CN103148162B - Vibration is from steady controlling method, device and system and hoist - Google Patents
Vibration is from steady controlling method, device and system and hoist Download PDFInfo
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- CN103148162B CN103148162B CN201310078110.5A CN201310078110A CN103148162B CN 103148162 B CN103148162 B CN 103148162B CN 201310078110 A CN201310078110 A CN 201310078110A CN 103148162 B CN103148162 B CN 103148162B
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Abstract
The invention discloses a kind of vibration from steady controlling method, device and system and hoist, wherein, described vibration comprises from steady controlling method: the dynamic response signal obtaining each power unit in engineering machinery; Described dynamic response signal is analyzed and identified, obtains system vibrational frequency; Obtain energizing frequency and the position of excitation source during the work of described engineering machinery, determine by the position of described excitation source the described power unit that described excitation source correspondence drives; Judge whether described system vibrational frequency and the described energizing frequency corresponding with it resonate, and when resonating, send adjustment signal, adjustment energizing frequency.Therefore, the present invention can realize detecting in time and eliminating resonance phenomenon in time in engineering machinery.
Description
Technical field
The present invention relates to engineering machinery field, particularly a kind of vibration is from steady controlling method, device and system and be provided with vibration from the hoist of steady control system.
Background technique
Vibration is the motion artifacts that all movable machineries and the engineering structure of bearing dynamic load have.The intrinsic characteristic of machinery and structure and the information of operation conditions is contain in oscillating signal.Vibrational state also embodies the quality that structure is run, as Security and the travelling comfort of the launch vehicles such as vehicle, aerospace equipment, engineering machinery; The ability of the anti-disaster of bridge, dam and other large scale structures and life-span etc.
Therefore, vibration measurement has become one of the most conventional, effective fundamental test means with analyzing, and is engineers and technicians and the scientific research personnel's all basic fundamental means of GPRS and knowledge of indispensability of relevant industries.
But hoist carries under environment in hanging of complexity, easily there is the vibration problems such as large arm shake, revolution shake and luffing shake, time serious, resonance phenomenon can occur.Because resonance can cause the fatigue in advance of component and system, cause its lost of life, even therefore can occur engineering safety problem.
At present, when processing the problem of generation part fatigue damage because of hoist shake, the conventional process mode poor accuracy adopted, reliability are low, cannot apply, and can not carry out multianalysis to the basic reason of fault.
Certainly, there is such technical problem too in other engineering machinery.
Summary of the invention
In view of this, the present invention proposes a kind of vibration from steady controlling method, device and system, can realize the detection to engineering machinery resonance and minimizing resonance.
In addition, whether the present invention also proposes a kind ofly to be provided with vibration from the hoist of steady control system, can detect and having resonance occur and carry out in time adjusting to eliminate resonance.
For achieving the above object, technological scheme of the present invention is achieved in that
On the one hand, the invention provides a kind of vibration from steady controlling method, the method comprises: the dynamic response signal obtaining each power unit in engineering machinery; Described dynamic response signal is analyzed and identified, obtains system vibrational frequency; Obtain energizing frequency and the position of excitation source during the work of described engineering machinery, determine by the position of described excitation source the described power unit that described excitation source correspondence drives; Judge whether described system vibrational frequency and the described energizing frequency corresponding with it resonate, and when resonating, send adjustment signal, adjustment energizing frequency.
Further, in said method, described energizing frequency is analyze in advance to obtain and the frequency of the excitation source stored; Or described energizing frequency is carry out excitation in real time to described excitation source to analyze the frequency of the excitation source obtained.
Further, in said method, described dynamic response signal is the information that can reflect the vibration frequency of described target component.Described dynamic response signal is the signal of Real-time Collection.
Further, in said method, described described dynamic response signal is analyzed and identified, acquisition system vibrational frequency comprises: utilize fft to carry out Analysis of Spectrum to described dynamic response signal, and its spectral characteristic is identified, using vibration frequency maximum for the amplitude that identifies as system vibrational frequency.
The present invention uses system dynamics recognition technology, identifies the system vibrational frequency of hoist when getting on the bus work, and then combine excitation analytical technology, judge the conformity of system vibrational frequency and system incentive frequency, if not in resonance region, so system is normal; If in resonance region, so by control system, adjust system energizing frequency, avoids resonating.
On the other hand, the present invention also provides a kind of vibration from steady control gear, and for engineering machinery, this vibration comprises from steady control gear: dynamic response signal receiving module, can reflect the dynamic response signal of its vibration frequency for receiving power unit in engineering machinery; System vibrational frequency puocessing module, is connected with described signal pickup assembly, for analyzing described dynamic response signal and identify, obtains system vibrational frequency; Energizing frequency analysis module, for by analyzing the detection of excitation source and excitation, the frequency of excitation source and position during recognitive engineering machine work, and described energizing frequency is monitored; Control module, be connected with described system vibrational frequency puocessing module, described energizing frequency analysis module, for judging whether described system vibrational frequency and described energizing frequency resonate, and when resonating, also for sending adjustment signal to described excitation source adjustment energizing frequency.
In addition, the present invention also provides a kind of vibration from steady control system, and for engineering machinery, this vibration comprises from steady control system: above-mentioned vibration is from steady control gear and the signal pickup assembly that is connected from steady control gear with described vibration; Described signal pickup assembly is arranged on engineering machinery power unit, can reflect the dynamic response signal of its vibration frequency for gathering described power unit.
Further, in said system, described signal pickup assembly is for can the device of dynamic response signal described in Real-time Collection.
Further, in said system, described signal pickup assembly is acceleration transducer
Further, in said system, described energizing frequency be analyze acquisition in advance and be stored in the frequency of the excitation source in described control module; Or described energizing frequency, for encourage analysis by described signal pickup assembly and energizing frequency analysis module in real time to described excitation source, obtains energizing frequency.
Relative to prior art, the present invention has following advantage:
The present invention uses system dynamics recognition technology, by acceleration signal, and the vibration frequency of identification system, and adopt excitation analytical technology, by the monitoring analysis to energizing frequency, obtain energizing frequency.In addition, the present embodiment also adopts control technique, by judging whether resonance, and send adjustment signal when judging to determine to resonate to the execution of system or driving mechanism, change the frequency of excitation, the detection to engineering machinery resonance and adjustment can be realized, thus effectively eliminate resonance phenomenon, extend the life-span of system and parts thereof.
In addition, whether the present invention also proposes a kind ofly to be provided with any one vibration above-mentioned from the hoist of steady control system, can detect and having resonance occur and carry out in time adjusting to eliminate resonance.
Because described vibration has above-mentioned technique effect from steady control system, therefore, be provided with the vibration described in above-mentioned any embodiment, from the hoist of steady control system, also there is same technique effect, repeat no more herein.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic flow sheet that the present invention vibrates from steady controlling method embodiment;
Fig. 2 is that the vibration of the embodiment of the present invention is from steady control principle schematic diagram;
Fig. 3 is the structural representation that the present invention vibrates from steady control system embodiment.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technological scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine mutually.
Basic thought of the present invention is: a kind of vibration of design is from steady controlling method, Apparatus and system, vibrate from steady control system by system vibrational frequency during gathering project machine work, and when certainty annuity vibration frequency and system incentive frequency resonance, adjust system energizing frequency, thus the real-time detection realized engineering machinery resonance and adjustment, to avoid resonating.
Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:
The vibration problem such as large arm shake, revolution shake and luffing shake of carrying and occurring under environment is hung in complexity in order to solve hoist, prevent the generation of resonance phenomenon, in order to avoid the fatigue life in advance of the component caused owing to resonating and system damages, even there is engineering safety problem.
embodiment of the method
As shown in Figure 1, the present embodiment proposes a kind of vibration from steady controlling method, can realize the detection to engineering machinery resonance and adjustment.This vibration comprises the following steps from steady controlling method:
Step 101: the dynamic response signal obtaining each power unit in engineering machinery;
Step 102: analyze dynamic response signal and identify, obtains system vibrational frequency;
Step 103: the energizing frequency and the position that obtain excitation source during the work of described engineering machinery, determines by the position of described excitation source the described power unit that described excitation source correspondence drives;
Step 104: judge whether system vibrational frequency and the energizing frequency corresponding with it resonate, and when resonating, send adjustment signal, adjustment energizing frequency.
In this step, judge whether system vibrational frequency and the energizing frequency corresponding with it resonate, that is judge the conformity of system vibrational frequency and energizing frequency, whether energizing frequency falls into resonance region, if energizing frequency is not in resonance region, so system is normal; If energizing frequency is in resonance region, so by control system, adjust system energizing frequency, to eliminate resonance.
It should be noted that, described resonance region refers to that the frequency range resonated occurs for energizing frequency and system vibrational frequency, such as, frequency when energizing frequency is equal with system vibrational frequency, or the band frequency scope centered by system vibrational frequency, when energizing frequency falls into this scope, namely enter resonance region.
In addition, the frequency range of above-mentioned resonance region mainly affects, as being subject to the restriction of its factor such as system damping, rigidity by the systematic function of engineering machinery actuator as each in hoist.
In above-described embodiment, dynamic response signal is the information of the vibration frequency that can reflect target component.More preferably, dynamic response signal is the signal of Real-time Collection.
In above-described embodiment, described described dynamic response signal is analyzed and identified, acquisition system vibrational frequency comprises: utilize fft to carry out Analysis of Spectrum to described dynamic response signal, and its spectral characteristic is identified, using vibration frequency maximum for the amplitude that identifies as system vibrational frequency.
Wherein, above-mentioned engineering machinery can be hoist, illustrates below as example to vibration from steady controlling method:
Such as, with reference to vibration illustrated in Figure 2 from steady control principle, hoist to actuator as large arm, turntable, vehicle frame and supporting leg arrange acceleration sensor, detect and obtain the dynamic response signal on large arm, turntable, vehicle frame and supporting leg, as acceleration signal.Utilize fft (FFT) to carry out Analysis of Spectrum to acceleration signal, and its spectral characteristic is identified, obtain system vibrational frequency.
In addition, it should be noted that, in the present embodiment, energizing frequency can be carries out excitation analysis to oil hydraulic pump, motor, oil cylinder and speed reducer equal excitation source in real time, obtains energizing frequency; Energizing frequency also can be frequency that is that analysis in advance obtains and storage excitation source in the control module.By detecting excitation source and encouraging analysis, the frequency of excitation source and position during recognitive engineering machine work, and the kinetic characteristic of actuator is analyzed, obtain the spectral characteristic encouraged, thus obtain energizing frequency.
Therefore, the present embodiment uses system dynamics recognition technology, identifies the system vibrational frequency of hoist when getting on the bus work, then excitation analytical technology is combined, judge the conformity of system vibrational frequency and system incentive frequency, if not in resonance region, so system is normal; If in resonance region, so by control system, adjust system energizing frequency, to eliminate resonance.Therefore, the present embodiment can realize detecting in time and eliminating resonance phenomenon in time in engineering machinery.
Preferably, in said method, described energizing frequency is analyze in advance to obtain and the frequency of the excitation source stored; Or described energizing frequency is carry out excitation in real time to described excitation source to analyze the frequency of the excitation source obtained.Like this, the present embodiment can realize to engineering machinery resonance real-time detection and adjustment.
Such as, on the basis of previous examples, also acceleration transducer can be set up, to carry out Real-Time Monitoring to energizing frequency.
Like this, the energizing frequency of Real-time Obtaining and system vibrational frequency can compare by the present embodiment, and in the two conformity, if resonated, then by control system pro-active intervention actuator, such as, energizing frequency is finely tuned, change speed, amplitude etc. that it runs, to eliminate resonance.Now, control system not exclusively controls by operator.In addition, if energizing frequency does not fall into resonance region, then represent and do not resonate, now normally, need not carry out vibrating from the steady adjustment controlled.
device embodiment
With reference to Fig. 3, it illustrates the structure of vibration from steady control gear of the present embodiment, the vibration of the present embodiment can realize detecting engineering machinery resonance and adjusting from steady control gear.As shown in Figure 3, this vibration is used for engineering machinery from steady control gear, and this vibration comprises from steady control gear: dynamic response signal receiving module, system vibrational frequency puocessing module, energizing frequency analysis module and control module.
In the present embodiment, dynamic response signal receiving module can reflect the dynamic response signal of its vibration frequency for receiving power unit in engineering machinery.System vibrational frequency puocessing module is connected with signal pickup assembly, for analyzing dynamic response signal and identifying, obtains system vibrational frequency.Energizing frequency analysis module is used for by analyzing the detection of excitation source and excitation, the frequency of excitation source and position during recognitive engineering machine work, and monitors energizing frequency.Control module is connected with system vibrational frequency puocessing module, energizing frequency analysis module, for judging whether system vibrational frequency and energizing frequency resonate, and when resonating, also adjusts energizing frequency for sending adjustment signal to excitation source.
The present embodiment solves jitter problem in essence from resonance, use system dynamics recognition technology, identify the system vibrational frequency of hoist when getting on the bus work, then excitation analytical technology is combined, identify system incentive source position when getting on the bus work and frequency, and judge the conformity of system vibrational frequency and system incentive frequency, if not in resonance region, then system is normal; If in resonance region, then by control system, adjust system energizing frequency, to eliminate resonance.Therefore, the present embodiment can realize detecting in time and eliminating resonance phenomenon in time in engineering machinery.
In addition, the present invention also proposes a kind of vibration in another embodiment from steady control system, and this vibration is used for engineering machinery from steady control system.
As shown in Figure 3, it illustrates vibration from the structure of steady control system embodiment, this vibration comprises from steady control system: the vibration described in above-described embodiment from steady control gear and with vibrate the signal pickup assembly be connected from steady control gear; Wherein, signal pickup assembly is arranged on engineering machinery power unit, can reflect the dynamic response signal of its vibration frequency for gathering power unit.
It should be noted that, above-mentioned vibration is in steady control system, energizing frequency can be and encourages analysis in real time to oil hydraulic pump, motor, oil cylinder and speed reducer equal excitation source, obtain energizing frequency, such as by described signal pickup assembly and energizing frequency analysis module, in real time analysis is encouraged to described excitation source, obtain energizing frequency.Optionally, in the present embodiment, energizing frequency also can be frequency that is that analysis in advance obtains and storage excitation source in the control module.
Preferably, above-mentioned vibration is in steady control system, and signal pickup assembly is can the device of Real-time Collection dynamic response signal.More preferably, signal pickup assembly is acceleration transducer.
It is pointed out that the present embodiment uses system dynamics recognition technology, by acceleration signal, the vibration frequency of identification system; Further, the present embodiment also adopts excitation analytical technology, by the monitoring analysis to excitation, obtains energizing frequency.
In addition, the present embodiment also adopts control technique, by judging whether resonance, and send adjustment signal when judging to determine to resonate to the execution of system or driving mechanism, change the frequency of excitation, the detection to engineering machinery resonance and adjustment can be realized, thus effectively eliminate resonance phenomenon, extend the life-span of system and parts thereof.
Here, the present embodiment vibration shown in composition graphs 2 and Fig. 3 is from the principle surely controlled and vibrate from steady control system, is described further the embodiment of this vibration from steady control system:
Such as, large arm, turntable, vehicle frame and supporting leg install acceleration transducer, gather and real-time add large-signal, then by fft, obtain corresponding spectral characteristic, identify the vibration frequency that amplitude is maximum, i.e. system vibrational frequency.In conjunction with the excitation analysis result to oil hydraulic pump, motor, oil cylinder and speed reducer, i.e. energizing frequency.The conformity of both judgements, if energizing frequency is not in resonance region, so system is normally run; If in resonance region, so by control system, send adjustment signal instruction, change the frequency of excitation, avoid resonance phenomenon occurs.
Whether in addition, embodiments of the invention also propose a kind ofly to be provided with the hoist of the vibration described in above-mentioned any embodiment from steady control system, can detect and having resonance occur and carry out in time adjusting to eliminate resonance.
Because described vibration has above-mentioned technique effect from steady control system, therefore, be provided with the vibration described in above-mentioned any embodiment, from the hoist of steady control system, also there is same technique effect, repeat no more herein.
Obviously, those skilled in the art should be understood that, above-mentioned of the present invention each module or each step can realize with general computing device, they can concentrate on single computing device, or be distributed on network that multiple computing device forms, alternatively, they can realize with the executable program-code of computing device, thus, they can be stored and be performed by computing device in the storage device, or they are made into each integrated circuit module respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.Described storage device, as: ROM/RAM, magnetic disc, CD etc.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. vibration is from a steady controlling method, and it is characterized in that, the method comprises:
Obtain the dynamic response signal of each power unit in engineering machinery;
Described dynamic response signal is analyzed and identified, obtains system vibrational frequency;
Obtain energizing frequency and the position of excitation source during the work of described engineering machinery, determine by the position of described excitation source the described power unit that described excitation source correspondence drives;
Judge whether described system vibrational frequency and the described energizing frequency corresponding with it resonate, and when resonating, send adjustment signal, adjustment energizing frequency.
2. vibration according to claim 1 is from steady controlling method, it is characterized in that,
Described energizing frequency is analyze in advance to obtain and the frequency of the excitation source stored; Or,
Described energizing frequency is carry out excitation in real time to described excitation source to analyze the frequency of the excitation source obtained.
3. vibration according to claim 1 and 2 is from steady controlling method, it is characterized in that, described dynamic response signal is the information of the vibration frequency that can reflect target component, and described dynamic response signal is the signal of Real-time Collection.
4. vibration according to claim 3 is from steady controlling method, it is characterized in that, describedly analyzes described dynamic response signal and identifies, obtains system vibrational frequency and comprises:
Utilize fft to carry out Analysis of Spectrum to described dynamic response signal, and its spectral characteristic is identified, using vibration frequency maximum for the amplitude that identifies as system vibrational frequency.
5. vibration is from a steady control gear, for engineering machinery, it is characterized in that, comprising:
Dynamic response signal receiving module, can reflect the dynamic response signal of its vibration frequency for receiving power unit in engineering machinery;
System vibrational frequency puocessing module, is connected with described signal pickup assembly, for analyzing described dynamic response signal and identify, obtains system vibrational frequency;
Energizing frequency analysis module, for by analyzing the detection of excitation source and excitation, the frequency of excitation source and position during recognitive engineering machine work, and described energizing frequency is monitored;
Control module, be connected with described system vibrational frequency puocessing module, described energizing frequency analysis module, for judging whether described system vibrational frequency and described energizing frequency resonate, and when resonating, also for sending adjustment signal to described excitation source adjustment energizing frequency.
6. vibration is from a steady control system, for engineering machinery, it is characterized in that, comprising: vibration as claimed in claim 5 is from steady control gear and the signal pickup assembly that is connected from steady control gear with described vibration;
Wherein, described signal pickup assembly is arranged on engineering machinery power unit, can reflect the dynamic response signal of its vibration frequency for gathering described power unit.
7. vibration according to claim 6 is from steady control system, it is characterized in that, described signal pickup assembly is for can the device of dynamic response signal described in Real-time Collection.
8. the vibration according to claim 6 or 7, from steady control system, is characterized in that, described signal pickup assembly is acceleration transducer.
9. vibration according to claim 6 is from steady control system, it is characterized in that,
Described energizing frequency be analyze acquisition in advance and be stored in the frequency of the excitation source in described control module; Or,
Described energizing frequency, for encourage analysis by described signal pickup assembly and energizing frequency analysis module in real time to described excitation source, obtains energizing frequency.
10. a hoist, is characterized in that, is provided with vibration as described in any one of claim 6 to 9 from steady control system.
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| DE102017001877A1 (en) * | 2017-02-27 | 2018-08-30 | Liebherr-Werk Nenzing Gmbh | Method for detecting obstacles during operation of a vibrating hammer |
| CN109709888B (en) * | 2018-12-29 | 2021-08-17 | 浙江日鼎涂装科技有限公司 | Automatic damping method for spraying system |
| CN109862243B (en) * | 2019-01-31 | 2020-10-09 | 维沃移动通信有限公司 | Terminal device and control method of terminal device |
| CN112161699A (en) * | 2020-08-24 | 2021-01-01 | 河南科技大学 | Resonance monitoring system and method for unmanned automobile |
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| EP0884502A2 (en) * | 1997-06-13 | 1998-12-16 | Nissan Motor Company, Limited | Active vibration reducing control apparatus and method applicable to vehicular active engine mount |
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| EP0884502A2 (en) * | 1997-06-13 | 1998-12-16 | Nissan Motor Company, Limited | Active vibration reducing control apparatus and method applicable to vehicular active engine mount |
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