位移控制电液伺服振动台加速度谱再现研究
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摘要
本文提出了一种在位移控制单油缸电液伺服振动台上再现加速度目标谱的方法。在原振动台系统PID位移控制的基础上,引入迭代学习控制算法ILC,建立外部离线offline迭代控制系统模型,实现加速度误差计算,并通过加速度频域二次积分方法,完成加速度误差结果与位移参量的转换,用于修正振动台位移控制输入,从而确保位移控制下目标加速度的轨迹再现。仿真实验结果表明,该方法能够在单油缸位移控制电液伺服振动台上再现加速度谱,控制精度符合误差要求。为在单油缸电液伺服振动台上进行振动特性模拟试验提供了可以借鉴的方法,具有一定的工程应用价值。
In this paper,a method is presented,which replicates the acceleration spectrum on an electro-hydraulic servo test rig with displacement control.Based on the displacement PID control in traditional test rig system,the algorithm of iterative learning control(ILC) is introduced to construct an offline outer iterative control model,which can calculate the error between acceleration signals measured on specimen and target signals.The transformation from acceleration error to displacement parameter is realized with the method of twice-integration in acceleration frequency domain.The resulting displacement error is used to correct the input of the controller,and ensure the track replication of the target acceleration under displacement control.Simulation experiment result shows that the proposed method can appropriately reproduce the acceleration spectrum on single cylinder electro-hydraulic servo test rig;and the control accuracy meets the error requirement.The method provides a very significant approach for vibration & road simulation testing on single cylinder electro-hydraulic servo test rig.
In this paper,a method is presented,which replicates the acceleration spectrum on an electro-hydraulic servo test rig with displacement control.Based on the displacement PID control in traditional test rig system,the algorithm of iterative learning control(ILC) is introduced to construct an offline outer iterative control model,which can calculate the error between acceleration signals measured on specimen and target signals.The transformation from acceleration error to displacement parameter is realized with the method of twice-integration in acceleration frequency domain.The resulting displacement error is used to correct the input of the controller,and ensure the track replication of the target acceleration under displacement control.Simulation experiment result shows that the proposed method can appropriately reproduce the acceleration spectrum on single cylinder electro-hydraulic servo test rig;and the control accuracy meets the error requirement.The method provides a very significant approach for vibration & road simulation testing on single cylinder electro-hydraulic servo test rig.
引文
[1]方甲永,肖明清,周越文,等.电子产品动态损伤最优估计与寿命预测[J].仪器仪表学报,2011,32(4):807-812.FANG J Y,XIAO M Q,ZHOU Y W,et al.Optimal dy-namic damage assessment and life prediction for electron-ic products[J].Chinese Journal of Scientific Instrument,2011,32(4):807-812.
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[10]李强,王太勇,胥永刚.基于频域积分的振动参量转换修正算法[J].组合机床与自动化加工技术,2005,(9):60-61.LI Q,WANG T Y,XU Y G.The modification of thevibra-tion parameter transform based on frequency domain inte-gration[J].Modular Machine Tool&Automatic Manufac-turing Technique,2005,(9):60-61.
[11]陆伟东.基于MATLAB的地震模拟振动台试验的数据处理[J].南京工业大学学报:自然科学版,2011,33(6):1-4.LU W D.MATLAB-based data processing of shaking tabletest[J].Journal of Nanjing University of Technology:Nat-ural Science Edition,2011,33(6):1-4.
[12]余萍,胡孝平.MATLAB在振动台试验数据处理中的应用[J].水利与建筑工程学报,2008,6(1):121-122.YU P,HU X P.Application of MATLAB software in dataprocessing for vibrating table test[J].Journal of Water Re-sources and Architectural Engineering,2008,6(1):121-122.
[13]应怀樵,沈松,刘进明,等.传递函数的测试及实时控制和反演[J].电子测量与仪器学报,2011,25(3):201-205.YIN H Q,SHEN S,LIU J M,et al.Transfer function meas-urement,real-time control and reversion[J].Journal of Elec-tronic Measurement and Instrument,2011,25(3):201-205.
[14]DURSUN U,BAYRAM T.Tracking control solution forroad simulators:Model-based iterative learning controlapproach improved by time-domain modelling[J].GaziUniversity Journal of Science.2012,25(2):435-446.
[15]蒋良潍,姚令侃,吴伟.边坡振动台模型实验动位移的加速度时程积分探讨[J].防灾减灾工程学报,2009,29(3):261-266.JIANG L W,YAO L K,WU W.Study on calculation ofdynamic displacement from time integration of accelera-tion in shaking table model tests of side slope[J].Journalof Disaster Prevention and Mitigation Engineering,2009,29(3):261-266.
[2]DALEY S,OWENS D H,AND HTNEN J.Applicationof optimal iterative learning control to the dynamic testingof mechanical structures[J].Proc.IMechE Part I:J.Sys-tems and Control Engineering,2007,221(1):211-222.
[3]周惠蒙,刘一江,彭楚武.基于迭代学习控制的网络协同电液振动台研究[J].计算机测量与控制,2008,16(6):808-810.ZHOU H M,LIU Y J,PENG CH W.Study of network co-operated electro-hydraulic shaking table based on iterativelearning control[J].Computer Measurement&control,2008,16(6):808-810.
[4]杜井庆,高世桥,罗创,等.基于PID算法的控制量按任意函数变化的一种控制方法[J].仪器仪表学报,2011,32(6):1317-1323.DU J Q,GAO SH Q,LUO CH,et al.Control method withcontrol quantum varying in the form of arbitrary functionbased on PID algorithm[J].Chinese Journal of ScientificInstrument,2011,32(6):1317-1323.
[5]于少娟,齐向东,吴聚华.迭代学习控制理论及应用[M].北京:机械工业出版社,2005.YU SH J,QI X D,WU J H.Theory and applications of itera-tive learning control[M].Beijing:China MachinePress,2005.
[6]王济,胡晓.MATLAB在振动信号处理中的应用[M].北京:中国水利水电出版社,知识产权出版社,2006.WANG J,HU X.Application of MATLAB in data process-ing for vibration signals[M].Beijing:China WaterpowerPress,China Intellectual Property Press,2006.
[7]HAY N C,ROBERTS D E.Iterative control in automotivetesting[J].Proceedings of the Institution of MechanicalEngineers.PartI:Journal of Systems and Control Engineer-ing,2007,221(2):223-233.
[8]汪斌,过学迅,李孟良,等.基于迭代学习控制的道路模拟算法[J].汽车工程,2010,32(8):686-689.WANG B,GUO X X,LI M L,et al.Road simulation algo-rithm based on iterative learning control[J].AutomotiveEngineering,2010,32(8):686-689.
[9]黄挚雄,罗安,黎群辉.迭代学习控制算法在中药生产过程提取工段的应用[J].仪器仪表学报,2007,28(8):1435-1439.HUANG ZH X,LUO AN,LI Q H.Applications of iterativelearning control algorithm in extracting procedure of Chi-nese traditional medicine production[J].Chinese Journalof Scientific Instrument,2007,28(8):1435-1439.
[10]李强,王太勇,胥永刚.基于频域积分的振动参量转换修正算法[J].组合机床与自动化加工技术,2005,(9):60-61.LI Q,WANG T Y,XU Y G.The modification of thevibra-tion parameter transform based on frequency domain inte-gration[J].Modular Machine Tool&Automatic Manufac-turing Technique,2005,(9):60-61.
[11]陆伟东.基于MATLAB的地震模拟振动台试验的数据处理[J].南京工业大学学报:自然科学版,2011,33(6):1-4.LU W D.MATLAB-based data processing of shaking tabletest[J].Journal of Nanjing University of Technology:Nat-ural Science Edition,2011,33(6):1-4.
[12]余萍,胡孝平.MATLAB在振动台试验数据处理中的应用[J].水利与建筑工程学报,2008,6(1):121-122.YU P,HU X P.Application of MATLAB software in dataprocessing for vibrating table test[J].Journal of Water Re-sources and Architectural Engineering,2008,6(1):121-122.
[13]应怀樵,沈松,刘进明,等.传递函数的测试及实时控制和反演[J].电子测量与仪器学报,2011,25(3):201-205.YIN H Q,SHEN S,LIU J M,et al.Transfer function meas-urement,real-time control and reversion[J].Journal of Elec-tronic Measurement and Instrument,2011,25(3):201-205.
[14]DURSUN U,BAYRAM T.Tracking control solution forroad simulators:Model-based iterative learning controlapproach improved by time-domain modelling[J].GaziUniversity Journal of Science.2012,25(2):435-446.
[15]蒋良潍,姚令侃,吴伟.边坡振动台模型实验动位移的加速度时程积分探讨[J].防灾减灾工程学报,2009,29(3):261-266.JIANG L W,YAO L K,WU W.Study on calculation ofdynamic displacement from time integration of accelera-tion in shaking table model tests of side slope[J].Journalof Disaster Prevention and Mitigation Engineering,2009,29(3):261-266.
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