A vibration system drive signal correction method, system, device and medium

Abstract

This invention provides a method, system, device, and medium for correcting the driving signal of a vibration system, belonging to the field of automatic control technology. The method includes the following steps: generating an identification signal using white powder noise; using the identification signal to excite the vibration system and acquire a first response signal; obtaining the impedance model of the vibration system based on the first response signal; obtaining an iterative gain; generating an initial driving signal based on a reference signal and the impedance model; using the initial driving signal to excite the vibration system and acquire an initial response signal; calculating the error between the initial response signal and the reference signal; determining whether the error is within a set threshold range; if not, obtaining the next driving signal based on the iterative gain, the impedance model, and the obtained error, and iterating until the error between the obtained new response signal and the reference signal is within the set threshold range, then stopping the iteration. This invention improves the identification accuracy of the system's frequency response function and improves the iterative compensation accuracy by using a frequency-band compensation method.

Description

Technical Field

[0001] This invention belongs to the field of automatic control technology, specifically relating to a method, system, device, and medium for correcting drive signals of a vibration system. Background Technology

[0002] In vibration control systems, in order to improve control accuracy and more accurately reproduce the desired power spectral density, it is necessary to iteratively compensate the driving signal through vibration control to reduce the difference between the power spectral density of the response signal and the desired power spectral density, thus forming a true vibration closed-loop control.

[0003] However, existing technologies mainly use white noise as the excitation signal when identifying the frequency response function of a system, which cannot be combined with the actual working conditions or natural environment, thus making the identification results inaccurate. At the same time, in the iterative compensation stage, when there are resonance peaks or nonlinear factors in the system frequency characteristics, the same correction coefficient is used for all frequency bands, which weakens the compensation effect and makes the obtained response signal unable to reproduce the reference signal with high precision, resulting in a large discrepancy with the reference signal. Summary of the Invention

[0004] To overcome the shortcomings of the existing technology, the present invention provides a method for correcting the driving signal of a vibration system, comprising the following steps:

[0005] A white powder noise is used to generate an identification signal. The identification signal is used to excite the vibration system and the first response signal is collected. The impedance model of the vibration system is obtained based on the response signal.

[0006] The process involves obtaining the iterative gain, generating an initial driving signal based on the reference signal and impedance model, using the initial driving signal to excite the vibration system and acquire the initial response signal, calculating the error between the initial response signal and the reference signal, and determining whether the error is within a set threshold range. If not, the process involves segmented gain correction of the signals in each frequency band based on the iterative gain, impedance model, and the obtained error, acquiring the next driving signal, and iterating until the error between the new response signal and the reference signal is within a set threshold range, at which point the iteration stops.

[0007] Preferably, a white powder noise is used to generate an identification signal, the identification signal is used to excite the vibration system and a first response signal is acquired, and the impedance model of the vibration system is obtained based on the response signal, including the following steps:

[0008] Use white powder noise to generate identification signals;

[0009] The vibration system is excited using an identification signal, and the first response signal is acquired.

[0010] Based on the first response signal, the frequency response function model (FRF) of the vibration system is obtained by using the frequency domain identification method H1.

[0011] The frequency response function model (FRF) is subjected to quality checks, and identification signals within the frequency range with a coherence coefficient of not less than 0.8 are selected.

[0012] The inverse calculation of the FRF was performed using the singular value decomposition (SVD) method to obtain the impedance model H of the vibration system. -1 .

[0013] Preferably, the step of ensuring that the error between the obtained new response signal and the reference signal is within a set threshold range includes the following steps:

[0014] The initial drive signal is generated based on the reference signal and impedance model;

[0015] The vibration system is excited using an initial drive signal, and the initial response signal is acquired.

[0016] The error is obtained based on the reference signal and the initial response signal;

[0017] Determine if the error is within the set threshold range. If yes, stop the iteration. If no, calculate the error signal at step k-1 and perform FFT analysis to convert the error signal from the time domain error signal to the frequency domain error signal and obtain the frequency domain error curve.

[0018] Obtain the iterative gain, and perform piecewise gain correction on the signals of each frequency band in the frequency domain error curve based on the iterative gain, the driving signal of step k-1, and the error. Then, convert the corrected signal from the frequency domain error signal to the time domain error signal to obtain the driving signal of step k.

[0019] The vibration system is excited by the driving signal of step k, and the response signal of step k is collected.

[0020] Determine the error between the response signal and the reference signal at step k. If the error is within the set threshold range, stop the iteration; if the error does not meet the requirements, repeat the above three adjacent steps until the error between the new response signal and the reference signal is within the set threshold range.

[0021] Preferably, the iterative gain is a correction coefficient of the driving signal, and its value varies in different frequency bands.

[0022] Preferably, the error is determined by peak error in the low-frequency band, and the error is determined by RMS error in the mid-frequency and high-frequency bands.

[0023] The present invention also provides a vibration system drive signal correction system, comprising:

[0024] The impedance model acquisition module is used to generate an identification signal using white powder noise, use the identification signal to excite the vibration system and acquire the first response signal, and obtain the impedance model of the vibration system based on the response signal.

[0025] The drive signal correction module is used to obtain the iterative gain, generate an initial drive signal based on the reference signal and impedance model, excite the vibration system with the initial drive signal and acquire the initial response signal, calculate the error between the initial response signal and the reference signal, and determine whether the error is within the set threshold range. If not, the module performs segmented gain correction on the signals of each frequency band based on the iterative gain, impedance model and the obtained error, obtains the next drive signal, and iterates until the error between the obtained new response signal and the reference signal is within the set threshold range, at which point the iteration stops.

[0026] The present invention also provides a computer device, including a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to execute the vibration system drive signal correction method.

[0027] The present invention also provides a computer-readable storage medium storing a computer program adapted for loading by a processor to execute the vibration system drive signal correction method.

[0028] The vibration system drive signal correction method, system, device, and medium provided by this invention have the following beneficial effects:

[0029] This invention improves the identification accuracy of the system's frequency response function by using white powder noise as the excitation signal. At the same time, in the iterative compensation stage, this invention combines iterative gain with impedance model to perform segmented gain correction on signals in each frequency band, realizes segmented compensation, improves the accuracy of iterative compensation, and enables the response signal of the vibration system to reproduce the reference signal with high precision. Attached Figure Description

[0030] To more clearly illustrate the embodiments and design schemes of the present invention, the accompanying drawings required for this embodiment will be briefly described below. The drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a flowchart of a vibration system drive signal correction method according to an embodiment of the present invention;

[0032] Figure 2 This is the noise power spectrum of white powder. Detailed Implementation

[0033] To enable those skilled in the art to better understand and implement the technical solutions of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention.

[0034] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the technical solution of this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0035] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. In the description of this invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "connected" or "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. In the description of this invention, unless otherwise stated, "a plurality of" means two or more, which will not be elaborated further here.

[0036] Example

[0037] This invention provides a method for correcting the driving signal of a vibration system, specifically as follows: Figure 1 As shown, it includes the following steps:

[0038] Step 1: Generate an identification signal using white powder noise, excite the vibration system with the identification signal and acquire the first response signal, obtain the impedance model of the vibration system based on the response signal, and generate the identification signal using white powder noise. The specific steps include:

[0039] (1) Excite the vibration system using the identification signal and acquire the first response signal;

[0040] (2) Based on the first response signal, the frequency response function model FRF of the vibration system is obtained by using the frequency domain identification method H1.

[0041] (3) Perform a quality check on the frequency response function model (FRF) and select identification signals within the frequency range with a coherence coefficient of not less than 0.8;

[0042] (4) The Singular Value Decomposition (SVD) method is used to invert the FRF model to obtain the impedance model H of the vibration system. -1 .

[0043] Among them, compared with the white noise commonly used in existing identification signals, the power diagram of white powder noise is as follows: Figure 2 As shown, it considers the special cases of the frequency response function model (FRF) of the actual system at low and high frequencies. W1, W2, and W3 are the frequency starting points of the functions in the low, medium, and high frequency bands, respectively.

[0044] Step 2: Obtain the iterative gain. Generate an initial driving signal based on the reference signal and impedance model. Use the initial driving signal to excite the vibration system and acquire the initial response signal. Calculate the error between the initial response signal and the reference signal. Determine if the error is within a set threshold range. If not, perform segmented gain correction on the signals of each frequency band based on the iterative gain, impedance model, and obtained error. Obtain the next driving signal and iterate until the error between the new response signal and the reference signal is within a set threshold range. Then, stop the iteration. Specifically, this includes the following steps:

[0045] (1) Generate the initial driving signal based on the reference signal and impedance model;

[0046] (2) Excite the vibration system with the initial drive signal and collect the initial response signal;

[0047] (3) Obtain the error based on the reference signal and the initial response signal;

[0048] (4) Determine whether the error is within the set threshold range. If yes, stop the iteration. If no, calculate the error signal of step k-1 and perform FFT analysis to convert the error signal from the time domain error signal to the frequency domain error signal and obtain the frequency domain error curve.

[0049] The time-domain error signal is:

[0050] e(t)=k·ref(t)-res(t) (1)

[0051] Where k is the current vibration level, ref(t) is the reference signal, and res(t) is the response signal. During vibration testing, the vibration levels are typically iterated in ascending order, such as 20%, 50%, 70%, and 100%.

[0052] The frequency domain error signal is then:

[0053] E(f)=FFT(e(t)) (2)

[0054] (5) Obtain the iteration gain, and calculate the driving signal for the k-th step based on the iteration gain, the driving signal for the (k-1)-th step, and the error.

[0055] Based on the error E(f), the impedance model Z(f), and the iterative gain α, the driving signal ΔDrv(f) is calculated as follows:

[0056] ΔDrv(f)=αZ(f)E(f) (3)

[0057] Wherein, the iterative gain α is a correction coefficient for the driving signal, and its value varies in different frequency bands. The specific value is determined according to the actual requirements of the system, and different correction coefficients can be applied to different frequency bands. In the evaluation index, peak error (formula (4)) can be used for low frequency bands; RMS error (formula (5)) can be used for medium and high frequency bands.

[0058]

[0059] (6) Excite the vibration system with the driving signal of step k and collect the response signal of step k;

[0060] (7) Determine the error between the response signal and the reference signal in step k. If the error is within the set threshold range, stop the iteration; if the error does not meet the requirements, continue the iteration until the error between the new response signal and the reference signal is within the set threshold range.

[0061] The present invention also provides a vibration system drive signal correction system, comprising:

[0062] The impedance model acquisition module is used to generate an identification signal using white powder noise, use the identification signal to excite the vibration system and acquire the first response signal, and obtain the impedance model of the vibration system based on the response signal.

[0063] The drive signal correction module is used to obtain the iterative gain, generate an initial drive signal based on the reference signal and impedance model, excite the vibration system with the initial drive signal and acquire the initial response signal, calculate the error between the initial response signal and the reference signal, and determine whether the error is within the set threshold range. If not, the module performs segmented gain correction on the signals of each frequency band based on the iterative gain, impedance model and the obtained error, obtains the next drive signal, and iterates until the error between the obtained new response signal and the reference signal is within the set threshold range, at which point the iteration stops.

[0064] The present invention also provides a computer device, including a memory and a processor; the memory stores a computer program, and the processor runs the computer program in the memory to execute a vibration system drive signal correction method.

[0065] The present invention also provides a computer-readable storage medium storing a computer program adapted for loading by a processor to execute a vibration system drive signal correction method.

[0066] The above-described embodiments are merely preferred embodiments of the present invention, and the scope of protection of the present invention is not limited thereto. Any simple changes or equivalent substitutions of the technical solutions that can be obviously obtained by those skilled in the art within the scope of the technology disclosed in the present invention shall fall within the scope of protection of the present invention.

Claims

1. A method for correcting the driving signal of a vibration system, characterized in that, Includes the following steps: A white powder noise is used to generate an identification signal. The identification signal is used to excite the vibration system and the first response signal is collected. The impedance model of the vibration system is obtained based on the response signal. The process involves obtaining the iterative gain, generating an initial driving signal based on the reference signal and impedance model, exciting the vibration system with the initial driving signal and acquiring the initial response signal, calculating the error between the initial response signal and the reference signal, and determining whether the error is within a set threshold range. If not, segmented gain correction is performed on the signals of each frequency band based on the iterative gain, impedance model, and obtained error. The next driving signal is then obtained, and the process is iterated until the error between the new response signal and the reference signal is within a set threshold range, at which point the iteration stops. Specifically, the steps include: generating an initial driving signal based on the reference signal and impedance model; exciting the vibration system with the initial driving signal and acquiring the initial response signal; obtaining the error based on the reference signal and the initial response signal; determining whether the error is within a set threshold range; if yes, stopping the iteration; otherwise, calculating the iterative gain... k The error signal of step -1 is obtained and FFT analysis is performed to transform the error signal from the time domain error signal to the frequency domain error signal, and the frequency domain error curve is obtained. Obtain the iteration gain, based on the iteration gain, the first iteration gain, and the second iteration gain. k The driving signal and error of step -1 are used to perform piecewise gain correction on the signals of each frequency band in the frequency domain error curve. Then, the corrected signal is converted from the frequency domain error signal to the time domain error signal to obtain the first step. k The drive signal of the first step; using the first step k The driving signal of the first step excites the vibration system, and the first step is collected. k The response signal of the first step; determine the first step. k The error between the response signal and the reference signal is calculated. If the error is within a set threshold range, the iteration stops. If the error does not meet the requirements, the above three adjacent steps are repeated until the error between the new response signal and the reference signal is within the set threshold range. The iteration gain is the correction coefficient of the driving signal, and its value is different in different frequency bands. The error is determined by the peak error in the low frequency band, and the error is determined by the RMS error in the mid-frequency and high-frequency bands.

2. The vibration system drive signal correction method according to claim 1, characterized in that, The process of generating an identification signal using white powder noise, using the identification signal to excite the vibration system and acquire a first response signal, and obtaining the impedance model of the vibration system based on the response signal includes the following steps: Use white powder noise to generate identification signals; The vibration system is excited using an identification signal, and the first response signal is acquired. Based on the first response signal, the frequency response function model (FRF) of the vibration system is obtained by using the frequency domain identification method H1. The frequency response function model (FRF) is subjected to quality checks, and identification signals within the frequency range with a coherence coefficient of not less than 0.8 are selected. The inverse calculation of the FRF was performed using the singular value decomposition (SVD) method to obtain the impedance model H of the vibration system. -1 .

3. A vibration system drive signal correction system, characterized in that, include: The impedance model acquisition module is used to generate an identification signal using white powder noise, use the identification signal to excite the vibration system and acquire the first response signal, and obtain the impedance model of the vibration system based on the response signal. The drive signal correction module is used to obtain the iterative gain, generate an initial drive signal based on the reference signal and impedance model, excite the vibration system using the initial drive signal and acquire the initial response signal, calculate the error between the initial response signal and the reference signal, and determine whether the error is within a set threshold range. If not, it performs segmented gain correction on the signals of each frequency band based on the iterative gain, impedance model, and the obtained error to obtain the next drive signal and iterates until the error between the obtained new response signal and the reference signal is within the set threshold range, at which point the iteration stops. Specifically, it includes the following steps: generating an initial drive signal based on the reference signal and impedance model; exciting the vibration system using the initial drive signal and acquiring the initial response signal; obtaining the error based on the reference signal and the initial response signal; determining whether the error is within the set threshold range; if yes, stopping the iteration; otherwise, calculating the next drive signal. k The error signal of step -1 is obtained and FFT analysis is performed to transform the error signal from the time domain error signal to the frequency domain error signal, and the frequency domain error curve is obtained. Obtain the iteration gain, based on the iteration gain, the first iteration gain, and the second iteration gain. k The driving signal and error of step -1 are used to perform piecewise gain correction on the signals of each frequency band in the frequency domain error curve. Then, the corrected signal is converted from the frequency domain error signal to the time domain error signal to obtain the first step. k The drive signal of the first step; using the first step k The driving signal of the first step excites the vibration system, and the first step is collected. k The response signal of the first step; determine the first step. k The error between the response signal and the reference signal is calculated. If the error is within a set threshold range, the iteration stops. If the error does not meet the requirements, the above three adjacent steps are repeated until the error between the new response signal and the reference signal is within the set threshold range. The iteration gain is the correction coefficient of the driving signal, and its value is different in different frequency bands. The error is determined by the peak error in the low frequency band, and the error is determined by the RMS error in the mid-frequency and high-frequency bands.

4. A computer device, characterized in that, It includes a memory and a processor; the memory stores a computer program, and the processor is used to run the computer program in the memory to perform the vibration system drive signal correction method according to any one of claims 1-2.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program adapted for loading by a processor to execute the vibration system drive signal correction method according to any one of claims 1-2.

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