Stage mechanical vibration isolation method based on arbitrary acceleration factor

Abstract

The application discloses a stage machinery anti-vibration method based on an arbitrary acceleration factor, and comprises the following steps: obtaining a transfer function and a step response of a simplified physical model of a suspension control system; obtaining an oscillation period of the system according to an actual length of a hanging rope, a gravitational acceleration and a natural oscillation frequency; combing acceleration parameter values used by equipment in a driving layer in the whole control system, the acceleration parameter values can be divided into a MODE1 mode and a MODE2 mode; judging whether the gravitational acceleration is constant; when the gravitational acceleration is constant, the maximum acceleration time of the equipment is obtained and compared with the oscillation period; when the gravitational acceleration is not constant, the maximum acceleration time of the equipment is obtained and compared with the oscillation period; according to the comparison between the acceleration time and the oscillation period, a corresponding mode is selected to obtain a new system execution speed, and then the swing of the system is reduced. The application improves the performance art effect of the performance equipment and improves the user experience of on-site audiences.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of stage machinery applications, and particularly relates to a stage machinery anti-vibration method based on an arbitrary acceleration factor. BACKGROUND

[0002] Stage machinery applications have enriched people's material and cultural levels with the rapid development of high-tech cultural industries. With the cooperation of mechanical equipment, various stage effects are perfectly presented, allowing more people to enjoy the charm of live performances. The competition between various suppliers in the current stage equipment industry is becoming increasingly fierce with the progress of technology. Each stage solution supplier strives to improve product quality, optimize equipment performance, and reduce production costs. The competition between various suppliers in the current stage equipment industry is becoming increasingly fierce with the progress of technology, and each stage solution supplier strives to improve product quality, optimize equipment performance, and reduce production costs. Generally, stage suspension performance props such as cranes, weights, and single-point hangers are commonly used equipment in performances. Suspended equipment has natural vibration characteristics, especially when the suspension ropes are long and fast, the vibration directly interferes with the artistic effect of the stage performance and also affects the visual experience.

[0003] Therefore, how to reduce stage machinery vibration has become a problem to be solved in the field. SUMMARY

[0004] The present application aims to provide a stage machinery anti-vibration method based on an arbitrary acceleration factor, thereby solving the aforementioned problems in the prior art.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present application is as follows:

[0006] A stage machinery anti-vibration method based on an arbitrary acceleration factor, comprising the following steps:

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

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

[0009] S300, sorting out the acceleration parameter value situation used by the equipment in the driving layer of the entire control system, which can be divided into MODE1 mode and MODE2 mode;

[0010] S400, determining whether the gravitational acceleration is constant. When the gravitational acceleration is constant, that is, in MODE 1, the maximum acceleration time of the device can be obtained and compared with the oscillation period. When the gravitational acceleration is not constant, that is, in MODE 2, the maximum acceleration time of the device can be obtained and compared with the oscillation period.

[0011] S500 : Select a corresponding mode based on the comparison between the acceleration time and the oscillation period to obtain a new system execution speed, thereby reducing the system oscillation.

[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 L, and the acceleration due to gravity 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 acceleration as acc cha , then the live performance requirements, 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.

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

[0031] The present invention discloses a stage machinery vibration isolation method based on an arbitrary acceleration factor. The method comprises the following steps: obtaining the transfer function and step response of a simplified physical model of the suspension control system; obtaining the system's oscillation period based on the actual length of the suspended rope, the gravitational acceleration, and the natural oscillation frequency; sorting the acceleration parameter values ​​used by the devices in the drive layer of the entire control system, which can be divided into MODE1 and MODE2 modes; determining whether the gravitational acceleration is constant. When the gravitational acceleration is constant, i.e., MODE1, the maximum acceleration time of the device is obtained and compared with the oscillation period; when the gravitational acceleration is not constant, i.e., MODE2, the maximum acceleration time of the device is obtained and compared with the oscillation period; selecting the corresponding mode based on the comparison between the acceleration time and the oscillation period to obtain a new system execution speed, thereby reducing system vibration. This invention enhances the performance of performing arts equipment and improves the user experience of live audiences. It is also simple to apply and easy to promote, adding strong and stable support to the overall stage machinery control system, and will receive good feedback in terms of visual effects and customer use, thus enhancing the product's promotional performance. BRIEF DESCRIPTION OF THE DRAWINGS

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

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

[0035] Figure 4 The present invention is a swing angle-time curve diagram when obtaining a new speed when the acceleration is constant;

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

[0037] Figure 6 This 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 solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended 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: Obtain the oscillation period of the system according to the actual length of the hanging rope, the acceleration of gravity, and the natural oscillation frequency.

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

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

[0044] S500 : Select a corresponding mode based on the comparison between the acceleration time and the oscillation period to obtain a new system execution speed, thereby reducing the system oscillation.

[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 L, and the acceleration due to gravity 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 in the driving layer of the entire control system can be sorted out and divided into two modes, MODE1 and MODE2. 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 the 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 the following table 1 can be obtained from this step, 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 acceleration as acc cha , then the live performance requirements, 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.

[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 handle this situation, thereby obtaining 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 problem, 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, and 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 pattern 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 system vibration;

[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 isolation method based on an arbitrary acceleration factor. The method comprises the following steps: obtaining the transfer function and step response of a simplified physical model of the suspension control system; obtaining the system's oscillation period based on the actual length of the suspended rope, the gravitational acceleration, and the natural oscillation frequency; sorting the acceleration parameter values ​​used by the devices in the drive layer of the entire control system, which can be divided into MODE1 and MODE2 modes; determining whether the gravitational acceleration is constant. When the gravitational acceleration is constant, i.e., MODE1, the maximum acceleration time of the device is obtained and compared with the oscillation period; when the gravitational acceleration is not constant, i.e., MODE2, the maximum acceleration time of the device is obtained and compared with the oscillation period; selecting the corresponding mode based on the comparison between the acceleration time and the oscillation period to obtain a new system execution speed, thereby reducing system vibration. This invention enhances the performance of performing arts equipment and improves the user experience of live audiences. It is also simple to apply and easy to promote, adding strong and stable support to the overall stage machinery control system, and will receive good feedback in terms of visual effects and customer use, thus enhancing the product's promotional performance.

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

[0074] The rapid development of the cultural equipment industry has led to increasingly fierce competition among stage equipment suppliers. Each solution provider is striving to improve product quality, optimize equipment performance, and reduce production costs. Typically, in performances involving stage performance venues, mechanical equipment is controlled by a console in the performance system, performing the routine movements of the suspended equipment, such as raising, lowering, moving, and stopping. Generally speaking, stage props such as cranes, rigs, and single-point rigs are commonly used in performances. Suspension equipment has a natural vibration characteristic, especially when the suspension ropes are long and moving at high speeds. This 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 isolation 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 pattern; 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 pattern. The new speed pattern can reduce the vibration and sway performance of the suspended mechanical equipment. The implementation of this strategy enhances the performance 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 mechanical control system, and will obtain good feedback in terms of visual effects and customer use, thereby improving 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 principles of the present invention. These improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A stage machinery vibration isolation method based on arbitrary acceleration factors, 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, acceleration, and natural oscillation frequency of the hanging rope; S300, sorting out the acceleration parameter values ​​used by the devices in the drive layer of the entire control system and dividing them into MODE1 and MODE2; S400, determining whether the acceleration is constant. When the acceleration is constant, that is, the MODE 1 mode, the maximum acceleration time of the device may be obtained and compared with the oscillation period; When the acceleration is not constant, that is, in the MODE2 mode, the maximum acceleration time of the device can be obtained and compared with the oscillation period; S500, based on the comparison of the acceleration time and the oscillation period, select the corresponding mode to obtain a new system execution speed, thereby reducing the system's oscillation; The oscillation period includes: a half oscillation period and a full oscillation period; the specific method of step S100 is: According to the general dynamic characteristics of the suspension equipment, the transfer function of its simplified physical model is obtained as follows: ， in (s) is acceleration, is the amplitude of the oscillation, is the natural diagnostic frequency, is the damping ratio of the system, is the Laplace transform factor; According to the transfer function, the step response of the system can be obtained as follows: ; The specific method of step S200 is: The actual length of the rope hanging on the suspension equipment is , the acceleration due to gravity is known to be , The natural oscillation frequency is: , The half oscillation period of the system is obtained as: ， Then the full oscillation period of the system is ; The details of the MODE1 mode and the MODE2 mode are: ; 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 of the known system , then the live performance needs, set its target speed to , then according to the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: ; Let the total acceleration time and the system oscillation period compared to; 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 set speed of the system is obtained as , get the system's acceleration as , then the live performance requirements, depending on the mathematical relationship between speed and acceleration, the maximum acceleration time can be obtained as: ; Let the total acceleration time and the system oscillation period compared to.

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