CN102410436B - Bearing self-lubricating method and device for feedback control based on rotary encoder - Google Patents
Bearing self-lubricating method and device for feedback control based on rotary encoder Download PDFInfo
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- CN102410436B CN102410436B CN201110310524.7A CN201110310524A CN102410436B CN 102410436 B CN102410436 B CN 102410436B CN 201110310524 A CN201110310524 A CN 201110310524A CN 102410436 B CN102410436 B CN 102410436B
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Abstract
The invention relates to the technical field of self-lubrication of a shaft system structure, in particular to a self-lubricating method and device for feedback control and measurement of the rotating speed of a main shaft based on a rotary encoder by taking a bearing as support. The closed loop control method is adopted for real-time measurement of the rotating speed of the main shaft base on the rotary encoder according to the rotating speed change of the main shaft caused by bearing lubrication. The bearing lubrication is identified as a feedback signal, the rotating angle of a stepping motor is controlled according to the relationship between the oil injection volume and the rotating angle of the stepping motor, so as to further control an automatic oil injector for injection of the lubricating oil. The device has the characteristics of simple structure, convenient manufacturing, low cost, high measuring accuracy, independent software design, good C program extensibility based on 51 single chip microcomputer and convenient transplantation, etc.
Description
Technical field
The present invention relates to the self-lubricated technical field of shafting structure, specifically refer to a kind ofly based on rotating coder, spindle speed be measured, carry out feedback control and take self-lubricated method and the device thereof of bearing as supporting.
Background technique
At present, the lubricated of shafting structure is mainly by the bearing of supporting axle system is carried out to oiling realization, existing bearing automatic oiling device, can set through artificial, make lubricating cup regularly, quantitatively to bearing oiling, thereby reach lubricated effect, such oiling mode belongs to open loop control mode, there is all shortcomings not too accurately of oiling time and oil filling amount, and may cause oiling or short oily phenomenon.Oiling too much causes unnecessary waste, and underpriming may cause bearing lubrication degree to decline, and causes wearing and tearing.
Summary of the invention
The object of the invention is to overcome the disappearance and the deficiency that in above-mentioned prior art, exist, propose a kind of bearing automatic lubricating method based on spindle speed signal feedback.The present invention adopts closed loop control method, according to bearing lubrication degree, cause spindle speed situation of change, by to the rotating speed of main shaft being detected in real time with rotating coder, accordingly bearing lubrication degree is identified, using this as feedback signal, for controlling self oil feeder, be lubricated in time oily filling.
Groundwork principle summary of the present invention (as shown in Figure 1)
One, according to spindle speed, estimate the relation of bearing lubrication degree
Based on spindle speed and bearing lubrication degree, between them, have the relation that can express by mathematical model, its mathematical model can observe the data of spindle speed and bearing lubrication degree set up by experiment, when bristle resiliently deformable is little, between stiction and rotating speed, there is proportional relation,
F(k)＝α+βv(k) (1)
Wherein, α, β is coefficient, v is rotating speed (rad/s).
And in the situation that rotating speed is relatively constant, lubricity and stiction size are inversely proportional to, lubricity is low, and stiction is large.
Utilize fuzzy curve-fitting method to set up this model, to set up the relation of rotating speed and lubricity,
s(k)＝f(s(k-1)，v(k-1)) (2)
Wherein, S is Lubrication Film Thickness (μ m), reflection lubricity, and f (.) represents a kind of mapping relations of input output.This shows that it is a dynamic process that oil slick thickness changes, and current time oil slick thickness is relevant with previous moment oil slick thickness and velocity variations.
Two, about the identification of bearing lubrication situation
While entering stable state according to rotating speed operation, if in the situation that other main operating conditionss are constant, under given input; if now survey rotating speed, there is certain variation with the original rotating speed of surveying; shut down, measure now oil slick thickness, record respectively rotating speed and oil slick thickness measured value (data).
And then rerun, if rotating speed enters after stable state, find, in given input and the constant situation of other operating conditionss, now to survey tachometer value and differ from former measured value, repeat above-mentioned steps, obtain corresponding rotating speed and oil slick thickness measured value (data).
Three,, according to obtain to obtain rotating speed and oil slick thickness survey data, by fuzzy curve-fitting method, set up fuzzy relation mathematical model:
While reaching stable state by measuring bearing rotation speed change, measure corresponding oil slick thickness, owing to measuring oil slick thickness, cannot carry out online, so carry out off-line measurement, at this moment the data that gather, can pass through fuzzy curve-fitting method, set up the function relation between oil slick thickness and rotating speed.
If the minimum and maximum value of rotating speed is respectively v
maxand v
min, the fuzzy variable of rotating speed conversion can be by
obtain, and oil slick thickness also can be established minimum and maximum one-tenth-value thickness 1/10 and is respectively s
maxand s
min, the fuzzy variable of oil slick thickness conversion can be by
obtain, this fuzzy matching relation is:
S(k)＝Int(aS(k-1)+(1-a)V(k-1)) (3)
In the change curve of describing at formula (3), wherein 0 < a < 1 is Weighting factor, and Int (.) is rounding operation, thereby obtains the relation between oil slick thickness and rotating speed.
Four, described according to fuzzy control principle, be lubricated degree blur estimation and oil filling amount fuzzy decision
According to formula (3), can estimate oil slick thickness, be degree of lubrication S (k), then according to lubricated operating experience, determine oiling scale (angle that the corresponding stepper motor rotates) M (k) of oil gun, wherein membership function is got trigonometric function, and its control law is:
If S(k)＝PB then M(k)＝Z else
If S(k)＝PM then M(k)＝S else
If S(k)＝PS then M(k)＝M else
If S(k)＝Z then M(k)＝B.
Wherein, PB, PM, PS, Z represent respectively honest, center, just little and zero; It is large, medium and small, zero that BMSZ represents respectively.
According to membership function, obtain corresponding control rule table:
| T f | PB | PM | PS | Z |
| M | Z | S | M | B |
Thereby according to oil slick thickness blur estimation amount, table look-up and obtain corresponding fuzzy oil filling amount, process weighted mean method:
Thereby carry out reverse gelatinization, obtain oil filling amount accurately, wherein
for degree of membership value, M
ifor with
corresponding fuzzy oiling value.
Five, finally pass through
θ(k)＝Km(k) (5)
Obtain corresponding stepper motor angular control signal.
The device general introduction of the inventive method
One, with gear train, rotating coder is connected with main shaft, in real time spindle speed signal is gathered.
Two, by single-chip microcomputer according to spindle speed signal, according to fuzzy control principle, through fuzzy conversion, make it to become fuzzy quantity, through fuzzy relation computing, obtain current bearing degree of lubrication estimated value, then carry out fuzzy decision, decision oil filling amount is carried out real-time feedback control to the stepper motor of oil gun.
Three, by spindle speed, detect, realize bearing automatic oiling.
Four, according to different bearings, change oiling and set, guarantee that bearing obtains in time, accurate oil injecting lubricating.
The main composition of apparatus of the present invention
Control circuit of the present invention is graded and forms with data transfer part by rotating coder loop, main control part, feedback control part.Take rotating coder as motor speed detector, MCS-51 series monolithic is control circuit main control MCU, because rotating coder needs power supply separately, if it is provided with to 5V voltage, again because it is output as digital pulse signal, therefore can directly be connected with single-chip microcomputer, by single-chip microcomputer judgement rotation speed change situation, thereby further carry out feedback control.Further improve the utilization ratio of fluid, also improved automaticity and the reliability of bearing-lubricating mechanism simultaneously.
Described rotating coder circuit, rotating coder is selected the E30S-360-3-2 of Autonics company; If two gears that rotating coder and main shaft are 1: 1 by the number of teeth link together, main shaft revolves to turn around and can represent with 360 pulses;
Described main control circuit, main control MCU is MCS-51 series monolithic AT89S52;
Described feedback control circuit, comprises by the stepper motor driving circuit of controlling oil gun work and forming, and selects high-voltage great-current, and controllable high-power device Darlington transistor battle array drives chip ULN2003; In addition, in order to make feedback control have a LED display section for effect intuitively;
Described data transmission circuit, in view of first normal tach signal being gathered, adopts RS232 serial communication interface, sets up the data transmission circuit of communicating by letter between single-chip microcomputer and host computer.
Advantage of the present invention
Adopt the mode of closed loop control, improve control accuracy;
By rotating coder, spindle speed is carried out to Real-Time Monitoring, the relational model according between spindle speed and bearing lubrication degree, utilizes fuzzy control technology, adjusts the adding amount of lubricant oil, gives in time bearing charging-up lubricant oil, improves lubricant oil utilization ratio.
Accompanying drawing explanation
Fig. 1 the present invention is based on the bearing self-lubricating method theory diagram that rotating coder carries out feedback control;
Fig. 2 the present invention is based on the bearing self-lubricating method main flow block diagram that rotating coder carries out feedback control;
Fig. 3 the present invention is based on the bearing self-lubricating method interruption FB(flow block) that rotating coder carries out feedback control.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described
A kind of bearing self-lubricating method (as shown in accompanying drawing 2,3) that carries out feedback control based on rotating coder of the present invention, its feature comprises:
A. according to spindle speed, estimate the relation of bearing lubrication degree;
B. the identification of bearing lubrication degree in real time;
C. according to obtain to obtain rotating speed and oil slick thickness survey data, by fuzzy approximating method, set up fuzzy relation mathematical model;
D. according to fuzzy control principle, carry out bearing lubrication degree blur estimation and oil filling amount fuzzy decision;
E. according to the relation between oil filling amount and stepper motor angle of swing, the corner of control step motor, and then drive oil gun to inject corresponding lubricants capacity.
The present invention, described A. estimates the relation of bearing lubrication degree according to spindle speed:
Based on spindle speed and bearing lubrication degree, between them, have the relation that can express by mathematical model, its mathematical model can observe the data of spindle speed and bearing lubrication degree set up by experiment, when bristle resiliently deformable is little, between stiction and rotating speed, there is proportional relation,
F(k)＝α+βv(k) (1)
Wherein, α, β is coefficient, v is rotating speed (rad/s).
And in the situation that rotating speed is relatively constant, lubricity and stiction size are inversely proportional to, lubricity is low, and stiction is large;
Utilize fuzzy curve-fitting method to set up this model, to set up the relation of rotating speed and lubricity,
T(k)f(T＝f(T(k-1)，v(k-1)) (2)
Wherein, T is Lubrication Film Thickness μ m, reflection lubricity, and f (.) represents a kind of mapping relations of input output, shows that it is a dynamic process that oil slick thickness changes, current time oil slick thickness is relevant with previous moment oil slick thickness and velocity variations;
The identification of the real-time bearing lubrication degree of described B.:
While entering stable state according to rotating speed operation, if in the situation that other main operating conditionss are constant, under given input, if now survey rotating speed, there is certain variation with the original rotating speed of surveying, shut down, measure now oil slick thickness, record respectively rotating speed and oil slick thickness survey data;
And then rerun, if rotating speed enters after stable state, find, in given input and the constant situation of other operating conditionss, now to survey tachometer value and differ from former measured value, repeat above-mentioned steps, obtain corresponding rotating speed and oil slick thickness survey data;
Described C., according to obtained rotating speed and oil slick thickness survey data, by fuzzy approximating method, sets up fuzzy relation mathematical model:
While reaching stable state by measuring bearing rotation speed change, measure corresponding oil slick thickness, owing to measuring oil slick thickness, cannot carry out online, so carry out off-line measurement, at this moment the data that gather, can pass through fuzzy curve-fitting method, set up the function relation between oil slick thickness and rotating speed:
If the minimum and maximum value of rotating speed is respectively v
maxand V
min, the fuzzy variable of rotating speed conversion can be by
obtain, and oil slick thickness also can be established minimum and maximum one-tenth-value thickness 1/10 and is respectively T
maxand T
min, the fuzzy variable of oil slick thickness conversion can be by
obtain, this fuzzy matching relation is:
T
f(k)＝Int(aS(k-1)+(1-a)V(k-1)) (3)
In the change curve of describing at formula (3), wherein 0 < a < 1 is Weighting factor, and Int (.) is for getting
Whole computing, thus the relation between oil slick thickness and rotating speed obtained;
Described D., according to fuzzy control principle, is lubricated degree blur estimation and oil filling amount fuzzy decision:
According to formula (3), can estimate oil slick thickness, i.e. degree of lubrication T
f(k), then according to lubricated operating experience, determine the oiling scale of oil gun, the angle M (k) that its corresponding stepper motor rotates, wherein, membership function is got trigonometric function, and its control law is:
If T
f(k)＝PB then M(k)＝Z else
If T
f(k)＝PM then M(k)＝S else
If T
f(k)＝PS then M(k)＝M else
If T
f(k)＝Z then M(k)＝B.
Wherein, PB, PM, PS, Z represent respectively honest, center, just little and zero; It is large, medium and small, zero that BMSZ represents respectively.
According to membership function, obtain corresponding control rule table:
| T f | PB | PM | PS | Z |
| M | Z | S | M | B |
Thereby according to oil slick thickness blur estimation amount, table look-up and obtain corresponding fuzzy oil filling amount, process weighted mean method:
Thereby carry out reverse gelatinization, obtain oil filling amount accurately, wherein
for degree of membership value, M
ifor with
corresponding fuzzy oiling value.
Described E. finally passes through
θ(k)＝Km(k) (5)
Obtain corresponding stepper motor angular control signal.
The present invention adopts a kind of feed back control system of realizing bearing self-lubricating method based on rotating coder, is characterized in, control circuit comprises rotating coder loop, main control part, feedback control part and tcp data segment;
Rotating coder circuit
Rotating coder is selected the E30S-360-3-2 of Autonics company.This rotating coder hardware circuit is simple, signals collecting speed is fast, and the precision of 360 lines is enough to meet the needs that FUZZY ALGORITHMS FOR CONTROL regulates.If two gears that rotating coder and main shaft are 1: 1 by the number of teeth link together, main shaft revolves to turn around and can represent with 360 pulses.Therefore the number of pulses that in certain hour, MCU accumulator obtains can be used for representing rotating speed, and can be directly as controller parameter.
Main control circuit
Main control MCU is MCS-51 series monolithic AT89S52.Single-chip microcomputer includes the erasable EPROM of 8K byte, the RAM of 256 bytes, and 32 I/O mouth lines, 3 16 bit timing counters, 16 vectorial the two poles of the earth interrupt structure, the resources such as 1 full duplex serial ports, and support online download function.32 I/O mouths are any in control circuit easily need to be by monolithic processor controlled pin.
Meanwhile, in order to strengthen the stability of system, system also comprises power-down data protection circuit, and power down protection partly adopts AT24C02 to realize.AT24C02 is a 2K bit serial CMOS type EEPROM who follows 12C bus protocol, 256 bytes are contained in inside, and 16 byte buffer, have simultaneously erasablely (be greater than 10000 times) often, the feature such as writing speed fast (being less than 10ms).
Feedback control circuit
Due to the present invention finally by self oil feeder to bearing charging-up lubricant oil, so feedback control circuit is mainly comprised of the stepper motor driving circuit of controlling oil gun work.Can not direct-driving motor due to single-chip microcomputer, this just need to come extended output current to meet by the electric current of control elements, voltage by power circuit.Select high-voltage great-current, controllable high-power device Darlington transistor battle array drives chip ULN2003.
In addition, in order to make feedback control have an effect intuitively, the special LED display section that increases.When needs carry out oiling and do not need to carry out oiling, light respectively the LED of different colours to show difference.
Data transmission circuit
Because first needs gather normal tach signal, therefore set up the data transmission circuit that single-chip microcomputer is communicated by letter with upper-position unit.The present invention selects the serial communication circuit with Asynchronous Transfer Mode.Asynchronous communication means transmission speed is lower than synchronous communication mode, but it is simple to have hardware circuit, implement advantage easily, and in general computer, what use is all asynchronous communication serial ports, again because there is a full duplex serial port that function is very strong MCU inside, this serial port has 4 kinds of working methods, baud rate available software arranges, by the timer in sheet, counter produces, receive to send and all can trigger interrupt system, use very convenient, especially when high-speed CPU and low speed CPU communicate, this advantage is more outstanding, apply more extensive, therefore adopt RS232 serial communication interface herein.
In sum, the device of the inventive method has: simple in structure, easily manufactured, with low cost, measuring accuracy is high; Software for Design is independent, and the c program favorable expandability based on 51 single-chip microcomputers is transplanted the features such as convenient.
Claims (2)
1. based on rotating coder, carry out a bearing self-lubricating method for feedback control, it is characterized in that, comprising:
A. according to spindle speed, estimate the relation of bearing lubrication degree;
B. the identification of bearing lubrication degree in real time;
C. according to obtained rotating speed and oil slick thickness survey data, by fuzzy curve-fitting method, set up fuzzy relation mathematical model;
D. according to fuzzy control principle, carry out bearing lubrication degree blur estimation and oil filling amount fuzzy decision;
E. according to the relation between oil filling amount and stepper motor angle of swing, the corner of control step motor, and then drive oil gun to inject corresponding lubricants capacity;
Described A. estimates the relation of bearing lubrication degree according to spindle speed:
Based on spindle speed and bearing lubrication degree, between them, have the relation of expressing by mathematical model, its mathematical model observes the data of spindle speed and bearing lubrication degree set up by experiment, when bearing resiliently deformable is little, between stiction and rotating speed, there is proportional relation,
F(k)＝α+βv(k) (1)
Wherein, α, β is coefficient, v is rotating speed rad/s;
And in the situation that rotating speed is relatively constant, lubricity and stiction size are inversely proportional to, lubricity is low, and stiction is large;
Utilize fuzzy curve-fitting method to set up this model, to set up the relation of rotating speed and lubricity,
T(k)＝f(T(k-1),v(k-1)) (2)
Wherein, T is Lubrication Film Thickness μ m, reflection lubricity, and f (.) represents a kind of mapping relations of input output, shows that it is a dynamic process that oil slick thickness changes, current time oil slick thickness is relevant with previous moment oil slick thickness and velocity variations;
The identification of the real-time bearing lubrication degree of described B.:
While entering stable state according to rotating speed operation, if in the situation that other main operating conditionss are constant, under given input, if now survey rotating speed, there is certain variation with the original rotating speed of surveying, shut down, measure now oil slick thickness, record respectively rotating speed and oil slick thickness survey data;
And then rerun, if rotating speed enters after stable state, find, in given input and the constant situation of other operating conditionss, now to survey tachometer value and differ from former measured value, repeat above-mentioned steps, obtain corresponding rotating speed and oil slick thickness survey data;
Described C., according to obtained rotating speed and oil slick thickness survey data, by fuzzy curve-fitting method, sets up fuzzy relation mathematical model:
While reaching stable state by measuring bearing rotation speed change, measure corresponding oil slick thickness, owing to measuring oil slick thickness, cannot carry out online, so carry out off-line measurement, at this moment the data that gather, by fuzzy curve-fitting method, set up the function relation between oil slick thickness and rotating speed:
If the minimum and maximum value of rotating speed is respectively v
maxand v
min, the conversion of the fuzzy variable of rotating speed is pressed
obtain, and oil slick thickness also can be established minimum and maximum one-tenth-value thickness 1/10 and is respectively T
maxand T
min, the fuzzy variable of oil slick thickness conversion can be by
obtain, this fuzzy matching relation is:
T
f(k)＝Int(aT
f(k-1)+(1-a)V(k-1)) (3)
In the change curve of describing at formula (3), wherein 0<a<1 is Weighting factor, and Int (.) is rounding operation, thereby obtains the relation between oil slick thickness and rotating speed;
Wherein, k is the sampling time;
B
v, A
vand B
s, A
sbe respectively the upper and lower dividing value of speed and oil slick thickness fuzzy quantization;
V is the speed after fuzzy quantization;
T
ffor the oil slick thickness after fuzzy quantization;
M is the fuzzy quantization value of oil filling amount;
M is the accurate oil filling amount that reverse gelatinization obtains;
I is the index of the fuzzy variable of inquiry fuzzy control table gained;
Described D., according to fuzzy control principle, is lubricated degree blur estimation and oil filling amount fuzzy decision:
According to formula (3), estimate oil slick thickness, i.e. degree of lubrication T
f(k), then according to lubricated operating experience, determine the oiling scale M (k) of oil gun, the angle that its corresponding stepper motor rotates, wherein, membership function is got trigonometric function, and its control law is:
If T
f(k)＝PB then M(k)＝Z else
If T
f(k)＝PM then M(k)＝S else
If T
f(k)＝PS then M(k)＝M else
If T
f(k)＝Z then M(k)＝B
Wherein, PB, PM, PS, Z represent respectively honest, center, just little and zero; It is large, medium and small, zero that BMSZ represents respectively;
According to membership function, obtain corresponding control rule table:
Thereby according to oil slick thickness blur estimation amount, table look-up and obtain corresponding fuzzy oil filling amount, process weighted mean method:
Thereby carry out reverse gelatinization, obtain oil filling amount accurately, wherein
for degree of membership value, M
ifor with
corresponding fuzzy oiling value;
Described E. finally passes through
θ(k)＝Km(k) (5)
Obtain corresponding stepper motor angular control signal, wherein K is the scaling factor between oil filling amount and stepper motor angular control signal.
2. realize a device that carries out the bearing self-lubricating method of feedback control based on rotating coder as claimed in claim 1, it is characterized in that, control circuit comprises rotating coder circuit, main control circuit, feedback control circuit and data transmission circuit;
Described rotating coder circuit, rotating coder is selected the E30S-360-3-2 of Autonics company; Two gears that rotating coder and main shaft are 1:1 by the number of teeth link together, and main shaft revolves to turn around and with 360 pulses, represents;
Described main control circuit, main control MCU is MCS-51 series monolithic AT89S52;
Described feedback control circuit, comprises by the stepper motor driving circuit of controlling oil gun work and forming, and selects high-voltage great-current, and controllable high-power device Darlington transistor battle array drives chip ULN2003; In addition, in order to make feedback control have a LED display section for effect intuitively;
Described data transmission circuit, in view of first normal tach signal being gathered, adopts RS232 serial communication interface, sets up the data transmission circuit of communicating by letter between single-chip microcomputer and host computer.
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| CN107034602B (en) * | 2017-03-26 | 2023-05-09 | 浙江越隆缝制设备有限公司 | Embroidery machine and method based on motor-driven multi-head quantitative lubrication |
| CN109027653A (en) * | 2018-10-30 | 2018-12-18 | 郑州奥特科技有限公司 | Lubrication control method and device based on circle number control |
| CN110403436A (en) * | 2019-09-03 | 2019-11-05 | 沈阳堆途科技股份有限公司 | A kind of prayer wheel and its control method |
| CN110759004B (en) * | 2019-12-25 | 2020-03-31 | 常州磐宇仪器有限公司 | Motor boundary determination method and self-adaptive positioning application thereof on sampling needle push rod |
| CN111307451B (en) * | 2020-02-28 | 2022-05-17 | 江苏大学 | Precision-loaded RV reducer performance detection device and method |
| JP7235990B2 (en) * | 2021-01-29 | 2023-03-09 | ダイキン工業株式会社 | Air blower, air conditioner utilization unit/heat source unit, water heater, and air purifier equipped with the air blower |
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| CN101182901A (en) * | 2006-11-15 | 2008-05-21 | 大隈株式会社 | Main-shaft lubrication device |
| CN102032277A (en) * | 2010-11-19 | 2011-04-27 | 上海师范大学 | Temperature-based automatic bearing lubrication method and related device |
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| US9316252B2 (en) * | 2009-08-27 | 2016-04-19 | Aktiebolaget Skf | Method and a system for establishing and executing correct automatic relubrication for a number of bearings |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101182901A (en) * | 2006-11-15 | 2008-05-21 | 大隈株式会社 | Main-shaft lubrication device |
| CN102032277A (en) * | 2010-11-19 | 2011-04-27 | 上海师范大学 | Temperature-based automatic bearing lubrication method and related device |
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