CN110928184B - Active vibration reduction control method and device for military computer application - Google Patents
Active vibration reduction control method and device for military computer application Download PDFInfo
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Abstract
本发明公开了一种面向军用计算机应用的主动减振控制方法及装置，其中，方法包括：从低通滤波预处理后的激扰产生的振动信号中提取出需要进行减振的频点值；将该频点值分别传递给振动效果估算器和自适应控制器，以估计出作动器的主动控制力产生的振动信号和自适应控制器中的控制通道的参数；利用控制通道的参数更新多作动器自适应控制算法的权重，并通过更新后的算法得到军用计算机应用的各个振动主动控制器需要施加的主动控制力信号，驱动器根据需要施加的主动控制力信号驱动作动器产生主动控制力，以抵消外部激扰产生的激振力。该方法为适用于海陆空军用军用计算机振动环境的智能减振算法，实现在振源频率高频变化时的振动主动控制，简单易实现。
The invention discloses an active vibration reduction control method and device for military computer applications, wherein the method includes: extracting frequency point values that need to be vibration-reduced from vibration signals generated by low-pass filtering preprocessed excitation; The frequency value is passed to the vibration effect estimator and the adaptive controller respectively to estimate the vibration signal generated by the active control force of the actuator and the parameters of the control channel in the adaptive controller; update the parameters of the control channel The weight of the multi-actuator adaptive control algorithm, and through the updated algorithm, the active control force signal that needs to be applied by each vibration active controller of the military computer application is obtained, and the driver drives the actuator to generate active control force according to the active control force signal applied. Control force to counteract the excitation force generated by external excitation. The method is an intelligent vibration reduction algorithm suitable for the vibration environment of the military computer of the sea, land, and air force, and realizes the active control of vibration when the frequency of the vibration source changes at high frequency, which is simple and easy to implement.
Description
Technical Field
The invention relates to the technical field of military computer application, in particular to an active vibration reduction control method and device for military computer application.
Background
In order to meet the requirements of applications with severe working environment conditions such as vehicle-mounted, ship-mounted and airborne systems, various factors affecting the performance of military computers, such as electromagnetic compatibility, vibration impact resistance, high and low temperature, three prevention (corrosion prevention, mildew prevention and salt spray resistance) and the like, are reinforced.
Among them, the anti-vibration and impact technology is an important content of the military computer reinforcement technology, for example, in mechanical environmental conditions: vibration, shock, swing, jolt, and the like, the most harmful of which is vibration.
In the related art, the reinforcement measures taken for the related art are generally:
(a) when designing a chassis, etc., in addition to the static and dynamic strength analysis, the influence of its physical characteristics on its internal components and devices and the transmissibility of the mounting rack should be considered. The key point is that the vibration resistance and the shock resistance of the chassis are enhanced by applying a detuning and decoupling design. When designing the chassis and parts, high damping structural materials such as aluminum and aluminum-magnesium alloy are selected as much as possible;
(b) the whole is additionally provided with passive vibration isolation devices, such as an elastic damper (such as a spring shock absorber), an air damper, an oil damper, a solid friction damper and the like;
(c) a vibration damping or isolating device is additionally arranged on key components such as a mechanical hard disk and the like;
(d) and a variable damping semi-active control vibration reduction system is additionally arranged.
The anti-vibration reinforcement measures play a great role in ensuring the application of military computers in application occasions with severe working environment conditions, and will continue to play a role for a long time in the future, but still have the following defects:
the low-frequency vibration isolation effect is not ideal, and especially, the variable damping semi-active control vibration attenuation system has the problems of resonance amplification and the like in some situations, so that higher vibration-proof requirements are provided for the military computer, the universal application of the military computer is limited, the informatization and intelligentization development in the military field is not facilitated, and the urgent need to be solved is high.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, one purpose of the invention is to provide an active vibration reduction control method for military computer application, which is an intelligent vibration reduction algorithm suitable for a sea, land and air military computer vibration environment, realizes active vibration control when the frequency of a vibration source changes at high frequency, and is simple and easy to realize.
Another object of the invention is to propose an active damping control device for military computer applications.
In order to achieve the above object, an embodiment of an aspect of the present invention provides an active damping control method for military computer applications, including the following steps:
estimating a vibration signal generated by disturbance from a total vibration signal, performing low-pass filtering pretreatment on the vibration signal generated by the disturbance, and extracting a frequency point value needing vibration reduction through an adaptive notch filter based on a Least Mean Square (LMS), wherein the total vibration signal comprises the vibration signal generated by the disturbance and a vibration signal generated by an active control force of an actuator; respectively transmitting the frequency point values needing vibration reduction to a vibration effect estimator and a self-adaptive controller so as to estimate vibration signals generated by the active control force of the actuator and parameters of a control channel in the self-adaptive controller; and updating the weight of the multi-actuator self-adaptive control algorithm by using the parameters of the control channel, obtaining an active control force signal which needs to be applied by each vibration active controller applied by the military computer through the updated multi-actuator self-adaptive control algorithm, and driving the actuator to generate an active control force by the driver according to the active control force signal which needs to be applied so as to counteract the exciting force generated by external excitation.
The active vibration reduction control method for military computer application, provided by the embodiment of the invention, is based on a filtering x-LMS adaptive algorithm, the reference frequency part of the adaptive algorithm is modified, an intelligent control algorithm strategy is innovatively constructed, an intelligent vibration reduction algorithm suitable for a sea, land and air military computer vibration environment is formed, vibration active control during high-frequency change of vibration source frequency is realized, and the method is simple and easy to realize.
In addition, the active vibration damping control method for military computer application according to the above embodiment of the present invention may also have the following additional technical features:
further, in an embodiment of the present invention, the estimating a vibration signal generated by the excitation from the vibration signal further includes: and estimating the vibration generated by the active control force of the actuator by using a vibration effect estimator, and adding the estimated vibration generated by the active control force back to the total vibration signal to estimate and obtain a vibration signal generated by the disturbance.
Further, in an embodiment of the present invention, the estimating, by using the vibration effect estimator, a vibration generated by an active control force of the actuator further includes: and estimating to obtain a vibration signal generated by the active control force of the actuator by using a linear interpolation method according to the vibration reduction frequency point information by using a transfer function in the vibration effect estimator.
Further, in an embodiment of the present invention, the method further includes: and obtaining parameters of a control channel in the self-adaptive controller by a linear interpolation method according to the vibration reduction frequency point information, wherein the parameters of the control channel are adjusted in real time according to different vibration reduction frequency point information.
Further, in an embodiment of the present invention, wherein the weight update formula is:
wherein, fij() To pass through a control channel cijTotal vibration signal vector after filtering, fij(n)＝x(n)cijX (n) is the total vibration signal, μ is the convergence step, wiAnd (n) is a filter weighting coefficient vector of the ith controller at the time of n and the order of l, and j is a target vibration reduction point.
In order to achieve the above object, another embodiment of the present invention provides an active damping control device for military computer applications, including: the system comprises a frequency self-adaptive tracking module, a frequency self-adaptive tracking module and a frequency self-adaptive tracking module, wherein the frequency self-adaptive tracking module is used for estimating a vibration signal generated by disturbance from the vibration signal, carrying out low-pass filtering pretreatment on a total vibration signal generated by the disturbance, and extracting a frequency point value needing vibration reduction through a self-adaptive notch filter based on a Least Mean Square (LMS), wherein the total vibration signal comprises the vibration signal generated by the disturbance and a vibration signal generated by an active control force of an actuator; the transmission module is used for respectively transmitting the frequency point values needing vibration reduction to the vibration effect estimator and the self-adaptive controller so as to estimate vibration signals generated by the active control force of the actuator and parameters of a control channel in the self-adaptive controller; and the active vibration reduction control module is used for updating the weight of the multi-actuator self-adaptive control algorithm by using the parameters of the control channel, obtaining active control force signals required to be applied by each vibration active controller applied by the military computer through the updated multi-actuator self-adaptive control algorithm, and driving the actuators to generate active control force by the drivers according to the active control force signals required to be applied so as to counteract the exciting force generated by external excitation.
The active vibration reduction control device for military computer application, provided by the embodiment of the invention, is based on a filtering x-LMS adaptive algorithm, the reference frequency part of the adaptive algorithm is modified, an intelligent control algorithm strategy is innovatively constructed, an intelligent vibration reduction algorithm suitable for a sea, land and air military computer vibration environment is formed, vibration active control during high-frequency change of vibration source frequency is realized, and the active vibration reduction control device is simple and easy to realize.
In addition, the active vibration damping control device for military computer applications according to the above embodiment of the present invention may also have the following additional technical features:
further, in an embodiment of the present invention, the frequency adaptive tracking module includes: and the estimation unit is used for estimating and obtaining the vibration generated by the active control force of the actuator by using the vibration effect estimator and adding the estimated vibration generated by the active control force back to the total vibration signal so as to estimate and obtain the vibration signal generated by the excitation.
Further, in an embodiment of the present invention, the estimation unit is further configured to estimate, by using a transfer function in the vibration effect estimator, a vibration signal generated by the active control force of the actuator according to the vibration reduction frequency point information by using a linear interpolation method.
Further, in an embodiment of the present invention, the method further includes: and the adjusting module is used for obtaining parameters of a control channel in the self-adaptive controller through a linear interpolation method according to the vibration reduction frequency point information, wherein the parameters of the control channel are adjusted in real time according to different vibration reduction frequency point information.
Further, in one embodiment of the present invention, the weight update formula is:
wherein f isij() To pass through a control channel cijTotal vibration signal vector after filtering, fij(n)＝x(n)cijX (n) is the total vibration signal, μ is the convergence step, wi(n) is the ith controller n time l order filtering weighting coefficient vectorAnd j is a target damping point.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of an active damping control method for military computer applications in accordance with an embodiment of the present invention;
FIG. 2 is an overall flow chart of a multi-actuator adaptive algorithm and a frequency tracking algorithm according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a filtering-based x-LMS control algorithm according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an active damping control device for military computer applications according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The present application is based on the recognition and discovery by the inventors of the following problems:
in view of the problems of the background art, it is necessary to develop a new technical approach to vibration reinforcement for military computers:
(a) the self-adaptive capacity of the military computer to different vibration environments such as land, sea, air and the like is improved;
(b) the service life of the military computer with the existing model is prolonged;
(c) reduce the anti vibration requirement to novel military computer body.
The active vibration reduction technology is a branch of the active control technology, is an application of the active control technology in structural vibration reduction, and is an important promotion of the passive vibration reduction technology. With the rapid development and maturity of other supporting disciplines in recent years, active damping techniques have found application in a number of areas, such as: automobiles, building structures, high-grade yachts, and the like; in the military field, active vibration reduction technology has begun to be applied to vibration reduction and noise reduction of ship power equipment.
The vibration active control technology is a new technology developed in recent 40 years, and compared with the traditional passive control technology, the active control technology has unique advantages of automatically tracking the change of the vibration frequency and effectively inhibiting low-frequency vibration. Therefore, the adoption of the vibration active control technology is an effective means for effectively inhibiting low-frequency vibration. The principle of the active vibration isolation technology is that active control force is introduced into an original vibration isolation system, and the magnitude and the phase of the active control force are adjusted according to vibration information of a controlled system, so that the generated vibration response is offset with the original excited vibration response, and the transmission of vibration to a target structure is reduced. Therefore, the active vibration isolation technology not only can effectively isolate low-frequency vibration, but also can adapt to the change of external disturbance frequency. The active vibration isolation effectively makes up the defects of the passive vibration isolation technology, provides two new development directions for the vibration isolation technology together with the nonlinear vibration isolation system with high static rigidity and low dynamic rigidity, and has good application prospect. Scholars at home and abroad make a great deal of research on the active control of different vibration sources.
The following describes an active vibration damping control method and device for military computer applications according to an embodiment of the present invention with reference to the accompanying drawings, and first, the active vibration damping control method for military computer applications according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is a flow chart of an active damping control method for military computer applications in accordance with one embodiment of the present invention.
As shown in fig. 1, the active damping control method for military computer application comprises the following steps:
in step S101, a vibration signal generated by the disturbance is estimated from a total vibration signal, low-pass filtering preprocessing is performed on the vibration signal generated by the disturbance, and a frequency point value required to be subjected to vibration reduction is extracted through an adaptive notch based on a least mean square algorithm LMS, where the total vibration signal includes the vibration signal generated by the disturbance and a vibration signal generated by an active control force of an actuator.
As shown in fig. 2, the vibration signal generated by the excitation is a signal that an external vibration source generates vibration force and transmits the vibration force to the military computer cabinet system to cause vibration, the vibration generated by the excitation and the vibration generated by the active control force of the actuator are transmitted to the cabinet system together, and the vibration force act together to form a total vibration signal in the acceleration sensor.
It is understood that step S101 is a frequency adaptive tracking algorithm proposed in the embodiment of the present invention, since the control channel cijThe parameters of (a) are varied with the frequency point of the vibration signal generated by the excitation (control channel c)ijAs will be explained below), therefore, in the embodiment of the present invention, first, a frequency adaptive tracking algorithm is used to obtain a frequency point value to be subjected to vibration reduction, and then the control channel c is adjustedijThe parameters of (1); the frequency adaptive tracking algorithm serves for the multi-actuator adaptive control algorithm, so that the multi-actuator adaptive control algorithm can perform iterative calculation more accurately.
Further, in an embodiment of the present invention, estimating a vibration signal generated by the excitation from the vibration signal further includes: and estimating the vibration generated by the active control force of the actuator by using a vibration effect estimator, and adding the estimated vibration generated by the active control force back to the total vibration signal to estimate and obtain a vibration signal generated by the disturbance.
It can be understood that, as shown in fig. 2, in order to eliminate the vibration influence generated by the active control force in the vibration signal and thus recover the vibration generated by the excitation, it is necessary to estimate the vibration generated by the active control force of the actuator by using a vibration effect estimator and to add the estimated vibration generated by the active control force back to the total vibration signal, thereby obtaining an estimated vibration signal generated by the excitation. And further, low-pass filtering preprocessing is carried out on the estimated external disturbance vibration signal, and a frequency point value needing vibration reduction is extracted through an adaptive notch filter based on a Least Mean Square (LMS) algorithm.
In particular, since the basic principle of active vibration damping is force-force balance, real-time high-precision detection of the frequency, amplitude and phase of a vibration signal generated by a disturbance is key to obtaining an expected vibration damping effect.
The most common detection method at present is the FFT and the spectrum analysis method derived from the FFT, but is limited by the data length and the sampling frequency, and the frequency, amplitude and phase detection precision of the method is poor. Therefore, the embodiment of the invention adopts the self-adaptive notch filter to estimate the frequency of the vibration signal generated by the excitation in real time, and carries out low-pass filtering pretreatment on the vibration signal generated by the excitation in order to reduce the influence of noise on the frequency estimation precision; then, generating a reference sinusoidal signal by using the detected frequency, and extracting a frequency vibration signal after filtering processing by using a least mean square algorithm LMS; finally, the original vibration signal without noise interference and without active control, namely the vibration signal generated by excitation, can be restored with high precision by utilizing the detected signal frequency, the known low-pass filter information and the frequency and amplitude phase information output by the real-time control signal, thereby realizing the self-adaptive frequency tracking. The frequency self-adaptive tracking algorithm has the advantages of small calculated amount, strong real-time performance and high precision, and is a suitable method for detecting the signals of the active vibration reduction system.
In step S102, the frequency point values that need to be damped are respectively transmitted to the vibration effect estimator and the adaptive controller, so as to estimate the vibration signal generated by the active control force of the actuator and the parameters of the control channel in the adaptive controller.
In one embodiment of the present invention, the estimating, by the vibration effect estimator, a vibration generated by an active control force of the actuator further includes: and estimating to obtain a vibration signal generated by the active control force of the actuator by using a linear interpolation method according to the vibration reduction frequency point information by using a transfer function in the vibration effect estimator.
Specifically, as shown in fig. 2, the vibration reduction frequency point information is transmitted to the vibration effect estimator, and a transfer function in the vibration effect estimator obtains a vibration signal estimation value generated by the active control force of the actuator by using a linear interpolation method according to the vibration reduction frequency point information.
Transmitting the vibration reduction frequency point information to an adaptive controller, and a control channel c in the adaptive controllerijThe parameters are obtained by adopting a linear interpolation method according to the vibration reduction frequency point information. Wherein the control channel cijThe parameters of (a) are changed along with the vibration reduction frequency point, therefore, for different vibration reduction frequency points, c needs to be adjustedijThe parameter (c) of (c).
In step S103, the weight of the multi-actuator adaptive control algorithm is updated by using the parameters of the control channel, and an active control force signal required to be applied by each vibration active controller applied by the military computer is obtained through the updated multi-actuator adaptive control algorithm, and the actuator is driven by the driver according to the active control force signal required to be applied to generate an active control force, so as to cancel an excitation force generated by external excitation.
It will be appreciated that as shown in FIG. 2, updated c is utilizedijAnd updating the weight of the multi-actuator self-adaptive control algorithm, obtaining the active control force required to be exerted by each vibration active controller applied by the military computer through the updated multi-actuator self-adaptive control algorithm, and transmitting the control information to the driver. The actuator is driven by the driver to generate an active control force to counteract an excitation force generated by the external excitation.
The multi-actuator self-adaptive control algorithm adopts a self-adaptive feedforward control algorithm based on the filtering x-LMS algorithm, and the method applies feedforward control to each vibration active controller to generate active control force to counteract the vibration force transmitted to a target vibration reduction point. The adopted filtering x-LMS algorithm is an FIR filter of which the filter weight can be updated in a self-adaptive manner, and the weight updating is realized by a gradient descent method. The weight update formula is as follows:
f in the formulaij() To pass through a control channel cijTotal vibration signal vector after filtering, fij(n)＝x(n)cij. When the excitation frequency changes with time, the original vibration signal needs to be restored online from the total vibration signal x (n), and then the control channel c is adjusted online by using the frequency of the original vibration signalijTo obtain more accurate fij(n) of (a). Wherein the total vibration signal comprises the superposition of the vibration signal generated by the disturbance and the vibration signal generated by the control force output by the actuator.
Specifically, since actuators are disposed on the same controlled object and inevitably have a strong coupling relationship with each other, it is necessary to coordinate control, otherwise the effect of application is not achieved. Practice finds that the excitation source of the equipment is usually periodic vibration which reciprocates or rotates or both, and the periodic signal is measurable on line, so that the vibration force transmitted to the target vibration damping point by the excitation can be counteracted by applying feedforward control to each vibration active controller through the active control force generated by the active control controller.
The embodiment of the invention adopts the multi-channel filtering x-LMS algorithm for online self-adaptive updating. In fact, the LMS algorithm is a FIR filter whose filter weights can be adaptively updated, and the weight update is implemented by a gradient descent method. FIG. 3 is a block diagram of the adaptive feedforward control of the filtered x-LMS algorithm corresponding to 4 control points. Where x (n) is the total vibration signal of the filtered x-LMS algorithm, and x (n) ═ x (n) x (n-1) … x (n-l +1)]TIs a sampling vector of order l, P, of the total vibration signalj(z) is the transmission path from the excitation source to the jth target damping point (i.e., at the error sensor), cij(z) is a transfer channel (also called a control channel) from the ith controller to the output of the target damping point j, and can be simulated into an m-order finite impulse response function form c in the time domainij(z)＝[c0 c1 … cm-1]T. While
Is cij(z) estimation, wi(n) is the ith controller n time l order filtering weight coefficient vector, yi(n)＝[yi(n) yi(n-1) … yi(n-m+1)]TIf the vector is the nearest m-th order output vector of the ith controller, the following vectors are provided:
wherein y isi(n)＝xT(n)wi(n) obtained by substituting the formula:
where, x (n) is an l × m-order matrix composed of the latest m perturbation vectors:
X(n)＝[x(n) x(n-1) … x(n-m+1)]， (4)
fij(n) is a via control channel cijThe total vibration signal vector after filtering.
The objective function is selected as the mean square sum of the acceleration signals at the n error sensors, and the control objective is to minimize the objective function:
updating the weighting coefficient of the ith feedforward controller by adopting a gradient descent method, and differentiating the ith weighting coefficient vector to obtain an expression of gradient estimation:
then can obtain
Where μ is the convergence step.
In the multi-channel filtering x-LMS control, a vibration active control device controls a system, and the control quantity of each vibration active control device is determined by a corresponding filtering algorithm. The formula (5) shows that the filtering algorithm considers the vibration conditions of different target points, and gives a proper control force on each controller after comprehensive calculation.
In summary, because the sea, land and air military computer has a very harsh vibration environment, the frequency characteristic of environmental disturbance and the vibration response characteristic of the military computer are complex and changeable, and the conventional algorithm is not applicable, the embodiment of the invention provides an active vibration reduction control method for military computer application, wherein the frequency adaptive tracking algorithm and the multi-actuator adaptive control algorithm are organically, stably and reliably connected together for research, the optimal distribution ratio is obtained through simulation and experiment methods, and a method for optimizing the parameters of the multi-actuator adaptive control algorithm under the complex disturbance condition is researched on the basis.
According to the active vibration reduction control method for military computer application provided by the embodiment of the invention, the reference frequency part is reconstructed based on the filtering x-LMS adaptive algorithm, the intelligent control algorithm strategy is innovatively constructed, the intelligent vibration reduction algorithm suitable for the sea, land and air military computer vibration environment is formed, the vibration active control when the vibration source frequency changes at high frequency is realized, and the method is simple and easy to realize.
Next, an active vibration damping control apparatus for military computer applications proposed according to an embodiment of the present invention will be described with reference to the accompanying drawings.
FIG. 4 is a schematic structural diagram of an active damping control device for military computer applications according to an embodiment of the present invention.
As shown in fig. 4, the active damping control device 10 for military computer applications includes: a frequency adaptive tracking module 100, a transfer module 200, and an active damping control module 300.
The frequency self-adaptive tracking module 100 is configured to estimate a vibration signal generated by disturbance from the vibration signal, perform low-pass filtering preprocessing on a total vibration signal generated by the disturbance, and extract a frequency point value to be subjected to vibration reduction through an adaptive notch filter based on a Least Mean Square (LMS), where the total vibration signal includes the vibration signal generated by the disturbance and a vibration signal generated by an active control force of an actuator; the transmission module 200 is configured to transmit frequency point values to be subjected to vibration reduction to the vibration effect estimator and the adaptive controller, respectively, so as to estimate a vibration signal generated by the active control force of the actuator and parameters of a control channel in the adaptive controller; the active vibration damping control module 300 is configured to update the weight of the multi-actuator adaptive control algorithm by using the parameter of the control channel, obtain an active control force signal that needs to be applied by each vibration active controller applied by the military computer through the updated multi-actuator adaptive control algorithm, and drive the actuator to generate an active control force according to the active control force signal that needs to be applied by the driver, so as to cancel an excitation force generated by external excitation. The device 10 of the embodiment of the invention realizes active vibration control when the frequency of the vibration source changes at high frequency, and is simple and easy to realize.
Further, in one embodiment of the present invention, the frequency adaptive tracking module 100 comprises: an estimation unit. The estimation unit is used for estimating and obtaining the vibration generated by the active control force of the actuator by using the vibration effect estimator, and superposing the estimated vibration generated by the active control force back to the total vibration signal so as to estimate and obtain the vibration signal generated by the excitation.
Further, in an embodiment of the present invention, the estimation unit is further configured to estimate, by using a transfer function in the vibration effect estimator, a vibration signal generated by the active control force of the actuator according to the vibration reduction frequency point information by using a linear interpolation method.
Further, in one embodiment of the present invention, the apparatus 10 of the embodiment of the present invention further comprises: and an adjusting module. The adjusting module is used for obtaining parameters of a control channel in the self-adaptive controller through a linear interpolation method according to the vibration reduction frequency point information, wherein the parameters of the control channel are adjusted in real time according to different vibration reduction frequency point information.
Further, in one embodiment of the present invention, the weight update formula is:
wherein f isij(n) is a via control channel cijTotal vibration signal vector after filtering, fij(n)＝x(n)cijX (n) is the total vibration signal, μ is the convergence step, wiAnd (n) is a filter weighting coefficient vector of the ith controller at the time of n and the order of l, and j is a target vibration reduction point.
It should be noted that the foregoing explanation on the embodiment of the active vibration damping control method for military computer application is also applicable to the active vibration damping control device for military computer application of this embodiment, and is not repeated herein.
According to the active vibration reduction control device for military computer application provided by the embodiment of the invention, the reference frequency part is reformed based on the filtering x-LMS adaptive algorithm, the intelligent control algorithm strategy is innovatively constructed, the intelligent vibration reduction algorithm suitable for the sea, land and air military computer vibration environment is formed, the vibration active control during the high-frequency change of the vibration source frequency is realized, and the active vibration reduction control device is simple and easy to realize.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or N wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. An active vibration damping control method for military computer application is characterized by comprising the following steps:
estimating a vibration signal generated by disturbance from a total vibration signal, performing low-pass filtering pretreatment on the vibration signal generated by the disturbance, and extracting a frequency point value needing vibration reduction through an adaptive notch filter based on a Least Mean Square (LMS), wherein the total vibration signal comprises the vibration signal generated by the disturbance and a vibration signal generated by an active control force of an actuator; estimating a vibration signal generated by the disturbance from the total vibration signal, further comprising: estimating and obtaining vibration generated by the active control force of the actuator by using a vibration effect estimator, and adding the estimated vibration generated by the active control force back to the total vibration signal to estimate and obtain a vibration signal generated by disturbance;
respectively transmitting the frequency point values needing vibration reduction to a vibration effect estimator and a self-adaptive controller so as to estimate vibration signals generated by the active control force of the actuator and parameters of a control channel in the self-adaptive controller; and
and updating the weight of the multi-actuator self-adaptive control algorithm by using the parameters of the control channel, obtaining an active control force signal which needs to be applied by each vibration active controller applied by the military computer through the updated multi-actuator self-adaptive control algorithm, and driving the actuator to generate an active control force by the driver according to the active control force signal which needs to be applied so as to counteract the exciting force generated by external excitation.
2. The active damping control method for military computer applications of claim 1, wherein estimating the vibration generated by the actuator active control force using a vibration effect estimator further comprises:
and estimating to obtain a vibration signal generated by the active control force of the actuator by using a linear interpolation method according to the vibration reduction frequency point information by using the transfer function in the vibration effect estimator.
3. The active damping control method for military computer applications of claim 1, further comprising:
and obtaining parameters of a control channel in the self-adaptive controller by a linear interpolation method according to the vibration reduction frequency point information, wherein the parameters of the control channel are adjusted in real time according to different vibration reduction frequency point information.
4. The active damping control method for military computer applications of claim 1, wherein the weight update formula is:
wherein f isij(n) is a via control channel cijTotal vibration signal vector after filtering, fij(n)＝x(n)cijX (n) is the total vibration signal, μ is the convergence step, wi(n) is a filter weighting coefficient vector of the ith controller at the n moment of the ith controller, i is a target vibration reduction point, cijThe transmission path for the ith controller to the target damping point j output.
5. An active damping control device for military computer applications, comprising:
the system comprises a frequency self-adaptive tracking module, a low-pass filtering preprocessing module and a Least Mean Square (LMS) algorithm-based self-adaptive notch filter, wherein the frequency self-adaptive tracking module is used for estimating a vibration signal generated by disturbance from a total vibration signal, extracting a frequency point value needing vibration reduction through the self-adaptive notch filter, and the total vibration signal comprises the vibration signal generated by the disturbance and a vibration signal generated by an active control force of an actuator; the frequency adaptive tracking module comprises: the estimation unit is used for estimating and obtaining the vibration generated by the active control force of the actuator by using the vibration effect estimator and adding the estimated vibration generated by the active control force back to the total vibration signal so as to estimate and obtain the vibration signal generated by the excitation;
the transmission module is used for respectively transmitting the frequency point values needing vibration reduction to the vibration effect estimator and the self-adaptive controller so as to estimate vibration signals generated by the active control force of the actuator and parameters of a control channel in the self-adaptive controller; and
and the active vibration reduction control module is used for updating the weight of the multi-actuator self-adaptive control algorithm by using the parameters of the control channel, obtaining active control force signals required to be applied by each vibration active controller applied by the military computer through the updated multi-actuator self-adaptive control algorithm, and driving the actuators to generate active control force by the drivers according to the active control force signals required to be applied so as to counteract the exciting force generated by external excitation.
6. The active vibration damping control device for military computer applications of claim 5, wherein the estimation unit is further configured to estimate a vibration signal generated by the active control force of the actuator according to the vibration damping frequency point information by using a linear interpolation method using the transfer function in the vibration effect estimator.
7. The active damping control device for military computer applications of claim 5, further comprising:
and the adjusting module is used for obtaining parameters of a control channel in the self-adaptive controller through a linear interpolation method according to the vibration reduction frequency point information, wherein the parameters of the control channel are adjusted in real time according to different vibration reduction frequency point information.
8. The active damping control device for military computer applications of claim 5, wherein the weight update formula is:
wherein f isij(n) is a via control channel cijTotal vibration signal vector after filtering, fij(n)＝x(n)cijX (n) is the total vibration signal, μ is the convergence step, wi(n) is a filter weighting coefficient vector of the ith controller at the n moment of the ith controller, i is a target vibration reduction point, cijThe transmission path for the ith controller to the target damping point j output.
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