Impact load identification method and device, electronic equipment and storage medium

Abstract

The invention relates to an impact load identification method and device, electronic equipment and a storage medium, and belongs to the technical field of mechanical system state monitoring, and the method comprises the steps: obtaining a modal parameter and a vibration mode matrix of target equipment, obtaining an impact acceleration response signal when the target equipment is subjected to the impact action of an impact load, and outputting the impact acceleration response signal; only the impact acceleration response signal needs to be collected, so that the collection of data volume is reduced; further, decomposing the impact acceleration response signal to obtain a plurality of modal accelerations; the impact load is positioned according to the multiple modal accelerations, the modal parameters and the vibration mode matrix, and action position information is obtained; according to the action position information, the time history of the impact load is obtained, due to the fact that the collected data amount is reduced, the calculated amount is also reduced, the calculation time of the action position information and the time history of the impact load is also reduced, and the calculation efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical system status monitoring, and in particular to an impact load identification method, device, electronic equipment and storage medium. Background Art

[0002] During the operation or maintenance phase, structures such as aircraft composite wings, satellite solar honeycomb panels, and wind turbine blades are susceptible to impact from external debris or tool drops, which can damage the functionality and integrity of the structure and seriously threaten operational safety. In the past, impact damage was mostly detected by ground non-destructive testing methods such as manual visual inspection and ultrasonic testing. However, due to the use of a large number of composite materials, structural matrix delamination and debonding caused by impact events are usually difficult to observe directly with the naked eye. Although ultrasonic testing can detect internal damage that cannot be observed by the naked eye, it is time-consuming, labor-intensive, and costly when facing large structures. Therefore, in order to improve the monitoring efficiency and cost of impact events, installing sensors on the structure and indirectly identifying impact events through structural vibration responses (such as strain, acceleration, displacement, etc.) has become the current mainstream method.

[0003] In the existing technology, although great progress has been made in the research on impact load identification methods, there are still some shortcomings. For example: the triangulation method requires the sensor network to capture the first arrival time of the elastic wave, and the sampling frequency is extremely high, which increases the operating burden of the data acquisition and processing equipment; the regularization method identifies the time history of the impact load and requires the establishment of the transfer function matrix of all potential impact positions and measurement points in advance. The model dimension of solving the impact position and time history is huge and the calculation is time-consuming. In addition, in order to improve the ill-posedness of the inverse problem, the regularization method also requires the arrangement of multiple measurement points, and the complex wiring further compresses the available space inside the structure.

[0004] Therefore, it is urgent to propose an impact load identification method, device, electronic device and storage medium to solve the technical problem that the impact load identification method in the prior art requires the arrangement of multiple measuring points and the collection of a large amount of data, which leads to an increase in the calculation amount of the time history of the impact load. Summary of the invention

[0005] In view of this, it is necessary to provide an impact load identification method, device, electronic device and storage medium to solve the technical problem that the impact load identification method in the prior art requires the arrangement of multiple measuring points and the collection of a large amount of data, which increases the amount of calculation of the time history of the impact load.

[0006] In order to solve the above problems, the present invention provides an impact load identification method, comprising: Acquire modal parameters and vibration mode matrix of a target device, and acquire an impact acceleration response signal when the target device is impacted by an impact load; Decomposing the impact acceleration response signal to obtain multiple modal accelerations; Positioning the impact load according to the multiple modal accelerations, the modal parameters and the vibration mode matrix to obtain action position information; The time history of the impact load is obtained according to the action position information.

[0007] In a possible implementation, decomposing the impact acceleration response signal to obtain multiple modal accelerations includes: Decomposing the impact acceleration response signal based on the empirical mode decomposition technology to obtain a plurality of intrinsic mode functions; According to the multiple eigenmode functions, frequency components of multiple stage intervals are obtained; A plurality of low-frequency components of a low-frequency interval are determined according to the frequency components of the plurality of stage intervals, and the plurality of low-frequency components are determined as a plurality of modal accelerations.

[0008] In a possible implementation, the locating the impact load according to the multiple modal accelerations, the modal parameters, and the vibration mode matrix to obtain the action position information includes: Arranging the multiple modal accelerations from low to high according to their natural frequencies to obtain a sorting result of the multiple low-frequency components; Calculating the modal parameters, the sign determination function and the plurality of low-frequency components in the sorting result to obtain an uncorrected vibration shape vector; The impact load is located according to the collinearity between the uncorrected vibration mode vector and the column vector in the vibration mode matrix to obtain the action position information.

[0009] In a possible implementation, the locating the impact load according to the collinearity between the uncorrected vibration mode vector and the column vector in the vibration mode matrix to obtain the action position information includes: Calculate according to the collinearity of the uncorrected vibration shape vector and the column vector in the vibration shape matrix to obtain a plurality of column vectors; When the multiple column vectors satisfy the column full rank condition, the action position information of the impact load is obtained according to the cosine similarity of each column vector.

[0010] In a possible implementation, obtaining the time history of the impact load according to the action position information includes: Get the measured acceleration; Determining the amplitude of the impact load according to the action position information; Calculating according to the Gaussian basis function and the amplitude to obtain the impact acceleration; The measured acceleration and the impact acceleration are optimized based on an optimization objective function to obtain a time history of the impact load.

[0011] In a possible implementation, the optimizing the measured acceleration and the impact acceleration based on the optimization objective function to obtain the time history of the impact load includes: Optimizing and calculating the measured acceleration and the impact acceleration based on the gradient descent method and the optimization objective function to obtain optimal parameters; The time history of the impact load is obtained by performing calculation according to the Gaussian basis function, the optimal parameter and the amplitude.

[0012] In a possible implementation, the optimizing calculation of the measured acceleration and the impact acceleration based on the gradient descent method and the optimization objective function to obtain the optimal parameters includes: Optimizing and calculating the measured acceleration and the impact acceleration based on the gradient descent method and the optimization objective function to obtain a cumulative least squares error; When the accumulated least squares error is less than a preset threshold, it is determined that the gradient descent method is terminated, and the optimal parameters in the optimization objective function are obtained.

[0013] On the other hand, the present invention also provides an impact load identification device, comprising: A signal acquisition module, used to acquire modal parameters and vibration mode matrix of a target device, and to acquire an impact acceleration response signal when the target device is impacted by an impact load; An acceleration decomposition module, used for decomposing the impact acceleration response signal to obtain multiple modal accelerations; A position confirmation module, used to locate the impact load according to the multiple modal accelerations, the modal parameters and the vibration mode matrix to obtain action position information; The history determination module is used to obtain the time history of the impact load according to the action position information.

[0014] On the other hand, an embodiment of the present invention discloses an electronic device, including: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, each step of the above-mentioned impact load identification method embodiment is implemented.

[0015] On the other hand, an embodiment of the present invention discloses a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, each step of the above-mentioned impact load identification method embodiment is implemented.

[0016] The beneficial effects of the present invention are as follows: the modal parameters and vibration mode matrix of the target device are obtained, and when the target device is impacted by the impact load, the impact acceleration response signal is obtained, and only the impact acceleration response signal needs to be collected, thereby reducing the amount of data collected; further, the impact acceleration response signal is decomposed to obtain multiple modal accelerations; the impact load is located according to the multiple modal accelerations, modal parameters and vibration mode matrix to obtain action position information; according to the action position information, the time history of the impact load is obtained, and because the amount of collected data is reduced, the amount of calculation is also reduced, and the calculation time of the action position information and time history of the impact load is also reduced, thereby improving the calculation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic flow chart of an embodiment of the impact load identification method provided by the present invention; Figure 2 A schematic structural diagram of an embodiment of the aluminum alloy cantilever plate model provided by the present invention; Figure 3 A schematic diagram of the structure of an embodiment of the physical parameters of the cantilever plate provided by the present invention; Figure 4 For the present invention Figure 1 A schematic flow chart of an embodiment of step S102; Figure 5 For the present invention Figure 1 A schematic flow chart of an embodiment of step S103; Figure 6 For the present invention Figure 1 A schematic flow chart of an embodiment of step S104; Figure 7 A coordinate schematic diagram of an embodiment of the acceleration response of point 6 on the cantilever plate provided by the present invention; Figure 8 A coordinate schematic diagram of an embodiment of the first four modal acceleration responses after the empirical mode decomposition provided by the present invention; Fig. 9 A coordinate schematic diagram of an embodiment of the impact load positioning result of point 6 of the cantilever plate provided by the present invention; Fig.10 A schematic structural diagram of an embodiment of the impact load identification device provided by the present invention; Fig.11 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION

[0018] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0019] like Figure 1 As shown, a specific embodiment of the present invention discloses an impact load identification method, comprising: S101, obtaining modal parameters and vibration mode matrix of a target device, and obtaining an impact acceleration response signal when the target device is impacted by an impact load; S102, decomposing the impact acceleration response signal to obtain multiple modal accelerations; S103, locating the impact load according to multiple modal accelerations, modal parameters and vibration mode matrices to obtain action position information; S104. Obtain the time history of the impact load according to the action position information.

[0020] It should be understood that: it can be applied to structures such as aircraft composite wings, satellite solar honeycomb panels, and wind turbine blades to detect these devices. During the operation or maintenance stage, structures such as aircraft composite wings, satellite solar honeycomb panels, and wind turbine blades are susceptible to impact from external debris or tool drops, resulting in the destruction of the functionality and integrity of the structure, which seriously threatens operational safety. The embodiments of the present invention can detect these devices and determine the time history of the impact load, so that the staff can perform other processing on these devices according to the time history of the impact load, such as determining the status of the device according to the time history, starting other corresponding auxiliary functions, or analyzing and processing the data of the device according to the time history, etc. The processing process after determining the time history of the impact load can be set accordingly according to different devices, and the embodiments of the present invention are not limited here.

[0021] In a specific embodiment of the present invention, the embodiment of the present invention includes 3 implementation steps: 1) structural modal parameter acquisition, 2) impact load location, 3) impact load time history reconstruction, wherein S101 belongs to step 1, S102 and S103 belong to step 2, and S104 belongs to step 3, wherein step 1 is implemented in the offline preparation stage to obtain the modal parameters and vibration mode matrix of the structure on the target device, and step 2 and step 3 belong to online implementation steps. The target device can be any of the above-mentioned aircraft composite wings, satellite solar honeycomb panels, and wind turbine blades. The structure is a structure arranged on the device. The modal parameters and vibration mode matrix of the structure on each device are set in advance. An acceleration sensor can be set in the structure of the target device, such as Figure 2 As shown in the figure, an aluminum alloy cantilever plate is selected as the test object. The target device is a cantilever plate device, including a base and a cantilever plate. An acceleration sensor is set on the cantilever plate. The force hammer can be used to represent the effect of the impact load. The physical parameters of the cantilever plate are as follows: Figure 3As shown, the coordinate system of the cantilever plate can be established according to the width and height of the cantilever plate. The cantilever plate is 200mm wide, 600mm high and 3mm thick. When the force hammer acts on the inside of the cantilever plate, it indicates that the Z axis is +Z, and when the force hammer acts on the outside of the cantilever plate, it indicates that the Z axis is -Z. The center of the circle in the middle of the square indicates the potential impact point, and the black square indicates the location where the acceleration sensor (i.e., accelerometer) is installed. When the target device is impacted by the impact load, the accelerometer is triggered first, so that the data acquisition system can record the impact acceleration response signal, and then the impact acceleration response signal can be decomposed into multiple modal accelerations, and then the impact load can be located according to the multiple modal accelerations, modal parameters and vibration matrix to obtain the action position information; then the time history of the impact load can be obtained according to the action position information.

[0022] Compared with the prior art, the present embodiment provides a method for obtaining the modal parameters and vibration mode matrix of a target device. When the target device is subjected to the impact of an impact load, an impact acceleration response signal is obtained. Only the impact acceleration response signal needs to be collected, thereby reducing the amount of data collected. Further, the impact acceleration response signal is decomposed to obtain a plurality of modal accelerations. The impact load is located according to the plurality of modal accelerations, modal parameters and vibration mode matrix to obtain action position information. According to the action position information, a time history of the impact load is obtained. Since the amount of collected data is reduced, the amount of calculation is also reduced, and the calculation time of the action position information and the time history of the impact load is also reduced, thereby improving the calculation efficiency.

[0023] In some embodiments of the present invention, Figure 4 As shown, step S102 includes: S401, decomposing the impact acceleration response signal based on the empirical mode decomposition technology to obtain multiple intrinsic mode functions; S402, obtaining frequency components of multiple stage intervals according to multiple intrinsic mode functions; S403: Determine a plurality of low-frequency components in a low-frequency interval according to the frequency components of the plurality of stage intervals, and determine the plurality of low-frequency components as a plurality of modal accelerations.

[0024] In a specific embodiment of the present invention, the impact acceleration response signal measured by empirical mode decomposition is a pq (t) It can be expressed as m IMF and residual terms r(t) The sum of is shown in formula (1): (1) In the formula, Expressed as r The first eigenmode function orr The order modal acceleration response, where m can be set according to the actual situation, for example, it can be set to 18 IMF components (i.e. 18 intrinsic mode functions), t Expressed as time, The expression of is shown in formula (2): (2) In the formula, It can be expressed as the time history of unit impact load (its maximum value is set to 1), or as a half-cosine function. The specific setting can be made according to the actual situation. Represents the value assigned to the impact load. Represented as a mode matrix Φ Middle r The lateral amount of the order, Represented as a mode matrix Φ Middle r Column vector of order; Represents the convolution operation; Indicates the modal coordinates r The second derivative impulse response function of order.

[0025] By performing empirical mode decomposition (EMD decomposition) on the same-year sequence, multiple intrinsic mode functions and residuals can be obtained according to formula (2). EMD decomposition is performed to sequentially decompose components from high frequency to low frequency. Among them, from high frequency to low frequency, it can be divided into multiple stage intervals, such as the first stage interval, the second stage interval, etc. Each stage interval has a corresponding frequency component. In order to improve the accuracy of detection, the low-frequency interval can be determined from these multiple stage intervals, so that the frequency components in the low-frequency interval can be determined as low-frequency components. In the low-frequency interval, the impact load can be determined by the amplitude of The impulse function of ,in, Expressed as an impulse function, the low-frequency component can be expressed as shown in formula (3): (3) Then, multiple low-frequency components can be determined by formula (3), because the frequency components include low-frequency components and high-frequency components. Now that the number of low-frequency components is determined to be N, the number of high-frequency components can be obtained by subtracting N low-frequency components from m intrinsic mode functions. The acceleration response signal in formula (1) is It can be further expressed as formula (4): (4) The multiple low frequency components can be determined as multiple modal accelerations.

[0026] In some embodiments of the present invention, Figure 5As shown, step S103 includes: S501, arranging the natural frequencies of multiple modal accelerations from low to high to obtain a sorting result of multiple low-frequency components; S502, calculating the modal parameters, the sign determination function and multiple low-frequency components in the sorting results to obtain an uncorrected vibration shape vector; S503 , locating the impact load according to the collinearity of the uncorrected vibration mode vector and the column vector in the vibration mode matrix to obtain the action position information.

[0027] In a specific embodiment of the present invention, multiple modal accelerations may be processed by bandpass filtering first, and then the multiple modal acceleration responses after bandpass filtering may be arranged from low to high according to the natural frequency, and the low-frequency component thereof may be further described as shown in formula (5): (5) In the formula, is defined as the uncorrected mode shape vector, It is a time function related to the measurement point and the system modal parameters; Represents the value assigned to the impact load.

[0028] Let the number of sampling points be n s , the sampling interval is Δt ,but The expression of can be combined with formula (3) and formula (5) to obtain formula (6): (6) In the formula, θ r represents the angle of the uncorrected vibration mode vector; Λ(θ r ) is the symbol determination function, which is shown in formula (7): (7) The uncorrected vibration shape vector can be calculated by the above formula: ϒ(q) .

[0029] In some embodiments of the present invention, step S503 includes: Calculate according to the collinearity of the uncorrected vibration shape vector and the column vector in the vibration shape matrix to obtain multiple column vectors; When multiple column vectors satisfy the column full rank condition, the action position information of the impact load is obtained according to the cosine similarity of each column vector.

[0030] In a specific embodiment of the present invention, the front of all potential impact positions on the structure is N The vibration mode matrix composed of the order vibration modes is Φ, and can be expressed as shown in formula (8): (8) The uncorrected vibration mode vector can then be And the vibration matrix of formula (8) Φ By calculating the matrix on the left side of , we can get multiple column vectors on the right side of formula (8). Among them, each column vector is linearly independent. The cosine similarity of multiple column vectors that meet the column full rank condition is calculated, and the position with similar cosine similarity is determined as the action position, so that the action position information of the impact load can be obtained.

[0031] In some embodiments of the present invention, Figure 6 As shown, step S104 includes: S601, obtaining the measured acceleration; S602, determining the amplitude of the impact load according to the action position information; S603, calculating according to the Gaussian basis function and the amplitude to obtain the impact acceleration; S604: Optimize the measured acceleration and the impact acceleration based on the optimization objective function to obtain the time history of the impact load.

[0032] In a specific embodiment of the present invention, the actual acceleration can be measured by an acceleration sensor, and the time history of the impact load can be estimated by a Gaussian function as shown in formula (9): (9) In the formula, μ and σ They represent the time coordinate corresponding to the maximum value of the Gaussian function and the variance of the Gaussian function respectively.

[0033] The amplitude of the impact load can be estimated by formula (10) after the impact load action position information is determined. Formula (10) is: (10) Once the amplitude of the impact load is determined, the problem of reconstructing the time history of the impact load is transformed into solving the Gaussian basis function Optimal parameters μ and σ The optimization problem can then be solved by calculating the impact acceleration through the Gaussian basis function and the amplitude. Then, the measured acceleration and the impact acceleration are iteratively optimized through the set optimization objective function, and the time history of the impact load can be obtained.

[0034] It should be noted that, in order to optimize the parameters, iterative optimization may be performed using a gradient descent method. In some embodiments of the present invention, step S604 includes: Based on the gradient descent method and the optimization objective function, the measured acceleration and impact acceleration are optimized and calculated to obtain the optimal parameters; The time history of the impact load is obtained by calculation based on the Gaussian basis function, optimal parameters and amplitude.

[0035] In some embodiments of the present invention, the measured acceleration and the impact acceleration are optimized and calculated based on the gradient descent method and the optimization objective function to obtain the optimal parameters, including: Based on the gradient descent method and the optimization objective function, the measured acceleration and impact acceleration are optimized and calculated to obtain the cumulative least squares error; When the cumulative least squares error is less than a preset threshold, the gradient descent method is determined to be finished, and the optimal parameters in the optimization objective function are obtained.

[0036] In a specific embodiment of the present invention, the optimization objective function is shown in formula (11): (11) In the formula, and denote the measured acceleration response sequence and acceleration response sequence respectively; and The measured acceleration response sequence and the calculated acceleration response sequence are respectively i sampling points; is the loss function, which represents the cumulative least squares error between the measured acceleration response and the calculated acceleration response.

[0037] In the process of iterating through the gradient descent method (i.e., the two-dimensional gradient descent method), the cumulative least squares error obtained each time can be judged. When the cumulative least squares error is less than the preset threshold, the iteration process ends and the optimal parameters in the optimization objective function are output. μ and σ The preset threshold value may be set according to actual conditions, and the embodiment of the present invention does not limit this. Specifically, according to the time distribution characteristics of the impact load, σ The fitting domain of τ is empirically divided and discretized, and its value range is set to 0 to 1×10-3, the initial value is set to 5×10-4, and the interval is set to 1×10-5. The fitting domain of the variable τ is limited to [ t 0 , t c ], the initial value is set to (t0+ t c ) / 2, and Δt is discretized into intervals. t c express The time instant corresponding to the maximum absolute value; t0 represents the instant when the impact event occurs, which is approximately set by the threshold method to the instant when the acceleration response measurement value reaches 5% of its absolute maximum value. Loss function L(μ,σ) (Right now Γ (μ,σ) ) at any iteration step The gradient under can be solved according to formula (12): (12) In formula (12), w It can be expressed as The parameters updated in the next iteration can be expressed as formula (13): (13) In the formula, is the step length of the gradient descent, which is set to 0.01 based on experience in the embodiment of the present invention. In addition, the preset threshold for stopping iteration is set to 1×10 -6 .

[0038] Furthermore, the Gaussian basis function, optimal parameters and amplitude can be substituted into formula (9) for calculation, and the time history of the impact load can be obtained. The time history of the impact load can also be tested by evaluating the peak relative error (PRE) and relative error (RE) two evaluation indicators.

[0039] Further, such as Figure 2 and Figure 3 As shown, in the experiment, the cantilever plate surface is divided into 12 areas, where the center of each area is assumed to be a potential impact load point. In order to clearly distinguish the potential impact points, all points are numbered in the order of 1-12. In the experiment, the impact load is generated by a hammer of model INV9311 hitting the plate surface, where a force sensor with a sensitivity of 10mv / N is installed at the front end of the hammer to measure the time history of the impact load; the acceleration signal of the lateral vibration of the cantilever plate is measured by a piezoelectric accelerometer of model PCB365A03, whose sensitivity is 10mv / g; the impact load signal generated by the hammer and the acceleration signal measured by the accelerometer are synchronously collected by the NI Compact-DAQ acquisition system at a sampling frequency of 5kHz; According to the modal analysis results, combined with the vibration matrix Φ The column full rank condition determines that the value range of N is N ≥ 4, that is, the impact load positioning can be achieved by using empirical mode decomposition to obtain the first 4 modal acceleration responses of the plate. Figure 7 As shown, Figure 7The acceleration response of the measuring point when point 6 on the cantilever plate is subjected to an impact load perpendicular to the plate surface is described. The x-axis is time and the y-axis is acceleration. The acceleration signal is decomposed using empirical mode decomposition to obtain the first four modal acceleration response signals of the plate. After bandpass filtering, the frequency principal component of each signal corresponds to the natural frequency of the plate. The first four modal acceleration responses after empirical mode decomposition are shown in Figure 1. Figure 8 As shown, the x-axis is time and the y-axis is acceleration. Figure 8 It can be seen that the distribution laws of the decomposed modal acceleration responses on the time coordinate are consistent with the theoretical formula.

[0040] After the modal acceleration response is obtained, the modal acceleration impulse response function is calculated based on the modal analysis results. By substituting the modal acceleration impulse response function and the vibration shape of the measuring point into formula (5), the time function is obtained. , and then substitute it into formula (6), the uncorrected vibration mode vector can be calculated Finally, by calculating the uncorrected vibration mode vector and mode matrix Φ The collinearity of column vectors gives the impact load location result (i.e., action position information), such as Fig. 9 As shown, the x-axis is the potential impact point, and the y-axis is the cosine similarity. Fig. 9 It can be seen that the uncorrected vibration mode vector and mode matrix Φ The cosine similarity of the sixth column is the largest, indicating that the impact load is accurately located. Fig. 9 It can also be seen that the values ​​of cosine similarity are approximately symmetrically distributed on the coordinate axis, which is because the vibration mode of the plate is symmetrical. In actual engineering applications, in order to further improve the accuracy of the impact load positioning results, the vibration mode matrix can be appropriately increased. Φ The order of the middle vibration mode.

[0041] The embodiment of the present invention utilizes a new method for shock load identification based on modal acceleration response, which can accurately and efficiently identify shock loads with only the measurement data of a single acceleration sensor. After the position information of the shock load is obtained, the Gaussian basis function is used to approximate the time history of the unknown shock load, and the inverse problem of load reconstruction is transformed into an optimization problem for solving the optimal parameters of the basis function. The unknown parameters are quickly iterated and solved using the gradient descent method, and the entire process takes only 7 seconds on average. Under the premise of using only one acceleration sensor, the shock positioning success rate of the embodiment of the present invention is 100%, and the PRE and RE indicators of the reconstruction results are lower than 10% and 40%, respectively.

[0042] In order to better implement the impact load identification method in the embodiment of the present invention, based on the impact load identification method, the embodiment of the present invention also provides an impact load identification device, such as Fig.10 As shown, the impact load identification device 1000 includes: The signal acquisition module 1001 is used to acquire the modal parameters and vibration mode matrix of the target device, and acquire the impact acceleration response signal when the target device is impacted by the impact load; The acceleration decomposition module 1002 is used to decompose the impact acceleration response signal to obtain multiple modal accelerations; The position confirmation module 1003 is used to locate the impact load according to multiple modal accelerations, modal parameters and vibration mode matrices to obtain action position information; The history determination module 1004 is used to obtain the time history of the impact load according to the action position information.

[0043] The impact load identification device 1000 provided in the above embodiment can implement the technical solution described in the above impact load identification method embodiment. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above impact load identification method embodiment, which will not be repeated here.

[0044] like Fig.11 As shown, the present invention also provides an electronic device 1100. The electronic device 1100 includes a processor 1101, a memory 1102 and a display 1103. Fig.11 Only some components of the electronic device 1100 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0045] In some embodiments, the memory 1102 may be an internal storage unit of the electronic device 1100, such as a hard disk or memory of the electronic device 1100. In other embodiments, the memory 1102 may also be an external storage device of the electronic device 1100, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the electronic device 1100.

[0046] Furthermore, the memory 1102 may include both an internal storage unit of the electronic device 1100 and an external storage device. The memory 1102 is used to store application software installed in the electronic device 1100 and various data.

[0047] In some embodiments, the processor 1101 may be a central processing unit (CPU), a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 1102, such as the impact load identification method of the present invention.

[0048] In some embodiments, the display 1103 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 1103 is used to display information of the electronic device 1100 and to display a visual user interface. The components 1101-1103 of the electronic device 1100 communicate with each other via a system bus.

[0049] In some embodiments of the present invention, when the processor 1101 executes the impact load identification program in the memory 1102, the following steps may be implemented: Obtain the modal parameters and vibration mode matrix of the target device, and when the target device is impacted by the impact load, obtain the impact acceleration response signal; Decompose the impact acceleration response signal to obtain multiple modal accelerations; The impact load is located according to multiple modal accelerations, modal parameters and vibration mode matrices to obtain the action position information; According to the action position information, the time history of the impact load is obtained.

[0050] It should be understood that: when the processor 1101 executes the impact load identification program in the memory 1102 , in addition to the above functions, other functions may also be implemented, and details may refer to the description of the corresponding method embodiments above.

[0051] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 1100 mentioned, and the electronic device 1100 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 1100 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0052] Accordingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, the impact load identification method steps or functions provided in the above-mentioned method embodiments can be implemented.

[0053] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware (such as a processor, a controller, etc.) through a computer program, and the computer program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0054] The impact load identification method and device provided by the present invention are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for identifying an impact load, characterized in that: include: Acquire modal parameters and vibration mode matrix of a target device, and acquire an impact acceleration response signal when the target device is impacted by an impact load; Decomposing the impact acceleration response signal to obtain multiple modal accelerations; Positioning the impact load according to the multiple modal accelerations, the modal parameters and the vibration mode matrix to obtain action position information; The time history of the impact load is obtained according to the action position information.

2. The impact load identification method according to claim 1, characterized in that: Decomposing the impact acceleration response signal to obtain multiple modal accelerations includes: Decomposing the impact acceleration response signal based on the empirical mode decomposition technology to obtain a plurality of intrinsic mode functions; According to the multiple eigenmode functions, frequency components of multiple stage intervals are obtained; A plurality of low-frequency components of a low-frequency interval are determined according to the frequency components of the plurality of stage intervals, and the plurality of low-frequency components are determined as a plurality of modal accelerations.

3. The impact load identification method according to claim 2, characterized in that: The step of locating the impact load according to the multiple modal accelerations, the modal parameters and the vibration mode matrix to obtain action position information includes: Arranging the multiple modal accelerations from low to high according to their natural frequencies to obtain a sorting result of the multiple low-frequency components; Calculating the modal parameters, the sign determination function and the plurality of low-frequency components in the sorting result to obtain an uncorrected vibration shape vector; The impact load is located according to the collinearity between the uncorrected vibration mode vector and the column vector in the vibration mode matrix to obtain the action position information.

4. The impact load identification method according to claim 1, characterized in that: The step of locating the impact load according to the collinearity between the uncorrected vibration mode vector and the column vector in the vibration mode matrix to obtain the action position information includes: Calculate according to the collinearity of the uncorrected vibration shape vector and the column vector in the vibration shape matrix to obtain a plurality of column vectors; When the multiple column vectors satisfy the column full rank condition, the action position information of the impact load is obtained according to the cosine similarity of each column vector.

5. The impact load identification method according to claim 1, characterized in that: The step of obtaining the time history of the impact load according to the action position information comprises: Get the measured acceleration; Determining the amplitude of the impact load according to the action position information; Calculating according to the Gaussian basis function and the amplitude to obtain the impact acceleration; The measured acceleration and the impact acceleration are optimized based on an optimization objective function to obtain a time history of the impact load.

6. The impact load identification method according to claim 5, characterized in that: The step of optimizing the measured acceleration and the impact acceleration based on the optimization objective function to obtain the time history of the impact load includes: Optimizing and calculating the measured acceleration and the impact acceleration based on the gradient descent method and the optimization objective function to obtain optimal parameters; The time history of the impact load is obtained by performing calculation according to the Gaussian basis function, the optimal parameter and the amplitude.

7. The impact load identification method according to claim 6, characterized in that: The step of optimizing and calculating the measured acceleration and the impact acceleration based on the gradient descent method and the optimization objective function to obtain the optimal parameters includes: Optimizing and calculating the measured acceleration and the impact acceleration based on the gradient descent method and the optimization objective function to obtain a cumulative least squares error; When the accumulated least squares error is less than a preset threshold, it is determined that the gradient descent method is terminated, and the optimal parameters in the optimization objective function are obtained.

8. An impact load identification device, characterized in that: include: A signal acquisition module, used to acquire modal parameters and vibration mode matrix of a target device, and to acquire an impact acceleration response signal when the target device is impacted by an impact load; An acceleration decomposition module, used for decomposing the impact acceleration response signal to obtain multiple modal accelerations; A position confirmation module, used to locate the impact load according to the multiple modal accelerations, the modal parameters and the vibration mode matrix to obtain action position information; The history determination module is used to obtain the time history of the impact load according to the action position information.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the impact load identification method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the impact load identification method according to any one of claims 1 to 7 are implemented.

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