A method and device for modeling a virtual vibration system

Abstract

One or more embodiments of this specification provide a virtual vibration system modeling method and apparatus, including: using a vibration system to conduct vibration experiments on different objects to obtain the system transfer functions of the power amplifier units of each object; performing model training according to the system transfer functions to obtain the actuation part models of each object. Connecting the actuation part models with the mechanical part models and the controller models for system joint debugging to form a virtual vibration system. The method of this embodiment does not require complex physical modeling of the actuation part, can simplify the modeling method, and improve the test efficiency.

Description

Technical Field

[0001] One or more embodiments of this specification relate to the field of modeling technologies, and in particular, to a method and device for modeling a virtual vibration system. Background Art

[0002] A vibration system generally includes a controller, a mechanical part of a vibration table, and an actuating part of the vibration table. The controller is used to generate an excitation signal. After the excitation signal is amplified by a power amplifier unit of the actuating part of the vibration table, it drives the vibration table to vibrate. Correspondingly, the modeling of a virtual vibration system includes three parts: modeling of the controller, modeling of the mechanical part of the vibration table, and modeling of the actuating part of the vibration table. Then, the three parts of the model are connected for system joint debugging.

[0003] Among them, the actuating part of the vibration table includes a power amplifier unit and electromagnetic models such as an excitation coil and a moving coil. Modeling and parameter determination of the electromagnetic model are of great difficulty. Summary of the Invention

[0004] In view of this, the purpose of one or more embodiments of this specification is to propose a method and device for modeling a virtual vibration system to solve the problem of modeling the actuating part of the vibration table.

[0005] Based on the above purpose, one or more embodiments of this specification provide a method for modeling a virtual vibration system, including:

[0006] Using a vibration system to conduct vibration experiments on different objects to obtain the system transfer function of the power amplifier unit of each object;

[0007] Performing model training according to the system transfer function to obtain the actuating part model of each object.

[0008] Optionally, the using a vibration system to conduct vibration experiments on different objects to obtain the system transfer function of the power amplifier unit of each object is:

[0009] Using a vibration system to conduct vibration experiments on similar objects to obtain the system transfer function of the power amplifier unit of the similar objects;

[0010] The performing model training according to the system transfer function to obtain the actuating part model of each object is:

[0011] Performing model training according to the system transfer function of the similar objects to obtain the actuating part model of the similar objects.

[0012] Optionally, the types of the similar objects are the same, the mass is within a predetermined mass range, and the size is within a predetermined size range.

[0013] Optionally, the performing model training according to the system transfer function to obtain the actuating part model of each object is:

[0014] Based on the system transfer function, use the random forest learning method for model training, and after training, obtain the actuation part models of each object.

[0015] Optionally, the actuation part model is the frequency characteristic curve of the transfer function; the method further includes:

[0016] Establish an actuation part database; the actuation part database includes the mass, size, resonance frequency, resonance frequency magnification factor of the object, and the frequency characteristic curve of the transfer function.

[0017] Optionally, the method further includes:

[0018] Conduct a vibration experiment on the vibration system without the object installed to obtain the system transfer function of the power amplifier unit under the no-load state;

[0019] Perform model training according to the system transfer function under the no-load state to obtain the actuation part model under the no-load state.

[0020] Optionally, the method further includes:

[0021] Connect the actuation part model with the mechanical part model and the controller model for system joint debugging to form a virtual vibration system.

[0022] This embodiment of the specification also provides a virtual vibration system modeling device, including:

[0023] A transfer function testing module, configured to use the vibration system to conduct vibration experiments on different objects to obtain the system transfer functions of the power amplifier units of each object;

[0024] An actuation part modeling module, configured to perform model training according to the system transfer function to obtain the actuation part models of each object.

[0025] Optionally, the transfer function testing module is configured to use the vibration system to conduct vibration experiments on similar objects to obtain the system transfer functions of the power amplifier units of the similar objects;

[0026] The actuation part modeling module is configured to perform model training according to the system transfer functions of the similar objects to obtain the actuation part models of the similar objects.

[0027] Optionally, the actuation part modeling module is configured to perform model training according to the system transfer function by using the random forest learning method, and after training, obtain the actuation part models of each object.

[0028] As can be seen from the above, the virtual vibration system modeling method and apparatus provided by one or more embodiments of this specification utilize a vibration system to conduct vibration experiments on different objects, obtain the system transfer functions of the power amplifier units of each object, and perform model training based on the system transfer functions to obtain the actuator part models of each object. Subsequently, the actuator part models can be connected to the mechanical part models and the controller models for system joint debugging to form a virtual vibration system. This embodiment does not require complex physical modeling of the actuator part, can simplify the modeling method, and improve the testing efficiency. Description of the Drawings

[0029] To more clearly illustrate the technical solutions in one or more embodiments of this specification or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only one or more embodiments of this specification. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0030] Figure 1 Schematic diagram of the method flow for one or more embodiments of this specification;

[0031] Figure 2 Block diagram of the controller for one or more embodiments of this specification;

[0032] Figure 3 Schematic diagram of the vibration table structure for one or more embodiments of this specification;

[0033] Figure 4 Schematic diagram of the moving coil model for one or more embodiments of this specification;

[0034] Figure 5 Simplified structure schematic diagram of the moving coil guide bearing and the lower spring for one or more embodiments of this specification;

[0035] Figure 6 Schematic diagram of the application positions of the MPC unit and the spring unit for one or more embodiments of this specification;

[0036] Figure 7 Block diagram of the virtual vibration system structure for one or more embodiments of this specification;

[0037] Figure 8 Schematic diagram of the apparatus structure for one or more embodiments of this specification;

[0038] Figure 9 Schematic diagram of the electronic device structure for one or more embodiments of this specification. Detailed Embodiments

[0039] To make the objectives, technical solutions, and advantages of the present disclosure more comprehensible, the following further elaborates on the present disclosure in detail with reference to specific embodiments and the accompanying drawings.

[0040] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in one or more embodiments of this specification should have the ordinary meanings understood by those of ordinary skill in the art to which the present disclosure pertains. The terms "first", "second", and similar terms used in one or more embodiments of this specification do not denote any order, quantity, or importance, but are merely used to distinguish different components. Words such as "including" or "comprising" mean that the elements or items appearing before this word encompass the elements or items listed after this word and their equivalents, without excluding other elements or items. Words such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0041] As described in the background art section, the vibration system mainly includes three parts. The controller is mainly used to generate an excitation signal. The excitation signal amplified by the power amplifier unit drives the movement of the vibration table surface, causing the control point to output a response signal (including physical quantities such as displacement, velocity, and acceleration). The response signal is fed back to the controller, and the controller compares the fed-back response signal with the target value and outputs a compensated excitation signal, so that the response signal at the control point reaches the target value. The mechanical part of the vibration table mainly includes the table body and the moving coil. The actuating part of the vibration table mainly includes the power amplifier unit and the electromagnetic part. The excitation signal amplified by the power amplifier unit enters the moving coil, causing the moving coil to move in a constant magnetic field. The main evaluation index of the actuating part is the ratio of the electromagnetic force generated by the moving coil to the input voltage signal of the power amplifier unit (this ratio changes with frequency). Since the magnetic field and the moving coil are constant, the electromagnetic force is mainly generated by the current excitation signal output by the power amplifier unit in the excitation magnetic field, that is, according to F = BIL (where the magnetic field B and the effective length L are constant), the electromagnetic force F is mainly related to the current I (that is, mainly related to the output current of the power amplifier unit). Therefore, it can be simplified to the frequency characteristic of the ratio of the output current to the input voltage of the power amplifier unit (that is, the ratio of the output current to the input voltage of the power amplifier unit at different frequencies).

[0042] During the implementation of the present disclosure, the applicant found that if the actuating part is modeled according to its physical state, the electromagnetic model is complex to model and it is difficult to determine the parameters. However, according to the system transfer function relationship between the input and output of the power amplifier unit, the modeling of the actuating part can be simulated and realized.

[0043] The following further elaborates on the technical solutions of the present disclosure through specific embodiments.

[0044] As shown Figure 1 in the figure, an embodiment of this specification provides a method for modeling a virtual vibration system, including:

[0045] S101: Using a vibration system to conduct vibration experiments on different objects to obtain the system transfer function of the power amplifier unit of each object;

[0046] In this embodiment, through vibration measurement, the frequency characteristics of the ratio of the current signal amplified and output by the power amplifier unit to the voltage signal input to the power amplifier unit are measured, that is, the ratio of the output current to the input voltage of the power amplifier unit at different frequencies, to obtain the system transfer function of the power amplifier unit.

[0047] S102: According to the system transfer function, perform model training to obtain the actuator part model of each object.

[0048] In this embodiment, due to the complex structure of the actuator part of the vibration system and the difficulty in accurately determining the electromagnetic parameters, by testing the system transfer function of the power amplifier unit and performing machine learning according to the system transfer function, an actuator part model is established. Among them, testing the system transfer function of the power amplifier unit is to conduct a vibration experiment using a vibration system and obtain the system transfer function through measured data.

[0049] Since the vibration experiment results of different objects are different, after the object and the mechanical part of the vibration table are coupled with each other, they have mechanical characteristics such as their own frequency characteristics. The electromechanical coupling characteristics of the actuator part for different objects are reflected in the frequency characteristics of the system transfer function of the power amplifier unit. Generally, the resonance frequency of the object is the anti-resonance peak frequency of the system transfer function of the power amplifier unit.

[0050] In some embodiments, using a vibration system to conduct vibration experiments on different objects, the system transfer function of the power amplifier unit of each object obtained is:

[0051] Using a vibration system to conduct vibration experiments on similar objects to obtain the system transfer function of the power amplifier unit of the similar objects;

[0052] According to the system transfer function, perform model training to obtain the actuator part model of each object as:

[0053] According to the system transfer function of the similar objects, perform model training to obtain the actuator part model of the similar objects.

[0054] In this embodiment, objects can be classified according to attributes such as mass, size, and type. Different types of objects are extremely different and do not have similarity. When conducting a vibration experiment, objects with a mass within a predetermined mass range, a size within a predetermined size range, and the same type are regarded as objects of the same category. The objects of the same category are tested and modeled to obtain the actuation part model of the objects of the same category. For example, for a certain type of product, it can be divided into three categories of objects according to three mass ranges: below 50 kg, 50 - 150 kg, and above 150 kg. Another example is that it can be divided according to the main external dimensions: for a cylinder, its size parameters are diameter and height, and for a cuboid, its size parameters are length, width, and height. Each parameter can be divided according to below 250 mm, 250 - 500 mm, and above 500 mm.

[0055] In some embodiments, model training is performed according to the system transfer function, and the actuation part models of each object are obtained as follows:

[0056] According to the system transfer function, the random forest learning method is used for model training, and after training, the actuation part models of each object are obtained.

[0057] In this embodiment, the random forest learning method is used to learn the system transfer function of objects of the same category. The random forest learning method can effectively process a large amount of data. Even if the data is missing, high-precision results can still be obtained, and it has advantages such as fast operation efficiency, so a good learning effect can be obtained, and a more accurate actuation part model can be obtained. Optionally, during the random forest learning process, the root mean square error can be used to evaluate the training model. The smaller the root mean square error, the better the fitting effect.

[0058] Among them, the training samples for model training using the random forest learning method include: the mass of the object, size, modal parameters at different vibration frequencies, the range of the power amplifier unit set, input signals and output signals of the system transfer function at different vibration frequencies, etc. After using the random forest learning method to learn and train the training samples, the transfer function frequency characteristic curve of the object is obtained as the actuation part model of this type of object. In some ways, the modal parameters at different vibration frequencies are, for example, the first few modal frequencies below 2000 Hz and the damping corresponding to the first few modal frequencies.

[0059] When using the vibration table of a vibration system to conduct vibration experiments on different types of objects, it is difficult to describe the relationship between the input signal and the output signal of the actuating part using a linear model. Therefore, by conducting vibration experiments on the same type of objects and using the random forest learning method to build a model based on the experimental data, the actuating part model of this type of object can be obtained. In this way, by conducting vibration experiments on different types of objects and using the random forest learning method to build a model, the actuating part models corresponding to various types of objects can be obtained, without the need for complex physical modeling, improving the test efficiency.

[0060] In some ways, an actuating part database can be established according to the actuating part models of different types of objects, and the mass, size, resonance frequency, resonance frequency magnification factor, and transfer function frequency characteristic curve of the object can be stored in the actuating part database. In this way, when conducting virtual vibration experiments on a certain type of product later, the relevant parameters of the same type of objects in the actuating part database can be referred to.

[0061] In some embodiments, the virtual vibration system modeling method further includes:

[0062] Conduct a vibration experiment on the vibration system without the object installed to obtain the system transfer function of the power amplifier unit in the no-load state;

[0063] Perform model training according to the system transfer function in the no-load state to obtain the actuating part model in the no-load state. That is, in this embodiment, the actuating part model in the no-load state and the actuating part models of various types of objects can be constructed, facilitating subsequent various virtual vibration experiments.

[0064] As Figure 2 shown, in some embodiments, when conducting a virtual vibration experiment, after connecting the constructed actuating part model with the mechanical part model and the controller model for system joint debugging, the virtual vibration system can be used for virtual vibration experiments.

[0065] As Figures 3-6 shown, in some ways, a three-dimensional geometric modeling method is used to perform geometric modeling and mesh generation on the moving coil. After the moving coil model is established, boundary processing is required. The boundary processing method is: the radial direction of the suspension spring is connected to the surrounding of the tabletop by a rigid spring, the stiffness damping spring is connected to the central guiding part, and only the axial degree of freedom is retained, and the spring bottom is fixed for loading. The axial direction takes into account the axial stiffness of the suspension spring and the air spring together. The guiding effect of the central rigid shaft guiding device on the moving coil is simulated through a multi-point constraint unit (MPC). The lower nodes of the MPC unit are connected to the spring unit. All MPC units only retain the axial translational degree of freedom. The spring unit is fixed at the bottom, and only the axial translational degree of freedom is retained at the top. The above boundary constraint conditions ensure that the motion state of the finite element model is basically consistent with the actual constraint situation of the moving coil.

[0066] After the moving coil model is established, the object model and the moving coil model can be connected for model adjustment and calibration. Among them, for the calibration of the moving coil model, it is necessary to ensure that the three-dimensional geometric model is consistent with the physical object, then adjust the density to make the model density consistent with the physical object, and then adjust the elastic modulus to make the modal simulation frequency of the model consistent with the results of the physical modal test. The error of the first few main modal frequencies is within 5%. Through model calibration, it can be ensured that the model of the mechanical part of the vibration table is accurate. The constant pressure characteristic curve and the constant current characteristic curve of the empty vibration table can be measured actually to calibrate the model. The low-order resonance frequency of the constant current characteristic curve corresponds to the stiffness of the suspension spring, and the high-order resonance frequency of the constant current characteristic curve and the constant pressure characteristic curve corresponds to the axial modal frequency of the moving coil. For the rigid body part, only the density needs to be adjusted to ensure consistency with the physical mass.

[0067] Such as Figure 7 shown, in some ways, the controller is used to output an excitation signal to the vibration table so that the response signal of the vibration table reaches the target value.

[0068] In some ways, the vibration system is considered a linear system, and the frequency response function estimation of the controller adopts the output noise estimation model. The calculation formula is:

[0069] H(f) = S cd (f)S dd (f) -1 (1)

[0070] Among them, S cd (f) is the cross-power spectral density of the excitation signal output by the controller and the response signal measured by the sensor, S dd (f) is the auto-power spectral density of the excitation signal output by the controller, and H(f) is the system frequency response function.

[0071] S cc (f) = |H(f)| 2 S dd (f) (2)

[0072] Among them, S cc (f) is the auto-power spectral density of the response signal. Thus, in the vibration experiment, if the target reference spectrum Sr(f) is known, the auto-power spectral density of the excitation signal can be expressed as:

[0073] S dd (f) = |H(f) -1 | 2 S r (f) (3)

[0074] The amplitude of the excitation signal is:

[0075]

[0076] Among them, D d is the Fourier transform of the time-domain signal, |D d | is the modulus of the Fourier transform, N is the length of the sampling sequence, and Δt is the sampling time interval.

[0077] For the phase of the excitation signal, a uniformly distributed random phase (within the range of 0 - 2π) is generally adopted in the random vibration experiment. After adding the additional random phase θ, the excitation signal can be expressed as:

[0078] D d = |D d |e jθ (5)

[0079] Taking the inverse Fourier transform IFFT of the excitation signal (5), the time-domain signal of the excitation signal is obtained:

[0080] D d (t) = IFFT(D d (f)) (6)

[0081] The excitation signal in the time domain is a pseudo-random signal, and its spectrum is a discrete spectrum, with the energy concentrated at the frequency points of the original spectrum. To generate a true random signal, the pseudo-random signal is sequentially subjected to time-domain randomization processes such as random delay, inversion, windowing, and superposition to obtain a true random signal, which is used as the time-domain excitation signal output by the controller.

[0082] In the random vibration experiment, the self-power spectrum control method is adopted, and the iterative correction formula for the excitation signal spectrum is:

[0083]

[0084] Among them, S dd,i+1 is the self-power spectral density of the excitation signal output by the controller for the (i + 1)-th time, S dd,i is the self-power spectral density of the excitation signal output by the controller for the i-th time, and S cc,i is the self-power spectral density of the response signal measured for the i-th time.

[0085]

[0086] Among them, R cc (τ) represents the autocorrelation function of the time-domain excitation signal output by the controller, S' dd (f) represents the self-power spectral density of the time-domain excitation signal output by the controller, f represents the frequency, and f ≥ 0. The method for calculating the self-power spectral density of the excitation signal output by the controller shown in formula (8) can also be calculated by other methods such as the average periodogram method to obtain S' dd (f).

[0087] For the calibration of the controller model, the system frequency response function |H(f)| in formulas (2) and (3) can be set to 1. Given the target reference spectrum S r (f), after passing through formulas (3)-(6) and time-domain randomization, the time-domain excitation signal output by the controller is obtained. Referring to formula (8), the auto-power spectral density S' dd (f) of the excitation signal output by the controller is obtained. Substituting it into formula (2), the auto-power spectral density S cc (f) of the response signal is obtained. The auto-power spectral density S cc (f) is compared with the target reference spectrum S r (f) to determine whether the controller model is correct.

[0088] Before conducting the virtual vibration experiment, a physical experiment on the empty platform is first carried out. Continue to debug and calibrate the three-part model of the virtual vibration system to make the results of the virtual vibration experiment and the physical experiment consistent. Only after the physical experiment on the empty platform is the virtual vibration system considered accurate. Among them, the physical experiment on the empty platform includes conducting the constant-pressure amplitude-frequency characteristic curve experiment of the physical vibration table to determine the first-order structural resonance frequency of the moving coil in the axial direction; conducting the constant-current amplitude-frequency characteristic curve experiment of the physical vibration table to determine the frequency of the moving coil suspension system, which is used as the basis for calibrating the elastic coefficient of the moving coil suspension spring.

[0089] In this way, the virtual vibration system after debugging and calibration can be used to conduct vibration experiments on the product model, test the vibration effects of specific parts through the vibration experiment, and be able to understand the advantages and disadvantages of the product design at an early stage. Through the virtual experiment, targeted optimization and improvement of the product design can be carried out.

[0090] It should be noted that the method of one or more embodiments of this specification can be executed by a single device, such as a computer or a server, etc. The method of this embodiment can also be applied to a distributed scenario and be completed by the cooperation of multiple devices. In this case of a distributed scenario, one of these multiple devices can only execute one or more steps of the method of one or more embodiments of this specification, and these multiple devices will interact with each other to complete the described method.

[0091] It should be noted that the above describes specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be executed in a different order from that in the embodiments and still achieve the desired result. Additionally, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0092] Such as Figure 8As shown in the figure, the embodiments of the present specification further provide a virtual vibration system modeling device, including:

[0093] A transfer function test module, configured to use a vibration system to conduct vibration experiments on different objects, and obtain the system transfer functions of the power amplifier units of each object;

[0094] An actuator part modeling module, configured to perform model training according to the system transfer function to obtain the actuator part models of each object.

[0095] For the convenience of description, when describing the above device, it is divided into various modules according to functions and described separately. Of course, when implementing one or more embodiments of the present specification, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0096] The device in the above embodiment is used to implement the corresponding method in the foregoing embodiment, and has the beneficial effects of the corresponding method embodiment, which will not be elaborated here.

[0097] Figure 9 The figure shows a more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment. The device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. Among them, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are communicatively connected to each other inside the device through the bus 1050.

[0098] The processor 1010 may be implemented in a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, etc., and is configured to execute relevant programs to implement the technical solutions provided by the embodiments of the present specification.

[0099] The memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When implementing the technical solutions provided by the embodiments of the present specification through software or firmware, the relevant program codes are stored in the memory 1020 and called and executed by the processor 1010.

[0100] The input / output interface 1030 is used to connect to the input / output module to achieve information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input devices can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices can include a display, a speaker, a vibrator, an indicator light, etc.

[0101] The communication interface 1040 is used to connect to the communication module (not shown in the figure) to achieve communication and interaction between this device and other devices. The communication module can achieve communication through a wired method (such as USB, network cable, etc.) or through a wireless method (such as mobile network, WIFI, Bluetooth, etc.).

[0102] The bus 1050 includes a path for transmitting information between various components of the device (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0103] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040, and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device may also only include the components necessary to implement the solution of the embodiments of this specification, and do not have to include all the components shown in the figure.

[0104] The electronic device of the above embodiment is used to implement the corresponding method in the foregoing embodiment and has the beneficial effects of the corresponding method embodiment, which will not be elaborated here.

[0105] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. The information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0106] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the present disclosure (including the claims) is limited to these examples; under the concept of the present disclosure, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of one or more embodiments of the present specification as described above, and they are not provided in detail for the sake of brevity.

[0107] In addition, for simplicity of explanation and discussion, and in order not to make one or more embodiments of the present specification difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Further, the devices may be shown in block diagram form in order to avoid making one or more embodiments of the present specification difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which one or more embodiments of the present specification are to be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In cases where specific details (such as circuits) are set forth to describe exemplary embodiments of the present disclosure, it will be apparent to those skilled in the art that one or more embodiments of the present specification can be implemented without these specific details or with variations of these specific details. Accordingly, these descriptions should be considered illustrative rather than restrictive.

[0108] Although the present disclosure has been described in connection with specific embodiments of the present disclosure, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art based on the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0109] One or more embodiments of the present specification are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of the present specification shall be included within the protection scope of the present disclosure.

Claims

1. A method for modeling a virtual vibration system, characterized in that, Including: Performing a vibration experiment on similar objects using a vibration system to obtain the system transfer function of the power amplifier unit of the similar objects; wherein, the types of the similar objects are the same, the mass is within a predetermined mass range, and the size is within a predetermined size range; Performing model training according to the system transfer function to obtain the actuation part model of the similar objects.

2. The method according to claim 1, characterized in that, The performing model training according to the system transfer function to obtain the actuation part model of the similar objects is: According to the system transfer function, using the random forest learning method to perform model training, and obtaining the actuation part model of the similar objects after training.

3. The method according to claim 1, characterized in that The actuation part model is the frequency characteristic curve of the transfer function; the method further includes: Establishing an actuation part database; the actuation part database includes the mass, size, resonance frequency, resonance frequency magnification factor of the object, and the frequency characteristic curve of the transfer function.

4. The method according to claim 1, wherein Also including: Performing a vibration experiment on the vibration system without the object installed to obtain the system transfer function of the power amplifier unit under no-load conditions; Performing model training according to the system transfer function under no-load conditions to obtain the actuation part model under no-load conditions.

5. The method according to claim 1, wherein Also including: Connecting the actuation part model, the mechanical part model, and the controller model together for system joint debugging to form a virtual vibration system.

6. A virtual vibration system modeling device, characterized in that, Including: A transfer function test module, configured to perform a vibration experiment on similar objects using a vibration system to obtain the system transfer function of the power amplifier unit of the similar objects; wherein, the types of the similar objects are the same, the mass is within a predetermined mass range, and the size is within a predetermined size range; An actuation part modeling module, configured to perform model training according to the system transfer function to obtain the actuation part model of the similar objects.

7. The device according to claim 6, wherein The actuation part modeling module is configured to use the random forest learning method to perform model training according to the system transfer function, and obtaining the actuation part model of the similar objects after training.

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