A method, device and equipment for identifying characteristic parameters of base structure

Abstract

The present application relates to the technical field of magnetic levitation equipment design, and discloses a method, device and equipment for identifying the structural characteristic parameters of a base, wherein the base is used to install the magnetic levitation equipment, a displacement sensor is configured on the magnetic levitation equipment, and an axial dynamic model is pre-established for the magnetic levitation equipment and the base. The method includes: applying an excitation signal to the base, collecting the axial displacement of the magnetic levitation equipment through the displacement sensor; determining the resonant frequency and resonance amplitude of the magnetic levitation equipment according to the axial displacement; solving the resonance frequency, resonance amplitude and the resonance characteristic relationship of the base to obtain the structural characteristic parameters of the base; wherein the resonance characteristic relationship of the base is obtained by system identification based on the axial dynamic model, and the structural characteristic parameters are used to guide the design of the base. Its beneficial effect is that the coupling between the magnetic levitation equipment and the base is taken into account, the identification accuracy of the structural characteristic parameters of the base is improved, and the cost required for the identification process is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of magnetic levitation equipment design, and in particular to a method, device and equipment for identifying characteristic parameters of a base structure. Background Art

[0002] The magnetic levitation device has certain modes. When the operating frequency of the magnetic levitation device is close to the modal frequency, the rotor in the magnetic levitation device will resonate, resulting in excessive vibration amplitude of the rotor, causing irreversible damage to the magnetic levitation device. The magnetic levitation device is usually installed on a specific base, and the dynamic characteristics of the magnetic levitation device are affected by the structural characteristics of the base. By designing the structural characteristic parameters of the base, the modal frequency of the coupling system including the magnetic levitation device and the base deviates from the operating frequency of the magnetic levitation device to ensure the stable operation of the magnetic levitation device.

[0003] In the related art, the accuracy of identifying the characteristic parameters of the base structure needs to be improved. Summary of the invention

[0004] The present application provides a method, device and equipment for identifying characteristic parameters of a base structure, which realizes the technical effect of considering the coupling relationship between the magnetic levitation device and the base and improving the identification accuracy of the characteristic parameters of the base structure.

[0005] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0006] In a first aspect, an embodiment of the present application provides a method for identifying characteristic parameters of a base structure, wherein the base is used to install a magnetic levitation device, a displacement sensor is configured on the magnetic levitation device, and an axial dynamic model is pre-established for the magnetic levitation device and the base; the method comprises:

[0007] Applying an excitation signal to the base, and collecting the axial displacement of the magnetic levitation device through the displacement sensor;

[0008] Determining the resonance frequency and the resonance amplitude of the magnetic suspension device according to the axial displacement;

[0009] The structural characteristic parameters of the base are obtained by jointly solving the relationship between the resonance frequency, the resonance amplitude and the resonance characteristic of the base; wherein the relationship between the resonance characteristic of the base is obtained by system identification based on the axial dynamic model, and the structural characteristic parameters are used to guide the design of the base.

[0010] The method for identifying the base structure characteristic parameters proposed in the embodiment of the present application establishes an axial dynamic model for a system including a magnetic levitation device and a base, and performs system identification on the system to obtain a base resonance characteristic relationship that describes the relationship between the base structure characteristic parameters and the resonance frequency and resonance amplitude, so as to solve the base structure characteristic parameters. Compared with the related art, the present method takes into account the coupling relationship between the magnetic levitation device and the base during the identification process, and adds the influence of the magnetic levitation device on the base structure characteristic parameters, thereby improving the identification accuracy of the base structure characteristic parameters. In addition, the present method uses the displacement sensor configured by the magnetic levitation device itself to detect the axial displacement of the magnetic levitation device, and there is no need to install a displacement sensor or acceleration sensor on the base, which reduces the required cost and simplifies the base structure characteristic parameter identification process.

[0011] Optionally, the structural characteristic parameters include equivalent stiffness and damping, and the base resonance characteristic relationship includes a resonance frequency characteristic relationship and a resonance amplitude characteristic relationship, wherein the resonance frequency characteristic relationship is used to describe the relationship between the resonance frequency and the equivalent stiffness and damping, and the resonance amplitude characteristic relationship is used to describe the relationship between the resonance amplitude and the equivalent stiffness and damping;

[0012] The method of performing a simultaneous solution based on the relationship between the resonance frequency, the resonance amplitude and the resonance characteristic of the base to obtain the structural characteristic parameters of the base includes:

[0013] Substituting the resonant frequency into the resonant frequency characteristic relationship, and substituting the resonant amplitude into the resonant amplitude characteristic relationship;

[0014] The structural characteristic parameters of the base are obtained by performing a joint solution based on the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship.

[0015] Optionally, the axial dynamics model is established according to the following method:

[0016] According to the axial displacement, the base is represented as a spring-damper system to obtain an equivalent base system;

[0017] Establishing a generalized displacement vector according to the respective axial displacements of the magnetic levitation device and the base;

[0018] According to the generalized displacement vector, energy analysis is performed on the magnetic levitation device and the equivalent base system based on the Lagrangian energy equation to establish the axial dynamics model.

[0019] Optionally, the base resonance characteristic relationship is obtained according to the following method:

[0020] Performing dynamic analysis according to the axial dynamic model to obtain a transfer function between the magnetic levitation device and the base;

[0021] An amplitude-frequency analysis is performed according to the transfer function to determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, so as to obtain the resonance characteristic relationship of the base.

[0022] Optionally, the structural characteristic parameters include equivalent stiffness and damping; the amplitude-frequency analysis is performed according to the transfer function to determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, respectively, so as to obtain the resonance characteristic relationship of the base, including:

[0023] Solving the transfer function for extreme values ​​to determine the resonance frequency characteristic relationship between the resonance frequency and equivalent stiffness and damping;

[0024] Substituting the resonance frequency characteristic relationship into the transfer function to obtain the resonance amplitude characteristic relationship between the resonance amplitude and the equivalent stiffness and damping;

[0025] According to the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship, a base resonance characteristic relationship formula including equivalent stiffness and damping is obtained.

[0026] Optionally, the base resonance characteristic relationship including equivalent stiffness and damping is expressed according to the following formula:

[0027]

[0028] in, is the resonant frequency; is the resonance amplitude.

[0029] Optionally, the axial dynamics model is expressed according to the following formula:

[0030]

[0031] in, is the generalized displacement vector of the system including the magnetic levitation device and the base,

[0032]

[0033] in, is the axial displacement vector of the base, is the axial displacement vector of the magnetic levitation device; is the system mass matrix, is the system damping matrix, is the system stiffness matrix,

[0034] , ,

[0035] in, is the axial equivalent stiffness of the magnetic levitation equipment; , , , ; is the base mass; is the rotor mass of the magnetic levitation device; is the equivalent stiffness of the base; is the damping of the base.

[0036] Optionally, the method further comprises:

[0037] The structural characteristic parameters are adjusted so that the resonant frequency deviates from the modal frequency of the magnetic levitation device.

[0038] In a second aspect, an embodiment of the present application provides a device for identifying characteristic parameters of a base structure, wherein the base is used to install a magnetic levitation device, a displacement sensor is configured on the magnetic levitation device, and an axial dynamic model is pre-established for the magnetic levitation device and the base; the device comprises:

[0039] An excitation acquisition module, used for applying an excitation signal to the base, and acquiring the axial displacement of the magnetic suspension device through the displacement sensor;

[0040] A peak value determination module, used to determine the resonance frequency and resonance amplitude of the magnetic suspension device according to the axial displacement;

[0041] A parameter identification module is used to perform a joint solution based on the resonance frequency, the resonance amplitude and the resonance characteristic relationship of the base to obtain the structural characteristic parameters of the base; wherein the resonance characteristic relationship of the base is obtained by performing system identification based on the axial dynamic model, and the structural characteristic parameters are used to guide the design of the base.

[0042] In a third aspect, an embodiment of the present application provides a computer device, comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the method described in any one of the above embodiments by executing the computer instructions.

[0043] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which computer instructions are stored, and the computer instructions are used to enable a computer to execute any one of the methods in the above embodiments.

[0044] In a fifth aspect, an embodiment of the present application provides a computer program product, including computer instructions, and the computer instructions are used to enable a computer to execute any one of the methods in the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0046] Figure 1 A step diagram of a method for identifying characteristic parameters of a base structure provided in an embodiment of the present application;

[0047] Figure 2 A diagram showing the steps for solving structural characteristic parameters in an embodiment of the present application;

[0048] Figure 3 A diagram showing the steps for establishing an axial dynamics model in an embodiment of the present application;

[0049] Figure 4 A schematic diagram of an equivalent base system in an embodiment of the present application;

[0050] Figure 5 A diagram showing the steps for obtaining a base resonance characteristic relationship in an embodiment of the present application;

[0051] Figure 6 It is a Bode diagram of the transfer function in the embodiment of the present application;

[0052] Figure 7 A module diagram of a base structure characteristic parameter identification device provided in an embodiment of the present application;

[0053] Figure 8 A schematic diagram of the structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0055] Magnetic levitation equipment has certain modes. When the operating frequency of the magnetic levitation equipment is close to the modal frequency, the rotor in the magnetic levitation equipment will resonate, resulting in excessive vibration amplitude of the rotor, causing irreversible damage to the magnetic levitation equipment. In industrial applications, magnetic levitation equipment is usually installed on a specific base, and the dynamic characteristics of the magnetic levitation equipment are affected by the structural characteristics of the base. By designing the structural characteristic parameters of the base, the modal frequency of the coupling system including the magnetic levitation equipment and the base deviates from the operating frequency of the magnetic levitation equipment to ensure the stable operation of the magnetic levitation equipment.

[0056] In the related art, the method for the base structure characteristic parameters includes experimental modal analysis, which applies excitation to the base to be identified through an artificial excitation structure such as an impact hammer or a vibrator, and then collects the vibration data of the base through an acceleration sensor installed on the base, and analyzes and identifies the base structure characteristic parameters based on the vibration data of the base. In actual situations, there is a coupling relationship between the magnetic levitation device installed on the base and the base, which makes the magnetic levitation device have a certain influence on the identification of the base structure characteristic parameters. If the coupling relationship between the magnetic levitation device and the base is not considered, the identification accuracy of the base structure characteristic parameters will be reduced, so that the base structure characteristic parameters cannot be accurately obtained, which will affect the base design.

[0057] In addition, in the process of identifying the structural characteristic parameters of the base in the related art, it is necessary to install multiple acceleration sensors with appropriate ranges on the base to collect vibration data of the base at different positions. However, installing acceleration sensors not only increases the cost required for the identification process, but also increases the complexity of the identification process due to the range determination and installation operations.

[0058] Based on the above problems, the present application provides a method, device and equipment for identifying the structural characteristic parameters of a base. The base is used to install a magnetic levitation device, a displacement sensor is configured on the magnetic levitation device, and an axial dynamic model is pre-established for the magnetic levitation device and the base. The method may include: applying an excitation signal to the base, collecting the axial displacement of the magnetic levitation device through the displacement sensor; determining the resonant frequency and resonance amplitude of the magnetic levitation device according to the axial displacement; solving the relationship between the resonant frequency, the resonance amplitude and the resonance characteristic of the base jointly to obtain the structural characteristic parameters of the base; wherein the relationship between the resonance characteristic of the base is obtained by system identification based on the axial dynamic model, and the structural characteristic parameters are used to guide the design of the base.

[0059] The base structure characteristic parameter identification method provided in the present application establishes an axial dynamic model for a system including a magnetic levitation device and a base, and performs system identification on the system to obtain a base resonance characteristic relationship describing the relationship between the base structure characteristic parameters and the resonance frequency and resonance amplitude, so as to solve the base structure characteristic parameters. Compared with the related art, the present method considers the coupling relationship between the magnetic levitation device and the base during the identification process, and adds the influence of the magnetic levitation device on the base structure characteristic parameters, thereby improving the identification accuracy of the base structure characteristic parameters.

[0060] In addition, the method uses the displacement sensor configured on the magnetic levitation device itself to detect the axial displacement of the magnetic levitation device, and there is no need to install additional displacement sensors or acceleration sensors on the base, which reduces the required cost and simplifies the base structure characteristic parameter identification process.

[0061] The base structural characteristic parameter identification method provided in this specification can be applied to identify the structural characteristic parameters of the base used to install the magnetic levitation equipment. The magnetic levitation equipment may include a magnetic levitation turbomolecular pump, a magnetic levitation fan, and a magnetic levitation motor. It is understandable that after adaptive modification, this method can identify different structural characteristic parameters of the base, and the structural characteristic parameters may include equivalent damping, stiffness, and elastic modulus of the base.

[0062] According to an embodiment of the present application, an embodiment of a method for identifying characteristic parameters of a base structure is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0063] In this embodiment, a method for identifying the characteristic parameters of a base structure is provided, which can be applied to the above-mentioned base, where the base is used to install a magnetic levitation device, a displacement sensor is configured on the magnetic levitation device, and an axial dynamic model is pre-established for the magnetic levitation device and the base. Figure 1 As shown, the method includes:

[0064] S100. Apply an excitation signal to the base, and collect the axial displacement of the magnetic levitation device through a displacement sensor.

[0065] S200. Determine the resonance frequency and resonance amplitude of the magnetic levitation device according to the axial displacement.

[0066] S300. Solve the resonance frequency, resonance amplitude and the resonance characteristic relationship of the base jointly to obtain the structural characteristic parameters of the base; wherein the resonance characteristic relationship of the base is obtained by system identification based on the axial dynamic model, and the structural characteristic parameters are used to guide the design of the base.

[0067] The base resonance characteristic relationship equation may be an expression for the resonance frequency and resonance amplitude of the magnetic levitation device, and the above expression includes the structural characteristic parameters of the base, so the base resonance characteristic relationship equation may be used to describe the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters. When the structural characteristic parameters of the base are unknown quantities, the vibration data of the magnetic levitation device is collected, and the resonance frequency and resonance amplitude of the magnetic levitation device are determined according to the vibration data, and the resonance frequency and resonance amplitude of the magnetic levitation device are substituted into the base resonance characteristic relationship equation, so as to solve and obtain the structural characteristic parameters of the base.

[0068] Furthermore, the relationship between the resonance characteristics of the base is obtained through system identification based on the axial dynamic model, wherein the axial dynamic model is established for the magnetic levitation device and the base. By performing system identification on the axial dynamic model, the coupling relationship between the magnetic levitation device and the base is included in the relationship between the resonance characteristics of the base. Compared with the technical solution in the related art that only applies excitation to the base and collects the vibration data of the base for analysis, this method takes into account the coupling relationship between the magnetic levitation device and the base during the identification process, establishes an axial dynamic model for the magnetic levitation device and the base, and obtains the relationship between the resonance characteristics of the base through system identification of the axial dynamic model, so as to solve the structural characteristic parameters of the base, thereby effectively improving the identification accuracy of the structural characteristic parameters of the base.

[0069] It should be noted that, when the magnetic levitation device and the base generate vibrations together, the vibrations in the axial direction have a more significant impact on the magnetic levitation device and the base than the vibrations in the radial direction. Therefore, the data collected in this embodiment is the axial displacement of the magnetic levitation device, so that after obtaining the structural characteristic parameters of the base, the parameter design of the base is adjusted so that the resonant frequency of the magnetic levitation device in the axial direction deviates from its operating frequency, thereby ensuring the stable operation of the magnetic levitation device.

[0070] Specifically, the magnetic levitation device is installed on the base, and there is vibration transmission between the two. When an excitation signal of any frequency is applied to the base, the base is excited to vibrate, and the vibration is transmitted to the magnetic levitation device through the connection between the base and the magnetic levitation device, so that the magnetic levitation device also vibrates. At this time, the axial displacement of the magnetic levitation device is collected by the displacement sensor configured on the magnetic levitation device to determine the vibration data of the magnetic levitation device in the axial direction.

[0071] Furthermore, after collecting the vibration data of the magnetic levitation device under multiple excitation signals, the resonance curve of the magnetic levitation device can be obtained according to the above vibration data. In the resonance curve of the magnetic levitation device, the maximum amplitude is the resonance amplitude, and the frequency corresponding to the resonance amplitude is the resonance frequency. It can be understood that the closer the resonance frequency of the magnetic levitation device is to its operating frequency, the greater the resonance amplitude generated by the magnetic levitation device during operation, resulting in a higher probability of damage to the magnetic levitation device and the base. Therefore, in order to ensure the stable operation of the magnetic levitation device, it is necessary to make the resonance frequency of the magnetic levitation device deviate from its operating frequency.

[0072] Furthermore, the resonance characteristic relationship of the base is solved jointly according to the resonance characteristic relationship of the base and the obtained resonance frequency and resonance amplitude, so as to obtain the structural characteristic parameters of the base according to the resonance frequency and resonance amplitude, so as to guide the design of the base.

[0073] The base structure characteristic parameter identification method provided in this embodiment establishes an axial dynamic model for a system including a magnetic levitation device and a base, and performs system identification on the system to obtain a base resonance characteristic relationship describing the relationship between the base structure characteristic parameter and the resonance frequency and resonance amplitude, so as to solve the base structure characteristic parameter. Compared with the related art, this method considers the coupling relationship between the magnetic levitation device and the base during the identification process, and adds the influence of the magnetic levitation device on the base structure characteristic parameter, thereby improving the identification accuracy of the base structure characteristic parameter.

[0074] In addition, the method uses the displacement sensor configured on the magnetic levitation device itself to detect the axial displacement of the magnetic levitation device, and there is no need to install an additional displacement sensor or acceleration sensor on the base, which reduces the required cost and simplifies the base structure characteristic parameter identification process.

[0075] Reference Figure 2 As shown, as an embodiment of the present application, the structural characteristic parameters include equivalent stiffness and damping, and the base resonance characteristic relationship includes a resonance frequency characteristic relationship and a resonance amplitude characteristic relationship. The resonance frequency characteristic relationship is used to describe the relationship between the resonance frequency and the equivalent stiffness and damping, and the resonance amplitude characteristic relationship is used to describe the relationship between the resonance amplitude and the equivalent stiffness and damping.

[0076] According to the relationship between the resonance frequency, resonance amplitude and the resonance characteristic of the base, the structural characteristic parameters of the base are obtained, including:

[0077] S310. Substitute the resonance frequency into the resonance frequency characteristic relationship, and substitute the resonance amplitude into the resonance amplitude characteristic relationship.

[0078] S320. Perform a joint solution based on the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship to obtain the structural characteristic parameters of the base.

[0079] Specifically, the resonance characteristic relationship of the base includes a resonance frequency characteristic relationship and a resonance amplitude characteristic relationship. The resonance frequency characteristic relationship represents the relationship between the resonance frequency of the magnetic levitation device and the structural characteristic parameters of the base, and the resonance amplitude characteristic relationship represents the relationship between the resonance amplitude of the magnetic levitation device and the structural characteristic parameters of the base. Wherein, in the case where the structural characteristic parameters include equivalent stiffness and damping, the resonance frequency characteristic relationship is used to describe the relationship between the resonance frequency and the equivalent stiffness and damping, that is, the expression of the resonance frequency includes equivalent stiffness and damping; the resonance amplitude characteristic relationship is used to describe the relationship between the resonance amplitude and the equivalent stiffness and damping, that is, the expression of the resonance amplitude includes equivalent stiffness and damping.

[0080] Furthermore, the resonant frequency is substituted into the resonant frequency characteristic relationship, and the resonant amplitude is substituted into the resonant amplitude characteristic relationship, and the resonant frequency characteristic relationship and the resonant amplitude characteristic relationship are solved simultaneously to obtain the equivalent stiffness and damping of the base. According to the resonant frequency of the magnetic levitation device and the equivalent stiffness and damping of the base, the design parameters of the base are adjusted to meet the design requirements.

[0081] Reference Figure 3 As shown, as an embodiment of the present application, the axial dynamics model is established according to the following method:

[0082] S102. Perform a spring-damper system equivalent representation of the base according to the axial displacement to obtain an equivalent base system.

[0083] S104. Establish a generalized displacement vector according to the axial displacements of the magnetic levitation device and the base.

[0084] S106. According to the generalized displacement vector, energy analysis of the magnetic levitation device and the equivalent base system is performed based on the Lagrangian energy equation to establish an axial dynamic model.

[0085] Among them, the form of the generalized displacement vector can be expressed according to the following formula:

[0086]

[0087] in, is the axial displacement vector of the base, is the axial displacement vector of the magnetic levitation device. By establishing the generalized displacement vector, a connection is established between the axial displacement of the magnetic levitation device and the base, so that the coupling relationship between the two can be brought into the identification process of the base structure characteristic parameters through the generalized displacement vector.

[0088] Reference Figure 4 , Figure 4This is a schematic diagram of an equivalent base system in an embodiment of the present application. As shown in the figure, for a system including a magnetic levitation device and a base, the base is equivalently represented as a spring-damper system on a corresponding mounting fulcrum to obtain an equivalent base system. Among them, the spring-damper system on any mounting fulcrum corresponds to its own structural characteristic parameters, and the number of mounting fulcrums can be determined according to the type of the base.

[0089] Furthermore, the form of the Lagrangian energy equation is expressed according to the following formula:

[0090]

[0091] in, represents generalized force; represents generalized coordinates; is the Lagrangian quantity. The axial dynamic model obtained based on the generalized displacement vector and the Lagrangian energy equation can be expressed according to the following formula:

[0092]

[0093] in, is the system mass matrix, is the system damping matrix, is the system stiffness matrix, and the specific form of the above matrix can be determined according to actual needs. In the axial dynamics model, the generalized displacement vector including the axial displacement of the magnetic suspension device and the base is used, so that the dynamic characteristics of the system including the magnetic suspension device and the base can be described by the axial dynamics model.

[0094] Reference Figure 5 As shown, as an embodiment of the present application, the base resonance characteristic relationship is obtained according to the following method:

[0095] S110. Perform dynamic analysis based on the axial dynamic model to obtain the transfer function of the magnetic levitation device and the base.

[0096] S120. Perform amplitude-frequency analysis based on the transfer function to determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, so as to obtain a relationship formula for the resonance characteristic of the base.

[0097] Specifically, the dynamic equation of the system including the magnetic levitation device and the base can be obtained according to the axial dynamic model. The dynamic equation includes the axial displacement vector of the magnetic levitation device and the base, and describes the specific vibration behavior of the system including the magnetic levitation device and the base when vibration occurs, as well as the coupling relationship between the magnetic levitation device and the base.

[0098] Furthermore, the dynamic equation is Laplace transformed to obtain the system input and system output of the system including the magnetic levitation device and the base during the vibration process. At this time, the transfer function of the magnetic levitation device and the base can be obtained according to the ratio of the system input and the system output. The transfer function describes the frequency response of the system including the magnetic levitation device and the base when it is subjected to an excitation signal.

[0099] Reference Figure 6 , Figure 6 This is a Bode diagram of the transfer function in the embodiment of the present application. As shown in the figure, the frequency response of the system including the magnetic levitation device and the base under the excitation signal of different frequencies can be obtained according to the transfer function. For the system including the magnetic levitation device and the base, the point with the maximum frequency response is the resonance point of the system, and the resonance point corresponds to the resonance frequency and the resonance amplitude.

[0100] Furthermore, an amplitude-frequency analysis is performed based on the transfer function to obtain expressions for the resonance frequency and the resonance amplitude, so as to obtain a base resonance characteristic relationship. The base resonance characteristic relationship includes the base structure characteristic parameters, and describes the relationship between the resonance frequency and the resonance amplitude and the structure characteristic parameters. Based on the resonance frequency and the resonance amplitude, the base structure characteristic parameters can be obtained using the base resonance characteristic relationship.

[0101] As an embodiment of the present application, the structural characteristic parameters include equivalent stiffness and damping; an amplitude-frequency analysis is performed according to the transfer function to determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, so as to obtain a base resonance characteristic relationship, including:

[0102] S122. Solve the extreme value of the transfer function to determine the resonance frequency characteristic relationship between the resonance frequency and the equivalent stiffness and damping.

[0103] S124. Substitute the resonance frequency characteristic relationship into the transfer function to obtain the resonance amplitude characteristic relationship between the resonance amplitude and the equivalent stiffness and damping.

[0104] S126. According to the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship, a base resonance characteristic relationship including equivalent stiffness and damping is obtained.

[0105] Specifically, Figure 6 As shown in the figure, for a system including a magnetic levitation device and a base, the point with the maximum frequency response is the resonance point of the system. Therefore, by solving the extreme value of the transfer function, an expression for the resonance frequency can be obtained as the resonance frequency characteristic relationship. When the structural characteristic parameters include equivalent stiffness and damping, the resonance frequency characteristic relationship includes equivalent stiffness and damping, and describes the relationship between the resonance frequency and the equivalent stiffness and damping.

[0106] It can be understood that at the resonance point, the resonance frequency and the resonance amplitude correspond to each other, so by substituting the resonance frequency characteristic relationship into the transfer function, an expression for the resonance amplitude can be obtained as the resonance amplitude characteristic relationship. In the case where the structural characteristic parameters include equivalent stiffness and damping, the resonance amplitude characteristic relationship includes equivalent stiffness and damping, and describes the relationship between the resonance amplitude and the equivalent stiffness and damping. The resonance frequency characteristic relationship and the resonance amplitude characteristic relationship are combined to obtain the base resonance characteristic relationship.

[0107] As an embodiment of the present application, the base resonance characteristic relationship including equivalent stiffness and damping is expressed according to the following formula:

[0108]

[0109] in, is the resonant frequency; is the resonance amplitude.

[0110] As an embodiment of the present application, the axial dynamics model is expressed according to the following formula:

[0111]

[0112] in, is the generalized displacement vector of the system including the magnetic levitation device and the base,

[0113]

[0114] in, is the axial displacement vector of the base, is the axial displacement vector of the magnetic levitation device; is the system mass matrix, is the system damping matrix, is the system stiffness matrix,

[0115] , ,

[0116] in, is the axial equivalent stiffness of the magnetic levitation equipment; , , , ; is the base mass; is the rotor mass of the magnetic levitation device; is the equivalent stiffness of the base is the damping of the base, Indicates any mounting point.

[0117] Specifically, the dynamic equation can be obtained according to the axial dynamic model, and its form is expressed according to the following formula:

[0118]

[0119] According to the dynamic equation, for a system including a magnetic levitation device and a base, the axial displacement vector of the base is Represents the system input, the axial displacement vector of the magnetic levitation device Represents the system output, so according to the ratio between the two, the transfer function of the magnetic levitation device and the base can be obtained, and its form is expressed according to the following formula:

[0120]

[0121] in, is the Laplace constant.

[0122] Furthermore, using the complex frequency Replacing the Laplace constant in the transfer function , and find the modulus length of the transfer function to obtain the modulus length of the transfer function, which is expressed according to the following formula:

[0123]

[0124] in, is the total equivalent stiffness of the foundation, is the total damping of the base,

[0125]

[0126] According to the above transfer function modulus, the base resonance characteristic relationship including equivalent stiffness and damping can be obtained.

[0127] As an embodiment of the present application, the method further includes:

[0128] S400. Adjust the structural characteristic parameters so that the resonance frequency deviates from the modal frequency of the magnetic levitation device.

[0129] Specifically, after obtaining the structural characteristic parameters of the base, the structural characteristic parameters of the base can be adjusted and optimized according to the difference between the resonant frequency and the operating frequency of the current magnetic levitation device and the relationship between the resonance characteristics of the base, so that the difference between the resonance frequency and the operating frequency exceeds a preset threshold value and meets actual requirements. By adjusting the structural characteristic parameter design of the base, the resonant frequency of the magnetic levitation device deviates from its operating frequency, thereby reducing the damage to the magnetic levitation device itself and the base when it is working, and ensuring the stable operation of the magnetic levitation device.

[0130] Accordingly, please refer to Figure 7The present application provides a device for identifying the structural characteristic parameters of a base, wherein the base is used to install a magnetic suspension device, a displacement sensor is configured on the magnetic suspension device, and an axial dynamic model is pre-established for the magnetic suspension device and the base. The device includes:

[0131] The excitation acquisition module 100 is used to apply an excitation signal to the base and acquire the axial displacement of the magnetic suspension device through a displacement sensor.

[0132] The peak value determination module 200 is used to determine the resonance frequency and resonance amplitude of the magnetic suspension device according to the axial displacement.

[0133] The parameter identification module 300 is used to perform a joint solution based on the resonance frequency, resonance amplitude and the resonance characteristic relationship of the base to obtain the structural characteristic parameters of the base; wherein the resonance characteristic relationship of the base is obtained by system identification based on the axial dynamic model, and the structural characteristic parameters are used to guide the design of the base.

[0134] In some optional embodiments, the structural characteristic parameters include equivalent stiffness and damping, the base resonance characteristic relationship includes a resonance frequency characteristic relationship and a resonance amplitude characteristic relationship, the resonance frequency characteristic relationship is used to describe the relationship between the resonance frequency and the equivalent stiffness and damping, and the resonance amplitude characteristic relationship is used to describe the relationship between the resonance amplitude and the equivalent stiffness and damping; the parameter identification module 300 includes:

[0135] The data substitution unit is used to substitute the resonance frequency into the resonance frequency characteristic relationship, and substitute the resonance amplitude into the resonance amplitude characteristic relationship.

[0136] The simultaneous solving unit is used for performing simultaneous solving based on the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship to obtain the structural characteristic parameters of the base.

[0137] In some optional embodiments, the device further comprises a model building module, comprising:

[0138] The system equivalent unit is used to represent the spring-damper system of the base according to the axial displacement to obtain the equivalent base system.

[0139] The vector establishing unit is used to establish a generalized displacement vector according to the respective axial displacements of the magnetic suspension device and the base.

[0140] The energy analysis unit is used to perform energy analysis on the magnetic suspension device and the equivalent base system according to the generalized displacement vector and based on the Lagrangian energy equation to establish an axial dynamic model.

[0141] In some optional embodiments, the device further includes a characteristic relationship module, including:

[0142] The dynamic analysis unit is used to perform dynamic analysis according to the axial dynamic model to obtain the transfer function of the magnetic suspension device and the base.

[0143] The amplitude-frequency analysis unit is used to perform amplitude-frequency analysis according to the transfer function, determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, so as to obtain the relationship formula of the base resonance characteristic.

[0144] In some optional implementations, the structural characteristic parameters include equivalent stiffness and damping; and the amplitude-frequency analysis unit includes:

[0145] The frequency characteristic subunit is used to solve the extreme value of the transfer function and determine the resonance frequency characteristic relationship between the resonance frequency and the equivalent stiffness and damping.

[0146] The amplitude characteristic subunit is used to substitute the resonance frequency characteristic relationship into the transfer function to obtain the resonance amplitude characteristic relationship between the resonance amplitude and the equivalent stiffness and damping.

[0147] The characteristic relationship subunit is used to obtain a base resonance characteristic relationship including equivalent stiffness and damping according to the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship.

[0148] In some optional embodiments, the base resonance characteristic relationship including equivalent stiffness and damping is expressed according to the following formula:

[0149]

[0150] in, is the resonant frequency; is the resonance amplitude.

[0151] In some optional embodiments, the axial dynamic model is expressed according to the following formula:

[0152]

[0153] in, is the generalized displacement vector of the system including the magnetic levitation device and the base,

[0154]

[0155] in, is the axial displacement vector of the base, is the axial displacement vector of the magnetic levitation device; is the system mass matrix, is the system damping matrix, is the system stiffness matrix,

[0156] , ,

[0157] in, is the axial equivalent stiffness of the magnetic levitation equipment; , , , ; is the base mass; is the rotor mass of the magnetic levitation device; is the equivalent stiffness of the base; is the damping of the base.

[0158] In some optional embodiments, the device further comprises:

[0159] The parameter adjustment module is used to adjust the structural characteristic parameters so that the resonance frequency deviates from the modal frequency of the magnetic suspension device.

[0160] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0161] The base structure characteristic parameter identification device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0162] See also Figure 8 , Figure 8 It is a structural diagram of a computer device provided by an embodiment of the present application. As shown in the figure, the computer device includes: one or more processors 10, a memory 20, and an interface for connecting various components, including a high-speed interface and a low-speed interface. Each component uses different buses to communicate with each other, and can be installed on a common motherboard or installed in other ways as needed. The processor can process instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 8 A processor 10 is taken as an example.

[0163] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0164] The memory 20 stores instructions executable by at least one processor 10, so that at least one processor 10 executes the method shown in the above embodiment.

[0165] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0166] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0167] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0168] The embodiment of the present application also provides a computer-readable storage medium. The above method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0169] The embodiment of the present application provides a computer program product, which includes computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method of any embodiment of the present application.

[0170] Although the embodiments of the present application are described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

[0171] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0172] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing the present application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0173] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0174] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1A device that provides the functions specified in a block or multiple blocks.

[0175] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0176] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0177] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0178] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0179] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

[0180] Although the embodiments of the present application have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for identifying characteristic parameters of a base structure, characterized in that: The base is used to install a magnetic suspension device, a displacement sensor is configured on the magnetic suspension device, and an axial dynamics model is pre-established for the magnetic suspension device and the base; the method comprises: Applying an excitation signal to the base, and collecting the axial displacement of the magnetic levitation device through the displacement sensor; Determining the resonance frequency and the resonance amplitude of the magnetic suspension device according to the axial displacement; The structural characteristic parameters of the base are obtained by performing a joint solution based on the resonant frequency, the resonant amplitude and the resonant characteristic relationship of the base; wherein the resonant characteristic relationship of the base is obtained by performing system identification based on the axial dynamic model, and includes a resonant frequency characteristic relationship and a resonant amplitude characteristic relationship, wherein the resonant frequency characteristic relationship represents the relationship between the resonant frequency of the magnetic levitation device and the structural characteristic parameters of the base, and the resonant amplitude characteristic relationship represents the relationship between the resonant amplitude of the magnetic levitation device and the structural characteristic parameters of the base; the structural characteristic parameters are used to guide the design of the base; specifically, the resonant frequency is substituted into the resonant frequency characteristic relationship, and the resonant amplitude is substituted into the resonant amplitude characteristic relationship; the structural characteristic parameters of the base are obtained by performing a joint solution based on the resonant frequency characteristic relationship and the resonant amplitude characteristic relationship.

2. The method according to claim 1, characterized in that The structural characteristic parameters include equivalent stiffness and damping, the resonance frequency characteristic relationship is used to describe the relationship between the resonance frequency and the equivalent stiffness and damping, and the resonance amplitude characteristic relationship is used to describe the relationship between the resonance amplitude and the equivalent stiffness and damping.

3. The method according to claim 1, characterized in that The axial dynamics model is established in the following manner: According to the axial displacement, the base is represented as a spring-damper system to obtain an equivalent base system; Establishing a generalized displacement vector according to the respective axial displacements of the magnetic levitation device and the base; According to the generalized displacement vector, energy analysis is performed on the magnetic levitation device and the equivalent base system based on the Lagrangian energy equation to establish the axial dynamics model.

4. The method according to claim 3, characterized in that: The base resonance characteristic relationship is obtained according to the following method: Performing dynamic analysis according to the axial dynamic model to obtain a transfer function between the magnetic levitation device and the base; An amplitude-frequency analysis is performed according to the transfer function to determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, so as to obtain the resonance characteristic relationship of the base.

5. The method according to claim 4, characterized in that The structural characteristic parameters include equivalent stiffness and damping; the amplitude-frequency analysis is performed according to the transfer function to determine the relationship between the resonance frequency and the resonance amplitude and the structural characteristic parameters, so as to obtain the resonance characteristic relationship of the base, including: Solving the transfer function for extreme values ​​to determine the resonance frequency characteristic relationship between the resonance frequency and equivalent stiffness and damping; Substituting the resonance frequency characteristic relationship into the transfer function to obtain the resonance amplitude characteristic relationship between the resonance amplitude and the equivalent stiffness and damping; According to the resonance frequency characteristic relationship and the resonance amplitude characteristic relationship, a base resonance characteristic relationship formula including equivalent stiffness and damping is obtained.

6. The method according to claim 5, characterized in that The base resonance characteristic relationship including equivalent stiffness and damping is expressed according to the following formula: in, is the resonant frequency; is the resonance amplitude; is the base mass; is the rotor mass of the magnetic levitation device; is the total equivalent stiffness of the base; is the total damping of the base.

7. The method according to claim 5, characterized in that The axial dynamic model is expressed according to the following formula: in, is the generalized displacement vector of the system including the magnetic levitation device and the base, in, is the axial displacement vector of the base, is the axial displacement vector of the magnetic levitation device; is the system mass matrix, is the system damping matrix, is the system stiffness matrix, ， ， in, is the axial equivalent stiffness of the magnetic levitation equipment; , , , ; is the base mass; is the rotor mass of the magnetic levitation device; is the equivalent stiffness of the base; is the damping of the base.

8. The method according to any one of claims 1 to 7, characterized in that The method further comprises: The structural characteristic parameters are adjusted so that the resonant frequency deviates from the modal frequency of the magnetic levitation device.

9. A device for identifying characteristic parameters of a base structure, characterized in that: The base is used to install a magnetic suspension device, a displacement sensor is configured on the magnetic suspension device, and an axial dynamics model is pre-established for the magnetic suspension device and the base; the device includes: An excitation acquisition module, used for applying an excitation signal to the base, and acquiring the axial displacement of the magnetic suspension device through the displacement sensor; A peak value determination module, used to determine the resonance frequency and resonance amplitude of the magnetic suspension device according to the axial displacement; A parameter identification module is used to perform a joint solution based on the resonant frequency, the resonant amplitude and the resonant characteristic relationship of the base to obtain the structural characteristic parameters of the base; wherein the resonant characteristic relationship of the base is obtained by system identification based on the axial dynamic model, and includes a resonant frequency characteristic relationship and a resonant amplitude characteristic relationship, the resonant frequency characteristic relationship represents the relationship between the resonant frequency of the magnetic levitation device and the structural characteristic parameters of the base, and the resonant amplitude characteristic relationship represents the relationship between the resonant amplitude of the magnetic levitation device and the structural characteristic parameters of the base; the structural characteristic parameters are used to guide the design of the base; specifically, the resonant frequency is substituted into the resonant frequency characteristic relationship, and the resonant amplitude is substituted into the resonant amplitude characteristic relationship; the structural characteristic parameters of the base are obtained by performing a joint solution based on the resonant frequency characteristic relationship and the resonant amplitude characteristic relationship.

10. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method according to any one of claims 1 to 8 by executing the computer instructions.

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