A method, system, device, and medium for optimizing the frequency response characteristics of a vibration system.

Abstract

The present invention provides a method, system, device and medium for optimizing the frequency response characteristics of a vibration system, belonging to the field of automatic control technology, and the method comprises the following steps: constructing a hydraulic vibration system model including a reaction wall system, constructing an open-loop transfer function of the hydraulic vibration system model including a reaction wall system according to the hydraulic cylinder flow continuity equation, the cylinder body and reaction force basic dynamics differential equation, and the load and hydraulic cylinder displacement relationship; analyzing the influencing factors affecting the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function, constructing a compensation controller according to the influencing factors, and eliminating zero points, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function through the compensation controller to obtain optimized frequency response characteristics. The present invention can improve the bandwidth of the vibration system and optimize the frequency response characteristics.

Description

Technical Field

[0001] The present invention belongs to the field of automatic control technology, and in particular relates to a method, system, equipment and medium for optimizing frequency response characteristics of a vibration system. Background Art

[0002] When the action direction of large loading systems and vibration systems is horizontal, reaction walls are often used as the reaction basis of the actuator. When the flexibility of the reaction wall is large, it will have a greater impact on the frequency response characteristics.

[0003] The existing technology usually ignores the flexible characteristics of the reaction wall and does not consider its coupling effect on the control system, which will affect the overall response characteristics of the reaction wall system, reduce the bandwidth, and deteriorate the control characteristics. Summary of the invention

[0004] In order to overcome the above-mentioned deficiencies in the prior art, the present invention provides a method for optimizing the frequency response characteristics of a vibration system, comprising the following steps:

[0005] Build a hydraulic vibration system model including a reaction wall system, and construct an open-loop transfer function of the hydraulic vibration system model including a reaction wall system based on the hydraulic cylinder flow continuity equation, the cylinder body and reaction force foundation dynamics differential equation, and the relationship between load and hydraulic cylinder displacement;

[0006] The influencing factors that affect the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function are analyzed, and a compensation controller is constructed based on the influencing factors. The zeros, poles, resonant peaks and anti-resonant peaks in the closed-loop transfer function are eliminated by the compensation controller to obtain the optimized frequency response characteristics.

[0007] Preferably, the hydraulic vibration system model including the reaction wall system includes: a spring model, a damper model, a mass block model, a hydraulic cylinder model and a load model, the spring model and the damper model are connected in parallel, one end of the spring model and the damper model are connected to the side of the foundation, and the other end is connected to one side of the mass block, the cylinder barrel of the hydraulic cylinder model is fixedly connected to the other side of the mass block, and the outer end of the piston of the hydraulic cylinder model is connected to the load model.

[0008] Preferably, the open-loop transfer function is:

[0009]

[0010] ω 10 is the first natural frequency, (rad / s), ω 20 is the second natural frequency, ζ 10 , 20 Average comprehensive damping ratio, dimensionless, k sh ,ω b , bare the gain, natural frequency and damping ratio of the second-order differential link respectively, and S is the complex domain description factor of the open-loop transfer function.

[0011] Preferably, the first natural frequency is smaller than the second natural frequency.

[0012] Preferably, the influencing factors include: the first natural frequency ω 10 and the comprehensive damping ratio ζ 10 .

[0013] Preferably, the compensation controller is:

[0014]

[0015] In the formula, ω 10 is the first natural frequency, ζ 10 is the comprehensive damping ratio, dimensionless, ω b , b are the natural frequency and damping ratio of the second-order differential link, ω b_est =ω b , b_est =ζ b ,ω nc_est =ω 10 , nc_est =ζ 10 , S is the complex domain description factor of the open-loop transfer function.

[0016] The present invention also provides a vibration system frequency response characteristic optimization system, comprising:

[0017] The open-loop transfer function acquisition module is used to build a hydraulic vibration system model including a reaction wall system. The open-loop transfer function of the hydraulic vibration system model including a reaction wall system is constructed according to the hydraulic cylinder flow continuity equation, the cylinder body and reaction force foundation dynamics differential equation, and the load and hydraulic cylinder displacement relationship.

[0018] The frequency response characteristic optimization module is used to analyze the influencing factors that affect the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function, and to build a compensation controller based on the influencing factors. The compensation controller is used to eliminate the zero points, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function to obtain the optimized frequency response characteristics.

[0019] The present invention also provides a computer device, comprising 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 frequency response characteristic optimization method.

[0020] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the method for optimizing the frequency response characteristics of a vibration system.

[0021] The vibration system frequency response characteristic optimization method, system, device and medium provided by the present invention have the following beneficial effects:

[0022] The present invention can construct a compensation controller by analyzing the main influencing factors affecting the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function. The compensation controller can eliminate the zero points, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function, thereby optimizing the frequency response characteristics and improving the bandwidth of the vibration system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiment of the present invention and its design scheme, the following briefly introduces the drawings required for this embodiment. The drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A flow chart of a method for optimizing frequency response characteristics of a vibration system according to an embodiment of the present invention;

[0025] Figure 2 It is a single degree of freedom hydraulic vibration system model including reaction wall system;

[0026] Figure 3 is the amplitude-frequency diagram of the open-loop transfer function;

[0027] Figure 4 Bode plot of the closed-loop transfer function before and after compensation. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the technical solution of the present invention and implement it, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the scope of protection of the present invention.

[0029] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the technical solutions of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, the terms "first", "second", etc. are used for descriptive purposes only and are not to be understood as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless otherwise clearly specified or limited, the terms "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In the description of the present invention, unless otherwise specified, "plurality" means two or more, which will not be described in detail here.

[0031] Example

[0032] The present invention provides a method for optimizing the frequency response characteristics of a vibration system, specifically, Figure 1 As shown, the following steps are included:

[0033] Step 1: Build a hydraulic vibration system model including a reaction wall system, and construct an open-loop transfer function of the hydraulic vibration system model including a reaction wall system based on the hydraulic cylinder flow continuity equation, the cylinder and reaction force foundation dynamics differential equation, and the relationship between the load and the hydraulic cylinder displacement.

[0034] The reaction wall is mainly used as a reaction foundation in hydraulic control systems. The typical single-degree-of-freedom hydraulic vibration system model including the reaction wall system can be simplified as follows: Figure 2 The first-order mass spring damper system shown in the figure specifically includes: a spring, a damper, a mass block, a hydraulic cylinder and a load. The spring and the damper are connected in parallel. One end of the spring and the damper are connected to the side of the foundation, and the other end is connected to one side of the mass block. The cylinder barrel of the hydraulic cylinder is fixedly connected to the other side of the mass block. The outer end of the piston of the hydraulic cylinder is connected to the load. The spring, the damper and the mass block are equivalent to a reaction wall system, and the hydraulic cylinder is a hydraulic drive system, that is, a power mechanism. Figure 2 As shown, the stiffness of the spring is k b , the damping of the damper is B b The masses of the mass blocks are mb , the mass of the load is m l From the hydraulic cylinder flow continuity equation, the cylinder and reaction force basic dynamics differential equation, and the load and hydraulic cylinder displacement relationship, the open-loop transfer function between the absolute displacement l of the load and the control command u of the hydraulic vibration system model including the reaction wall system can be obtained as follows:

[0035]

[0036] ω 10 is the first natural frequency, (rad / s), ω 20 is the second natural frequency, ζ 10 , 20 Average comprehensive damping ratio, dimensionless, k sh ,ω b , b are the gain, natural frequency and damping ratio of the second-order differential link respectively.

[0037] In this embodiment, since the hydraulic cylinder flow continuity equation and the cylinder body and reaction force basic dynamics differential equations are all existing technologies, they are not described in detail here.

[0038] Step 2: Analyze the influencing factors that affect the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function, and construct a compensation controller based on the influencing factors. The compensation controller is used to eliminate the zero points, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function to obtain the optimized frequency response characteristics.

[0039] It can be seen from the open-loop transfer function that the open-loop transfer function consists of an integral link, two oscillation links and a second-order differential link. Among them, the natural frequencies of the oscillation link and the second-order differential link have a greater influence on the characteristics of the control system under flexible foundation coupling. It has been proved that the first natural frequency ω 10 It is smaller than the natural frequency ω of the reaction wall system. b It is smaller than the natural frequency ω of the power mechanism h , and the second natural frequency ω 20 Greater than ω b And greater than ω h ,Right now

[0040] ω 10 <ω h <ω 20 And ω 10 <ω b <ω 20 (2)

[0041] The corresponding open-loop transfer function amplitude-frequency diagram is shown in Figure 3 As shown in the figure, the low frequency band is the integral link and ω 10The second-order oscillation link. Then comes the second-order differential link, which is at the flexible foundation natural frequency ω b An anti-resonance peak appears near ω 10 The resonance peak at the resonant frequency decreases, and the phase angle near the resonance frequency increases slightly. After the second-order differential, ω appears again 20 Second-order oscillation link. Therefore, ω 10 and 10 This becomes the main factor limiting the bandwidth and accuracy of the reaction wall system model.

[0042] Therefore, the present invention designs a compensation controller, which is as follows:

[0043]

[0044] When G ff ω in (s) b_est =ω b , b_est =ζ b ,ω nc_est =ω 10 , nc_est =ζ 10 When , the compensation controller can just offset the zero point in equation (1) and a pair of poles close to the imaginary axis. Figure 4 This is the closed-loop Bode diagram of the front and rear displacements of the feedforward compensation. After the feedforward compensation, the resonant peak and anti-resonant peak in the closed-loop transfer function disappear, thereby widening the bandwidth of the system.

[0045] The present invention also provides a vibration system frequency response characteristic optimization system, including an open-loop transfer function acquisition module and a frequency response characteristic optimization module. The open-loop transfer function acquisition module is used to build a hydraulic vibration system model including a reaction wall system, and to construct an open-loop transfer function of the hydraulic vibration system model including a reaction wall system according to the hydraulic cylinder flow continuity equation, the cylinder body and reaction force foundation dynamics differential equation, and the load and hydraulic cylinder displacement relationship; the frequency response characteristic optimization module is used to analyze the influencing factors that affect the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function, and to construct a compensation controller according to the influencing factors, and to eliminate the zeros, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function through the compensation controller to obtain the optimized frequency response characteristics.

[0046] 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 a method for optimizing the frequency response characteristics of a vibration system.

[0047] The present invention also provides a computer-readable storage medium, which stores a computer program. The computer program is suitable for being loaded by a processor to execute a method for optimizing the frequency response characteristics of a vibration system.

[0048] The above embodiments are only preferred specific implementation methods of the present invention, and the protection scope of the present invention is not limited thereto. Any simple changes or equivalent replacements of the technical solutions that can be obviously obtained by any technician familiar with the field within the technical scope disclosed in the present invention belong to the protection scope of the present invention.

Claims

1. A method for optimizing the frequency response characteristics of a vibration system, characterized in that: The steps include: Build a hydraulic vibration system model including a reaction wall system, and construct an open-loop transfer function of the hydraulic vibration system model including a reaction wall system based on the hydraulic cylinder flow continuity equation, the cylinder body and reaction force foundation dynamics differential equation, and the relationship between load and hydraulic cylinder displacement; The factors affecting the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function are analyzed, and a compensation controller is constructed based on the influencing factors. The zero points, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function are eliminated through the compensation controller to obtain the optimized frequency response characteristics. The open loop transfer function is: ω 10 is the first natural frequency, its unit is rad / s, ω 20 is the second natural frequency, ζ 10 , 20 are the comprehensive damping ratio, dimensionless, k sh ,ω b , b are the gain, natural frequency and damping ratio of the second-order differential link, S is the complex domain description factor of the open-loop transfer function, L is the absolute displacement of the load, and U is the control instruction of the hydraulic vibration system model; The compensation controller is: In the formula, ω 10 is the first natural frequency, ζ 10 is the comprehensive damping ratio, dimensionless, ω b , b are the natural frequency and damping ratio of the second-order differential link, ω b_est =ω b , b_est =ζ b ,ω nc_est =ω 10 , nc_est =ζ 10 , S is the complex domain description factor of the open-loop transfer function.

2. The method for optimizing the frequency response characteristics of a vibration system according to claim 1, characterized in that: The hydraulic vibration system model including the reaction wall system includes: a spring model, a damper model, a mass block model, a hydraulic cylinder model and a load model. The spring model and the damper model are connected in parallel. One end of the spring model and the damper model are connected to the side of the foundation, and the other end is connected to one side of the mass block. The cylinder barrel of the hydraulic cylinder model is fixedly connected to the other side of the mass block, and the outer end of the piston of the hydraulic cylinder model is connected to the load model.

3. The method for optimizing the frequency response characteristics of a vibration system according to claim 1, characterized in that: The first natural frequency is lower than the second natural frequency.

4. The method for optimizing the frequency response characteristics of a vibration system according to claim 1, characterized in that: The influencing factors include: the first natural frequency ω 10 and the comprehensive damping ratio ζ 10 .

5. A vibration system frequency response characteristic optimization system, characterized in that: include: The open-loop transfer function acquisition module is used to build a hydraulic vibration system model including a reaction wall system. The open-loop transfer function of the hydraulic vibration system model including a reaction wall system is constructed according to the hydraulic cylinder flow continuity equation, the cylinder body and reaction force foundation dynamics differential equation, and the load and hydraulic cylinder displacement relationship. The frequency response characteristic optimization module is used to analyze the influencing factors that affect the bandwidth and accuracy of the hydraulic vibration system model including the reaction wall system in the open-loop transfer function, and to construct a compensation controller based on the influencing factors. The compensation controller is used to eliminate the zero points, poles, resonance peaks and anti-resonance peaks in the closed-loop transfer function to obtain the optimized frequency response characteristics. Wherein, the open-loop transfer function is: ω 10 is the first natural frequency, its unit is rad / s, ω 20 is the second natural frequency, ζ 10 , 20 are the comprehensive damping ratio, dimensionless, k sh ,ω b , b are the gain, natural frequency and damping ratio of the second-order differential link, S is the complex domain description factor of the open-loop transfer function, L is the absolute displacement of the load, and U is the control instruction of the hydraulic vibration system model; The compensation controller is: In the formula, ω 10 is the first natural frequency, ζ 10 is the comprehensive damping ratio, dimensionless, ω b , b are the natural frequency and damping ratio of the second-order differential link, ω b_est =ω b , b_est =ζ b ,ω nc_est =ω 10 , nc_est =ζ 10 , S is the complex domain description factor of the open-loop transfer function.

6. A computer device, characterized in that: It comprises 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 method for optimizing the frequency response characteristics of a vibration system as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is suitable for being loaded by a processor to execute the method for optimizing the frequency response characteristics of a vibration system according to any one of claims 1 to 4.

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