基于DSP的液压振动台功率谱复现研究
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摘要
振动环境模拟目前被广泛用于航天航空、兵器国防及汽车等领域，成为检测和提高产品可靠性的重要方法。使用振动实验设备采用一定的控制策略可以对产品在运输和工作过程中所承受的振动环境进行精确模拟，可以及时发现产品结构设计的缺陷，进而对产品的改良具有指导意义。
本文是以哈工大电液伺服仿真及试验系统研究所承接的“985工程”二期—冗余驱动的六自由度液压振动系统研究为背景，对液压振动台功率谱密度复现进行理论和实验研究。
液压振动台振动控制系统由液压伺服控制和振动控制组成。液压伺服控制是实现各种振动实验的基础；三参量控制技术是目前使用较为广泛的液压伺服控制技术。液压控制系统阻尼一般很小，通过三参量控制可以提高系统的阻尼比和系统带宽。当基础刚度与液压弹簧刚度相当的条件下，振动台液压位置系统可以近似为二自由度谐振系统，这对发挥液压振动台性能是不利的，并且三参量控制策略的功能也不能充分实现。
液压振动台功率谱密度复现主要包含功率谱密度估计、驱动谱密度修正和驱动信号生成等内容。功率谱密度估计和驱动信号的生成都可使用AR随机过程进行模拟，但是算法依赖于高精度高斯随机噪声的获得。鉴于高斯噪声获得的难度和随机过程模拟精度需要较高的阶次，这些因素将导致功率谱密度均衡时间较长。本文在功率谱密度复现流程中采用非参数化方法中的平均周期图方法来估计振动台响应加速度信号的功率谱密度，且采用谐波拟合法来获得时域驱动信号。功率谱密度均衡过程中需要用到振动系统的阻抗函数来修正驱动功率谱密度，阻抗函数辨识的愈是精确，功率谱密度复现均衡的时间愈短。子带自适应算法用来辨识系统阻抗有着收敛速率高的特点，而且信号分解的子带数愈多，算法收敛愈迅速。在功率谱密度复现系统阻抗辨识中采用子带自适应算法可以获得优越的性能。时间域的余弦调制滤波器组，可以很好的划分信号的频带而且使得不同频带的重叠较小，被广泛的应用于滤波器组理论和实践相关领域中。
基于余弦调制滤波器组的子带自适应算法是将信号分解到带宽相等的子频带内，而由小波分析近年来与滤波器组之间的关系被深刻的揭示出来，论文中将子带自适应辨识的思想扩展至将信号分解到不同带宽的子频带内。基于小波滤波器组的子带自适应算法即是该思想的具体体现，该算法既继承了子带自适应算法的优点又具有自身特点，即其辨识的结果是频率域的系统传递函数。随着小波分析理论的发展，种类繁多的小波基被创造出来，不同的小波基具有不同的正交性、对称性和消失矩等特性。小波基的正交性和对称性质对文章中提出的算法具有重要的意义，小波基的正交性保证信号分解至各个子频带的混叠较小，而小波基的对称性则保证了自适应算法过程中使用的滤波器具有线性的相位。
制约国内振动控制技术快速发展的是数字振动控制器的研制工作远跟不上振动台振动控制策略的理论研究。论文采用美国德州仪器公司（TI）的C2000系列数字信号处理器（DSP）来构建液压振动台功率谱复现的数字振动控制器。数字振动控制器采用分布计算思想将振动控制算法的计算和振动系统驱动和反馈信号的获得分别由算法计算单元与数据采集单元来实现。两个构成单元的核心处理器分别为TMS320F28335和TMS320F2812。算法计算单元和数据采集单元采用双端口RAM（Dual-port RAM,DPRAM）来实现数据共享和控制通讯，通讯信号采用DPRAM的中断逻辑。信号处理系统监控计算机和DSP系统亦采用DPRAM来共享数据，针对监控计算机一方来讲，DPRAM是通过其ISA扩展槽来扩展的。DSP系统采用C语言和汇编混合编程的方式开发控制软件，并有意使用TI公司提供的优化的数字信号处理库函数，充分利用DSP系统的计算资源从而大大提高算法执行速度；而监控单元则采用NI公司LabView图形化语言，来调用基于Windows Driver开发的读写DPRAM的动态联接库，实现计算结果的显示和控制参数的修改。
液压振动台的伺服控制系统采用基于xPc Target的快速原型技术来实现；而振动控制部分采用文中开发的信号处理系统。在此基础上实验验证了文中提出控制策略和开发的数字信号处理系统在液压振动台功率谱密度复现过程中的有效性。
Vibration environment simulation has been broadly used in the fields of theaspects of aeronautics, astronautics, national defense, automobile industry and so on.Now the vibration environment simulation is an important means for measuring andincreasing the reliability of the products. By simulating the vibration environmentexactly that products will be exposed to in use, transform using the vibrationequipment and specified control strategies, faults of product design can be foundearly and provide the information for adjusting the design process.
Upon the background of “985Project” Phase II to develop redundancy-drivenhydraulic vibration system of six degrees of freedom (DOF), which is developed byIEST (Institute of Electro-hydraulic Servo Simulation&Test System) of HarbinInstitute of Technology, the key control methods of power spectral density (PSD)replication through electro-hydraulic shaking table (EHST) has been theoreticallyand experimentally studied in this thesis.
The shaking control system of EHST consists of the servo controller and thevibration controller. The servo controller is the control basic to realize lots ofvibration environment simulation with a digital control loop. Due to the lowfrequency band and small damp ratio of the hydraulic dynamic structure, the ThreeVariable Controller (TVC) is widely introduced in the servo system of EHST toextend the response band and improve the system stability. Given that thefoundation stiffness is similar to the hydraulic spring stiffness, the servo system ofEHST can be equivalent to2degree of freedom resonator system. In this case, thefunction of EHST would be difficult to be realized fully, and the performance ofTVC may be not achieved.
The PSD replication of EHST mainly comprises the estimation of PSD, updateof driven PSD and generation of time-domain drive signal. In the literature, both thePSD estimation of control acceleration and the generation of time domain drivesignal can be accomplished by modern parameter methods. This paper takes theAuto-Regressive (AR) model as typical to describe the use of these numericalsimulation technologies in PSD replication. It is shown that these methods aredependent on the high precise Gaussian random signal. As it is difficult to get the stationary, ergodic and independent Gaussian White Noise, furthermore, the orderof these random processes must be very large to assure the precision of PSDreplication. Because of this, the loop time of PSD replication is increased. In viewof above consideration, this paper adopts the average period-gram method (Welchmethod) which is traditional non-parameter technology to estimate the PSD of theresponse acceleration signal of EHST. Meanwhile, sine-wave fitting is presented togenerate the time-domain drive signal in the flow of PSD replication. Systemimpedance is needed to modify the drive PSD, therefore, the system impedance isestimated more accurate, the loop time of PSD replication is less. To acquire thehigh rate of convergence of frequency response function (FRF) esitmaiton of EHST,subband adaptive system identification algorithm is proposed in this thesis. Thesimulation results show that estimation signal is divided into more bands, the rate ofconvergence of FRF estimation is higher. Cosine-modulated filter banks (CMFB)are time-domain filter banks, and the overlap between different bands is small. Thispaper takes the CMFB as the filter banks in subband adaptive system identificationalgorithm.
The CMFB divide signal into identical bandwidth bands, the interior relationbetween wavelet transforms and filter banks has been unvealed recently. Signaldivided into different bandwidth bands by wavelet transforms is considered in thisthesis. Subband adaptive system identification algorithm based on wavelettransforms not only inherits the properties of that based on identical bandwidthbands signal division, but also has its own features, that is, the results of subbandadaptive system identification based on wavelet transforms is representation infrequency domain. As the development of wavelet theory, lots of wavelet basis areconstructed, which have different characteristics of orthogonality, symmetry andvanishing moment. The orthogonality and symmetry of wavelet basis play vital rolein the algorithm mentioned above, because they guarantee the signal divided intodifferent bands has little overlap and the subband filter banks have the linear phase.The constraint of domestic shking control techonology is that development ofdigital contoller is slower than the theoretical research. which has hardwaremultiplier, Havard bus structure and pipeline technique, is popular in the field ofsignal processing. Texas instruments’(TI) C2000series digital signal processors(DSPs) are used in this paper to construct the digital controller for PSD replication of EHST.The concept of distributed computing is adopted to develop the digitalcontroller, which is composed of algorithm computation unit and data acquireunit.The algorithm computation unit is in charge of the shaking control strategycomputation, and the data acquire unit is used to get the driven and feedback signalsof EHST. The dual port RAM (DPRAM) is used to communication between twofunctional units, and the handshake signal is generated by the interrupt arbitrationlogic of DPRAM. The monitor unit of signal processing platform expands DPRAMusing its ISA bus to share data with the DSPs system. The DSPs system softwaredevelopment with C language and assembly language, and intends to use the TI’sDSP library to improve processing speed. National instruments GUI languageLabview is adopted to develop the monitor software. Labview calls the dynamiclinking library (DLL) created by Windows Driver to read from or write to theDPRAM and display the results or adjust the control parameters.
The servo system of EHST is realized by xPc Target Rapid Control Prototyping(RCP) technology, and the vibration controller is realized by the signal processingplatform designed before. The experimental results of PSD replication of EHSTverify the effectiveness of the approaches presented above and the signal processingplatform.
本文是以哈工大电液伺服仿真及试验系统研究所承接的“985工程”二期—冗余驱动的六自由度液压振动系统研究为背景，对液压振动台功率谱密度复现进行理论和实验研究。
液压振动台振动控制系统由液压伺服控制和振动控制组成。液压伺服控制是实现各种振动实验的基础；三参量控制技术是目前使用较为广泛的液压伺服控制技术。液压控制系统阻尼一般很小，通过三参量控制可以提高系统的阻尼比和系统带宽。当基础刚度与液压弹簧刚度相当的条件下，振动台液压位置系统可以近似为二自由度谐振系统，这对发挥液压振动台性能是不利的，并且三参量控制策略的功能也不能充分实现。
液压振动台功率谱密度复现主要包含功率谱密度估计、驱动谱密度修正和驱动信号生成等内容。功率谱密度估计和驱动信号的生成都可使用AR随机过程进行模拟，但是算法依赖于高精度高斯随机噪声的获得。鉴于高斯噪声获得的难度和随机过程模拟精度需要较高的阶次，这些因素将导致功率谱密度均衡时间较长。本文在功率谱密度复现流程中采用非参数化方法中的平均周期图方法来估计振动台响应加速度信号的功率谱密度，且采用谐波拟合法来获得时域驱动信号。功率谱密度均衡过程中需要用到振动系统的阻抗函数来修正驱动功率谱密度，阻抗函数辨识的愈是精确，功率谱密度复现均衡的时间愈短。子带自适应算法用来辨识系统阻抗有着收敛速率高的特点，而且信号分解的子带数愈多，算法收敛愈迅速。在功率谱密度复现系统阻抗辨识中采用子带自适应算法可以获得优越的性能。时间域的余弦调制滤波器组，可以很好的划分信号的频带而且使得不同频带的重叠较小，被广泛的应用于滤波器组理论和实践相关领域中。
基于余弦调制滤波器组的子带自适应算法是将信号分解到带宽相等的子频带内，而由小波分析近年来与滤波器组之间的关系被深刻的揭示出来，论文中将子带自适应辨识的思想扩展至将信号分解到不同带宽的子频带内。基于小波滤波器组的子带自适应算法即是该思想的具体体现，该算法既继承了子带自适应算法的优点又具有自身特点，即其辨识的结果是频率域的系统传递函数。随着小波分析理论的发展，种类繁多的小波基被创造出来，不同的小波基具有不同的正交性、对称性和消失矩等特性。小波基的正交性和对称性质对文章中提出的算法具有重要的意义，小波基的正交性保证信号分解至各个子频带的混叠较小，而小波基的对称性则保证了自适应算法过程中使用的滤波器具有线性的相位。
制约国内振动控制技术快速发展的是数字振动控制器的研制工作远跟不上振动台振动控制策略的理论研究。论文采用美国德州仪器公司（TI）的C2000系列数字信号处理器（DSP）来构建液压振动台功率谱复现的数字振动控制器。数字振动控制器采用分布计算思想将振动控制算法的计算和振动系统驱动和反馈信号的获得分别由算法计算单元与数据采集单元来实现。两个构成单元的核心处理器分别为TMS320F28335和TMS320F2812。算法计算单元和数据采集单元采用双端口RAM（Dual-port RAM,DPRAM）来实现数据共享和控制通讯，通讯信号采用DPRAM的中断逻辑。信号处理系统监控计算机和DSP系统亦采用DPRAM来共享数据，针对监控计算机一方来讲，DPRAM是通过其ISA扩展槽来扩展的。DSP系统采用C语言和汇编混合编程的方式开发控制软件，并有意使用TI公司提供的优化的数字信号处理库函数，充分利用DSP系统的计算资源从而大大提高算法执行速度；而监控单元则采用NI公司LabView图形化语言，来调用基于Windows Driver开发的读写DPRAM的动态联接库，实现计算结果的显示和控制参数的修改。
液压振动台的伺服控制系统采用基于xPc Target的快速原型技术来实现；而振动控制部分采用文中开发的信号处理系统。在此基础上实验验证了文中提出控制策略和开发的数字信号处理系统在液压振动台功率谱密度复现过程中的有效性。
Vibration environment simulation has been broadly used in the fields of theaspects of aeronautics, astronautics, national defense, automobile industry and so on.Now the vibration environment simulation is an important means for measuring andincreasing the reliability of the products. By simulating the vibration environmentexactly that products will be exposed to in use, transform using the vibrationequipment and specified control strategies, faults of product design can be foundearly and provide the information for adjusting the design process.
Upon the background of “985Project” Phase II to develop redundancy-drivenhydraulic vibration system of six degrees of freedom (DOF), which is developed byIEST (Institute of Electro-hydraulic Servo Simulation&Test System) of HarbinInstitute of Technology, the key control methods of power spectral density (PSD)replication through electro-hydraulic shaking table (EHST) has been theoreticallyand experimentally studied in this thesis.
The shaking control system of EHST consists of the servo controller and thevibration controller. The servo controller is the control basic to realize lots ofvibration environment simulation with a digital control loop. Due to the lowfrequency band and small damp ratio of the hydraulic dynamic structure, the ThreeVariable Controller (TVC) is widely introduced in the servo system of EHST toextend the response band and improve the system stability. Given that thefoundation stiffness is similar to the hydraulic spring stiffness, the servo system ofEHST can be equivalent to2degree of freedom resonator system. In this case, thefunction of EHST would be difficult to be realized fully, and the performance ofTVC may be not achieved.
The PSD replication of EHST mainly comprises the estimation of PSD, updateof driven PSD and generation of time-domain drive signal. In the literature, both thePSD estimation of control acceleration and the generation of time domain drivesignal can be accomplished by modern parameter methods. This paper takes theAuto-Regressive (AR) model as typical to describe the use of these numericalsimulation technologies in PSD replication. It is shown that these methods aredependent on the high precise Gaussian random signal. As it is difficult to get the stationary, ergodic and independent Gaussian White Noise, furthermore, the orderof these random processes must be very large to assure the precision of PSDreplication. Because of this, the loop time of PSD replication is increased. In viewof above consideration, this paper adopts the average period-gram method (Welchmethod) which is traditional non-parameter technology to estimate the PSD of theresponse acceleration signal of EHST. Meanwhile, sine-wave fitting is presented togenerate the time-domain drive signal in the flow of PSD replication. Systemimpedance is needed to modify the drive PSD, therefore, the system impedance isestimated more accurate, the loop time of PSD replication is less. To acquire thehigh rate of convergence of frequency response function (FRF) esitmaiton of EHST,subband adaptive system identification algorithm is proposed in this thesis. Thesimulation results show that estimation signal is divided into more bands, the rate ofconvergence of FRF estimation is higher. Cosine-modulated filter banks (CMFB)are time-domain filter banks, and the overlap between different bands is small. Thispaper takes the CMFB as the filter banks in subband adaptive system identificationalgorithm.
The CMFB divide signal into identical bandwidth bands, the interior relationbetween wavelet transforms and filter banks has been unvealed recently. Signaldivided into different bandwidth bands by wavelet transforms is considered in thisthesis. Subband adaptive system identification algorithm based on wavelettransforms not only inherits the properties of that based on identical bandwidthbands signal division, but also has its own features, that is, the results of subbandadaptive system identification based on wavelet transforms is representation infrequency domain. As the development of wavelet theory, lots of wavelet basis areconstructed, which have different characteristics of orthogonality, symmetry andvanishing moment. The orthogonality and symmetry of wavelet basis play vital rolein the algorithm mentioned above, because they guarantee the signal divided intodifferent bands has little overlap and the subband filter banks have the linear phase.The constraint of domestic shking control techonology is that development ofdigital contoller is slower than the theoretical research. which has hardwaremultiplier, Havard bus structure and pipeline technique, is popular in the field ofsignal processing. Texas instruments’(TI) C2000series digital signal processors(DSPs) are used in this paper to construct the digital controller for PSD replication of EHST.The concept of distributed computing is adopted to develop the digitalcontroller, which is composed of algorithm computation unit and data acquireunit.The algorithm computation unit is in charge of the shaking control strategycomputation, and the data acquire unit is used to get the driven and feedback signalsof EHST. The dual port RAM (DPRAM) is used to communication between twofunctional units, and the handshake signal is generated by the interrupt arbitrationlogic of DPRAM. The monitor unit of signal processing platform expands DPRAMusing its ISA bus to share data with the DSPs system. The DSPs system softwaredevelopment with C language and assembly language, and intends to use the TI’sDSP library to improve processing speed. National instruments GUI languageLabview is adopted to develop the monitor software. Labview calls the dynamiclinking library (DLL) created by Windows Driver to read from or write to theDPRAM and display the results or adjust the control parameters.
The servo system of EHST is realized by xPc Target Rapid Control Prototyping(RCP) technology, and the vibration controller is realized by the signal processingplatform designed before. The experimental results of PSD replication of EHSTverify the effectiveness of the approaches presented above and the signal processingplatform.
引文
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[19] http://www.mts.com/ucm/groups/public/documents/library/dev_004858.pdf
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