Motion modulation method, device, equipment and storage medium for a dual-mass four-source split-type mechanical vibration system

Abstract

This invention belongs to the field of motion control technology, specifically relating to a motion modulation method, device, equipment, and storage medium for a dual-mass, four-source, split-type mechanical vibration system. Addressing the limitations of existing technologies in coordinating the control of polishing amplitude, motion trajectory, and energy output, as well as effectively suppressing beat vibration, this invention collects the operating frequencies and vibration displacement data of the upper and lower masses of the dual-mass, four-source, split-type mechanical vibration system. It determines the ratio of the operating frequencies of the upper and lower masses, the beat frequency bandwidth weighting function, and the amplitude modulation degree of the upper mass, calculating the vibration stability index of the upper mass and comparing it with a preset beat vibration significance threshold. When the upper mass vibration stability index exceeds the preset beat vibration significance threshold, the operating frequency of either the upper or lower mass is adjusted to keep the system within a stable vibration range. This invention improves the controllability and processing consistency of the polishing trajectory and energy output, adapting to efficient and stable polishing under various working conditions.

Description

Technical Field

[0001] This invention belongs to the field of motion control technology, specifically, it relates to a motion modulation method, device, equipment and storage medium for a dual-mass four-source split mechanical vibration system. Background Technology

[0002] In aerospace, high-end equipment, and precision manufacturing industries where surface integrity (geometric accuracy, microstructure, residual stress) and batch consistency are increasingly stringent, vibratory polishing is widely used due to its strong process adaptability and low cost. To improve removal efficiency and processing quality, equipment is evolving from single-source excitation to multi-source excitation and adopting a dual-mass structure. However, the superposition of multiple frequencies and dynamic coupling make the system prone to problems such as beat vibration, amplitude fluctuations, process window shrinkage, and difficulty in precise energy control caused by frequency ratio instability, further leading to engineering problems such as over-polishing / under-polishing, increased noise, and equipment instability.

[0003] Existing research largely focuses on the identification and monitoring of beat vibration in rotating machinery. For example, Chinese patent CN115683644A uses mixing and Hilbert envelope peak factor to identify dual-source beat vibration. This type of method neither addresses the multi-source coordinated control and the coupling characteristics of the upper and lower dual-mass bodies in vibratory polishing equipment, nor does it quantitatively identify frequency ratio instability boundaries or provide online avoidance during processing. It struggles to achieve coordinated adjustment of amplitude, trajectory, and energy. Under multi-frequency combination conditions, the available process window is further compressed, parameter setting relies on experience, is time-consuming, and has poor reproducibility. Therefore, there is an urgent need for motion modulation methods for multi-source vibratory polishing. These methods should, while ensuring frequency ratio stability, define a safe zone based on frequency modulation and constrain the operating point in real time to suppress beat vibration, stabilize energy output, and achieve coordinated control of amplitude, trajectory, and energy. This would balance removal efficiency, surface quality, and equipment reliability. Summary of the Invention

[0004] In order to solve the problems of the inability to coordinate the control of polishing amplitude, motion trajectory and energy output, and the inability to effectively suppress beat vibration in the prior art, the present invention provides a motion modulation method, device, equipment and storage medium for a dual-mass four-source split mechanical vibration system.

[0005] This invention is achieved using the following technical solution: a motion modulation method for a dual-mass four-source split-position mechanical vibration system, comprising: The operating frequencies of the upper mass, the lower mass, and the vibration displacement of the upper mass in a dual-mass, four-source, separately placed mechanical vibration system were collected. Based on the working frequency of the upper mass, the working frequency of the lower mass, and the vibration displacement of the upper mass, the ratio of the working frequencies of the upper and lower masses and the amplitude modulation degree of the upper mass are determined, and the beat frequency bandwidth weighting function is determined based on the ratio of the working frequencies of the upper and lower masses. Based on the amplitude modulation index and beat frequency bandwidth weighting function of the upper mass, the vibration stability index of the upper mass is calculated and compared with the preset beat vibration significance threshold. If the vibration stability index of the upper mass exceeds the preset significant threshold for beat vibration, adjust the working frequency of the upper mass or the working frequency of the lower mass to keep the dual-mass four-source separate mechanical vibration system within the vibration stability range.

[0006] Preferably, the ratio of the working frequencies of the upper and lower protons is the ratio of the working frequency of the lower proton to the working frequency of the upper proton. Wherein, the working frequency of the lower protome is defined as The working frequency of the upper protome is The working frequency ratio of the upper and lower protons is... ξ Represented as: ξ= / .

[0007] Preferably, the beat frequency bandwidth weighting function is determined based on the operating frequency of the upper proton, the operating frequency of the lower proton, and the vibration displacement of the upper proton, including: The amplitude components corresponding to the operating frequencies of the upper and lower protrude into the upper and lower protrude are obtained by Fourier transform separation, and the formula is expressed as: in, The working frequency of the upper protome corresponding to the lower protome. The amplitude, The upper protome corresponds to the upper protome's operating frequency. The amplitude, Sampling frequency, N This represents the number of sampling points for the Fast Fourier Transform. The spectrum is obtained by fast Fourier transform of the vibrational displacement of the upper mass; set up The angular velocity of the lower mass during sinusoidal motion is... Let be the angular velocity of the upper mass during sinusoidal motion, and , ; Beat frequency period of the upper body displacement signal Represented as: Carrier period of the upper body displacement signal Represented as: Let the beat frequency period of the upper mass displacement signal and the carrier period of the upper mass displacement signal satisfy the formula Establish a beat frequency bandwidth weighting function The calculation formula is as follows: in, The number of oscillation cycles within which a clear beat phenomenon is observed within a complete beat frequency cycle. This indicates the ratio of the working frequencies of the upper and lower protons.

[0008] Preferably, the upper proton amplitude modulation system Represented as: in, Indicates taking and The smaller value in Indicates taking and The larger value in the range.

[0009] Preferably, the vibration stability index of the upper mass Represented as: in, For the amplitude adjustment of the upper mass, The beat frequency bandwidth weighting function; Define the preset beat significance threshold as When the vibration stability index of the upper mass satisfy The dual-mass four-source separate mechanical vibration system is within the vibration stability range.

[0010] Preferably, if the vibration stability index of the upper mass exceeds a preset significant beat vibration threshold, the operating frequency of the upper mass or the operating frequency of the lower mass is adjusted to keep the dual-mass four-source separate mechanical vibration system within the vibration stability range, including: When the vibration stability index of the upper body When the vibration stability index of the upper mass is greater than or equal to the preset beat significance threshold, it is determined that the vibration stability index of the upper mass is greater than or equal to the preset beat significance threshold. When the vibration stability index of the upper body When the vibration stability index of the upper mass is less than the preset beat vibration significance threshold, it is determined that the vibration stability index of the upper mass is less than the preset beat vibration significance threshold. When the vibration stability index of the upper mass is greater than or equal to the preset beat vibration significance threshold, one of the working frequencies of the lower mass and the upper mass remains unchanged, while the other is adjusted so that the adjusted working frequency of the upper mass or the working frequency of the lower mass changes by a preset step size. Adjust the vibrational stability index of the upper protonic body to At that time, the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

[0011] Preferably, the preset step distance The value is set to The preset threshold for the significance of beat vibration is set to ; .

[0012] The present invention also provides a motion modulation device for a dual-mass four-source split mechanical vibration system, comprising: The acquisition module is used to acquire the operating frequency of the upper mass, the operating frequency of the lower mass, and the vibration displacement of the upper mass in a dual-mass four-source split mechanical vibration system. The calculation module is used to determine the ratio of the working frequencies of the upper and lower masses and the amplitude modulation degree of the upper mass based on the working frequency of the upper mass, the working frequency of the lower mass and the vibration displacement of the upper mass, and to determine the beat frequency bandwidth weighting function based on the ratio of the working frequencies of the upper and lower masses. The comparison module is used to calculate the vibration stability index of the upper mass based on the upper mass amplitude modulation index and beat frequency bandwidth weighting function, and compare it with the preset beat vibration significance threshold. The adjustment module is used to adjust the working frequency of the upper mass or the lower mass if the vibration stability index of the upper mass exceeds the preset significant threshold of beat vibration, so that the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

[0013] The present invention also provides a computer device, including an input / output unit, a memory, and a processor. The memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the processor performs the steps in the motion modulation method of the dual-mass four-source split mechanical vibration system as described in the foregoing technical solution.

[0014] The present invention also provides a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps in the motion modulation method of the dual-mass four-source split mechanical vibration system as described in the foregoing technical solution.

[0015] Unlike existing technologies, this invention provides a motion modulation method, device, equipment, and storage medium for a dual-mass, four-source, split-type mechanical vibration system. This method collects frequency and displacement data of the dual-mass, four-source, split-type mechanical vibration system, determines the ratio of the upper and lower mass operating frequencies, the beat frequency bandwidth weighting function, and the upper mass amplitude modulation level, calculates the upper mass vibration stability index, and compares it with a preset beat vibration significance threshold. When the upper mass vibration stability index exceeds the preset beat vibration significance threshold, the operating frequency of either the upper or lower mass is adjusted to keep the system within a stable vibration range. This invention improves processing stability, enhances surface quality, and expands the applicable range of processes. It enables time-varying modulation of equipment motion during multi-source excitation polishing, maintaining stable target amplitude-frequency characteristics and trajectory shape, improving the controllability and processing consistency of the polishing trajectory and energy output, and adapting to efficient and stable polishing under various working conditions. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of a motion modulation method for a dual-mass four-source split mechanical vibration system according to the present invention.

[0018] Figure 2 This is a schematic diagram of the mechanical model of a dual-mass four-source split mechanical vibration system in the motion modulation method of a dual-mass four-source split mechanical vibration system according to the present invention.

[0019] Figure 3 This is a schematic diagram illustrating the adjustment range of the working frequencies of the upper and lower masses in a motion modulation method for a dual-mass four-source split mechanical vibration system according to the present invention.

[0020] Figure 4 This is the surface morphology of the GH4169 specimen before polishing in the motion modulation method of a dual-mass four-source split mechanical vibration system of the present invention.

[0021] Figure 5 This is the surface morphology of the GH4169 specimen after polishing at a safe operating frequency for 3 hours in the motion modulation method of a dual-mass four-source split mechanical vibration system of the present invention.

[0022] Figure 6 This is a schematic diagram of the module connection of a motion modulation device for a dual-mass four-source split mechanical vibration system according to the present invention.

[0023] In the diagram: 610 - Acquisition module, 620 - Calculation module, 630 - Comparison module, 640 - Adjustment module. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationships, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should fall within the scope of the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as "first" and "second" are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0026] This invention provides an embodiment: such as Figure 1 As shown, the present invention provides a motion modulation method for a dual-mass four-source split-position mechanical vibration system, comprising: S110: Collects the operating frequency of the upper mass, the operating frequency of the lower mass, and the vibration displacement of the upper mass in a dual-mass four-source separate mechanical vibration system.

[0027] like Figure 2 As shown in the mechanical model of the dual-mass four-source split mechanical vibration system involved in this invention, the dual-mass system includes a lower mass. With the upper plasmid Two excitation sources are placed on the same mass, which is a four-source configuration. The four excitation sources rotate in opposite directions at the same frequency to synthesize linear excitation. Among them, the four excitation sources are the first excitation source. Second excitation source Third excitation source and the fourth excitation source First excitation source Second excitation source Set in the lower body Above, the third excitation source and the fourth excitation source Set on the upper body Above, and the first excitation source Second excitation source All with The sinusoidal angular velocity rotation, the third excitation source and the fourth excitation source All with The sinusoidal angular velocity of rotation, wherein the first excitation source and the third excitation source For clockwise rotation, the second excitation source and the fourth excitation source It rotates counterclockwise.

[0028] Figure 2A simplified mechanical model of a two-mass, four-source, separately positioned mechanical vibration system is presented. This system is a two-mass vibration system driven by four counter-rotating motors, with the lower mass... With the upper plasmid via the first spring With the first damper Connected; upper plasmid The second spring fixed to the base Second damping Support; lower body The side wall is fixed to the base by a third spring. and third damping Support, lower body The fourth spring at the bottom is fixed to the base. and the fourth damping support.

[0029] In a specific embodiment of the present invention, the working frequency of the upper plast and the working frequency of the lower plast are acquired in real time, wherein the working frequency of the lower plast is defined as... The working frequency of the upper protome is .

[0030] During the polishing process, by installing on the lower mass... With the upper plasmid The accelerometer sensor on the upper mass acquires the vibration displacement data of the upper mass in real time, wherein the vibration displacement of the upper mass is defined as... .

[0031] S120: Based on the working frequency of the upper mass, the working frequency of the lower mass, and the vibration displacement of the upper mass, determine the ratio of the working frequencies of the upper and lower masses and the amplitude modulation degree of the upper mass, and determine the beat frequency bandwidth weighting function based on the ratio of the working frequencies of the upper and lower masses.

[0032] The upper plasmid was obtained by separation using Fourier transform. Corresponding to the working frequency of the proton and lower protome working frequency The amplitude components are expressed by the formula: in, The working frequency of the upper protome corresponding to the lower protome. The amplitude, The upper protome corresponds to the upper protome's operating frequency. The amplitude, Sampling frequency, N This represents the number of sampling points for the Fast Fourier Transform. For the vibrational displacement of the upper mass The spectrum obtained after Fast Fourier Transform; set up The angular velocity of the lower mass during sinusoidal motion is... Let be the angular velocity of the upper mass during sinusoidal motion, and , ; Beat frequency period of the upper body displacement signal Represented as: Carrier period of the upper body displacement signal Represented as: Let the beat frequency period of the upper mass displacement signal and the carrier period of the upper mass displacement signal satisfy the formula Establish a beat frequency bandwidth weighting function The calculation formula is as follows: in, The number of oscillation cycles within which a clear beat phenomenon is observed within a complete beat frequency cycle. This indicates the ratio of the working frequencies of the upper and lower protons.

[0033] Based on the corresponding working frequency of the upper protome to the lower protome amplitude The upper protoplast corresponds to the upper protoplast's operating frequency. amplitude Calculate the amplitude modulation of the mass. , represented as: in, Indicates taking and The smaller value in Indicates taking and The larger value in the range.

[0034] S130: Based on the amplitude modulation index and beat frequency bandwidth weighting function of the upper mass, calculate the vibration stability index of the upper mass and compare it with the preset beat frequency significance threshold.

[0035] The vibration stability index of the upper mass can be obtained by assigning a weight to the beat frequency bandwidth based on the upper mass amplitude modulation degree. Represented as: in, For the amplitude adjustment of the upper mass, The beat frequency bandwidth weighting function; Define the preset beat significance threshold as When the vibration stability index of the upper mass satisfy The dual-mass four-source separate mechanical vibration system is within the vibration stability range.

[0036] S140: If the vibration stability index of the upper mass exceeds the preset significant threshold for beat vibration, adjust the working frequency of the upper mass or the working frequency of the lower mass to keep the dual-mass four-source separate mechanical vibration system within the vibration stability range.

[0037] When the vibration stability index of the upper body When the vibration stability index of the upper mass is greater than or equal to the preset beat significance threshold, it is determined that the vibration stability index of the upper mass is greater than or equal to the preset beat significance threshold. When the vibration stability index of the upper body When the vibration stability index of the upper mass is less than the preset beat vibration significance threshold, it is determined that the vibration stability index of the upper mass is less than the preset beat vibration significance threshold. When the vibration stability index of the upper mass is greater than or equal to the preset beat vibration significance threshold, one of the working frequencies of the lower mass and the upper mass remains unchanged, while the other is adjusted so that the adjusted working frequency of the upper mass or the working frequency of the lower mass changes by a preset step size. Adjust the vibrational stability index of the upper protonic body to At that time, the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

[0038] Among them, the preset step size The value is set to The preset threshold for the significance of beat vibration is set to ; .

[0039] The method of this invention can effectively suppress beat vibration and stabilize the response of the upper mass; under the constraints of frequency ratio and the same-zone jump frequency modulation, it can achieve precise coordinated control of amplitude, trajectory and energy output, significantly widening the process window; based on sensor closed loop and amplitude-frequency compensation, it can ensure sufficient processing energy and amplitude stability, improve removal rate, uniformity and surface quality; reduce parameter adjustment time and downtime, reduce energy consumption and noise, and extend equipment life.

[0040] like Figure 3 As shown; real-time calculations are performed throughout the polishing process. ξ and will , The adjustment constraint is executed within the preset frequency safety range. Greater than or equal to This suppresses or corrects the output, thereby ensuring the stability of the upper mass response amplitude and avoiding beat vibration, and under the above constraints, the amplitude, trajectory and energy output of the polishing are controlled.

[0041] The comparative verification process of the method of the present invention is as follows: within the beat vibration interval, let... , ( The waveform exhibits a significant beat envelope. Adjust the working frequency of the upper or lower proton; fix the specific adjustment method. ,Will Jump to 50 Hz ( The system exhibits a complex frequency band steady state. The system is within the vibration stability range.

[0042] Process verification was conducted using GH4169 specimens. GH4169 specimens are metallic specimens prepared from precipitation-hardening nickel-based wrought superalloy materials, possessing excellent mechanical properties; their applicable temperature range is -250℃ to 700℃, within which they maintain extremely high strength and creep resistance; even at a high temperature of 700℃, they still exhibit excellent tensile strength, fatigue strength, creep resistance, and fracture strength.

[0043] See Figure 4 Before polishing, the surface had obvious textures and peaks and valleys; this method makes... ξ Keep within the preset frequency safety range (e.g.) , , After polishing for 3 hours, see Figure 5 The surface texture protrusion height was significantly reduced and the contour was homogenized, resulting in improved uniformity and surface quality. No instability or sudden increase in noise occurred during the process. Figure 4 and Figure 5 middle, This represents the arithmetic mean height of the surface sampled from the GH4169 specimen. This indicates the root mean square height of the surface sample taken from the GH4169 specimen. This indicates the maximum surface height of the GH4169 specimen sample. This represents the x-coordinate of the sampling area of ​​specimen GH4169. This represents the ordinate of the sampling area of ​​the GH4169 specimen.

[0044] like Figure 6 As shown, this invention proposes a motion modulation device for a dual-mass, four-source, separately positioned mechanical vibration system, comprising: The acquisition module 610 is used to acquire the operating frequency of the upper mass, the operating frequency of the lower mass, and the vibration displacement of the upper mass in a dual-mass four-source split mechanical vibration system. The calculation module 620 is used to determine the ratio of the working frequencies of the upper and lower masses and the amplitude modulation index of the upper mass based on the working frequency of the upper mass, the working frequency of the lower mass and the vibration displacement of the upper mass, and to determine the beat frequency bandwidth weighting function based on the ratio of the working frequencies of the upper and lower masses. Comparison module 630 is used to calculate the vibration stability index of the upper mass based on the upper mass amplitude modulation index and beat frequency bandwidth weighting function, and compare it with the preset beat vibration significance threshold. The adjustment module 640 is used to adjust the working frequency of the upper mass or the lower mass if the vibration stability index of the upper mass exceeds the preset significant threshold of beat vibration, so that the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

[0045] To implement the embodiments, the present invention also proposes a computer device, including an input / output unit, a memory, and a processor. The memory stores computer-readable instructions, which, when executed by the processor, cause the processor to perform the steps in the motion modulation method of the aforementioned dual-mass four-source split mechanical vibration system.

[0046] The present invention also proposes a storage medium storing computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps in the motion modulation method of the aforementioned dual-mass four-source split mechanical vibration system.

[0047] Although embodiments of the present invention have been shown and described above, it is understood that the embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the embodiments within the scope of the present invention.

Claims

1. A motion modulation method for a dual-mass, four-source, separately positioned mechanical vibration system, characterized in that, include: The operating frequencies of the upper mass, the lower mass, and the vibration displacement of the upper mass in a dual-mass, four-source, separately placed mechanical vibration system were collected. Based on the operating frequency of the upper mass, the operating frequency of the lower mass, and the vibration displacement of the upper mass, the ratio of the operating frequencies of the upper and lower masses and the amplitude modulation degree of the upper mass are determined, and the beat frequency bandwidth weighting function is determined based on the ratio of the operating frequencies of the upper and lower masses. Based on the amplitude modulation index of the upper mass and the beat frequency bandwidth weighting function, the vibration stability index of the upper mass is calculated and compared with the preset beat vibration significance threshold. If the vibration stability index of the upper mass exceeds the preset beat significance threshold, the working frequency of the upper mass or the working frequency of the lower mass is adjusted so that the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

2. The motion modulation method for a dual-mass four-source split-position mechanical vibration system according to claim 1, characterized in that, The ratio of the working frequencies of the upper and lower protons is the ratio of the working frequency of the lower proton to the working frequency of the upper proton. Wherein, the working frequency of the lower protome is defined as The working frequency of the upper protome is The working frequency ratio of the upper and lower protons is... Represented as: 。 3. The motion modulation method for a dual-mass four-source split-position mechanical vibration system according to claim 1, characterized in that, Based on the operating frequency of the upper mass, the operating frequency of the lower mass, and the vibration displacement of the upper mass, a beat frequency bandwidth weighting function is determined, including: The amplitude components corresponding to the operating frequencies of the upper and lower protrude into the upper and lower protrude are obtained by Fourier transform separation, and the formula is expressed as: in, The working frequency of the upper protome corresponding to the lower protome. The amplitude, The upper protome corresponds to the upper protome's operating frequency. The amplitude, Sampling frequency, This represents the number of sampling points for the Fast Fourier Transform. The spectrum is obtained by fast Fourier transform of the vibrational displacement of the upper mass; set up The angular velocity of the lower mass during sinusoidal motion is... Let be the angular velocity of the upper mass during sinusoidal motion, and , ; Beat frequency period of the upper body displacement signal Represented as: Carrier period of the upper body displacement signal Represented as: Let the beat frequency period of the upper mass displacement signal and the carrier period of the upper mass displacement signal satisfy the formula Establish a beat frequency bandwidth weighting function The calculation formula is as follows: in, The number of oscillation cycles within which a clear beat phenomenon is observed within a complete beat frequency cycle. This indicates the ratio of the working frequencies of the upper and lower protons.

4. The motion modulation method for a dual-mass four-source split-position mechanical vibration system according to claim 3, characterized in that, Upper body amplitude modulation system Represented as: in, Indicates taking and The smaller value in Indicates taking and The larger value in the range.

5. The motion modulation method for a dual-mass four-source split-position mechanical vibration system according to claim 1, characterized in that, Vibrational stability index of upper body Represented as: in, For the amplitude adjustment of the upper mass, The beat frequency bandwidth weighting function; Define the preset beat significance threshold as When the vibration stability index of the upper mass satisfy The dual-mass four-source separate mechanical vibration system is within the vibration stability range.

6. The motion modulation method for a dual-mass four-source split-position mechanical vibration system according to claim 5, characterized in that, If the vibration stability index of the upper mass exceeds the preset beat significance threshold, the operating frequency of the upper mass or the operating frequency of the lower mass is adjusted to keep the dual-mass four-source separate mechanical vibration system within the vibration stability range, including: When the vibration stability index of the upper body When the vibration stability index of the upper mass is greater than or equal to the preset beat significance threshold, it is determined that the vibration stability index of the upper mass is greater than or equal to the preset beat significance threshold. When the vibration stability index of the upper body When the vibration stability index of the upper mass is less than the preset beat vibration significance threshold, it is determined that the vibration stability index of the upper mass is less than the preset beat vibration significance threshold. When the vibration stability index of the upper mass is greater than or equal to the preset beat vibration significance threshold, one of the working frequencies of the lower mass and the upper mass remains unchanged, while the other is adjusted so that the adjusted working frequency of the upper mass or the working frequency of the lower mass changes by a preset step size. Adjust the vibrational stability index of the upper protonic body to At that time, the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

7. The motion modulation method for a dual-mass four-source split-position mechanical vibration system according to claim 6, characterized in that, Preset step size The value is set to ; The preset threshold value for beat significance is 10. .

8. A motion modulation device for a dual-mass, four-source, separately positioned mechanical vibration system, characterized in that, include: The acquisition module (610) is used to acquire the working frequency of the upper mass, the working frequency of the lower mass, and the vibration displacement of the upper mass in a dual-mass four-source split mechanical vibration system. The calculation module (620) is used to determine the ratio of the working frequencies of the upper and lower masses and the amplitude modulation index of the upper mass based on the working frequency of the upper mass, the working frequency of the lower mass and the vibration displacement of the upper mass, and to determine the beat frequency bandwidth weighting function based on the ratio of the working frequencies of the upper and lower masses. The comparison module (630) is used to calculate the vibration stability index of the upper mass based on the amplitude modulation index of the upper mass and the beat frequency bandwidth weighting function, and compare it with the preset beat vibration significance threshold. The adjustment module (640) is used to adjust the working frequency of the upper mass or the working frequency of the lower mass if the vibration stability index of the upper mass exceeds the preset beat vibration significance threshold, so that the dual-mass four-source separate mechanical vibration system is within the vibration stability range.

9. A computer device, characterized in that, It includes an input / output unit, a memory, and a processor. The memory stores computer-readable instructions, which, when executed by the processor, cause the processor to perform the steps in the motion modulation method for a dual-mass four-source split mechanical vibration system as described in any one of claims 1 to 7.

10. A storage medium storing computer-readable instructions, characterized in that, When the computer-readable instructions are executed by one or more processors, the one or more processors perform the steps in the motion modulation method for a dual-mass four-source split mechanical vibration system as described in any one of claims 1 to 7.

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