Vibrating table centering control method and device, vibrating table and storage medium

Abstract

The invention discloses a centering control method and device of a vibration table, the vibration table and a storage medium. The centering control method of the vibration table comprises the following steps: acquiring a first output waveform duty ratio of a first photoelectric switch and a second output waveform duty ratio of a second photoelectric switch, and determining a displacement deviation value of a moving coil deviating from a central position according to the first output waveform duty ratio and the second output waveform duty ratio; and inputting the displacement deviation value into a PID controller, outputting a position adjustment value, and controlling direct current bias of the vibration table and inflation and deflation of an air bag according to the position adjustment value so as to adjust the moving coil to move to a set moving coil center position. According to the invention, accurate centering control of the vibration table is realized, and the method can be adapted to centering control under various large-displacement vibration test conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of vibration table control, and in particular to a vibration table centering control method, a vibration table, a vibration table and a storage medium. Background Art

[0002] For the testing of some aerospace equipment, large displacement vibration tests are often required. The main difficulty of large displacement vibration tests lies in the control accuracy of the centering under large displacement and the adaptability under various test conditions such as sine, impact, and random. At present, the vibration table of large displacement vibration tests can usually use position sensors or multi-channel photoelectric sensors to detect the centering control under large displacement, but there are problems such as low centering accuracy, insufficient control displacement stroke, and unstable control. Summary of the invention

[0003] The present invention provides a vibration table centering control method, device, vibration table and storage medium to solve the problem that the current large displacement vibration test cannot guarantee the centering accuracy and has poor adaptability.

[0004] According to one aspect of the present invention, a centering control method for a vibration table is provided, wherein the vibration table comprises a moving coil, a baffle is installed on a guide rod under the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, respectively. The centering control method for the vibration table comprises:

[0005] Collecting a first output waveform duty cycle of the first photoelectric switch and a second output waveform duty cycle of the second photoelectric switch, and determining a displacement deviation value of the moving coil from a center position according to the first output waveform duty cycle and the second output waveform duty cycle;

[0006] The displacement deviation value is input into a PID controller, a position adjustment value is output, and the DC bias of the vibration table and the inflation and deflation of the airbag are controlled according to the position adjustment value to adjust the movement of the dynamic coil to the set dynamic coil center position.

[0007] According to another aspect of the present invention, a centering control device for a vibration table is provided, wherein the vibration table comprises a moving coil, a baffle is installed on a guide rod under the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, respectively. The centering control device for the vibration table comprises:

[0008] a displacement deviation value determination module, configured to collect a first output waveform duty cycle of the first photoelectric switch and a second output waveform duty cycle of the second photoelectric switch, and determine a displacement deviation value of the moving coil from a center position according to the first output waveform duty cycle and the second output waveform duty cycle;

[0009] The centering control module is used to input the displacement deviation value into a PID controller, output a position adjustment value, and control the DC bias of the vibration table and the inflation and deflation of the airbag according to the position adjustment value to adjust the movement of the dynamic coil to a set dynamic coil center position.

[0010] According to another aspect of the present invention, a vibration table is provided, which includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle respectively, and the vibration table also includes the centering control device of the vibration table described in any embodiment of the present invention, and the centering control device of the vibration table can execute the centering control method of the vibration table described in any embodiment of the present invention.

[0011] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the centering control method of a vibration table described in any embodiment of the present invention when executed.

[0012] The technical solution of the embodiment of the present invention is that the vibration table includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, respectively, and the first output waveform duty cycle of the first photoelectric switch and the second output waveform duty cycle of the second photoelectric switch are collected, and the displacement deviation value of the moving coil from the center position is determined according to the first output waveform duty cycle and the second output waveform duty cycle; the displacement deviation value is input into the PID controller, the position adjustment value is output, and the DC bias and airbag inflation and deflation of the vibration table are controlled according to the position adjustment value to adjust the movement of the moving coil to the set moving coil center position. The present invention solves the problem that the current large displacement vibration test cannot guarantee the centering accuracy and poor adaptability, realizes accurate vibration table centering control, and can be adapted to centering control under various large displacement vibration test conditions.

[0013] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1is a flow chart of a centering control method of a vibration table provided in an embodiment of the present invention;

[0016] Figure 2 is a structural schematic diagram of a vibration table centering control provided according to an embodiment of the present invention;

[0017] Figure 3 is a partial enlarged schematic diagram of a baffle installed on the lower guide rod of the moving coil for centering control of the vibration table provided in an embodiment of the present invention;

[0018] Figure 4 is a schematic diagram of the positions of the baffle and the first photoelectric switch and the second photoelectric switch when the moving coil is at a set moving coil center position according to an embodiment of the present invention;

[0019] Figure 5 is a schematic diagram of the positions of the first photoelectric switch and the second photoelectric switch when the moving coil is relatively small toward the first photoelectric switch according to an embodiment of the present invention;

[0020] Figure 6 is a schematic diagram of the positions of the first photoelectric switch and the second photoelectric switch when the moving coil is largely deflected toward the first photoelectric switch according to an embodiment of the present invention;

[0021] Figure 7 is a schematic diagram of the positions of the first photoelectric switch and the second photoelectric switch when the moving coil is less biased toward the second photoelectric switch according to an embodiment of the present invention;

[0022] Figure 8 is a schematic diagram of the positions of the first photoelectric switch and the second photoelectric switch when the moving coil is largely deflected toward the position of the second photoelectric switch according to an embodiment of the present invention;

[0023] Fig. 9 The moving coil provided by the embodiment of the present invention is in Figures 4 to 8 Schematic diagram of signal output of the first photoelectric switch and the second photoelectric switch in the position shown;

[0024] Fig.10 It is a structural schematic diagram of a centering control device of a vibration table provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Figure 1 A flow chart of a centering control method for a vibration table is provided for an embodiment of the present invention. This embodiment is applicable to the situation where a large-displacement vibration table performs stable centering control under a large-displacement vibration test. The centering control method for the vibration table can be executed by a centering control device for the vibration table. The centering control device for the vibration table can be implemented in the form of hardware and / or software, and the centering control device for the vibration table can be configured in the vibration table.

[0028] Figure 2 is a structural schematic diagram of the vibration table centering control provided by an embodiment of the present invention, Figure 3 FIG. 1 is a partial enlarged schematic diagram of a baffle installed on the lower guide rod of the moving coil for centering control of the vibration table provided in an embodiment of the present invention, see Figure 2 and Figure 3 As shown, the vibration table of this embodiment includes a moving coil, and a baffle 300 is installed on the guide rod 400 under the moving coil, and the first photoelectric switch 100 and the second photoelectric switch 200 are installed at both ends of the baffle 300. The first photoelectric switch 100 and the second photoelectric switch 200 both use the blocking or reflection of the light beam by the detected object, and the circuit is connected by the synchronization circuit to detect the presence or absence of the object. The first photoelectric switch 100 and the second photoelectric switch 200 are symmetrically arranged, and the baffle can just cover the first photoelectric switch 100 and the second photoelectric switch 200 to achieve the shielding of the first photoelectric switch 100 and the second photoelectric switch 200.

[0029] like Figure 1 As shown, the centering control method of the vibration table includes:

[0030] S110, collecting a first output waveform duty cycle of the first photoelectric switch and a second output waveform duty cycle of the second photoelectric switch, and determining a displacement deviation value of the moving coil from the center position according to the first output waveform duty cycle and the second output waveform duty cycle.

[0031] In the large displacement vibration test, the output signals of the first photoelectric switch and the second photoelectric switch are collected in real time to determine the displacement of the vibration table at this time, specifically: the first unit time duty cycle of the first photoelectric switch in unit time is collected, and the first output waveform duty cycle is determined according to the first unit time duty cycle obtained by multiple collections; and the second unit time duty cycle of the second photoelectric switch in unit time is collected, and the second output waveform duty cycle is determined according to the second unit time duty cycle obtained by multiple collections.

[0032] The first unit time duty cycle is the signal duty cycle output by the first photoelectric switch within a unit time, and the first output waveform duty cycle is obtained by summing the first unit time duty cycles collected multiple times. Similarly, the second unit time duty cycle is the signal duty cycle output by the second photoelectric switch within a unit time, and the second output waveform duty cycle is obtained by summing the second unit time duty cycles collected multiple times.

[0033] It is understandable that, considering the centering control accuracy of large displacement vibration tests, a suitably small value can be selected for the unit time, and then the duty cycles corresponding to the unit times collected multiple times can be summed to obtain the corresponding first output waveform duty cycle and second output waveform duty cycle, thereby achieving more precise movement of the subsequent moving coil to the set moving coil center position.

[0034] For example, taking the first unit time duty ratio and the second unit time duty ratio collected 10 times as an example, let the unit time be t, and calculate the first unit time duty ratio Then we can get DRa1, DRa2, DRa3…DRa10, and further get the sum of the duty cycle DRa of the first output waveform, specifically DRa sum=DRa1+DRa2+…+DRa10; similarly, we can get the duty cycle of the second unit time DRb1, DRb2, DRb3 ... DRb10 can be obtained, and further the first output waveform duty cycle DRb sum can be obtained, specifically DRb sum = DRb1 + DRb2 + ... + DRb10.

[0035] On the basis of the above, the displacement deviation value of the moving coil from the center position is determined according to the sum of the first output waveform duty cycle DRa and the sum of the second output waveform duty cycle DRb, specifically: displacement deviation value ΔDR = the sum of the first output waveform duty cycle DRa minus the sum of the second output waveform duty cycle DRb.

[0036] S120, input the displacement deviation value into the PID controller, output the position adjustment value, and control the DC bias of the vibration table and the inflation and deflation of the airbag according to the position adjustment value to adjust the movement of the dynamic coil to the set dynamic coil center position.

[0037] Among them, the position adjustment value is a position value that can be adjusted accordingly based on the displacement deviation value in real time, that is, after the dynamic coil position is periodically adjusted, an updated displacement deviation value can continue to be obtained, and the updated displacement deviation value is input into the PID controller, and the updated position adjustment value is output, and the dynamic coil movement is further adjusted to the set dynamic coil center position based on the updated position adjustment value.

[0038] To set the center position of the moving coil, refer to Figure 4 As shown, the center position of the moving coil is set to the moving coil being at the center position, such as Figure 4 As shown, when the moving coil is at the center position, the first photoelectric switch 100 and the second photoelectric switch 200 are respectively set based on the baffle 300. It can be seen that the smaller the displacement offset value is, the closer the center position of the moving coil is to the set moving coil center position. Figure 5 and Figure 7 The positions of the first photoelectric switch and the second photoelectric switch are shown when the moving coil deflects toward the first photoelectric switch position less or the moving coil deflects toward the second photoelectric switch position less. Correspondingly, Fig. 9 It shows the signal output of the first photoelectric switch and the second photoelectric switch when the moving coil deflects to the first photoelectric switch position or the moving coil deflects to the second photoelectric switch position; on the contrary, the larger the displacement offset value, the farther the center position of the moving coil is from the set moving coil center position, which can be seen from Figure 6 and Figure 8 The positions of the first photoelectric switch and the second photoelectric switch are shown when the moving coil deflects toward the first photoelectric switch position more or the moving coil deflects toward the second photoelectric switch position more. Correspondingly, Fig. 9 It shows the signal outputs of the first photoelectric switch and the second photoelectric switch when the moving coil is more deflected toward the first photoelectric switch position or the moving coil is more deflected toward the second photoelectric switch position.

[0039] In this embodiment, the displacement deviation value and the set dynamic coil center position are input into the PID controller, and the position adjustment value is output. The DC bias of the vibration table and the inflation and deflation of the airbag are controlled according to the position adjustment value to adjust the dynamic coil movement to the set dynamic coil center position.

[0040] The DC bias control adjustment vibration table has a small movement and high frequency, so the DC bias of the vibration table can achieve more precise adjustment of the vibration table centering control. The vibration table's airbag inflation and deflation movement is large and the adjustment accuracy is low, which can be used for coarse adjustment of the vibration table centering control to quickly shorten the gap between the current position of the vibration table and the set dynamic center position. Considering the advantages and disadvantages of DC bias and airbag inflation and deflation for vibration table centering control, this embodiment, on the basis of obtaining the position adjustment value, simultaneously controls the DC bias of the vibration table and the inflation and deflation of the airbag to adjust the dynamic movement to the set dynamic center position, so as to achieve accurate and rapid vibration table centering control.

[0041] On the basis of the above, if after the DC bias of the vibration table is controlled based on the position adjustment value for multiple times, if the position adjustment value is not less than the set displacement threshold, the airbag of the vibration table is controlled to inflate and deflate.

[0042] The displacement threshold is set to be a larger position adjustment value, which is predetermined based on the actual center position of the centering control of the vibration table, and this embodiment does not impose any special limitation on this.

[0043] Based on the above embodiment, the first signal output frequency of the first photoelectric switch and the second signal output frequency of the second photoelectric switch signal are obtained, and the first signal output frequency and the second signal output frequency are used to determine whether the vibration platform is in static centering control or dynamic centering control.

[0044] It can be understood that when the vibration table is in the process of dynamic centering, the first signal output frequency of the first photoelectric switch and the second signal output frequency of the second photoelectric switch signal are at a higher output frequency. Optionally, the first signal output frequency can range from 1 Hz to 500 Hz, and the second signal output frequency can range from 1 Hz to 500 Hz. When the vibration table is in the process of static centering, the first signal output frequency of the first photoelectric switch and the second signal output frequency of the second photoelectric switch signal will suddenly drop to a very low output frequency.

[0045] From this, it can be seen that the lower output frequency of the first signal output frequency and the second signal output frequency can be converted to obtain the single center position time. If the current control time is greater than the single center position time, it is determined that the vibration table is in static centering control. Otherwise, it can be determined that the vibration table is in dynamic centering control.

[0046] Furthermore, for different scenarios of large-displacement vibration tests, such as sine, impact, random and other test conditions, the sine and random test conditions are combined into one category to achieve the centering control of the symmetrical vibration table, and the impact test conditions are combined into a single category to achieve the centering control of the unilateral vibration table. That is, the centering control method of the vibration table provided in this embodiment can adapt to large-displacement vibration tests under various test conditions such as sine, impact, random and other test conditions.

[0047] The technical solution of the embodiment of the present invention is that the vibration table includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, respectively, and the first output waveform duty cycle of the first photoelectric switch and the second output waveform duty cycle of the second photoelectric switch are collected, and the displacement deviation value of the moving coil from the center position is determined according to the first output waveform duty cycle and the second output waveform duty cycle; the displacement deviation value is input into the PID controller, the position adjustment value is output, and the DC bias and airbag inflation and deflation of the vibration table are controlled according to the position adjustment value to adjust the movement of the moving coil to the set moving coil center position. The present invention realizes accurate vibration table centering control and can be adapted to centering control under various large displacement vibration test conditions.

[0048] Based on the same inventive concept, Fig.10 The present invention provides a structural diagram of a centering control device for a vibration table. The vibration table includes a moving coil, a baffle is installed on the guide rod under the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle. Fig.10 As shown, the centering control device of the vibration table includes:

[0049] The displacement deviation value determination module 210 is used to collect the first output waveform duty cycle of the first photoelectric switch and the second output waveform duty cycle of the second photoelectric switch, and determine the displacement deviation value of the moving coil from the center position according to the first output waveform duty cycle and the second output waveform duty cycle;

[0050] The centering control module 220 is used to input the displacement deviation value into the PID controller, output the position adjustment value, and control the DC bias of the vibration table and the inflation and deflation of the airbag according to the position adjustment value to adjust the movement of the dynamic coil to the set dynamic coil center position.

[0051] Optionally, collecting the first output waveform duty cycle of the first photoelectric switch and the second output waveform duty cycle of the second photoelectric switch is specifically used for:

[0052] Collecting a first unit time duty cycle of the first photoelectric switch under unit time, and determining a first output waveform duty cycle according to the first unit time duty cycle obtained by multiple collections; and,

[0053] The second unit time duty cycle of the second photoelectric switch in unit time is collected, and the second output waveform duty cycle is determined according to the second unit time duty cycles obtained through multiple collections.

[0054] Optionally, the displacement deviation value is input into a PID controller, and the position adjustment value is output, which is specifically used for:

[0055] The displacement deviation value and the set moving coil center position are input into the PID controller, and the position adjustment value is output.

[0056] Optionally, the centering control device of the vibration table also includes:

[0057] The position adjustment update module is used to obtain the updated displacement deviation value and input it into the PID controller during the dynamic coil adjustment process, and output the updated position adjustment value to continue to adjust the dynamic coil movement to the set dynamic coil center position based on the updated position adjustment value.

[0058] Optionally, the DC bias of the vibration table and the inflation and deflation of the airbag are controlled according to the position adjustment value, specifically for:

[0059] After the DC bias of the vibration table is controlled based on the position adjustment value for multiple times, if the position adjustment value is not less than the set displacement threshold, the airbag of the vibration table is controlled to be inflated and deflated.

[0060] Optionally, the centering control device of the vibration table also includes:

[0061] The static judgment module is used to obtain the first signal output frequency of the first photoelectric switch and the second signal output frequency of the second photoelectric switch signal, and determine whether the vibration platform is in static centering control or dynamic centering control according to the first signal output frequency and the second signal output frequency.

[0062] Optionally, determining whether the vibration table is in static centering control or dynamic centering control according to the first signal output frequency and the second signal output frequency is specifically used for:

[0063] The single passing center position time is determined according to the lower output frequency of the first signal output frequency and the second signal output frequency, and after the current control time is greater than the single passing center position time, it is determined that the vibration table is in static centering control.

[0064] The vibration table centering control device provided in the embodiment of the present invention can execute the vibration table centering control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the vibration table centering control method.

[0065] Based on the same inventive concept, an embodiment of the present invention further provides a vibration table, which includes a moving coil, a baffle is installed on the guide rod under the moving coil, a first photoelectric switch and a second photoelectric switch are respectively installed at both ends of the baffle, and the vibration table also includes a centering control device of the vibration table provided in any embodiment of the present invention, and the centering control device of the vibration table can execute the centering control method of the vibration table provided in any embodiment of the present invention.

[0066] The vibration table provided by the embodiment of the present invention includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, respectively, and the first output waveform duty cycle of the first photoelectric switch and the second output waveform duty cycle of the second photoelectric switch are collected, and the displacement deviation value of the moving coil from the center position is determined according to the first output waveform duty cycle and the second output waveform duty cycle; the displacement deviation value is input into the PID controller, the position adjustment value is output, and the DC bias and airbag inflation and deflation of the vibration table are controlled according to the position adjustment value to adjust the movement of the moving coil to the set moving coil center position. The present invention realizes accurate vibration table centering control and can be adapted to centering control under various large displacement vibration test conditions.

[0067] Based on the same inventive concept, in some embodiments, the centering control method of the vibration table can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium. Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a dedicated or general-purpose programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0068] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0069] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, 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 of the foregoing.

[0070] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0071] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0072] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0073] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0074] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A vibration table centering control method, characterized in that: The vibration table includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, and a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, respectively. The centering control method of the vibration table includes: Collecting a first output waveform duty cycle of the first photoelectric switch and a second output waveform duty cycle of the second photoelectric switch, and determining a displacement deviation value of the moving coil from a center position according to the first output waveform duty cycle and the second output waveform duty cycle; The displacement deviation value is input into a PID controller, a position adjustment value is output, and the DC bias of the vibration table and the inflation and deflation of the airbag are controlled according to the position adjustment value to adjust the movement of the dynamic coil to the set dynamic coil center position.

2. The centering control method of the vibration table according to claim 1, characterized in that: Collecting a first output waveform duty cycle of the first photoelectric switch and a second output waveform duty cycle of the second photoelectric switch includes: Collecting a first unit time duty cycle of the first photoelectric switch in a unit time, and determining a first output waveform duty cycle according to the first unit time duty cycle obtained by multiple collections; and, A second unit time duty cycle of the second photoelectric switch in the unit time is collected, and a second output waveform duty cycle is determined according to the second unit time duty cycles obtained through multiple collections.

3. The centering control method of the vibration table according to claim 1, characterized in that: The displacement deviation value is input into a PID controller, and a position adjustment value is output, including: The displacement deviation value and the set moving coil center position are input into a PID controller, and a position adjustment value is output.

4. The centering control method of the vibration table according to claim 1, characterized in that: The centering control method of the vibration table also includes: During the dynamic coil adjustment process, an updated displacement deviation value is obtained and input into the PID controller, and an updated position adjustment value is output, so as to continue to adjust the dynamic coil to the set dynamic coil center position based on the updated position adjustment value.

5. The centering control method of the vibration table according to claim 1, characterized in that: Controlling the DC bias of the vibration table and the inflation and deflation of the airbag according to the position adjustment value includes: After the DC bias of the vibration table is controlled based on the position adjustment value for multiple times, if the position adjustment value is not less than a set displacement threshold, the airbag of the vibration table is controlled to be inflated and deflated.

6. The centering control method of the vibration table according to claim 1, characterized in that: The centering control method of the vibration table also includes: A first signal output frequency of the first photoelectric switch and a second signal output frequency of the second photoelectric switch signal are obtained, and according to the first signal output frequency and the second signal output frequency, it is determined whether the vibration table is in static centering control or dynamic centering control.

7. The centering control method of the vibration table according to claim 6, characterized in that: Determining whether the vibration table is in static centering control or dynamic centering control according to the first signal output frequency and the second signal output frequency includes: A single passing center position time is determined according to the lower output frequency of the first signal output frequency and the second signal output frequency, and after the current control time is greater than the single passing center position time, it is determined that the vibration table is in static centering control.

8. A centering control device for a vibration table, characterized in that: The vibration table includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle, and the centering control device of the vibration table includes: a displacement deviation value determination module, configured to collect a first output waveform duty cycle of the first photoelectric switch and a second output waveform duty cycle of the second photoelectric switch, and determine a displacement deviation value of the moving coil from a center position according to the first output waveform duty cycle and the second output waveform duty cycle; The centering control module is used to input the displacement deviation value into a PID controller, output a position adjustment value, and control the DC bias of the vibration table and the inflation and deflation of the airbag according to the position adjustment value to adjust the movement of the dynamic coil to a set dynamic coil center position.

9. A vibration table, characterized in that: The vibration table includes a moving coil, a baffle is installed on the lower guide rod of the moving coil, a first photoelectric switch and a second photoelectric switch are installed at both ends of the baffle respectively, and the vibration table also includes the centering control device of the vibration table according to claim 8, and the centering control device of the vibration table can execute the centering control method of the vibration table described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the centering control method of a vibration table according to any one of claims 1 to 7 when executed.

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