A method and apparatus for damping sinusoidal vibration recurrence, a storage medium and an electronic device

Abstract

The application provides a damping sinusoidal vibration reproduction method and device, a storage medium and an electronic device, and relates to the technical field of automatic control. The method comprises the following steps: generating an initial driving signal based on a target damping sinusoidal signal, sending the initial driving signal to a controller, so that the controller drives a vibration table to perform displacement movement, receiving a feedback acceleration response signal, comparing the error value of the acceleration response signal and the target damping sinusoidal signal, if the error value is not less than the error value, calculating a correction driving signal based on the error value and performing driving control until the error value is less than an error threshold value, and determining the correction driving signal with the error value less than the error threshold value as the driving signal of the target damping sinusoidal signal. The system can improve the correction accuracy of the reproduced damping vibration, reduce the deviation between the expected target waveform and the observed reproduced waveform, and thus enable the vibration table to reproduce the damping sinusoidal vibration according to the waveform movement of the target damping sinusoidal signal.

Description

Technical Field

[0001] This application relates to the field of automatic control technology, specifically to a damped sinusoidal vibration reproduction method, apparatus, storage medium, and electronic device. Background Technology

[0002] In daily life and production, many vibration phenomena can be described by sine waves. If the oscillation is damped, its amplitude will decrease over time; this vibration phenomenon is called damped vibration. In practical applications, the motion of vehicle shock absorbers, building foundation shock absorbers, and aircraft carrier interception cables can all be described as this type of motion. During the testing phase of such objects, including durability and performance tests, due to limitations, it is often impossible to reproduce the actual real-world scenario. Therefore, the test parameters of these objects can only be obtained by reproducing the form of damped sinusoidal vibration. Hydraulic vibration testing systems are commonly used to reproduce the damped vibration required for the test.

[0003] Hydraulic vibration testing systems, due to their advantages such as long stroke and good low-frequency characteristics, are widely used in testing vehicles, ships, aerospace products, and other products. For vibration testing systems, the accuracy of reproducing the desired waveform is a crucial indicator. Traditional hydraulic vibration testing systems designed based on the frequency response method are nonlinear time-varying systems. These systems contain numerous uncertainties, such as noise or mechanical structure variations. Furthermore, changes in the tested object itself can affect the system's dynamic characteristics, leading to significant errors in frequency response estimation. Consequently, the system struggles to achieve the required accuracy in correcting the reproduced damped vibrations, resulting in a large deviation between the observed reproduced waveform and the desired waveform. Summary of the Invention

[0004] This application provides a method, apparatus, storage medium, and electronic device for reproducing damped sinusoidal vibration. By collecting feedback acceleration signals and iteratively correcting the driving signal, the error generated by the system frequency response estimation is optimized, which can improve the system's correction accuracy for the reproduced damped vibration. This reduces the deviation between the observed reproduced waveform and the desired target waveform, enabling the damped sinusoidal vibration reproduced by the vibration table to move according to the waveform of the target damped sinusoidal signal.

[0005] In a first aspect, this application provides a method for reproducing damped sinusoidal vibration, applied to a computer device in a damped sinusoidal vibration reproduction system. The system further includes a controller, a vibration table, and an accelerometer. The controller is connected to the computer device, the vibration table, and the accelerometer, respectively. The accelerometer is fixedly mounted on the vibration table. The method includes: An initial drive signal is generated based on the target damping sinusoidal signal, and the initial drive signal is sent to the controller so that the controller drives the vibration table to perform displacement motion; The controller receives the acceleration response signal sent by the controller, calculates the error value between the acceleration response signal and the target damping sinusoidal signal, and determines whether the error value is less than a set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller. If the error value is not less than the set error threshold, then a corrected drive signal is calculated based on the error value, the initial drive signal is replaced with the corrected drive signal, and the steps of generating an initial drive signal based on the target damping sine signal and sending the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion are executed until the error value between the acceleration response signal and the target damping sine signal is less than the set error threshold. The vibration table is driven to perform displacement motion by the controller using a correction drive signal whose error value is less than the set error threshold.

[0006] By adopting the above technical solution, the acceleration response signal fed back by the accelerometer is compared with the target damped sinusoidal signal. Based on the comparison result, the driving signal is corrected through an iterative method, which can effectively improve the correction accuracy of the reproduced damped sinusoidal vibration. This enables the controller to control the vibration table to reproduce a damped sinusoidal vibration that is close to the desired target waveform based on the corrected driving signal.

[0007] Optionally, calculating the corrected drive signal based on the error value includes: The difference between the acceleration response signal and the target damping sinusoidal signal is obtained by performing difference processing. Substituting the difference between the acceleration response signal and the target damping sinusoidal signal into the formula ΔX1=gain*[H -1 ]ΔY1, to obtain the correction amount of the driving signal; Where ΔX1 is the correction amount of the driving signal, gain is the gain coefficient, [H -1 ] represents the system's inverse frequency response function, and ΔY1 is the difference between the acceleration response signal and the target damped sinusoidal signal; The correction amount of the driving signal is summed with the initial driving signal to obtain the corrected driving signal.

[0008] By adopting the above technical solution, after obtaining the difference between the acceleration response signal and the target damping sinusoidal signal, the correction amount of the driving signal is calculated through the gain coefficient and the system inverse frequency response function, and the corrected driving signal is obtained from the correction amount. After each acceleration response signal fed back by the accelerometer, the gain coefficient of the system is adjusted according to the actual operation of the vibration table and the iteration effect, which can achieve precise adjustment of the driving signal and reduce the number of iteration corrections.

[0009] Optionally, the difference between the acceleration response signal and the target damping sinusoidal signal is substituted into the formula ΔX1=gain*[H -1 Before ΔY1, it also includes: According to the formula [H] = G yx (f) / G xx (f) Calculate the system frequency response function, where [H] is the system frequency response function, x is the driving signal, y is the acceleration signal, and G is the acceleration signal. yx (f) represents the cross-power spectral density of the driving signal and the acceleration signal, G xx (f) represents the auto-power spectral density of the driving signal; The inverse frequency response function of the system is obtained by inverting the frequency response function of the system.

[0010] By adopting the above technical solution, since the observed acceleration signal generally contains noise, compared with obtaining the frequency response function through Fourier transform, when obtaining the frequency response function using power spectral density, the correlation of cross power spectral density can remove additive and zero-mean noise to a certain extent, reducing the error of noise in the calculation of the frequency response function.

[0011] Optionally, before generating the initial drive signal based on the target damped sinusoidal signal, the method further includes: According to the formula Integrating the expression for a standard acceleration-damped sine wave yields the velocity function; Where V(t) is velocity, A is acceleration amplitude, ω is angular frequency, ξ is damping ratio, t is time, and C1 is an arbitrary constant; according to the formula Integrating the velocity function expression yields the displacement function; Where D(t) is displacement, A is acceleration amplitude, ω is angular frequency, ξ is damping ratio, t is time, and C1 and C2 are arbitrary constants; A buffer compensation signal is obtained based on the velocity function and the displacement function, and the buffer compensation signal is added to the front end of the target damped sinusoidal signal; The initial driving signal is generated based on the target damped sinusoidal signal, including: An initial drive signal is generated based on the buffer compensation signal and the target damping sinusoidal signal.

[0012] By adopting the above technical solution, adding a buffer compensation before the target damped sinusoidal signal can ensure that the initial velocity is zero in the initial stage of vibration, and at the same time, the displacement does not drift in the vibration initiation stage, thus ensuring the accuracy of the subsequent damped vibration at the start.

[0013] Optionally, the gain coefficient is determined based on the linearity of the system.

[0014] By adopting the above technical solution, when the linearity of the system is a rigid system, the gain coefficient can be set to 1. When the linearity of the system is poor, the gain coefficient can be controlled within a certain range to ensure the number of iterations that converge.

[0015] Optionally, the formula [H] = G is used. yx (f) / G xx (f) Before calculating the system frequency response function, the following steps are also included: A white noise signal is sent to the controller so that the controller determines the system's transfer function based on the white noise signal; and the autopower spectral density of the drive signal and the acceleration signal is calculated based on the system's transfer function.

[0016] By adopting the above technical solution, before conducting actual damped vibration tests, the transfer function of the system is obtained using white noise signals. The autocorrelation function of the driving signal is then obtained from the transfer function. The autocorrelation function is then transformed by Fourier transform to obtain the autopower spectral density of the driving signal. The autopower density of the system can be quickly obtained using white noise signals without considering the period.

[0017] Secondly, this application provides a damped sinusoidal vibration reproduction device, applied to a computer device in a damped sinusoidal vibration reproduction system. The system further includes a controller, a vibration table, and an accelerometer. The controller is connected to the computer device, the vibration table, and the accelerometer respectively. The accelerometer is fixedly mounted on the vibration table. The device includes: The drive module is used to generate an initial drive signal based on the target damping sinusoidal signal, and send the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion; The error value comparison module is used to receive the acceleration response signal sent by the controller, calculate the error value between the acceleration response signal and the target damping sinusoidal signal, and determine whether the error value is less than a set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller. The correction module is used to calculate a correction drive signal based on the error value if the error value is not less than a set error threshold, replace the acceleration response signal with the correction drive signal, generate an initial drive signal based on the target damping sine signal, and send the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion, until the error value between the acceleration response signal and the target damping sine signal is less than the set error threshold. The drive signal determination module is used to drive the vibration table to perform displacement motion through the controller by using a corrected drive signal whose error value is less than a set error threshold.

[0018] Optionally, the damped sine wave reproduction control system further includes a hydraulic device, which includes a servo valve, an actuator, a distributor, and a pump station; wherein, The actuator is mounted on the vibration table; The controller is connected to the pump station, the oil distributor, the servo valve, and the actuator, respectively. The pump station is connected to the oil distributor via a pipeline, and the oil distributor is connected to the actuator via a pipeline. The servo valve is installed on the pipeline near the actuator.

[0019] Thirdly, this application provides a computer storage medium storing a plurality of instructions adapted for loading by a processor and executing any of the methods described above.

[0020] Fourthly, this application provides an electronic device including a processor, a memory, and a transceiver, wherein the memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform any of the methods described above.

[0021] In summary, the beneficial effects of the technical solution of this application include: By iteratively correcting the driving signal using the collected feedback acceleration signal, the system can improve the correction accuracy of the reproduced damped vibration, thereby reducing the deviation between the observed reproduced waveform and the desired target waveform, so that the damped sinusoidal vibration reproduced by the vibration table can move according to the waveform of the target damped sinusoidal signal. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating a damped sinusoidal vibration reproduction method according to an embodiment of this application; Figure 2 This is a waveform diagram of a buffer compensation signal according to an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a damped sinusoidal vibration reproduction method according to an embodiment of this application; Figure 4 This is a system architecture diagram of a damped sinusoidal vibration reproduction method according to an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a damped sinusoidal vibration reproduction device according to an embodiment of this application; Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0023] Explanation of reference numerals in the attached diagram: 10, drive module; 20, error value comparison module; 30, correction module; 40, drive signal determination module; 1000, electronic device; 1001, processor; 1002, communication bus; 1003, user interface; 1004, network interface; 1005, memory. Detailed Implementation

[0024] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0025] In the description of the embodiments of this application, words such as "illustrative," "for example," or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "illustrative," "for example," or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of words such as "illustrative," "for example," or "for example" is intended to present the relevant concepts in a specific manner.

[0026] In the description of the embodiments of this application, the term "multiple" means two or more. For example, multiple systems means two or more systems, and multiple screen terminals means two or more screen terminals. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. The terms "comprising," "including," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0027] Please see Figure 1 This is a flowchart illustrating a damped sinusoidal vibration reproduction method provided in an embodiment of this application. This method can be implemented using a computer program, a microcontroller, or run on a damped sinusoidal vibration reproduction device based on the von Neumann architecture. The computer program can be integrated into an application or run as a standalone utility application. This embodiment uses a computer device as an example to describe the specific steps of the damped sinusoidal vibration reproduction method in detail.

[0028] S101 generates an initial drive signal based on the target damping sinusoidal signal and sends the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion.

[0029] The target damped sinusoidal signal is the signal input by the user based on the desired damped sinusoidal waveform. The user can obtain the desired damped sinusoidal wave by setting relevant parameters in the acceleration damped sinusoidal wave expression. The general expression for the acceleration damped sinusoidal wave is: Y(t)=A·e -ξωt The equation is sin(ωt), where Y(t) is the acceleration, A is the acceleration amplitude, ξ is the damping ratio, ω is the angular frequency, and t is time. Using the parameters of the general expression for an acceleration-damped sine wave to determine the desired damped sine wave is only one feasible method provided in this embodiment. The desired damped sine wave can also be set in other ways, such as through a function, so that the desired damped sine wave can be input into a computer device.

[0030] The initial drive signal is a signal calculated by the computer based on the target damped sinusoidal signal, used to drive the vibration table to perform corresponding movements. The target damped sinusoidal signal is a complete damped sine wave, and the initial drive signal is composed of a combination of multiple consecutive control signals in the time domain. By continuously controlling the vibration of the vibration table, the object under test on the vibration table is made to perform damped sinusoidal vibration. This causes the drive signal to be sent to the controller, which decomposes the control signal into multiple specific execution instructions to drive the vibration table to perform displacement movements.

[0031] In an optional embodiment, according to the formula Integrating the expression for a standard acceleration-damped sine wave yields the velocity function; where V(t) is the velocity, A is the acceleration amplitude, ω is the angular frequency, ξ is the damping ratio, t is time, and C1 is an arbitrary constant. According to the formula Integrating the velocity function expression yields the displacement function; Where D(t) is displacement, A is acceleration amplitude, ω is angular frequency, ξ is damping ratio, t is time, and C1 and C2 are arbitrary constants; The buffer compensation signal is obtained based on the velocity function and displacement function, and then added to the front end of the target damped sinusoidal signal. The initial driving signal is generated based on the target damped sinusoidal signal, including: The initial driving signal is generated based on the buffer compensation signal and the target damping sinusoidal signal.

[0032] The parameters of the target damped sinusoidal signal input by the user are crucial. Since a damped sinusoidal wave is a sinusoidal waveform with continuously decreasing amplitude, the control of the initial parameters will affect all subsequent waveforms. The accuracy of the initial acceleration and amplitude of the waveform is very important. If the vibration table does not control the time it takes to reach the set initial motion state from a static state, the initial vibration waveform may be too long or the initial vibration waveform may not be accurate enough, thus affecting the overall reproduction accuracy of the damped sinusoidal vibration.

[0033] Please see Figure 2 This is a waveform diagram of a buffer compensation signal provided in an embodiment of this application. The dashed part in the figure is the buffer compensation signal, and the solid part is the target damping sine wave signal. Integrating the acceleration damping sine wave expression input by the user yields a function of velocity changing with time. Integrating the velocity function yields a function of displacement changing with time. The vibration table moves from a static state to the reproduction state of the target damping sine wave, which is a reverse damping vibration process. The velocity and displacement required to reproduce the initial state can be obtained from the above velocity function and displacement function. Thus, a buffer compensation signal can be obtained. The buffer compensation signal is added to the target damping sine wave signal, and an initial drive signal is generated based on the buffer compensation signal and the target damping sine wave signal, so that the vibration table can move from a static state to the initial state of the reproduction stage according to the drive control signal, so that the initial displacement and velocity can meet the reproduction requirements.

[0034] S102 receives the acceleration response signal sent by the controller, calculates the error value between the acceleration response signal and the target damping sinusoidal signal, and determines whether the error value is less than the set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller.

[0035] The acceleration response signal is the signal acquired after the accelerometer performs displacement motion. The accelerometer is fixed to the object under test during the experiment. The focus of this embodiment is on how to ensure that the damped sinusoidal vibration reproduced by the vibration table is the same as the desired damped sinusoidal wave input by the user. Therefore, the object under test is not required during the reproduction stage. Since the object under test is usually fixed to the vibration table, the accelerometer only needs to be fixed to the vibration table in this embodiment. Whether the object under test is fixed to the vibration table has no impact on the reproduction of the damped sinusoidal motion in this embodiment. After receiving the signal acquired by the accelerometer, the controller performs simple processing on the signal and sends the acceleration response signal to the computer device. The computer device compares the acceleration response signal with the target damped sinusoidal signal.

[0036] The error value between the acceleration response signal and the target damping sinusoidal signal is calculated. The error value is calculated by subtracting the acceleration response signal from the target damping sinusoidal signal and then dividing by the target damping sinusoidal signal. The error value is then checked to see if it is less than the error threshold. Since the waveform of the acceleration response signal is obtained based on the target damping sinusoidal signal through control test results, the waveform of the acquired acceleration response signal is related to the waveform of the target damping sinusoidal signal. Therefore, the error value can be obtained by taking the difference.

[0037] S103, if the error value is not less than the set error threshold, then calculate the corrected drive signal based on the error value, replace the initial drive signal with the corrected drive signal, and execute the steps of generating the initial drive signal based on the target damping sine signal and sending the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion, until the error value between the acceleration response signal and the target damping sine signal is less than the set error threshold.

[0038] When the error value is not less than the set error threshold, it indicates that the damped sinusoidal vibration of the vibration table driven by the initial drive signal deviates significantly from the damped sinusoidal vibration expected by the user. The initial drive signal needs to be corrected, and the corrected drive signal is used to replace the initial drive signal. The vibration table is then driven to move again by the controller, and a new acceleration response signal is collected and compared with the target damped sinusoidal signal until the error value between the two is less than the set error threshold.

[0039] In an optional embodiment, a white noise signal is sent to a controller so that the controller determines the system's transfer function based on the white noise signal; and the autopower spectral density of the drive signal and the acceleration signal is calculated based on the system's transfer function.

[0040] During the system parameter determination phase, white noise signal and drive signal are sent to the controller. The frequency spectrum of white noise signal has the same value at all frequencies, which means that the energy of white noise signal is independent of frequency. According to the Wiener-Khinchin theorem, after obtaining the system transfer function, the autopower spectral density of drive signal and acceleration signal can be obtained by fast Fourier transform, which is more efficient and direct than calculating autocorrelation function.

[0041] In an optional embodiment, according to the formula [H] = G yx (f) / G xx (f) Calculate the system frequency response function, where [H] is the system frequency response function, x is the driving signal, y is the acceleration signal, and G is the acceleration signal. yx (f) represents the cross-power spectral density of the driving signal and the acceleration signal, G xx (f) represents the self-power spectral density of the driving signal; the inverse frequency response function of the system is obtained by inverting the system frequency response function.

[0042] The frequency response function is defined as the response of the output position to a unit excitation force at the input position. In the embodiments of this application, it is the response of the acceleration signal caused by the drive signal controlling the vibration table motion. By calculating the frequency response function, a certain relationship between the system input and output can be obtained, which facilitates the subsequent correction of the drive signal.

[0043] First, the driving signal is autocorrelated, then Fourier transformed to obtain its autopower spectral density. Next, the driving signal and the feedback acceleration signal are cross-correlated, and a Fourier transform is performed to obtain their cross-power spectral density, from which the system frequency response function is calculated. Compared to using the spectrum to calculate the frequency response function, the power spectral density lacks phase information and reflects the energy density at a specific frequency; therefore, it is less affected by noise in the acceleration response signal. The inverse frequency response function is the inverse function of the system frequency response function, facilitating the correction of the driving signal.

[0044] The corrected drive signal replaces the original initial drive signal and is sent to the controller again. The controller then controls the vibration table based on the drive signal until the error value is less than the set error threshold. This indicates that the drive signal at this time meets the waveform requirements of damped sinusoidal vibration. By repeatedly performing drive tests and comparing the error, the damped sinusoidal vibration expected by the user is obtained.

[0045] S104 uses a correction drive signal with an error value less than the set error threshold to drive the vibration table to perform displacement motion through the controller.

[0046] After obtaining a corrected drive signal with an error value less than the set error threshold, this corrected drive signal is paired with the target damped sinusoidal signal. When the target damped sinusoidal signal is needed, the computer equipment outputs the corrected drive signal to the controller, so that the controller drives the vibration table to perform damped sinusoidal vibration according to the expected waveform of the target damped sinusoidal signal.

[0047] In the embodiments of this application, a desired damped sinusoidal waveform is obtained through a target damped sinusoidal signal input by the user. To reproduce this damped sinusoidal waveform, the computer device generates an initial drive signal based on the target damped sinusoidal signal, so that the controller drives the vibration table to move according to the control signal. The motion parameters of the generated damped sinusoidal vibration are collected by the accelerometer and compared and corrected with the desired damped sinusoidal waveform to obtain a corrected drive signal that can reproduce the desired damped sinusoidal waveform. During the correction process, the inverse frequency response function and gain coefficient are used to achieve fast iterative convergence of the corrected drive signal, while also making the correction accuracy of the reproduced damped sinusoidal vibration higher.

[0048] In another embodiment of the damped sinusoidal vibration reproduction method of this application, the correction process for the driving signal is described in detail, and how the driving signal can be quickly and accurately converged to the error threshold range to achieve the reproduction accuracy requirements.

[0049] S201 generates an initial drive signal based on the target damping sinusoidal signal and sends the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion.

[0050] S202 receives the acceleration response signal sent by the controller, calculates the error value between the acceleration response signal and the target damping sinusoidal signal, and determines whether the error value is less than the set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller.

[0051] Please see Figure 3 This is a schematic diagram of a damped sinusoidal vibration reproduction method provided in an embodiment of this application. The sample is the object under test, the sensor is an accelerometer, the sensor can be set on the sample, the sample is fixed on the vibration table, the hydraulic device provides power support for the movement of the vibration table, and is controlled by the controller. The error between the acceleration feedback signal and the target damped sinusoidal signal is calculated to correct the initial drive signal until the error meets the requirements to realize the experiment on the sample.

[0052] S203, if the error value is not less than the set error threshold, then the acceleration response signal and the target damping sinusoidal signal are subtracted to obtain the difference between the acceleration response signal and the target damping sinusoidal signal; the difference between the acceleration response signal and the target damping sinusoidal signal is substituted into the formula ΔX1=gain*[H -1 ]ΔY1, to obtain the correction amount of the driving signal; where ΔX1 is the correction amount of the driving signal, gain is the gain coefficient, [H -1 ] is the system inverse frequency response function, and ΔY1 is the difference between the acceleration response signal and the target damping sinusoidal signal; the correction amount of the driving signal is summed with the initial driving signal to obtain the corrected driving signal.

[0053] Calculate the difference between the acceleration signal and the target damping sinusoidal signal. Infer the magnitude and direction of the drive signal correction from the difference in the feedback signal. For the direction of correction, if the difference between the acceleration response signal and the target damping sinusoidal signal is negative, for example, both are a fixed target damping sinusoidal signal minus the acceleration response signal, then the direction of the drive signal correction can be determined from the sign of the drive signal correction.

[0054] The deviation between the acquired acceleration response signal and the target damping sinusoidal signal is used to calculate the correction amount of the drive signal using the inverse frequency response function. The frequency response function represents the response relationship between the system drive signal and the feedback signal. Based on this, the embodiments of this application introduce a gain coefficient to further improve the accuracy of the correction amount.

[0055] In one embodiment, the gain coefficient is determined based on the linearity of the system.

[0056] If the system has good linearity and is a rigid system, its frequency response function can accurately reflect the correspondence between the driving signal and the feedback signal. Setting the gain coefficient to 1 will yield a relatively accurate correction amount for the driving signal. When the system's linearity is not ideal, iterative divergence may occur during the iterative correction process. Adjusting the gain coefficient to a range less than a constant will solve the iterative divergence problem, leading to rapid convergence and obtaining a corrected driving signal that meets the requirements.

[0057] S204, replace the initial drive signal with the corrected drive signal, and execute the step of generating an initial drive signal based on the target damping sine signal, sending the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion, until the error value between the acceleration response signal and the target damping sine signal is less than the set error threshold.

[0058] S205 uses a correction drive signal with an error value less than the set error threshold to drive the vibration table to perform displacement motion through the controller.

[0059] Steps 201, 204, and 205 have been described in detail in the embodiments of the damped sinusoidal vibration reproduction method described above, and will not be repeated here.

[0060] In one embodiment of this application, when using the inverse frequency response function to obtain the response signal and the driving signal, that is, to obtain the difference between the acceleration response signal and the target damped sinusoidal signal and the correction amount of the driving signal, a gain coefficient is introduced to further improve the calculation formula of the correction amount. This can obtain an accurate correction amount of the driving signal while reducing the number of iterations and avoiding iteration divergence, thereby quickly realizing the reproduction of damped sinusoidal vibration.

[0061] Please see Figure 4 The diagram below illustrates the system architecture of a damped sinusoidal vibration reproduction method provided in this application, detailing the specific connections between the various devices. Figure 4As shown, the system architecture may include computer equipment, a controller, a vibration table, and an accelerometer. The controller is connected to the computer equipment, vibration table, accelerometer, and hydraulic device to establish communication connections between the devices. Connection methods may include various types of wired or wireless communication links. For example, wired communication links may include fiber optic cables, twisted-pair cables, or coaxial cables; wireless communication links may include Bluetooth, Wireless-Fidelity (Wi-Fi), or microwave communication links. The devices can interact via a network to receive messages from or send messages to other devices. The computer equipment can be hardware or software. When the computer equipment is hardware, it can be various electronic devices, including but not limited to smartwatches, smartphones, tablets, laptops, and desktop computers. When the computer equipment is software, it can be installed in the aforementioned electronic devices. It can be implemented as multiple software programs or software modules (e.g., to provide distributed services) or as a single software program or software module; no specific limitations are specified here.

[0062] Furthermore, in the embodiments of this application, the damped sinusoidal vibration reproduction method is mainly applied to computer equipment, controllers, vibration tables, and accelerometers. Meanwhile, the driving method of the vibration table is not limited; existing methods include electric drive and hydraulic drive, as long as the motion is reproduced. This application embodiment provides a hydraulic drive control method. The damped sinusoidal wave reproduction control system also includes a hydraulic device, which includes a servo valve, an actuator, a distributor, and a pump station. The actuator is installed on the vibration table; the controller is connected to the pump station, distributor, servo valve, and actuator respectively; the pump station is connected to the distributor via a pipeline, the distributor is connected to the actuator via a pipeline, and the servo valve is installed near the actuator via a pipeline. The dashed lines represent hydraulic oil lines, and the solid lines represent communication connections.

[0063] It should be understood that Figure 4 The number of devices shown is only illustrative; depending on the implementation requirements, it can be any number of computer devices, controllers, vibration tables, accelerometers, and hydraulic devices.

[0064] The following are system embodiments of this application, which can be used to execute the method embodiments of this application. For details not disclosed in the system embodiments of this application, please refer to the method embodiments of the application.

[0065] Please see Figure 5 This illustration shows a schematic diagram of a damped sinusoidal vibration reproduction device provided in an exemplary embodiment of this application. The device can be implemented as all or part of a whole through software, hardware, or a combination of both. The device includes a drive module 10, an error value comparison module 20, a correction module 30, and a drive signal determination module 40.

[0066] Drive module 10 is used to generate an initial drive signal based on the target damping sinusoidal signal and send the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion. Error comparison module 20 is used to receive the acceleration response signal sent by the controller, calculate the error value between the acceleration response signal and the target damping sinusoidal signal, and determine whether the error value is less than the set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller. The correction module 30 is used to calculate a correction drive signal based on the error value if the error value is not less than the set error threshold, replace the acceleration response signal with the correction drive signal, generate an initial drive signal based on the target damping sine signal, and send the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion, until the error value between the acceleration response signal and the target damping sine signal is less than the set error threshold. The drive signal determination module 40 is used to drive the vibration table to perform displacement motion through the controller by using a corrected drive signal with an error value less than the set error threshold.

[0067] Optionally, the correction module 30 may also include a correction drive signal calculation module 31, an inverse frequency response function calculation module 32, a gain coefficient determination module 33, and a white noise signal drive module 34.

[0068] The modified drive signal calculation module 31 is used to perform difference processing on the acceleration response signal and the target damping sinusoidal signal to obtain the difference between the acceleration response signal and the target damping sinusoidal signal; the difference between the acceleration response signal and the target damping sinusoidal signal is substituted into the formula ΔX1=gain*[H -1 ]ΔY1, to obtain the correction amount of the driving signal; where ΔX1 is the correction amount of the driving signal, gain is the gain coefficient, [H -1 ] is the system inverse frequency response function, and ΔY1 is the difference between the acceleration response signal and the target damping sinusoidal signal; the correction amount of the driving signal is summed with the initial driving signal to obtain the corrected driving signal.

[0069] Inverse frequency response function calculation module 32 is used to calculate the inverse frequency response function according to the formula [H] = G. yx (f) / G xx (f) Calculate the system frequency response function, where [H] is the system frequency response function, x is the driving signal, y is the acceleration signal, and G is the acceleration signal. yx (f) represents the cross-power spectral density of the driving signal and the acceleration signal, G xx (f) represents the self-power spectral density of the driving signal; the inverse frequency response function of the system is obtained by inverting the system frequency response function.

[0070] Gain coefficient determination module 33 is used to determine the gain coefficient based on the linearity of the system.

[0071] The white noise signal driving module 34 is used to send a white noise signal to the controller so that the controller can determine the transfer function of the system based on the white noise signal; and calculate the autopower spectral density of the driving signal and the acceleration signal based on the transfer function of the system.

[0072] Optionally, the drive module 10 may also include a buffer compensation module 11.

[0073] Buffer compensation module 11 is used to calculate according to the formula Integrating the expression for a standard accelerated damped sine wave yields the velocity function; where V(t) is the velocity, A is the acceleration amplitude, ω is the angular frequency, ξ is the damping ratio, t is time, and C1 is an arbitrary constant; according to the formula... Integrating the velocity function expression yields the displacement function; where D(t) is the displacement, A is the acceleration amplitude, ω is the angular frequency, ξ is the damping ratio, t is time, and C1 and C2 are arbitrary constants; a buffer compensation signal is obtained based on the velocity function and the displacement function, and this buffer compensation signal is added to the front end of the target damped sinusoidal signal; an initial drive signal is generated based on the target damped sinusoidal signal, including: generating the initial drive signal based on the buffer compensation signal and the target damped sinusoidal signal.

[0074] This application also provides a computer storage medium that can store multiple instructions, which are adapted to be loaded and executed by a processor as described above. Figures 1-5 The damped sinusoidal vibration reproduction method described in the illustrated embodiment can be found in the following documentation for its specific execution process. Figures 1-5 The specific details of the illustrated embodiments will not be elaborated here.

[0075] Please see Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 6 As shown, the electronic device 1000 may include: at least one processor 1001, at least one network interface 1004, a user interface 1003, a memory 1005, and at least one communication bus 1002.

[0076] The communication bus 1002 is used to realize the connection and communication between these components.

[0077] The user interface 1003 may include a display screen and a camera. Optionally, the user interface 1003 may also include a standard wired interface and a wireless interface.

[0078] The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0079] The processor 1001 may include one or more processing cores. The processor 1001 connects to various parts of the server using various interfaces and lines, and performs various server functions and processes data by running or executing instructions, programs, code sets, or instruction sets stored in the memory 1005, and by calling data stored in the memory 1005. Optionally, the processor 1001 may be implemented using at least one hardware form of Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 1001 may integrate one or a combination of several of the following: Central Processing Unit (CPU), Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user interface, and applications; the GPU is responsible for rendering and drawing the content required for display; and the modem handles wireless communication. It is understood that the modem may also not be integrated into the processor 1001 and may be implemented as a separate chip.

[0080] The memory 1005 may include random access memory (RAM) or read-only memory. Optionally, the memory 1005 may include a non-transitory computer-readable storage medium. The memory 1005 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 1005 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-described method embodiments, etc.; the data storage area may store data involved in the above-described method embodiments, etc. Optionally, the memory 1005 may also be at least one storage device located remotely from the aforementioned processor 1001. Figure 6 As shown, the memory 1005, which serves as a computer storage medium, may include an operating system, a network communication module, a user interface module, and an application program for a damped sinusoidal vibration reproduction method.

[0081] exist Figure 6 In the electronic device 1000 shown, the user interface 1003 is mainly used to provide an input interface for the user and to obtain the user input data; while the processor 1001 can be used to call an application program stored in the memory 1005 for a damped sinusoidal vibration reproduction method. When executed by one or more processors, the electronic device performs one or more of the methods described in the above embodiments.

[0082] An electronic device readable storage medium stores instructions that, when executed by one or more processors, cause the electronic device to perform one or more of the methods described in the above embodiments.

[0083] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0084] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some service interfaces; indirect couplings or communication connections between devices or units may be electrical or other forms.

[0086] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0087] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0088] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage device (CMD). Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned memory includes various media capable of storing program code, such as USB flash drives, portable hard drives, magnetic disks, or optical disks.

[0089] The foregoing description is merely an exemplary embodiment of this disclosure and should not be construed as limiting the scope of this disclosure. Any equivalent changes and modifications made in accordance with the teachings of this disclosure shall still fall within the scope of this disclosure. Those skilled in the art will readily conceive of other embodiments of this disclosure upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The specification and embodiments are considered exemplary only, and the scope and spirit of this disclosure are defined by the claims.

Claims

1. A method for reproducing damped sinusoidal vibration, characterized in that, A computer device is used in a damped sinusoidal vibration reproduction system. The system further includes a controller, a vibration table, and an accelerometer. The controller is connected to the computer device, the vibration table, and the accelerometer. The accelerometer is fixedly mounted on the vibration table. The method includes: According to the formula Integrating the expression for a standard acceleration-damped sine wave yields the velocity function; Where V(t) is the velocity, A is the acceleration amplitude, ω is the angular frequency, ξ is the damping ratio, t is the time, and C1 is an arbitrary constant; According to the formula Integrating the velocity function expression yields the displacement function; Where D(t) is displacement, A is acceleration amplitude, ω is angular frequency, ξ is damping ratio, t is time, and C1 and C2 are arbitrary constants; A buffer compensation signal is obtained based on the velocity function and the displacement function, and the buffer compensation signal is added to the front end of the target damped sinusoidal signal; An initial driving signal is generated based on the buffer compensation signal and the target damping sinusoidal signal; The initial drive signal is sent to the controller so that the controller drives the vibration table to perform displacement motion; The controller receives the acceleration response signal sent by the controller, calculates the error value between the acceleration response signal and the target damping sinusoidal signal, and determines whether the error value is less than a set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller. If the error value is not less than the set error threshold, then a corrected driving signal is calculated based on the error value. The calculation of the corrected driving signal based on the error value includes: The difference between the acceleration response signal and the target damping sinusoidal signal is obtained by subtracting the difference between the acceleration response signal and the target damping sinusoidal signal; the difference between the acceleration response signal and the target damping sinusoidal signal is then substituted into the formula. The correction amount of the driving signal is obtained; where, Here, is the correction amount for the driving signal, and gain is the gain coefficient. Let be the system's inverse frequency response function. The difference between the acceleration response signal and the target damping sinusoidal signal is used; the correction amount of the driving signal is summed with the initial driving signal to obtain the corrected driving signal; The initial drive signal is replaced with a corrected drive signal, and the steps of generating an initial drive signal based on the buffer compensation signal and the target damping sine signal, and sending the initial drive signal to the controller so that the controller drives the vibration table to perform displacement motion are executed until the error value between the acceleration response signal and the target damping sine signal is less than the set error threshold. The vibration table is driven to perform displacement motion by the controller using a correction drive signal whose error value is less than the set error threshold.

2. The method according to claim 1, characterized in that, The difference between the acceleration response signal and the target damping sinusoidal signal is substituted into the formula. Previously, it also included: According to the formula Calculate the system frequency response function, where, Let x be the system frequency response function, x be the driving signal, and y be the acceleration signal. The cross-power spectral density of the driving signal and the acceleration signal. The self-power spectral density of the driving signal; The inverse frequency response function of the system is obtained by inverting the frequency response function of the system.

3. The method according to claim 1, characterized in that, The gain coefficient is determined based on the linearity of the system.

4. The method according to claim 2, characterized in that, According to the formula Before calculating the system's frequency response function, the following steps are also included: A white noise signal is sent to the controller so that the controller determines the system's transfer function based on the white noise signal; The autopower spectral density of the driving signal and the acceleration signal is calculated based on the transfer function of the system.

5. A damped sinusoidal vibration reproduction device, characterized in that, A computer device for use in a damped sinusoidal vibration reproduction system, the system further comprising a controller, a vibration table, and an accelerometer, wherein the controller is connected to the computer device, the vibration table, and the accelerometer, and the accelerometer is fixedly mounted on the vibration table; the device includes: The driver module is used to drive the formula. Integrating the expression for a standard acceleration-damped sine wave yields the velocity function; Where V(t) is the velocity, A is the acceleration amplitude, ω is the angular frequency, ξ is the damping ratio, t is the time, and C1 is an arbitrary constant; According to the formula Integrating the velocity function expression yields the displacement function; Where D(t) is displacement, A is acceleration amplitude, ω is circular frequency, ξ is damping ratio, t is time, and C1 and C2 are arbitrary constants; a buffer compensation signal is obtained based on the velocity function and the displacement function, and the buffer compensation signal is added to the front end of the target damping sine signal; an initial drive signal is generated based on the buffer compensation signal and the target damping sine signal; the initial drive signal is sent to the controller so that the controller drives the vibration table to perform displacement motion; The error value comparison module is used to receive the acceleration response signal sent by the controller, calculate the error value between the acceleration response signal and the target damping sinusoidal signal, and determine whether the error value is less than a set error threshold. The acceleration response signal is the signal collected by the accelerometer received by the controller. The correction module is configured to calculate a correction drive signal based on the error value if the error value is not less than a set error threshold. The calculation of the correction drive signal based on the error value includes: The difference between the acceleration response signal and the target damping sinusoidal signal is obtained by subtracting the difference between the acceleration response signal and the target damping sinusoidal signal; the difference between the acceleration response signal and the target damping sinusoidal signal is then substituted into the formula. The correction amount of the driving signal is obtained; where, Here, is the correction amount for the driving signal, and gain is the gain coefficient. Let be the system's inverse frequency response function. The difference between the acceleration response signal and the target damping sinusoidal signal is used; the correction amount of the driving signal is summed with the initial driving signal to obtain the corrected driving signal; The drive signal determination module is used to drive the vibration table to perform displacement motion through the controller by using a corrected drive signal whose error value is less than a set error threshold.

6. The apparatus according to claim 5, characterized in that, The damped sine wave reproduction control system also includes a hydraulic device, which comprises a servo valve, an actuator, a distributor, and a pump station; wherein... The actuator is mounted on the vibration table; The controller is connected to the pump station, the oil distributor, the servo valve, and the actuator, respectively. The pump station is connected to the oil distributor via a pipeline, and the oil distributor is connected to the actuator via a pipeline. The servo valve is installed on the pipeline near the actuator.

7. A computer storage medium, characterized in that, The computer storage medium stores multiple instructions, which are adapted to be loaded by a processor and executed as described in any one of claims 1 to 4.

8. An electronic device, characterized in that, The device includes a processor, a memory, and a transceiver. The memory is used to store instructions, the transceiver is used to communicate with other devices, and the processor is used to execute the instructions stored in the memory to cause the electronic device to perform the method as described in any one of claims 1 to 4.

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