液压振动试验控制系统关键技术研究

发布时间：2018-10-18 12:56

【摘要】：力学环境试验是产品研制过程中的重要环节,为产品的设计修改及优化设计提供决策信息,其中,振动环境试验是力学环境试验中的重要内容。振动环境试验通过在试验室内模拟产品在实际工况下承受的振动环境和环境效应,鉴定产品的环境适应性,验证产品的机械、电气性能是否符合设计要求。传统的单点单轴振动试验方法不能提供足够的推力且无法模拟产品真实的多维振动环境,因此,多点多轴振动试验方法被普遍认为是一种更为有效的振动试验方法。多轴液压振动试验系统不仅可以实现多个激励点在单个或多个轴向上的振动试验方式,同时,可以满足大推力、大位移、低频响的振动试验要求。本文围绕液压振动试验控制系统关键技术展开研究,重点研究了控制系统的相关控制算法,并将其应用于多轴液压振动试验系统的控制试验中,取得较好的控制效果。液压振动试验系统三参量伺服控制技术研究。伺服控制部分是液压振动试验系统控制的基本组成部分,是液压振动试验系统完成复杂振动控制功能的基础。在对液压振动试验系统深入研究基础上,针对液压振动试验系统阻尼小、存在油柱共振峰等问题,研究设计了一种三参量伺服控制策略,实现对液压振动试验系统频响特性的有效校正：(1)三参量反馈控制环节可以有效扩展系统的频宽,提高系统的阻尼比；(2)三参量前馈控制环节通过消除试验系统中距离虚轴较近的极点,实现系统频宽的进一步扩展。在三参量伺服控制研究基础上,重点研究了一种快速三参量控制参数整定方法,实现三参量伺服控制的快速参数整定。多轴液压振动试验系统辨识方法研究。多轴液压振动试验系统是一个多输入多输出振动试验系统,通过对系统时域建模方法与频域建模方法进行对比研究,指出频域建模方法由于不需要事先确定系统的具体结构,稳定性好,更适合多输入多输出振动试验系统的模型辨识。研究系统在存在干扰噪声情况下,干扰噪声对系统辨识效果的影响,指出系统在存在干扰噪声的情况下,传统的H1、H1、H3等频响函数估计方法均是对系统的有偏估计,而Hv估计方法则是对试验系统的无偏估计,相对于传统的H1、H1、H3估计方法,通过采用Hv估计方法,可以有效抑制系统干扰噪声对系统辨识过程的影响,提高对试验系统的辨识精度。多轴液压振动试验系统振动控制算法研究。在系统振动控制过程中,为实现对多轴液压振动试验系统的有效控制,消除干扰噪声等非线性因素对系统控制的影响,重点研究了一种频域X-滤波LMS自适应逆控制算法,并将其应用到多轴液压振动试验系统的功率谱复现和时域波形复现控制过程中,提出基于频域X-滤波LMS自适应逆控制的系统功率谱复现和时域波形复现控制算法。同时,通过对冲击振动试验的研究,为更加真实的模拟产品在冲击试验过程中可能承受的随机信号,提出并实现一种基于频域X-滤波LMS自适应逆控制算法的随机冲击控制策略。控制系统实现及试验。重点介绍了液压振动试验系统中液压伺服控制器和多轴振动控制器的功能及硬件组成,并选用一套双台并激液压振动试验系统作为具体试验对象,首先进行三参量伺服控制试验,试验结果表明：采用快速三参量控制参数整定算法可以实现对液压振动试验系统三参量伺服控制的快速参数整定,且控制参数对试验系统具有较好的频响改善效果；另一方面,在三参量伺服控制基础上,对试验系统进行基于频域X-滤波LMS自适应逆控制策略的功率谱复现、时域波形复现、随机冲击等类型试验,试验结果表明：控制策略对双台并激振动试验系统具有较好的实际控制效果,相关的试验指标完全可以满足工程试验要求,进一步证明控制策略的有效性、可靠性。
[Abstract]:Mechanical environment test is an important link in the process of product development, providing decision-making information for design modification and optimization design of product, in which vibration environment test is an important part of mechanical environment test. The vibration environment test verifies the environmental adaptability of the product by simulating the vibration environment and the environmental effect of the product under actual working conditions, and verifies whether the mechanical and electrical properties of the product meet the design requirements. The traditional single-axis vibration test method can not provide enough thrust and can not simulate the true multi-dimensional vibration environment of the product, so the multi-point multi-axis vibration test method is widely regarded as a more effective vibration test method. The multi-shaft hydraulic vibration test system not only can realize the vibration test mode of a plurality of excitation points on a single or multiple shafts, but also can meet the vibration test requirements of large thrust, large displacement and low frequency response. In this paper, the key technology of hydraulic vibration test control system is studied, the relevant control algorithm of the control system is studied, and it is applied to the control experiment of the multi-axis hydraulic vibration test system, and the better control effect is obtained. Research on three-parameter servo control technology of hydraulic vibration test system. The servo control part is the basic component of the hydraulic vibration test system control, and it is the foundation of the hydraulic vibration test system to complete the complex vibration control function. Based on the deep research on hydraulic vibration test system, aiming at the problems of small damping and oil column resonance peak in hydraulic vibration test system, a three-parameter servo control strategy was designed to correct the frequency response characteristic of hydraulic vibration test system. (1) the three-parameter feedback control link can effectively extend the bandwidth of the system and improve the performance of the system; (2) the three-parameter feedforward control link realizes the further expansion of the bandwidth of the system by eliminating the pole which is closer to the virtual axis in the test system. On the basis of three-parameter servo control research, a fast three-parameter tuning method is emphatically studied, and the fast parameter setting of three-parameter servo control is realized. Research on identification method of multi-axis hydraulic vibration test system. The multi-axis hydraulic vibration test system is a multi-input multi-output vibration test system. By contrast research on the system time domain modeling method and the frequency domain modeling method, it is pointed out that the frequency domain modeling method has good stability due to the need not to determine the specific structure of the system in advance, More suitable for model identification of multi-input multi-output vibration test system. In the presence of interference noise, the influence of interference noise on the identification effect of the system is studied. It is pointed out that in the presence of interference noise, the traditional frequency response function estimation method of H1, H1, H3 is the partial estimation of the system. The Hv estimation method is the unbiased estimate of the test system. Compared with the traditional H1, H1 and H3 estimation methods, by adopting the Hv estimation method, the influence of the system interference noise on the system identification process can be effectively inhibited, and the identification precision of the test system is improved. Research on vibration control algorithm of multi-axis hydraulic vibration test system. In the process of system vibration control, in order to realize the effective control of the multi-axis hydraulic vibration test system and eliminate the influence of nonlinear factors such as interference noise on the system control, a frequency domain X-filter LMS adaptive inverse control algorithm is emphatically studied. In this paper, a system power spectral recurrence and time domain waveform recurrence control algorithm based on frequency domain X-filter LMS adaptive inverse control is proposed in the process of power spectrum reproduction and time domain waveform reproduction control of multi-axis hydraulic vibration test system. At the same time, a random impact control strategy based on frequency domain X-filter LMS adaptive inverse control algorithm is proposed and implemented for the research of impact vibration test. Realization and test of control system. The function and hardware composition of hydraulic servo controller and multi-axis vibration controller in hydraulic vibration test system are introduced, and a set of dual-stage and exciting hydraulic vibration test system is selected as the specific test object, and then the three-parameter servo control test is carried out. The test results show that: The fast parameter setting of three-parameter servo control of the hydraulic vibration test system can be realized by adopting the fast three-parameter control parameter whole algorithm, and the control parameters have better frequency response improvement effect on the test system; on the other hand, on the basis of the three-parameter servo control, Based on the frequency domain X-filter LMS adaptive inverse control strategy, the test results show that the control strategy has better practical control effect on the double-stage and shock-excited vibration test system. The relevant test indexes can meet the engineering test requirements and further prove the validity and reliability of the control strategy.
【学位授予单位】：浙江大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TB535

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