Stage mechanical anti-vibration method based on any acceleration factor

Abstract

The invention discloses a stage machinery anti-vibration method based on any acceleration factor. The stage machinery anti-vibration method comprises the following steps: acquiring a transfer function and a step response of a simplified physical model of a suspension control system; the oscillation period of the system is obtained according to the actual length, the gravitational acceleration and the natural oscillation frequency of the hung rope; the acceleration parameter value condition used by equipment of a driving layer in the whole control system is combed, and the acceleration parameter value condition can be divided into a MODE1 mode and a MODE2 mode; whether the gravitational acceleration is constant or not is judged, and when the gravitational acceleration is constant, the maximum acceleration time of the equipment can be obtained and compared with the oscillation period; when the gravitational acceleration is not constant, the maximum acceleration time of the equipment can be obtained and compared with the oscillation period; and selecting a corresponding mode according to the comparison between the acceleration time and the oscillation period so as to obtain a new system execution speed and further reduce the oscillation of the system. The performance artistic effect of the performance equipment is improved, and the user experience of field audiences is improved.

Description

Technical Field

[0001] The invention relates to the application field of stage mechanical equipment, and in particular to a stage mechanical vibration prevention method based on an arbitrary acceleration factor. Background Art

[0002] The application of stage machinery has been accompanied by the rapid development of high-tech in the cultural industry, enriching the material and cultural level of the people. With the cooperation of mechanical equipment, various stage effects are perfectly presented, allowing more people to enjoy the charm of live performances. In the current stage equipment industry, the competition between various suppliers and manufacturers is becoming more and more fierce with the advancement of technology. Each stage solution provider strives to improve product quality, optimize equipment performance, and reduce production costs. In the current stage equipment industry, the competition between various suppliers and manufacturers is becoming more and more fierce with the advancement of technology. Each stage solution provider strives to improve product quality, optimize equipment performance, and reduce production costs. Generally speaking, stage suspension performance props such as cranes, coercion, single-point suspension, etc. are commonly used equipment in performances. Suspension equipment has a natural vibration characteristic. Especially when its suspension rope is long and the speed is fast, its vibration directly interferes with the artistic effect of the stage performance, and also affects the viewing experience.

[0003] Therefore, how to reduce stage machinery vibration has become an urgent problem to be solved in this field. Summary of the invention

[0004] The object of the present invention is to provide a stage machinery vibration isolation method based on an arbitrary acceleration factor, thereby solving the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A stage machinery vibration isolation method based on an arbitrary acceleration factor comprises the following steps:

[0007] S100, obtaining a transfer function and a step response of a simplified physical model of a suspension control system;

[0008] S200, obtaining the oscillation period of the system according to the actual length of the hanging rope, the gravitational acceleration, and the natural oscillation frequency;

[0009] S300, sorting out the acceleration parameter values ​​used by the devices at the drive layer in the entire control system, and dividing them into MODE1 mode and MODE2 mode;

[0010] S400, determining whether the gravity acceleration is constant. When the gravity acceleration is constant, that is, the MODE1 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period; when the gravity acceleration is not constant, that is, the MODE2 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period;

[0011] S500 , according to the comparison between the acceleration time and the oscillation period, a corresponding mode is selected to obtain a new system execution speed, thereby reducing the oscillation of the system.

[0012] In some specific embodiments, the oscillation period includes: a half oscillation period and a full oscillation period.

[0013] In some specific embodiments, the specific method of step S100 is:

[0014] According to the general dynamic characteristics of the suspension equipment, the transfer function of its simplified physical model is obtained as follows:

[0015]

[0016] Where a is the acceleration, f is the amplitude of the pendulum, g is the acceleration due to gravity, ω n is the natural diagnostic frequency, ξ is the damping ratio of the system, and s is the Laplace transform factor.

[0017] In some specific embodiments, the step response of the system can be obtained according to the transfer function:

[0018]

[0019] In some specific embodiments, the specific method of step S200 is:

[0020] The actual length of the rope hanging on the suspension device is obtained as L, and the gravitational acceleration is known to be g.

[0021] The natural oscillation frequency is:

[0022] The half oscillation period of the system is obtained as:

[0023]

[0024] Then the full oscillation period of the system is TH = 2T half .

[0025] In some specific embodiments, the MODE1 mode and the MODE2 mode are specifically:

[0026]

[0027] In some specific embodiments, the specific method of step S400 is:

[0028] When the acceleration is constant, MODE1 mode, its processing flow is: the constant acceleration value acc of the known system con , then the scene performance needs, set its target speed to V goal , then according to the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: t ec =V goal / acc con ; Let the total acceleration time t ac Compared with the system oscillation period TH;

[0029] When the acceleration changes, that is, it is not constant, MODE2 mode, its processing flow is: according to the design requirements, the system set speed is V set , get the system's changing acceleration as acc cha , and then the live performance needs, relying on the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: tt ac =V set / acc cha ; Let the total acceleration time tt ac Compared with the system oscillation period TH.

[0030] The beneficial effects of the present invention are:

[0031] The present invention discloses a stage machinery vibration prevention method based on an arbitrary acceleration factor, comprising the following steps: obtaining the transfer function and step response of a simplified physical model of a suspension control system; obtaining the oscillation period of the system according to the actual length of the hanging rope, the gravity acceleration, and the natural oscillation frequency; sorting out the acceleration parameter values ​​used by the equipment of the drive layer in the entire control system, which can be divided into MODE1 mode and MODE2 mode; judging whether the gravity acceleration is constant, when the gravity acceleration is constant, that is, MODE1 mode, the maximum acceleration time of the equipment can be obtained and compared with the oscillation period; when the gravity acceleration is not constant, that is, MODE2 mode, the maximum acceleration time of the equipment can be obtained and compared with the oscillation period; according to the comparison of the acceleration time and the oscillation period, the corresponding mode is selected to obtain a new system execution speed, thereby reducing the oscillation of the system. The invention improves the performance art effect of the performing arts equipment and improves the user experience of the audience on site. At the same time, it is simple to apply and easy to promote, adding a strong and stable support to the overall stage machinery control system, and will get better feedback in terms of visual effect and customer use, which improves the promotion performance of the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a flow chart of a stage machinery vibration isolation method based on an arbitrary acceleration factor of the present invention;

[0033] Figure 2 is a flow chart of another embodiment of a stage machinery vibration isolation method based on an arbitrary acceleration factor of the present invention;

[0034] Figure 3 It is a speed-time curve diagram of the present invention with constant acceleration;

[0035] Figure 4 It is a swing angle-time curve diagram when the acceleration is constant and the new speed is obtained in the present invention;

[0036] Figure 5 It is a speed-time curve diagram when the acceleration changes in the present invention;

[0037] Figure 6 It is a swing angle-time curve diagram when the new speed is obtained after the acceleration changes in the present invention. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0039] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 A stage machinery vibration isolation method based on an arbitrary acceleration factor is shown, comprising the following steps:

[0040] S100: Obtain the transfer function and step response of the simplified physical model of the suspension control system.

[0041] S200, obtaining the oscillation period of the system according to the actual length of the hanging rope, the gravitational acceleration, and the natural oscillation frequency.

[0042] S300, sort out the acceleration parameter values ​​used by the devices at the drive layer in the entire control system, and divide them into MODE1 mode and MODE2 mode.

[0043] S400, determining whether the gravity acceleration is constant. When the gravity acceleration is constant, that is, MODE1 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period. When the gravity acceleration is not constant, that is, MODE2 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period.

[0044] S500 , according to the comparison between the acceleration time and the oscillation period, a corresponding mode is selected to obtain a new system execution speed, thereby reducing the oscillation of the system.

[0045] In some specific embodiments, the oscillation period includes: a half oscillation period and a full oscillation period.

[0046] In some specific embodiments, the specific method of step S100 is:

[0047] According to the general dynamic characteristics of the suspension equipment, the transfer function of its simplified physical model is obtained as follows:

[0048]

[0049] Where a is the acceleration, f is the amplitude of the pendulum, g is the acceleration due to gravity, ω n is the natural diagnostic frequency, ξ is the damping ratio of the system, and s is the Laplace transform factor.

[0050] In some specific embodiments, the step response of the system can be obtained according to the transfer function:

[0051]

[0052] In some specific embodiments, the specific method of step S200 is:

[0053] The actual length of the rope hanging on the suspension device is obtained as L, and the gravitational acceleration is known to be g.

[0054] The natural oscillation frequency is:

[0055] The half oscillation period of the system is obtained as:

[0056]

[0057] Then the full oscillation period of the system is TH = 2T half .

[0058] In some specific embodiments, the acceleration parameter values ​​used by the devices at the driving layer in the entire control system are sorted out, and the acceleration parameter values ​​can be divided into two modes, MODE1 mode and MODE2 mode. Specifically,

[0059]

[0060] In some specific embodiments, the specific method of step S400 is:

[0061] When the acceleration is constant, MODE1 mode, its processing flow is: the constant acceleration value acc of the known system con , then the scene performance needs, set its target speed to V goal , then according to the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: t ac =Vgoal / acc con ; Let the total acceleration time t ac Compared with the system oscillation period TH.

[0062] If the acceleration time is less than the oscillation period, case 1 can be used to handle this situation, thereby obtaining the new system execution speed V new_e ; If the acceleration time is greater than the oscillation period, case 3 can be used to handle this situation, thereby obtaining the new system execution speed V new_t ; If the acceleration time is greater than the oscillation period, the joint processing mode can be used to solve this problem, thereby obtaining a new system execution speed V new_et , which gets the new execution speed as For example, when the full oscillation period of the system is TH=8, and the acceleration is constant, the set speed acc con =1m / s 2 , then this step can get the following table 1 judgment, such as Figure 3 The speed changes shown, such as Figure 5 As shown, its oscillation angle changes.

[0063] Table 1 Situations when the acceleration is constant

[0064]

[0065] When the acceleration changes, that is, it is not constant, MODE2 mode, its processing flow is: according to the design requirements, the system set speed is V set , get the system's changing acceleration as acc cha , and then the live performance needs, relying on the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: tt ac =V set / acc cha ; Let the total acceleration time tt ac Compared with the system oscillation period TH.

[0066] If the acceleration time is less than the oscillation period, case 1 can be used to handle this situation, thereby obtaining the new system execution speed V new_er ; If the acceleration time is equal to the oscillation period, case 3 can be used to deal with this situation, so as to obtain the new system execution speed V new_ts ; If the acceleration time is greater than the oscillation period, the combined processing mode of case 4 can be used to solve this situation, thereby obtaining the new system execution speed V new_eot , which gets the new execution speed as For example, when the full oscillation period of the system is TH=8, the acceleration is not constant but changes. The set speed V set =8m / s, then the following table 2 can be obtained from this step, such as Figure 4 The speed changes shown, such as Figure 6 As shown, its oscillation angle changes;

[0067] Table 2 Situations when acceleration changes

[0068]

[0069] After the acceleration numerical mode of the system is determined, it can be processed accordingly according to the above classification to obtain a new system execution speed, thereby reducing the vibration of the system;

[0070] Similarly, when it is in deceleration mode, the above steps can be used for corresponding processing.

[0071] The beneficial effects of the present invention are:

[0072] The present invention discloses a stage machinery vibration prevention method based on an arbitrary acceleration factor, comprising the following steps: obtaining the transfer function and step response of a simplified physical model of a suspension control system; obtaining the oscillation period of the system according to the actual length of the hanging rope, the gravity acceleration, and the natural oscillation frequency; sorting out the acceleration parameter values ​​used by the equipment of the drive layer in the entire control system, which can be divided into MODE1 mode and MODE2 mode; judging whether the gravity acceleration is constant, when the gravity acceleration is constant, that is, MODE1 mode, the maximum acceleration time of the equipment can be obtained and compared with the oscillation period; when the gravity acceleration is not constant, that is, MODE2 mode, the maximum acceleration time of the equipment can be obtained and compared with the oscillation period; according to the comparison of the acceleration time and the oscillation period, the corresponding mode is selected to obtain a new system execution speed, thereby reducing the oscillation of the system. The invention improves the performance art effect of the performing arts equipment and improves the user experience of the audience on site. At the same time, it is simple to apply and easy to promote, adding a strong and stable support to the overall stage machinery control system, and will get better feedback in terms of visual effect and customer use, which improves the promotion performance of the product.

[0073] By adopting the above technical solution disclosed in the present invention, the following beneficial effects are obtained:

[0074] At present, the rapid development of the cultural equipment industry has led to increasingly fierce competition among various suppliers in the stage equipment industry, and each solution provider is striving to improve product quality, optimize equipment performance, and reduce production costs. Usually, in some performances involving stage performance venues, mechanical equipment will be controlled by the operating console of the performance system to perform routine movements of the suspension equipment such as raising, lowering, walking, and stopping. Generally speaking, stage suspension performance props such as cranes, coercion, and single-point suspension are commonly used equipment in performances. Suspension equipment has a natural vibration characteristic, especially when its suspension rope is long and the speed is fast, its vibration directly interferes with the artistic effect of the stage performance, and also affects the viewing experience.

[0075] The present invention can be applied to the control and vibration prevention of stage mechanical equipment. The specific implementation method is: when the acceleration is constant, we obtain the maximum time based on the target speed, and use the relationship between the maximum time and the oscillation time of the vibration system to obtain a new speed mode; when the target speed is constant, we obtain the acceleration time based on the acceleration value, and use the relationship with the oscillation period as above to obtain a new speed mode. The new speed mode can reduce the vibration and sway performance of the suspended mechanical equipment. The implementation of this strategy enhances the performing arts effect of the performing arts equipment and improves the user experience of the audience. At the same time, it is simple to apply and easy to promote, adding a strong and stable support to the overall stage mechanical control system, and will get better feedback in terms of visual effects and customer use, which improves the promotion performance of the product.

[0076] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. A stage machinery vibration isolation method based on an arbitrary acceleration factor, characterized in that: The following steps are involved: S100, obtaining a transfer function and a step response of a simplified physical model of a suspension control system; S200, obtaining the oscillation period of the system according to the actual length of the hanging rope, the gravitational acceleration, and the natural oscillation frequency; S300, sorting out the acceleration parameter values ​​used by the devices at the drive layer in the entire control system, and dividing them into MODE1 mode and MODE2 mode; S400, determining whether the gravity acceleration is constant. When the gravity acceleration is constant, that is, the MODE1 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period. When the gravity acceleration is not constant, that is, the MODE2 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period. S500 , selecting a corresponding mode according to a comparison between the acceleration time and the oscillation period to obtain a new system execution speed, thereby reducing the oscillation of the system.

2. The stage machinery vibration isolation method based on arbitrary acceleration factor according to claim 1, characterized in that: The oscillation period includes: a half oscillation period and a full oscillation period.

3. The stage machinery vibration isolation method based on arbitrary acceleration factor according to claim 2 is characterized in that: The specific method of step S100 is: According to the general dynamic characteristics of the suspension equipment, the transfer function of the simplified physical model is obtained as follows: Where a is the acceleration, f is the amplitude of the pendulum, g is the acceleration due to gravity, ω n is the natural diagnostic frequency, ξ is the damping ratio of the system, and s is the Laplace transform factor.

4. The stage machinery vibration isolation method based on arbitrary acceleration factor according to claim 3 is characterized in that: According to the transfer function, the step response of the system can be obtained as follows:

5. The stage machinery vibration isolation method based on arbitrary acceleration factor according to claim 4 is characterized in that: The specific method of step S200 is: The actual length of the rope hanging on the suspension device is obtained as L, and the gravitational acceleration is known to be g. The natural oscillation frequency is: The half oscillation period of the system obtained is: Then the full oscillation period of the system is TH=2 Thalf .

6. The stage machinery vibration isolation method based on arbitrary acceleration factor according to claim 5, characterized in that: The specifics of the MODE1 mode and the MODE2 mode are:

7. The stage machinery vibration isolation method based on arbitrary acceleration factor according to claim 6, characterized in that: The specific method of step S400 is: When the acceleration is constant, the processing flow of the MODE1 mode is as follows: the constant acceleration value acc of the known system con , then the scene performance needs, set its target speed to V goal , then according to the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: t ac =V goal / acc con ; Let the total acceleration time t ac Compared with the system oscillation period TH; When the acceleration changes, that is, it is not constant, the processing flow of the MODE2 mode is as follows: according to the design requirements, the system setting speed is V set , get the system's changing acceleration as acc cha , and then the live performance needs, depending on the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: tt ac =V set / acc cha ; Let the total acceleration time tt ac Compared with the system oscillation period TH.

Images