CN101718613A - Experimental modal analysis method of numerical control equipment - Google Patents
Experimental modal analysis method of numerical control equipment Download PDFInfo
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Abstract
The invention discloses an experimental modal analysis method of numerical control equipment, which belongs to the technical field of the performance parameter analysis of the numerical control equipment; the method comprises the following steps of: carrying out self-excitation input and generating broadband excitation to the structure of the numerical control equipment by self excitation; based on the analysis of the sensitive point of the excitation response of each component of the numerical control equipment, optimizing the arrangement of test points; picking up the excitation response signal data of each arrangement test point; collecting the excitation response signal data; analyzing and reprocessing the collected data; and based on a peak value method, processing the excitation response signal data of a reference point and each response point to obtain the dynamic property parameters of the structure of the numerical control equipment. The invention breaks through the defect that the traditional experimental modal analysis technology needs to additionally add excitation input and carry out various forced assumptions on the excitation input, and the experimental cost can be greatly lowered because external excitation is not needed.
Description
Technical field:
The invention belongs to numerical control equipment performance parameter analysis technical field, relate in particular to a kind of experimental modal analysis method of numerical control equipment.
Background technology:
Begin very early the physical construction dynamic perfromance have been carried out systematic research both at home and abroad, and formed ripe analytical instrument and business software with the theory and the method for experimental modal analysis.Traditional Modal Parameter Identification system is based on the test of transport function and analysis and carries out parameter recognition, promptly record each excitation and the response signal of system simultaneously, carry out the FFT operation, obtain transfer function matrix, theoretical with model analysis by curve fitting to the test admittance function, identify the modal parameter of structure.This traditional experimental modal analysis system has been used on the Modal Parameter Identification of numerical control equipment structure widely, belong to known in this area, for example see that Chinese patent application number is: 200610171541.6, denomination of invention is: the numerical control equipment processing dynamics is learned the characteristic test analytic system, the software platform of a whole set of test analysis of analyzing based on input/output signal.Chinese patent application number is: 87107568.7, and denomination of invention is: model analysis computer optimization algorithm provides hypothesis to be input as the modal parameter extracting method of white noise.More than these systems or algorithm all be by the test and excitation response signal, or the hypothesis situation that is input as white noise gets off to carry out.But, equip these instruments and software is difficult to use for heavy, large-sized numerical control, subject matter be since heavy, large-sized numerical control to equip each part quality big, if employing power hammer knocks, percussion power is little, and its energy is difficult to inspire needed mode, and percussion power is big and may damage equipment; If adopt the vibrator excitation, the power of conventional vibrator also is difficult to inspire needed mode, the not only low requirement that is difficult to satisfy the numerical control equipment frequency characteristic of excited frequency of superpower vibrator, and cost an arm and a leg, install complicated.If only need utilize response data just can carry out parameter identification, this is a big advantage beyond doubt.So just, can carry out what is called " online (Online) model analysis " to machinery under the working condition and structure.This not only makes those model analyses that can't record the engineering structure of load become possibility, and the modal parameter of identification under the actual working state actual dynamic performance of reflect structure more properly.Consider total to a certain degree non-linear of existing of reality system, the linear mode model that is suitable for also should be set up on the actual loading working point in identification.But at present the prerequisite based on the operational modal analysis method of neighbourhood noise is to suppose not measure pumping signal for paying close attention to the random white noise disturbance of frequency range.Obviously, this hypothesis to excitation is also inapplicable to the mechanical system that all contain rotary part, because remove random perturbation, these mechanical systems also are subjected to because the harmonic disturbance that rotary part causes.If harmonic frequency is near the natural frequency of this structure, then above-mentioned modal analysis method can not accurately identify modal parameter, and in actual numerical control armament-related work excitation, rotary part will be introduced when harmonic interference also will be and is become, and this has more increased the difficulty of analyzing.Therefore, it is a kind of new for experimental modal analysis method heavy, the large-sized numerical control equipment to be badly in need of research.
Summary of the invention:
Purpose of the present invention is intended to overcome the deficiency of prior art, and a kind of experimental modal analysis method of numerical control equipment is provided.
The present invention mainly realizes goal of the invention by following technical solution:
A kind of experimental modal analysis method of numerical control equipment, it comprises the steps:
1) " autoexcitation " input utilizes the numerical control equipment characteristics of motion to numerical control equipment input autoexcitation signal, by " autoexcitation " the numerical control equipment configuration is produced input stimulus;
2) on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, obtain the bigger point of numerical control equipment response amplitude as reference point and response point, and preferred arrangement reference point and response point;
3) the autoexcitation signal produces the autoexcitation response in reference point and response point, gathers the response signal that described reference point and response point produce in autoexcitation response back;
4) response signal of described reference point of use and response point identifies the natural frequency of system;
5) image data is analyzed processing again, utilize described natural frequency to obtain the vibration shape;
6) based on Peak Intensity Method the natural frequency gained vibration shape of reference point and each response point is handled, drawn the dynamic characteristic parameter of numerical control equipment structure.
In the present invention, wherein step 1) described " autoexcitation " is the broadband excitation that is produced by numerical control equipment itself under the numerical control equipment running status.
In the present invention, wherein step 1) described " autoexcitation " is produced by each kinematic axis dry running of numerical control equipment.
In the present invention, wherein said step 2) finish by acceleration transducer.
In the present invention, wherein said step 3) is finished by data acquisition module.
In the present invention, wherein said step 5) is finished by autoexcitation software analysis module.
Implement a kind of experimental modal analysis method of numerical control equipment provided by the invention, its beneficial effect is: the defective that the present invention has broken through existing experimental modal analysis technical requirement extrinsic motivated response input and the various pressures of excitation input are supposed, can be implemented in the numerical control equipment working site and quickly and easily complete machine structure be carried out dynamic analysis, also be suitable for medium and small numerical control equipment simultaneously; In addition, because the present invention does not need external drive, experimentation cost can reduce greatly, and can obtain the vibration shape that some can not obtain under the incentive condition of laboratory, for mechanical kinetics experimental modal analysis theory and technology has increased a kind of new method.
Description of drawings:
Fig. 1 is a schematic flow sheet of the present invention;
Fig. 2 is numerical control equipment dry running excitation input speed-time curve of the present invention;
Fig. 3 is the instrumentation system synoptic diagram;
Fig. 4 is a Peak Intensity Method Modal Parameter Identification process flow diagram.
Embodiment:
The invention will be further described below in conjunction with accompanying drawing:
As shown in Figure 1, the process step of a kind of experimental modal analysis method of numerical control equipment of the present invention is as follows: 1) " autoexcitation " input, utilize the numerical control equipment characteristics of motion to numerical control equipment input autoexcitation signal, the numerical control equipment configuration is produced input stimulus by " autoexcitation "; 2) on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, obtain the bigger point of numerical control equipment response amplitude as reference point and response point, and preferred arrangement reference point and response point; 3) the autoexcitation signal produces the autoexcitation response in reference point and response point, gathers the response signal that described reference point and response point produce in autoexcitation response back; 4) response signal of described reference point of use and response point identifies the natural frequency of system; 5) image data is analyzed processing again, utilize described natural frequency to obtain the vibration shape; 6) based on Peak Intensity Method the natural frequency gained vibration shape of reference point and each response point is handled, drawn the dynamic characteristic parameter of numerical control equipment structure.
In technical solutions according to the invention, " autoexcitation " of numerical control equipment mainly produced by dual mode: the one, produce by each kinematic axis dry running of numerical control equipment; The 2nd, add the cutting force that causes man-hour by numerical control equipment and produce.For the natural frequency that obtains numerical control equipment should be as much as possible to arbitrary excitation of numerical control equipment input, consider that the numerical control equipment motion has the characteristic that can control automatically, the characteristics of motion that numerical control equipment is different, will produce different acceleration responsives, and can produce different inertia impacts numerical control equipment; Therefore, the design of autoexcitation production method and input are exactly the design to the numerical control equipment characteristics of motion.The designed numerical control equipment characteristics of motion should be easy to realize and have identification effect preferably that this characteristics of motion can be achieved by writing numerical control program in the operational process of numerical control equipment.
As shown in Figure 2, the movement locus that is some numerical control equipment single shafts of design or multiaxis towards effective " autoexcitation " dry running rule of numerical control equipment among the present invention, and the acceleration and deceleration control of coupling system, movement velocity, acceleration of motion parameter is selected, the control numerical control equipment is with cycle or pseudorandom velocity variations, in the hope of equipment physical construction is produced excitation, to reach effective excitation of counterweight, large-sized numerical control equipment.As follows by the autoexcitation concrete operations that each kinematic axis dry run method of numerical control equipment produces: as to produce one group of random number with MATLAB, this group random number is invested time interval Δ t; The speed of feed of numerical control equipment is changed its direction by the sign that changes displacement; The numerical control equipment planker is along the displacement S=F * Δ t of Y direction.The numerical control equipment planker along the movement velocity of Y direction and time relation as shown in Figure 2 in the ideal case, wherein time interval Δ t is a random number, the positive and negative step of speed of feed changes, on working table movement speed and time relation, the numerical control equipment characteristics of motion that ideally can realize has galloping motion rule and random motion rule.
This method is utilized LMS CADA-X3.5 system, and with the acceleration-time data of acceleration transducer test numerical control equipment vibration, data import autoexcitation software analysis module 4 by data acquisition module 3 and carry out analyzing and processing (referring to Fig. 3).
As shown in Figure 1, " autoexcitation " not only contains the excitation that the said method design produces, but also comprise harmonic excitation and the caused interference excitation of introducing by other rotary part of numerical control equipment of neighbourhood noise, it is once per revolution vibration certainly that harmonic excitation of being introduced by other rotary part of numerical control equipment and the caused interference of neighbourhood noise encourage the vibration of caused numerical control equipment physical construction, when this vibration frequency and numerical control equipment structural natural frequencies not simultaneously, the present invention then is called it " pseudo-mode ", the present invention will identification and rejecting " pseudo-mode " in the aftermentioned program, obtains the real inherent characteristic of numerical control equipment physical construction.
As shown in Figure 4, after the autoexcitation input, the present invention mainly adopts Peak Intensity Method to carry out the identification of modal parameter and draws relevant modal parameter.When carrying out Modal Parameter Identification, choose the bigger point of response amplitude as reference point and response point by preliminary experiment with Peak Intensity Method.Then by experimental data calculate the response point auto-power spectrum, ring point should and reference point between cross-power spectrum (amplitude and phase place), coherence function, transport totally five groups of data, the curve map that draws and respond is handled the modal parameter that draws structure to related data at last.The concrete operations step is as follows:
(1) selects to determine reference point and response point
After the autoexcitation input, next step mainly is on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, the preferred arrangement test point, and wherein test point is divided into reference point and response point; When Peak Intensity Method of the present invention is carried out Modal Parameter Identification, carry out the hammering preliminary experiment earlier before definite experimental analysis frequency range, choose point that wherein response amplitude is bigger as with reference to point, other several response amplitudes are response point more greatly, can determine different response point numbers according to different needs.As shown in Figure 3, in the present embodiment, on numerical control equipment 2 to be measured, select 1 reference point and 5 response point for use, simultaneously on reference point and each response point, be fixed with acceleration transducer 1 respectively, each acceleration transducer 1 is electrically connected with data acquisition module 3 respectively, and data acquisition module 3 is electrically connected with autoexcitation software analysis module 4; Acceleration transducer 1 imports it into data acquisition module 3 after picking up the autoexcitation response, passes to autoexcitation software analysis module 4 again and carries out the data analysis processing, according to the foundation of treated result data as computing.
(2) calculate 5 groups of data
Calculate five groups of data of the transport between coherence function, each response point and the reference point between phase place, each response point and the reference point of the cross-power spectrum between amplitude, each response point and the reference point of the cross-power spectrum between auto-power spectrum, each response point and the reference point of 5 response point respectively.To stationary random signal, add Hanning window (Harming Window) usually and come filtering, it is wide that it has main lobe, and the secondary lobe amplitude fading is fast, and the frequency resolution advantages of higher can be reduced to a minimum leakage.
(3) according to the aforementioned calculation data curve spectrum that draws
(4) natural frequency of recognition system
The amplitude of the alternative frequency response function that the cross-spectrum amplitude between the auto-power spectrum of response point or each response point and the reference point can be similar to, their crest frequency is identical.Because cross-spectrum figure with respect to from spectrogram burr being had certain effect of stabilizing, adopts cross-spectrum amplitude figure to discern modal parameter generally speaking.In order to reject the caused interference excitation of harmonic excitation and neighbourhood noise (ghost peak), come to be tested in these peaks with cross-spectrum phase diagram and coherence map, harmonic excitation and the caused interference excitation of neighbourhood noise ghost peak are rejected as " pseudo-mode ".(4) calculate the damping ratio on each rank with half-power bandwidth method.
ω in the formula
i-Di i rank crest frequency
ω
2, ω
1-peak value
The intersection frequency of place's horizontal line and curve
Most of numerical control equipment structural damping than less than or be far smaller than 10%, excessive as damping ratio, check then that frequency resolution is whether bigger than normal and cause damping ratio to over-evaluate, as so then solving really by interpolation or refinement.
(5) determine natural frequency and obtain the vibration shape by transport
It is not the real vibration shape that the transport at natural frequency point place draws the vibration shape, is the work sag curve, as can be known can the approximate substitution vibration shape by the derivation of front.Obtain the size of the vibration shape by the amplitude of transport, the direction that can obtain the vibration shape by the phase place or the transport real part of cross-spectrum.
(6) determine modal parameter
When pumping signal is stationary random signal, can extract free vibration deamplification by Random Decrement Technique.Because numerical control equipment is generally big damping structure, the natural frequency peak value should not be very precipitous.The cross-power spectrum phase place of numerical control equipment natural frequency correspondence is generally near 0 or 180 degree at the trial, so to peak value precipitous and cross-power spectrum phase place all not near the crest 0 or 180 degree can think and should cause the natural frequency that is not numerical control equipment for forced vibration.The time curve that this several places peak value carries out after Filtering Processing is handled is found that the free vibration deamplification that extracts obviously improves.It is apparent in view to decay after the filtering, therefore thinks that filtered signal is not containing the forced response composition of excitation cycle.
Real mode in each rank of supposing structure can effectively separate each other and they do not exist each other and are coupled or are coupled less.Like this at the model frequency place.Can be approximated to be:
By following formula as can be known, we are by direct read test curve α
i(j ω) is at model frequency ω
rThe value (comprising amplitude and phase place) at place just can obtain in frequencies omega
rThe time structure ODS, its approximate r rank Mode Shape of regarding structure as.
The above only is a better embodiment of the present invention, so all equivalences of doing according to the described structure of patent claim of the present invention, feature and principle change or modify, is included in the patent claim of the present invention.
Claims (6)
1. an experimental modal analysis method of numerical control equipment is characterized in that it comprises the steps:
1) " autoexcitation " input utilizes the numerical control equipment characteristics of motion to numerical control equipment input autoexcitation signal, by " autoexcitation " the numerical control equipment configuration is produced input stimulus;
2) on the basis of each parts exciter response sensitive spot of analyzing numerically controlled equipment, obtain the bigger point of numerical control equipment response amplitude as reference point and response point, and preferred arrangement reference point and response point;
3) the autoexcitation signal produces the autoexcitation response in reference point and response point, gathers the response signal that described reference point and response point produce in autoexcitation response back;
4) response signal of described reference point of use and response point identifies the natural frequency of system;
5) image data is analyzed processing again, utilize described natural frequency to obtain the vibration shape;
6) based on Peak Intensity Method the natural frequency gained vibration shape of reference point and each response point is handled, drawn the dynamic characteristic parameter of numerical control equipment structure.
2. a kind of experimental modal analysis method of numerical control equipment according to claim 1 is characterized in that: described " autoexcitation " broadband excitation for being produced by numerical control equipment itself under the numerical control equipment running status.
3. a kind of experimental modal analysis method of numerical control equipment according to claim 2 is characterized in that: described " autoexcitation " produced by each kinematic axis dry running of numerical control equipment.
4. a kind of experimental modal analysis method of numerical control equipment according to claim 1 is characterized in that: described step 2) finished by acceleration transducer (1).
5. a kind of experimental modal analysis method of numerical control equipment according to claim 1 is characterized in that: described step 3) is finished by data acquisition module (3).
6. a kind of experimental modal analysis method of numerical control equipment according to claim 1 is characterized in that: described step 5) is finished by autoexcitation software analysis module (4).
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