Dynamic load prediction method and device for double-layer vibration isolation system under variable stiffness condition

Abstract

The application discloses a dynamic load prediction method and equipment for a double-layer vibration isolation system under a variable stiffness condition. The method first establishes a multi-degree-of-freedom dynamic model of the double-layer vibration isolation system, then describes the structure displacement based on a frequency domain transfer function, further deduces a function expression of the to-be-identified dynamic load about the dynamic characteristics of the double-layer vibration isolation system, and finally obtains a relationship between the to-be-identified dynamic loads before and after the variable stiffness. When the stiffness of the lower layer structure of the double-layer vibration isolation system of a mechanical equipment changes, the dynamic load borne by the lower layer structure needs to be accurately predicted to guarantee the safe and stable operation of the equipment. The method is simple and easy to implement, and only needs the dynamic characteristics of the structure to identify the dynamic load, thereby avoiding the inverse operation in the traditional dynamic load identification method and improving the identification precision. In addition, under the variable stiffness condition, the method can quickly predict the load after the variable stiffness on the basis of the load identified before the variable stiffness, and compared with the traditional dynamic load identification method, the identification efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of dynamic load identification, and specifically to a method and device for predicting the dynamic load of a double-layer vibration isolation system under variable stiffness conditions. Background Technology

[0002] Many mechanical devices generate significant vibrations during operation. To reduce the impact of these vibrations on equipment performance and the surrounding environment, a double-layer vibration isolation system is often employed. This system consists of two parts: an upper structure and a lower structure. The upper structure includes the mechanical equipment and the primary vibration isolation device between it and the intermediate platform. The lower structure comprises the intermediate platform, the secondary vibration isolation device, and the mounting foundation. To ensure the stable and safe operation of the mechanical equipment, it is necessary to accurately identify the vibration loads transmitted from the upper structure to the lower structure, thereby assessing the safety and reliability of the lower structure.

[0003] However, due to limitations in engineering conditions or testing technology, some vibration loads are difficult to measure directly and usually require indirect inversion using dynamic load identification technology. When the vibration load generated by mechanical equipment and the parameters of the upper structure remain constant, if the stiffness of the lower structure changes, the dynamic load transmitted to the lower structure will also change accordingly, requiring a re-identification of the load. In traditional methods, the entire dynamic load identification process must be repeated for each stiffness change, which is inefficient and makes it difficult to reflect changes in the dynamic load on the lower structure in a timely manner. This may lead to fatigue damage to the lower structure, thereby affecting the performance of the mechanical equipment and even causing safety hazards.

[0004] Therefore, how to quickly and accurately predict the dynamic loads transmitted from the upper structure to the lower structure under variable stiffness conditions in order to ensure the safe and stable operation of equipment is a key problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] Purpose of the invention: This invention proposes a dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions, avoiding the inverse problem in traditional dynamic load identification methods, and is used to quickly and accurately predict the dynamic load transmitted from the upper structure to the lower structure under variable stiffness conditions.

[0006] Technical solution: To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A method for predicting the dynamic load of a double-layer vibration isolation system under variable stiffness conditions includes the following steps:

[0008] A multi-degree-of-freedom dynamic model of a double-layer vibration isolation system was established, and the dynamic characteristics of the double-layer vibration isolation system were simulated and calibrated.

[0009] Structural displacement is described based on frequency domain transfer function, where the displacement of the upper structural mass block is the sum of the displacement caused by the equipment vibration load and the displacement caused by the movement of the lower structure, and the displacement of the lower structural mass block is the displacement caused by the load to be identified.

[0010] Based on Newton's second law and the structural displacement described by the frequency domain transfer function, the functional expression of the load to be identified with respect to the dynamic characteristics of the double-layer vibration isolation system is derived. The load to be identified is a function of the frequency response function between the equipment vibration load and the mass block in the upper structure, the frequency response function between the load to be identified and the mass block in the lower structure, and the absolute displacement transmissivity between the mass block in the lower structure and the mass block in the upper structure.

[0011] Based on the functional expression of the load to be identified, the relationship between the load to be identified before and after the change in stiffness is obtained;

[0012] Based on the functional expression of the load to be identified and the dynamic characteristics of the double-layer vibration isolation system calibrated by simulation, the dynamic load transmitted to the lower structure before the stiffness change is identified, and based on the relationship between the dynamic load transmitted to the lower structure before the stiffness change and the load to be identified before and after the stiffness change, the dynamic load transmitted to the lower structure after the stiffness change is predicted.

[0013] Preferably, the equations of motion for the multi-degree-of-freedom dynamic model of the double-layer vibration isolation system are:

[0014]

[0015] Where M is the mass matrix, C is the damping matrix, K is the stiffness matrix, and F(t) is the equipment vibration load;

[0016]

[0017] M1 = diag(m1, m2, ..., m n )

[0018] M2 = diag(m n+1 ,m n+2 ,…,m n+m )

[0019]

[0020] Where M1 represents the mass of the upper structure's mass block, and M2 represents the mass of the lower structure's mass block; C 11 C represents the internal damping of the superstructure. 22 This indicates the internal damping of the lower structure. K represents the coupling damping between the upper and lower layers of the structure. 11 K represents the stiffness between the mass blocks of the superstructure. 22This indicates the stiffness between the mass blocks of the lower structure and the stiffness between the mass blocks of the lower structure and the installation foundation. Indicates the coupling stiffness between upper and lower layers; x shang (t) represents the displacement of the upper structure mass block, x xia (t) represents the displacement of the lower structural mass block.

[0021] Preferably, in the structural displacement described by the frequency domain transfer function, the displacement of the upper structural mass block is expressed as:

[0022] x shang (ω)=H shang (ω)F(ω)+T(ω)x xia (ω)

[0023] Among them, H shang (ω) represents the frequency response function between the equipment vibration load and the mass block in the upper structure, T(ω) represents the absolute displacement transmissibility between the mass block in the lower structure and the mass block in the upper structure, and x xia (ω) represents the displacement of the mass block in the lower structure.

[0024] Preferably, in the structural displacement described by the frequency domain transfer function, the displacement of the lower structural mass block is expressed as:

[0025] x xia (ω)=H xia (ω)P(ω)

[0026] Where P(ω) represents the load to be identified, H xia (ω) represents the frequency response function between the load to be identified and the mass block in the lower structure.

[0027] Preferably, the functional expression for the load to be identified is:

[0028] P(ω)=f(H shang (ω),T(ω),H xia (ω))

[0029] Where P(ω) represents the load to be identified, H shang (ω) represents the frequency response function between the equipment vibration load and the mass block in the upper structure, T(ω) represents the absolute displacement transmissibility between the mass block in the lower structure and the mass block in the upper structure, and H xia (ω) represents the frequency response function between the load to be identified and the mass block in the lower structure.

[0030] Preferably, the relationship between the loads to be identified before and after the stiffness change is as follows:

[0031]

[0032] Where a(ω) and b(ω) are constant vectors, This represents the frequency response function between the load to be identified and the mass block in the lower structure after the stiffness is changed. P represents the frequency response function between the load to be identified and the mass block in the substructure before the stiffness changes. before (ω) represents the load to be identified before the stiffness changes, P after (ω) represents the load to be identified after the stiffness is changed.

[0033] Preferably, the relationship between the loads to be identified before and after the change in stiffness is obtained according to the following method:

[0034] Under the condition that the equipment vibration load and the parameters of the upper structure remain unchanged, and only the stiffness of the lower structure is changed, H shang (ω) and T(ω) remain unchanged, H xia As (ω) changes, the load to be identified is represented as about H xia A function of (ω):

[0035] P(ω)=a(ω)H xia (ω)+b(ω)

[0036] The load P to be identified before the change of stiffness was obtained respectively. before (ω) and the load to be identified after stiffness variation P after (ω):

[0037]

[0038] This allows us to obtain the relationship between the loads to be identified before and after the change in stiffness.

[0039] The present invention also provides an electronic device, comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, wherein when the programs are executed by the processors, they implement the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described above.

[0040] The present invention also provides a computer storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described above.

[0041] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described above.

[0042] Beneficial effects: The method of this invention establishes a functional relationship between the load to be identified and the dynamic characteristics of the structure. It only requires the dynamic characteristics of the structure to identify the dynamic load, avoiding the inverse calculations in traditional dynamic load identification methods. Furthermore, under variable stiffness conditions, the method of this invention can quickly predict the load after the stiffness change based on the load identified before the stiffness change. Compared with traditional dynamic load identification methods, the method of this invention is simple and easy to implement, improving both identification accuracy and efficiency. Attached Figure Description

[0043] Figure 1 This is a flowchart of the method of the present invention;

[0044] Figure 2 This is a schematic diagram of a four-degree-of-freedom dynamic model of a double-layer vibration isolation system;

[0045] Figure 3 Before the stiffness is changed, a comparison diagram of the identified load and the actual load is shown.

[0046] Figure 4 The image shows a comparison between the identified load and the actual load after the stiffness is changed. Detailed Implementation

[0047] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0048] like Figure 1 As shown, this invention proposes a method for predicting the dynamic load of a double-layer vibration isolation system under variable stiffness conditions. The specific implementation steps are as follows:

[0049] Step 1: Establish a multi-degree-of-freedom dynamic model of the double-layer vibration isolation system.

[0050] Assume the upper structure has n mass blocks, and the mass of each mass block is denoted as m. i (i = 1, 2, ..., n), the lower structure has m mass blocks, and the mass of each mass block is denoted as m. n+j (j=1,2,…,m). The upper structural mass blocks are connected to each other, the lower structural mass blocks are connected to each other, the upper structural mass blocks are connected to the lower structural mass blocks, and the lower structural mass blocks are connected to the mounting foundation through springs and damping elements.

[0051] The equations of motion for the multi-degree-of-freedom dynamic model of the double-layer vibration isolation system are:

[0052]

[0053] Where M is the mass matrix, C is the damping matrix, K is the stiffness matrix, and F(t) is the equipment vibration load.

[0054]

[0055] M1 = diag(m1, m2, ..., m n )

[0056] M2 = diag(m n+1 ,m n+2 ,…,m n+m )

[0057]

[0058] Where M1 represents the mass of the upper structure's mass block, and M2 represents the mass of the lower structure's mass block. C 11 C represents the internal damping of the superstructure. 22 This indicates the internal damping of the lower structure. This represents the coupling damping between the upper and lower layers of the structure. K 11 K represents the stiffness between the mass blocks of the superstructure. 22 This indicates the stiffness between the mass blocks of the lower structure and the stiffness between the mass blocks of the lower structure and the installation foundation. This represents the coupling stiffness between the upper and lower layers of the structure. shang (t) represents the displacement of the upper structure mass block, x xia (t) represents the displacement of the lower structural mass block.

[0059] In this embodiment of the invention, a four-degree-of-freedom dynamic model of a double-layer vibration isolation system is established, such as... Figure 2 As shown, (a) is a schematic diagram of the overall double-layer vibration isolation system, (b) is a schematic diagram of the upper structure, and (c) is a schematic diagram of the lower structure. Corresponding to this model, the matrices and vectors are as follows:

[0060]

[0061] x(t) = [x1(t)x2(t)x3(t)x4(t)] T

[0062] F(t) = [F1(t)F2(t)] T

[0063] Among them, c 12 ,c 13 ,c 24 ,c 34 c3 and c4 represent the damping coefficients of the damping element, k 12 ,k 13 ,k 24 ,k 34 k3 and k4 represent the stiffness coefficients of the spring elements, x1(t), x2(t), x3(t), and x4(t) represent the displacements of each mass block, and F1(t) and F2(t) represent the external loads applied to the upper structure, simulating the vibration load of the equipment.

[0064] The load to be identified, transferred from the upper structure to the lower structure, is:

[0065] P(t) = [P1(t)P2(t)] T

[0066] Step 2: Describe the structural displacement based on the frequency domain transfer function.

[0067] In the upper structure, the displacement x of the mass block shang (t) Caused by equipment vibration loads and the movement of the underlying structure:

[0068] x shang (t)=x(t) l +x(t) r

[0069] Where, x(t) l The displacement x(t) represents the displacement caused by the vibration load on the equipment. r This indicates the displacement caused by the movement of the lower structure.

[0070] In the frequency domain, based on the transfer function, the displacement x of the upper structure mass block... shang (ω) can be expressed as the displacement x(ω) caused by the vibration load on the equipment. l Displacement x(ω) caused by the movement of the lower structure r sum:

[0071] x shang (ω)=x(ω) l +x(ω) r

[0072] x(ω) l =H shang (ω)F(ω)

[0073] x(ω) r =T(ω)x xia (ω)

[0074] Right now,

[0075] x shang (ω)=H shang (ω)F(ω)+T(ω)x xia (ω)

[0076] Where F(ω) represents the equipment vibration load, H shang (ω) represents the frequency response function between the equipment vibration load and the mass block in the upper structure, and T(ω) represents the absolute displacement transmissibility between the mass block in the lower structure and the mass block in the upper structure.

[0077] The displacement of the lower structural mass block can be expressed as the displacement caused by the load to be identified:

[0078] x xia (ω)=H xia (ω)P(ω)

[0079] Where P(ω) represents the load to be identified, H xia (ω) represents the frequency response function between the load to be identified and the mass block in the lower structure.

[0080] In embodiments of the present invention, the dynamic characteristics of the double-layer vibration isolation system are as follows:

[0081]

[0082] Among them, H 11 (ω),H 12 (ω) represents the frequency response function between the equipment vibration load and the mass block m1, H 21 (ω),H 22 (ω) represents the frequency response function between the equipment vibration load and the mass block m2. H 31 (ω),H 32 (ω) represents the frequency response function between the load to be identified and the mass block m3, H 41 (ω),H 42 (ω) represents the frequency response function between the load to be identified and the mass block m4. 31 (ω),T 32 (ω) represents the absolute displacement transmissibility between mass block m3 and mass blocks m1 and m2, T 41 (ω),T 42 (ω) represents the absolute displacement transfer rate between mass block m4 and mass blocks m1 and m2.

[0083] The displacement of the upper structure mass block can be expressed as:

[0084] x1(ω)=H 11 (ω)F1(ω)+H 12 (ω)F2(ω)+T 31 (ω)x3(ω)+T 41 (ω)x4(ω)

[0085] x2(ω)=H 21 (ω)F1(ω)+H 22 (ω)F2(ω)+T 32 (ω)x3(ω)+T 42 (ω)x4(ω)

[0086] The displacement of the lower structural mass block can be expressed as:

[0087] x₃(ω)=H 31 (ω)P₁(ω)+H 32 (ω)P₂(ω)

[0088] x₄(ω)=H 41 (ω)P₁(ω)+H 42 (ω)P₂(ω)

[0089] Step 3: Derive the functional expression of the load to be identified with respect to the dynamic characteristics of the double-layer vibration isolation system.

[0090] Any mass block connected to the lower-layer structure in the upper-layer structure is denoted as m l . This mass block is not only connected to the corresponding mass block in the lower-layer structure via spring and damping elements, but also connected with a stiffness coefficient k lk and damping coefficient c lk elements to q other mass blocks m in the upper-layer structure k (k≠l, q<n). According to Newton's second law, the acceleration of mass block m l is determined by the resultant force acting on it, which can be expressed as:

[0091]

[0092]

[0093] wherein, and x l (t) represent the acceleration, velocity and displacement of mass block m l respectively, and x k (t) represent the velocity and displacement of mass block m k respectively. F l (t) represents the equipment vibration load acting on the upper-layer structure mass block m l , and P j (t) represents the vibration load transmitted to the lower-layer structure mass block m n+j .

[0094] By deriving the above formula, the relational expression between the load to be identified and the displacement of the upper-layer structure mass block in the frequency domain can be obtained:

[0095]

[0096] Combining the structural displacement described in Step 2 and the relational expression between the load to be identified and the displacement of the upper-layer structure mass block, the functional expression of the load to be identified with respect to the dynamic characteristics of the double-layer vibration isolation system can be derived:

[0097] x shang (ω)=H shang (ω)F(ω)+T(ω)Hxia (ω)P(ω)

[0098] P j (ω)=f(x l (ω),x k (ω))=f(x shang (ω))

[0099] P(ω)=f(H shang (ω),T(ω),H xia (ω))

[0100] That is, the payload to be identified is about H shang (ω), T(ω), H xia A function of (ω).

[0101] In this embodiment of the invention, in the upper structure, according to Newton's second law, we can obtain:

[0102] P1(ω)=-ω 2 m1x1(ω)-jωc 12 (x2(ω)-x1(ω))-k 12 (x2(ω)-x1(ω))-F1(ω)

[0103] P2(ω)=-ω 2 m2x2(ω)-jωc 12 (x1(ω)-x2(ω))-k 12 (x1(ω)-x2(ω))-F2(ω)

[0104] The functional expression of the load to be identified with respect to the dynamic characteristics of the double-layer vibration isolation system is as follows:

[0105]

[0106] Step 4: Obtain the relationship between the loads to be identified before and after the change in stiffness.

[0107] Under the condition that the equipment vibration load and the parameters of the upper structure remain unchanged, and only the stiffness of the lower structure is changed, H shang (ω) and T(ω) remain unchanged, H xia As (ω) changes, the load to be identified is represented as about H xia A function of (ω):

[0108] P(ω)=a(ω)H xia (ω)+b(ω)

[0109] Where a(ω) and b(ω) are constant vectors, according to H shang The values ​​of T(ω) and F(ω) are calculated.

[0110] Based on the above formula, the load P to be identified before the stiffness change is obtained respectively. before (ω) and the load to be identified after stiffness variation P after (ω):

[0111]

[0112]

[0113] The relationship between the loads to be identified before and after the change in stiffness is:

[0114]

[0115] in, This represents the frequency response function between the load to be identified and the mass block in the lower structure after the stiffness is changed. This represents the frequency response function between the load to be identified and the mass block in the lower structure before the stiffness is changed.

[0116] In this embodiment of the invention, under the condition that the external load and the parameters of the upper structure remain unchanged, and only the stiffness of the lower structure is changed, the load P to be identified before the stiffness change is... before (ω) and the load to be identified after stiffness variation P after The relationship between (ω) is:

[0117]

[0118] in, This represents the frequency response function between the load to be identified and the mass block m3 before the stiffness is changed. This represents the frequency response function between the load to be identified and the mass block m4 before the stiffness is changed. This represents the frequency response function between the load to be identified and the mass block m3 after the stiffness is changed. This represents the frequency response function between the load to be identified and the mass block m4 after the stiffness is changed.

[0119] Step 5: Identify the dynamic loads transmitted to the lower structure before the stiffness changes.

[0120] Based on the four-degree-of-freedom dynamic model of the double-layer vibration isolation system established in step 1, the dynamic characteristics of the calibration structure are simulated and determined, including H... shang (ω), T(ω) and H xia (ω). Then, based on the load function relationship derived in step 3, the dynamic load P transferred from the upper structure to the lower structure before the change of stiffness is identified. before (ω).

[0121] The load identification results in the embodiments of the present invention are as follows: Figure 3 As shown, (a) represents the identification result of P1 before the stiffness change, and (b) represents the identification result of P2 before the stiffness change. From Figure 3 It can be seen that the identified load is consistent with the actual load, and the identification accuracy is high. This indicates that the method of the present invention only needs the dynamic characteristics of the structure to identify the dynamic load.

[0122] Step 6: The stiffness of the lower structure changes, and the dynamic load transmitted to the lower structure after the change in stiffness is predicted.

[0123] The variable stiffness front dynamic load P identified in step 5 before Based on (ω), and according to the relationship between the loads to be identified before and after the change in stiffness obtained in step 4, predict the dynamic load P transmitted from the upper structure to the lower structure after the change in stiffness. after (ω).

[0124] The load identification results in the embodiments of the present invention are as follows: Figure 4 As shown, (a) is the identification result of P1 after variable stiffness, and (b) is the identification result of P2 after variable stiffness. From Figure 4 As can be seen, the identified load is consistent with the actual load, and the identification accuracy is high. This indicates that the method of the present invention can quickly and accurately predict the vibration load transmitted from the upper structure to the lower structure under variable stiffness conditions.

[0125] The present invention also provides an electronic device, comprising: one or more processors; a memory; and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, wherein when the programs are executed by the processors, they implement the steps of the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described above.

[0126] The present invention also provides a computer storage medium storing a computer program thereon, wherein the computer program, when executed by a processor, implements the steps of the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described above.

[0127] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, electronic devices, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0128] This invention is described with reference to a flowchart of a method according to embodiments of the invention. It should be understood that each step in the flowchart and combinations thereof can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing device, generate instructions for implementing the process. Figure 1 Means for a function specified in one or more processes. These computer program instructions may also be stored in a computer-readable storage medium capable of directing a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in the process. Figure 1 The computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 Steps of a specified function in one or more processes.

Claims

1. A method for predicting the dynamic load of a double-layer vibration isolation system under variable stiffness conditions, characterized in that, Includes the following steps: A multi-degree-of-freedom dynamic model of a double-layer vibration isolation system was established, and the dynamic characteristics of the double-layer vibration isolation system were simulated and calibrated. Structural displacement is described based on frequency domain transfer function, where the displacement of the upper structural mass block is the sum of the displacement caused by the equipment vibration load and the displacement caused by the movement of the lower structure, and the displacement of the lower structural mass block is the displacement caused by the load to be identified. Based on Newton's second law and the structural displacement described by the frequency domain transfer function, the functional expression of the load to be identified with respect to the dynamic characteristics of the double-layer vibration isolation system is derived. The load to be identified is a function of the frequency response function between the equipment vibration load and the mass block in the upper structure, the frequency response function between the load to be identified and the mass block in the lower structure, and the absolute displacement transmissibility between the mass blocks in the lower and upper structures. The functional expression of the load to be identified is: in, Indicates the payload to be identified. This represents the frequency response function between the vibration load of the equipment and the mass block in the superstructure. This represents the absolute displacement transfer rate between the lower and upper structural mass blocks. This represents the frequency response function between the load to be identified and the mass block in the lower structure. Based on the functional expression of the load to be identified, the relationship between the load to be identified before and after the change in stiffness is obtained as follows: in, and It is a constant vector. This represents the frequency response function between the load to be identified and the mass block in the lower structure after the stiffness is changed. This represents the frequency response function between the load to be identified and the mass block in the lower structure before the stiffness is changed. The load to be identified before the stiffness changes. The load to be identified after the stiffness is changed; Based on the functional expression of the load to be identified and the dynamic characteristics of the simulated double-layer vibration isolation system, the dynamic load transmitted to the lower structure before the stiffness change is identified. Then, based on the relationship between the dynamic load transmitted to the lower structure before the stiffness change and the load to be identified before and after the stiffness change, the dynamic load transmitted to the lower structure after the stiffness change is predicted. The relationship between the load to be identified before and after the stiffness change is obtained using the following method: Under the condition that the equipment vibration load and the parameters of the upper structure remain unchanged, and only the stiffness of the lower structure is changed, and constant, Changes occur, and the payload to be identified is represented as about Functions: The loads to be identified before the change of stiffness were obtained respectively. and the load to be identified after variable stiffness : This allows us to obtain the relationship between the loads to be identified before and after the change in stiffness.

2. The method according to claim 1, characterized in that, The equations of motion for the multi-degree-of-freedom dynamic model of the double-layer vibration isolation system are: in, For the quality matrix, Here is the damping matrix. Here is the stiffness matrix. For equipment vibration load; in, This indicates the mass of the mass block in the upper structure. This represents the mass of the lower-level structure's mass block, and the upper-level structure has... A mass block, with a lower structure of... One mass block, Indicates the first The mass of each mass block; This indicates the internal damping of the upper structure. This indicates the internal damping of the lower structure. , indicating the coupling damping between the upper and lower layers; This indicates the stiffness between the mass blocks of the superstructure. This indicates the stiffness between the mass blocks of the lower structure and the stiffness between the mass blocks of the lower structure and the installation foundation. , representing the coupling stiffness between the upper and lower layers of the structure; This represents the displacement of the upper structural mass block. This indicates the displacement of the lower structural mass block.

3. The method according to claim 1, characterized in that, In the structural displacement described by the frequency domain transfer function, the displacement of the upper structural mass block is expressed as: in, This represents the frequency response function between the vibration load of the equipment and the mass block in the superstructure. This represents the absolute displacement transfer rate between the lower and upper structural mass blocks. This represents the displacement of the lower structural mass block.

4. The method according to claim 1, characterized in that, In the structural displacement described by the frequency domain transfer function, the displacement of the lower structural mass block is expressed as: in, Indicates the payload to be identified. This represents the frequency response function between the load to be identified and the mass block in the lower structure.

5. An electronic device, characterized in that, include: One or more processors; Memory; And one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, wherein when the programs are executed by the processors, they implement the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described in any one of claims 1-4.

6. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described in any one of claims 1-4.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the dynamic load prediction method for a double-layer vibration isolation system under variable stiffness conditions as described in any one of claims 1 to 4.

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