation algorithm based on the Poisson process is given in paper.
Control system building and its experiment for multi-exciter vibration test. In conclusion, the whole system design is finished in this study, and hardware and software platform of the control system are built on the basis of the critical technology of the control system in multi-exciter random vibration test. The experiments concerned are conducted. The experiments including multi-exciter sine vibration test and multi-exciter random vibration test as well as non-Gaussian vibration test are carried out on the mentioned platforms. The comparison between optimal control strategy and traditional control algorithm in the same experimental conditions is made in multi-exciter sine vibration test, the former has better control performance and bears less fluctuation than latter in singular points nearby. self-closed loop control for multi-exciter random vibration test indicates that dynamic range for control system reaches 90dB, and control response power spectrum in multi-exciter random vibration test is under control within±1.5dB. Self-closed loop control for non-Gaussian random vibration test indicates that dynamic range for control system reaches 90dB, and all the points contained in the range of frequency for control response power spectrum in non-Gaussian random vibration test is also under control within±1.5dB. Non-Gaussian random kurtosis value is fluctuating nearby target, the amplitudes of non-Gaussian random signal collected from the shaker changes dramatically and bears distinct non-Gaussian characteristics.
引文
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