嵌入式控制器在离心机上地震模拟振动试验中的应用

Application of Embedded Controller in Vibration Test of Earthquake-simulation on Centrifuge

摘要:

为实现在离心机上的高频高量级地震模拟振动试验,以工控机、嵌入式实时控制器、FPGA机箱、数据采集模块等硬件为基础设计了一套地震波再现数字控制系统；通过工控机上的上位机程序实现与用户交互,根据设定的参考地震波形,计算并输出驱动数据给伺服控制系统；同时利用运行于RT上的控制程序以及FPGA底层程序来实现振动台面响应加速度的同步采集,其中采集信号通过DMA FIFO传送给RT,可确保数据不丢点；控制系统利用同步的响应与驱动信号进行系统辨识,在经过几次驱动修正与误差计算的迭代过程后,最终在离心机上振动台面再现出满足试验要求的时域地震波形,振动控制的效果和精度满足系统研制的技术要求。

Abstract:

To achieve the high-frequency vibration test of earthquake-simulation on the Centrifuge, an earthquake-simulation digital control system was designed. The control system included Industrial Personal Computer (IPC), embedded real-time controller, FPGA chassis, data acquisition module and other hardware. The PC program on IPC computed and output driver data for the servo control system. At the same time, Using the RT control program and FPGA underlying program to realize the collection of vibration acceleration response. The acquisition data transmitted by the DMA FIFO to RT, the data was not lost by this way. The control system computed the vibration system transfer function. Finally, the time domain seismic waveform simulated on the centrifuge vibration table meet the test requirements after a few times of correction and iterative arithmetic. And the vibration control precision also satisfied the technical target of the developed equipment.