CN108254147A - Shake table feedback signal frequency-division section amplitude modulation system - Google Patents
Shake table feedback signal frequency-division section amplitude modulation system Download PDFInfo
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- CN108254147A CN108254147A CN201810060509.3A CN201810060509A CN108254147A CN 108254147 A CN108254147 A CN 108254147A CN 201810060509 A CN201810060509 A CN 201810060509A CN 108254147 A CN108254147 A CN 108254147A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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Abstract
The invention discloses shake table feedback signal frequency-division section amplitude modulation systems, it is connected by in-phase proportion amplifying circuit and partial pressure potential meter the adjustable amplifier formed, the input signal of adjustable amplifier is present operating frequency signal, the frequency segmentation of shake table working range and amplitude compensation information are preset in adjustable amplifier, adjustable amplifier is by present operating frequency signal fusing to frequency segmentation information to obtain the amplification factor of the frequency segmentation, and amplification factor is converted into amplitude adjustment control pulse, each amplitude adjustment control pulse correspondence makes potentiometric resistance value adjustment gear number.The present invention can not only reduce feedback controller and build and the difficulty of parameter adjustment, and adaptively can carry out amplitude modulation to feedback signal when shake table exports the vibration signal of different frequency sections.
Description
Technical field
The present invention relates to a kind of regulating systems of feedback signal in low-frequency vibration table system.
Background technology
Electromagnetic vibration generator system has many advantages, such as that wide frequency range, controllability are good, output waveform precision is high, is widely used in production
The key areas such as the analog vibration environmental tests of product, vibration-measuring sensor calibration.It is defeated in order to improve shake table in the case of low frequency
Go out the precision (reducing the distortion factor) of waveform, need to usually build feedback control system.However, the premise for realizing feedback control is to pass through
Vibrating sensor (acceleration, speed either displacement sensor) or other movement amount detecting devices detect to obtain the defeated of shake table
Go out vibration signal, then using this signal as feedback signal, ask poor with system input signal, deviation signal passes through controller and work(
Excited vibration platform vibrates after rate amplifier, is finally completed the structure of closed-loop control system, realizes and shake table output waveform is distorted
The negative feedback control of degree.Phase shift is not present ideally in feedback signal and input signal, negative feedback control can be effective
Ground inhibits the non-linear distortion of shake table.Further, (feedback is logical with depth of feedback for inhibition of this method to non-linear distortion
Amplification coefficient on road) it is related.
Limitation and system due to shake table output amount of exercise amplitude there are phase shift, directly by vibrating sensor or its
It moves amount detecting device and detects to obtain motor message as feedback signal, can reduce suppression of the negative feedback control to non-linear distortion
Effect processed or even positive feedback can occur.For negative feed back control system is made to have preferable output waveform control action to shake table, lead to
In the case of often, the PID controller of design structure complexity is needed, and by completing the adjustment repeatedly of PID controller parameter to negative anti-
The correction of feedback system large deviations signal, so as to reduce the distortion factor of output waveform.However, the introducing of PID controller is inevitable
Ground increases the complexity of shake table negative feed back control system and the adjustment difficulty of systematic parameter.
Invention content
The purpose of the present invention is to provide a kind of feedback controllers that can not only reduce to build and the difficulty of parameter adjustment,
It and can be when shake table exports the vibration signal of different frequency sections, adaptively to the system of feedback signal progress amplitude modulation.
Shake table feedback signal frequency-division section amplitude modulation system, connects what is formed by in-phase proportion amplifying circuit and partial pressure potential meter
Adjustable amplifier, the input signal of adjustable amplifier is present operating frequency signal, and shake table work is preset in adjustable amplifier
Make the frequency segmentation of range and amplitude compensation information, adjustable amplifier is by present operating frequency signal fusing to frequency segmentation information
To obtain the amplification factor of the frequency segmentation, and amplification factor is converted into amplitude adjustment control pulse, each amplitude adjustment control pulse
It is corresponding to make potentiometric resistance value adjustment gear number.
Further, present operating frequency signal is exported by frequency detecting unit, and frequency detecting unit includes comparator, is counted
Device and frequency controller；Comparator, counter and frequency controller are sequentially connected；System input signal and reference signal are jointly defeated
Enter comparator, the square-wave signal that comparator output is formed by system input and reference signal, square-wave signal and digital dock pulse
Signal inputs the periodicity of counter, counter output system input signal cycle number and digital dock pulse signal jointly, frequency
Rate controller exports the frequency values of the system input signal, frequency controller output amplitude adjustment control pulse, the frequency of square-wave signal
The system input signal frequency of corresponding vibration is also identical with the working frequency of system and feedback frequency signal.
Further, the input terminal of the output terminal connection adjustable phase shifter of adjustable amplifier, adjustable phase shifter is by two-stage all-pass
Filters in series is formed, and frequency detecting unit is according to the frequency values f of system input signalfExport phase shifting control pulse, phase shift control
The potentiometric resistance value of adjustable digital of pulse adjustment first order all-pass filter processed and the adjustable digital of second level all-pass filter
Potentiometric resistance value.
The amplification factor of the different frequency sections of adjustable amplifier determines that step is as follows：
1), in operating frequency range, to the pumping signal of shake table input different frequency, and negative feedback control system is built
System.At different frequencies, apply different gains to feedback signal amplitude, and detect respective frequencies, corresponding feedback signal gain
Under the conditions of shake table output signal precision characteristic, can be obtained instead according to the feedback signal gain for meeting shake table required precision
Feedback signal required gain at different frequencies.The operating frequency range of shake table is divided into (k ' -1) section, is expressed as：
fm≤f<fm+1, m=1,2,3 ... k ' -1；
2), each frequency segmentation is taken in current frequency segmentation, the average value of each frequency gain is as current frequency successively
The gain p of rate segmentationm；
3), the gain of each frequency range is expressed as：
Wherein, R6It is the resistance value of the feedback resistance in scaling circuit in the same direction, R7It is the all-in resistance of partial pressure potential meter
Value, R7wIt is the partial pressure resistance value of partial pressure potential meter；
4) the resistance value R of the fixed resistance of in-phase proportion amplifying circuit, is determined5, it is to need to believe to judge current frequency segmentation
Number amplification or signal attenuation, take R when needing signal being amplified7w=R7, acquire R6；With R6Value and R7wAs reference,
Being calculated needs the tune of the amplitude adjustment control pulse number for inputting feedback resistance in scaling circuit in the same direction and partial pressure potential meter
Width controls pulse number, so as to control the adjustment of the feedback signal amplitude of adjustable amplifier realization corresponding frequency band；
R is taken when needing to decay signal6=0, acquire required R7w；With R6Value and R7wNeeds are calculated as reference
Input the amplitude adjustment control pulse of the amplitude adjustment control pulse number and partial pressure potential meter of feedback resistance in scaling circuit in the same direction
Number, so as to control the adjustment of the feedback signal amplitude of adjustable amplifier realization corresponding frequency band.Further, adjustable phase shifter is in difference
The phase shift value of frequency band determines that step is as follows：
S1：In operating frequency range, to the pumping signal of shake table input different frequency, and negative feedback control system is built
System.At different frequencies, out of phase adjustment is carried out to feedback signal, and detects respective frequencies, corresponding feedback signal phase item
The precision characteristic of shake table output signal under part can be fed back according to the feedback signal phase for meeting shake table required precision
Signal required phase shift value at different frequencies.The operating frequency range of shake table is divided into k-1 sections, is expressed as fn≤f<fn+1,
N=1,2,3 ... k-1, the standard of segmentation are identical for the phase shift value of the feedback signal in this segmentation；Phase shift value herein is identical
Refer to the difference in the frequency segmentation, between the phase shift value of each frequency in the deviation range of permission；
S2：Successively to each frequency segmentation, take in the frequency segmentation, the average value of the phase shift value of each frequency is as the frequency
The phase shift value of rate segmentationWithAs fnThe phase shift value of the adjustable phase shifter of frequency segmentation；
S3：To fnThe phase shift value of frequency segmentation is expressed as：
；Wherein：R2For the resistance value of the digital potentiometer in first order all-pass filter, R3For second level all-pass filter
In digital potentiometer resistance value；
S4：Enable R2=R3And step S2 and S3 are combined, acquire the R corresponding to each frequency segmentation2、R3Value, to each frequency
It is segmented, with R2、R3Value is calculated as reference to be needed to input the adjustable digital potentiometer in first order all-pass filter and the
The potentiometric phase shifting control pulse number of adjustable digital in two level all-pass filter, the corresponding frequency that control adjustable phase shifter generates
The phase shift value of rate segmentation.
The advantage of the invention is that：
1st, the working frequency of shake table is segmented, each frequency segmentation is carried out respectively, without to each frequency it is independent into
Row phase shift, reduce feedback controller build and the difficulty of parameter adjustment, the precision of negative-feedback signal are high.
2nd, the working frequency of shake table is segmented, amplitude modulation is carried out respectively to each frequency segmentation, without only to each frequency
It is vertical to carry out amplitude modulation, simplify speed detector, reduce feedback controller build and the difficulty of parameter adjustment.
Description of the drawings
Fig. 1 is the structure diagram of the present invention.
Fig. 2 is the schematic diagram of the adjustable amplifier of the present invention.
Fig. 3 is the schematic diagram of adjustable amplifier connection adjustable phase shifter.
Specific embodiment
Embodiment 1
Referring to Fig. 1, shake table feedback signal frequency-division section amplitude modulation system, including frequency detecting unit and adjustable amplifier.Frequently
The signal input part of rate detection unit is connect with shaking table system input signal, output terminal respectively with adjustable phase shifter and can
Adjust the pulse input end connection of amplifier.The signal input part of the adjustable phase shifter is detected with movement amount detecting device
Shake table output motor message uiConnection, the signal input part of output terminal and adjustable amplifier connect, adjustable amplifier it is defeated
Outlet is the shaking table system feedback signal u after range-adjustingfb。
Shaking table system input signal is input in the frequency detecting unit, and frequency detecting unit is according to the signal frequency
Value exports the phase shifting control pulse for corresponding to number and amplitude adjustment control pulse to adjustable phase shifter and adjustable amplifier.
The shake table output motor message u that amount detecting device detects is moved in shake table negative feed back control systemiIt is defeated
Enter into the adjustable phase shifter, adjustable phase shifter output phase be compensated after shaking table system feedback signal, the feedback
Signal is again inputted into adjustable amplifier.
Referring to Fig. 1, the frequency detecting unit includes comparator, counter and frequency controller, and shaking table system is defeated
Enter signal to be input to jointly in two input terminals of comparator with reference-input signal, the comparator is according to existing traditional comparator
Structure design, comparator output and the square-wave signal of shaking table system input signal same frequency.The square-wave signal and digital dock
Pulse signal is inputted in counter jointly, counter can respectively to the rising edge of square-wave signal and digital dock pulse signal into
Row flip-flop number can obtain square-wave signal periodicity N by recording rising edge number in time tfAnd digital dock pulse
The periodicity N of signals, output square-wave signal periodicity NfAnd the periodicity N of digital dock pulse signalsTo frequency controller, frequency
Rate controller is according to square-wave signal periodicity NfWith digital dock pulse period number NsThe frequency values f of square-wave signal is calculatedf,
That is the frequency values of system input signal are：
Wherein fsIt is the frequency of digital dock pulse signal, counter is with frequency controller by being based on for a fixed value
The digital signal processing unit of FPGA or DSP structures is realized.
To comparator input system input signal and known reference-input signal, when the amplitude of system input signal is higher than
Comparator exports high level during the amplitude of reference-input signal, otherwise comparator exports low level, as a result, comparator output square wave
Signal, and the frequency of the square-wave signal is identical with system input signal signal frequency.The frequency of square-wave signal is unknown at this time, because
This, square-wave signal and digital dock pulse signal are inputted in counter simultaneously, and counter counts the periodicity of square-wave signal, and counts
The frequency of word clock, just can be according to the periodicity of square-wave signal and the periodicity of dagital clock signal it is known that in same time
Ratio calculate the frequency of square wave, the frequency of system input signal is learnt from the frequency of square wave, so as to correspond to corresponding frequency
Segmentation.
The amplitude adjustment control arteries and veins of the corresponding number of system input signal frequency values output that frequency detecting unit is obtained according to detection
Punching control third digital potentiometer and the corresponding resistance value of the 4th digital potentiometer output, are realized to inputting adjustable amplifier signal width
The adjustment of value.
As shown in Fig. 2, adjustable amplifier is connected and is formed by in-phase proportion amplifying circuit and partial pressure potential meter, adjustable amplifier
The amplification factors of different frequency sections determine that step is as follows：
1), in operating frequency range, to the pumping signal of shake table input different frequency, and negative feedback control system is built
System.At different frequencies, apply different gains to feedback signal amplitude, and detect respective frequencies, corresponding feedback signal gain
Under the conditions of shake table output signal precision characteristic, can be obtained instead according to the feedback signal gain for meeting shake table required precision
Feedback signal required gain at different frequencies.The operating frequency range of shake table is divided into (k ' -1) section, is expressed as：
fm≤f<fm+1, m=1,2,3 ... k ' -1；
2), each frequency segmentation is taken in current frequency segmentation, the gain average value of each frequency is as current frequency successively
The gain p of rate segmentationm；
3), the gain of each frequency range is expressed as：
Wherein, R6It is the resistance value of the feedback resistance in scaling circuit in the same direction, R7It is the all-in resistance of partial pressure potential meter
Value, R7wIt is the partial pressure resistance value of partial pressure potential meter；
4) the resistance value R of the fixed resistance of in-phase proportion amplifying circuit, is determined5, it is to need to believe to judge current frequency segmentation
Number amplification or signal attenuation, take R when needing signal being amplified7w=R7, acquire R6；With R6Value and R7wAs reference,
Being calculated needs the tune of the amplitude adjustment control pulse number for inputting feedback resistance in scaling circuit in the same direction and partial pressure potential meter
Width controls pulse number, so as to control the adjustment of the feedback signal amplitude of adjustable amplifier realization corresponding frequency band；
R is taken when needing to decay signal6=0, acquire required R7w；With R6Value and R7wNeeds are calculated as reference
Input the amplitude adjustment control pulse of the amplitude adjustment control pulse number and partial pressure potential meter of feedback resistance in scaling circuit in the same direction
Number, so as to control the adjustment of the feedback signal amplitude of adjustable amplifier realization corresponding frequency band.
The working frequency of shake table is segmented, amplitude modulation is carried out respectively to each frequency segmentation, without to each frequency independence
Carry out amplitude modulation, reduce feedback controller build and the difficulty of parameter adjustment.
Embodiment 2
The present embodiment and embodiment 1 difference lies in the input terminal that the output terminal of adjustable amplifier connect adjustable phase shifter,
And the structure and phase-moving method of adjustable phase shifter.Remaining structures and methods is same as Example 1.
Referring to Fig. 3, adjustable phase shifter is connected in series by two-stage all-pass wave filtering circuit, is filtered in first order all-pass wave filtering circuit
Resistance (filter resistance refers to the resistance in the RC circuits played a filtering role) is the first digital potentiometer, and resistance value is expressed as R2；The
Filter resistance is the second digital potentiometer in two level all-pass wave filtering circuit, and resistance value is expressed as R3.First digital potentiometer and
Second digital potentiometer is adjustable digital potentiometer, and frequency detecting unit foundation detects obtained system input signal frequency values
The first digital potentiometer of phase shifting control Pulse Width Control and the second digital potentiometer for exporting corresponding number export different resistance
Value can realize 0~360 ° of phase shift to the signal for inputting adjustable phase shifter.The adjustable phase shifter is in the phase shift of different frequency sections
Value determines that step is as follows：
(1), in operating frequency range, to the pumping signal of shake table input different frequency, and negative feedback control is built
System.At different frequencies, out of phase adjustment is carried out to feedback signal, and detects respective frequencies, corresponding feedback signal phase
Under the conditions of shake table output signal precision characteristic, can be obtained instead according to the feedback signal phase for meeting shake table required precision
Feedback signal required phase shift value at different frequencies.According to feedback letter under the size and different frequency of shake table operating frequency range
Number phase shift value, shake table operating frequency range can be divided into several sections, and ensure each segmentation with closer to each other anti-
Feedback signal phase shift value, it is assumed that the frequency range is divided into (k-1) section, can be expressed as：
fn≤f<fn+1, n=1,2,3 ... k-1；
(2), in each frequency band, the average value of each frequency shift value is taken as the phase shift value of the frequency range adjustable phase shifter
(3), it is corresponding with the average value of band frequency each in (1) as reference, according to the circuit characteristic of adjustable phase shifter
It is expressed as in the phase shift value of each frequency range：
Wherein R2It is the potentiometric resistance value of adjustable digital of first order all-pass filter, R3It is second level all-pass filter
The potentiometric resistance value of adjustable digital；
(4), R is enabled2=R3It and can be in the hope of the R corresponding to each frequency range with reference to step (2) and (3)2、R3Value, with this R2、R3Value
The phase shifting control pulse for needing to input the first digital potentiometer and the second digital potentiometer can be calculated as reference
Number, so as to which adjustable phase shifter be controlled to generate the phase shift value of corresponding frequency band.
The present embodiment energy frequency-division section carries out amplitude phase to shaking table system feedback signal and adaptively adjusts, and makes feedback signal
With the amplitude and phase for meeting negative feed back control system needs.
Specific embodiment is that the present invention is further described, but the invention is not limited in these specific embodiment parties
Formula.It is one skilled in the art would recognize that all alternative present invention encompasses what may be included in Claims scope
Scheme, improvement project and equivalent scheme.
Claims (3)
1. shake table feedback signal frequency-division section amplitude modulation system, which is characterized in that by in-phase proportion amplifying circuit and partial pressure potential meter
The adjustable amplifier that series connection is formed, the input signal of adjustable amplifier is present operating frequency signal, is preset in adjustable amplifier
There are the frequency segmentation of shake table working range and amplitude compensation information, adjustable amplifier is by present operating frequency signal fusing to frequently
Amplification factor is converted to amplitude adjustment control pulse by rate segment information to obtain the amplification factor of the frequency segmentation, each tune
Width control pulse correspondence makes potentiometric resistance value adjustment gear number.
2. shake table feedback signal frequency-division section amplitude modulation system according to claim 1, it is characterised in that：Present operating frequency
Signal is exported by frequency detecting unit, and frequency detecting unit includes comparator, counter and frequency controller；Comparator counts
Device and frequency controller are sequentially connected；System input signal and the common input comparator of reference signal, comparator are exported by system
The square-wave signal that input and reference signal are formed, square-wave signal input counter, counter jointly with digital dock pulse signal
The periodicity of output system input signal cycle number and digital dock pulse signal, frequency controller export the system input signal
Frequency values, frequency controller output amplitude adjustment control pulse, the frequency of square-wave signal corresponds to the system input signal frequency of vibration,
Also it is identical with the working frequency of system and feedback frequency signal.
3. shake table feedback signal frequency-division section amplitude modulation system according to claim 2, it is characterised in that：Adjustable amplifier
Output terminal connects the input terminal of adjustable phase shifter, and adjustable phase shifter is connected by two-stage all-pass filter and formed, frequency detecting unit
According to the frequency values f of system input signalfPhase shifting control pulse is exported, phase shifting control pulse adjustment first order all-pass filter
The potentiometric resistance value of adjustable digital of the potentiometric resistance value of adjustable digital and second level all-pass filter.
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| CN201810060509.3A CN108254147B (en) | 2018-01-22 | 2018-01-22 | Frequency-division amplitude modulation system for feedback signal of vibrating table |
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| CN201810060509.3A CN108254147B (en) | 2018-01-22 | 2018-01-22 | Frequency-division amplitude modulation system for feedback signal of vibrating table |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112444366A (en) * | 2020-12-08 | 2021-03-05 | 中国工程物理研究院总体工程研究所 | Random vibration test frequency-division mixed control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112444366A (en) * | 2020-12-08 | 2021-03-05 | 中国工程物理研究院总体工程研究所 | Random vibration test frequency-division mixed control method |
| CN112444366B (en) * | 2020-12-08 | 2022-07-12 | 中国工程物理研究院总体工程研究所 | Random vibration test frequency-division mixed control method |
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