Intelligent control method and system for vibration test bed

Abstract

The application discloses a kind of vibration test bench intelligent control method and system, comprising: the effective load of test bench and last adjusted attenuation characteristic index are obtained.According to the attenuation characteristic index extracted, the aging adaptive compensation coefficient corresponding to the current time of test bench is calculated, and the static friction equivalent voltage and the continuous driving voltage are calculated according to the effective load.Fusion continuous driving voltage, static friction equivalent voltage, coulomb friction voltage, aging adaptive compensation coefficient and the direction item of determining driving direction, output control voltage is calculated in real time, and the output control voltage is used to control the actuator to adjust the position of the table.The application can avoid the phenomenon of low-speed crawling or starting jump, and can overcome the increased wear resistance of the actuator due to equipment aging, so that the leveling action time is shortened to the ideal state.

Description

Technical Field

[0001] This invention relates to the field of vehicle testing technology, and more specifically to an intelligent control method and system for a vibration test bench. Background Technology

[0002] Various test benches, such as road simulators and four-column test benches, are often equipped with height adjustment systems to maintain platform balance. The current standard practice is to detect the platform position using multiple limit switches installed on the platform. When a deviation in platform position is detected, the drive mechanism, such as a hydraulic cylinder or servo guide rail, is controlled to perform leveling.

[0003] However, the load on the test bench varies greatly, and the actuator has strong nonlinear friction characteristics. Conventional linear PID control or fixed dual-speed control is prone to low-speed crawling or sudden start-up oscillations during fine-tuning. Moreover, the aging and attenuation of the actuator caused by the leveling action is not taken into account, resulting in low control voltage accuracy when the actuator is fine-tuning the test bench. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes an intelligent control method and system for vibration test benches, which can improve the accuracy of the output control voltage. The specific technical solution is as follows: In a first aspect, a smart control method for a vibration test bench is provided. In a first implementable mode of the first aspect, it includes: The current effective load of the test bench and the attenuation characteristic index corresponding to the last run are obtained. The attenuation characteristic index is used to characterize the sluggishness and degree of decay of the actuator. The aging adaptive compensation coefficient corresponding to the test bench is determined based on the attenuation characteristic index. This coefficient is used to reverse compensate the output control voltage to overcome the increased wear resistance of the actuator due to aging. The required continuous drive voltage and static friction equivalent voltage are calculated based on the effective load. The specific calculation formula for the aging adaptive compensation coefficient is as follows: ; in, This is the aging adaptive compensation coefficient. The preset compensation weight factor, The decay characteristic index corresponding to the previous run; The real-time output control voltage of the test bench is determined based on the continuous driving voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term that determines the driving direction. The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The specific calculation formula is as follows: ; in, This represents an abnormal energy accumulation value. For real-time output power, For system transmission efficiency, This is the equivalent load calculated based on the pressure / current values ​​collected in real time from the test bench surface. To enable the system to estimate speed in real time, It is the acceleration due to gravity. Theoretical useful power; Calculate the attenuation characteristic index corresponding to this adjustment of the test bench using the abnormal energy accumulation value, the attenuation characteristic index corresponding to the previous run, the ideal reference time, the reference tolerance energy, and the control time: ; in, Forgetting factor, The control time consumed in adjusting the test bench surface to the equilibrium position. The ideal reference time required to adjust the test bench surface to the equilibrium position. The calibrated reference tolerance energy, , These are the weighting coefficients corresponding to time and energy loss, respectively.

[0005] In conjunction with the second possible implementation of the first aspect, the third possible implementation of the first aspect also includes: Compare the attenuation characteristic index corresponding to the current moment of the test bench with the index threshold; If the attenuation characteristic exponent is greater than the exponent threshold, a warning signal is issued. Alternatively, determine the time derivative of the attenuation characteristic index corresponding to the current adjustment of the test bench, and compare the time derivative with the derivative threshold; If the time derivative is greater than the derivative threshold, an early warning signal is issued.

[0006] In conjunction with the first implementable method of the first aspect, the fourth implementable method of the first aspect also includes: The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The abnormal energy accumulation value is compared with the safe work threshold. If the abnormal energy accumulation value exceeds the safe work threshold and the sensor state does not change, the test bench is determined to be stuck.

[0007] In conjunction with the fourth possible implementation of the first aspect, the fifth possible implementation of the first aspect also includes: Based on the decay characteristic index corresponding to the previous run, and combined with the calibrated baseline safe work limit, the safe work threshold for the current moment is updated.

[0008] In conjunction with the second or fourth possible implementation of the first aspect, in the sixth possible implementation of the first aspect, calculating the real-time output power based on the output control voltage includes: For hydraulic drive test benches, the real-time output power is calculated based on the proportional valve flow gain and system oil pressure of the hydraulic drive system, combined with the output control voltage. For a servo-driven electric test bench, the real-time output power is calculated based on the real-time feedback current of the servo drive system and the output control voltage.

[0009] In conjunction with the first implementable method of the first aspect, the seventh implementable method of the first aspect involves obtaining the current payload of the test bench, including: Obtain the current pressure value of the test bench and calculate the effective load by combining it with the calibrated tare weight of the test bench when it is unloaded.

[0010] In conjunction with the first possible implementation of the first aspect, in the eighth possible implementation of the first aspect, calculating the currently required continuous drive voltage based on the effective load includes: The continuous drive voltage is calculated based on the base sustaining voltage under no-load conditions and the maximum allowable sustaining voltage under full load conditions, combined with the set smoothness coefficient, load inflection point threshold, and effective load.

[0011] In conjunction with the first possible implementation of the first aspect, in the ninth possible implementation of the first aspect, calculating the current static friction equivalent voltage based on the effective load includes: The current static friction equivalent voltage is calculated based on the voltage gain corresponding to the set maximum static friction coefficient and the inherent zero-load static friction compensation of the test bench, combined with the effective load.

[0012] Secondly, an intelligent control system for a vibration test bench is provided, including: The acquisition module is configured to acquire the current effective load of the test bench and the attenuation characteristic index corresponding to the last run. The attenuation characteristic index is used to characterize the sluggishness and decay of the actuator. The calculation module is configured to determine the aging adaptive compensation coefficient corresponding to the test bench based on the attenuation characteristic index. The aging adaptive compensation coefficient is used to reverse compensate the output control voltage to overcome the wear resistance of the actuator due to aging, and to calculate the required continuous drive voltage and static friction equivalent voltage based on the effective load. The specific calculation formula for the aging adaptive compensation coefficient is as follows: ; in, This is the aging adaptive compensation coefficient. The preset compensation weight factor, The decay characteristic index corresponding to the previous run; The control module is configured to determine the real-time output control voltage of the test bench based on the continuous driving voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term that determines the driving direction. The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The specific calculation formula is as follows: ; in, This represents an abnormal energy accumulation value. For real-time output power, For system transmission efficiency, This is the equivalent load calculated based on the pressure / current values ​​collected in real time from the test bench surface. To enable the system to estimate speed in real time, It is the acceleration due to gravity. Theoretical useful power; Calculate the attenuation characteristic index corresponding to this adjustment of the test bench using the abnormal energy accumulation value, the attenuation characteristic index corresponding to the previous run, the ideal reference time, the reference tolerance energy, and the control time: ; in, Forgetting factor, The control time consumed in adjusting the test bench surface to the equilibrium position. The ideal reference time required to adjust the test bench surface to the equilibrium position. The calibrated reference tolerance energy, , These are the weighting coefficients corresponding to time and energy loss, respectively.

[0013] Beneficial Effects: The intelligent control method and system for the vibration test bench of this invention can calculate the static friction equivalent voltage and the continuous drive voltage required to overcome the sliding friction and gravity components of the mechanism based on the real-time effective load of the test bench. By introducing a transient impact term determined by the static friction equivalent voltage and the Coulomb friction voltage into the output control voltage, the actuator can generate sufficient transient thrust at startup to overcome the extremely large static friction force. Furthermore, the transient impact term decays exponentially, allowing the control voltage to smoothly fall back to the continuous drive voltage, thus avoiding oscillations such as low-speed crawling or sudden start-up jumps. Moreover, the aging adaptive compensation coefficient determined by the decay characteristic exponent of the test bench can be used to inversely compensate the feedforward control voltage, causing the overall output voltage to increase proportionally, thereby overcoming the increased wear resistance of the actuator due to equipment aging, and shortening the leveling action time back to the ideal state. Attached Figure Description

[0014] To more clearly illustrate the specific embodiments of the present invention, the accompanying drawings used in the specific embodiments will be briefly described below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0015] Figure 1 A flowchart of an intelligent control method for a vibration test bench provided in an embodiment of the present invention; Figure 2 The output control voltage curve generated by the control method of the present invention is shown in Figure A, where curve A is the output control voltage curve corresponding to adjusting the test bench surface from a low position to an equilibrium position, and curve B is the output control voltage curve corresponding to adjusting the test bench surface from a high position to an equilibrium position. Figure 3 This is a trend chart predicting the attenuation characteristic index of the actuator. Detailed Implementation

[0016] The embodiments of the technical solution of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the technical solution of the present invention and are therefore intended to limit the scope of protection of the present invention.

[0017] Example 1 like Figure 1 The flowchart shown is a method for intelligent control of a vibration test bench. This control method includes: Step 1: Obtain the current effective load of the test bench and the attenuation characteristic index corresponding to the last run; Step 2: Determine the aging adaptive compensation coefficient corresponding to the test bench based on the attenuation characteristic index, and calculate the required continuous driving voltage and static friction equivalent voltage based on the effective load. Step 3: Determine the real-time output control voltage of the test bench based on the continuous driving voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term that determines the driving direction.

[0018] Specifically, firstly, the effective load of the device under test mounted on the test bench can be obtained, and the attenuation characteristic index corresponding to the last adjustment of the test bench surface can be extracted from the recorded historical data. Then, the aging adaptive compensation coefficient corresponding to the test bench at the current moment can be calculated based on the extracted attenuation characteristic index, as shown in the following formula: ; in, This is the aging adaptive compensation coefficient. The preset compensation weight factor, This is the decay characteristic index corresponding to the previous run.

[0019] At the same time, the static friction equivalent voltage corresponding to the current actuator and the continuous driving voltage required for the actuator to overcome sliding friction and gravity components can be calculated based on the effective load.

[0020] Finally, the output control voltage can be calculated in real time by combining the continuous drive voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term that determines the drive direction. The specific calculation formula is as follows: ; in, For output control voltage, This is the direction term, which determines the driving direction of the actuator. For continuous driving voltage, The equivalent voltage of static friction. It is the Coulomb friction voltage, which characterizes the empirical voltage value required for the actuator to overcome constant dynamic frictional resistance in motion. The decay exponent, For time. The calculated output control voltage curve is as follows: Figure 2 As shown.

[0021] The test bench's control system can adjust the position of the test bench by controlling the actuator according to the real-time output control voltage until the test bench surface is adjusted from the offset position to the balanced position.

[0022] A transient impact term is constructed. Upon actuator startup, this term enables the output control voltage to reach a peak voltage sufficient to overcome the static friction of the actuator, thus generating sufficient transient thrust. As the actuator begins to move, the transient impact term decays over time, allowing the output control voltage to smoothly transition to the continuous drive voltage, enabling the actuator to generate thrust capable of overcoming sliding friction and gravitational components. This avoids oscillations caused by low-speed crawling or sudden starts. Furthermore, considering the impact of actuator aging, an aging adaptive compensation coefficient, calculated based on the actuator's attenuation characteristic index after the previous control adjustment, is used to compensate the feedforward control voltage in reverse. This causes the overall output voltage to increase proportionally, overcoming the increased wear resistance due to equipment aging and shortening the leveling time back to the ideal state.

[0023] In this embodiment, optionally, obtaining the current payload of the test bench includes: Obtain the current pressure value of the test bench and calculate the effective load by combining it with the calibrated tare weight of the test bench when it is unloaded.

[0024] Specifically, the effective load can be calculated based on the real-time pressure value fed back by the pressure sensor on the test bench surface, combined with the calibrated tare weight of the test bench under no-load conditions. The specific calculation formula is as follows: ; in, For payload, This represents the current pressure value of the test bench. To calibrate tare weight.

[0025] In this embodiment, optionally, calculating the currently required continuous drive voltage based on the effective load includes: The continuous drive voltage is calculated based on the base sustaining voltage under no-load conditions and the maximum allowable sustaining voltage under full load conditions, combined with the set smoothness coefficient, load inflection point threshold, and effective load.

[0026] Specifically, after determining the effective load on the test bench, the continuous drive voltage can be calculated by combining the base sustaining voltage under no-load conditions and the maximum allowable sustaining voltage under full load conditions, as well as the set smoothness coefficient and load inflection point threshold. The specific calculation formula is as follows: ; in, Based on the maintenance voltage, For the maximum allowable sustaining voltage, The load inflection point threshold, This is the smoothness coefficient.

[0027] The algorithm described above is used to calculate the continuous drive voltage, which can adapt the calculated continuous drive voltage to the nonlinear changes of the test bench load, and enable the output control voltage to smoothly transition from the peak voltage to the continuous drive voltage, thereby avoiding oscillations when the actuator moves.

[0028] In this embodiment, optionally, calculating the current static friction equivalent voltage based on the effective load includes: The current static friction equivalent voltage is calculated based on the voltage gain corresponding to the set maximum static friction coefficient and the inherent zero-load static friction compensation of the test bench, combined with the effective load.

[0029] Specifically, the equivalent static friction voltage corresponding to this adjustment can be calculated based on the effective load of the test bench, combined with the voltage gain corresponding to the set maximum static friction coefficient and the inherent zero-load static friction compensation of the test bench. The specific calculation formula is as follows: ; in, The voltage gain coefficient is proportional to the maximum static friction coefficient. This is the inherent zero-load static friction compensation amount of the actuator.

[0030] In this embodiment, optionally, it also includes: The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The attenuation characteristic index corresponding to this adjustment of the test bench is calculated using the abnormal energy accumulation value, the attenuation characteristic index corresponding to the previous run, the ideal reference time, the reference tolerance energy, and the control time.

[0031] Specifically, during the process of adjusting the actuator according to the output control voltage, the real-time output power of the actuator during the adjustment process can be calculated based on the output control voltage. Combined with the real-time output power and the theoretical useful power required for the test bench surface to overcome gravity and resistance, the abnormal energy accumulation value of the actuator can be calculated in real time. The specific calculation formula is as follows: ; in, This represents an abnormal energy accumulation value. For real-time output power, For system transmission efficiency, This is the equivalent load calculated based on the pressure / current values ​​collected in real time from the test bench surface. To enable the system to estimate speed in real time, It is the acceleration due to gravity. This refers to the theoretical useful power.

[0032] In this embodiment, optionally, calculating the real-time output power based on the output control voltage includes: For hydraulic drive test benches, the real-time output power is calculated based on the proportional valve flow gain and system oil pressure of the hydraulic drive system, combined with the output control voltage. For a servo-driven electric test bench, the real-time output power is calculated based on the real-time feedback current of the servo drive system and the output control voltage.

[0033] Specifically, conventional vibration test benches generally use hydraulic drive or servo electric drive. The driving principles of the two drive methods are different, and their corresponding real-time output power is also different.

[0034] For hydraulically driven test benches, the real-time output power can be calculated based on the proportional valve flow gain and system oil pressure of the hydraulic drive system, combined with the output control voltage. The specific calculation formula is as follows: ; in, For the proportional valve flow gain, For real-time output control voltage, This refers to the system oil pressure.

[0035] For servo-driven electric test benches, the real-time output power can be calculated based on the real-time feedback current of the servo drive system and the output control voltage. The specific calculation formula is as follows: ; in, For real-time feedback of current.

[0036] The test bench's control system can adjust the platform position by controlling the actuator based on the real-time output control voltage until the platform is adjusted from the offset position to the equilibrium position, and record the control time consumed in this adjustment. After the actuator adjustment is completed, the final abnormal energy accumulation value of this adjustment can be calculated using the above formula. Combining this with the recorded historical data of the attenuation characteristic index corresponding to the previous actuator adjustment of the platform, and based on the ideal reference time, reference tolerance energy, and recorded control time set for the payload, the attenuation characteristic index corresponding to this adjustment is calculated. The specific calculation formula is as follows: ; in, This is the forgetting factor, with a value range of 0.8 to 0.95. The control time consumed in adjusting the test bench surface to the equilibrium position is as follows: This represents the ideal reference time for the new actuator to adjust the test bench surface to its equilibrium position under this payload. This is the final abnormal energy accumulation value when the test platform was adjusted to the equilibrium position. . The calibrated reference tolerance energy, , These are the weighting coefficients corresponding to time and energy loss, respectively.

[0037] Example 2 Example 2 is largely the same as Example 1, with the main difference being that: in this example, it further includes: Compare the attenuation characteristic index corresponding to the current moment of the test bench with the index threshold; If the attenuation characteristic exponent is greater than the exponent threshold, a warning signal is issued. Alternatively, determine the time derivative of the attenuation characteristic index corresponding to the current adjustment of the test bench, and compare the time derivative with the derivative threshold; If the time derivative is greater than the derivative threshold, an early warning signal is issued.

[0038] Specifically, such as Figure 3 As shown, the calculated decay characteristic index can not only serve as the data basis for the next adjustment, but also be compared with the set index threshold. If the decay characteristic index is greater than the index threshold, it indicates that the action of the actuator is becoming sluggish and the actuator has entered the early stage of decline. Corresponding warning signals can be issued to alert staff to the risks.

[0039] Alternatively, the time derivative of the decay characteristic index corresponding to this adjustment can be calculated, and the time derivative can be compared with the derivative threshold. If the time derivative exceeds the derivative threshold, it indicates that the actuator is irreversibly and extremely slowly becoming sluggish, and the actuator has entered the early stage of decline. Corresponding warning signals can be issued to alert staff to the risks.

[0040] Example 3 Example 3 is largely the same as Example 1, with the main difference being that: in this example, it further includes: The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The abnormal energy accumulation value is compared with the safe work threshold. If the abnormal energy accumulation value exceeds the safe work threshold and the sensor state does not change, the test bench is determined to be stuck.

[0041] Specifically, during the process of adjusting the platform of the actuator, the real-time output power of the actuator can be calculated in real time based on the output control voltage. The algorithm for the real-time output power is the same as that described in Example 1, and will not be repeated here.

[0042] Based on the real-time output power of the actuator and the theoretical useful power required for the platform to overcome gravity and resistance, the abnormal energy accumulation value of the actuator can be calculated in real time. The algorithm for calculating the abnormal energy accumulation value is the same as that described in Example 1, and will not be repeated here.

[0043] The calculated abnormal energy accumulation value can be compared with the set safe work threshold in real time. If the abnormal energy accumulation value is greater than the safe work threshold, and the sensor status monitoring the test bench platform position does not change (i.e., the test bench platform has not yet adjusted from the offset position to the balanced position), it can be determined that the actuator is stuck. At this time, the actuator can be controlled to brake urgently. In this way, a high-dimensional safety boundary can be constructed, raising the fault judgment dimension to a high-dimensional energy dimension, which can adapt to the dynamic response differences of loads of different tonnages.

[0044] In this embodiment, optionally, it also includes: Based on the decay characteristic index corresponding to the previous run, and combined with the calibrated baseline safe work limit, the safe work threshold for the current moment is updated.

[0045] Specifically, aging actuators lead to increased base friction, which can easily trigger false alarms if a fixed threshold is used. Therefore, the safe work threshold for the current adjustment can be updated based on the attenuation characteristic index calculated after the previous actuator adjustment, combined with the calibrated baseline safe work limit. The specific calculation formula is as follows: ; in, For the safety work threshold, The upper limit of the benchmark safe work done, This represents the aging tolerance coefficient.

[0046] A vibration test bench intelligent control system includes: The acquisition module is configured to acquire the current effective load of the test bench and the attenuation characteristic index corresponding to the last run. The calculation module is configured to determine the aging adaptive compensation coefficient corresponding to the test bench based on the attenuation characteristic index, and to calculate the required continuous driving voltage and static friction equivalent voltage based on the effective load. The control module is configured to determine the real-time output control voltage of the test bench based on the continuous drive voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term that determines the drive direction.

[0047] Specifically, the control system includes an acquisition module, a calculation module, and a control module. The acquisition module can acquire the effective load of the device under test mounted on the test bench, and extract the attenuation characteristic index corresponding to the last adjustment of the test bench surface from recorded historical data.

[0048] The calculation module can calculate the aging adaptive compensation coefficient corresponding to the current moment of the test bench based on the extracted attenuation characteristic index. It can also calculate the static friction equivalent voltage corresponding to the current actuator based on the effective load, and the continuous drive voltage required for the actuator to overcome sliding friction and gravity components.

[0049] The control module integrates the continuous drive voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term determining the drive direction to calculate the output control voltage in real time. By introducing a transient impact term into the output control voltage, the module ensures that upon actuator startup, the output control voltage reaches a peak voltage sufficient to overcome the static friction force of the actuator, thereby generating sufficient transient thrust. As the actuator begins to move, the transient impact term decays over time, allowing the output control voltage to smoothly transition to the continuous drive voltage, enabling the actuator to generate thrust capable of overcoming sliding friction and gravitational components. This avoids oscillations caused by low-speed crawling or sudden starts in the actuator. Furthermore, considering the impact of actuator aging, the aging adaptive compensation coefficient, calculated based on the actuator's attenuation characteristic index after the previous control adjustment, is used to inversely compensate the feedforward control voltage, causing the overall output voltage to increase proportionally. This overcomes the increased wear resistance due to equipment aging, shortening the leveling time back to the ideal state.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. A method for intelligent control of a vibration test bench, characterized in that, include: The current effective load of the test bench and the attenuation characteristic index corresponding to the last run are obtained. The attenuation characteristic index is used to characterize the sluggishness and degree of decay of the actuator. The aging adaptive compensation coefficient corresponding to the test bench is determined based on the attenuation characteristic index. This coefficient is used to reverse compensate the output control voltage to overcome the increased wear resistance of the actuator due to aging. The required continuous drive voltage and static friction equivalent voltage are calculated based on the effective load. The specific calculation formula for the aging adaptive compensation coefficient is as follows: ； in, For aging adaptive compensation coefficient, The preset compensation weight factor, The decay characteristic index corresponding to the previous run; Based on the continuous driving voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term determining the driving direction, the real-time output control voltage of the test bench is determined, and the specific calculation formula is as follows: ； in, For output control voltage, For direction terms, For continuous driving voltage, The equivalent voltage of static friction. The Coulomb triboelectric voltage, The decay exponent, For time; The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The specific calculation formula is as follows: ； in, This represents an abnormal energy accumulation value. For real-time output power, For system transmission efficiency, This is the equivalent load calculated based on the pressure / current values ​​collected in real time from the test bench surface. To enable the system to estimate speed in real time, It is the acceleration due to gravity. Theoretical useful power; Calculate the attenuation characteristic index corresponding to this adjustment of the test bench using the abnormal energy accumulation value, the attenuation characteristic index corresponding to the previous run, the ideal reference time, the reference tolerance energy, and the control time: ； in, Forgetting factor, The control time consumed in adjusting the test bench surface to the equilibrium position. The ideal reference time required to adjust the test bench surface to the equilibrium position. The calibrated reference tolerance energy, , These are the weighting coefficients corresponding to time and energy loss, respectively. This represents the final abnormal energy accumulation value when the test bench surface is adjusted to the equilibrium position.

2. The intelligent control method for vibration test bench according to claim 1, characterized in that, Also includes: Compare the attenuation characteristic index corresponding to the current moment of the test bench with the index threshold; If the attenuation characteristic exponent is greater than the exponent threshold, a warning signal is issued. Alternatively, determine the time derivative of the attenuation characteristic index corresponding to the current adjustment of the test bench, and compare the time derivative with the derivative threshold; If the time derivative is greater than the derivative threshold, an early warning signal is issued.

3. The intelligent control method for the vibration test bench according to claim 1, characterized in that, Also includes: The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The abnormal energy accumulation value is compared with the safe work threshold. If the abnormal energy accumulation value exceeds the safe work threshold and the sensor state does not change, the test bench is determined to be stuck.

4. The intelligent control method for the vibration test bench according to claim 3, characterized in that, Also includes: Based on the decay characteristic index corresponding to the previous run, and combined with the calibrated baseline safe work limit, the safe work threshold for the current moment is updated.

5. The intelligent control method for the vibration test bench according to claim 1 or 3, characterized in that, Calculating the real-time output power based on the output control voltage includes: For hydraulic drive test benches, the real-time output power is calculated based on the proportional valve flow gain and system oil pressure of the hydraulic drive system, combined with the output control voltage. For a servo-driven electric test bench, the real-time output power is calculated based on the real-time feedback current of the servo drive system and the output control voltage.

6. The intelligent control method for vibration test bench according to claim 1, characterized in that, Obtain the current payload of the test bench, including: Obtain the current pressure value of the test bench and calculate the effective load by combining it with the calibrated tare weight of the test bench when it is unloaded.

7. The intelligent control method for vibration test bench according to claim 1, characterized in that, Calculate the required continuous drive voltage based on the effective load, including: The continuous drive voltage is calculated based on the base sustaining voltage under no-load conditions and the maximum allowable sustaining voltage under full load conditions, combined with the set smoothness coefficient, load inflection point threshold, and effective load.

8. The intelligent control method for vibration test bench according to claim 1, characterized in that, Calculate the current static friction equivalent voltage based on the effective load, including: The current static friction equivalent voltage is calculated based on the voltage gain corresponding to the set maximum static friction coefficient and the inherent zero-load static friction compensation of the test bench, combined with the effective load.

9. An intelligent control system for a vibration test bench, characterized in that, include: The acquisition module is configured to acquire the current effective load of the test bench and the attenuation characteristic index corresponding to the last run. The attenuation characteristic index is used to characterize the sluggishness and decay of the actuator. The calculation module is configured to determine the aging adaptive compensation coefficient corresponding to the test bench based on the attenuation characteristic index. The aging adaptive compensation coefficient is used to reverse compensate the output control voltage to overcome the wear resistance of the actuator due to aging, and to calculate the required continuous drive voltage and static friction equivalent voltage based on the effective load. The specific calculation formula for the aging adaptive compensation coefficient is as follows: ； in, For aging adaptive compensation coefficient, The preset compensation weight factor, The decay characteristic index corresponding to the previous run; The control module is configured to determine the real-time output control voltage of the test bench based on the continuous drive voltage, static friction equivalent voltage, Coulomb friction voltage, aging adaptive compensation coefficient, and the direction term that determines the drive direction. The specific calculation formula is as follows: ； in, For output control voltage, For direction terms, For continuous driving voltage, The equivalent voltage of static friction. The Coulomb triboelectric voltage, The decay exponent, For time; The real-time output power is calculated based on the output control voltage, and the abnormal energy accumulation value is calculated based on the real-time output power and the theoretical useful power. The specific calculation formula is as follows: ； in, This represents an abnormal energy accumulation value. For real-time output power, For system transmission efficiency, This is the equivalent load calculated based on the pressure / current values ​​collected in real time from the test bench surface. To enable the system to estimate speed in real time, It is the acceleration due to gravity. Theoretical useful power; Calculate the attenuation characteristic index corresponding to this adjustment of the test bench using the abnormal energy accumulation value, the attenuation characteristic index corresponding to the previous run, the ideal reference time, the reference tolerance energy, and the control time: ； in, Forgetting factor, The control time consumed in adjusting the test bench surface to the equilibrium position. The ideal reference time required to adjust the test bench surface to the equilibrium position. The calibrated reference tolerance energy, , These are the weighting coefficients corresponding to time and energy loss, respectively. This represents the final abnormal energy accumulation value when the test bench surface is adjusted to the equilibrium position.

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