Wind tunnel test damping device control method, device, equipment and medium

Abstract

The application discloses a wind tunnel test damping device control method, device, equipment and storage medium, relates to the control technical field. The application provides a wind tunnel test damping device control method, which is applied to the wind tunnel test damping device, and the method comprises the following steps: determining a vibration measurement signal detected by a six-component balance in a previous control period; performing modal decoupling and direction decoupling on the vibration measurement signal to obtain an independent modal signal of single degree of freedom; determining a control signal of a next control period according to the independent modal signal and a transfer function of an excitation signal corresponding to each order signal; and driving an actuator of the damping device according to the control signal to reduce the vibration of a support rod. The damping device can be effectively controlled in a closed loop, and the vibration of the support rod model is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of control, in particular to a wind tunnel test damping device control method, device, equipment and medium. BACKGROUND

[0002] At present, the low-order modal control of the wind tunnel model based on the piezoelectric active control technology has also achieved good results, but has not made great improvement on the previous successful experience, that is, the active control device is arranged at the rear end of the strut to control the pitching motion of the model, or arranged at the front end of the strut to control the pitching and yawing motion of the model.

[0003] In the related art, the rear section of the strut structure is used for damping strategy, and the longitudinal first-order modal of the strut structure is mainly controlled, which can achieve obvious damping effect of the strut structure, but there is still small amplitude vibration of multi-degree-of-freedom coupling at the front end of the strut, and only the pitching motion of the model can be well controlled, and how to further suppress the vibration is still a problem to be solved. SUMMARY

[0004] In order to solve the problems in the related art, the present application provides a wind tunnel test damping device control method, device, equipment and medium.

[0005] According to the first aspect of the present application, the purpose of the present application is to provide a wind tunnel test damping device control method applied to a wind tunnel test damping device, the method comprising:

[0006] determining the vibration measurement signal detected by the six-component balance corresponding to the previous control period;

[0007] modal decoupling and directional decoupling are performed on the vibration measurement signal to obtain single-degree-of-freedom independent modal signals;

[0008] determining the control signal of the next control period according to the independent modal signal and the transfer function of each order signal to the excitation signal;

[0009] driving the actuator of the damping device according to the control signal to reduce the vibration of the strut.

[0010] Optionally, the method comprises:

[0011] sending a white noise excitation signal with a preset bandwidth to the damping device to drive the strut to make random vibration;

[0012] collecting the response signal detected by the balance;

[0013] performing fast Fourier transform on the excitation signal and the response signal to obtain a frequency response function;

[0014] determining modal parameter results of the strut according to the frequency response function, the modal parameter results comprising a longitudinal first order natural frequency, a transverse first order natural frequency, an axial first order natural frequency, a longitudinal second order natural frequency, a transverse second order natural frequency, an axial second order natural frequency.

[0015] Optionally, the actuator of the shock absorbing device comprises a front section piezoelectric element, and the method comprises:

[0016] exciting the front section piezoelectric element with an excitation signal corresponding to the longitudinal first order natural frequency, the transverse first order natural frequency, and the axial first order natural frequency respectively, and collecting a first response signal of the balance corresponding to each excitation signal;

[0017] performing fast Fourier transform on the first response signal and an excitation signal corresponding to the longitudinal second order natural frequency, the transverse second order natural frequency, and the axial second order natural frequency to obtain first amplitude information;

[0018] exciting the front section piezoelectric element with an excitation signal corresponding to the longitudinal second order natural frequency, the transverse second order natural frequency, and the axial second order natural frequency respectively, and collecting a second response signal of the balance corresponding to each excitation signal;

[0019] performing fast Fourier transform on the second response signal and an excitation signal corresponding to the longitudinal second order natural frequency, the transverse second order natural frequency, and the axial second order natural frequency to obtain second amplitude information;

[0020] determining a modal decoupling matrix for modal decoupling according to the first amplitude information and the second amplitude information.

[0021] Optionally, the method comprises:

[0022] decoupling the first response signal according to the modal decoupling matrix to obtain a first decoupled signal;

[0023] performing fast Fourier transform on the first decoupled signal and an excitation signal corresponding to the longitudinal first order natural frequency, the transverse first order natural frequency, and the axial first order natural frequency to obtain third amplitude information;

[0024] decoupling the second response signal according to the modal decoupling matrix to obtain a second decoupled signal;

[0025] performing fast Fourier transform on the second decoupled signal and an excitation signal corresponding to the longitudinal second order natural frequency, the transverse second order natural frequency, and the axial second order natural frequency to obtain fourth amplitude information;

[0026] The third amplitude information and the fourth amplitude information are used to determine a direction decoupling matrix for direction decoupling.

[0027] Optionally, the determining the control signal of the next control period according to the independent modal signal and the transfer function of each order signal to the excitation signal comprises:

[0028] The control signal of the next control period is determined by the PD controller according to the independent modal signal and the transfer function of each order signal to the excitation signal.

[0029] Optionally, the method comprises:

[0030] The frequency domain transfer function is determined according to the first transfer function of the error signal to the reference input.

[0031] The target controller gain of the PD controller is determined based on the error transfer function and the frequency domain transfer function, so that the PD controller processes the independent modal signal according to the target controller gain to determine the control signal of the next control period.

[0032] Optionally, the target controller gain is equal to the difference between the reciprocal of the error transfer function and 1, and the ratio of the amplitude of the controlled object signal in the frequency domain.

[0033] According to a third aspect of the present application, another object of the present application is to provide a control device of a wind tunnel test damping device, which is applied to the wind tunnel test damping device, and the control device comprises:

[0034] A first determining module is configured to determine a vibration measurement signal detected by a six-component balance corresponding to a previous control period.

[0035] A decoupling module is configured to perform modal decoupling and direction decoupling on the vibration measurement signal to obtain an independent modal signal of single degree of freedom.

[0036] A second determining module is configured to determine a control signal of a next control period according to the independent modal signal and a transfer function of each order signal to an excitation signal.

[0037] A control module is configured to drive an actuator of the damping device according to the control signal to reduce the vibration of the strut.

[0038] According to a third aspect of the present application, another object of the present application is to provide a computer device, which comprises a processor and a non-volatile memory storing computer instructions, and when the computer instructions are executed by the processor, the computer device executes the control method of the wind tunnel test damping device according to any one of the first aspect of the present application.

[0039] According to a fourth aspect of the present application, another object of the present application is to provide a readable storage medium comprising a computer program which, when executed, controls a computer device in which the readable storage medium is located to perform the control method of the wind tunnel test damping device according to any one of the first aspect of the present application.

[0040] Compared with the prior art, the present application has the beneficial effects including: by performing modal decoupling on the vibration measurement signal of the balance detected in the previous control period and then performing directional decoupling, independent modal signals of single degrees of freedom are obtained, and based on the independent modal signals of each degree of freedom, the next period is controlled, thereby effectively realizing closed-loop control and ensuring accurate control on each degree of freedom, and effectively suppressing the vibration of the wind tunnel test system. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be considered as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0042] Figure 1 is a flow chart of a control method of a wind tunnel test damping device according to an exemplary embodiment;

[0043] Figure 2 is a block diagram of a control device of a wind tunnel test damping device according to an exemplary embodiment;

[0044] Figure 3 is a structural block diagram of a computer device according to an exemplary embodiment. DETAILED DESCRIPTION

[0045] Embodiments of the present disclosure will be described in more detail below with reference to the drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms, and should not be interpreted as being limited to the embodiments set forth herein, but rather, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes, and are not intended to limit the scope of protection of the present disclosure.

[0046] It should be understood that each step described in the method embodiments of the present disclosure can be executed in different order and / or in parallel. In addition, the method embodiments can include additional steps and / or omit the execution of the steps shown. The scope of the present disclosure is not limited in this respect.

[0047] As used herein, the term "includes" and its variants are open-ended, meaning that "includes but is not limited to." The term "based on" means "based, at least in part, on." The term "one embodiment" means "at least one embodiment." The term "another embodiment" means "at least one additional embodiment." The term "some embodiments" means "at least some embodiments." Related terms have analogous meanings.

[0048] It should be noted that the terms "first", "second", and the like in the present disclosure are only used to distinguish different devices, modules or units, and do not limit the order or interdependence of the functions performed by these devices, modules or units. The modification of "one" or "multiple" mentioned in the present disclosure is illustrative and not limiting, and those skilled in the art should understand that unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0049] The names of the messages or information exchanged between the plurality of devices in the embodiments of the present disclosure are only for illustrative purposes, and are not used to limit the scope of the messages or information.

[0050] In order to make those skilled in the art more understand the technical solutions provided by the present disclosure, the present disclosure will further introduce the background art.

[0051] Wind tunnel test is an important means to verify the aerodynamic characteristics of aircraft. When the aircraft model is tested in high-speed wind tunnel, the tail support method is generally adopted, and the structure of the support method is connected by a balance, a support rod and a bending knife mechanism. In order to reduce the influence of the support rod on the flow field under the premise of meeting the use performance, the diameter of the support rod is often designed to be small, which makes the structural stiffness of the support rod small and the natural frequency small. The balance is fixed at the end of the support rod (regarded as the front segment of the support rod, and the other end is the rear end of the support rod) and inserted into the fuselage from the tail of the model, and is fixed with the model, which can be approximately regarded as a mass-spring system. When the aircraft model is tested in high-speed wind tunnel, due to the appearance of shock wave vortex and shock wave boundary layer interference, the model is subjected to a wide frequency aerodynamic load, which is easily coupled with the natural frequency of the model, resulting in large amplitude vibration of the model, which seriously affects the authenticity of the measured data, and even causes damage to the support rod structure, which brings safety hazards to the wind tunnel test. Therefore, people have proposed a vibration active method based on piezoelectric ceramic (hereinafter referred to as piezoelectric element) actuator.

[0052] At present, the piezoelectric active control technology has achieved good results in realizing low-order modal control of wind tunnel model, but it has not made great improvement on the basis of people's previous successful experience, that is, the active control device is arranged at a single position, either at the rear end of the support rod to control the pitching motion of the model, or at the front segment of the support rod to control the pitching and yawing motion of the model.

[0053] In the related art, the rear section damping strategy of the strut structure is adopted, and the first-order modal in the longitudinal direction of the strut structure is mainly controlled, which can achieve obvious damping effect on the strut structure, but there is still small amplitude vibration of multi-degree-of-freedom coupling at the front end of the strut, and only the pitch motion of the model can be well controlled, and how to further suppress the vibration is still a problem to be solved.

[0054] To solve the technical problems in the related art, the present disclosure proposes a wind tunnel test damping device control method, device, computer equipment and storage medium.

[0055] The wind tunnel test damping device can include a balance, a strut, a front section damping device, and a rear section damping device. To achieve multi-degree-of-freedom control, 12 piezoelectric ceramic actuators are arranged circumferentially, which can be an axisymmetric structure. The extension and contraction of the symmetric part of the piezoelectric ceramic actuator can offset the aerodynamic load in a certain direction. The direction along the strut is defined as the axial direction (X direction), the vertical direction perpendicular to the strut is defined as the longitudinal direction (Y direction), and the horizontal direction perpendicular to the strut is defined as the transverse direction (Z direction).

[0056] When the front end damping device suppresses longitudinal vibration, the piezoelectric ceramic actuator is used to offset the downward aerodynamic load when the lower half of the piezoelectric ceramic actuator is elongated and the upper half is shortened. Conversely, the lower half is shortened and the upper half is elongated to offset the upward aerodynamic load. When the left half of the piezoelectric ceramic actuator is elongated and the right half is shortened, it is used to offset the left aerodynamic load. Conversely, the left half is shortened and the right half is elongated to offset the right aerodynamic load. When all piezoelectric ceramic actuators are elongated, they are used to offset the dynamic pressure that causes the model-balance to move backward. Conversely, all parts are shortened to offset the dynamic tension that causes the model-balance to move forward.

[0057] Based on the above wind tunnel damping device, Figure 1 According to an exemplary embodiment, a flowchart of a wind tunnel test damping device control method is shown, which can be applied to the above wind tunnel test damping device, as shown in Figure 1 The method comprises:

[0058] S101, determining the vibration measurement signal detected by the six-component balance in the previous control period.

[0059] S102, modal decoupling and direction decoupling are performed on the vibration measurement signal to obtain independent modal signals of single degree of freedom.

[0060] S103, determining the control signal of the next control period according to the independent modal signal and the transfer function of the excitation signal corresponding to each order signal.

[0061] Specifically, the step S103 can be implemented by a PD (Proportion Differentiation) controller, which can be implemented by a software module or an actual device.

[0062] S104, driving the actuator of the vibration damping device according to the control signal to reduce the vibration of the strut.

[0063] It is worth noting that the vibration measurement signal can include longitudinal vibration measurement signal, transverse vibration measurement signal and axial vibration measurement signal, and generally, the U1 and U2 signal elements of the six-component balance are used as the longitudinal vibration measurement signal, the U3 and U4 signal elements are used as the transverse vibration measurement signal, and the U5 and U6 signal elements are used as the axial vibration measurement signal. Among them, U1, U3 and U5 are longitudinal, transverse and axial force signals, and U2, U4 and U6 are longitudinal, transverse and axial moment signals. By controlling the elongation and shortening of the circumferentially arranged piezoelectric elements, the longitudinal heave motion signal (U1) and its pitch moment signal (U2) can be controlled, the transverse sideslip motion signal (U3) and its pitch moment signal (U4) can be controlled, and the axial motion signal (U5) can be controlled, but the axial roll moment signal (U6) cannot be controlled. Therefore, based on the hardware structure of the existing front segment vibration damping device, only five degrees of freedom (i.e. U1, U2, U3, U4 and U5) of the front segment strut can be controlled. That is, the single-degree-of-freedom independent modal signal described above can include five degrees of freedom of independent modal signal.

[0064] In the embodiments of the present disclosure, the vibration measurement signal of the balance detected in the previous control period is decoupled in mode and then decoupled in direction to obtain a single-degree-of-freedom independent modal signal, and the next period is controlled based on the single-degree-of-freedom independent modal signal, thereby effectively realizing closed-loop control and ensuring accurate control on each degree of freedom, and effectively suppressing the vibration of the wind tunnel test system.

[0065] In some embodiments, the method comprises:

[0066] sending a white noise excitation signal with a preset bandwidth to the vibration damping device to drive the strut to perform random vibration;

[0067] collecting the response signal detected by the balance;

[0068] performing fast Fourier transform on the excitation signal and the response signal to obtain a frequency response function;

[0069] Determine the modal parameter results of the strut according to the frequency response function, the modal parameter results including a longitudinal first-order natural frequency, a transverse first-order natural frequency, an axial first-order natural frequency, a longitudinal second-order natural frequency, a transverse second-order natural frequency, and an axial second-order natural frequency.

[0070] Wherein, the transfer function of the system is obtained by processing the output and input signals, the white noise signal of the preset bandwidth can be sent by the signal generator to drive the damping module, and the vibration signal output is measured by the balance. The transfer function curve (including amplitude frequency and phase frequency) of the control direction can be obtained by fast Fourier transform of the output and input signals. Taking the strut model as an example, the excitation signal U(t) sent by the controller is sent to the piezoelectric stack after passing through the power amplifier, driving the strut to do random vibration, and the signal collected by the balance is taken as the response signal Y(t). The frequency response function can be obtained by FFT transform of the excitation and response signals. Thus, the modal frequencies of the strut structure in each direction can be roughly obtained.

[0071] It can be understood that the frequency response function is a complex function with system circular frequency as the independent variable, and the frequency response function can be drawn into two kinds of curves, one is the real part-imaginary part curve (Nyquist curve), and the other is the amplitude-phase curve (Bode diagram). In actual engineering, the amplitude-phase curve corresponds to the physical characteristics of the system, and therefore is widely used. The first-order and second-order modal parameter results can be obtained, and the initial parameter information of the system is provided for the subsequent calibration analysis steps.

[0072] By sending the white noise excitation signal of the preset bandwidth to the damping device to drive the strut to do random vibration and collect the response signal detected by the balance, the frequency response function is constructed, and the modal frequencies in each direction, i.e. the longitudinal first-order natural frequency, the transverse first-order natural frequency, the axial first-order natural frequency, the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency, can be accurately obtained based on the frequency response function. The damping device control can be further more accurately based on the modal parameter results.

[0073] In some optional embodiments, the actuator of the damping device includes a front segment piezoelectric element, and the method includes:

[0074] The front segment piezoelectric element is excited by the excitation signal corresponding to the longitudinal first-order natural frequency, the transverse first-order natural frequency, and the axial first-order natural frequency, respectively, and the first response signal of the balance corresponding to each excitation signal is collected.

[0075] The first response signal and the excitation signal corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency are subjected to fast Fourier transform to obtain first amplitude information.

[0076] Excite the front section piezoelectric element with an excitation signal corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency, respectively, and collect a second response signal of the balance corresponding to each excitation signal;

[0077] Perform fast Fourier transform on the second response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency to obtain second amplitude information;

[0078] According to the first amplitude information and the second amplitude information, determine a modal decoupling matrix for modal decoupling.

[0079] Specifically, the front section piezoelectric element of the strut is excited with a longitudinal first-order natural frequency signal, a transverse first-order natural frequency signal, and an axial first-order natural frequency signal (excitation signals EY1, EZ1, EX1), and balance signals U1, U2, U3, U4, and U5 are collected, respectively.

[0080] Perform Fourier series transform on the obtained U1, U2, U3, U4, U5 and the corresponding three excitation signals to obtain the amplitude of the U1 signal under longitudinal first-order excitation (A(U11)), the amplitude of the U2 signal (A(U12)), and (A(EY1)), the amplitude of the U3 signal under transverse first-order excitation (A(U13)), the amplitude of the U4 signal (A(U14)), and (A(EZ1)), and the amplitude of the U5 signal under axial first-order excitation (A(U15)) and (A(EX1)).

[0081] The front section piezoelectric element of the strut is excited with a longitudinal second-order natural frequency signal, a transverse second-order natural frequency signal, and an axial second-order natural frequency signal (excitation signals EY2, EZ2, EX2), and balance signals U1, U2, U3, U4, and U5 are collected. Perform Fourier series transform on the obtained U1, U2, U3, U4, U5 and the corresponding three excitation signals to obtain the amplitude of the U1 signal under longitudinal second-order excitation (A(U21)), the amplitude of the U2 signal (A(U22)), and (A(EY2)), the amplitude of the U3 signal under transverse second-order excitation (A(U23)), the amplitude of the U4 signal (A(U24)), and (A(EZ2)), and the amplitude of the U5 signal under axial second-order excitation (A(U25)) and (A(EX2)).

[0082] Further, the decoupling matrix can be obtained as follows:

[0083] wherein the corresponding amplitude ratio is:

[0084]

[0085]

[0086]

[0087] By the decoupling matrix X obtained above, the two-order modal coupling in the signals U1, U2, U3, U4, U5 can be decoupled into two independent modes Q1, Q2, Q3, Q4, Q5, Q6, and the decoupling formula is as follows:

[0088] By the above scheme, the response signal is obtained after the excitation signal corresponding to the natural frequency of each direction and each order is sent to the damping device, and the amplitude of each excitation signal and each response signal is obtained by performing fast Fourier transform on the excitation signal and the response signal, respectively, and then the modal decoupling matrix for modal decoupling is obtained. The modal decoupling matrix can effectively realize modal decoupling based on the detected signal, and effectively ensure the robustness of the damping module control.

[0089] In some optional embodiments, the method comprises:

[0090] According to the modal decoupling matrix, the first response signal is decoupled to obtain a first decoupled signal;

[0091] The first decoupled signal and the excitation signals corresponding to the longitudinal first-order natural frequency, the transverse first-order natural frequency and the axial first-order natural frequency are subjected to fast Fourier transform to obtain third amplitude information;

[0092] According to the modal decoupling matrix, the second response signal is decoupled to obtain a second decoupled signal;

[0093] The second decoupled signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency and the axial second-order natural frequency are subjected to fast Fourier transform to obtain fourth amplitude information;

[0094] According to the third amplitude information and the fourth amplitude information, a directional decoupling matrix for directional decoupling is determined.

[0095] Specifically, it can be found through modal testing that the signals in each direction also exist coupling, so it is also necessary to decouple Q1, Q2, Q3, Q4, Q5, Q6 into three single-degree-of-freedom first-order modal information R1, R3, R5 and three single-degree-of-freedom second-order modal information R2, R4, R6. The specific decoupling steps can include:

[0096] The support rod is excited by longitudinal first-order natural frequency, transverse first-order natural frequency and axial first-order natural frequency signals (excitation signals EY1, EZ1, EX1), and the balance signal is collected, and three groups of modal decoupled signals are obtained by the above modal decoupling matrix.

[0097] The three sets of modal decoupling signals and the corresponding three excitation signals are subjected to Fourier series transformation to obtain the amplitudes of the six decoupling signals and EY1 under longitudinal first-order excitation, the amplitudes of the six decoupling signals and EZ1 under transverse first-order excitation, and the amplitudes of the six decoupling signals and EX1 under axial first-order excitation.

[0098] The piezoelectric element in the front section of the strut is excited by longitudinal second-order natural frequency signals, transverse second-order natural frequency signals and axial second-order natural frequency signals (excitation signals EY2, EZ2 and EX2), and the balance signals are collected, and three sets of modal decoupling signals are obtained through the above modal decoupling matrix.

[0099] The three sets of modal decoupling signals and the corresponding three excitation signals are subjected to Fourier series transformation to obtain the amplitudes of the six decoupling signals and EY1 under longitudinal first-order excitation, the amplitudes of the six decoupling signals and EZ1 under transverse first-order excitation, and the amplitudes of the six decoupling signals and EX1 under axial first-order excitation.

[0100] The decoupling matrix is obtained as follows:

[0101] The corresponding amplitude ratio is as follows:

[0102]

[0103]

[0104]

[0105] The measured signals U1, U2, U3, U4, U5 are decoupled into independent modal signals R1, R2, R3, R4, R5 and R6 containing only single degrees of freedom through the above decoupling matrix φ, and the decoupling formula is as follows:

[0106] In some embodiments, the determination of the control signal of the next control period according to the independent modal signals and the transfer function of each order signal to the excitation signal includes:

[0107] The control signal of the next control period is determined by the PD controller according to the independent modal signals and the transfer function of each order signal to the excitation signal.

[0108] By using the above scheme, the control signal is processed by the PD controller, which can realize multi-degree-of-freedom control of the vibration reduction device in the front section of the strut and also realize multi-modal control. Moreover, the vibration of the model in the wind tunnel test can be effectively suppressed.

[0109] In some optional embodiments, the method includes:

[0110] determining a frequency domain transfer function according to a first transfer function of the error signal to the reference input;

[0111] determining a target controller gain of the PD controller based on the error transfer function and the frequency domain transfer function, so that the PD controller processes the independent modal signals according to the target controller gain to determine a control signal of a next control period.

[0112] Optionally, the target controller gain is equal to a ratio of a difference between an inverse of the error transfer function and 1 to a magnitude of the controlled object signal in the frequency domain.

[0113] The transfer function of the error signal E(S) to the reference input R(S) can be: where Y(S) represents a vibration measurement signal of the actual balance, G(S) represents a controlled object signal, and H(S) represents a control signal. In the frequency domain analysis, only S is replaced by jω, and when the vibration angular frequency ω is the resonance angular frequency ω r , there is: where:

[0114] In the above formula, G(jω r ) represents the controlled object signal in the frequency domain, H(jω r ) represents the control signal in the frequency domain, r G and r H represent the magnitudes of G(jω r ) and H(jω r ), ω G and ω H represent the phases of G(jω r ) and H(jω r ). g is the error transfer function, and the value of g should be between 0 and 1 in the case of system stability. The smaller the value of g, the better the control effect. If g is greater than 1, the control is divergent, and emergency shutdown should be performed.

[0115] The ideal control target is that the structure as a whole does negative work and just offsets the aerodynamic load to eliminate the vibration of the strut structure, so in the ideal case, ω H =-ω G .

[0116] Further, the target controller gain of the PD controller can be obtained as:

[0117] As known by those skilled in the art, the typical transfer function of the PD controller is H(S)=K P +K d S, and the frequency domain expression is H(jω)=K P +jKd ω. Where, K P The proportional coefficient K of the PD controller d The differential coefficients of the PD controller are... This represents the gain of the PD controller. Let be the phase of the PD controller. In summary, the proportional and derivative coefficients of the PD controller satisfy the following relationship:

[0118] Based on the same inventive concept, this application also provides, for example... Figure 2 The diagram shown is a block diagram of a control device for a wind tunnel test damping device according to an exemplary embodiment, applied to a wind tunnel test damping device, such as... Figure 2 As shown, the control device 20 of the wind tunnel test vibration damping device includes:

[0119] The first determining module 21 is used to determine the vibration measurement signal detected by the six-component balance corresponding to the previous control cycle;

[0120] The decoupling module 22 is used to perform modal decoupling and directional decoupling on the vibration measurement signal to obtain a single-degree-of-freedom independent modal signal;

[0121] The second determining module 23 is used to determine the control signal for the next control cycle based on the independent modal signals and the transfer function of the excitation signal corresponding to each order signal;

[0122] The control module 24 is used to drive the actuator of the shock absorption device according to the control signal to reduce the vibration of the support rod.

[0123] Optionally, the control device 20 of the wind tunnel test vibration damping device is used for:

[0124] A white noise excitation signal with a preset bandwidth is sent to the shock absorption device to drive the support rod to vibrate randomly;

[0125] Collect the response signal detected by the balance;

[0126] Perform a Fast Fourier Transform on the excitation signal and the response signal to obtain the frequency response function;

[0127] The modal parameters of the support rod are determined based on the frequency response function. The modal parameters include the first natural frequency in the longitudinal direction, the first natural frequency in the transverse direction, the first natural frequency in the axial direction, the second natural frequency in the longitudinal direction, the second natural frequency in the transverse direction, and the second natural frequency in the axial direction.

[0128] Optionally, the actuator of the damping device includes a front-end piezoelectric element; optionally, the control device 20 of the wind tunnel test damping device is used for:

[0129] The front section piezoelectric element is excited by an excitation signal corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency, respectively, and a second response signal corresponding to each excitation signal is collected by the balance;

[0130] The first response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency are subjected to fast Fourier transform to obtain first amplitude information;

[0131] The front section piezoelectric element is excited by an excitation signal corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency, respectively, and a second response signal corresponding to each excitation signal is collected by the balance;

[0132] The second response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency are subjected to fast Fourier transform to obtain second amplitude information;

[0133] According to the first amplitude information and the second amplitude information, a modal decoupling matrix for modal decoupling is determined.

[0134] Optionally, the control device 20 of the wind tunnel test damping device is used for:

[0135] According to the modal decoupling matrix, the first response signal is decoupled to obtain a first decoupled signal;

[0136] The first decoupled signal and the excitation signals corresponding to the longitudinal first-order natural frequency, the transverse first-order natural frequency, and the axial first-order natural frequency are subjected to fast Fourier transform to obtain third amplitude information;

[0137] According to the modal decoupling matrix, the second response signal is decoupled to obtain a second decoupled signal;

[0138] The second decoupled signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency are subjected to fast Fourier transform to obtain fourth amplitude information;

[0139] According to the third amplitude information and the fourth amplitude information, a directional decoupling matrix for directional decoupling is determined.

[0140] Optionally, the control device 20 of the wind tunnel test damping device is used for:

[0141] Through a PD controller, a control signal of a next control period is determined according to the independent modal signal and a transfer function of an excitation signal corresponding to each order signal.

[0142] Optionally, the control device 20 of the wind tunnel test damping device is used for:

[0143] determining a frequency domain transfer function according to a first transfer function of the error signal to the reference input;

[0144] determining a target controller gain of the PD controller based on the error transfer function and the frequency domain transfer function, so that the PD controller processes the independent modal signal according to the target controller gain to determine a control signal of a next control period.

[0145] Optionally, the target controller gain is equal to a difference between an inverse of the error transfer function and 1, divided by an amplitude of the controlled object signal in the frequency domain.

[0146] It should be noted that the implementation principle of the control device 20 of the wind tunnel test damping device can refer to the implementation principle of the control method of the wind tunnel test damping device, which will not be described here. It should be understood that the division of each module of the above device is only a logical function division, and all or part of it can be integrated into a physical entity, or it can be physically separated. And these modules can all be in the form of software called by the processing element; they can all be in the form of hardware; some modules can be in the form of software called by the processing element, and some modules can be in the form of hardware. For example, the control device 20 of the wind tunnel test damping device can be a separate processing element, or it can be integrated into a chip of the above device, in addition, it can also be in the form of program code stored in the memory of the above device, and the function of the above control device 20 of the wind tunnel test damping device is called and executed by a processing element of the above device. The implementation of other modules is similar. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capability. In the implementation process, each step of the above method or each module can be completed by the integrated logic circuit of the hardware in the processor element or the instruction in the form of software.

[0147] For example, the above modules can be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASICs), or one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs), etc. For another example, when a certain module above is implemented in the form of a processing element scheduling code, the processing element can be a general purpose processor, such as a central processing unit (CPU) or other processor that can invoke code. For another example, the modules can be integrated together to implement a system-on-a-chip (SOC).

[0148] The embodiment of the present application provides a computer device 100, which comprises a processor and a nonvolatile memory storing computer instructions, and the computer device 100 executes the control method of the wind tunnel test damping device when the computer instructions are executed by the processor. As shown in the figure, Figure 3 Figure 3 The embodiment of the present application provides a structural block diagram of the computer device 100. The computer device 100 comprises the control device 20 of the wind tunnel test damping device, a memory 111, a processor 112 and a communication unit 113.

[0149] In order to realize the transmission or interaction of data, the memory 111, the processor 112 and the communication unit 113 are directly or indirectly electrically connected with each other. For example, the electrical connection between the elements can be realized by one or more communication buses or signal lines. The control device 20 of the wind tunnel test damping device comprises at least one software function module which can be stored in the memory 111 in the form of software or firmware or solidified in the operating system (OS) of the computer device 100. The processor 112 is used to execute the control method of the wind tunnel test damping device stored in the memory 111, such as the software function module and the computer program included in the control device 20 of the wind tunnel test damping device.

[0150] The embodiment of the present application provides a readable storage medium, which comprises a computer program, and the computer program controls the computer device where the readable storage medium is located to execute the control method of the wind tunnel test damping device when running.

[0151] ​The foregoing description, for purposes of explanation, is provided as to specific embodiments and implementations. However, the foregoing description is not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in light of the foregoing teaching without departing from the scope of the disclosure. It is to be understood that the disclosure can be practiced otherwise than is specifically described, without departing from essential attributes of the disclosure. The embodiments were chosen and described in order to best explain the principles of the disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure, and to best enable others skilled in the art to best utilize the disclosure in various embodiments and with various modifications as are suited to the particular use contemplated. The foregoing description, for purposes of explanation, is provided as to specific embodiments and implementations. However, the foregoing description is not intended to be exhaustive or to limit the disclosure to the precise forms disclosed. Many modifications and variations are possible in light of the foregoing teaching without departing from the scope of the disclosure. It is to be understood that the disclosure can be practiced otherwise than is specifically described, without departing from essential attributes of the disclosure. The embodiments were chosen and described in order to best explain the principles of the disclosure and its practical application, to thereby enable others skilled in the art to best utilize the disclosure, and to best enable others skilled in the art to best utilize the disclosure in various embodiments and with various modifications as are suited to the particular use contemplated.

Claims

1. A control method for a wind tunnel test vibration damping device, characterized in that, The method includes: Determine the vibration measurement signal detected by the six-component balance corresponding to the previous control cycle; Modal decoupling and directional decoupling are performed on the vibration measurement signal to obtain a single-degree-of-freedom independent modal signal; The control signal for the next control cycle is determined based on the independent modal signals and the transfer function of each order signal to the excitation signal. The actuator of the shock absorption device is driven according to the control signal to reduce the vibration of the support rod; The method includes: A white noise excitation signal with a preset bandwidth is sent to the shock absorption device to drive the support rod to vibrate randomly; Collect the response signal detected by the balance; Perform a Fast Fourier Transform on the excitation signal and the response signal to obtain the frequency response function; The modal parameters of the support rod are determined based on the frequency response function. The modal parameters include the first natural frequency in the longitudinal direction, the first natural frequency in the transverse direction, the first natural frequency in the axial direction, the second natural frequency in the longitudinal direction, the second natural frequency in the transverse direction, and the second natural frequency in the axial direction. The actuator of the shock absorption device includes a front-end piezoelectric element, and the method includes: The front piezoelectric element is excited by excitation signals corresponding to the longitudinal first-order natural frequency, the transverse first-order natural frequency, and the axial first-order natural frequency, respectively, and the first response signal of the balance corresponding to each excitation signal is collected. Perform a fast Fourier transform on the first response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency to obtain the first amplitude information; The front piezoelectric element is excited by excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency, respectively, and the second response signal of the balance corresponding to each excitation signal is collected. Perform a fast Fourier transform on the second response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency to obtain the second amplitude information; Based on the first amplitude information and the second amplitude information, a mode decoupling matrix for mode decoupling is determined.

2. The method according to claim 1, characterized in that, The method includes: Based on the modal decoupling matrix, the first response signal is decoupled to obtain the first decoupled signal; Perform a fast Fourier transform on the first decoupling signal and the excitation signals corresponding to the longitudinal first-order natural frequency, the transverse first-order natural frequency, and the axial first-order natural frequency to obtain the third amplitude information. Based on the modal decoupling matrix, the second response signal is decoupled to obtain the second decoupled signal; A fast Fourier transform is performed on the second decoupling signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency to obtain the fourth amplitude information. Based on the third amplitude information and the fourth amplitude information, a directional decoupling matrix for directional decoupling is determined.

3. The method according to claim 1, characterized in that, The step of determining the control signal for the next control cycle based on the independent modal signals and the transfer function of the excitation signal corresponding to each order signal includes: The PD controller determines the control signal for the next control cycle based on the independent modal signals and the transfer function of each order signal to the excitation signal.

4. The method according to claim 3, characterized in that, The method includes: The frequency domain transfer function is determined based on the first transfer function of the error signal with respect to the reference input; Based on the error transfer function and the frequency domain transfer function, the target controller gain of the PD controller is determined, so that the PD controller processes the independent mode signal according to the target controller gain to determine the control signal for the next control cycle.

5. The method according to claim 4, characterized in that, The target controller gain is equal to the ratio of the difference between the reciprocal of the error transfer function and 1, and the amplitude of the controlled object signal in the frequency domain.

6. A control device for a wind tunnel test vibration damping device, characterized in that, The control device includes: The determination module is used to determine the vibration measurement signal detected by the six-component balance in the previous control cycle; The decoupling module is used to perform modal decoupling and directional decoupling on the vibration measurement signal to obtain a single-degree-of-freedom independent modal signal; The determination module is used to determine the control signal for the next control cycle based on the independent modal signals and the transfer function of the excitation signal corresponding to each order signal; A control module is used to drive the actuator of the shock absorption device according to the control signal to reduce the vibration of the support rod; The control module is also used for: A white noise excitation signal with a preset bandwidth is sent to the vibration damping device to drive the support rod to vibrate randomly; the response signal detected by the balance is collected; a fast Fourier transform is performed on the excitation signal and the response signal to obtain the frequency response function; the modal parameters of the support rod are determined according to the frequency response function, and the modal parameters include the longitudinal first-order natural frequency, the transverse first-order natural frequency, the axial first-order natural frequency, the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency; The actuator of the damping device includes a front-end piezoelectric element. The control module is further configured to: excite the front-end piezoelectric element with excitation signals corresponding to the longitudinal first-order natural frequency, the transverse first-order natural frequency, and the axial first-order natural frequency, respectively, and acquire a first response signal of the balance corresponding to each excitation signal; perform a fast Fourier transform on the first response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency to obtain first amplitude information; excite the front-end piezoelectric element with excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency, respectively, and acquire a second response signal of the balance corresponding to each excitation signal; perform a fast Fourier transform on the second response signal and the excitation signals corresponding to the longitudinal second-order natural frequency, the transverse second-order natural frequency, and the axial second-order natural frequency to obtain second amplitude information; and determine a modal decoupling matrix for modal decoupling based on the first amplitude information and the second amplitude information.

7. A computer device, characterized in that, The computer device includes a processor and a non-volatile memory storing computer instructions. When the computer instructions are executed by the processor, the computer device executes the control method of the wind tunnel test vibration reduction device according to any one of claims 1-5.

8. A readable storage medium, characterized in that, The readable storage medium includes a computer program, which, when executed, controls the computer device containing the readable storage medium to perform the control method of the wind tunnel test vibration reduction device according to any one of claims 1-5.

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