Virtual spring-mass-damper servo control system and control method

Abstract

The application provides a virtual spring-mass-damper system servo control system and a control method, comprising: building a virtual spring-mass-damper numerical system through an upper computer module, and converting actual physical system parameters into numerical inputs of the virtual system. Virtual mass, virtual damping coefficient and virtual spring stiffness parameters are set, and the set input parameters are output to a motion control module by the upper computer module; a measurement and collection module collects stress signals and displacement signals of a mechanical actuating module, and outputs the stress signals and the displacement signals to the motion control module; the motion control module calculates and generates a motion displacement instruction according to the physical system parameters set by the upper computer, the stress signals and the displacement signals, and outputs the motion displacement instruction to the mechanical actuating module; and the mechanical actuating module completes mechanical movement according to the motion displacement instruction. The virtual spring-mass-damper system servo equivalent simulation function realized by the application avoids the limitation that it is difficult to adjust physical system parameters of real springs, mass blocks and dampers.

Description

Technical Field

[0001] This invention relates to the fields of automation control and mechanical engineering technology, specifically to a virtual spring-mass-damping system servo control system and control method. Background Technology

[0002] The spring-mass-damping system is a very common physical system, widely used in all aspects of life and playing an important role. Such systems are ubiquitous in daily life, such as automotive shock absorption systems, structural anti-seismic systems, and sophisticated testing systems. The spring-mass-damping system also has significant practical applications in industry and other fields.

[0003] Due to the influence of materials, mechanical manufacturing, and other factors, the parameters of a real spring-mass-damped system, such as the spring stiffness, the mass of the physical model, and the damping coefficient of the damping system, are difficult to control precisely, leading to problems such as nonlinear spring characteristics and uncontrollable damping parameters. Furthermore, the stiffness, mass, and damping parameters of a real spring-mass-damped system are constant values, and the system parameters cannot be arbitrarily changed, resulting in limited system applicability. To address these problems, this invention provides a servo control system and method for a virtual spring-mass-damped system.

[0004] Methods for solving the response of spring-mass-damped systems under arbitrary loads are well-established. The results are indistinguishable from the actual response of the system in a real physical model. Furthermore, current advanced computer science technology offers extremely fast computation speeds, with real-time control systems achieving microsecond-level actuation refresh rates. Combining structural dynamics with computer science and real-time control technology makes it possible to simulate all the characteristics of a real spring-mass-damped system.

[0005] Currently, a few scholars have conducted research and made attempts in this area, but their research has the following significant shortcomings:

[0006] (1) Significant noise impact: During the simulation process, the sensor measurement and data transmission are affected by interference, resulting in noise. The system response will show obvious step. Currently, most servo control systems use real-time filtering to filter the signal first, which inevitably introduces additional delay.

[0007] (2) Significant impact of delay: The actual working equipment and devices of the control system design, such as measurement and operation, will inevitably have time delays in communication, mechanics and operation start-up between various links. Delay may cause instability of the system.

[0008] (3) Inertial forces are difficult to eliminate: The forces measured by mechanical sensors on moving objects include both inertial forces and external loads. In order to accurately determine the external loads, the measured force signals need to be free of inertial forces. However, the inertial forces of the virtual spring-mass-damping system are difficult to obtain directly, and there is a large gap between the measured load and the real load. Summary of the Invention

[0009] To address the shortcomings of existing technologies, the purpose of this invention is to provide a follow-up control system for a virtual spring-mass-damping system.

[0010] A servo control system for a virtual spring-mass-damped system provided by the present invention includes:

[0011] The system includes a host computer module, a measurement and acquisition module, a motion control module, and a mechanical actuation module. The host computer module is communicatively connected to the measurement and acquisition module and the motion control module, the motion control module is electrically connected to the mechanical actuation module, and the mechanical actuation module is mechanically connected to the measurement and acquisition module.

[0012] The host computer module is used to build a virtual spring-mass-damping numerical system, convert the structural parameters of the actual physical spring-mass-damping system into digital inputs to the virtual system, set the virtual mass, virtual damping coefficient and virtual spring stiffness parameters, and output the parameters to the motion control module.

[0013] The measurement and acquisition module acquires the force and displacement signals of the mechanical actuation module and outputs them to the motion control module;

[0014] The motion control module calculates and generates motion displacement commands based on the physical system parameters, force signals, and displacement signals set by the host computer, and outputs them to the mechanical actuation module.

[0015] The mechanical actuation module completes the mechanical movement according to the motion displacement command.

[0016] Preferably, the motion control module receives parameters set by the host computer, converts the current force signal into the next motion signal using the Duhamel recursive integral response solution method, and transmits the motion signal to the mechanical actuation system.

[0017] Preferably, the Duhamel recursive integral response solution method includes:

[0018] The external load F(t) measured at time t n ) and the Duhamel integral coefficient A(t) stored in the previous cycle. n ) and B(t n ), calculate virtual model t n+1 Motion command X(t) at time t n+1) and Duhamel integral coefficient A(t) n+1 ) and B(t n+1 ), and store t n+1 Duhamel integral coefficient A(t) at time t n+1 ) and B(t n+1 ):

[0019]

[0020]

[0021] X(t n+1 )=A(t n+1 +t d sinω D (t n+1 +t d )-B(t n+1 +t d cosω D (t n+1 +t d )

[0022]

[0023]

[0024]

[0025]

[0026] m, c, and k represent the virtual mass, damping coefficient, and spring stiffness set by the user on the host computer, respectively; ma represents the actual mass of the virtual physical model component; dt represents the time step for refreshing motion commands from the motion controller; and td represents the total delay time caused by the actuation system and communication between its various modules.

[0027] Preferably, the motion control module includes a register for the Duhamel coefficient A(t) at the next moment. n+1 ) and B(t n+1 The Duhamel coefficient A(t) from the previous cycle is replaced using a stack. n ) and B(t n And store it for use in the next cycle.

[0028] Preferably, the host computer module is electrically connected to the measurement and acquisition module, and the host computer module displays the force signal and displacement signal of the mechanical actuation module.

[0029] Preferably, it also includes a power energy module, which is electrically connected to other modules and is used to supply power to other modules.

[0030] Preferably, the measurement and acquisition system includes a force sensor and a displacement sensor. The force sensor includes digital / piezoelectric / analog force sensors, such as a three-component force meter / single-component force meter, and the displacement sensor is a sensor that includes a motion encoder.

[0031] A servo control method for a virtual spring-mass-damped system provided by the present invention includes:

[0032] Step S1: Build a virtual spring-mass-damping system on the host computer module;

[0033] Step S2: Set the initial state of the virtual system to Duhamel coefficients A(0) = 0, B(0) = 0, convert the structural parameters of the actual physical spring-mass-damping system into digital inputs, and set the virtual mass, virtual spring stiffness and virtual damping coefficients in the host computer module;

[0034] Step S3: Start the virtual spring-mass-damping system. The measurement and acquisition module obtains the force signal of the mechanical actuation module, converts it into a digital signal and inputs it into the motion control module. The motion control module calculates the next motion command based on the Duhamel recursive response integral algorithm.

[0035] Step S4: The motion control module stores the Duhamel integral coefficients at the next sampling time into the buffer, and at the same time, the motion displacement command is transmitted by the motion control module to the mechanical actuation module, which then completes the motion command.

[0036] Step S5: Repeat steps S3 and S4 to complete the equivalent simulation of the dynamic response of the actual spring-mass-damped system under arbitrary random load.

[0037] Preferably, the motion control module calculates the next motion command based on the Duhamel recursive response integral algorithm, including the following steps:

[0038] Step S4.1: Based on the measured external load F(t) at time t n ) and the Duhamel integral coefficient A(t) stored in the previous cycle. n ) and B(t n ), calculate virtual model t n+1 Duhamel integral coefficient A(t) at time t n+1 ) and B(t n+1 ):

[0039]

[0040]

[0041] Step S4.2: Calculate the intermediate transition Duhamel coefficient A(t)n+1 +t d ) and B(t n+1 +t d ), and calculate the displacement motion command for the next time step tn+1:

[0042]

[0043]

[0044] X(t n+1 )=A(t n+1 +t d sinω D (t n+1 +t d )-B(t n+1 +t d cosω D (t n+1 +t d )

[0045] In the formula,

[0046]

[0047] m, c, and k represent the virtual mass, damping coefficient, and spring stiffness set by the user on the host computer, respectively; ma represents the actual mass of the virtual physical model component; dt represents the time step for refreshing motion commands from the motion controller; and td represents the total delay time caused by the actuation system and communication between its various modules.

[0048] Preferably, the Duhamel coefficient A(t) at the next time step n+1 ) and B(t n+1 The Duhamel coefficient A(t) from the previous cycle is replaced using a stack. n ) and B(t n And store it for use in the next cycle.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1. The present invention proposes a servo control method and control system for a virtual spring-mass-damped system based on Duhamel integral. It adopts a combination of active control and numerical simulation to simulate an equivalent real spring-mass-damped system. The parameters of the spring-mass-damped system are set manually in the control program without involving the specific actual spring-mass-damped physical model, which can greatly facilitate the adjustment and accurate realization of system parameters.

[0051] 2. The Duhamel recursive response integral control method proposed in this invention has a self-filtering function. It can greatly reduce the adverse effects of noise introduced by the external environment from force sensors and other components in the data measurement and acquisition system on the entire control system.

[0052] 3. The Duhamel recursive response integral control method proposed in this invention has a self-elimination function for inertial forces, which avoids the difficulty of removing inertial forces.

[0053] 4. The Duhamel recursive response integral control method proposed in this invention has a delay compensation function. This greatly improves the real-time performance of the system and reduces the requirements for hardware real-time performance.

[0054] 5. The virtual spring-mass-damping system follow-up equivalent simulation function realized by this invention avoids the limitations of real springs, mass blocks and dampers, which are difficult to adjust the parameters of physical systems. It provides convenience for accurately and quickly adjusting the parameter combination of spring-mass-damping systems in actual industrial and scientific research applications. Attached Figure Description

[0055] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0056] Figure 1 This is a structural block diagram of the servo control system of the virtual spring-mass-damping system of the present invention;

[0057] Figure 2 This is a flowchart illustrating the control principle of the core control algorithm of this invention. Detailed Implementation

[0058] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0059] This invention discloses a servo control system for a virtual spring-mass-damping system, with reference to... Figure 1 As shown, it includes: a host computer module, a measurement and acquisition module, a motion control module, and a mechanical actuation module; the host computer module is electrically connected to the measurement and acquisition module and the motion control module respectively, the motion control module is electrically connected to the mechanical actuation module, and the mechanical actuation module is electrically connected to the measurement and acquisition module.

[0060] The host computer module is used to build a virtual spring-mass-damping system, converting the mass, damping coefficient, and spring stiffness parameters of the actual physical spring-mass-damping system into digital inputs to the virtual system, setting the virtual mass, virtual damping coefficient, and virtual spring stiffness parameters, and outputting the parameters to the motion control module.

[0061] The measurement and acquisition module acquires the force and displacement signals of the mechanical actuation module and outputs them to the motion control module;

[0062] The motion control module calculates and generates motion displacement commands based on the physical system parameters, force signals, and displacement signals set by the host computer, and outputs them to the mechanical actuation module.

[0063] The mechanical actuation module completes the mechanical movement according to the motion displacement command.

[0064] The host computer module can use common operating systems such as Windows or Android. The host computer module is used to input virtual parameters such as stiffness, damping ratio, and mass, and transmit them to the motion control system via TCP / IP communication.

[0065] The measurement and acquisition system includes digital / piezoelectric / analog force sensors, such as three-component force meters / single-component force meters, and motion sensors, such as motion encoders, used to measure and store the loads and motion information of the virtual spring-mass-damped system.

[0066] The motion control module receives the virtual physical model parameters set by the host computer module, converts the current force signal into the next motion signal through the Duhamel integration method, and sends it to the mechanical actuation system.

[0067] The mechanical actuation module is a servo motion device that executes motion commands issued by the motion control system.

[0068] The servo control system also includes a power energy module, which is electrically connected to other modules and is used to supply power to other analog circuits, including DC and AC power supplies.

[0069] The control principle of this servo control system is as follows: According to actual needs, virtual mass, virtual damping coefficient, and virtual spring stiffness parameters are set by the host computer and transmitted to the motion control module via TCP / IP communication. The measurement and acquisition module collects the force signal of the mechanical actuation module and converts the force signal into a digital signal via A / D conversion, which is then input to the motion control module. The motion control module calculates and generates the motion displacement command for the next moment based on the virtual parameters and the current force signal. The motion displacement command is transmitted to the mechanical actuation module via the PORFIBUS bus, driving the servo motion device to complete the motion displacement command and change the motion state.

[0070] In one embodiment, reference is made to... Figure 2 As shown, the motion control module receives parameters set by the host computer, converts the current force signal into a motion signal for the next step using the Duhamel recursive integral response solution method, and transmits the motion signal to the mechanical actuation system. Specifically, the Duhamel recursive integral response solution method includes:

[0071] The external load F(t) measured at time t n ) and the Duhamel integral coefficient A(t) stored in the previous cycle. n ) and B(t n ), calculate virtual model t n+1 Duhamel integral coefficient A(t) at time t n+1 ) and B(t n+1 ):

[0072]

[0073]

[0074] The motion control module includes registers, the Duhamel coefficient A(t) for the next moment. n+1 ) and B(t n+1 The Duhamel coefficient A(t) from the previous cycle is replaced using a stack. n ) and B(t n And store it in a register, waiting for the next cycle to use it.

[0075] Calculate the intermediate transition Duhamel coefficient A(t) n+1 +t d ) and B(t n+1 +t d ), and calculate the displacement motion command for the next time step tn+1:

[0076]

[0077]

[0078] X(t n+1 )=A(t n+1 +t d sinω D (t n+1 +t d )-B(t n+1 +t d cosω D (t n+1 +t d )

[0079] In the formula,

[0080]

[0081] m, c, and k represent the virtual mass, damping coefficient, and spring stiffness set by the user on the host computer, respectively; ma represents the actual mass of the virtual physical model component; dt represents the time step for refreshing motion commands from the motion controller; and td represents the total delay time caused by the actuation system and communication between its various modules.

[0082] In one embodiment, the host computer module is electrically connected to the measurement and acquisition module, and the host computer module displays and stores the measured load and displacement in real time.

[0083] The real-time performance of the control system should be pre-assessed based on the actual engineering application requirements. It is essential to ensure that the real-time performance of data acquisition, command processing and transmission, and actuation and execution meets the application needs.

[0084] Furthermore, the mechanical actuation system executing motion commands should have a high response frequency and closed-loop characteristics to ensure the speed and accuracy of motion command execution of the virtual spring-mass-damping system.

[0085] This invention also discloses a servo control method for a virtual spring-mass-damped system, and a servo control system based on the virtual spring-mass-damped system, comprising:

[0086] Step S1: Build a virtual spring-mass-damping system on the host computer module;

[0087] Step S2: Set the initial state of the virtual system to Duhamel coefficients A(0) = 0, B(0) = 0, convert the structural parameters of the actual physical spring-mass-damping system into digital inputs, and set the virtual mass, virtual spring stiffness and virtual damping coefficients in the host computer module;

[0088] Step S3: Start the virtual spring-mass-damping system. The measurement and acquisition module obtains the force signal of the mechanical actuation module, converts it into a digital signal and inputs it into the motion control module. The motion control module calculates the next motion command based on the Duhamel recursive response integral algorithm.

[0089] Step S4: The motion control module stores the Duhamel integral coefficients at the next sampling time into the buffer, and at the same time, the motion displacement command is transmitted by the motion control module to the mechanical actuation module, which then completes the motion command.

[0090] Step S5: Repeat steps S3 and S4 to complete the equivalent simulation of the dynamic response of the actual spring-mass-damped system under arbitrary random load.

[0091] In one embodiment, the motion control module calculates the next motion command based on the Duhamel recursive response integral algorithm, including the following steps:

[0092] Step S4.1: Based on the measured external load F(t) at time t n ) and the Duhamel integral coefficient A(t) stored in the previous cycle. n ) and B(t n ), calculate virtual model t n+1 Duhamel integral coefficient A(t) at time t n+1 ) and B(t n+1 ):

[0093]

[0094]

[0095] The Duhamel coefficient A(t) at the next moment n+1 ) and B(t n+1 The Duhamel coefficient A(t) from the previous cycle is replaced using a stack. n ) and B(t n And store it for use in the next cycle.

[0096] Step S4.2: Calculate the intermediate transition Duhamel coefficient A(t) n+1 +t d ) and B(t n+1 +t d ), and calculate the displacement motion command X(t) for the next time step tn+1. n+1 ):

[0097]

[0098]

[0099] X(t n+1 )=A(t n+1 +t d sinω D (t n+1 +t d )-B(t n+1 +t d cosω D (t n+1 +t d )

[0100] In the formula,

[0101]

[0102] m, c, and k represent the virtual mass, damping coefficient, and spring stiffness set by the user on the host computer, respectively; ma represents the actual mass of the virtual physical model component; dt represents the time step for refreshing motion commands from the motion controller; and td represents the total delay time caused by the actuation system and communication between its various modules.

[0103] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0104] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A servo control system for a virtual spring-mass-damped system, characterized in that, include: The system includes a host computer module, a measurement and acquisition module, a motion control module, and a mechanical actuation module. The host computer module is communicatively connected to the measurement and acquisition module and the motion control module, the motion control module is electrically connected to the mechanical actuation module, and the mechanical actuation module is mechanically connected to the measurement and acquisition module. The host computer module is used to build a virtual spring-mass-damping numerical system, convert the structural parameters of the actual physical spring-mass-damping system into digital inputs to the virtual system, set the virtual mass, virtual damping coefficient and virtual spring stiffness parameters, and output the parameters to the motion control module. The measurement and acquisition module acquires the force and displacement signals of the mechanical actuation module and outputs them to the motion control module; The motion control module calculates and generates motion displacement commands based on the physical system parameters, force signals, and displacement signals set by the host computer, and outputs them to the mechanical actuation module. The mechanical actuation module completes mechanical movement according to the motion displacement command; The motion control module receives parameters set by the host computer, converts the current force signal into the next motion signal through the Duhamel recursive integral response solution method, and transmits the motion signal to the mechanical actuation system. The motion control module calculates and generates motion displacement commands using the Duhamel recursive integral response solution method, specifically: The external load F(t) measured at time t n ) and the Duhamel integral coefficient A(t) stored in the previous cycle. n ) and B(t n ), calculate virtual model t n+1 Duhamel integral coefficient A(t) at time t n+1 ) and B(t n+1 ): Calculate the intermediate transition Duhamel coefficient A(t) n+1 +t d ) and B(t n+1 +t d ), and calculate the next time step t. n+1 displacement motion command X ( t n+1 ): In the formula, m, c, and k represent the virtual mass, damping coefficient, and spring stiffness set by the user on the host computer, respectively; m a To provide the virtual physical model with realistic quality; dt The time step for refreshing motion commands in the motion controller; t d The total delay time caused by the representative actuation system and its various modules.

2. The servo control system for the virtual spring-mass-damping system according to claim 1, characterized in that, The motion control module includes a register, and the Duhamel coefficient A(t) for the next moment. n+1 ) and B(t n+1 The Duhamel coefficient A(t) from the previous cycle is replaced by a stack. n ) and B(t n And store it for use in the next cycle.

3. The servo control system for the virtual spring-mass-damping system according to claim 1, characterized in that, The host computer module is electrically connected to the measurement and acquisition module, and displays the force and displacement signals of the mechanical actuation module through the host computer module.

4. The servo control system for the virtual spring-mass-damping system according to claim 1, characterized in that: It also includes a power energy module, which is electrically connected to other modules and is used to supply power to other modules.

5. The servo control system for the virtual spring-mass-damping system according to claim 1, characterized in that: The measurement and acquisition module includes a force sensor and a displacement sensor. The force sensor includes digital / piezoelectric / analog force sensors, such as a three-component force meter / single-component force meter. The displacement sensor is a sensor that includes a motion encoder.

6. A servo control method for a virtual spring-mass-damped system, based on the servo control system of the virtual spring-mass-damped system according to any one of claims 1-5, characterized in that, include: Step S1: Build a virtual spring-mass-damping system on the host computer module; Step S2: Set the initial state of the virtual system to Duhamel coefficients A(0)=0, B(0)=0, convert the structural parameters of the actual physical spring-mass-damping system into digital inputs, and set the virtual mass, virtual spring stiffness and virtual damping coefficient in the host computer module; Step S3: Start the virtual spring-mass-damping system. The measurement and acquisition module obtains the force signal of the mechanical actuation module, converts it into a digital signal and inputs it into the motion control module. The motion control module calculates the next motion command based on the Duhamel recursive response integral algorithm. Step S4: The motion control module stores the Duhamel integral coefficients at the next sampling time into the buffer, and at the same time, the motion displacement command is transmitted by the motion control module to the mechanical actuation module, which then completes the motion command. Step S5: Repeat steps S3 and S4 to complete the equivalent simulation of the dynamic response of the actual spring-mass-damped system under arbitrary random load.

7. The servo control method for the virtual spring-mass-damped system according to claim 6, characterized in that, The Duhamel coefficient A(t) at the next moment n+1 ) and B(t n+1 The Duhamel coefficient A(t) from the previous cycle is replaced by a stack. n ) and B(t n And store it for use in the next cycle.

Images