Sweep amplitude control method, control device and computer storage medium

Abstract

The application provides a sweep frequency amplitude control method, a control device and a computer storage medium. First, a sweep frequency amplitude control parameter of a sweep frequency signal to be applied is calculated based on a preset sweep frequency mode at a preset time interval. Then, an output response detected by an output sensor is obtained, and then a first variable bandwidth low-pass filter output and a first notch filter transfer function are calculated based on the sweep frequency amplitude control parameter and the output response. Then, the first variable bandwidth low-pass filter output is notch processed to obtain a second variable bandwidth low-pass filter output, then the sweep frequency amplitude of the sweep frequency signal to be applied is calculated based on the second variable bandwidth low-pass filter output, finally, the sweep frequency signal to be applied is obtained based on the sweep frequency amplitude, and the signal is applied to a mechanical device through a driving device. In this way, the above method can dynamically adjust the sweep frequency amplitude of the sweep frequency signal to be applied according to the output response, and ensure the safety of the measurement process.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of digital signal processing, in particular to a sweep frequency amplitude control method, a control device and a computer storage medium. BACKGROUND

[0002] At present, when measuring the frequency response characteristics of a mechanical system, a sweep frequency signal is usually applied to a device (such as a mechanical device) in the mechanical system. However, the applied sweep frequency signal is generally a sinusoidal signal with increasing frequency, and using this sweep frequency signal can easily excite large vibrations at the system resonance point, causing risks. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a sweep frequency amplitude control method, a control device and a computer storage medium, which can dynamically adjust the sweep frequency amplitude of the applied sweep frequency signal according to the output response measured by the output sensor, thereby ensuring the safety of the measurement process.

[0004] According to a first aspect of the present application, a sweep frequency amplitude control method is provided for a computer device in a mechanical system, the mechanical system further comprising a mechanical device and a drive device and an output sensor arranged on the mechanical device, wherein the drive device and the output sensor are connected to the computer device, and the method comprises:

[0005] calculating a sweep frequency amplitude control parameter of the applied sweep frequency signal at the current time based on a preset sweep frequency mode at a preset time interval, wherein the sweep frequency amplitude control parameter comprises the frequency, period and phase angle of the applied sweep frequency signal;

[0006] obtaining an output response detected by the output sensor;

[0007] calculating a first variable bandwidth low-pass filter output and a first notch filter transfer function in the computer device based on the sweep frequency amplitude control parameter and the output response;

[0008] performing notch processing on the first variable bandwidth low-pass filter output based on the first notch filter transfer function to obtain a second variable bandwidth low-pass filter output;

[0009] calculating the sweep frequency amplitude of the applied sweep frequency signal based on the second variable bandwidth low-pass filter output;

[0010] obtaining the applied sweep frequency signal based on the sweep frequency amplitude, and outputting the applied sweep frequency signal to the drive device to apply the sweep frequency signal to the mechanical device through the drive device.

[0011] In a possible implementation of the first aspect, the step of calculating the first variable-bandwidth low-pass filter output and the first notch filter transfer function in the computer device based on the sweep amplitude control parameter and the output response comprises:

[0012] calculating a first variable-bandwidth low-pass coefficient based on the sweep amplitude control parameter;

[0013] obtaining the second variable-bandwidth low-pass filter output at the previous time;

[0014] calculating the first variable-bandwidth low-pass filter output at the current time based on the first variable-bandwidth low-pass coefficient, the output response, and the second variable-bandwidth low-pass filter output at the previous time;

[0015] calculating a notch frequency band based on the sweep amplitude control parameter, and calculating a notch width based on the notch frequency band;

[0016] obtaining a preset notch depth, and calculating a first notch filter transfer function based on the notch frequency band, the notch width, and the notch depth.

[0017] In a possible implementation of the first aspect, in the step of calculating the first variable-bandwidth low-pass coefficient based on the sweep amplitude control parameter, the first variable-bandwidth low-pass coefficient is calculated according to the following formula:

[0018] the expression formula of the first variable-bandwidth low-pass coefficient is:

[0019]

[0020] wherein, the first variable-bandwidth low-pass coefficient is denoted as, the period of the sweep signal to be applied is denoted as, the sampling period is denoted as.

[0021] In a possible implementation of the first aspect, the step of calculating the first variable-bandwidth low-pass filter output at the current time based on the first variable-bandwidth low-pass coefficient, the output response, and the second variable-bandwidth low-pass filter output at the previous time comprises:

[0022] the expression formula of the first variable-bandwidth low-pass filter output is:

[0023]

[0024] wherein, the first variable-bandwidth low-pass filter output is denoted as, the first variable-bandwidth low-pass coefficient is denoted as, the second variable-bandwidth low-pass filter output at the previous time is denoted as, the absolute value of the output response is denoted as.

[0025] In a possible implementation manner of the first aspect, the step of calculating the notch frequency band based on the sweep amplitude control parameter and calculating the notch width based on the notch frequency band comprises:

[0026] The expression formula of the notch frequency band is:

[0027]

[0028] wherein, represents the notch frequency band, represents the frequency of the sweep signal to be applied;

[0029] The expression formula of the notch width is:

[0030]

[0031] wherein, represents the notch width, represents the notch frequency band.

[0032] In a possible implementation manner of the first aspect, the step of obtaining the preset notch depth and calculating the first notch filter transfer function based on the notch frequency band, the notch width and the notch depth comprises:

[0033] calculating an intermediate parameter based on the notch frequency band, the notch width and the notch depth;

[0034] calculating a related parameter of the first notch filter transfer function based on a sampling period, the intermediate parameter, the notch depth and the notch frequency band, wherein the related parameter comprises a numerator constant term, a numerator first-order term coefficient, a numerator second-order term coefficient, a denominator constant term, a denominator first-order term coefficient and a denominator second-order term coefficient;

[0035] obtaining signal values obtained by a notch filter in the computer device at the previous two time points;

[0036] calculating the first notch filter transfer function at the current time point based on the related parameter of the first notch filter transfer function and the signal values obtained by the notch filter in the computer device at the previous two time points.

[0037] In a possible implementation manner of the first aspect, the step of calculating the intermediate parameter based on the notch frequency band, the notch width and the notch depth comprises:

[0038] The expression formula of the intermediate parameter is:

[0039]

[0040] wherein, represents an intermediate parameter, represents a sampling period, represents a notch frequency band, represents a notch width, represents a notch depth, the notch depth ranges from 0 ;

[0041] The step of calculating the related parameters of the first notch filter transfer function based on the sampling period, the intermediate parameter, the notch depth and the notch frequency band, wherein the related parameters include a numerator constant term, a numerator first-order term coefficient, a numerator second-order term coefficient, a denominator constant term, a denominator first-order term coefficient and a denominator second-order term coefficient, comprises:

[0042] The expression formulas of the numerator constant term, the numerator first-order term coefficient, the numerator second-order term coefficient, the denominator constant term, the denominator first-order term coefficient and the denominator second-order term coefficient are respectively:

[0043]

[0044]

[0045]

[0046]

[0047]

[0048]

[0049] wherein, represents a numerator constant term, represents a numerator first-order term coefficient, represents a numerator second-order term coefficient, represents a denominator constant term, represents a denominator first-order term coefficient, represents a denominator second-order term coefficient, represents a sampling period, represents a notch frequency band, represents an intermediate parameter, represents a notch depth;

[0050] The step of calculating the first notch filter transfer function at the current moment based on the related parameters of the first notch filter transfer function and the signal values obtained by the notch filter in the computer device at the previous two moments, comprises:

[0051]

[0052] wherein, This represents the transfer function of the first notch filter. Represents the molecule constant term. Represents the coefficient of the first-order term in the numerator. Represents the coefficient of the quadratic term in the numerator. Represents the constant term in the denominator. This represents the coefficient of the linear term in the denominator. This represents the coefficient of the quadratic term in the denominator. This represents the signal value acquired by the notch filter at the first moment. This represents the signal value acquired by the notch filter at the second time point. The first time point is the time point preceding the current time point, and the second time point is the time point preceding the first time point.

[0053] In one possible implementation of the first aspect, the step of performing notch filtering on the output of the first variable bandwidth low-pass filter based on the transfer function of the first notch filter to obtain the output of the second variable bandwidth low-pass filter includes:

[0054] The formula for the output of the second variable bandwidth low-pass filter is:

[0055]

[0056] in, This indicates the output of the second variable bandwidth low-pass filter. This represents the output of the first variable bandwidth low-pass filter. This represents the transfer function of the first notch filter;

[0057] The step of calculating the sweep amplitude of the sweep signal to be applied based on the output of the second variable bandwidth low-pass filter includes:

[0058] The formula for expressing the sweep frequency amplitude is:

[0059]

[0060] in, This indicates the sweep amplitude at the current moment. This indicates the output of the second variable bandwidth low-pass filter;

[0061] The step of obtaining the frequency sweep signal to be applied based on the frequency sweep amplitude and outputting the frequency sweep signal to be applied to the driving device, so as to apply the frequency sweep signal to the mechanical device through the driving device, includes:

[0062] The formula for expressing the frequency sweep signal is:

[0063]

[0064] in, This represents the frequency sweep signal at the current moment. This indicates the sweep amplitude at the current moment.

[0065] According to a second aspect of this application, a sweep frequency amplitude control device is provided, applied to a computer device in a mechanical system. The mechanical system further includes mechanical equipment and a drive device and an output sensor disposed on the mechanical equipment, wherein the drive device and the output sensor are connected to the computer device, comprising:

[0066] The first calculation module is used to calculate the sweep amplitude control parameters of the sweep signal to be applied at the current time based on a preset sweep mode at a preset time interval. The sweep amplitude control parameters include the frequency, period and phase angle of the sweep signal to be applied.

[0067] The acquisition module is used to acquire the output response detected by the output sensor;

[0068] The second calculation module is used to calculate the output of the first variable bandwidth low-pass filter and the transfer function of the first notch filter in the computer device based on the frequency sweep amplitude control parameters and the output response.

[0069] The notch filtering module is used to perform notch filtering on the output of the first variable bandwidth low-pass filter based on the transfer function of the first notch filter to obtain the output of the second variable bandwidth low-pass filter.

[0070] The third calculation module is used to calculate the sweep amplitude of the sweep signal to be applied based on the output of the second variable bandwidth low-pass filter;

[0071] The output module is used to calculate the sweep frequency signal to be applied based on the sweep frequency amplitude, and output the sweep frequency signal to be applied to the drive device so as to apply the sweep frequency signal to the mechanical device through the drive device.

[0072] According to a third aspect of this application, a computer storage medium is provided, the computer storage medium storing an executable program, which, when executed by a computer device, implements the aforementioned emergency stop control method.

[0073] Based on any of the above aspects, embodiments of this application provide a sweep frequency amplitude control method, control device, and computer storage medium. Thus, the above method can dynamically adjust the sweep frequency amplitude of the applied sweep frequency signal according to the output response, thereby achieving safe and accurate measurement of the mechanical system 1, effectively solving the problem of excessive vibration at the resonant point during traditional frequency response measurement. Attached Figure Description

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be invoked in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of the drawings.

[0075] Figure 1 An application scenario interaction schematic diagram of the mechanical system provided in the present embodiment;

[0076] Figure 2 A step flow schematic diagram of the sweep frequency amplitude control method provided in the present embodiment;

[0077] Figure 3 A step flow schematic diagram of the sweep frequency amplitude control method provided in the present embodiment; Figure 2 A sub-step flow schematic diagram of step S13 in the present embodiment;

[0078] Figure 4 A sub-step flow schematic diagram of step S135 in the present embodiment; Figure 3 A sub-step flow schematic diagram of step S135 in the present embodiment;

[0079] Figure 5 An amplitude-step number image of the mechanical device provided in the present embodiment;

[0080] Figure 6 A functional module schematic diagram of the sweep frequency amplitude control device provided in the present embodiment.

[0081] Figure legend: 1-mechanical system, 10-mechanical device, 20-driving device, 30-output sensor, 40-computer device, 200-first calculation module, 210-acquisition module, 220-second calculation module, 230-trap processing module, 240-third calculation module, 250-output module. DETAILED DESCRIPTION

[0082] In order to make the purpose, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be described clearly and completely in the following with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, but not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0083] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0084] It should be noted that like reference numerals and characters refer to like elements throughout the following description with like reference numerals and characters referring to like elements throughout the following description and across all drawings. It should be noted that like reference numerals and characters refer to like elements throughout the following description with like reference numerals and characters referring to like elements throughout the following description and across all drawings.

[0085] In the description of the present application, it should be noted that the terms "upper", "lower", and the like indicate the positional or locational relationship shown in the drawings or the positional or locational relationship commonly placed when the product of the present application is used, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", and the like are merely used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0086] It should be noted that the different features in the embodiments of the present application can be combined with each other without conflict.

[0087] In order to solve the technical problems mentioned in the foregoing background art, the inventors have innovatively designed the following technical solutions, and the specific implementation schemes of the present application will be described in detail below in conjunction with the drawings.

[0088] Please refer to Figure 1 , Figure 1 The mechanical system 1 provided in the present embodiment is shown in the interaction scenario diagram. The mechanical system 1 includes a mechanical device 10, and a driving device 20, a computer device 40 and an output sensor 30 arranged on the mechanical device 10, wherein the driving device 20 and the output sensor 30 are connected with the computer device 40. In the present embodiment, the mechanical system 1 is a system modeled with a linear time-invariant model, and the driving device 20 and the output sensor 30 can be connected with the computer device 40 through wireless communication (such as Bluetooth, WIFI, etc.). Illustratively, the computer device 40 can obtain the output response measured by the output sensor 30, and calculate the to-be-applied swept-frequency signal according to the output response and the current swept-frequency amplitude control parameter, and then the computer device 40 inputs the to-be-applied swept-frequency signal to the driving device 20, which then applies the swept-frequency signal excitation to the mechanical device 10 to measure the frequency response characteristic.

[0089] It can be understood that Figure 1 The mechanical system 1 shown is only one possible example, and in other possible embodiments, the mechanical system 1 can also include only Figure 1 one part of the components shown or other components. It should be noted that the swept-frequency amplitude control method mentioned in the present embodiment can also be applied to any system modeled with a linear time-invariant model, such as a spring-mass-damper system, an inductance-resistance-capacitance system, etc.

[0090] The following will be described in conjunction with Figure 1 The application scenario shown in the figure is used to exemplarily describe the sweep frequency amplitude control method provided by the embodiments of the present application. Please refer to Figure 2 , Figure 2 The step flow chart of the sweep frequency amplitude control method provided by the embodiments is shown in the figure, and the method is applied to Figure 1 the computer device 40 in the mechanical system 1 shown in the figure, that is, the method is executed by the computer device 40.

[0091] The detailed steps of the sweep frequency amplitude control method executed by the computer device 40 are introduced as follows:

[0092] Step S11, calculating the sweep frequency amplitude control parameter of the sweep frequency signal to be applied at the current time based on the preset sweep frequency mode at a preset time interval, wherein the sweep frequency amplitude control parameter includes the frequency, period and phase angle of the sweep frequency signal to be applied.

[0093] In the embodiments, the sweep frequency amplitude control parameter at the current time is calculated in real time at a preset time interval, and the sweep frequency mode includes linear sweep frequency, quadratic sweep frequency and logarithmic sweep frequency, etc. For example, in the linear sweep frequency mode, the frequency increases linearly with time.

[0094] It is worth noting that the sweep frequency mode is not specifically limited here and needs to be set according to the actual situation.

[0095] Step S12, obtaining the output response detected by the output sensor 30.

[0096] In the embodiments, the output sensor 30 collects the vibration response of the mechanical device 10 in real time and converts it into an electrical signal (that is, the output response) output to the computer device 40.

[0097] It is worth noting that the output sensor 30 can be an acceleration sensor, a laser sensor, etc., and the specific type of the output sensor 30 is not specifically limited here and needs to be set according to the actual situation.

[0098] Step S13, calculating the first variable bandwidth low-pass filter output and the first notch filter transfer function in the computer device 40 based on the sweep frequency amplitude control parameter and the output response.

[0099] Step S14, performing notch processing on the first variable bandwidth low-pass filter output based on the first notch filter transfer function to obtain the second variable bandwidth low-pass filter output.

[0100] In the embodiment, the first variable bandwidth low-pass filter and the first notch filter are digital signal processing modules inside the computer device 40. The first variable bandwidth low-pass filter (VBLPF) is an adaptive filter dynamically adjusting the cutoff frequency, and its core function is to suppress high-frequency noise and retain the effective frequency band of the sweep signal. The first notch filter is a narrow band-stop filter, and its core function is to eliminate interference signals or harmonic components at specific frequencies. When the two work together, the VBLPF first filters out the wideband high-frequency noise, and the first notch filter then performs deep control on the remaining narrowband interference.

[0101] In step S15, the sweep amplitude of the sweep signal to be applied is calculated based on the output of the second variable bandwidth low-pass filter.

[0102] In step S16, the sweep signal to be applied is obtained based on the sweep amplitude, and the sweep signal to be applied is output to the driving device 20 to apply the sweep signal to the mechanical device 10 through the driving device 20.

[0103] In the embodiment, the driving device 20 can be a driving motor, and the specific type of the driving device 20 is not specifically limited here and should be selected according to the actual situation.

[0104] In the embodiment, in each sampling period, the sweep amplitude of the sweep signal to be applied is dynamically adjusted according to the output response measured by the output sensor 30, so that safe and accurate measurement of the mechanical system 1 is realized, and the problem of excessive vibration of the sweep signal at the resonance point in the traditional frequency response measurement process is effectively solved.

[0105] Further, step S13 can also be implemented in the following manner.

[0106] In sub-step S131, the first variable bandwidth low-pass coefficient is calculated based on the sweep amplitude control parameter.

[0107] In this step, the calculation of the first variable bandwidth low-pass coefficient is based on the frequency of the sweep amplitude control parameter, which is mainly used to smooth the output response and suppress high-frequency noise.

[0108] In sub-step S132, the output of the second variable bandwidth low-pass filter at the previous time is obtained.

[0109] In sub-step S133, the output of the first variable bandwidth low-pass filter at the current time is calculated based on the first variable bandwidth low-pass coefficient, the output response, and the output of the second variable bandwidth low-pass filter at the previous time.

[0110] In the embodiment, since the output response usually contains high-frequency noise and interference, directly using the original signal will cause unstable subsequent processing, so the first variable bandwidth low-pass filter is used to smooth the output response, and the high-frequency noise is removed through low-pass filtering.

[0111] In this step, the initial value of the first variable bandwidth low-pass filter output is 0, that is, the second variable bandwidth low-pass filter output at the last moment can also be 0.

[0112] In substep S134, the notched frequency band is calculated based on the sweep amplitude control parameter, and the notched width is calculated based on the notched frequency band.

[0113] In substep S135, a preset notched depth is obtained, and the first notched filter transfer function is calculated based on the notched frequency band, the notched width and the notched depth.

[0114] In this embodiment, since the subsequent adjustment of the sweep amplitude depends on the second variable bandwidth low-pass filter output, if the second variable bandwidth low-pass filter has included the component of the excitation frequency before being processed by the first variable bandwidth low-pass filter, the amplitude of the sweep signal will be dominated by the excitation frequency itself. Therefore, the interference of the excitation frequency is further eliminated by designing the first notched filter transfer function.

[0115] In this embodiment, the notched depth is preset, and the specific value thereof ranges from 0 to 1. The specific value of the notched depth is not specifically limited here and needs to be selected according to the actual situation.

[0116] Further, substep S131 can also be implemented in the following manner.

[0117] The expression formula of the first variable bandwidth low-pass coefficient is:

[0118]

[0119] wherein, the first variable bandwidth low-pass coefficient is denoted by a, the period of the sweep signal to be applied is denoted by T, the sampling period is denoted by Ts.

[0120] In this embodiment, the specific value of the sampling period is not specifically limited here and needs to be selected according to the actual situation.

[0121] Further, substep S133 can also be implemented in the following manner.

[0122] The expression formula of the first variable bandwidth low-pass filter output is:

[0123]

[0124] wherein, the first variable bandwidth low-pass filter output is denoted by y, the first variable bandwidth low-pass coefficient is denoted by a, the second variable bandwidth low-pass filter output at the last moment is denoted by y, represents the absolute value of the output response.

[0125] Further, the sub-step S134 can be implemented in the following way.

[0126] The expression formula of the notch frequency band is:

[0127]

[0128] wherein, represents the notch frequency band, represents the frequency of the sweep signal to be applied.

[0129] The expression formula of the notch width is:

[0130]

[0131] wherein, represents the notch width, represents the notch frequency band.

[0132] Further, the sub-step S135 can be implemented in the following way.

[0133] The sub-step S1350, based on the notch frequency band, the notch width and the notch depth, calculates an intermediate parameter.

[0134] The sub-step S1351, based on the sampling period, the intermediate parameter, the notch depth and the notch frequency band, calculates the related parameters of the first notch filter transfer function, wherein the related parameters include the numerator constant term, the numerator first-order term coefficient, the numerator second-order term coefficient, the denominator constant term, the denominator first-order term coefficient and the denominator second-order term coefficient.

[0135] The sub-step S1352, obtains the signal values obtained by the notch filter in the computer device at the previous two time points.

[0136] The sub-step S1353, based on the related parameters of the first notch filter transfer function and the signal values obtained by the notch filter in the computer device at the previous two time points, calculates the first notch filter transfer function at the current time point.

[0137] In the present embodiment, the notch filter takes the first variable-bandwidth low-pass filter output after the variable-bandwidth low-pass filter processing as the input signal. Since the form of the first notch filter transfer function in the notch filter is a second-order IIR filter, the output value thereof depends on the signal values obtained by the notch filter at the previous two time points.

[0138] Further, the sub-step S1350 can be implemented in the following way.

[0139] The expression formula of the intermediate parameter is:

[0140]

[0141] in, Indicates intermediate parameters. Indicates the sampling period. Indicates the notch band. Indicates the notch width. This indicates the notch depth, which ranges from 0 to... ;

[0142] Sub-step S1351 can also be implemented in the following ways:

[0143] The formulas for the numerator constant term, the coefficient of the linear term of the numerator, the coefficient of the quadratic term of the numerator, the denominator constant term, the coefficient of the linear term of the denominator, and the coefficient of the quadratic term of the denominator are as follows:

[0144]

[0145]

[0146]

[0147]

[0148]

[0149]

[0150] in, Represents the molecule constant term. Represents the coefficient of the first-order term in the numerator. Represents the coefficient of the quadratic term in the numerator. Represents the constant term in the denominator. This represents the coefficient of the linear term in the denominator. This represents the coefficient of the quadratic term in the denominator. Indicates the sampling period. Indicates the notch band. Indicates intermediate parameters. Indicates the depth of the notch;

[0151] Sub-step S1353 can also be implemented in the following ways:

[0152]

[0153] in, This represents the transfer function of the first notch filter. Represents the molecule constant term. Represents the coefficient of the first-order term in the numerator. Represents the coefficient of the quadratic term in the numerator. denotes a constant term of a denominator, denotes a coefficient of a linear term of a denominator, denotes a coefficient of a quadratic term of a denominator, denotes a signal value obtained by the notch filter at a first time point, denotes a signal value obtained by the notch filter at a second time point, the first time point being a time point immediately before a current time point, and the second time point being a time point immediately before the first time point.

[0154] Further, the step S14 can also be implemented in the following way.

[0155] An expression formula of the output of the second variable-bandwidth low-pass filter is:

[0156]

[0157] wherein, denotes the output of the second variable-bandwidth low-pass filter, denotes the output of the first variable-bandwidth low-pass filter, denotes a transfer function of the first notch filter;

[0158] The step S15 can also be implemented in the following way.

[0159] An expression formula of the sweep amplitude is:

[0160]

[0161] wherein, denotes the sweep amplitude at a current time point, denotes the output of the second variable-bandwidth low-pass filter;

[0162] The step S16 can also be implemented in the following way.

[0163] An expression formula of the sweep signal is:

[0164]

[0165] wherein, denotes the sweep signal at a current time point, denotes the sweep amplitude at a current time point.

[0166] In the present embodiment, when the frequency response measurement of the mechanical system is performed by exciting the mechanical system with the sweep signal by using the sweep amplitude control method mentioned above, the amplitude-step image of the mechanical device measured is as shown in FIG. 6. Figure 5It can be seen that the adaptive amplitude (that is, the sweep frequency amplitude of the sweep frequency signal in the embodiment) automatically reduces the sweep frequency amplitude at the resonance point, and does not limit the sweep frequency amplitude at other frequency bands, effectively solving the problem that excessive vibration is easily generated at the resonance point in the traditional frequency response measurement process, thereby ensuring the safety of the mechanical system measurement process and helping to maintain a higher signal-to-noise ratio.

[0167] Based on the same inventive concept, see Figure 6 , Figure 6 A schematic diagram of the functional modules of the sweep frequency amplitude control device provided in the embodiment is shown in the figure. The sweep frequency amplitude control device can be divided into functional modules according to the method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be realized in the form of hardware or in the form of a software functional module. It should be noted that the division of modules in the present embodiment is illustrative, and is only a logical functional division. Actual implementation can have another division method. For example, in the case of dividing each functional module according to each function, Figure 6 The sweep frequency amplitude control device shown in the figure is only a device schematic diagram. The sweep frequency amplitude control device can include a first calculation module 200, an acquisition module 210, a second calculation module 220, a notch processing module 230, a third calculation module 240, and an output module 250. The functions of each functional module of the sweep frequency amplitude control device will be described in detail below.

[0168] The first calculation module 200 is configured to calculate a sweep frequency amplitude control parameter of a sweep frequency signal to be applied at a current time based on a preset sweep frequency mode at a preset time interval, wherein the sweep frequency amplitude control parameter includes a frequency, a period, and a phase angle of the sweep frequency signal to be applied.

[0169] In the embodiment, the first calculation module 200 can be configured to perform the step S11 shown in the figure. The specific description of the first calculation module 200 can be referred to the description of the step S11. Figure 2

[0170] The acquisition module 210 is configured to acquire an output response detected by the output sensor 30.

[0171] In the embodiment, the acquisition module 210 can be configured to perform the step S12 shown in the figure. The specific description of the determination module can be referred to the description of the step S12. Figure 2

[0172] The second calculation module 220 is configured to calculate a first variable-bandwidth low-pass filter output and a first notch filter transfer function in the computer device 40 based on the sweep frequency amplitude control parameter and the output response. ​​

[0173] In the embodiment, the second calculating module 220 can be configured to perform Figure 2 The specific description of the second calculating module 220 can refer to the description of step S13.

[0174] The notch processing module 230 is configured to perform notch processing on the first variable-bandwidth low-pass filter output based on a first notch filter transfer function to obtain a second variable-bandwidth low-pass filter output.

[0175] In the embodiment, the notch processing module 230 can be configured to perform Figure 2 The specific description of the notch processing module 230 can refer to the description of step S14.

[0176] The third calculating module 240 is configured to calculate a sweep frequency amplitude of the sweep frequency signal to be applied based on the second variable-bandwidth low-pass filter output.

[0177] In the embodiment, the third calculating module 240 can be configured to perform Figure 2 The specific description of the third calculating module 240 can refer to the description of step S15.

[0178] The output module 250 is configured to calculate the sweep frequency signal to be applied based on the sweep frequency amplitude, and output the sweep frequency signal to be applied to the driving device 20, so that the sweep frequency signal is applied to the mechanical device 10 by the driving device 20.

[0179] In the embodiment, the output module 250 can be configured to perform Figure 2 The specific description of the output module 250 can refer to the description of step S16.

[0180] Further, the embodiment of the present application also provides a computer storage medium storing an executable program, and the executable program can be used to implement the sweep frequency amplitude control method provided by the above method embodiment when executed.

[0181] Of course, the computer storage medium provided by the embodiment of the present application includes an executable program, and the executable program is not limited to the method operation as above, but can also perform the related operation in the sweep frequency amplitude control method provided by any embodiment of the present application.

[0182] In summary, the sweep frequency amplitude control method, control device and computer storage medium provided by the application. First, the sweep frequency amplitude control parameter of the sweep frequency signal to be applied is calculated based on the preset sweep frequency mode at a preset time interval. Next, the output response detected by the output sensor is obtained, and then the first variable bandwidth low pass filter output and the first notch filter transfer function are calculated based on the sweep frequency amplitude control parameter and the output response. Then, the second variable bandwidth low pass filter output is obtained by performing notch processing on the first variable bandwidth low pass filter output, and then the sweep frequency amplitude of the sweep frequency signal to be applied is calculated based on the second variable bandwidth low pass filter output. Finally, the sweep frequency signal to be applied is obtained based on the sweep frequency amplitude, and the signal is applied to the mechanical equipment through the driving device. In this way, the above method can dynamically adjust the sweep frequency amplitude of the sweep frequency signal to be applied according to the output response, thereby ensuring the safety of the measurement process.

[0183] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, devices and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The device for implementing the functions specified in one flow or multiple flows and / or blocks.

[0184] Although the present application is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the described drawings, disclosure and appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures described in mutually different dependent claims can be combined and produce a good result.

[0185] It should be understood that, although Figure 2 , Figure 3 and Figure 4 The steps in the flowchart of the steps are displayed in sequence according to the arrow, but these steps are not necessarily executed in sequence according to the arrow. Unless otherwise stated herein, the execution of these steps is not strictly limited in sequence, and these steps can be executed in other order.

[0186] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A frequency-sweep amplitude control method characterized by, The application relates to a computer device applied to a mechanical system, wherein the mechanical system further comprises a mechanical device, a driving device and an output sensor arranged on the mechanical device, the driving device and the output sensor are connected with the computer device, and the method comprises the following steps: calculating a sweep frequency amplitude control parameter of a sweep frequency signal to be applied at a current moment based on a preset sweep frequency mode at a preset time interval, wherein the sweep frequency amplitude control parameter comprises a frequency, a period and a phase angle of the sweep frequency signal to be applied; obtaining an output response detected by the output sensor; calculating a first variable-bandwidth low-pass filter output and a first notch filter transfer function in the computer device based on the sweep frequency amplitude control parameter and the output response, comprising the following steps: calculating a first variable-bandwidth low-pass coefficient based on the sweep frequency amplitude control parameter; obtaining a second variable-bandwidth low-pass filter output at a previous moment; calculating a first variable-bandwidth low-pass filter output at a current moment based on the first variable-bandwidth low-pass coefficient, the output response and the second variable-bandwidth low-pass filter output at the previous moment; calculating a notch frequency band based on the sweep frequency amplitude control parameter, and calculating a notch width based on the notch frequency band; obtaining a preset notch depth, and calculating a first notch filter transfer function based on the notch frequency band, the notch width and the notch depth; performing notch processing on the first variable-bandwidth low-pass filter output based on the first notch filter transfer function to obtain a second variable-bandwidth low-pass filter output; calculating a sweep frequency amplitude of the sweep frequency signal to be applied based on the second variable-bandwidth low-pass filter output; obtaining the sweep frequency signal to be applied based on the sweep frequency amplitude, and outputting the sweep frequency signal to be applied to the driving device, so that the sweep frequency signal is applied to the mechanical device by the driving device.

2. The sweep amplitude control method of claim 1, wherein, In the step of calculating a first variable-bandwidth low-pass coefficient based on the sweep frequency amplitude control parameter: the expression formula of the first variable-bandwidth low-pass coefficient is: ； wherein, denotes a first variable-bandwidth low-pass coefficient, denotes a period of the sweep signal to be applied, denotes a sampling period.

3. The sweep amplitude control method of claim 1, wherein, the step of calculating a first variable-bandwidth low-pass filter output at a current moment based on the first variable-bandwidth low-pass coefficient, the output response and the second variable-bandwidth low-pass filter output at the previous moment comprises: the expression formula of the first variable-bandwidth low-pass filter output is: ； wherein denotes the first variable-bandwidth low-pass filter output, denotes the first variable-bandwidth low-pass coefficient, denotes the second variable-bandwidth low-pass filter output of the previous time instant, denotes the absolute value of the output response.

4. The sweep amplitude control method of claim 1, wherein, the step of calculating a notch frequency band based on the sweep frequency amplitude control parameter, and calculating a notch width based on the notch frequency band, the method comprising: the expression formula of the notch frequency band is: ； wherein, represents a notch frequency band, represents a frequency of the sweep signal to be applied; the expression formula of the notch width is: ； wherein represents a notch width, represents a notch frequency band.

5. The sweep amplitude control method of claim 1, wherein, the step of obtaining a preset notch depth, and calculating a first notch filter transfer function based on the notch frequency band, the notch width and the notch depth comprises: calculating an intermediate parameter based on the notch frequency band, the notch width and the notch depth; calculating a related parameter of the first notch filter transfer function based on a sampling period, the intermediate parameter, the notch depth and the notch frequency band, wherein the related parameter comprises a numerator constant term, a numerator first-order term coefficient, a numerator second-order term coefficient, a denominator constant term, a denominator first-order term coefficient and a denominator second-order term coefficient; obtaining signal values obtained by a notch filter in the computer device at previous two moments; The first notch filter transfer function at the current time is calculated based on the related parameters of the first notch filter transfer function and signal values obtained by the notch filter in the computer device at the previous two times.

6. The sweep amplitude control method of claim 5, wherein, The step of calculating the intermediate parameters based on the notch frequency band, the notch width and the notch depth comprises: The expression formula of the intermediate parameters is: ； wherein, represents an intermediate parameter, represents a sampling period, represents a notch frequency band, represents a notch width, represents a notch depth, the notch depth ranging from 0 ; The step of calculating the related parameters of the first notch filter transfer function based on the sampling period, the intermediate parameters, the notch depth and the notch frequency band, wherein the related parameters comprise a numerator constant term, a numerator first-order term coefficient, a numerator second-order term coefficient, a denominator constant term, a denominator first-order term coefficient and a denominator second-order term coefficient, comprises: The expression formula of the numerator constant term, the numerator first-order term coefficient, the numerator second-order term coefficient, the denominator constant term, the denominator first-order term coefficient and the denominator second-order term coefficient is respectively: ； ； ； ； ； ； wherein, represents a constant term of the numerator, represents a coefficient of a first order term of the numerator, represents a coefficient of a second order term of the numerator, represents a constant term of the denominator, represents a coefficient of a first order term of the denominator, represents a coefficient of a second order term of the denominator, represents a sampling period, represents a notch frequency band, represents an intermediate parameter, represents a notch depth; The step of calculating the first notch filter transfer function at the current time based on the related parameters of the first notch filter transfer function and signal values obtained by the notch filter in the computer device at the previous two times comprises: ； wherein, denotes a first notch filter transfer function, denotes a numerator constant term, denotes a numerator linear term coefficient, denotes a numerator quadratic term coefficient, denotes a denominator constant term, denotes a denominator linear term coefficient, denotes a denominator quadratic term coefficient, denotes a signal value acquired by the notch filter at a first time, denotes a signal value acquired by the notch filter at a second time, the first time being a time immediately preceding the current time, and the second time being a time immediately preceding the first time.

7. The sweep amplitude control method of claim 1, wherein, The step of performing notch processing on the first variable-bandwidth low-pass filter output based on the first notch filter transfer function to obtain a second variable-bandwidth low-pass filter output comprises: The expression formula of the second variable-bandwidth low-pass filter output is: ； wherein represents the second variable-bandwidth low-pass filter output, represents the first variable-bandwidth low-pass filter output, represents the first notch filter transfer function; The step of calculating the sweep frequency amplitude of the to-be-applied sweep frequency signal based on the second variable-bandwidth low-pass filter output comprises: The expression formula of the sweep frequency amplitude is: ； wherein represents the swept amplitude at the current time instant, represents the second variable-bandwidth low-pass filter output; The step of obtaining the to-be-applied sweep frequency signal based on the sweep frequency amplitude and outputting the to-be-applied sweep frequency signal to the driving device to apply the sweep frequency signal to the mechanical device by the driving device comprises: The expression formula of the sweep frequency signal is: ； wherein, represents a sweep signal at the current time point, represents a sweep amplitude at the current time point.

8. A sweep amplitude control device, characterized by comprising: A computer device applied to a mechanical system, the mechanical system further comprising a mechanical device and a driving device and an output sensor arranged on the mechanical device, wherein the driving device and the output sensor are connected with the computer device, comprising: A first calculation module configured to calculate a sweep frequency amplitude control parameter of a to-be-applied sweep frequency signal at a current time based on a preset sweep frequency mode at a preset time interval, wherein the sweep frequency amplitude control parameter comprises a frequency, a period and a phase angle of the to-be-applied sweep frequency signal; An acquisition module configured to acquire an output response detected by the output sensor; A second calculation module configured to calculate a first variable-bandwidth low-pass filter output and a first notch filter transfer function in the computer device based on the sweep frequency amplitude control parameter and the output response; A notch processing module configured to perform notch processing on the first variable-bandwidth low-pass filter output based on the first notch filter transfer function to obtain a second variable-bandwidth low-pass filter output; A third calculation module configured to calculate a sweep frequency amplitude of a to-be-applied sweep frequency signal based on the second variable-bandwidth low-pass filter output; An output module is configured to calculate a to-be-applied sweep signal based on the sweep amplitude and output the to-be-applied sweep signal to the driving device, so that the sweep signal is applied to the mechanical device by the driving device.

9. A computer storage medium, characterized in that The computer device stores an executable program, and the executable program is executed by the computer device to implement the sweep amplitude control method in any one of claims 1-7.

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