CN112987579A - Method, system and device for measuring suspension stiffness in electromagnetic suspension control system - Google Patents
Method, system and device for measuring suspension stiffness in electromagnetic suspension control system Download PDFInfo
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Abstract
The application provides a method for measuring suspension stiffness in an electromagnetic suspension control system, an input and output signal matrix is directly constructed by obtaining a control signal and a measurement signal of the electromagnetic suspension control system, and based on singular value decomposition, residual error calculation and LQ decomposition, the suspension stiffness is finally calculated, so that a user does not need to judge the suspension stiffness according to visual experience or roughly calculate the suspension stiffness based on a rough model, the real-time suspension stiffness can be calculated by updating the control signal and the measurement signal in real time, the method is favorable for debugging and running the electromagnetic suspension control system, and the running safety of the electromagnetic suspension control system is ensured. The application also provides a system for measuring the suspension stiffness in the electromagnetic suspension control system, a computer readable storage medium and an electronic device, which have the beneficial effects.
Description
Technical Field
The present application relates to the field of electromagnetic technologies, and in particular, to a method and a system for measuring suspension stiffness in an electromagnetic suspension control system, a computer-readable storage medium, and an electronic device.
Background
In the operation of the electromagnetic levitation control system, external disturbance can affect the levitation performance (such as load change, track slab staggering and the like faced by an electromagnetic levitation train), and because the electromagnetic levitation control system is difficult to approach by using a linear model in a large levitation gap fluctuation range, the disturbance with a large amplitude potentially threatens the levitation stability, and the electromagnetic levitation control system is required to have large levitation stiffness.
However, the evaluation of suspension stiffness during the commissioning or running phase is often subjective, relying on the intuitive experience of the designer. Meanwhile, because the model of the electromagnetic suspension control system is difficult to obtain accurately and is often changed in operation, the suspension stiffness is difficult to calculate by adopting the traditional model-based design method, the suspension stiffness is not calculated by an effective means, and the debugging and the control of the electromagnetic suspension control system are not facilitated.
Disclosure of Invention
The invention aims to provide a method and a system for measuring suspension stiffness in an electromagnetic suspension control system, a computer readable storage medium and an electronic device, which can objectively calculate and determine the suspension stiffness.
In order to solve the technical problem, the application provides a method for measuring suspension stiffness in an electromagnetic suspension control system, which has the following specific technical scheme:
acquiring a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system;
constructing a first input matrix and a second input matrix according to the control signals, constructing a first output matrix and a second output matrix according to the measurement signals, and obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix and the second output matrix;
performing singular value decomposition on the intermediate matrix to obtain a second intermediate matrix;
determining a first basis vector and a second basis vector according to the second intermediate matrix;
obtaining a residual signal within a second preset window length by taking the first basis vector and the second basis vector as coefficients;
constructing a third input matrix and a fourth input matrix corresponding to the residual signals and a third output matrix and a fourth output matrix corresponding to the measurement signals;
performing LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix and the fourth output matrix to obtain a lower triangular matrix;
and taking the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix as the suspension stiffness.
Optionally, before acquiring the control signal of the electromagnetic levitation control system, the method further includes:
storing the control signal in a preset time window; the length of the preset time window is positive integral multiple of the sampling period of the system.
Optionally, the method further includes:
storing the measurement signal in the preset time window; the measurement signals at least include a gap signal.
Optionally, obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix, and the second output matrix includes:
and obtaining an intermediate matrix according to the width of the preset matrix, the first preset parameter value, the first input matrix, the second input matrix, the first output matrix and the second output matrix.
Optionally, the electromagnetic levitation control system is composed of a controller, a levitation electromagnet, a driving structure, a supporting structure and a load, and the control signal is output by the controller.
The application also provides a measurement system of suspension rigidity among electromagnetic suspension control system, includes:
the signal acquisition module is used for acquiring a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system;
the first matrix calculation module is used for constructing a first input matrix and a second input matrix according to the control signals, constructing a first output matrix and a second output matrix according to the measurement signals, and obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix and the second output matrix;
the first decomposition module is used for carrying out singular value decomposition on the intermediate matrix to obtain a second intermediate matrix;
a vector calculation module for determining a first basis vector and a second basis vector from the second intermediate matrix;
a residual error calculation module, configured to obtain a residual error signal within a second preset window length by using the first basis vector and the second basis vector as coefficients;
the second matrix calculation module is used for constructing a third input matrix and a fourth input matrix corresponding to the residual signals and a third output matrix and a fourth output matrix corresponding to the measurement signals;
the second decomposition module is used for performing LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix and the fourth output matrix to obtain a lower triangular matrix;
and the stiffness calculation module is used for taking the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix as the suspension stiffness.
Optionally, the method further includes:
the first storage module is used for storing the control signal in a preset time window; the length of the preset time window is positive integral multiple of the sampling period of the system.
Optionally, the method further includes:
the second storage module is used for storing the measurement signals in the preset time window; the measurement signals at least include a gap signal.
The present application further provides a computer-readable storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for measuring a levitation stiffness in an electromagnetic levitation control system as described above.
The present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the steps of the method for measuring suspension stiffness in an electromagnetic suspension control system as described above when calling the computer program in the memory.
The application provides a method for measuring suspension stiffness in an electromagnetic suspension control system, which comprises the following steps: acquiring a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system; constructing a first input matrix and a second input matrix according to the control signals, constructing a first output matrix and a second output matrix according to the measurement signals, and obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix and the second output matrix; performing singular value decomposition on the intermediate matrix to obtain a second intermediate matrix; determining a first basis vector and a second basis vector according to the second intermediate matrix; obtaining a residual signal within a second preset window length by taking the first basis vector and the second basis vector as coefficients; constructing a third input matrix and a fourth input matrix corresponding to the residual signals and a third output matrix and a fourth output matrix corresponding to the measurement signals; performing LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix and the fourth output matrix to obtain a lower triangular matrix; and taking the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix as the suspension stiffness.
According to the method, the control signal and the measurement signal of the electromagnetic suspension control system are obtained, the corresponding input and output signal matrix is directly constructed, the suspension stiffness is finally calculated based on singular value decomposition, residual error calculation and LQ decomposition, the suspension stiffness is not required to be judged by a user according to visual experience, the suspension stiffness is not required to be roughly calculated based on a rough model, the real-time suspension stiffness can be calculated by updating the control signal and the measurement signal in real time, debugging and operation of the electromagnetic suspension control system are facilitated, and the operation safety of the electromagnetic suspension control system is guaranteed.
The application also provides a system for measuring the suspension stiffness in the electromagnetic suspension control system, a computer-readable storage medium and electronic equipment, which have the beneficial effects and are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a method for measuring suspension stiffness in an electromagnetic suspension control system according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of an electromagnetic levitation control system provided in an embodiment of the present application;
fig. 3 is a schematic structural diagram of a system for measuring suspension stiffness in an electromagnetic suspension control system according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart illustrating a method for measuring suspension stiffness in an electromagnetic suspension control system according to an embodiment of the present application, where the method includes:
s101: acquiring a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system;
this step aims at obtaining a control signal and a measurement signal, both of which are of a first predetermined window length. The specific length of the first preset window length is not limited, and may be determined by a person skilled in the art according to the actual calculation requirement of the suspension stiffness, and the calculated suspension stiffness represents the value corresponding to the window length time no matter how long the window length is. The first predetermined window length is selected to be an integral multiple of the system sampling period. The first preset window length is used for collecting input and output data in the window, identifying the obtained first basis vector and second basis vector, and generating a residual signal later.
Referring to fig. 2, fig. 2 is a schematic structural diagram of an electromagnetic levitation control system provided in an embodiment of the present application, and in fig. 2, the electromagnetic levitation control system is composed of a controller, a levitation electromagnet, a driving structure, a supporting structure, and a load. In an actual electromagnetic levitation control system, the levitation electromagnet, the driving structure, the supporting structure and the load are composed of parts and units, but the parts do not participate in the calculation of the levitation stiffness in the embodiment, so the division description of the parts and the components is not provided. In addition, the electromagnetic levitation control system has an order of
And are known. In the electromagnetic levitation control system shown in FIG. 2, the control signal is included
From a controller
An output of dimension of
，
Is referred to as
At the moment of time, the time of day,
is the system sampling period. And a measurement signal
Dimension of
The measurement signal being in an electromagnetic levitation control systemThe measurement values returned by the sensors include, but are not limited to, gap signals, acceleration signals, and the like. And secondly, after the control signal and the measurement signal are obtained, the control signal and the measurement signal in a preset time window can be stored. Presetting the time window length as the system sampling period
Positive integer multiples of.
S102: constructing a first input matrix and a second input matrix according to the control signals, constructing a first output matrix and a second output matrix according to the measurement signals, and obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix and the second output matrix;
after the control signal and the measurement signal are obtained, a first input matrix, a second input matrix, a first output matrix and a second output matrix are respectively established according to the control signal and the measurement signal, and the widths of the four matrices are the same. Specifically, after the matrix is obtained, an intermediate matrix may be further obtained, and the intermediate matrix may be obtained according to a preset matrix width, a first preset parameter value, a first input matrix, a second input matrix, a first output matrix, and a second output matrix. The first preset parameter value is not particularly limited and may be set by a person skilled in the art.
Preferably, the first input matrix, the second input matrix, the first output matrix and the second output matrix constructed in this step may be as follows:
a first input matrix:
a second input matrix:
a first output matrix:
a second output matrix:
thereafter, an intermediate matrix can be further obtained according to the four matrixes
Wherein, in the step (A),
for the first predetermined parameter value, a transpose of the matrix is represented.
S103: performing singular value decomposition on the intermediate matrix to obtain a second intermediate matrix;
the step aims to perform Singular Value Decomposition on the intermediate matrix, and Singular Value Decomposition (SVD) is an algorithm widely applied in the field of machine learning and can be used for feature Decomposition in a dimension reduction algorithm. In the step, after singular value decomposition is carried out on the intermediate matrix, a second intermediate matrix can be obtained.
By introducing the formula of the example, i.e. to the intermediate matrix
Singular value decomposition is carried out:
after the singular value in the above formula is decomposed, the singular value approximately equal to zero
Corresponding unitary matrix
Is transferred to
。
I.e. the second intermediate matrix as described in the present application.
Wherein the content of the first and second substances,
which represents the transpose of the matrix,
is the order of the electromagnetic levitation control system and is known.
Are all positive integers, and N is sufficiently large, i.e. N>>s, the specific numerical value can be freely set by those skilled in the art. Wherein
For a matrix of input signals
And
and output signal matrix
And
the width of (a) is greater than (b),
for a matrix of input signals
And
the height of (d);
for outputting a matrix of signals
And
of (c) is measured.
S104: determining a first basis vector and a second basis vector according to the second intermediate matrix;
this step aims at determining a first basis vector and a second basis vector. By selecting the first of the last row in the second intermediate matrix
And the elements before the elements and the elements are taken as a first base vector together, and all the elements after the elements are taken as a second base vector. The last row consists of, and is only, the first basis vector and the second basis vector.
By introducing the formula, the selection can be made
The last line in the row is taken and the last line in the row is taken
The column being a second basis vector
Before taking the line
The column being a first basis vector
。
S105: obtaining a residual signal within a second preset window length by taking the first basis vector and the second basis vector as coefficients;
this step may calculate a residual signal with the first basis vector and the second basis vector as coefficients. And the second preset window length is that after the first base vector and the second base vector are obtained, the two vectors are taken as coefficients, residual signals with the same number as the window length are generated in the second preset window length, a matrix in the S106 is constructed, and the suspension stiffness is calculated.
It should be noted that the first preset window length is used to identify the basis vector, the second preset window length is used to calculate the stiffness, and the first preset window length and the second preset window length may be the same or different.
Calculating and collecting the data in a second preset window according to the following formula
Residual signal of inner
：
Wherein the content of the first and second substances,
the dimension of (a) is 1,
is referred to as
The time of day.
S106: according to the residual signal in the second preset window obtained in the step S105, a third input matrix and a fourth input matrix corresponding to the residual signal, and a third output matrix and a fourth output matrix corresponding to the measurement signal are constructed;
referring to the manner of constructing the first input matrix, the second input matrix, the first output matrix and the second output matrix, the third input matrix and the fourth input matrix corresponding to the residual signal and the third output matrix and the fourth output matrix corresponding to the measurement signal are constructed in this step, and the specific process may be as follows:
the third input matrix is:
the fourth input matrix is:
the third output matrix is
The fourth output matrix is:
S107: performing LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix and the fourth output matrix to obtain a lower triangular matrix;
any real matrix can be decomposed into LQ, which is a decomposition of the matrix, where L denotes the lower triangular matrix and Q denotes the orthogonal matrix, also known as unitary matrix. The lower triangular matrix can be obtained through LQ decomposition in the step.
Specifically, LQ decomposition is performed on the input/output matrix:
wherein the content of the first and second substances,
is a lower triangular matrix, and the lower triangular matrix,
is an orthonormal matrix of units.
S108: and taking the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix as the suspension stiffness.
After the lower triangular matrix is obtained, the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix can be used as the suspension stiffness.
Calculating stiffness
The process of (a) may be as follows:
wherein the content of the first and second substances,
for returning to the matrix
The maximum singular value of.
Calculating the current rigidity in real time when needed
Then, the basis vectors are calculated first
Then, the specific rigidity can be realized
And (4) calculating.
Since any controller that stabilizes the levitation control system can be represented in a co-prime factorized form, as follows:
wherein the content of the first and second substances,
for the transfer function associated with the model of the levitation control system,
is a stable transfer function which has a definite definition and form in the robust control theory. It should be noted that, here
Instead of Q in the LQ decomposition,
representing well-defined principles of digital control systems
A domain. According to the co-prime decomposition form of the controller, the measurement signal in the electromagnetic suspension system can be further obtained
And residual signal
A transfer function between, i.e.
Wherein the residual signal
External disturbances, uncertainties are involved.
The present application describes levitation stiffness as the amount of influence of residual errors (i.e., external disturbances, uncertainties) on the output values of an electromagnetic levitation system. The amount of the influence can be determined according toTransfer function from residual signal to electromagnetic levitation system output value described above
Is quantitatively calculated, i.e.
Since the infinite norm of the system is equal to the maximum singular value of the system, it can be adopted
The maximum singular value of (2) is used as the real-time suspension stiffness of the electromagnetic suspension system. And the maximum singular value is calculated by the method provided by the patent.
According to the embodiment of the application, the control signal and the measurement signal of the electromagnetic levitation control system are obtained, the input and output signal matrix comprising the first input matrix, the second input matrix, the first output matrix and the second output matrix is directly constructed, and based on singular value decomposition, residual error calculation and LQ decomposition, the levitation stiffness is finally calculated, so that a user does not need to judge the levitation stiffness according to visual experience, and does not need to roughly calculate the levitation stiffness based on a rough model.
The following describes a system for measuring suspension stiffness in an electromagnetic suspension control system according to an embodiment of the present application, and the following description of the system and the above-described method for measuring suspension stiffness in an electromagnetic suspension control system may be referred to correspondingly.
The application also provides a measurement system of suspension rigidity among electromagnetic suspension control system, includes:
the signal acquisition module 100 is configured to acquire a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system;
a first matrix calculation module 200, configured to construct a first input matrix and a second input matrix according to the control signal, construct a first output matrix and a second output matrix according to the measurement signal, and obtain an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix, and the second output matrix;
a first decomposition module 300, configured to perform singular value decomposition on the intermediate matrix to obtain a second intermediate matrix;
a vector calculation module 400 configured to determine a first basis vector and a second basis vector according to the second intermediate matrix;
a residual calculation module 500, configured to obtain a residual signal within a second preset window length by using the first basis vector and the second basis vector as coefficients;
a second matrix calculation module 600, configured to construct a third input matrix and a fourth input matrix corresponding to the residual signal, and a third output matrix and a fourth output matrix corresponding to the measurement signal;
a second decomposition module 700, configured to perform LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix, and the fourth output matrix to obtain a lower triangular matrix;
and a stiffness calculation module 800, configured to use a maximum singular value of an operation result between sub-matrices of the lower triangular matrix as the suspension stiffness.
Based on the above embodiment, as a preferred embodiment, the method further includes:
the first storage module is used for storing the control signal in a preset time window; the length of the preset time window is positive integral multiple of the sampling period of the system.
Based on the above embodiment, as a preferred embodiment, the method may further include:
the second storage module is used for storing the measurement signals in the preset time window; the measurement signals at least include a gap signal.
The present application also provides a computer readable storage medium having stored thereon a computer program which, when executed, may implement the steps provided by the above-described embodiments. The storage medium may include: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The application further provides an electronic device, which may include a memory and a processor, where the memory stores a computer program, and the processor may implement the steps provided by the foregoing embodiments when calling the computer program in the memory. Of course, the electronic device may also include various network interfaces, power supplies, and the like.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system provided by the embodiment, the description is relatively simple because the system corresponds to the method provided by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (10)
1. A method for measuring suspension stiffness in an electromagnetic suspension control system is characterized by comprising the following steps:
acquiring a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system;
constructing a first input matrix and a second input matrix according to the control signals, constructing a first output matrix and a second output matrix according to the measurement signals, and obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix and the second output matrix;
performing singular value decomposition on the intermediate matrix to obtain a second intermediate matrix;
determining a first basis vector and a second basis vector according to the second intermediate matrix;
obtaining a residual signal within a second preset window length by taking the first basis vector and the second basis vector as coefficients;
constructing a third input matrix and a fourth input matrix corresponding to the residual signals and a third output matrix and a fourth output matrix corresponding to the measurement signals;
performing LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix and the fourth output matrix to obtain a lower triangular matrix;
and taking the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix as the suspension stiffness.
2. The method for measuring suspension stiffness in an electromagnetic suspension control system according to claim 1, wherein before acquiring the control signal of the electromagnetic suspension control system, the method further comprises:
storing the control signal in a preset time window; the length of the preset time window is positive integral multiple of the sampling period of the system.
3. A method of measuring suspension stiffness in an electromagnetic levitation control system as recited in claim 2, further comprising:
storing the measurement signal in the preset time window; the measurement signals at least include a gap signal.
4. The method of claim 1, wherein obtaining an intermediate matrix from the first input matrix, the second input matrix, the first output matrix, and the second output matrix comprises:
and obtaining an intermediate matrix according to the width of a preset matrix, a first preset parameter value, the first input matrix, the second input matrix, the first output matrix and the second output matrix.
5. A method of measuring suspension stiffness in an electromagnetic levitation control system as recited in claim 1, wherein the electromagnetic levitation control system is comprised of a controller, a levitation electromagnet, and a drive, support structure and load, and the control signal is outputted by the controller.
6. A system for measuring suspension stiffness in an electromagnetic suspension control system, comprising:
the signal acquisition module is used for acquiring a control signal and a measurement signal within a first preset window length of the electromagnetic levitation control system;
the first matrix calculation module is used for constructing a first input matrix and a second input matrix according to the control signals, constructing a first output matrix and a second output matrix according to the measurement signals, and obtaining an intermediate matrix according to the first input matrix, the second input matrix, the first output matrix and the second output matrix;
the first decomposition module is used for carrying out singular value decomposition on the intermediate matrix to obtain a second intermediate matrix;
a vector calculation module for determining a first basis vector and a second basis vector from the second intermediate matrix;
a residual error calculation module, configured to obtain a residual error signal within a second preset window length by using the first basis vector and the second basis vector as coefficients;
the second matrix calculation module is used for constructing a third input matrix and a fourth input matrix corresponding to the residual signals and a third output matrix and a fourth output matrix corresponding to the measurement signals;
the second decomposition module is used for performing LQ decomposition on the third input matrix, the fourth input matrix, the third output matrix and the fourth output matrix to obtain a lower triangular matrix;
and the stiffness calculation module is used for taking the maximum singular value of the operation result among the sub-matrixes of the lower triangular matrix as the suspension stiffness.
7. A system for measuring suspension stiffness in an electromagnetic levitation control system as recited in claim 6, further comprising:
the first storage module is used for storing the control signal in a preset time window; the length of the preset time window is positive integral multiple of the sampling period of the system.
8. A system for measuring suspension stiffness in an electromagnetic levitation control system as recited in claim 7, further comprising:
the second storage module is used for storing the measurement signals in the preset time window; the measurement signals at least include a gap signal.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for measuring a suspension stiffness in an electromagnetic suspension control system according to any of the claims 1-5.
10. An electronic device, characterized by comprising a memory in which a computer program is stored and a processor, which when calling the computer program in the memory implements the steps of the method for measuring a suspension stiffness in an electromagnetic suspension control system according to any of claims 1-5.
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