Active vibration isolation control law design method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of vibration isolation, and particularly discloses an active vibration isolation control law design method and device, electronic equipment and a storage medium, and the method comprises the steps: constructing a kinetic model of an active and passive composite vibration isolation system associated with a controlled object, and according to target parameters of the active and passive composite vibration isolation system, constructing a dynamic model of the active and passive composite vibration isolation system; determining a theoretical transfer function of the kinetic model; and in combination with the selected active vibration isolation control strategy and the theoretical transfer function, simulating the dynamic model to obtain simulation results corresponding to different active vibration isolation control laws, and determining an optimal active vibration isolation control law of the controlled object according to all the simulation results and vibration isolation limiting conditions of the controlled object. According to the method, the active vibration isolation control law of the controlled object is designed, so that the controlled object has relatively high vibration isolation efficiency and relatively high anti-interference capability.

Description

Background Art

[0002] The components commonly used in traditional passive vibration isolation methods include metal mechanical springs, rubber elements, and air springs, which mainly have good vibration isolation performance in the high-frequency band, while the low-frequency vibration isolation capability is limited due to the inherent characteristics of the system. Compared with passive vibration isolation, active vibration isolation is a method of isolating vibration transmission to the vibration isolation object through the action of an actuator. In order to further improve the vibration isolation performance, especially the low-frequency (0-10Hz) vibration isolation performance, the active vibration isolation method has become an important means to solve the vibration control problem.

[0003] The active vibration isolation system consists of sensors, controllers and actuators. The controller is responsible for processing sensor signals and outputting actuator drive signals. Therefore, the controller performance, especially the control law, has become an important factor in determining the active vibration isolation effect. The existing control laws mainly include: PID control, optimal control, adaptive filtering control, robust control and intelligent control. PID control does not require a precise mathematical model. Its algorithm is simple and reliable. It has developed into the most mature and widely used control algorithm.

[0004] As the requirements for vibration isolation performance continue to increase, higher requirements are placed on the accuracy and effectiveness of PID control algorithms. Traditional PID control law design mainly relies on experience and theoretical derivation of the system. However, with the increase in system complexity and the superposition of nonlinear factors, experience and theoretical derivation are difficult to meet performance requirements. At the same time, in order to improve the efficiency of algorithm vibration isolation, fuzzy control, neural networks, etc. suitable for nonlinear, time-varying, and hysteresis systems are often introduced on the basis of the PID algorithm to form a composite control strategy, which has a direct impact on the robustness of the control system and poses a great challenge to the traditional control law design method. In addition, in some debugging scenarios that are prone to destructive effects, the traditional control law design method will face greater risks.

[0005] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a method, device, electronic device and storage medium for designing an active vibration isolation control law.

[0007] In a first aspect, the present invention provides a method for designing an active vibration isolation control law, and the technical solution of the method is as follows:

[0008] Constructing a dynamic model of an active-passive composite vibration isolation system associated with a controlled object, and determining a theoretical transfer function of the dynamic model according to target parameters of the active-passive composite vibration isolation system;

[0009] The dynamic model is simulated in combination with the selected active vibration isolation control strategy and the theoretical transfer function to obtain simulation results corresponding to different active vibration isolation control laws, and the optimal active vibration isolation control law of the controlled object is determined based on all simulation results and the vibration isolation constraint conditions of the controlled object.

[0010] The beneficial effects of the active vibration isolation control law design method of the present invention are as follows:

[0011] The method of the present invention can make the controlled object have stronger vibration isolation efficiency and stronger anti-interference ability by designing the active vibration isolation control law of the controlled object.

[0012] On the basis of the above scheme, the active vibration isolation control law design method of the present invention can also be improved as follows.

[0013] In an optional manner, the active-passive composite vibration isolation system includes: an active vibration isolation system and a passive vibration isolation system;

[0014] When the controlled object is a new radar optical cabinet, the active vibration isolation system includes: an electromagnetic actuator, a power amplifier, a controller, a sensor and a low-noise cable; the passive vibration isolation system includes: a damper and a main spring.

[0015] In an optional manner, the active vibration isolation control strategy is a control strategy of common feedback of velocity and acceleration.

[0016] In an optional manner, the different active vibration isolation control laws include: a first active vibration isolation control law formed by a PID algorithm, and a second active vibration isolation control law formed by a combination of a fuzzy control algorithm and a PID algorithm.

[0017] In an optional manner, the vibration isolation limit conditions are: the overshoot of the active and passive composite vibration isolation system is less than a first threshold, the steady-state time is less than a second threshold, the vibration isolation rate is greater than a third threshold, the maximum voltage of the actuator is less than a fourth threshold, and the maximum output voltage of the controller is less than a fifth threshold.

[0018] In a second aspect, the present invention provides an active vibration isolation control law design device, the technical solution of the device is as follows:

[0019] Includes: building modules and design modules;

[0020] The construction module is used to: construct a dynamic model of an active and passive composite vibration isolation system associated with a controlled object, and determine a theoretical transfer function of the dynamic model according to target parameters of the active and passive composite vibration isolation system;

[0021] The design module is used to: simulate the dynamic model in combination with the selected active vibration isolation control strategy and the theoretical transfer function to obtain simulation results corresponding to different active vibration isolation control laws, and determine the optimal active vibration isolation control law of the controlled object based on all simulation results and the vibration isolation constraint conditions of the controlled object.

[0022] The beneficial effects of the active vibration isolation control law design device of the present invention are as follows:

[0023] The device of the present invention can make the controlled object have stronger vibration isolation efficiency and stronger anti-interference ability by designing the active vibration isolation control law of the controlled object.

[0024] On the basis of the above scheme, the active vibration isolation control law design device of the present invention can also be improved as follows.

[0025] In an optional manner, the active-passive composite vibration isolation system includes: an active vibration isolation system and a passive vibration isolation system;

[0026] When the controlled object is a new radar optical cabinet, the active vibration isolation system includes: an electromagnetic actuator, a power amplifier, a controller, a sensor and a low-noise cable; the passive vibration isolation system includes: a damper and a main spring.

[0027] In an optional manner, the active vibration isolation control strategy is a control strategy of common feedback of velocity and acceleration.

[0028] In a third aspect, a technical solution of an electronic device of the present invention is as follows:

[0029] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the active vibration isolation control law design method of the present invention are realized.

[0030] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0031] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the active vibration isolation control law design method of the present invention.

[0032] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0034] Figure 1 A schematic flow chart of an embodiment of a method for designing an active vibration isolation control law of the present invention;

[0035] Figure 2 It is the layout diagram of active and passive composite vibration isolation system;

[0036] Figure 3 It is a schematic diagram of the principle of the dynamic model of the active-passive composite vibration isolation system;

[0037] Figure 4 It is a simulation diagram of the active vibration isolation control strategy;

[0038] Figure 5 It is a schematic diagram of the PID controller model corresponding to the second active vibration isolation control law;

[0039] Figure 6 It is a schematic diagram of a feedback control system based on a fuzzy control algorithm;

[0040] Figure 7 Schematic diagram of the time domain signal output by the frequency sweep system;

[0041] Figure 8 It is a schematic diagram of the composite excitation force;

[0042] Fig. 9 One of the schematic diagrams for applying a disturbing force to a controlled object;

[0043] Fig.10 The second schematic diagram of applying interference force to the controlled object;

[0044] Fig.11 One of the schematic diagrams of the excitation force transmitted to the controlled object;

[0045] Fig.12 The second schematic diagram of the excitation force transmitted to the controlled object;

[0046] Fig.13 A schematic diagram of the controller output signal of the active vibration isolation system;

[0047] Fig.14 It is a schematic diagram of the actuator output force of the active vibration isolation system;

[0048] Fig.15 Schematic diagram of the displacement vibration response of the controlled object before and after active control;

[0049] Fig.16 It is a schematic diagram of the velocity vibration response of the controlled object before and after active control;

[0050] Fig.17 A schematic diagram of the acceleration vibration response of the controlled object before and after active control;

[0051] Fig.18 It is a schematic diagram of the vibration acceleration of the controlled object after the fuzzy control algorithm is introduced;

[0052] Fig.19 It is a schematic diagram of the vibration acceleration level of the controlled object after the fuzzy control algorithm is introduced;

[0053] Fig. 20 A schematic structural diagram of an embodiment of an active vibration isolation control law design device of the present invention;

[0054] Fig.21 The figure is a schematic structural diagram of an embodiment of an electronic device of the present invention. DETAILED DESCRIPTION

[0055] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0056] Figure 1 A flow chart of an embodiment of an active vibration isolation control law design method provided by the present invention is shown, and the active vibration isolation control law design method can be executed by an electronic device such as a terminal device or a server. The terminal device can be any fixed or mobile terminal such as a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be a single server or a server cluster composed of multiple servers. Any electronic device can implement the active vibration isolation control law design method by calling computer-readable instructions stored in a memory through a processor. Figure 1 As shown, the following steps are included:

[0057] S1. Constructing a dynamic model of an active-passive composite vibration isolation system associated with a controlled object, and determining a theoretical transfer function of the dynamic model according to target parameters of the active-passive composite vibration isolation system.

[0058] The controlled object is a new radar optical cabinet (hereinafter referred to as "cabinet") by default, which can also be adjusted according to actual conditions, and there is no restriction here. The active and passive composite vibration isolation system includes: active vibration isolation system and passive vibration isolation system. Figure 2As shown, the active-passive composite vibration isolation system is arranged on the controlled object, the cabinet is supported by a coil spring, the resonance frequency of the passive vibration isolation system is about 2-3Hz, and the active vibration isolation system is arranged under the cabinet. The active vibration isolation system includes but is not limited to: electromagnetic actuators, power amplifiers, controllers, sensors and low-noise cables; the passive vibration isolation system includes but is not limited to: dampers and main springs. The electromagnetic actuator is used for active vertical control of the cabinet and vibration control in two orthogonal directions in the horizontal plane. Three sensors measure the acceleration of the three axes respectively.

[0059] in, Figure 3 Figure 2 shows a schematic diagram of the principle of the kinetic model. Figure 3 As shown, the active and passive composite vibration isolation system can be simplified as: mass-spring-damper system. The target parameters include but are not limited to Figure 3 The parameters shown in: m represents the mass of the controlled object, M represents the mass of the foundation on which the controlled object is located, k1 represents the stiffness coefficient of the main spring, c1 represents the damping coefficient of the damper, y represents the displacement of the foundation on which the controlled object is located, and x represents the displacement of the controlled object. According to the target parameters of the active and passive composite vibration isolation system, the theoretical transfer function of the dynamic model can be obtained.

[0060] S2. Combining the selected active vibration isolation control strategy with the theoretical transfer function, the dynamic model is simulated to obtain simulation results corresponding to different active vibration isolation control laws, and the optimal active vibration isolation control law of the controlled object is determined based on all simulation results and the vibration isolation constraint conditions of the controlled object. It should be noted that after determining the optimal active vibration isolation control law of the controlled object, the active vibration isolation system corresponding to the controlled object is controlled using the optimal active vibration isolation control law.

[0061] Among them, the active vibration isolation control strategy is: a control strategy with joint feedback of velocity and acceleration. Different active vibration isolation control laws include: the first active vibration isolation control law composed of PID algorithm, and the second active vibration isolation control law composed of fuzzy control algorithm and PID algorithm. The vibration isolation restriction conditions are: the overshoot of the active and passive composite vibration isolation system is less than the first threshold, the steady-state time is less than the second threshold, the vibration isolation rate is greater than the third threshold, the maximum voltage of the actuator is less than the fourth threshold, and the maximum output voltage of the controller is less than the fifth threshold. The optimal active vibration isolation control law is: the active vibration isolation control law that meets the vibration isolation restriction conditions. If both active vibration isolation control laws meet the vibration isolation restriction conditions, the first active vibration isolation control law composed of the PID algorithm is determined as the optimal active vibration isolation control law.

[0062] It should be noted that the process of selecting the active vibration isolation control strategy is to select the velocity / acceleration joint feedback strategy as the active vibration isolation controller control strategy. The active vibration isolation control strategies to be selected include: acceleration feedback control strategy, velocity feedback control strategy and velocity and acceleration joint feedback control strategy. Figure 4 As shown in the figure, the displacement transfer rate of the base-cabinet under different control strategies is simulated and calculated, and the results are as follows: Under the common feedback of velocity / acceleration ( Figure 4 The system natural frequency is reduced to 0.7Hz, and the displacement transmission rate at both the natural frequency and high frequency is reduced, which can effectively improve the active vibration isolation capability of the system. (Simulation parameters: acceleration feedback gain ratio m0 / m=0.5, velocity feedback gain c0 / c=0.5, system damping ratio ζ=0.3, passive vibration isolation natural frequency w n =1Hz).

[0063] In order to improve the vibration isolation efficiency of the algorithm, a fuzzy control algorithm suitable for nonlinear, time-varying and hysteresis systems is introduced on the basis of the PID algorithm to form a composite control strategy. The design of the fuzzy controller includes the determination of input and output quantities and their domain, the selection of membership functions, the formulation of control rules, the defuzzification method and the determination of quantization factors. Therefore, in this embodiment, different active vibration isolation control laws include: a first active vibration isolation control law formed by the PID algorithm, and a second active vibration isolation control law composed of a fuzzy control algorithm and a PID algorithm. The PID controller model corresponding to the second active vibration isolation control law is as follows: Figure 5 As shown in the figure, the feedback control system based on the fuzzy control algorithm is as follows Figure 6 Based on the dynamic model, the control effect under the active vibration isolation control strategy is simulated and analyzed, and the optimal active vibration isolation control law that meets the vibration isolation constraints of the controlled object is selected according to the simulation results.

[0064] It should be noted that the simulation process mainly includes:

[0065] (1) Determine the input: system transfer function. In order to ensure the effectiveness and accuracy of the control algorithm, the system transfer function is obtained through a frequency sweep experiment. Figure 7 As shown in the figure, a sweep frequency signal ranging from 0.1Hz to 200Hz is input to the active vibration isolation system, and the speed output of the system is measured using an LMS data acquisition instrument. The time domain input and output diagrams of the system can be obtained. By performing a discrete Fourier transform on the input and output signals in the time domain, the amplitude and phase information of the two signals in the frequency domain can be obtained, thereby obtaining the amplitude and phase characteristics of the transfer function. The system with such amplitude and phase characteristics is fitted using MATLAB's system identification toolbox to obtain the identified system transfer function, which is then input into the feedback control system.

[0066] (2) Determine the input: system disturbance force. In SIMULINK, set the excitation force to a sine wave, swept frequency, square wave, or step signal ranging from 0.1 Hz to 6000 Hz to simulate various excitations that may exist in reality, such as Figure 8In addition to the vibration transmitted by the passive vibration isolation system, the controlled object may be directly stimulated in the actual environment, such as being touched by hand or other unexpected reasons. This situation can easily lead to overshoot or even divergence of the control system. In order to ensure the robustness of the system, a step response is directly applied to the controlled object in the system to simulate this situation, as shown in Fig. 9 and Fig.10 shown.

[0067] (3) Set restrictions / filtering conditions. Carry out parameter design based on the above dynamic model and input. Set restrictions such as steady-state time, overshoot, and vibration isolation rate in Simulink, and set the maximum output voltage of the controller according to the maximum voltage limit of the actuator. Automatically find the proportional (P), integral (I), and differential (D) parameters that meet the design requirements, thereby completing the active control law design.

[0068] For this embodiment, the system input is the excitation force transmitted to the controlled object through passive vibration isolation and other links. It can be seen that after passive vibration isolation and other links, the excitation force is reduced from 6000N to less than 20N, where the single peak value contains small amplitude fluctuations, such as Fig.11 and Fig.12 shown.

[0069] In order to prevent the actuator voltage from being too high, causing the coil to burn out and other faults, it is necessary to set a limit condition: considering that the controller output will pass through the power amplifier, this implementation example limits the maximum output value of the controller to 5V.

[0070] In order to extract a control algorithm with high vibration isolation efficiency, fast convergence speed, and good robustness, this embodiment limits the first threshold to 10% of the steady-state result, the second threshold is set to 2s, and the third threshold is set to 90% (the ratio of the vibration amplitude RMS value of the steady-state result to the vibration amplitude RMS value before active control is recorded as the vibration isolation efficiency). If the control algorithm cannot be successfully extracted, consider appropriately relaxing the control conditions, re-simulating and extracting the algorithm. After screening, this application example can extract the control algorithm, where the main control results are:

[0071] ① Such as Fig.13 As shown in the figure, the maximum voltage (fourth threshold) that the actuator can withstand is 220V, and the maximum output of the controller is about 2.3V, which is less than the limit value of 5V (fifth threshold), meeting the hardware requirements. Fig.14 The output force amplitude of the actuator shown is less than 20N, which is within the actual actuator output capacity range (100N) and has a large margin. ③ Before / after active control, the vibration response of the controlled object is as follows Figures 15 to 17 As shown in the figure, it can be seen that the control effect is obvious after the active control is turned on, and the displacement, velocity and acceleration of the controlled object are significantly reduced. Fig.18 and Fig.19As shown in the figure, after the fuzzy control algorithm is introduced, the vibration acceleration of the controlled object is further reduced. After the active control is turned on, the vibration acceleration level is reduced from 90dB to below 25dB. ⑤ At 5s, it can be observed that the controlled object is directly stimulated to cause a surge in response. In this case, the system can still converge quickly. The final simulation results show that P is 8, I is 150, and D is 0.01, which reflects the effectiveness of the active vibration isolation control law design method in this embodiment.

[0072] The technical solution of this embodiment can make the controlled object have stronger vibration isolation efficiency and stronger anti-interference ability by designing the active vibration isolation control law of the controlled object.

[0073] Fig. 20 FIG. 2 is a schematic diagram showing a structure of an embodiment of an active vibration isolation control law design device 200 provided by the present invention. Fig. 20 As shown, the system 200 includes: a construction module 210 and a design module 220;

[0074] The construction module 210 is used to: construct a dynamic model of an active and passive composite vibration isolation system associated with a controlled object, and determine a theoretical transfer function of the dynamic model according to target parameters of the active and passive composite vibration isolation system;

[0075] The design module 220 is used to: simulate the dynamic model in combination with the selected active vibration isolation control strategy and the theoretical transfer function to obtain simulation results corresponding to different active vibration isolation control laws, and determine the optimal active vibration isolation control law of the controlled object based on all simulation results and the vibration isolation constraint conditions of the controlled object.

[0076] In an optional manner, the active-passive composite vibration isolation system includes: an active vibration isolation system and a passive vibration isolation system;

[0077] When the controlled object is a new radar optical cabinet, the active vibration isolation system includes: an electromagnetic actuator, a power amplifier, a controller, a sensor and a low-noise cable; the passive vibration isolation system includes: a damper and a main spring.

[0078] In an optional manner, the active vibration isolation control strategy is a control strategy of common feedback of velocity and acceleration.

[0079] In an optional manner, the different active vibration isolation control laws include: a first active vibration isolation control law formed by a PID algorithm, and a second active vibration isolation control law formed by a combination of a fuzzy control algorithm and a PID algorithm.

[0080] In an optional manner, the vibration isolation limit conditions are: the overshoot of the active and passive composite vibration isolation system is less than a first threshold, the steady-state time is less than the first threshold, the vibration isolation rate is greater than a third threshold, the maximum voltage of the actuator is less than a fourth threshold, and the maximum output voltage of the controller is less than a fifth threshold.

[0081] It should be noted that the beneficial effects of the active vibration isolation control law design device provided in the above embodiment are the same as the beneficial effects of the active vibration isolation control law design method, which will not be described in detail here. In addition, when the device provided in the above embodiment realizes its function, it only takes the division of the above functional modules as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the device can be divided into different functional modules according to actual conditions to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be described in detail here.

[0082] Among them, the active vibration isolation control law design device of the present invention can be a computer program (including program code) running in a computer device. For example, the active vibration isolation control law design system of the present invention is an application software that can be used to execute the corresponding steps in the active vibration isolation control law design method of the present invention.

[0083] In some embodiments, the active vibration isolation control law design device of the present invention can be implemented in a combination of software and hardware. As an example, the active vibration isolation control law design device of the present invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the active vibration isolation control law design method of the present invention. For example, the processor in the form of a hardware decoding processor can adopt one or more application specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field programmable gate arrays (FPGAs) or other electronic components.

[0084] The modules involved in the embodiments of the present invention may be implemented in software or hardware. The name of a module does not limit the module itself in some cases.

[0085] An electronic device according to an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, any of the above-mentioned active vibration isolation control law design methods is implemented. That is to say, an electronic device according to an embodiment of the present invention may include but is not limited to: a processor and a memory; the memory is used to store the computer program; the processor is used to execute the active vibration isolation control law design method shown in any embodiment of the present invention by calling the computer program.

[0086] In an alternative embodiment, an electronic device is provided, such as Fig.21 As shown, Fig.21 The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0087] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the present invention. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc.

[0088] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.21In the figure, only one thick line is used to represent the bus 4002, but this does not mean that there is only one bus or one type of bus.

[0089] The memory 4003 can be a ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, a RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), a CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0090] The memory 4003 is used to store the application code (computer program) for executing the solution of the present invention, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the application code stored in the memory 4003 to implement the content shown in the above method embodiment.

[0091] Among them, the electronic device can also be a terminal device, and the terminal device can be any terminal device that can install applications and access web pages through applications, including at least one of a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, a smart TV, and a smart car device.

[0092] It should be noted that Fig.21 The electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0093] A computer-readable storage medium according to an embodiment of the present invention stores a computer program, and when the computer program is executed by a processor, any of the above-mentioned active vibration isolation control law design methods is implemented.

[0094] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0095] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program including computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the above-mentioned active vibration isolation control law design method.

[0096] Computer program code for performing the operations of the present invention may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0097] It should be understood that the flow charts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the module, the program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a sequence different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0098] The computer-readable storage medium provided by the embodiment of the present invention may be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, device, or component.

[0099] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device executes the method shown in the above embodiment.

[0100] The above description is only a preferred embodiment of the present invention and an explanation of the technical principles used. Those skilled in the art should understand that the disclosure scope involved in the present invention is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present invention (but not limited to) by each other.

[0101] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0102] Those skilled in the art know that the present invention can be implemented as an apparatus, method or computer program product. Therefore, the present invention can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0103] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A method for designing an active vibration isolation control law, characterized in that: include: Constructing a dynamic model of an active-passive composite vibration isolation system associated with a controlled object, and determining a theoretical transfer function of the dynamic model according to target parameters of the active-passive composite vibration isolation system; The dynamic model is simulated in combination with the selected active vibration isolation control strategy and the theoretical transfer function to obtain simulation results corresponding to different active vibration isolation control laws, and the optimal active vibration isolation control law of the controlled object is determined based on all simulation results and the vibration isolation constraint conditions of the controlled object.

2. The active vibration isolation control law design method according to claim 1, characterized in that: The active-passive composite vibration isolation system comprises: an active vibration isolation system and a passive vibration isolation system; When the controlled object is a new radar optical cabinet, the active vibration isolation system includes: an electromagnetic actuator, a power amplifier, a controller, a sensor and a low-noise cable; the passive vibration isolation system includes: a damper and a main spring.

3. The active vibration isolation control law design method according to claim 1, characterized in that: The active vibration isolation control strategy is a control strategy of common feedback of velocity and acceleration.

4. The active vibration isolation control law design method according to claim 1, characterized in that: Different active vibration isolation control laws include: a first active vibration isolation control law formed by a PID algorithm, and a second active vibration isolation control law formed by a combination of a fuzzy control algorithm and a PID algorithm.

5. The active vibration isolation control law design method according to claim 2, characterized in that: The vibration isolation restriction conditions are: the overshoot of the active and passive composite vibration isolation system is less than a first threshold, the steady-state time is less than a second threshold, the vibration isolation rate is greater than a third threshold, the maximum voltage of the actuator is less than a fourth threshold, and the maximum output voltage of the controller is less than a fifth threshold.

6. An active vibration isolation control law design device, characterized in that: include: Building blocks and design blocks; The construction module is used to: construct a dynamic model of an active and passive composite vibration isolation system associated with a controlled object, and determine a theoretical transfer function of the dynamic model according to target parameters of the active and passive composite vibration isolation system; The design module is used to: simulate the dynamic model in combination with the selected active vibration isolation control strategy and the theoretical transfer function to obtain simulation results corresponding to different active vibration isolation control laws, and determine the optimal active vibration isolation control law of the controlled object based on all simulation results and the vibration isolation constraint conditions of the controlled object.

7. The active vibration isolation control law design device according to claim 6, characterized in that: The active-passive composite vibration isolation system comprises: an active vibration isolation system and a passive vibration isolation system; When the controlled object is a new radar optical cabinet, the active vibration isolation system includes: an electromagnetic actuator, a power amplifier, a controller, a sensor and a low-noise cable; the passive vibration isolation system includes: a damper and a main spring.

8. The active vibration isolation control law design device according to claim 6, characterized in that: The active vibration isolation control strategy is a control strategy of common feedback of velocity and acceleration.

9. An electronic device, characterized in that: The electronic device includes a processor, the processor is coupled to a memory, the memory stores at least one computer program, and the at least one computer program is loaded and executed by the processor so that the electronic device implements the active vibration isolation control law design method as described in any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so that the computer-readable storage medium implements the active vibration isolation control law design method according to any one of claims 1 to 5.

Images