Synchronization detection and abnormity protection device and method for multiple parallel-excited vibration test systems of spacecraft

Abstract

The invention provides a synchronism detection and abnormity protection device and method for a spacecraft multi-set parallel excitation vibration test system, and the device comprises a vibration controller, a vibration table, power amplifiers, a current sensor, an acceleration sensor, and a synchronous detection circuit box. Each power amplifier is in power signal connection with an independent vibration table, each power amplifier is connected with an independent current sensor, each vibration table is connected with an independent acceleration sensor, and the current sensors and the acceleration sensors are in signal connection with a synchronous detection circuit box. And the synchronous detection circuit box is in signal connection with the vibration controller.

Description

Technical Field

[0001] This invention relates to the field of spacecraft mechanical environment testing technology, specifically to a device and method for synchronicity detection and anomaly protection of a multi-unit parallel vibration testing system for spacecraft. Background Technology

[0002] In spacecraft ground environment adaptability testing, sinusoidal vibration testing is a key verification method, mainly used to simulate the vibration environment generated during rocket launch to evaluate the vibration resistance of spacecraft structures and functional systems. For ultra-large spacecraft with large structural dimensions and heavy weight, a single electric vibration table is often insufficient to provide sufficient thrust. Therefore, multiple electric vibration tables are usually connected in parallel to construct a multi-station parallel-excited vibration test system to meet the testing requirements of high thrust output.

[0003] In such multi-station parallel-excitation systems, multiple vibration tables need to achieve high-precision phase synchronization to ensure consistency in excitation direction and amplitude. Existing synchronization control methods generally involve splitting the signal output of the vibration controller into multiple signals, which are then sent to each vibration table for control. The synchronization between the vibration tables is verified through system debugging and manual inspection before the test. However, this method lacks the ability to monitor the synchronization status of the vibration tables in real time during the test. If a synchronization anomaly occurs during the spacecraft test, the system cannot detect it in time and take automatic protective measures, which can easily cause equipment damage, and in severe cases, even lead to the invalidation of test results or damage to the spacecraft structure.

[0004] To address the aforementioned issues, patent document CN107543671A proposes a matching method for multiple parallel-excited vibration controllers and a digital phase synchronization controller. By adjusting the operating speed of the control system, the method ensures that the response speed of the digital phase synchronization controller is faster than the closed-loop response time of the vibration controller. Furthermore, a multi-step experimental procedure (including optimized settings for frequency range, magnitude, scan rate, and filtering parameters) is employed to achieve system matching and improved stability. This method can control the control curve deviation within ±10%, thereby improving system reliability and experimental accuracy.

[0005] While existing methods have achieved some optimization in control accuracy and system matching, they still lack real-time self-monitoring and automatic protection mechanisms when facing dynamic problems such as sudden synchronization anomalies, and cannot effectively avoid safety risks caused by synchronization failures during the experiment. Therefore, there is an urgent need for a new control strategy that can achieve real-time synchronization monitoring and fault response to ensure the safety and reliability of multiple parallel-excited vibration test systems in complex vibration environments. Summary of the Invention

[0006] In view of the deficiencies in the existing technology, the purpose of this invention is to provide a technology for spacecraft mechanical environment testing.

[0007] According to a first aspect of the present invention, a synchronization detection and anomaly protection device for a spacecraft multi-unit parallel vibration test system includes a vibration controller, a vibration table, a power amplifier, a current sensor, an acceleration sensor, and a synchronization detection circuit box. The vibration controller is signal-connected to multiple power amplifiers connected in parallel. The power signal of each power amplifier is connected to a separate vibration table. Each power amplifier is connected to a separate current sensor. Each vibration table is connected to a separate acceleration sensor. The current sensor and acceleration sensor signals are connected to the synchronization detection circuit box, and the synchronization detection circuit box signals are connected to the vibration controller.

[0008] According to a second aspect of the present invention, a method for synchronicity detection and anomaly protection of a multi-unit parallel vibration test system for a spacecraft, employing the aforementioned apparatus, includes: Step 1: Obtain the output current signal of each power amplifier using a current sensor; Step 2: Acquire the acceleration signal of the moving coil mechanical vibration of each measuring vibration table using an accelerometer; Step 3: Calculate the amplitude and phase of the sinusoidal signal for each output current signal and acceleration signal using the synchronous detection circuit box; Step 4: Based on the amplitude and phase of the sinusoidal signal, decide whether to stop the vibration controller.

[0009] Preferably, in step three, the formulas for calculating the amplitude and phase of the sinusoidal signal are as follows: For a sinusoidal signal, the value of the sampling point conforms to the following formula.

[0010] (1) The optimal solution to the above equation is obtained using the least squares method. and The value of the sinusoidal signal is calculated using the following formula.

[0011] (2) The phase of a sinusoidal signal is calculated using the following formula.

[0012] (3) In equations (1), (2), and (3), Indicates the sample point order. Indicates the total number of sample points. Indicates the first The value of each sampling point, The frequency of the signal is represented by the discrete Fourier transform, which yields the instantaneous frequency of the signal. Indicates the sampling interval, in seconds. Represents the sine coefficient; Represents the cosine coefficient. Indicates the signal amplitude. Indicates the signal phase.

[0013] Preferably, in step four, determining whether to stop the vibration controller based on the amplitude and phase values ​​of the sinusoidal signal includes: Based on the amplitude and phase of the sinusoidal signal, determine whether to output a voltage signal to the vibration controller through the synchronous detection circuit box; Based on the judgment result, a decision is made on whether to stop the vibration controller. If the synchronous detection circuit box outputs a voltage signal to the vibration controller, the vibration controller is stopped; otherwise, the vibration controller continues to operate.

[0014] Preferably, determining whether to output a voltage signal to the vibration controller via the synchronous detection circuit box includes: The amplitude of the sinusoidal signal of any output current signal is compared with the average amplitude of the sinusoidal signals of all output currents. If the difference between the two exceeds the first preset threshold range, the first voltage signal is output to the vibration controller through the synchronous detection circuit box; otherwise, no voltage signal is output. Compare the phases of the sinusoidal signals of any two output current signals. If the phase difference between the two exceeds the second preset threshold, then output a second voltage signal to the vibration controller through the synchronous detection circuit box; otherwise, do not output a voltage signal. The amplitude of the sinusoidal signal of any acceleration signal is compared with the average amplitude of the sinusoidal signal of all output currents. If the difference between the two exceeds the third preset threshold range, the third voltage signal is output to the vibration controller through the synchronous detection circuit box; otherwise, no voltage signal is output. Compare the phases of the sinusoidal signals of any two acceleration signals. If the phase difference between the two exceeds the fourth preset threshold, the fourth voltage signal is output to the vibration controller through the synchronous detection circuit box; otherwise, no voltage signal is output.

[0015] Preferably, the channel connecting the vibration controller to the synchronous detection circuit box is equipped with a shutdown voltage limiter, which is lower than the values ​​of the first voltage signal, the second voltage signal, the third voltage signal, and the fourth voltage signal.

[0016] Preferably, the first preset threshold range and the third preset threshold range are both 0.9~1.1, and the second preset threshold and the fourth preset threshold are 5°.

[0017] Preferably, the shutdown voltage limit is any value between 0.5V and 0.7V, the value of the first voltage signal is any value between 1.1V and 1.9V, the value of the second voltage signal is any value between 2.1V and 2.9V, the value of the third voltage signal is any value between 3.1V and 3.9V, and the value of the fourth voltage signal is any value between 4.1V and 4.9V.

[0018] According to a third aspect of the present invention, a synchronization detection and anomaly protection device for a spacecraft multi-unit parallel vibration test system includes a vibration controller, a vibration table, a power amplifier, a current sensor, an acceleration sensor, a synchronization detection circuit box, and software. The vibration controller is connected to multiple power amplifiers connected in parallel. The power signal of each power amplifier is connected to a separate vibration table. Each power amplifier is connected to a separate current sensor. Each vibration table is connected to a separate acceleration sensor. The signals of the current sensor and the acceleration sensor are connected to the synchronization detection circuit box, and the signals of the synchronization detection circuit box are connected to the vibration controller.

[0019] The software is used to perform the following steps: Step 1: Obtain the output current signal of each power amplifier using a current sensor; Step 2: Acquire the acceleration signal of the moving coil mechanical vibration of each measuring vibration table using an accelerometer; Step 3: Calculate the amplitude and phase of the sinusoidal signal for each output current signal and acceleration signal using the synchronous detection circuit box; Step 4: Based on the amplitude and phase of the sinusoidal signal, decide whether to stop the vibration controller.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention, by introducing a synchronous detection circuit box and its electrical interlocking mechanism into a multi-station parallel vibration test system, achieves real-time synchronization detection and anomaly protection for the excitation process of multiple vibration tables, demonstrating significant technical effects and engineering application value. Firstly, by installing a current sensor at the output of each power amplifier and an acceleration sensor on the moving coil of each vibration table, a dual-channel monitoring system for electrical input and mechanical response is established. This system can simultaneously acquire the sinusoidal amplitude and phase information of the excitation and response signals, enabling a comprehensive measurement of system synchronization. This technique of simultaneously monitoring current and acceleration breaks through the previous detection method that relied solely on the consistency of the vibration controller signal source, ensuring consistency between different vibration tables at both the electrical drive and mechanical output levels.

[0021] 2. By integrating a real-time sinusoidal signal amplitude and phase calculation module within the synchronous detection circuit box, rapid parallel processing and comparison of multi-channel signals are achieved. The circuit box employs a threshold discrimination algorithm based on amplitude ratio and phase difference to compare each signal with the average value or adjacent channel signals in real time. If the amplitude ratio of any current or acceleration signal exceeds the range of 0.9 to 1.1, or the phase difference exceeds 5°, a specific coded voltage signal is immediately output. This design distinguishes different anomaly types numerically, ensuring both detection sensitivity and accuracy, and providing a basis for subsequent fault diagnosis. Compared to traditional detection methods that rely solely on a single error value, this invention achieves multi-level criterion-based hierarchical identification, significantly improving detection reliability.

[0022] 3. The coded voltage output technology proposed in this invention enables the synchronous detection circuit box to classify anomalies. By setting different voltage ranges such as 1.1~1.9V, 2.1~2.9V, 3.1~3.9V, and 4.1~4.9V, corresponding to current amplitude anomalies, current phase anomalies, acceleration amplitude anomalies, and acceleration phase anomalies respectively, it is possible to simultaneously transmit stop commands and anomaly type information in a single output channel. This single-channel multi-state output method has a simple structure and rapid response, avoiding the complexity and delay problems of traditional multi-wire interlocking systems.

[0023] 4. A two-stage protection mechanism—response limiting and shutdown voltage limiting—is implemented on the vibration controller side. This ensures the system will not erroneously trigger a shutdown under minor disturbances, while immediately shutting down in the event of a genuine synchronization anomaly. The response limiting (0.2~0.3V) provides a monitoring margin to prevent malfunctions caused by small fluctuations; the over-tolerance shutdown limit (0.5~0.7V) serves as a hard trigger threshold, ensuring that the system will shut down even when any abnormal voltage is output from the circuit box. This two-stage limiting design effectively improves the system's stability and anti-interference capability, achieving a balance between high sensitivity and high reliability. Attached Figure Description

[0024] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the device provided in Embodiment 1; Figure 2 This is a schematic diagram of the method provided in Example 2. Detailed Implementation

[0025] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0026] For ease of understanding, the following explanations are provided for the terms or concepts involved in this application: (1) Vibration controller: It is the control core of the entire multi-station parallel vibration test system, used to generate the sinusoidal excitation signal required for the test and to perform closed-loop control of the vibration table. Its output signal is distributed to multiple power amplifiers to realize synchronous excitation of multiple vibration tables. The vibration controller is also responsible for receiving the voltage signal output by the synchronous detection circuit box, and for responding to the channel with amplitude limiting and shutdown control to realize abnormal interlock protection.

[0027] (2) Power Amplifier: A power amplifier, or simply power amplifier, is a device that amplifies the low-power sinusoidal signal output by the vibration controller into a high-power current signal that can drive the moving coil of the vibration table. Each power amplifier corresponds independently to one vibration table, and the stability and phase consistency of its output current are the key to achieving synchronous excitation of the system. Therefore, a current sensor is configured at the output end for real-time monitoring.

[0028] (3) Vibration table: The vibration table is an actuator that generates mechanical vibration. Its moving coil structure receives the current signal from the power amplifier and generates a sinusoidal electromagnetic force in the magnetic field, thereby driving the table surface to make periodic displacement. Multiple vibration tables work in parallel to simulate the vibration environment of spacecraft during launch and ensure that the test conditions meet the actual dynamic requirements.

[0029] (4) Current sensor: The current sensor is installed in the output circuit of the power amplifier to collect the sinusoidal current signal output by each power amplifier in real time. The current signal reflects the output strength and phase of each power amplifier, representing the consistency of the excitation input. The synchronization detection circuit box can determine whether there is asynchrony on the electrical drive side by comparing the current amplitude and phase.

[0030] (5) Accelerometer: An accelerometer is installed on the moving coil or the table surface of each vibration table to detect the acceleration signal of mechanical vibration. Its output voltage is proportional to the actual acceleration of the table surface and is used to reflect the amplitude and phase of the vibration response. By comparing the acceleration signals of different vibration tables, the synchronicity of the mechanical response can be evaluated.

[0031] (6) Synchronization Detection Circuit Box: The synchronization detection circuit box is the core device for signal processing and synchronization determination, featuring a multi-input, single-output structure. Internally, it includes a real-time sinusoidal signal amplitude and phase calculation module and a voltage output module. The circuit box receives signals from the current sensor and acceleration sensor, calculates the amplitude and phase of each channel, and determines synchronization by setting thresholds. When an anomaly is detected, it outputs a voltage signal within a specific range to the vibration controller. Different voltage values ​​correspond to different types of anomalies, enabling coded identification and shutdown interlocking.

[0032] (7) Sine wave amplitude: The amplitude of a sine wave refers to the maximum instantaneous value of the sine wave, representing the signal strength. For current signals, the amplitude represents the magnitude of the driving force output by the power amplifier; for acceleration signals, the amplitude reflects the intensity of the mechanical response of the vibration table. Amplitude differences are used to determine the synchronicity of the system at the amplitude level.

[0033] (8) Sine wave phase: The phase of a sinusoidal signal describes the relative position of the signal waveform on the time axis and reflects the time synchronization of the signals in each channel. A large phase difference indicates that the excitation signal or vibration response is out of sync in time, and is an important parameter for judging the synchronization performance of the system.

[0034] (9) Preset threshold range: The preset threshold range is the benchmark for the synchronization detection circuit to judge the asynchronous state. It is used to compare whether the amplitude or phase difference of each channel signal exceeds the limit. The amplitude preset threshold is generally set to 0.9~1.1, and the phase preset threshold is set to 5°. When the deviation of a single channel signal from the average value or the phase difference between any two channel signals exceeds the threshold, the system determines that there is a synchronization abnormality.

[0035] (10) Voltage signal output: The voltage signal output is an coded signal issued by the synchronous detection circuit box based on the detection results, used to notify the vibration controller to perform corresponding protection measures. The numerical range of the voltage signal corresponds to the abnormality type: abnormal current amplitude output 1.1V~1.9V, abnormal current phase output 2.1V~2.9V, abnormal acceleration amplitude output 3.1V~3.9V, and abnormal acceleration phase output 4.1V~4.9V. This voltage signal not only realizes the fault type encoding, but also ensures that it can exceed the shutdown threshold of the controller, thereby automatically triggering shutdown.

[0036] (11) Response Limiting: Response limiting is a monitoring window set in the acquisition channel of the vibration controller to limit the range of signal voltage variation under normal conditions. It is usually set to 0.2V~0.3V. Its function is to avoid false triggering caused by noise, while providing early monitoring and safety margin.

[0037] (12) Shutdown Voltage Limit (Over-tolerance Shutdown Limit of Response Limit): The shutdown voltage limit is the hard shutdown threshold of the vibration controller's acquisition channel. Once the input voltage signal exceeds this value, the controller will immediately perform a shutdown operation. It is usually set to 0.5V~0.7V, for example, 0.6V. This threshold is lower than any abnormal voltage output by the synchronization detection circuit box to ensure that the system can shut down in time to protect against asynchrony.

[0038] (13) Amplitude synchronization: Amplitude synchronization refers to the degree of consistency in intensity of the drive signals or mechanical responses of multiple vibration tables. The power consistency on the electrical or mechanical side is evaluated by comparing the ratio of the amplitude of each signal to the average value to determine whether it is within the range of 0.9 to 1.1.

[0039] (14) Phase synchronization: Phase synchronization refers to the degree of time consistency between excitation and response signals of multiple vibration tables. A phase difference of more than 5° between any two channels is considered to be asynchronous, indicating that a timing mismatch has occurred in the vibration process.

[0040] Example 1: A synchronization detection and anomaly protection device for a multi-unit parallel vibration test system for spacecraft, such as Figure 1 As shown, the device consists of a vibration controller, a vibration table, power amplifiers, current sensors, accelerometers, and a synchronization detection circuit box. The signal output channel of the vibration controller is connected to the input terminals of multiple power amplifiers via a splitter. The output terminal of each power amplifier is connected to a separate vibration table to drive the corresponding moving coil to perform sinusoidal excitation. A current sensor is installed in the output current loop of each power amplifier to acquire the output current signal of each amplifier in real time. An accelerometer is installed on the moving coil of each vibration table to measure the acceleration signal of the mechanical vibration in real time. All signals from the current and accelerometer sensors are input to the synchronization detection circuit box. The circuit box contains a real-time calculation module for the amplitude and phase of the sinusoidal signal and a voltage output module. It performs synchronization calculations and anomaly identification on the input signals and outputs the corresponding voltage signal to the vibration controller based on the judgment results. The vibration controller then performs amplitude limiting response and shutdown control accordingly. Through this structure, the system can achieve real-time detection and anomaly protection of the amplitude and phase synchronization of each individual vibration table in a multi-station parallel-excited vibration test system.

[0041] Example 2: A method for synchronicity detection and anomaly protection of a multi-unit parallel vibration test system for spacecraft, the method being implemented based on the aforementioned device, includes the following steps: Step 1: Acquire the output current signal of each power amplifier using a current sensor to establish consistent monitoring of the excitation driving force of each channel at the electrical level. Step 2: Acquire the mechanical acceleration signal of the moving coil of each vibration table using an accelerometer to establish consistent monitoring of the vibration response of each table at the mechanical level. Step 3: The synchronization detection circuit calculates the sinusoidal amplitude and phase parameters of all acquired current and acceleration signals, and measures synchronization through comparative analysis.

[0042] Understandably, in step three, the formulas for calculating the amplitude and phase of the sinusoidal signal are as follows: For a sinusoidal signal, the value of the sampling point conforms to the following formula.

[0043] (1) The optimal solution to the above equation is obtained using the least squares method. and The value of the sinusoidal signal is calculated using the following formula.

[0044] (2) The phase of a sinusoidal signal is calculated using the following formula.

[0045] (3) In equations (1), (2), and (3), Indicates the sample point order. Indicates the total number of sample points. Indicates the first The value of each sampling point, The frequency of the signal is represented by the discrete Fourier transform, which yields the instantaneous frequency of the signal. Indicates the sampling interval, in seconds. Represents the sine coefficient; Represents the cosine coefficient. Indicates the signal amplitude. Indicates the signal phase.

[0046] Step four: Based on the obtained amplitude and phase information, the system determines whether there is a synchronization anomaly and decides whether to stop the vibration controller. When an anomaly is detected, the synchronization detection circuit box outputs a voltage signal within a specific amplitude range to the vibration controller, triggering the shutdown protection; if no anomaly is detected, the vibration controller continues to operate.

[0047] In the specific synchronization discrimination and voltage output logic, the system sets multiple threshold levels. For current signals, when the difference between the sinusoidal amplitude of the output current of any power amplifier and the average sinusoidal amplitude of the output current of all power amplifiers exceeds the first preset threshold range (0.9~1.1), the circuit box outputs a first voltage signal (1.1V~1.9V) to the vibration controller; when the sinusoidal phase difference between any two power amplifier output current signals exceeds the second preset threshold (5°), a second voltage signal (2.1V~2.9V) is output. For acceleration signals, when the difference between the sinusoidal amplitude of any acceleration signal and the average sinusoidal amplitude of all acceleration signals exceeds the third preset threshold range (0.9~1.1), a third voltage signal (3.1V~3.9V) is output; when the sinusoidal phase difference between any two acceleration signals exceeds the fourth preset threshold (5°), a fourth voltage signal (4.1V~4.9V) is output. When none of the above conditions are triggered, the circuit box does not output a voltage signal. The numerical range of the voltage signal corresponds to different types of anomalies, used to distinguish between amplitude anomalies, phase anomalies, and electrical or mechanical anomalies.

[0048] On the vibration controller side, the acquisition channel connected to the synchronization detection circuit box is equipped with a shutdown voltage limit. This limit value is lower than any abnormal voltage signal output by the synchronization detection circuit box, ensuring that once an abnormality occurs, the voltage output will exceed the limit to trigger a shutdown. For example, if the response limit of the acquisition channel is set to 0.3V and the shutdown voltage limit (over-tolerance shutdown limit) is set to 0.6V, when the channel voltage signal exceeds 0.6V, the controller will immediately execute a shutdown command. Since the abnormal output voltage of the circuit box is always higher than the shutdown limit, it can ensure that the system shuts down immediately when an asynchronous state occurs, while under normal conditions, the circuit box has no output or the output signal is within the limit range, and the test process remains stable.

[0049] Example 3: A synchronization detection and anomaly protection device for a multi-unit parallel vibration test system for spacecraft, comprising the device and software of Embodiment 1, wherein the software is used to implement the method of Embodiment 2.

[0050] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0051] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0052] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A synchronization detection and anomaly protection device for a multi-unit parallel vibration test system for spacecraft, characterized in that, The system includes a vibration controller, a vibration table, a power amplifier, a current sensor, an acceleration sensor, and a synchronization detection circuit box. The vibration controller's signal is connected to multiple power amplifiers connected in parallel. Each power amplifier's power signal is connected to a separate vibration table. Each power amplifier is connected to a separate current sensor. Each vibration table is connected to a separate acceleration sensor. The current sensor and acceleration sensor's signals are connected to the synchronization detection circuit box, and the synchronization detection circuit box's signals are connected to the vibration controller.

2. A method for synchronicity detection and anomaly protection of a multi-unit parallel vibration test system for a spacecraft, employing the device described in claim 1, characterized in that, include: Step 1: Obtain the output current signal of each power amplifier using a current sensor; Step 2: Acquire the acceleration signal of the moving coil mechanical vibration of each measuring vibration table using an accelerometer; Step 3: Calculate the amplitude and phase of the sinusoidal signal for each output current signal and acceleration signal using the synchronous detection circuit box; Step 4: Based on the amplitude and phase of the sinusoidal signal, decide whether to stop the vibration controller.

3. The method according to claim 2, characterized in that, In step three, the formulas for calculating the amplitude and phase of the sinusoidal signal are as follows: For a sinusoidal signal, the values ​​at the sampling points conform to the following formula: （1） The optimal solution to the above equation is obtained using the least squares method. and The value of , the amplitude of the sine signal is calculated using the following formula: （2） The phase of a sinusoidal signal is calculated using the following formula: （3） In formulas (1), (2), and (3): Indicates the sample point order. Indicates the total number of sample points. Indicates the first The value of each sampling point, The frequency of the signal is represented by the discrete Fourier transform, which yields the instantaneous frequency of the signal. Indicates the sampling interval, in seconds. Represents the sine coefficient; Represents the cosine coefficient. Indicates the signal amplitude. Indicates the signal phase.

4. The method according to claim 2, characterized in that, In step four, based on the amplitude and phase values ​​of the sinusoidal signal, a decision is made on whether to stop the vibration controller, including: Based on the amplitude and phase of the sinusoidal signal, determine whether to output a voltage signal to the vibration controller through the synchronous detection circuit box; Based on the judgment result, a decision is made on whether to stop the vibration controller. If the synchronous detection circuit box outputs a voltage signal to the vibration controller, the vibration controller is stopped; otherwise, the vibration controller continues to operate.

5. The method according to claim 4, characterized in that, The determination of whether to output a voltage signal to the vibration controller via the synchronous detection circuit box includes: The amplitude of the sinusoidal signal of any output current signal is compared with the average amplitude of the sinusoidal signals of all output currents. If the difference between the two exceeds the first preset threshold range, the first voltage signal is output to the vibration controller through the synchronous detection circuit box; otherwise, no voltage signal is output. Compare the phases of the sinusoidal signals of any two output current signals. If the phase difference between the two exceeds the second preset threshold, then output a second voltage signal to the vibration controller through the synchronous detection circuit box; otherwise, do not output a voltage signal. The amplitude of the sinusoidal signal of any acceleration signal is compared with the average amplitude of the sinusoidal signal of all output currents. If the difference between the two exceeds the third preset threshold range, the third voltage signal is output to the vibration controller through the synchronous detection circuit box; otherwise, no voltage signal is output. Compare the phases of the sinusoidal signals of any two acceleration signals. If the phase difference between the two exceeds the fourth preset threshold, the fourth voltage signal is output to the vibration controller through the synchronous detection circuit box; otherwise, no voltage signal is output.

6. The method according to claim 5, characterized in that, The channel connecting the vibration controller to the synchronous detection circuit box is equipped with a shutdown voltage limiter, which is lower than the values ​​of the first voltage signal, the second voltage signal, the third voltage signal, and the fourth voltage signal.

7. The method according to claim 5, characterized in that, The first preset threshold range and the third preset threshold range are both 0.9~1.1, and the second preset threshold and the fourth preset threshold are 5°.

8. The method according to claim 6, characterized in that, The shutdown voltage limit is any value between 0.5V and 0.7V, the value of the first voltage signal is any value between 1.1V and 1.9V, the value of the second voltage signal is any value between 2.1V and 2.9V, the value of the third voltage signal is any value between 3.1V and 3.9V, and the value of the fourth voltage signal is any value between 4.1V and 4.9V.

9. A synchronization detection and anomaly protection device for a multi-unit parallel vibration test system for spacecraft, characterized in that, It includes the apparatus of claim 1, and software for implementing any of the methods of claims 2-8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 2 to 8.

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