Electromagnetic servo excitation control method and system

Abstract

The present invention proposes an electromagnetic servo excitation control method and system, wherein the method includes: obtaining the target response data of the current discrete control step; using a discrete real-time control strategy to generate a control signal of the current discrete control step in real time according to the target response data; controlling the electromagnetic excitation subsystem to apply an excitation force to the excited object according to the control signal, so that the excited object responds to and reproduces the target response data under the current discrete control step. The present invention can generate a control signal using a discrete real-time control strategy according to the target response data of the current discrete control step, apply an excitation force to the excited object, and thus reproduce the target response data under the current discrete control step, and has the characteristics of accurate output, efficient operation, no need for prior preparation, and small footprint.

Description

Technical Field

[0001] The present invention relates to the technical field of servo excitation, and in particular to an electromagnetic servo excitation control method and system. Background Art

[0002] Servo shakers are widely used in industrial production, testing and scientific experiments. They can accurately reproduce the vibration and even random vibration signals required by the excited equipment. In recent years, with the continuous improvement of product performance and reliability requirements, vibration tests have gradually evolved from single-frequency sine or sine swept frequency excitation to random excitation, which requires accurate reproduction of the random load spectrum waveform experienced by the test piece.

[0003] There are two existing devices for servo excitation: hydraulic servo and electric servo. The hydraulic servo exciter is mainly realized by controlling the pressure of the hydraulic cylinder through the hydraulic proportional valve. It has the advantages of high power density and wide output frequency band, but the system maintenance and operation costs are very high, and the supporting hydraulic station requires a large floor space. The electric servo exciter uses a servo motor to drive the ball screw as a cylinder, and realizes closed-loop control of the excitation output by controlling the speed and angle of the servo motor. It has the advantage of simple maintenance, but the motor output torque is mainly used to overcome the inertia force of the moving parts, so the operating efficiency is low, and it is difficult to achieve closed-loop control of the excitation force.

[0004] There are two closed-loop control methods for existing servo excitation devices: online and offline. Online control uses PID control. For complex systems, such as when the excited system has multi-order resonances within the analysis frequency band or the target of servo tracking is far away from the excitation point, it is difficult to accurately track the excitation target using simple PID control due to the coupling of the dynamic characteristics of the excited and exciting systems, and the output error is large. Offline control is a frequency domain method, which requires the dynamic characteristics of the system to be identified in advance through an excitation test and the output signal to be obtained through a load identification method. For systems with complex dynamic characteristics or obvious nonlinearity, it is also necessary to use multiple iterations to gradually converge the excitation output, and the operation process is very complicated. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0006] To this end, the first purpose of the present invention is to propose an electromagnetic servo excitation control method to achieve real-time servo tracking of an excitation target with complex dynamic characteristics, thereby solving the technical problems in the prior art that it is difficult to accurately track the excitation target, the output error is large, and the dynamic characteristics of the system need to be identified in advance.

[0007] The second objective of the present invention is to provide an electromagnetic servo excitation system.

[0008] To achieve the above-mentioned purpose, the first aspect of the present invention proposes an electromagnetic servo excitation control method, including: obtaining target response data of a current discrete control step; using a discrete real-time control strategy to generate a control signal of the current discrete control step in real time according to the target response data; controlling the electromagnetic excitation subsystem to apply an excitation force to the excited object according to the control signal, so that the excited object responds and reproduces the target response data under the current discrete control step.

[0009] The electromagnetic servo excitation control method of the embodiment of the present invention can generate a control signal using a discrete real-time control strategy according to the target response data of the current discrete control step, and apply an exciting force to the excited object, thereby reproducing the target response data under the current discrete control step. It has the characteristics of accurate output, efficient operation, and no need for prior preparation.

[0010] In one embodiment of the present invention, the use of a discrete real-time control strategy to generate a control signal for the current discrete control step in real time according to the target response data includes: acquiring historical control signals of the electromagnetic excitation subsystem and historical response data of the excited object in historical discrete control steps; and generating the control signal for the current discrete control step according to the target response data, the historical response data and the historical control signal.

[0011] In one embodiment of the present invention, generating the control signal of the current discrete control step based on the target response data, the historical response data and the historical control signal includes: collecting the historical target response data of the electromagnetic excitation subsystem in the historical discrete control steps; inputting the historical response data, the historical control signal and the historical target response data into a control system dynamic model established in advance to obtain the predicted response data of the current discrete control step predicted by the control system dynamic model according to the optimal prediction principle; calculating the variance of the error between the predicted response data and the target response data, and calculating the control signal of the current discrete control step according to the variance minimization principle.

[0012] In one embodiment of the present invention, the electromagnetic servo excitation control method further includes: collecting response data of the excited object under the current discrete control step; and adjusting model parameters of the control system dynamic model according to the response data and the target response data.

[0013] In one embodiment of the present invention, the model parameters include: order and delay time.

[0014] To achieve the above-mentioned purpose, the second aspect of the present invention proposes an electromagnetic servo excitation system, including: an electromagnetic excitation subsystem, multiple sensors, and a controller, wherein the electromagnetic excitation subsystem is connected to the sensor, and the electromagnetic excitation subsystem and the sensor are both connected to the controller, wherein the electromagnetic excitation subsystem is used to apply an excitation force to the excited object according to the control signal of the current discrete control step; the sensor is used to collect real-time response data of the electromagnetic excitation subsystem and the excited object in the current discrete control step; and the controller is used to generate the control signal of the current discrete control step in real time according to the target response data using a discrete real-time control strategy.

[0015] The electromagnetic servo excitation system of the embodiment of the present invention can generate a control signal using a discrete real-time control strategy according to the target response data of the current discrete control step, and apply an exciting force to the excited object, thereby reproducing the target response data under the current discrete control step. It has the characteristics of accurate output, efficient operation, and no need for prior preparation.

[0016] In one embodiment of the present invention, the electromagnetic excitation subsystem includes: an electromagnetic exciter and a power amplifier, wherein the power amplifier is connected to the electromagnetic exciter and the controller.

[0017] In one embodiment of the present invention, the electromagnetic exciter includes: an electromagnetic excitation head and a fixing device, wherein the electromagnetic excitation head and the fixing device are connected.

[0018] In one embodiment of the present invention, the sensor is disposed on the electromagnetic excitation head; and / or the sensor is disposed on the excited object.

[0019] In one embodiment of the present invention, the real-time response data of the current discrete control step includes: one or more of the exciting force response data of the exciting head in the electromagnetic excitation subsystem, the acceleration response data on the exciting head, the velocity response data on the exciting head, the displacement response data on the exciting head, and / or one or more of the acceleration response data of the excited object, the velocity response data of the excited object, the displacement response data of the excited object, and the strain response data of the excited object.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0022] Figure 1 A schematic flow chart of an electromagnetic servo excitation control method according to an embodiment of the present invention;

[0023] Figure 2 A flow chart of a discrete real-time control method for an electromagnetic servo excitation system according to an embodiment of the present invention;

[0024] Figure 3 A schematic structural diagram of a specific electromagnetic servo excitation system provided by an embodiment of the present invention;

[0025] Figure 4 A schematic diagram of the structure of an electromagnetic servo excitation system provided by an embodiment of the present invention;

[0026] Figure 5 A schematic diagram of an electromagnetic excitation system with a displacement response of an excitation head as an excitation target according to an embodiment of the present invention;

[0027] Figure 6 Schematic diagram of an electromagnetic excitation system with a strain response at a point on a specimen as an excitation target according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0029] The electromagnetic servo excitation control method and system according to the embodiment of the present invention will be described below with reference to the accompanying drawings. First, the electromagnetic servo excitation control method according to the embodiment of the present invention will be described with reference to the accompanying drawings.

[0030] Figure 1 The figure is a flow chart of an electromagnetic servo excitation control method according to an embodiment of the present invention.

[0031] like Figure 1 As shown, the electromagnetic servo excitation control method proposed in the embodiment of the present invention includes the following steps:

[0032] Step 101, obtaining target response data of the current discrete control step.

[0033] Specifically, the target response data is transmitted from the host computer and / or the excitation target data is autonomously generated by the controller, and its physical meaning may be the excitation force response data of the excitation head, the displacement response data on the excitation head, the velocity response data on the excitation head, the acceleration response data on the excitation head, or one or more of the displacement response data, velocity response data, acceleration response data, and strain response data of the excited body.

[0034] Step 102, using a discrete real-time control strategy to generate a control signal for a current discrete control step in real time according to the target response data.

[0035] As an example of the present invention, historical control signals of the electromagnetic excitation subsystem and historical response data of the excited object in historical discrete control steps are obtained; and a control signal of the current discrete control step is generated according to the target response data, the historical response data and the historical control signals.

[0036] Furthermore, a control signal for a current discrete control step is generated based on the target response data, the historical response data and the historical control signal, including: collecting the historical target response data of the electromagnetic excitation subsystem in the historical discrete control steps; inputting the historical response data, the historical control signal and the historical target response data into a control system dynamic model established in advance to obtain the predicted response data of the current discrete control step predicted by the control system dynamic model according to the optimal prediction principle; calculating the variance of the error between the predicted response data and the target response data, and calculating the control signal for the current discrete control step according to the variance minimization principle.

[0037] In one embodiment of the present invention, a recursive least squares method is used to identify the dynamic model of the control system in real time; based on the principle of minimizing the total variance of the prediction error, the target response data of the optimal prediction of the real-time response data of the next discrete control step is obtained, including: the control target is to minimize the variance of the error between the optimal prediction of the response data and the target response data; a unified control system dynamic model is used to predict the response data of the next discrete control step and calculate the optimal control signal of the current discrete control step.

[0038] Furthermore, it also includes collecting response data of the excited object under the current discrete control step; adjusting model parameters of the control system dynamic model according to the response data and the target response data, wherein the model parameters include order and delay time.

[0039] In one embodiment of the present invention, the control system dynamic model takes into account the lag time from the issuance of the control signal to the response signal; the lag time from the issuance of the control signal to the response signal of the control system dynamic model can be identified and adjusted in real time based on the actual response data obtained in the previous discrete control step and the historical data of the control signal; the order of the control system dynamic model can be identified and adjusted in real time based on the actual response data obtained in the previous discrete control step and the historical data of the control signal.

[0040] It is worth noting that due to the variety of dynamic characteristics of the excited body, the important parameters of the controlled system model: order and delay time are also different for different excited bodies. In order to reduce human intervention in the excitation process, the control system dynamic model simultaneously evaluates and corrects the order and delay time of the model in real time based on the error terms in the parameter estimation, optimal prediction and minimum variance control modules to achieve maximum automation.

[0041] Step 103, controlling the electromagnetic excitation subsystem to apply an exciting force to the excited object according to the control signal, so that the excited object responds and reproduces the target response data under the current discrete control step.

[0042] Specifically, the current control signal obtained by the discrete real-time control method is sent out through the controller to control the electromagnetic excitation subsystem to apply an exciting force to the excited object, so that the excited object responds to reproduce the target response data under the current discrete control step to achieve the preset effect.

[0043] For example, in one embodiment of the present invention, the control system dynamic model may be composed of three modules, namely, a minimum variance controller, an optimal prediction model, and a real-time parameter estimation. Figure 2 As shown, the controlled system covers Figure 3 The controller output, signal transmission, power amplifier, electromagnetic exciter electric / magnetic / force coupling, excited body, sensor and controller sensor signal measurement are all links. For the controlled system, its input is the control signal generated by the controller to be transmitted to the power amplifier, and its output is the measured response data of the sensor feedback. The real-time parameter estimation algorithm uses the recursive parameter estimation method to obtain the model parameters of the controlled system based on the historical data (u and y) so far. Since the control object generally has a delay, the current control action will lag for a period of time before affecting the output. The optimal prediction module makes the optimal prediction of the output in advance based on the principle of minimizing the total variance of the prediction error. Finally, the minimum variance control module adjusts the control input u of the controlled system based on the principle of minimizing the total variance of the error between the optimal prediction of the response data and the target response data, thereby completing the servo tracking of the actual excitation output control signal.

[0044] The electromagnetic servo excitation method provided in the embodiment of the present invention can generate a control signal using a discrete real-time control strategy according to the target response data of the current discrete control step, and apply an exciting force to the excited object, thereby reproducing the target response data under the current discrete control step. It has the characteristics of accurate output, efficient operation, and no need for prior preparation.

[0045] Secondly, the electromagnetic servo excitation system is described in detail below.

[0046] Figure 4A schematic structural diagram of an electromagnetic servo excitation system provided in an embodiment of the present invention.

[0047] like Figure 4 As shown, the electromagnetic servo excitation system includes an electromagnetic excitation subsystem 10, a sensor 20 and a controller 30, wherein the electromagnetic excitation subsystem 10 and the sensor 20 are both connected to the controller 30, wherein the electromagnetic excitation subsystem 10 is used to apply an excitation force to the excited object 40 according to the control signal of the current discrete control step sent by the controller 30; the sensor 20 is used to collect real-time response data of the electromagnetic excitation subsystem and the excited object in the current discrete control step; and the controller 30 is used to generate the control signal of the current discrete control step in real time according to the target response data using a discrete real-time control strategy.

[0048] Specifically, as a possible implementation method, Figure 3 As shown, the electromagnetic servo excitation system is composed of an electromagnetic excitation system 10, a sensor 20, and a controller 30. The electromagnetic excitation system 10 converts the electrical signal into the mechanical vibration of the excitation head 120, and applies the excitation force to the excited object. The sensor 20 is used to collect the real-time response data of the electromagnetic excitation subsystem 10 and the excited object in the current discrete control step, wherein the sensor 220 is installed on the excitation head 120 to measure the excitation force response data applied by the excitation head 120 to the excited object 40, and the sensor 230 is installed on the excitation head 120 to measure the acceleration response data on the excitation head. One or more of the velocity response data on the exciting head and the displacement response data on the exciting head. The sensor 210 is installed on the excited object 40 to measure the acceleration response data of the excited object at a certain point on the excited object 40, the velocity response data of the excited object, the displacement response data of the excited object, and the strain response data of the excited object. The actual response data can be one or more of the response data measured by the above sensors. As real-time feedback of the excitation effect, the controller 30 uses a discrete real-time control strategy to generate a control signal for the current discrete control step in real time according to the target response data.

[0049] Specifically, in this embodiment, the controller 30 includes a target signal processing component, a sensor signal acquisition component, a control signal output component, a calculation component, and also includes a status display component, and / or an operation control component. The target response data receiving / generating component includes a signal receiving module, and / or a signal generating module. The target signal processing component includes an analog signal port or a digital communication port. The signal generating module can autonomously generate the required target response data. Among them, the target response data can be a combination of one or more of a sinusoidal signal, a sinusoidal swept frequency signal, a triangular wave signal, a narrowband random white noise signal, or a random load spectrum of the excited object. Depending on the purpose of the excitation test, the physical meaning of the target control signal can be the exciting force applied to the excited body 40, or the exciting displacement, velocity or acceleration applied by the exciter 12, or the displacement, velocity, acceleration or strain response of other parts of the excited body 40.

[0050] Specifically, in this embodiment, the electromagnetic excitation subsystem 10 includes an electromagnetic exciter 12 and a power amplifier 11, wherein the power amplifier 11 is connected to the electromagnetic exciter 12 and the controller 30, wherein the power amplifier 11 is used to convert the control signal sent by the controller 30 into a power control signal; the electromagnetic exciter 12 is used to control the mechanical vibration of the excited object 40 according to the power control signal, including: an electromagnetic excitation head 120 and a fixing device 121, wherein the electromagnetic excitation head 120 and the fixing device 121 are connected, wherein the fixing device 121 is used to provide a fixed supporting force for the electromagnetic excitation head 120; the electromagnetic excitation head 120 is used to apply an excitation force to the excited object 40.

[0051] It can be understood that in the embodiment of the present invention, Figure 3 As shown, the exciter 12 is divided into a moving part (excitation head) and a stationary part. The excitation signal output by the controller 30 is amplified into a power signal by the power amplifier 11 to drive the exciter 12. Under the action of the electromagnetic force, the moving part of the exciter 12 moves relative to the stationary part, thereby applying excitation to the excited body 40. Due to the complex dynamic characteristics coupling between the exciter 12 and the excited body 40, the excitation force applied by the exciter 12 to the excited body 40 measured by the sensor 220, the displacement response data on the excitation head, the velocity response data on the excitation head, the acceleration response data on the excitation head measured by the sensor 230, or the displacement response data of the excited object 40, the velocity response data of the excited object, the acceleration response data of the excited object, the strain response data of the excited object, etc. measured by the sensor 210, have a complex amplitude and phase relationship with the excitation signal output by the controller 30.

[0052] According to one embodiment of the present invention, the sensor 220 of the electromagnetic servo excitation system is arranged between the electromagnetic excitation head 120 and the excited object 40; and / or, the sensor 230 is arranged on the electromagnetic excitation head 120; and / or, the sensor 210 is arranged on the excited object 40.

[0053] Specifically, as a possible implementation method, Figure 3 As shown, according to different servo excitation targets, the sensor 20 included in the system can be a variety of types of sensors such as force, displacement, velocity, acceleration or strain. When the excitation force of the exciter 12 on the excited body 40 is used as the servo target, the force sensor 220 is installed between the excitation head 120 and the excited body 40. When the excitation displacement, velocity or acceleration applied by the exciter 12 is used as the servo target, the corresponding sensor 230 should be installed on the excitation head 120. The sensor 210 can also be installed at other parts of the excited body 40 to achieve servo tracking of the remote response of the excited body 40. During operation, the control algorithm integrated in the controller 30 calculates the signal output of the electromagnetic excitation system in real time according to the feedback signal of the sensor 20, and completes the closed-loop servo tracking of the output response data of the excitation system.

[0054] For example, as a specific embodiment of the present invention, Figure 5 As shown, the electromagnetic servo excitation system of the embodiment of the present invention is specifically applied to vibration damper detection. The vibration damper is the excited body 40, the upper part of which is fixed by the test bench frame part, and the excitation head 120 excites the lower part. A displacement sensor that reflects the excitation displacement of the vibration damper by the excitation head 120 is installed on the excitation head 120. During the test, the host computer generates the required excitation displacement signal according to the vibration damper detection requirements and transmits it to the controller 30 through the Ethernet port. The controller 30 receives the target response data while measuring the actual feedback signal of the sensor 20, and identifies the dynamic characteristics of the entire system including control signal output, power amplification, electromagnetic exciter output, vibration damper coupling, etc. in real time, and adjusts the signal output to the exciter 12 in real time, so that the displacement response of the excitation head 120 to the exciter 12 can accurately track the target response data sent by the host computer, thereby completing the entire excitation process.

[0055] As another specific embodiment of the present invention, Figure 6As shown, the electromagnetic servo excitation system of the embodiment of the present invention is specifically applied to a fatigue test of a certain specimen. The specimen is an excited body 40 fixed according to its constraint state during operation, and the excitation head 120 excites its force point through an optional loading fixture. A strain gauge is installed at the fatigue sensitive point on the specimen, and the strain response of this point is used as the target response of the excitation. During the test, the host computer transmits the random load spectrum signal of the specimen to the controller 30 through the D / A output port as the target response data. The controller 30 receives the target response data while measuring the actual feedback signal of the sensor 30, and real-time identifies the dynamic characteristics of the entire system including control signal output, power amplification, electromagnetic exciter output, specimen coupling and strain response, and adjusts the signal output of the exciter 12 in real time, so that the strain response of the specimen at the target point can accurately reproduce the random load spectrum signal to be simulated, thereby completing the entire fatigue test process. Because the entire closed-loop control system includes the dynamic characteristics of the specimen from the force input point to the response point of the sensor 20, the selection of the measuring point (sensor layout point) can be different from the force input point.

[0056] In summary, the electromagnetic servo excitation device converts electrical signals into mechanical vibrations of the excitation head, applies excitation force to the excited object, and then measures the excitation effect through the sensor, and sends the feedback signal to the controller. The controller uses a real-time discrete control algorithm to achieve closed-loop servo tracking of the excitation system output, thereby solving the technical problems in the prior art that it is difficult to accurately track the excitation target, the output error is large, and the dynamic characteristics of the system need to be identified in advance, and realizes real-time servo tracking of excitation targets with complex dynamic characteristics.

[0057] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0058] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0059] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0060] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute the instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0061] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiment, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0062] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0063] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0064] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. An electromagnetic servo excitation control method, characterized in that: The following steps are involved: Get the target response data of the current discrete control step; Generate a control signal for the current discrete control step in real time according to the target response data using a discrete real-time control strategy; Controlling the electromagnetic excitation subsystem to apply an excitation force to the excited object according to the control signal, so that the excited object responds and reproduces the target response data under the current discrete control step; The method of using a discrete real-time control strategy to generate a control signal for the current discrete control step in real time according to the target response data comprises: Acquiring historical control signals of the electromagnetic excitation subsystem and historical response data of the excited object in historical discrete control steps; generating the control signal of the current discrete control step according to the target response data, the historical response data and the historical control signal; The step of generating the control signal of the current discrete control step according to the target response data, the historical response data and the historical control signal comprises: Collecting historical target response data of the electromagnetic excitation subsystem in the historical discrete control steps; Inputting the historical response data, the historical control signal, and the historical target response data into a pre-established control system dynamic model to obtain predicted response data of the current discrete control step predicted by the control system dynamic model according to an optimal prediction principle; The variance of the error between the predicted response data and the target response data is calculated, and the control signal of the current discrete control step is calculated according to the variance minimization principle.

2. The method according to claim 1, characterized in that Also includes: Collecting response data of the excited object under the current discrete control step; Model parameters of the control system dynamic model are adjusted according to the response data and the target response data.

3. The method according to claim 2, characterized in that The model parameters include: Order and delay time.

4. An electromagnetic servo excitation system for executing the electromagnetic servo excitation control method as claimed in claim 1, characterized in that: include: An electromagnetic excitation subsystem, a plurality of sensors, and a controller, wherein the electromagnetic excitation subsystem is connected to the sensor, and the electromagnetic excitation subsystem and the sensor are both connected to the controller, wherein: The electromagnetic excitation subsystem is used to apply an exciting force to the excited object according to the control signal of the current discrete control step; The sensor is used to collect real-time response data of the electromagnetic excitation subsystem and the excited object at the current discrete control step; The controller is used to generate the control signal of the current discrete control step in real time according to the target response data using a discrete real-time control strategy.

5. The system according to claim 4, characterized in that The electromagnetic excitation subsystem comprises: An electromagnetic exciter and a power amplifier, wherein the power amplifier is connected to the electromagnetic exciter and the controller.

6. The system according to claim 5, characterized in that The electromagnetic exciter comprises an electromagnetic exciter head and a fixing device, wherein the electromagnetic exciter head and the fixing device are connected.

7. The system according to claim 6, characterized in that The sensor is arranged on the electromagnetic excitation head; and / or, The sensor is arranged on the excited object.

8. The system according to claim 4, characterized in that The real-time response data of the current discrete control step includes: One or more of the excitation force response data of the excitation head in the electromagnetic excitation subsystem, the acceleration response data on the excitation head, the velocity response data on the excitation head, and the displacement response data on the excitation head, and / or, One or more of the acceleration response data of the excited object, the velocity response data of the excited object, the displacement response data of the excited object, and the strain response data of the excited object.

Images