Full-state monitoring and evaluation system and method for operation performance of vibration table

Abstract

The present invention relates to the technical field of vibration table monitoring. Disclosed are a full-state monitoring and evaluation system and method for the operation performance of a vibration table. The system comprises a sensor system, a data acquisition unit, a full-state detection database server, an operation performance evaluation system, a local display unit, and a remote display unit. The sensor system comprises a vibration table body sensor, a power amplifier unit sensor, and a cooling system sensor. The data acquisition unit comprises a conditioning and conversion module, a signal acquisition and processing module, and a sensor data communication module. The operation performance evaluation system comprises a conventional threshold over-limit alarm module, a test load estimation module, a cooling efficiency evaluation module, a power amplifier performance evaluation module, a table surface non-uniformity evaluation module, an acceleration waveform distortion degree evaluation module, and a vibration table control precision evaluation module. In the present invention, the vibration table can undergo full-state information acquisition, processing, display, data mining and state evaluation, thereby comprehensively grasping the operation performance of the vibration table.

Description

A vibration table operation performance full state monitoring and evaluation system and method TECHNICAL FIELD

[0001] The present application relates to the field of vibration table monitoring technology, in particular to a vibration table operation performance full state monitoring and evaluation system and method. BACKGROUND

[0002] Vibration tables are widely used in the fields of national defense industry such as aviation, aerospace, weapons, ships, and nuclear industry, and in the fields of civil industry such as automobiles and construction, and are mainly used for simulating the vibration environment effect of products under actual working conditions, testing the durability and reliability of products, and verifying whether the performance of products meets the design requirements. According to different driving modes, the mainstream vibration tables on the market are generally divided into electric vibration tables and hydraulic vibration tables. Compared with hydraulic vibration tables, electric vibration tables have been more widely used due to the advantages of high excitation frequency, good control performance, and high cost performance. An electric vibration table mainly consists of a moving coil, an excitation coil, a table body, a power amplifier, a vibration control instrument, a cooling system, a measuring instrument, and other components. The system has many components and a complex structure. At present, there are still the following deficiencies in the state monitoring and evaluation of vibration tables:

[0003] (1) The current vibration table is only equipped with the conventional state monitoring function of some components, such as current, voltage, and temperature state information. The amount of state information displayed is small, and it is difficult for the operator to effectively master the equipment operating state;

[0004] (2) The existing vibration table state monitoring system generally displays simple information through a local PLC host computer, and does not have functions such as remote viewing and three-dimensional visualization. The intelligent degree of the state monitoring system is low;

[0005] (3) The existing vibration table state monitoring system mainly displays the state data simply, lacks analysis and mining of the state data, and causes a waste of a large amount of useful information;

[0006] (4) In terms of online analysis and evaluation of the operation performance of vibration tables, there is less research and technical development in this field at home and abroad. It is difficult for the operator to accurately master the operation performance of the vibration table during long-term use, which affects the vibration test results. SUMMARY

[0007] The present application relates to the field of vibration table monitoring technology, in particular to a vibration table operation performance full state monitoring and evaluation system and method.

[0008] The technical scheme adopted by the present application is as follows: In the first aspect, the present application provides a vibration table operation performance full state monitoring and evaluation system, which comprises

[0009] The sensor system comprises a vibration table body sensor, a power amplifier unit sensor and a cooling system sensor; wherein the vibration table body sensor comprises a table surface acceleration sensor, a moving coil displacement sensor and an internal air pressure sensor of a load support device, wherein the table surface acceleration sensor is installed on the center of the upper surface of the vibration table and the mounting screw holes of the upper surface of the vibration table distributed in different diameters, for measuring the real-time acceleration of different points of the upper surface of the vibration table; the moving coil displacement sensor is installed between the table body and the moving coil, for measuring the real-time displacement of the moving coil of the vibration table; the internal air pressure sensor of the load support device is installed on the air spring inlet pipeline of the load support device, for measuring the internal air pressure of the load support device; the power amplifier unit sensor is installed in the power amplifier control cabinet, comprising a power amplifier control cabinet current sensor, a power amplifier control cabinet voltage sensor, a power amplifier control cabinet temperature sensor, a power module current sensor, a power module voltage sensor, an excitation module current sensor and an excitation module voltage sensor. The cooling system sensor comprises an excitation coil cooling water flow sensor, an excitation coil cooling water inlet temperature sensor, an excitation coil cooling water outlet temperature sensor, a vibration table moving coil cooling water flow sensor, a vibration table moving coil cooling water inlet temperature sensor and a vibration table moving coil cooling water outlet temperature sensor;

[0010] The data acquisition unit comprises: a conditioning conversion module for converting the sensor signal type and amplitude size; a signal acquisition and processing module for collecting, calibrating and data packaging the sensor signal; and a sensor data communication module for sending the data processed by the signal acquisition and processing module;

[0011] The full-state detection database server is used for receiving the vibration table operation state data sent by the data acquisition unit and the vibration control instrument in real time and keeping the relevant historical operation data, and performing information interaction with the data acquisition unit and the vibration control instrument through the CAN communication protocol.

[0012] The operation performance evaluation system is installed on the full-state detection database server and is used for analyzing and processing the vibration table operation state data obtained by monitoring, comprising a conventional threshold overrun alarm module, a test load estimation module, a cooling efficiency evaluation module, a power amplifier performance evaluation module, a table surface unevenness evaluation module, an acceleration waveform distortion evaluation module and a vibration table control precision evaluation module.

[0013] The local display unit is used for on-site visual display of the vibration table operation state data, the three-dimensional digital twin model and the operation performance evaluation result, and performs data interaction with the full-state detection database server through the high-definition multimedia interface.

[0014] A remote display unit is configured to remotely display the vibration table operation state data, the three-dimensional digital twin model, and the operation performance evaluation result, and the remote display unit and the full-state monitoring database server are connected through an Ethernet or a mobile network for data interaction.

[0015] In a second aspect, the application further provides a vibration table operation performance full-state monitoring and evaluation method, which comprises the following steps:

[0016] In step S1, a conventional threshold overrun alarm module is run, and the vibration table operation performance full-state monitoring and evaluation system compares the real-time data of each sensor of the vibration table collected by the sensor system with the upper and lower alarm thresholds set for each sensor, and gives alarm information on whether the monitoring state of each sensor of the vibration table is abnormal.

[0017] In step S2, a test load estimation module is run to evaluate the current test load in real time, and the specific steps are as follows:

[0018] In step S21, when the test load is installed, the vibration table operation performance full-state monitoring and evaluation system collects the offset x0 of the moving coil relative to the zero position of the vibration table when the vibration table is stationary by using a moving coil displacement sensor, and collects the internal air pressure P0 of the load support device by using an internal air pressure sensor of the load support device.

[0019] In step S22, the test load estimation module calculates the current test load M in real time, and the calculation formula is as follows: Wherein, A is the effective bearing area of the internal air pressure of the load support device, K is the elastic stiffness of the air spring of the load support device, and g is the acceleration of gravity.

[0020] In step S3, a cooling efficiency evaluation module is run to evaluate the cooling efficiency of the excitation coil, the moving coil and the power amplifier unit of the vibration table, and the specific steps are as follows:

[0021] In step S31, the vibration table operation performance full-state monitoring and evaluation system acquires the vibration table surface center acceleration sensor data, the excitation coil cooling water flow sensor data, the excitation coil cooling water inlet temperature sensor data, the excitation coil cooling water outlet temperature sensor data, the vibration table moving coil cooling water flow sensor data, the vibration table moving coil cooling water inlet temperature sensor data, the vibration table moving coil cooling water outlet temperature sensor data and the power amplifier control cabinet temperature sensor data.

[0022] In step S32, after the vibration table is stably operated, the cooling efficiency is evaluated every time T, a segment of data with a time length of T is taken back from the current time for analysis, and the vibration table surface center acceleration sensor data sequence is denoted as a mid , the excitation coil cooling water flow sensor data sequence is denoted as QLC , the excitation coil cooling water inlet temperature sensor data sequence is T LC-In , the excitation coil cooling water outlet temperature sensor data sequence is T LC-Out , the vibration table moving coil cooling water flow sensor data sequence is Q DQ , the vibration table moving coil cooling water inlet temperature sensor data sequence is T DQ-In , the vibration table moving coil cooling water outlet temperature sensor data sequence is T DQ-Out , the qth power amplifier control cabinet temperature sensor data sequence is T GF-q , wherein T GF-q The value of subscript q is q=1, 2, …, m, and m represents the total number of power amplifier control cabinets.

[0023] Step S33, the excitation coil cooling water flow sensor data sequence Q LC , the excitation coil cooling water inlet temperature sensor data sequence is T LC-In , the excitation coil cooling water outlet temperature sensor data sequence is T LC-Out , the excitation coil cooling efficiency is evaluated;

[0024] Step S34, the vibration table surface center acceleration sensor data sequence a mid , the vibration table moving coil cooling water flow sensor data sequence Q DQ , the vibration table moving coil cooling water inlet temperature sensor data sequence is T DQ-In , the vibration table moving coil cooling water outlet temperature sensor data sequence is T DQ-Out , the moving coil cooling efficiency is evaluated;

[0025] Step S35, the power amplifier control cabinet temperature sensor data sequence is used to evaluate the cooling efficiency of the power amplifier control cabinet;

[0026] Step S4, run the power amplifier performance evaluation module to evaluate the running performance of the vibration table power amplifier unit, and the specific steps are: step S41, the vibration table running performance full state monitoring evaluation system obtains all power amplifier control cabinet current sensor data, power amplifier control cabinet voltage sensor data and power module current sensor data;

[0027] Step S42, after each state of the vibration table is running stably, perform power amplifier performance evaluation every time T, analyze the data with a time length of T from the current time backward, and record the qth power amplifier control cabinet current sensor data sequence as I G-q , the power amplifier control cabinet voltage sensor data sequence is U G-q , and the jth power module current sensor data sequence in the qth power amplifier control cabinet is recorded as IM-q-j wherein, I M-q-j The subscript j ranges from 1 to n, and n represents the total number of power modules in each power amplifier control cabinet.

[0028] Step S43, using the intercepted m power amplifier control cabinet current sensor data sequence and m power amplifier control cabinet voltage sensor data sequence, the running performance of the power amplifier control cabinet is evaluated;

[0029] Step S44, the current consistency of the n power modules in each power amplifier control cabinet is evaluated;

[0030] Step S5, running the table surface unevenness evaluation module, the vibration table surface unevenness is evaluated in real time online during running, and the specific steps are:

[0031] Step S51, the vibration table running performance full state monitoring and evaluation system obtains the acceleration sensor data sequence a mid and the h acceleration sensor data sequence a l distributed on the upper surface of the vibration table surface according to different diameters, wherein l = 1, 2, …, h.

[0032] Step S52, for each acceleration sensor data sequence obtained, the table surface unevenness is estimated every time T, a segment of data with a time length of T is intercepted from the current time back for analysis, and the maximum value of the intercepted vibration table surface center acceleration sensor data sequence a mid is denoted as A mid , the maximum value of the lth acceleration sensor data sequence a l distributed on the upper surface of the vibration table surface according to different diameters is denoted as A l .

[0033] Step S53, the vibration table surface unevenness w E is estimated, and the calculation formula is:

[0034]

[0035] Wherein: max(·) represents the maximum value, and |·| represents the absolute value; according to the calculated vibration table surface unevenness w E , further comparison with the pre-set unevenness threshold value is made to give the evaluation result of whether the table surface unevenness is out of limit.

[0036] Step S6, running the acceleration waveform distortion evaluation module, the vibration table acceleration waveform distortion is evaluated in real time online during running, and the specific steps are:

[0037] Step S61, judge whether the current shaker control instruction is a sine test signal, if the control instruction is not a sine test signal, exit the acceleration waveform distortion degree evaluation module; if the control instruction is a sine test signal, run the performance full state monitoring evaluation system to obtain the acceleration sensor data sequence a mid ;

[0038] Step S62, perform spectrum transformation on the obtained acceleration sensor data sequence a mid , adopt a flat window function in the spectrum transformation process, obtain the fundamental amplitude and harmonic amplitude of the acceleration sensor data sequence a mid , calculate the shaker acceleration waveform distortion degree w D , the calculation formula is:

[0039]

[0040] Among them: H1, H2, H3, H4, H5 respectively represent the fundamental amplitude, the second harmonic amplitude, the third harmonic amplitude, the fourth harmonic amplitude, the fifth harmonic amplitude;

[0041] Step S63, compare the calculated acceleration waveform distortion degree w D With the pre-set waveform distortion threshold, give the evaluation result whether the waveform distortion is out of limit;

[0042] Step S7, run the shaker control precision evaluation module to evaluate the shaker control precision in real time online during operation, the specific steps are:

[0043] Step S71, run the performance full state monitoring evaluation system to obtain the acceleration sensor data sequence a mid and the control instruction signal installed on the center of the upper surface of the shaker table surface;

[0044] Step S72, combine the control instruction signal and the collected acceleration sensor data sequence a mid , calculate the maximum tracking error, root mean square error, relative mean square error, spectrum reproduction tracking error index, compare the calculated index with the pre-set corresponding control precision index threshold, and give the evaluation result whether the shaker control precision is out of limit.

[0045] As a further improvement of the present application, in step S33, the specific steps for evaluating the cooling efficiency of the field coil are:

[0046] Step S331, calculate the inlet and outlet temperature difference data sequence ΔT LC of the field coil cooling water =T LC-Out -T LC-In , judge the inlet and outlet temperature difference data sequence ΔTLC whether there is a value exceeding the upper limit of the set threshold η Tmax-LC , ηT max-LC , the value range is 55-60℃, if there is a value exceeding, it indicates that the excitation coil cooling efficiency is poor, exit the excitation coil cooling efficiency evaluation step, if there is no value exceeding, then proceed to the next step

[0047] Step S332, calculate the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC exceeding the lower limit of the set threshold η Tmin-LC and less than the upper limit of the set threshold η Tmax-LC , the number of data is N LC , η Tmax-LC , the value range is 40-50℃, calculate the average value of all elements in the excitation coil cooling water flow sensor data sequence Q LC

[0048] Step S333, f is the sampling frequency of the vibration table running performance full state monitoring and evaluation system, Q max-LC is the maximum value of the excitation coil cooling water flow that the vibration table can provide, judge whether the average value is true, if true, it indicates that the excitation coil cooling efficiency meets the requirements, if not, it indicates that the excitation coil cooling efficiency is poor.

[0049] As a further improvement of the present application, in step S34, the moving coil cooling efficiency is evaluated, the specific steps are:

[0050] Step S341, use the vibration table surface center acceleration sensor data sequence a mid , calculate the vibration table moving coil movement speed data sequence v mid by integral operation, further estimate the moving coil driving power data sequence P DQ , the estimation formula is P DQ =Ma mid v mid , wherein: a mid v mid indicates that the corresponding elements in a mid and v mid are multiplied to form a data sequence; take the absolute value of each element in the estimated moving coil driving power data sequence PDQ and calculate the average value of all elements after taking the absolute value, record the average value as calculate the average value of all elements in the moving coil cooling water flow sensor data sequence Q DQ , and record the average value as calculate the moving coil cooling water inlet and outlet temperature difference data sequence ΔT DQ =T DQ-Out -T​DQ-In ;

[0051] Step S342, judging whether the data sequence of the temperature difference between the inlet and outlet of the moving coil cooling water ΔT DQ exceeds the upper limit of the set threshold η Tmax-DQ , η Tmax-DQ is in the range of 60-65℃, if yes, it indicates that the moving coil cooling efficiency is poor, and the moving coil cooling efficiency evaluation step is exited, if no, the next step is performed;

[0052] Step S343, calculating the number of data in the data sequence of the temperature difference between the inlet and outlet of the moving coil cooling water ΔT DQ exceeds the lower limit of the set threshold η Tmin-DQ and is less than the upper limit of the set threshold η Tmax-DQ , and recording the number as N DQ , η Tmin-DQ is in the range of 45-55℃, calculating the average value of all elements in the data sequence of the moving coil cooling water flow sensor Q DQ ;

[0053] Step S344, recording Q max-DQ as the maximum value of the moving coil cooling water flow that the vibration table can provide, and P max-DQ as the maximum driving power of the moving coil of the vibration table, judging whether the average value and is true, if yes, it indicates that the moving coil cooling efficiency meets the requirements, if not, it indicates that the moving coil cooling efficiency is poor; recording f as the sampling frequency of the vibration table operation performance full state monitoring and evaluation system.

[0054] As a further improvement of the present application, in step S35, the power amplifier control cabinet temperature sensor data sequence obtained by the cooling efficiency evaluation is used to evaluate the cooling efficiency of the power amplifier control cabinet, and the specific steps are as follows:

[0055] Step S351, according to the temperature sensor data sequence of the m power amplifier control cabinets, the data obtained at all the same time points of the temperature sensor data sequence corresponding to T GF-1 ,T GF-2 ,...,T GF-m are respectively operated, by removing the maximum value and the minimum value at the time point, and then performing average operation on the remaining data, the data after the average calculation is constructed into a power amplifier control cabinet average temperature data sequence

[0056] Step S352, calculating the temperature sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average temperature data sequence temperature deviation sequence between the qth power amplifier control cabinet and the reference temperature, the temperature deviation sequence is ΔT GF-q For example, the calculation formula is

[0057] Step S353, evaluate the cooling efficiency of each power amplifier control cabinet.

[0058] As a further improvement of the present application, in step S353, the specific steps of evaluating the cooling efficiency of each power amplifier control cabinet are:

[0059] Step S3531, determine whether there is a value in the temperature deviation sequence ΔT GF-q exceeding the upper limit of the set threshold η Tmax , η Tmax ranging from 25℃ to 35℃, if there is a value exceeding, it indicates that the cooling efficiency of the power amplifier control cabinet is greatly different from that of other power amplifier control cabinets, if there is no value exceeding, proceed to the next step of determination;

[0060] Step S3532, calculate the number of data in the temperature deviation sequence ΔT GF-q exceeding the lower limit of the set threshold η Tmin and less than the upper limit of the set threshold η Tmax , and record the number as N T , η Tmin ranging from 15℃ to 20℃, N Tmax ranging from 0.1T / f to 0.2T / f; if the calculated number N T exceeds the set threshold N Tmax , it indicates that the cooling efficiency of the power amplifier control cabinet is greatly different from that of other power amplifier control cabinets, if the calculated number N T does not exceed the set threshold N Tmax , proceed to the next step of determination; record f as the sampling frequency of the vibration table performance full-state monitoring and evaluation system;

[0061] Step S3533, calculate the sum e GF-q of all elements of the temperature deviation sequence ΔT Tsum , compare the value with the set upper limit of error e Tmax , e Tsum ranging from 2T / f to 3T / f, if e Tsum >e Tmax , it indicates that the cooling efficiency of the power amplifier control cabinet is greatly different from that of other power amplifier control cabinets, if e Tsum ≤e Tmax , proceed to the next step of determination;

[0062] Step S3534, judging whether it is the first time to perform the power amplifier control cabinet cooling efficiency evaluation, if yes, completing the power amplifier control cabinet cooling efficiency evaluation, otherwise, calculating the e Tsum The absolute value of the difference between the value in the last power amplifier control cabinet cooling efficiency evaluation and the value in the current power amplifier control cabinet cooling efficiency evaluation is Δe Tsum If the calculated Δe Tsum is greater than the set threshold value η Tesum , it indicates that the power amplifier control cabinet cooling efficiency has changed abruptly, if the calculated Δe Tsum is not greater than the set threshold value Δ Tesum , it indicates that the power amplifier control cabinet cooling efficiency has not changed abruptly, η Tesum The value range is 15T / f~20T / f; f is the sampling frequency of the vibration table performance full state monitoring and evaluation system;

[0063] As a further improvement of the application, in step S43, the performance of the power amplifier control cabinet is evaluated, and the specific steps are as follows:

[0064] Step S431, according to the voltage sensor data sequence of the m power amplifier control cabinets, the voltage sensor data sequence corresponding to U G-1 ,U G-2 ,…U G-m , the data obtained at all the same time points of the voltage sensor data sequence of the m power amplifier control cabinets is operated respectively, the maximum value and the minimum value at the time point are removed, then the remaining data is averaged, and the average calculated data is constructed into a power amplifier control cabinet average voltage data sequence in the original time sequence According to the power amplifier control cabinet current sensor data sequence corresponding to I G-1 ,I G-2 ,…,I G-m , the data obtained at all the same time points of the current sensor data sequence of the m power amplifier control cabinets is operated respectively, the maximum value and the minimum value at the time point are removed, then the remaining data is averaged, and the average calculated data is constructed into a power amplifier control cabinet average current data sequence in the original time sequence

[0065] Step S432, calculating the voltage deviation sequence between the voltage sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average voltage data sequence , and calculating the current deviation sequence between the current sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average current data sequence Taking the voltage deviation sequence ΔU G-q of the qth power amplifier control cabinet and the current deviation sequence ΔI G-q of the qth power amplifier control cabinet as examples, the calculation formula is

[0066] Step S433: Evaluate the voltage consistency of each power amplifier control cabinet;

[0067] Step S434: Evaluate the current consistency of each power amplifier control cabinet;

[0068] As a further improvement of the present invention, in step S433, the voltage consistency of each power amplifier control cabinet is evaluated, and the specific steps are as follows:

[0069] Step S4331: Define and judge the voltage deviation sequence ΔU G-q Are there any values ​​in the data that exceed the set threshold limit? The value range is 5V to 8V. If any value exceeds this range, it indicates that the voltage consistency of the power amplifier control cabinet is abnormal. If no value exceeds this range, proceed to the next step of judgment.

[0070] Step S4332: Calculate the voltage deviation sequence ΔU G-q Exceeding the set lower threshold And less than the set threshold upper limit The number of data points, The value range is 3V to 4V. The value range is 0.1T / f to 0.2T / f. If the calculated number exceeds the set threshold... This indicates that the voltage consistency of the power amplifier control cabinet is abnormal. If no value exceeds the limit, it indicates that the voltage consistency of the power amplifier control cabinet is normal. Let f be the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system.

[0071] As a further improvement of the present invention, in step S434, the current consistency of each power amplifier control cabinet is evaluated, and the specific steps are as follows:

[0072] Step S4341: Define the upper limit data sequence of the threshold. The range of values ​​is The current deviation sequence ΔI G-q Data sequence with upper threshold The data in the table are compared one-to-one at the same time. If a current deviation sequence ΔI exists, the results are processed accordingly. G-q The data value is greater than If the corresponding data value is not found, it indicates an abnormality in the current consistency of the power amplifier control cabinet. If there is no current deviation sequence ΔI, it indicates an abnormality in the current consistency of the power amplifier control cabinet. G-q The data value is greater than If the corresponding data value is obtained, proceed to the next step of judgment;

[0073] Step S4342: Define the lower threshold data sequence The range of values ​​is The current deviation sequence ΔI G-q is compared with the elements in the threshold upper limit data sequence and the threshold lower limit data sequence respectively at the same time, and the number of data exceeding the set threshold lower limit G-q and less than the set threshold upper limit in the current deviation sequence ΔI is calculated. The value range is 0.1T / f-0.2T / f. If the calculated number exceeds the set threshold , it indicates that the current consistency of the power amplifier control cabinet is abnormal. If the calculated number does not exceed the set threshold , the next step is judged; f is the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system.

[0074] Step S4343, the current deviation sequence ΔI G-q is calculated. The sum of all elements in the current deviation sequence ΔI is compared with the set error upper limit , and the value range is . Wherein, I is the sum of all elements in the average current data sequence of the power amplifier control cabinet; if , it indicates that the current consistency of the power amplifier control cabinet is abnormal. If , the next step is judged.

[0075] Step S4344, it is judged whether it is the first time to perform the current consistency evaluation of the power amplifier control cabinet. If yes, the current consistency evaluation of the power amplifier control cabinet is completed. Otherwise, the absolute value of the difference between and the value in the last current consistency evaluation of the power amplifier control cabinet is calculated. If the calculated is greater than the set threshold , it indicates that the current performance of the power amplifier control cabinet has mutated. If the calculated is not greater than the set threshold , it indicates that the current performance of the power amplifier control cabinet has not mutated. The value range is 0.02-0.028.

[0076] As a further improvement of the present application, in step S44, the current consistency of the n power modules in each power amplifier control cabinet is evaluated, and the specific steps are as follows:

[0077] Step S441, according to the n power module current sensor data sequence in the qth power amplifier control cabinet, the IM-q-1 I M-q-2 ...,I M-q-n The corresponding current sensor data sequence, respectively, n power module current sensor data sequence at all the same time, by removing the maximum and minimum at that time, and then the remaining data average operation, the average data calculated in the original time sequence to form the qth power amplifier control cabinet power module average current data sequence

[0078] Step S442, calculate the current deviation sequence between the qth power amplifier control cabinet power module current sensor data sequence and the power module average current data sequence The jth power module current deviation sequence ΔI M-j , for example, the calculation formula is

[0079] Step S443, evaluate the consistency of the n power modules in the qth power amplifier control cabinet; the specific steps are:

[0080] Step S4431, define the threshold upper limit data sequence The value range is Compare the current deviation sequence ΔI M-j with the data in the threshold upper limit data sequence at the same time one by one, if the data value of the current deviation sequence ΔI -j中 is greater than the data value at the corresponding time in , it indicates that the power module current consistency is abnormal, if the data value of the current deviation sequence ΔI M-j is not greater than the data value at the corresponding time in , proceed to the next step;

[0081] Step S4432, define the threshold lower limit data sequence The value range is Compare the current deviation sequence ΔI M-j with the threshold upper limit data sequence and the threshold lower limit data sequence at the same time one by one, calculate the number of data in the current deviation sequence ΔI M-j that exceeds the set threshold lower limit and is less than the set threshold upper limit , The value range is 0.1T / f~0.2T / f, if the calculated number exceeds the set threshold , it indicates that the power module current consistency is abnormal, if the calculated number does not exceed the set threshold Then the next step is determined; f is the sampling frequency of the vibration table operation performance full state monitoring and evaluation system;

[0082] Step S4433, calculate the current deviation sequence AI M-j The sum of all elements Compare the value with the set upper limit of error , The value range is Among them: The average current data sequence of the power module in the qth power amplifier control cabinet The sum of all elements; if It indicates that the power module current consistency is abnormal, if Then the next step is determined;

[0083] Step S4434, determine whether it is the first time to perform the power module current consistency evaluation, if yes, complete the power module current consistency evaluation this time, otherwise, calculate the absolute value of the difference between And the value in the last power module evaluation If the calculated It is greater than the set threshold It indicates that the power module current performance has changed suddenly, if the calculated It is not greater than the set threshold It indicates that the power module current performance has not changed suddenly, The value range is 0.02-0.028.

[0084] Compared with the prior art, the present application has the following advantages:

[0085] (1) The vibration table operation performance full state monitoring and evaluation system proposed in the present application realizes local and remote display of vibration table full state information, and constructs a three-dimensional visual digital twin model of the vibration table running state, solving the problems of current state monitoring system, such as unable to remotely view, three-dimensional visual display, and low intelligentization degree;

[0086] (2) The vibration table operation performance full state monitoring and evaluation method proposed in the present application fully utilizes various types of state data obtained by monitoring, deeply excavates the system state and performance information hidden behind the data, realizes functions such as conventional threshold overrun alarm, test load online estimation, system cooling efficiency evaluation, power amplifier performance evaluation, table surface unevenness evaluation, acceleration waveform distortion evaluation, and vibration table control precision evaluation, solving the problem that the operating personnel cannot effectively master the equipment running state performance at the present stage;

[0087] (3) The application makes full use of the conventional state monitoring information when evaluating the cooling efficiency of the vibration table and the performance of the power amplifier, and comprehensively evaluates the key performances such as the cooling efficiency of the excitation coil, the cooling efficiency of the moving coil, the cooling efficiency of the power amplifier unit, the consistency of the current / voltage of the power amplifier control cabinet, and the consistency of the power module current from multiple dimensions, thereby solving the problem of lack of evaluation of these important performances during long-term use of the vibration table;

[0088] (4) The application does not excessively set new sensors to monitor the state information of the vibration table on the basis of various sensors of the existing vibration table, but gives an evaluation method of various operating performances of the vibration table by deeply mining the correlation between multiple sets of sensors and historical data information, and the related evaluation method does not need complex artificial intelligence algorithm training, and has the advantages of simple operation, small calculation amount, and easy popularization and application. BRIEF DESCRIPTION OF DRAWINGS

[0089] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0090] Fig. 1 is a structure diagram of a vibration table operating performance full state monitoring and evaluation system of the application;

[0091] Fig. 2 is a flow chart of a vibration table operating performance full state monitoring and evaluation method of the application;

[0092] Fig. 3 is a flow chart of an excitation coil cooling efficiency evaluation method in a cooling efficiency evaluation module;

[0093] Fig. 4 is a flow chart of a moving coil cooling efficiency evaluation method in the cooling efficiency evaluation module;

[0094] Fig. 5 is a flow chart of a power amplifier control cabinet cooling efficiency evaluation method in the cooling efficiency evaluation module;

[0095] Fig. 6 is a flow chart of a power amplifier control cabinet voltage consistency evaluation method in a power amplifier performance evaluation module;

[0096] Fig. 7 is a flow chart of a power amplifier control cabinet current consistency evaluation method in the power amplifier performance evaluation module;

[0097] Fig. 8 is a flow chart of a power amplifier control cabinet power module current consistency evaluation method in the power amplifier performance evaluation module; DETAILED DESCRIPTION

[0098] As shown in Figure 1, a vibration table running performance full state monitoring and evaluation system includes a sensor system, a data acquisition unit, a full state detection database server, a running performance evaluation system, a local display unit and a remote display unit. The sensor system includes a vibration table body sensor, a power amplifier unit sensor and a cooling system sensor. The vibration table body sensor includes a table surface acceleration sensor, a moving coil displacement sensor and a load support device internal air pressure sensor. Specifically, the table surface acceleration sensor is installed on the center of the upper surface of the vibration table and the mounting screw holes distributed on the upper surface of the vibration table according to different diameters, for measuring the real-time acceleration of different points on the upper surface of the vibration table. The moving coil displacement sensor is installed between the table body and the moving coil, for measuring the real-time displacement of the moving coil of the vibration table. The load support device internal air pressure sensor is installed on the air spring inlet pipeline of the load support device, for measuring the internal air pressure of the load support device. The power amplifier unit sensor includes a power amplifier control cabinet current sensor, a power amplifier control cabinet voltage sensor, a power amplifier control cabinet temperature sensor, a power module current sensor, a power module voltage sensor, an excitation module current sensor and an excitation module voltage sensor. The cooling system sensor includes an excitation coil cooling water flow sensor, an excitation coil cooling water inlet temperature sensor, an excitation coil cooling water outlet temperature sensor, a vibration table moving coil cooling water flow sensor, a vibration table moving coil cooling water inlet temperature sensor and a vibration table moving coil cooling water outlet temperature sensor.

[0099] The data acquisition unit includes a conditioning conversion module, a signal acquisition and processing module and a sensor data communication module. The conditioning conversion module is used for transforming the sensor signal type and amplitude size. The signal acquisition and processing module is used for collecting, calibrating and data packaging the sensor signal. The sensor data communication module is used for sending the data processed by the signal acquisition and processing module to the full state monitoring database server.

[0100] The full state monitoring database server is used for accepting the vibration table running state data sent by the data acquisition unit and the vibration control instrument in real time and keeping the relevant historical running data. The full state monitoring database server interacts with the data acquisition unit and the vibration control instrument through the CAN communication protocol.

[0101] The running performance evaluation system is installed on the full state monitoring database server and is used for analyzing and processing the vibration table running state data obtained by monitoring. The running performance evaluation system includes a conventional threshold overrun alarm module, a test load estimation module, a cooling efficiency evaluation module, a power amplifier performance evaluation module, a table surface unevenness evaluation module, an acceleration waveform distortion evaluation module and a vibration table control precision evaluation module.

[0102] The local display unit is used for on-site visual display of the vibration table running state data, the three-dimensional digital twin model and the running performance evaluation result, and the local display unit and the full state monitoring database server interact with each other through a high-definition multimedia interface.

[0103] The remote display unit is used for remote visual display of the vibration table running state data, the three-dimensional digital twin model and the running performance evaluation result, and the remote display unit and the full state monitoring database server interact with each other through an Ethernet or a mobile network.

[0104] The system stores the vibration table running state data monitored by the sensor system in the full state monitoring database server through the data acquisition unit, and analyzes and processes the vibration table running state data through the running performance evaluation system. The system displays rich state information of the vibration table, so that an operator can effectively master the running state of the equipment. The system is provided with a local display unit and a remote display unit, so that the system has the functions of remote viewing and three-dimensional visual display, and the intelligent level of the state monitoring system is improved. The system is provided with a running performance evaluation system, so that the state data of the vibration table are analyzed and mined, and the running performance of the vibration table is analyzed and evaluated online, so that an operator can accurately master the running performance of the vibration table in a long-term use process.

[0105] As shown in FIG. 2, the application further provides a vibration table running performance full state monitoring and evaluation method, and the running principle of the vibration table running performance full state monitoring and evaluation is specifically explained. The method comprises the following steps:

[0106] In step S1, a conventional threshold overrun alarm module is run. The vibration table running performance full state monitoring and evaluation system compares real-time data of each sensor of the vibration table collected by the sensor system with upper and lower alarm threshold values of each sensor, and gives alarm information of whether the monitoring state of each sensor of the vibration table is abnormal.

[0107] In step S2, a test load estimation module is run to evaluate the current test load quality in real time. The specific steps are as follows:

[0108] In step S21, when the test load is installed, the vibration table running performance full state monitoring and evaluation system collects an offset x0 of a moving coil relative to a zero position of the vibration table when the vibration table is static by using a moving coil displacement sensor, and collects an internal air pressure P0 of a load support device by using an internal air pressure sensor of the load support device.

[0109] In step S22, the test load estimation module calculates the current test load quality M in real time, and the calculation formula is M=[P0A+Kx0] / g, wherein A is an effective load bearing area of the internal air pressure of the load support device, K is an air spring elastic stiffness of the load support device, and g is a gravitational acceleration.

[0110] Step S3, run the cooling efficiency evaluation module to evaluate the cooling efficiency of the vibration table excitation coil, moving coil and power amplifier unit, the specific steps are as follows:

[0111] Step S31, the vibration table running performance full state monitoring and evaluation system acquires the vibration table surface center acceleration sensor data, the excitation coil cooling water flow sensor data, the excitation coil cooling water inlet temperature sensor data, the excitation coil cooling water outlet temperature sensor data, the vibration table moving coil cooling water flow sensor data, the vibration table moving coil cooling water inlet temperature sensor data, the vibration table moving coil cooling water outlet temperature sensor data, and the power amplifier control cabinet temperature sensor data.

[0112] Step S32, after each state of the vibration table is running stably, the cooling efficiency is evaluated every time T, a segment of data with a time length of T is taken back from the current time for analysis, the vibration table surface center acceleration sensor data sequence taken is denoted as a mid , the excitation coil cooling water flow sensor data sequence is Q LC , the excitation coil cooling water inlet temperature sensor data sequence is T LC-In , the excitation coil cooling water outlet temperature sensor data sequence is T LC-Out , the vibration table moving coil cooling water flow sensor data sequence is Q DQ , the vibration table moving coil cooling water inlet temperature sensor data sequence is T DQ-In , the vibration table moving coil cooling water outlet temperature sensor data sequence is T DQ-Out , and the qth power amplifier control cabinet temperature sensor data sequence is T GF-q , wherein: T GF-q The value range of subscript q is q=1, 2, …, m, and m represents the total number of power amplifier control cabinets.

[0113] Step S33, FIG. 3 is a flow chart of the excitation coil cooling efficiency evaluation method in the cooling efficiency evaluation module. The excitation coil cooling water flow sensor data sequence Q LC , the excitation coil cooling water inlet temperature sensor data sequence T LC-In , and the excitation coil cooling water outlet temperature sensor data sequence T LC-Out taken in this cooling efficiency evaluation are used to evaluate the cooling efficiency of the excitation coil, and the specific steps are as follows:

[0114] Step S331, calculate the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC = T LC-Out -T LC-In , and determine whether the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC has a value exceeding the upper limit of the set threshold ηTmax-LC , η Tmax-LC The value range is 55℃-60℃, if there is a value beyond, it indicates that the excitation coil cooling efficiency is poor, exit the excitation coil cooling efficiency evaluation step, if there is no value beyond, then proceed to the next step;

[0115] Step S332, calculate the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC The number of data beyond the lower limit of the set threshold η Tmin-LC And less than the upper limit of the set threshold η Tmax-LC The number is recorded as N LC , η Tmin-LC The value range is 40℃-50℃, calculate the excitation coil cooling water flow sensor data sequence Q LC The average of all elements

[0116] Step S333, record f as the sampling frequency of the vibration table operating performance full state monitoring and evaluation system, Q max-LC The maximum value of the excitation coil cooling water flow that the vibration table can provide, judge whether the average value Is true, if true, it indicates that the excitation coil cooling efficiency meets the requirements, if not, it indicates that the excitation coil cooling efficiency is poor.

[0117] Step S34, use the vibration table surface center acceleration sensor data sequence a mid , vibration table moving coil cooling water flow sensor data sequence Q DQ , vibration table moving coil cooling water inlet temperature sensor data sequence T DQ-In , vibration table moving coil cooling water outlet temperature sensor data sequence T DQ-Out , evaluate the moving coil cooling efficiency, Figure 4 is a flow chart of the moving coil cooling efficiency evaluation method in the cooling efficiency evaluation module, the specific steps of the evaluation are:

[0118] Step S341, use the vibration table surface center acceleration sensor data sequence a mid , calculate the vibration table moving coil movement speed data sequence v mid by integral operation, further estimate the moving coil driving power data sequence P DQ The estimation formula is P DQ = Ma mid v mid , wherein: a mid v mid Indicates that the corresponding elements in a mid and v mid are multiplied to form a data sequence; the estimated moving coil driving power data sequence P DQThe absolute value of each element is taken and the average of all the elements after taking the absolute value is recorded as The average of all the elements in the moving-coil cooling water flow sensor data sequence Q DQ is taken and recorded as The moving-coil cooling water inlet and outlet temperature difference data sequence ΔT DQ is calculated DQ-Out DQ-In ;

[0119] Step S342, it is judged whether there is a value in the moving-coil cooling water inlet and outlet temperature difference data sequence ΔT DQ that exceeds the upper limit η Tmax-DQ of the set threshold, η Tmax-DQ is in the range of 60℃ to 65℃, if there is a value that exceeds, it indicates that the moving-coil cooling efficiency is poor, the moving-coil cooling efficiency evaluation step is exited, if there is no value that exceeds, the next step is performed;

[0120] Step S343, the number of data in the moving-coil cooling water inlet and outlet temperature difference data sequence ΔT DQ that exceeds the lower limit η Tmin-LC of the set threshold and is less than the upper limit η Tmax-DQ of the set threshold is calculated and recorded as N DQ , η Tmin-DQ is in the range of 45℃ to 55℃, the average of all the elements in the moving-coil cooling water flow sensor data sequence Q DQ is calculated

[0121] Step S344, Q max-DQ is recorded as the maximum moving-coil cooling water flow value that can be provided by the vibration table, P max-DQ is recorded as the maximum driving power of the vibration table moving-coil, it is judged whether the average and are true, if true, it indicates that the moving-coil cooling efficiency meets the requirements, if not true, it indicates that the moving-coil cooling efficiency is poor; f is recorded as the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system.

[0122] Step S35, the power amplifier control cabinet cooling efficiency is evaluated by using the power amplifier control cabinet temperature sensor data sequence intercepted in this cooling efficiency evaluation, Fig. 5 is a flow chart of the power amplifier control cabinet cooling efficiency evaluation method in the cooling efficiency evaluation module, the specific steps of the evaluation are as follows:

[0123] Step S351, according to the temperature sensor data sequence of the m power amplifier control cabinets, the average of all the elements in the T GF-1 , T GF-2 , …, T GF-m ​The corresponding temperature sensor data sequence is processed by operating on the data obtained from the temperature sensor data sequences of m power amplifier control cabinets at all the same time points. By removing the maximum and minimum values ​​at that time point, and then averaging the remaining data, the averaged data is constructed into the average temperature data sequence of the power amplifier control cabinets in the original time sequence.

[0124] Step S352: Calculate the temperature sensor data sequence and the average temperature data sequence of each power amplifier control cabinet. The temperature deviation sequence between them, with the q-th power amplifier control cabinet temperature deviation sequence ΔT GF-q For example, the calculation formula is:

[0125] Step S353: Evaluate the cooling performance of each power amplifier control cabinet. The specific steps are as follows:

[0126] Step S3531: Determine the temperature deviation sequence ΔT GF-q Does the value exceed the set threshold η? Tmax η Tmax The value range is 25℃~35℃. If any value exceeds this range, it indicates that the cooling efficiency of this power amplifier control cabinet is significantly lower than that of other power amplifier control cabinets. If no value exceeds this range, proceed to the next step of judgment.

[0127] Step S3532: Calculate the temperature deviation sequence ΔT GF-q The value exceeds the lower limit of the set threshold η Tmin And less than the set threshold upper limit η Tmax The number of data points, denoted as N. T η Tmin Value range: 15℃~20℃, N Tmax The value range is 0.1T / f to 0.2T / f; if the calculated number N T Exceeding the set threshold N Tmax， This indicates that the cooling efficiency of this power amplifier control cabinet is significantly lower than that of other power amplifier control cabinets. If the calculated number N... T Not exceeding the set threshold N Tmax If so, proceed to the next step of judgment; let f be the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system;

[0128] Step S3533: Calculate the temperature deviation sequence ΔT GF-q The sum of all elements e Tsum Compare this value with the set error limit e Tmax For comparison, e Tsum The value range is 2T / f to 3T / f, if e Tsum >e Tmax, it indicates that the cooling efficiency of the power amplifier control cabinet is much worse than that of other power amplifier control cabinets. If e Tsum ≤e Tmax , the next step is determined;

[0129] Step S3534, determine whether it is the first time to evaluate the cooling efficiency of the power amplifier control cabinet, if yes, complete the evaluation of the cooling efficiency of the power amplifier control cabinet, otherwise, calculate the absolute value Δe Tsum of the difference between the value of the current power amplifier control cabinet cooling efficiency evaluation and the value of the last power amplifier control cabinet cooling efficiency evaluation. Tsum If the calculated Δe Tsum is greater than the set threshold η Tesum , it indicates that the cooling efficiency of the power amplifier control cabinet has changed suddenly. If the calculated Δe Tsum is not greater than the set threshold η Tesum , it indicates that the cooling efficiency of the power amplifier control cabinet has not changed suddenly. η Tesum is in the range of 15T / f~20T / f, and f is the sampling frequency of the vibration table running performance full state monitoring and evaluation system.

[0130] Step S4, run the power amplifier performance evaluation module to evaluate the running performance of the vibration table power amplifier unit, and the specific steps are:

[0131] Step S41, the vibration table running performance full state monitoring and evaluation system obtains all power amplifier control cabinet current sensor data, power amplifier control cabinet voltage sensor data and power module current sensor data.

[0132] Step S42, after the vibration table is in each state and runs stably, the power amplifier performance is evaluated every T time, a data segment with a time length of T is taken back from the current time for analysis, and the qth power amplifier control cabinet current sensor data sequence is denoted as I G-q , the power amplifier control cabinet voltage sensor data sequence is denoted as U G-q , and the jth power module current sensor data sequence in the qth power amplifier control cabinet is denoted as I M-q-j , wherein: I M-q-j The value of subscript j is in the range of j=1, 2, …, n, and n represents the total number of power modules in each power amplifier control cabinet.

[0133] Step S43, the running performance of the power amplifier control cabinet is evaluated by using the m power amplifier control cabinet current sensor data sequences and the m power amplifier control cabinet voltage sensor data sequences; the specific steps are:

[0134] Step S431, according to the voltage sensor data sequences of the m power amplifier control cabinets, U G-1 , U G-2 , …, U G-mThe corresponding voltage sensor data sequence, respectively, the voltage sensor data sequence of the m power amplifier control cabinet at all the same time is obtained, by removing the maximum and minimum value at this time, then the remaining data is averaged, the average data is constructed into the power amplifier control cabinet average voltage data sequence according to the original time sequence For I G-1 ,I G-2 ,…,I G-m The corresponding power amplifier control cabinet current sensor data sequence, respectively, the current sensor data sequence of the m power amplifier control cabinet at all the same time is obtained, by removing the maximum and minimum value at this time, then the remaining data is averaged, the average data is constructed into the power amplifier control cabinet average current data sequence

[0135] Step S432, calculate the voltage deviation sequence between the voltage sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average voltage data sequence Calculate the current deviation sequence between the current sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average current data sequence Take the qth power amplifier control cabinet voltage deviation sequence ΔU G-q And the qth power amplifier control cabinet current deviation sequence ΔI G-q As an example, the calculation formula is

[0136] Step S433, evaluate the voltage consistency of each power amplifier control cabinet, Fig. 6 is a flow chart of the power amplifier control cabinet voltage consistency evaluation method in the power amplifier performance evaluation module, and the specific steps of the evaluation are:

[0137] Step S4331, define whether there is a value in the voltage deviation sequence ΔI G-q Exceeds the upper limit of the set threshold The value range is 5V-8V, if there is a value exceeding, it indicates that the voltage consistency of the power amplifier control cabinet is abnormal, if there is no value exceeding, the next step is judged;

[0138] Step S4332, calculate the number of data in the voltage deviation sequence ΔU G-q Exceeds the lower limit of the set threshold And less than the upper limit of the set threshold The value range is 3V-4V, The value range is 0.1T / f-0.2T / f, if the number obtained by calculation exceeds the set threshold ​This indicates that the voltage consistency of the power amplifier control cabinet is abnormal. If no value exceeds the limit, it indicates that the voltage consistency of the power amplifier control cabinet is normal. Let f be the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system.

[0139] Step S434: Evaluate the current consistency of each power amplifier control cabinet; Figure 7 is a flowchart of the current consistency evaluation method for power amplifier control cabinets in the power amplifier performance evaluation module. The specific evaluation steps are as follows:

[0140] Step S4341: Define the upper limit data sequence of the threshold. The range of values ​​is The current deviation sequence ΔI G-q Data sequence with upper threshold The data in the table are compared one-to-one at the same time. If a current deviation sequence ΔI exists, the results are processed accordingly. G-q The data value is greater than If the corresponding data value is not found, it indicates an abnormality in the current consistency of the power amplifier control cabinet. If there is no current deviation sequence ΔI, it indicates an abnormality in the current consistency of the power amplifier control cabinet. G-q The data value is greater than If the corresponding data value is obtained, proceed to the next step of judgment;

[0141] Step S4342: Define the lower threshold data sequence The range of values ​​is The current deviation sequence ΔI G-q Data sequences with upper threshold respectively and threshold lower limit data sequence The elements in the array are compared one-to-one at the same time to calculate the current deviation sequence ΔI. G-q Exceeding the set lower threshold And less than the set threshold upper limit The number of data points, The value range is 0.1T / f to 0.2T / f. If the calculated number exceeds the set threshold... This indicates an abnormality in the current consistency of the power amplifier control cabinet. If the calculated number does not exceed the set threshold... Then proceed to the next step of judgment; let f be the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system;

[0142] Step S4343: Calculate the current deviation sequence ΔI G-q The sum of all elements Compare this value with the set upper limit of error. To make a comparison, The range of values ​​is in: Average current data sequence for power amplifier control cabinet the sum of all elements; if the power amplifier control cabinet current consistency is abnormal, if the next step is judged;

[0143] Step S4344, judge whether it is the first time to perform the power amplifier control cabinet current consistency evaluation, if yes, complete the power amplifier control cabinet current consistency evaluation, otherwise, calculate the absolute value of the difference between the value and the value in the last power amplifier control cabinet current consistency evaluation If the calculated is greater than the set threshold , it indicates that the power amplifier control cabinet current performance has changed abruptly, if the calculated is not greater than the set threshold , it indicates that the power amplifier control cabinet current performance has not changed abruptly, the value range is 0.02-0.028.

[0144] Step S44, the current consistency of each power amplifier control cabinet n power module is evaluated, and the specific steps are as follows:

[0145] Step S441, according to the n power module current sensor data sequence in the qth power amplifier control cabinet, the current sensor data sequence corresponding to I M-q-1 ,I M-q-2 ,…,I M-q-n is operated respectively, the data obtained at all the same time by the n power module current sensor data sequence is removed, and then the remaining data is averaged, and the average calculated data is arranged in the original time sequence to form the power module average current data sequence

[0146] Step S442, calculate the current deviation sequence between each power module current sensor data sequence and the power module average current data sequence in the qth power amplifier control cabinet, take the jth power module current deviation sequence ΔI M-j as an example, the calculation formula is

[0147] Step S443, the current consistency of n power modules in the qth power amplifier control cabinet is evaluated, and the power amplifier performance evaluation module in the power amplifier control cabinet power module current consistency evaluation method flow chart is shown in FIG. 8, and the specific steps of the evaluation are as follows:

[0148] Step S4431, define the threshold upper limit data sequence the value range is the current deviation sequence ΔIM-j Data sequence with upper threshold The data in the table are compared one-to-one at the same time. If a current deviation sequence ΔI exists, the results are processed accordingly. M-j The data value is greater than If the corresponding data value is not found, it indicates an abnormality in the current consistency of the power module. If there is no current deviation sequence ΔI, it indicates an abnormality in the current consistency of the power module. M-j The data value is greater than If the corresponding data value is obtained, proceed to the next step of judgment;

[0149] Step S4432: Define the lower threshold data sequence The range of values ​​is The current deviation sequence ΔI M-j Data sequences with upper threshold respectively and threshold lower limit data sequence The elements in the array are compared one-to-one at the same time to calculate the current deviation sequence ΔI. M-j Exceeding the set lower threshold And less than the set threshold upper limit The number of data points, The value range is 0.1T / f to 0.2T / f. If the calculated number exceeds the set threshold... This indicates an abnormality in the current consistency of the power module. If the calculated number does not exceed the set threshold... Then proceed to the next step of judgment; let f be the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system;

[0150] Step S4433: Calculate the current deviation sequence ΔI M-j The sum of all elements Compare this value with the set upper limit of error. To make a comparison, The range of values ​​is in: The average current data sequence of the power modules in the q-th power amplifier control cabinet The sum of all elements in; if This indicates an abnormality in the current consistency of the power module. Then proceed to the next step of judgment;

[0151] Step S4434: Determine if this is the first time performing a current consistency assessment for this power module. If yes, complete the current consistency assessment for this power module; otherwise, calculate the current current consistency assessment. The absolute value of the difference between this value and the value in the previous evaluation of this power module If the calculation yields Greater than the set threshold This indicates a sudden change in the current performance of the power module. If the calculated... Not greater than the set threshold This indicates that the current performance of the power module has not changed abruptly. The value range is 0.02 to 0.028.

[0152] Step S5: Run the table surface non-uniformity assessment module to perform real-time online assessment of the table surface non-uniformity during operation. The specific steps are as follows:

[0153] Step S51: The vibration table operation performance full-state monitoring and evaluation system acquires the data sequence a from the acceleration sensor installed at the center of the upper surface of the vibration table. mid The data sequence a of h accelerometers mounted on the upper surface of the vibration table in a circular arrangement with different diameters. l Where l = 1, 2, ..., h;

[0154] Step S52: For each acquired accelerometer data sequence, perform a table surface non-uniformity estimation every time interval T. Extract a segment of data with a time length of T from the current moment for analysis, and record the extracted accelerometer data sequence a at the center of the upper surface of the vibration table. mid The maximum value is A mid The data sequence a of the l-th accelerometer installed on the upper surface of the vibration table in a circular pattern with different diameters. l The maximum value is A l ;

[0155] Step S53: Estimate the unevenness w of the vibration table surface. E The calculation formula is:

[0156]

[0157] Where: max(·) represents finding the maximum value, and |·| represents finding the absolute value; based on the calculated non-uniformity w of the vibration table surface. E Furthermore, by comparing with a pre-set non-uniformity threshold, an assessment result is given as to whether the non-uniformity of the countertop exceeds the limit;

[0158] Step S6: Run the acceleration waveform distortion assessment module to perform real-time online assessment of the vibration table acceleration waveform distortion during operation. The specific steps are as follows:

[0159] Step S61: Determine whether the current vibration table control command is a sinusoidal test signal. If the control command is not a sinusoidal test signal, exit the acceleration waveform distortion evaluation module; if the control command is a sinusoidal test signal, the full-state monitoring and evaluation system for operational performance acquires the acceleration sensor data sequence a installed at the center of the upper surface of the vibration table. mid ;

[0160] Step S62, the acquired acceleration sensor data sequence a mid is subjected to spectrum transformation, and in the spectrum transformation process, a flat window function is adopted to obtain the fundamental amplitude and harmonic amplitude of the acceleration sensor data sequence a mid , and the vibration table acceleration waveform distortion w D is calculated, and the calculation formula is as follows:

[0161]

[0162] wherein H1, H2, H3, H4 and H5 respectively represent the fundamental amplitude, the second harmonic amplitude, the third harmonic amplitude, the fourth harmonic amplitude and the fifth harmonic amplitude;

[0163] Step S63, the calculated acceleration waveform distortion w D is compared with the pre-set waveform distortion threshold value, and an evaluation result of whether the waveform distortion is out of limit is given.

[0164] Step S7, the vibration table control precision evaluation module is run to evaluate the vibration table control precision in real time and on line during the running process, and the specific steps are as follows:

[0165] Step S71, the acceleration sensor data sequence a mid and the control instruction signal installed on the center of the upper surface of the vibration table are acquired by the performance full-state monitoring evaluation system.

[0166] Step S72, the maximum tracking error, the root mean square error, the relative root mean square error and the spectrum repetition tracking error index are calculated in combination with the control instruction signal and the acquired acceleration sensor data sequence a mid , and the calculated index is compared with the pre-set corresponding control precision index threshold value, and an evaluation result of whether the vibration table control precision is out of limit is given.

[0167] The embodiments of the present application are described in detail in combination with the drawings, but the present application is not limited thereto, and various changes can be made within the knowledge range of the persons skilled in the art without departing from the purpose of the present application, and all the changes are within the protection range of the present application.

Claims

1. A method for monitoring and evaluating the performance of a vibration table in all states, characterized in that, The application relates to a full-state monitoring and evaluation system for the operation performance of a vibration table. The sensor system comprises vibration table body sensors, power amplifier unit sensors and cooling system sensors; the vibration table body sensors comprise table surface acceleration sensors, moving coil displacement sensors and internal air pressure sensors of a load support device, wherein the table surface acceleration sensors are installed on the central upper surface of the vibration table and on the mounting screw holes with different diameters and circumferences on the upper surface of the vibration table, and are used for measuring the real-time acceleration of different points on the upper surface of the vibration table; the moving coil displacement sensors are installed between a table body and a moving coil, and are used for measuring the real-time displacement of the moving coil of the vibration table; the internal air pressure sensors of the load support device are installed on the air spring inlet pipeline of the load support device, and are used for measuring the internal air pressure of the load support device; the power amplifier unit sensors are installed in a power amplifier control cabinet, and comprise power amplifier control cabinet current sensors, power amplifier control cabinet voltage sensors, power amplifier control cabinet temperature sensors, power module current sensors, power module voltage sensors, excitation module current sensors and excitation module voltage sensors; the cooling system sensors comprise excitation coil cooling water flow sensors, excitation coil cooling water inlet temperature sensors, excitation coil cooling water outlet temperature sensors, vibration table moving coil cooling water flow sensors, vibration table moving coil cooling water inlet temperature sensors and vibration table moving coil cooling water outlet temperature sensors; The data acquisition unit comprises a conditioning conversion module for converting the types and amplitudes of sensor signals, a signal acquisition and processing module for collecting, calibrating and data packaging the sensor signals, and a sensor data communication module for sending the data processed by the signal acquisition and processing module. The full-state detection database server is used for receiving the vibration table operation state data sent by the data acquisition unit and the vibration control instrument in real time, and keeping relevant historical operation data, and the full-state detection database server is used for information interaction with the data acquisition unit and the vibration control instrument through CAN communication protocols. The operation performance evaluation system is installed on the full-state monitoring database server, and is used for analyzing and processing the vibration table operation state data obtained through monitoring, and comprises a conventional threshold overrun alarm module, a test load estimation module, a cooling efficiency evaluation module, a power amplifier performance evaluation module, a table surface unevenness evaluation module, an acceleration waveform distortion evaluation module and a vibration table control precision evaluation module. The local display unit is used for on-site visual display of the vibration table operation state data, a three-dimensional digital twin model and operation performance evaluation results, and the local display unit and the full-state monitoring database server perform data interaction through a high-definition multimedia interface. The remote display unit is used for remote visual display of the vibration table operation state data, the three-dimensional digital twin model and the operation performance evaluation results, and the remote display unit and the full-state monitoring database server perform data interaction through an Ethernet or a mobile network. The evaluation method comprises the following steps: Step S1, run the conventional threshold overrun alarm module, the vibration table running performance full state monitoring and evaluation system compares the real-time data collected by the sensor system of each sensor of the vibration table with the upper and lower limits of the alarm threshold set for each sensor, and gives alarm information on whether the monitoring state of each sensor of the vibration table is abnormal; Step S2, run the test load estimation module to perform real-time evaluation of the current test load quality, the specific steps are as follows: Step S21, when the test load is installed, the vibration table running performance full state monitoring and evaluation system collects the displacement of the moving coil relative to the zero position of the vibration table when the vibration table is stationary x0 by using the moving coil displacement sensor, and collects the internal air pressure P0 of the load support device by using the internal air pressure sensor of the load support device; Step S22, the test load estimation module calculates the current test load quality M in real time, and the calculation formula is M = [P0A + Kx0] / g, wherein A is the effective load bearing area of the internal air pressure of the load support device, K is the air spring elastic stiffness of the load support device, and g is the acceleration of gravity; Step S3, run the cooling efficiency evaluation module to evaluate the cooling efficiency of the excitation coil, moving coil and power amplifier unit of the vibration table, and the specific steps are as follows: Step S31, the vibration table running performance full state monitoring and evaluation system obtains the center acceleration sensor data of the vibration table surface, the excitation coil cooling water flow sensor data, the excitation coil cooling water inlet temperature sensor data, the excitation coil cooling water outlet temperature sensor data, the vibration table moving coil cooling water flow sensor data, the vibration table moving coil cooling water inlet temperature sensor data, the vibration table moving coil cooling water outlet temperature sensor data and the power amplifier control cabinet temperature sensor data; Step S32: After the vibration table has stabilized in all states, a cooling efficiency evaluation is performed every time interval T. A data segment of length T is extracted from the current moment and analyzed. The extracted data sequence of the acceleration sensor at the center of the upper surface of the vibration table is denoted as a. mid The excitation coil cooling water flow sensor data sequence is Q LC The data sequence of the excitation coil cooling water inlet temperature sensor is T. LC-In The data sequence of the excitation coil cooling water outlet temperature sensor is T. LC-Out The data sequence of the moving coil cooling water flow sensor on the vibration table is Q. DQ The data sequence of the cooling water inlet temperature sensor for the moving coil of the vibration table is T. DQ-In The data sequence of the cooling water outlet temperature sensor for the moving coil of the vibration table is T. DQ-Out The data sequence of the temperature sensor of the qth power amplifier control cabinet is T. GF-q , among which, T GF-q The value range of q in the subscript is q = 1, 2, ..., m, where m represents the total number of power amplifier control cabinets; Step S33, using the cooling efficiency evaluation this time to intercept the excitation coil cooling water flow sensor data sequence Q LC , excitation coil cooling water inlet temperature sensor data sequence T LC-In , excitation coil cooling water outlet temperature sensor data sequence T LC-Out , evaluate the cooling efficiency of the excitation coil; Step S34, using the cooling efficiency evaluation this time to intercept the vibration table surface center acceleration sensor data sequence a mid , vibration table moving coil cooling water flow sensor data sequence Q DQ , vibration table moving coil cooling water inlet temperature sensor data sequence T DQ-In , vibration table moving coil cooling water outlet temperature sensor data sequence T DQ-Out , moving coil cooling efficiency evaluation; Step S35, the power amplifier control cabinet temperature sensor data sequence obtained by the cooling efficiency evaluation is used to evaluate the cooling efficiency of the power amplifier control cabinet; Step S4, run the power amplifier performance evaluation module to evaluate the running performance of the power amplifier unit of the vibration table, and the specific steps are as follows: Step S41, the vibration table running performance full state monitoring and evaluation system obtains all the power amplifier control cabinet current sensor data, power amplifier control cabinet voltage sensor data and power module current sensor data; Step S42, after each state of the vibration table runs stably, the power amplifier performance is evaluated every time T, a segment of data with a time length of T is intercepted from the current time for analysis, and the qth power amplifier control cabinet current sensor data sequence is recorded as I G-q , the power amplifier control cabinet voltage sensor data sequence is recorded as U G-q , the jth power module current sensor data sequence in the qth power amplifier control cabinet is recorded as I M-q-j , wherein I M-q-j The value range of subscript j is j=1, 2,..., n, and n represents the total number of power modules in each power amplifier control cabinet. Step S43, the m power amplifier control cabinet current sensor data sequences and m power amplifier control cabinet voltage sensor data sequences are used to evaluate the running performance of the power amplifier control cabinet; Step S44, the current consistency of n power modules in each power amplifier control cabinet is evaluated; Step S5, run the table surface unevenness evaluation module to perform real-time online evaluation of the unevenness of the vibration table surface during operation, and the specific steps are as follows: Step S51, the vibration table operation performance full state monitoring and evaluation system obtains the acceleration sensor data sequence a installed on the center of the upper surface of the vibration table mid and the h acceleration sensor data sequences a of the upper surface of the vibration table surface distributed according to different diameters l wherein l = 1, 2,..., h; Step S52, for each acceleration sensor data sequence obtained, the table unevenness estimation is performed once every time T, a segment of data with a time length of T is cut back from the current time for analysis, and the maximum value of the acceleration sensor data sequence a mid of the center of the upper surface of the vibration table is recorded as A mid , the maximum value of the acceleration sensor data sequence a l of the first acceleration sensor with different diameter and circumferential distribution on the upper surface of the vibration table is recorded as A l ; Step S53, estimating the unevenness w of the table surface of the vibration table E The calculation formula is: Wherein: max(·) represents taking the maximum value, |·| represents taking the absolute value; according to the calculated vibration table surface unevenness w E , further by comparing with the pre-set unevenness threshold, the evaluation result of whether the table surface unevenness is out of limit is given; Step S6, run the acceleration waveform distortion evaluation module to perform real-time online evaluation of the acceleration waveform distortion of the vibration table during operation, and the specific steps are as follows: Step S61, judging whether the current shaker control instruction is a sinusoidal test signal, if the control instruction is not a sinusoidal test signal, exiting the acceleration waveform distortion degree evaluation module; if the control instruction is a sinusoidal test signal, running the performance full state monitoring evaluation system to obtain the acceleration sensor data sequence a mid ; Step S62, the obtained acceleration sensor data sequence a mid is subjected to spectrum transformation, and a flat window function is adopted in the spectrum transformation process to obtain the fundamental wave amplitude and the harmonic amplitude of the acceleration sensor data sequence a mid , and the vibration table acceleration waveform distortion degree w D is calculated, and the calculation formula is as follows: Wherein: H1, H2, H3, H4, H5 respectively represent the fundamental amplitude, the second harmonic amplitude, the third harmonic amplitude, the fourth harmonic amplitude and the fifth harmonic amplitude; Step S63, compare the calculated acceleration waveform distortion w D The evaluation result of whether the waveform distortion exceeds the limit is given by comparing the waveform distortion with the preset waveform distortion threshold. Step S7, run the vibration table control precision evaluation module to perform real-time online evaluation of the control precision of the vibration table during operation, and the specific steps are as follows: Step S71, the performance of the whole state monitoring and evaluation system to install the surface of the center of the acceleration sensor data sequence a mid and control instruction signal; Step S72, combine the control instruction signal and the collected acceleration sensor data sequence a mid , calculate the maximum tracking error, the root mean square error, the relative mean square error, the spectral recurrence tracking error index, compare the calculated index with the pre-set corresponding control accuracy index threshold, and give the evaluation result of whether the vibration table control accuracy is out of limit.

2. The method according to claim 1, characterized in that, In step S33, the specific step of evaluating the cooling efficiency of the field coil is: Step S331, calculate the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC = T LC-Out - T LC-In , determine whether the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC has a value exceeding the upper limit of the set threshold η Tmax-LC , η Tmax-LC The value range is 55℃-60℃, if there is a value exceeding, it indicates that the excitation coil cooling efficiency is poor, exit the excitation coil cooling efficiency evaluation step, if there is no value exceeding, then proceed to the next step; Step S332, calculate the excitation coil cooling water inlet and outlet temperature difference data sequence ΔT LC exceeds the lower limit of the set threshold η Tmin-LC and is less than the upper limit of the set threshold η Tmax-LC The number of data is recorded as N LC , η Tmin-LC The value range is 40-50℃, and the excitation coil cooling water flow sensor data sequence Q LC The average value of all elements Step S333, record f as the sampling frequency of the vibration table operation performance full state monitoring and evaluation system, Q max-LC The maximum value of the excitation coil cooling water flow rate that can be provided for the vibration table, judge the average value If yes, it indicates that the cooling efficiency of the field coil meets the requirements, and if no, it indicates that the cooling efficiency of the field coil is poor.

3. The method according to claim 1, characterized in that, In step S34, the cooling efficiency of the moving coil is evaluated, and the specific steps are: Step S341: Utilize the data sequence a from the acceleration sensor at the center of the upper surface of the vibration table. mid The velocity data sequence v of the moving coil of the shaking table is obtained by integral calculation. mid Further estimate the dynamic coil drive power data sequence P DQ The estimation formula is P DQ =Ma mid v mid , where: a mid v mid Indicates a mid and v mid The data sequence is formed by multiplying corresponding elements respectively; the estimated moving coil drive power data sequence P is then used. DQ Take the absolute value of each element and calculate the average of all elements after taking the absolute values. Let this average be denoted as . Data sequence Q of the moving coil cooling water flow sensor DQ Calculate the average of all elements and denote the average as . Computing a moving coil cooling water inlet and outlet temperature difference data sequence ΔT DQ = T DQ-Out - T DQ-In ; Step S342, judging whether the dynamic coil cooling water inlet and outlet temperature difference data sequence ΔT DQ has a value exceeding the upper limit of the set threshold η Tmax-DQ , η Tmax-DQ is in the range of 60℃ to 65℃, if there is a value exceeding, it indicates that the dynamic coil cooling efficiency is poor, the dynamic coil cooling efficiency evaluation step is exited, if there is no value exceeding, the next step is performed; Step S343, calculate the moving coil cooling water inlet and outlet temperature difference data sequence ΔT DQ which exceeds the lower limit of the set threshold η Tmin-DQ and is less than the upper limit of the set threshold η Tmax-DQ The number of data is calculated and recorded as N DQ η Tmin-DQ The value range is 45℃-55℃, and the moving coil cooling water flow sensor data sequence Q is calculated DQ The average value of all elements Step S344, record Q max-DQ The maximum value of the moving coil cooling water flow rate that can be provided for the vibration table, P max-DQ The maximum driving power of the moving coil of the vibration table, judge the average value and If yes, it indicates that the cooling efficiency of the moving coil meets the requirements, and if no, it indicates that the cooling efficiency of the moving coil is poor; f is the sampling frequency of the vibration table performance full-state monitoring and evaluation system.

4. The method according to claim 1, characterized in that, In step S35, the cooling efficiency of the power amplifier control cabinet is evaluated using the power amplifier control cabinet temperature sensor data sequence obtained in this cooling efficiency evaluation, and the specific steps are: Step S351, according to the temperature sensor data sequence of the m power amplifier control cabinets, the temperature sensor data sequence of the m power amplifier control cabinets is operated respectively at all the same time, by removing the maximum value and the minimum value at the time, then the remaining data is averaged, and the average data is constructed into the power amplifier control cabinet average temperature data sequence according to the original time sequence GF-1 GF-2 GF-m ​​​ Step S352, calculate the temperature sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average temperature data sequence a temperature deviation sequence between the qth power amplifier control cabinet and the q-1th power amplifier control cabinet, ΔTq GF-q For example, the calculation formula is Step S353, the cooling efficiency of each power amplifier control cabinet is evaluated.

5. The method according to claim 4, characterized in that, In step S353, the specific step of evaluating the cooling efficiency of each power amplifier control cabinet is: Step S3531, judging temperature deviation sequence ΔT GF-q whether there is a value exceeding the upper limit of the set threshold η Tmax , η Tmax is in the range of 25℃ to 35℃, if there is a value exceeding, it indicates that the cooling efficiency of the power amplifier control cabinet is greatly different from other power amplifier control cabinets, if there is no value exceeding, the next step is judged; Step S3532: Calculate the temperature deviation sequence ΔT GF-q The value exceeds the lower limit of the set threshold η Tmin And less than the set threshold upper limit η Tmax The number of data points, denoted as N. T η Tmin Value range: 15℃~20℃, N Tmax The value range is 0.1T / f to 0.2T / f; if the calculated number N T Exceeding the set threshold N Tmax This indicates that the cooling efficiency of this power amplifier control cabinet is significantly lower than that of other power amplifier control cabinets. If the calculated number N... T Not exceeding the set threshold N Tmax If so, proceed to the next step of judgment; let f be the sampling frequency of the vibration table operation performance full-state monitoring and evaluation system; Step S3533, calculating temperature deviation sequence ΔT GF-q Sum of all elements e Tsum Compare the value with the set error upper limit e Tmax Compare, e Tsum The value range is 2T / f~3T / f, if e Tsum >e Tmax It indicates that the cooling efficiency of the power amplifier control cabinet is far behind other power amplifier control cabinets, if e Tsum ≤e Tmax Then the next step is judged; Step S3534, judging whether it is the first time to perform the cooling efficiency evaluation of the power amplifier control cabinet, if yes, completing the cooling efficiency evaluation of the power amplifier control cabinet, otherwise, calculating the e Tsum The absolute value of the difference between the value and the value in the last cooling efficiency evaluation of the power amplifier control cabinet Tsum If the calculated Δe Tsum is greater than the set threshold η Tesum , it indicates that the cooling efficiency of the power amplifier control cabinet has changed abruptly, if the calculated Δe Tsum is not greater than the set threshold η Tesum , it indicates that the cooling efficiency of the power amplifier control cabinet has not changed abruptly, η Tesum The value range is 15T / f~20T / f, where f is the sampling frequency of the vibration table performance full state monitoring and evaluation system.

6. The method according to claim 1, characterized in that, In step S43, the performance of the power amplifier control cabinet is evaluated, and the specific steps are: Step S431, according to the voltage sensor data sequence of the m power amplifier control cabinets, the voltage sensor data sequence of the m power amplifier control cabinets is operated respectively, the data obtained at all the same time is removed, and then the remaining data is averaged, and the average data is constructed into the power amplifier control cabinet average voltage data sequence according to the original time sequence G-1 ,U G-2 ,…,U G-m ​ For I G-1 I G-2 …, I G-m The corresponding power amplifier control cabinet current sensor data sequence, respectively, the current sensor data sequence of the m power amplifier control cabinet at all the same time, by removing the maximum and minimum at that time, then the average operation is carried out on the remaining data, the average data after calculation is constructed into a power amplifier control cabinet average current data sequence according to the original time sequence Step S432, calculate the voltage sensor data sequence of each power amplifier control cabinet and the power amplifier control cabinet average voltage data sequence a sequence of voltage deviations between the power amplifier control cabinets, calculating a sequence of current sensor data for each power amplifier control cabinet and a sequence of average current data for the power amplifier control cabinets the current deviation sequence between the qth power amplifier control cabinet and the (q+1)th power amplifier control cabinet, the voltage deviation sequence of the qth power amplifier control cabinet and the current deviation sequence of the qth power amplifier control cabinet G-q the current deviation sequence between the qth power amplifier control cabinet and the (q+1)th power amplifier control cabinet, the voltage deviation sequence of the qth power amplifier control cabinet and the current deviation sequence of the qth power amplifier control cabinet G-q For example, the calculation formula is Step S433, the voltage consistency of each power amplifier control cabinet is evaluated; Step S434, the current consistency of each power amplifier control cabinet is evaluated.

7. The method according to claim 1, characterized in that, In step S433, the voltage consistency of each power amplifier control cabinet is evaluated, and the specific steps are: Step S4331, defining a judgment voltage deviation sequence ΔU G-q whether there is a value exceeding the upper limit of the set threshold The value range is 5V-8V, if there are values exceeding, it indicates that the voltage consistency of the power amplifier control cabinet is abnormal, and if there are no values exceeding, the next step is judged; Step S4332, calculating the voltage deviation sequence ΔU G-q below a set threshold and less than an upper set threshold the number of data of the Value range 3V~4V, The value range is 0.1T / f~0.2T / f, if the number calculated exceeds the set threshold If there are no values exceeding, it indicates that the voltage consistency of the power amplifier control cabinet is normal; f is the sampling frequency of the vibration table performance full-state monitoring and evaluation system.

8. The method according to claim 6, characterized in that, In step S434, the specific step of evaluating the current consistency of each power amplifier control cabinet is: Step S4341, defining threshold upper limit data sequence The value range is The current deviation sequence ΔI G-q is compared with the threshold upper data sequence The data in the current deviation sequence ΔI G-q The data in the current deviation sequence ΔI If the corresponding data value is not found, it indicates an abnormality in the current consistency of the power amplifier control cabinet. If there is no current deviation sequence ΔI, it indicates an abnormality in the current consistency of the power amplifier control cabinet. G-q The data value is greater than If the corresponding time data value is in the range, the next step is judged; Step S4342, defining a threshold lower limit data sequence The value range is The current deviation sequence ΔI G-q respectively with the threshold upper data sequence and a lower threshold data sequence The elements in the current deviation sequence ΔI are compared in size one by one at the same time G-q In the current deviation sequence ΔI and less than an upper set threshold the number of data of the The value range is 0.1T / f~0.2T / f, if the number calculated exceeds the set threshold indicates that the power amplifier control cabinet current consistency is abnormal, if the number of calculation does not exceed the set threshold If the corresponding time data value is in the range, the next step is judged; f is the sampling frequency of the vibration table performance full-state monitoring and evaluation system. Step S4343, calculating the current deviation sequence ΔI G-q Sum of all elements comparing the value to a set error upper limit Comparison was made, The value range is wherein: For power amplifier control cabinet average current data sequence the sum of all elements; if indicates that the power amplifier control cabinet current consistency is abnormal, if If the corresponding time data value is in the range, the next step is judged; Step S4344, judging whether the current is the first time to perform the power amplifier control cabinet current consistency evaluation, if yes, completing the power amplifier control cabinet current consistency evaluation, otherwise, calculating the current the absolute value of the difference between the value and the last time the power amplifier control cabinet current consistency evaluation If the calculated greater than a set threshold indicates that the current performance of the power amplifier control cabinet has a sudden change, and if the calculated not greater than a set threshold indicates that the current performance of the power amplifier control cabinet has not changed abruptly, The value range is 0.02-0.

028.

9. The method according to claim 1, characterized in that, In step S44, the current consistency of n power modules in each power amplifier control cabinet is evaluated, and the specific steps are: Step S441, according to the n power module current sensor data sequence in the qth power amplifier control cabinet, for I M-q-1 ,I M-q-2 ,…I M-q-n The corresponding current sensor data sequence, respectively, the data obtained at the same time by removing the maximum value and the minimum value, and then the average operation is carried out on the remaining data, and the average data is arranged in the original time sequence to form the power module average current data sequence in the qth power amplifier control cabinet Step S442, calculate the qth power amplifier control cabinet each power module current sensor data sequence and power module average current data sequence a current deviation sequence between the jth power module and the reference current, to the jth power module current deviation sequence ΔI M-j For example, the calculation formula is Step S443, the current consistency of n power modules in the qth power amplifier control cabinet is evaluated; The specific steps are: Step S4431, defining threshold upper limit data sequence The value range is The current deviation sequence ΔI M-j is compared with the threshold upper data sequence The data in the current deviation sequence ΔI M-j The data in the current deviation sequence ΔI If the data value of the corresponding moment is greater than the data value of the moment before the corresponding moment, it indicates that the current consistency of the power module is abnormal. If there is no current deviation sequence ΔI M-j If the data value of the corresponding moment is greater than the data value of the moment before the corresponding moment, it indicates that the current consistency of the power module is abnormal. If there is no current deviation sequence ΔI If the corresponding time data value is in the range, the next step is judged; Step S4432, defining a threshold lower limit data sequence The value range is The current deviation sequence ΔI M-j respectively with the threshold upper data sequence and a lower threshold data sequence The elements in the current deviation sequence ΔI are compared in size one by one at the same time M-j In the current deviation sequence ΔI and less than an upper set threshold the number of data of the The value range is 0.1T / f~0.2T / f, if the number calculated exceeds the set threshold indicates that the power module current consistency is abnormal, and if the number of times calculated does not exceed the set threshold If the corresponding time data value is in the range, the next step is judged; f is the sampling frequency of the vibration table performance full-state monitoring and evaluation system. Step S4433, calculating the current deviation sequence ΔI M-j Sum of all elements comparing the value to a set error upper limit a comparison is made, The value range is wherein: For the qth power amplifier control cabinet power module average current data sequence the sum of all elements; if indicates that the power module current consistency is abnormal, if If the corresponding time data value is in the range, the next step is judged; Step S4434, judging whether the current is the first time to perform the power module current consistency evaluation, if yes, completing the power module current consistency evaluation this time, otherwise, calculating the power module current consistency evaluation this time the absolute value of the difference between the value and the value in the previous evaluation of the power module If the calculated greater than a set threshold indicates that the power module current performance has a mutation, and if the calculated not greater than a set threshold indicates that the power module current performance has not changed, The value range is 0.02-0.028.

Images