CN103148164A - Target control method and control system of liquid-type on-line autobalance device - Google Patents

Target control method and control system of liquid-type on-line autobalance device Download PDF

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CN103148164A
CN103148164A CN2013100695010A CN201310069501A CN103148164A CN 103148164 A CN103148164 A CN 103148164A CN 2013100695010 A CN2013100695010 A CN 2013100695010A CN 201310069501 A CN201310069501 A CN 201310069501A CN 103148164 A CN103148164 A CN 103148164A
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liquid
under test
equipment under
liquid storage
unbalance
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CN103148164B (en
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潘鑫
吴海琦
高金吉
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Beijing University of Chemical Technology
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Beijing University of Chemical Technology
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Abstract

A target control method of a liquid-type on-line autobalance device comprises the following steps: extracting a frequency doubling signal of measured equipment from the received real-time vibration signals; calculating the unbalance magnitude and phase of the measured equipment by using the frequency doubling signal; converting the unbalance magnitude to distributed data of liquid in a liquid storage chamber when a balancing device offsets the unbalance magnitude, and forming time control amount of liquid transferring in the liquid storage chamber by liquid infusing or gas driving; according to the unbalance magnitude and phase, dividing the time control amount into the control duration of the liquid storage chamber; and outputting a control command based on the control duration of the liquid storage chamber to control the infusing or flowing of liquid in the liquid storage chamber. The control method can offset vibration, and enables the measured equipment to keep accurate dynamic balance during the operation. The invention further comprises a target control system, which enables the vibration value of the measured equipment to be reduced monotonically, and saves the balance time.

Description

Target controlling method and the control system of liquid-type on line auto balancing device
Technical field
The present invention relates to a kind of control system and controlling method, particularly relate to control system and the controlling method of liquid-type automatic balancing arrangement.
Background technique
Rotating machinery is in running, and rotor unbalance is one of its modal fault.For solving such fault, usually need constantly to shut down equipment is carried out dynamic balancing.Traditional dynamic balance method utilizes dynamic balancing machine carry out dynamic balancing or carry out Field Whole-machine Balancing, but two kinds of methods all need spend a large amount of time and manpower, financial resources, uses inconvenience.The on line auto balancing technology is a kind of technology that the equipment parking gets final product online elimination equipment imbalance fault that need not, this technology can not only reduce the vibration that equipment brings because of imbalance in time, rapidly in theory, and can be during the long-term operation of equipment, adjust at any time its non-equilibrium state, equipment is operated under good state of equilibrium always.At present this technology is widely applied in the high-precision grinder field, and main automatic balancing arrangement comprises two kinds of electromechanical and liquid injections.
Two micro motors are equipped with in electromechanical Equilibrator inside, drive 2 mass compensation equilibrium blocks by precise gearing and rotate, and two micro motors sense of rotation and angle respectively all can be controlled by oscillating signal by microcomputer.Such device is fast because of balancing speed, have the aequum of shutdown keeps the advantages such as function; use extensivelyr, but because there are asymmetrical mass block and complicated mechanical transmission mechanism in Equilibrator inside, be not suitable for occasion at a high speed; and because of the high request of this device to machining accuracy, make and make difficulty.
Liquid injection Equilibrator, for example the patent No. is the injection Equilibrator of US3950897, with application number be 201110020818.6 injection on-line dynamic balancing head, by to the Equilibrator liquid storage cylinder of device synchronization rotation in inject appropriate liquid, reach self balancing purpose.Such apparatus structure is simple, is suitable for occasion at a high speed, but balanced capacity reduces with the increase of balance number of times, does not possess to shut down to keep function, and the liquid splash during fluid injection is also influential to environment, the drawbacks limit of these several respects the development of such device.The unavoidable defective that is determined by self structure is all arranged due to existing Equilibrator, limited their use occasion.
For the said structure defective, there is a kind of improved pneumatic liquid formula Equilibrator, the basic functional principle of this device shifts for utilizing the compressed air-driven balancing liquid to flow between sap cavity, during work, Equilibrator and equipment under test synchronous rotary, when the vibration values of equipment under test exceeds allowable value, Equilibrator starts, take pressurized air as power source, driven equilibrium liquid is made controllability and is flowed between liquid storage cylinder through connecting tube, the mode that distributes to change the Equilibrator sole mass, the balance on-line equipment under test is realized the mass balance of equipment under test.Need not equipment under test in equilibrium process and stop, after the vibration values of equipment under test was reduced to below permitted value, Equilibrator stopped action, until the vibration amplitude of equipment under test exceeds standard again.
For example application number is 201110457792.1 pneumatic liquid formula rotor on-line automatic balance final controlling element, as depicted in figs. 1 and 2, mainly formed by Balance disc and air source distributor two-part, on circular Balance disc chassis along the liquid storage cylinder (being liquid storage room) of the uniform fan shape of periphery, in fill equilibrium liquid, Balance disc is with the equipment under test synchronous rotary, and the air source distributor transfixion is used for pressurized air is imported rotary component.The compressed air-driven equilibrium liquid is pressed the assigned direction transfer and is flowed between two relative liquid storage cylinders of position, realize the autobalance of rotation system under test (SUT).
For the control mode of injection or pneumatic liquid formula automatic balancing arrangement, method commonly used is optimizing method at present.Take the injection Equilibrator as example, its basic principle is: first to a certain cavity volume examination jetting liquid, see that the amplitude increase still reduces, increase as amplitude, illustrate that this direction is not right, examination spray liquid storage cylinder changes, in order to the adjacent cavity volume hydrojet of the next one; Reduce as amplitude, explanation has counterbalance effect, continue in this cavity volume hydrojet, and when amplitude becomes large again, then to the adjacent cavity volume hydrojet of the next one.So circulation till meeting the requirements of balance quality always.In the method, do not calculate in advance value and the phase place of amount of unbalance, although simple and easy to do, but operational efficiency is low, and equilibrium time is longer, need to carry out the test solution operation to a plurality of liquid storage cylinders, inevitably there is the phenomenon of repeatedly misadjustment, is unfavorable for the safe operation of equipment.
If Equilibrator is before fill order, value and the phase place of amount of unbalance have been oriented accurately, system can have definite target carry out fluid injection or gas injection operation, compare with above-mentioned optimizing method, not only saved the repeatedly process of examination spray, shortened equilibrium time, make execution efficient higher, and suppress in the process of imbalance fault at this target, the system vibration amplitude descends dullness, has avoided the generation of misadjustment phenomenon.
Summary of the invention
The purpose of this invention is to provide a kind of controlling method, solve the accurately technical problem of the vibration that brings of directed elimination amount of unbalance of liquid-type on line auto balancing device.
Another object of the present invention is to provide a kind of target control system, and in solution liquid-type on line auto balancing device, order, duration and the rotating equipment dynamic equilibrium state of fluid injection or gas injection are difficult to the accurately technical problem of coupling.
The target controlling method of liquid-type on line auto balancing device of the present invention comprises the following steps:
From the real-time oscillating signal that receives, extract a frequency-doubled signal of equipment under test;
Utilize a described frequency-doubled signal to calculate value and the phase place of the amount of unbalance of described equipment under test;
The distributed data of liquid in liquid storage cylinder when the described value of described amount of unbalance is converted to Equilibrator and offsets described amount of unbalance, and form the time controlled quentity controlled variable that liquid injects or gas-powered liquid storage cylinder liquid shifts;
According to value and the phase place of described amount of unbalance, described time controlled quentity controlled variable is decomposed into the control duration of corresponding described liquid storage cylinder;
According to the described control duration output control command of described liquid storage cylinder, control injection or the circulation of liquid in described liquid storage cylinder.
One frequency-doubled signal of described extraction equipment under test carries out tracking filter by the real-time oscillating signal to described reception and obtains;
When the real-time oscillating signal of described reception was the vibration displacement signal, the beat signal of the described equipment under test that comprises in described vibration displacement signal was eliminated by vector method, the steps include:
1) low speed start equipment under test is measured vibration amplitude and the phase place of equipment under test at this moment, is designated as
2) promote the equipment under test rotating speed to working state, measure the corresponding vibration parameter of equipment under test this moment, be designated as
3) equipment under test corresponding vibration parameter poor during two states, the frequency-doubled signal under equipment working state is designated as
Value and the phase place of the amount of unbalance of described equipment under test obtain by influence coefficient method, comprise the following steps:
1) by test mass, measure the influence coefficient of equipment under test, comprise value and the phase place of influence coefficient, be designated as
2) according to a frequency-doubled signal of described equipment under test, obtain value and the phase place of equipment under test amount of unbalance, be designated as M → = A → / K → = M ∠ θ .
When described equipment under test was anisotropy, described test mass adopted the multiple spot test mass, determines the value of influence coefficient and the relation between the test mass angle, is designated as K → = K ∠ φ = f ( θ ) ∠ φ ;
According to a frequency-doubled signal of described equipment under test, draw amount of unbalance place phase place, be designated as
Phase theta is brought in f (θ), draw the influence coefficient under this phase place
When described equipment under test was isotropy, described test mass was some test mass;
When described equipment under test is anisotropy, described multiple spot test mass be preferably 4 test mass, described test mass angle φ is four orthogonal directions.
In described liquid storage cylinder, the time controlled quentity controlled variable of liquid injection or transfer obtains by adaptive method, or the passing ratio Y-factor method Y obtains.
Described time controlled quentity controlled variable is optimized by the by stages mode, is designated as:
T = T 0 , ( T > T 0 ) kT , ( T 0 &GreaterEqual; T &GreaterEqual; T 1 ) 0 , ( T < T 1 ) ;
The control duration that described time controlled quentity controlled variable is decomposed into corresponding described liquid storage cylinder obtains by adopting projection pattern to decompose;
When described liquid storage cylinder is four, phase place corresponding to described liquid storage cylinder center line is respectively 0 °, 90 °, 180 ° and 270 °, the phase place of described unbalance mass, is done sinusoidal projection to the direction of two adjacent liquid storage cylinder center lines, decompose the control duration that described time controlled quentity controlled variable obtains two liquid storage cylinder respective actuators.
Described output control command comprises each described control duration, and the execution sequence of each described control duration, execution sequence or be first short and then long, or for short after first long, or begin simultaneously for length, do not finish simultaneously, or do not begin simultaneously for length, finish simultaneously, or begin simultaneously for length, finish simultaneously.
The target control system of liquid-type on line auto balancing device of the present invention comprises sensor, data acquisition unit, final controlling element, wherein: and also comprise the controller that is formed by data collector, positioning work piece, transducer, distributor and compiler,
Data collector for the real-time oscillating signal that receives equipment under test, extracts a frequency-doubled signal wherein;
Positioning work piece utilizes a described frequency-doubled signal to calculate value and the phase place of the amount of unbalance of described equipment under test;
Transducer, the distributed data of liquid in liquid storage cylinder when the described value of described amount of unbalance is converted to Equilibrator and offsets described amount of unbalance, and form the time controlled quentity controlled variable that liquid injects or gas-powered liquid storage cylinder liquid shifts;
Distributor according to value and the phase place of described amount of unbalance, is decomposed into described time controlled quentity controlled variable the control duration of corresponding described liquid storage cylinder;
Compiler forms corresponding control command output with described control duration, and actuate actuators is controlled injection or the circulation of liquid in described liquid storage cylinder.
Utilize the target control system of described liquid-type on line auto balancing device, control liquid-type on line auto balancing device equipment under test is carried out dynamically balanced controlling method, comprise the following steps:
Influence coefficient is set in step 1, the initialization of target control system;
Step 2, sensor gather the real-time oscillating signal of equipment under test, are sent to controller by data acquisition unit;
Step 3, data collector receive real-time oscillating signal, extract wherein a frequency multiplication composition by correlation filtering, when oscillating signal is displacement signal, eliminate beat signal in a frequency-doubled signal by vector method;
Step 4, positioning work piece obtain value and the phase place of the amount of unbalance of equipment under test according to the influence coefficient of setting by influence coefficient method;
Step 5, transducer utilize value and the phase place of amount of unbalance, by adaptive method or scaling factor method, obtain the master control time that the final controlling element action continues, and the master control time are carried out the by stages optimize;
Step 6, distributor adopt the sinusoidal projection mode according to the phase place of amount of unbalance, are assigned to the corresponding liquid storage cylinder of Equilibrator the master control time, form the control duration of liquid storage cylinder respective actuators;
Step 7, compiler will be converted to control duration, the execution sequence of respective actuators control command output;
Step 8, final controlling element are controlled the action of respective electrical magnet valve;
Step 9, controller repeating step 3 to 8 are until the dynamic balancing process finishes.
Utilize target control system of the present invention, value and the phase place of amount of unbalance that can the dynamic monitoring rotating equipment, generate fast the final controlling element control command, adjust the distribution of liquid in each liquid storage cylinder, offset the vibration that amount of unbalance brings, in equilibrium process, equilibrium liquid progressively approaches to the target liquid storage cylinder, has avoided the generation of misadjustment phenomenon, make dull reduction of vibration values of system under test (SUT), saved equilibrium time.
Target controlling method of the present invention is utilized the oscillating signal of equipment under test, determines phase place and the value of amount of unbalance, generate corresponding control command, control the distribution that final controlling element changes liquid in each liquid storage cylinder, offset vibration, make equipment under test can remain dynamic balancing in operation process.
Below in conjunction with accompanying drawing, embodiments of the invention are described further.
Description of drawings
Fig. 1 is the structural representation of the external end face mount type of a kind of Balance disc pneumatic liquid formula automatic balancing arrangement;
Fig. 2 is the communicating tube structure schematic diagram of the external end face mount type of above-mentioned Balance disc pneumatic liquid formula automatic balancing arrangement;
Fig. 3 is target control system embodiment's of the present invention structural representation;
Fig. 4 is the structural representation of target control system middle controller 03 of the present invention;
Fig. 5 is each the interval curve synoptic diagram of controlling when in target control system middle controller 03 of the present invention, transducer adopts the by stages to optimize;
Fig. 6 is the vibration amplitude recession curve schematic diagram of the expection when in target control system middle controller 03 of the present invention, transducer adopts the by stages to optimize;
Fig. 7 is that in target control system middle controller 03 of the present invention, distributor utilizes sine, the liquid-type Equilibrator with four symmetrical liquid storage cylinders is carried out the schematic diagram of master control time distribution.
Embodiment
As shown in Figure 3, the embodiment of this target control system comprises sensor 01, data acquisition unit 02, controller 03, final controlling element 04,
Sensor 01, the vibrational state when being used for gathering equipment under test B operating mode, the real-time oscillating signal of generation equipment under test B;
Data acquisition unit 02 is used for providing signal transmission passage, transmits real-time oscillating signal;
Controller 03, be used for receiving real-time oscillating signal, locate vibration source according to built-in data processing model, the status data of vibration source is converted to the inhibition data of offsetting amount of unbalance, and will suppress for a change control parameter of liquid distribution in Equilibrator C liquid storage cylinder of data transfer, generate the corresponding signal that drives;
The status data of vibration source comprises value and the phase place of amount of unbalance; The inhibition data of amount of unbalance comprise the inhibition vector of offsetting amount of unbalance, liquid distribution data, and flow of fluid order; The value of amount of unbalance comprises weight and the relevant radii of amount of unbalance usually;
Final controlling element 04 is used for according to drive its actuating mechanism controls gas or flow of fluid, changes the distribution of liquid in Equilibrator C liquid storage cylinder.
Sensor 01 is arranged on the equipment under test B of work condition state, the signal output part of sensor 01 is connected with the signal input part of data acquisition unit 02, the signal output part of data acquisition unit 02 connects the collection signal input end of controller 03, the driving signal output part of controller 03 connects the driving signal input of respective actuators 04, according to the type of liquid-type automatic balancing arrangement, the actuator of final controlling element 04 is connected with air inlet port or the fluid injection port of the corresponding liquid storage cylinder of Equilibrator C.The air compression system A of the liquid-type automatic balancing arrangement of pneumatic liquid balance is comprised of compressed air source unit A1, filtrating equipment A2 and decompressor A3, compressed air source unit A1 is used for air compressing is reached default pressure, filtrating equipment A2 is used for the pressurized air of the impurity acquisition cleaning of removal pressurized air, decompressor A3 is used for adjusting compressed air pressure according to the control signal of controller 03, makes the gas pressure of its input final controlling element 04 reach predefined value; The control signal output terminal of controller 03 connects the control signal input end of decompressor A3.
Sensor 01 adopts displacement transducer or acceleration transducer, measuring position corresponding to dissimilar sensor is also different: when adopting displacement transducer, the rotor that the measuring position should be equipment under test B is near on the part of Equilibrator or Equilibrator and the part of rotor synchronous rotation; When adopting acceleration transducer, the measuring position should be in Equilibrator static part or equipment under test near on the bearing support of Equilibrator.Data acquisition unit 02 adopts adopts card based on the number of PCI or usb bus, also can adopt the number with real time data output function to adopt instrument.The hardware carrier of controller 03 adopts processing unit, single-chip microcomputer, process control machine or embedded system.Final controlling element 04 adopts the two-bit triplet solenoid valve of several corresponding liquid storage cylinder quantity, and when solenoid valve cut off the power supply, electromagnetic valve outlet and atmosphere communicated, and when solenoid valve was switched on, the air inlet port of electromagnetic valve outlet and liquid storage cylinder communicated.Compressed air source unit A1 adopts non-lubricated air compressor or other air-pressure equipment.
The target control system of the present embodiment is controlled pressurized air and is flowed into corresponding liquid storage cylinder by the solenoid valve of opening, drive the interior liquid of liquid storage cylinder to the liquid storage cylinder transfer of correspondence, produce balancing mass, eliminate the vibration of equipment under test B, realization is carried out transient equiliblium to the equipment under test in operating mode, do not need equipment under test to withdraw from work condition state in equilibrium process, dynamic balancing is dynamically adjusted.
As shown in Figure 4, controller 03 is comprised of data collector 031, positioning work piece 032, transducer 033, distributor 034 and compiler 035;
Data collector 031 for the real-time oscillating signal that receives equipment under test B, extracts a frequency-doubled signal (power frequency component) wherein;
Positioning work piece 032 utilizes a frequency-doubled signal to calculate value and the phase place of amount of unbalance; The value of amount of unbalance and phase place consist of the quality vector of amount of unbalance;
Transducer 033, the distributed data of liquid in liquid storage cylinder when the value of amount of unbalance is converted to Equilibrator C and offsets amount of unbalance, and form the time controlled quentity controlled variable that liquid injects or gas-powered liquid storage cylinder liquid shifts;
Distributor 034 according to value and the phase place of amount of unbalance, is decomposed into the time controlled quentity controlled variable control duration of corresponding liquid storage cylinder;
Compiler 035 will be controlled duration and form corresponding control command output, and actuate actuators 04 is controlled injection or the circulation of liquid in described liquid storage cylinder.
Control command comprises the control duration of actuate actuators 04 actuator, and respectively controls the ordinal relation between duration.
The method of data collector 031 employing correlation filtering (claiming again tracking filter) is extracted the frequency multiplication composition in equipment under test B oscillating signal.
When the real-time oscillating signal that receives is the vibration displacement signal, due to equipment under test B beat, when comprising the beat signal of equipment under test (B) in signal, can be influential to a frequency multiplication composition, therefore adopt vector method to eliminate beat to the impact of a frequency multiplication composition, the concrete grammar of vector method is as follows:
(1) low speed start equipment under test B measures vibration amplitude and the phase place of equipment under test B at this moment, is designated as
(2) promote equipment under test B rotating speed to working state, measure the corresponding vibration parameter of equipment under test B this moment, be designated as
(3) equipment under test B corresponding vibration parameter poor during two states, the vibration parameters for actual under equipment working state is designated as
Wherein, : the moments of vibration of measuring under equipment under test low speed;
A 0: the vibration amplitude of measuring under equipment under test low speed;
: the vibration phase of measuring under equipment under test low speed;
: the moments of vibration of measuring under the equipment under test working speed;
A 1: the vibration amplitude of measuring under the equipment under test working speed;
: the vibration phase of measuring under the equipment under test working speed;
: the moments of vibration of reality under the equipment under test working speed;
A: the vibration amplitude of reality under the equipment under test working speed;
: the vibration phase of reality under the equipment under test working speed.
Positioning work piece 032 adopts influence coefficient method to determine value and the phase place of equipment under test amount of unbalance, and the concrete grammar of influence coefficient method is as follows:
(1) by test mass, measure the influence coefficient of equipment under test, comprise value and the phase place of influence coefficient, namely
(2) according to equipment under test B corresponding vibration parameter, obtain value and the phase place of system's amount of unbalance, namely M &RightArrow; = A &RightArrow; / K &RightArrow; = M &angle; &theta; ;
Wherein, : the influence coefficient vector;
K: the amplitude of influence coefficient;
φ: the phase place of influence coefficient;
: the amount of unbalance vector;
M: the value of amount of unbalance;
θ: amount of unbalance institute corresponding phase.
When the equipment under test isotropy, can take photographic fixing to ring Y-factor method Y (test mass), only select an orientation, carry out test mass one time, record the influence coefficient of this equipment on the test mass direction, and think that approx the influence coefficient of other direction is consistent with this influence coefficient.
When the equipment under test anisotropy, adopt photographic fixing to ring Y-factor method Y, only go to locate the position of amount of unbalance with an influence coefficient, can make the error of positioning result greatly increase, and then affect balance quality and the balancing speed of whole Equilibrator.Need to adopt many influence coefficient methods (repeatedly test mass), by test mass repeatedly, determine the function relation between test mass phase place and influence coefficient, after the phase place of definite amount of unbalance place, determine influence coefficient corresponding to this phase place according to this phase place, and then draw the value of amount of unbalance.The concrete grammar of many influence coefficient methods is as follows:
(1) by the multiple spot test mass, determine the relation between influence coefficient K and test mass angle, because equipment under test before test mass is in state of equilibrium, therefore the test mass angle also can be thought the phase theta of amount of unbalance, so can get
(2) according to equipment under test B vibration parameters, draw amount of unbalance place phase place, be designated as
(3) phase theta is brought in f (θ), draw the influence coefficient K under this phase place;
(4) obtain the actual amplitudes M=A/K of unbalance mass;
(5) location unbalance mass,
Wherein, f (θ): the function relation between influence coefficient and phase angle of unbalance.
Many influence coefficient methods can be simplified, and form four influence coefficient methods, namely by four test mass, determine the influence coefficient of four orthogonal directions.During actual the use, by amount of unbalance place phase place, choose approx influence coefficient, obtain amount of unbalance more accurately.
Transducer 033 adopts adaptive method or scaling factor method, the distributed data of liquid in liquid storage cylinder when the amount of unbalance value is converted to Equilibrator C counteracting imbalance, and form the time controlled quentity controlled variable that liquid injects or gas-powered liquid shifts, namely respective actuators is moved the master control time (being the time controlled quentity controlled variable) that continues.
The concrete grammar of proportion of utilization Y-factor method Y is as follows:
Inner by setting Equilibrator C, the mass flow rate q when liquid injection or transfer is converted to the master control time that final controlling element 04 is controlled liquid or gas inject, i.e. T=M/q with amount of unbalance.
Optimize by being carried out the by stages master control time of time controlled quentity controlled variable, can realize that control efficiency promotes.Namely
T = T 0 , ( T > T 0 ) kT , ( T 0 &GreaterEqual; T &GreaterEqual; T 1 ) ) 0 , ( T < T 1 )
Wherein, q: the predefined value of mass flow rate during Equilibrator C mass transfer;
T: the cumulative time that needs each final controlling element action to continue;
T 0: the longest duration of theoretical calculating;
T 1: theoretical calculating is the longest;
K: adjust coefficient.
For the concrete structure of concrete device, typical T for example 0Be made as 4000, k and be made as 0.8, T 1Be made as 10, specifically be expressed as follows:
T = 4000 , ( T > 4000 ) 0.8 &times; T , ( 4000 &GreaterEqual; T &GreaterEqual; 10 ) 0 , ( T < 10 ) .
As shown in Figure 5, the control time is carried out the by stages optimize, the first interval being used for made vibration amplitude be down to fast lower value, belonged to coarse adjustment; Be used between Second Region progressively vibration amplitude being down to below setting value, belong to accurate adjustment; The 3rd interval vibration that is used for ignoring less than setting value.
As shown in Figure 6, optimize by being carried out the by stages master control time, can realize the vibration amplitude recession curve of expecting.
Distributor 034 adopts the mode of projection to decompose the master control time, as utilizes sine, is assigned to each liquid storage cylinder of Equilibrator C the master control time, forms the control duration (being the control time) of each liquid storage cylinder respective actuators.
As shown in Figure 7, the liquid storage cylinder a that a kind of Equilibrator C is four symmetries, liquid storage cylinder b, liquid storage cylinder c, liquid storage cylinder d, the corresponding phase place of the center line of liquid storage cylinder is respectively 0 °, 90 °, 180 ° and 270 °, and the unbalance mass, phase theta is positioned at first quartile.If want to realize master control time T on the angle of θ, only need to be worth to the direction of a, b chamber center line and do projection, obtain respectively opening time Ta, the Tb of a, b chamber correspondence solenoid valve.
In like manner, in the time of can obtaining θ and be positioned at whole circumference arbitrary position, the corresponding relation of cumulative time and each chamber time is as follows:
Wherein, Ta: the opening time of liquid storage cylinder a respective actuators;
Tb: the opening time of liquid storage cylinder b respective actuators;
Tc: the opening time of liquid storage cylinder c respective actuators;
Td: the opening time of liquid storage cylinder d respective actuators.
Compiler 035 is converted to corresponding final controlling element actuating mechanism controls instruction output with the control time of each liquid storage cylinder respective actuators, and control command comprises the final controlling element numbering and controls the parameters such as duration, execution sequence.
A kind of liquid-type Equilibrator for example comprises liquid storage cylinder a, liquid storage cylinder b, liquid storage cylinder c, the liquid storage cylinder d of four symmetries, and the corresponding phase place of the center line of liquid storage cylinder is respectively 0 °, 90 °, 180 ° and 270 °.When the unbalance mass, phase theta is in 0 °, 90 °, 180 ° and 270 ° of four positions, only need to the gas injection of single chamber or fluid injection; When θ is in 45 °, 135 °, 225 ° and 315 ° of four positions, need simultaneously to two chamber gas injection or fluid injections, and two chamber gas injections or the fluid injection time identical.For both of these case, directly carry out getting final product, do not need to distinguish successively.
Except these eight positions, all need two liquid storage cylinder gas injections or fluid injection, there is sequencing, have 5 kinds of schemes: (1) first short and then long; (2) first long rear short; (3) length begins simultaneously, does not finish simultaneously; (4) length does not begin simultaneously, finishes simultaneously; (5) length begins simultaneously, finishes simultaneously.Compare by analysis, this paper thinks that (3) plants the scheme best results, when namely needing two chamber gas injections or fluid injection, the first simultaneously gas injection of two chambeies or fluid injections when required gas injection or when the fluid injection time, short chamber reached requirement, at first stop, continue in another chamber, until the chamber of needed time length also reaches requirement.
Based on above-mentioned consideration, the control command of compiler 035 each output is two, comprises four parameters: the numbering B of the final controlling element that move simultaneously (1) 1With control duration T 1(2) continue the numbering B of the final controlling element of maintenance action 2Control duration T with continuation 2
The span of final controlling element numbering is as shown in the table:
The liquid-type Equilibrator of pneumatic liquid balance as previously mentioned, utilize the present embodiment, when the equipment under test vibration amplitude exceeds predetermined value, controller calculates value and the phase place of required balance counterweight according to the vibration phase of rotary system and the measured value of vibration amplitude, so calculate two groups of liquid storage rooms (4a), (4c) and (4b), equilibrium liquid shift direction and transfer mass separately in (4d).
By the adjusting of control system to solenoid valve (16a), (16b), (16c), (16d) make-and-break time, utilize equilibrium liquid circulation in the compressed air-driven liquid storage room, can reach desirable equilibrium response speed, balance sensitivity degree and balance degree of regulation.
The liquid-type automatic balancing arrangement that injects of liquid as previously mentioned, utilize the present embodiment, when the equipment under test vibration amplitude exceeds predetermined value, controller calculates value and the phase place of required balance counterweight according to the vibration phase of rotary system and the measured value of vibration amplitude, and then calculates the equilibrium liquid quality that needs in corresponding liquid storage room.By the adjusting of control system to actuator's solenoid valve make-and-break time, control the implantation quality of liquid in each liquid storage room, can reach desirable dynamic balancing speed of response, balance sensitivity degree and balance degree of regulation.
Utilize the target control system of aforesaid liquid formula Equilibrator, control the liquid-type Equilibrator equipment under test is carried out dynamically balanced controlling method, comprise the following steps:
Influence coefficient is set in step 1, the initialization of target control system;
Step 2, sensor 01 gather the real-time oscillating signal of equipment under test B, are sent to controller 03 by data acquisition unit 02;
Step 3, data collector 031 receives real-time oscillating signal, extracts wherein a frequency multiplication composition by correlation filtering, when oscillating signal is the vibration displacement signal, eliminates beat signal in a frequency-doubled signal by vector method;
Step 4, positioning work piece 032 obtain value and the phase place of the amount of unbalance of equipment under test B according to the influence coefficient of setting by influence coefficient method;
Step 5, transducer 033 utilize value and the phase place of amount of unbalance, by adaptive method or scaling factor method, obtain the master control time that final controlling element 04 action continues, and the master control time are carried out the by stages optimize;
Step 6, distributor 034 adopt the sinusoidal projection mode according to the phase place of amount of unbalance, are assigned to the corresponding liquid storage cylinder of Equilibrator C the master control time, form the control duration of liquid storage cylinder respective actuators 04;
Step 7, compiler 035 will be converted to control duration, the execution sequence of respective actuators 04 control command output;
Step 8, final controlling element 04 are controlled the action of respective electrical magnet valve;
Step 9, controller 03 repeating step 3 to 8 are until the dynamic balancing process finishes.
Adopt above-mentioned controlling method, can rapidly and efficiently complete the on line auto balancing to equipment under test, solve the major defect in existing control technique.
Above-described embodiment is described the preferred embodiment of the present invention; be not that scope of the present invention is limited; design under the prerequisite of spirit not breaking away from the present invention; various distortion and improvement that those of ordinary skills make technological scheme of the present invention all should fall in the definite protection domain of claims of the present invention.

Claims (10)

1. the target controlling method of a liquid-type on line auto balancing device, is characterized in that, comprises the following steps:
From the real-time oscillating signal that receives, extract a frequency-doubled signal of equipment under test (B);
Utilize a described frequency-doubled signal to calculate value and the phase place of the amount of unbalance of described equipment under test (B);
The distributed data of liquid in liquid storage cylinder when the described value of described amount of unbalance is converted to Equilibrator (C) and offsets described amount of unbalance, and form the time controlled quentity controlled variable that liquid injects or gas-powered liquid storage cylinder liquid shifts;
According to value and the phase place of described amount of unbalance, described time controlled quentity controlled variable is decomposed into the control duration of corresponding described liquid storage cylinder;
According to the described control duration output control command of described liquid storage cylinder, control injection or the circulation of liquid in described liquid storage cylinder.
2. the target controlling method of liquid-type on line auto balancing device according to claim 1, it is characterized in that: a frequency-doubled signal of described extraction equipment under test (B) carries out tracking filter by the real-time oscillating signal to described reception and obtains;
When the real-time oscillating signal of described reception was the vibration displacement signal, the beat signal of the described equipment under test (B) that comprises in described vibration displacement signal was eliminated by vector method, the steps include:
1) low speed start equipment under test (B) is measured vibration amplitude and the phase place of equipment under test (B) at this moment, is designated as
2) promote equipment under test (B) rotating speed to working state, measure the corresponding vibration parameter of equipment under test this moment (B), be designated as
3) equipment under test (B) corresponding vibration parameter poor during two states, the frequency-doubled signal under equipment working state is designated as
3. the target controlling method of liquid-type on line auto balancing device according to claim 1, it is characterized in that: value and the phase place of the amount of unbalance of described equipment under test (B) obtain by influence coefficient method, comprise the following steps:
1) by test mass, measure the influence coefficient of equipment under test (B), comprise value and the phase place of influence coefficient, be designated as
2) according to a frequency-doubled signal of described equipment under test (B), obtain value and the phase place of equipment under test (B) amount of unbalance, be designated as M &RightArrow; = A &RightArrow; / K &RightArrow; = M &angle; &theta; .
4. the target controlling method of liquid-type on line auto balancing device according to claim 3 is characterized in that:
When described equipment under test (B) was anisotropy, described test mass adopted the multiple spot test mass, determines the value of influence coefficient and the relation between the test mass angle, is designated as
According to a frequency-doubled signal of described equipment under test (B), draw amount of unbalance place phase place, be designated as
Phase theta is brought in f (θ), draw the influence coefficient under this phase place
When described equipment under test (B) was isotropy, described test mass was some test mass;
When described equipment under test (B) is anisotropy, described multiple spot test mass be preferably 4 test mass, described test mass angle φ is four orthogonal directions.
5. the target controlling method of liquid-type on line auto balancing device according to claim 1 is characterized in that: in described liquid storage cylinder, liquid injects or the time controlled quentity controlled variable that shifts obtains by adaptive method, or the passing ratio Y-factor method Y obtains.
6. the target controlling method of liquid-type on line auto balancing device according to claim 5, it is characterized in that: described time controlled quentity controlled variable is optimized by the by stages mode, is designated as:
T = T 0 , ( T > T 0 ) kT , ( T 0 &GreaterEqual; T &GreaterEqual; T 1 ) 0 , ( T < T 1 ) .
7. the target controlling method of liquid-type on line auto balancing device according to claim 1, it is characterized in that: the control duration that described time controlled quentity controlled variable is decomposed into corresponding described liquid storage cylinder obtains by adopting projection pattern to decompose;
When described liquid storage cylinder is four, phase place corresponding to described liquid storage cylinder center line is respectively 0 °, 90 °, 180 ° and 270 °, the phase place of described unbalance mass, is done sinusoidal projection to the direction of two adjacent liquid storage cylinder center lines, decompose the control duration that described time controlled quentity controlled variable obtains two liquid storage cylinder respective actuators.
8. the target controlling method of liquid-type on line auto balancing device according to claim 1, it is characterized in that: described output control command comprises each described control duration, with the execution sequence of each described control duration, execution sequence or be first short and then long, or for short after first long, or begin simultaneously for length, do not finish simultaneously, or do not begin simultaneously for length, finish simultaneously, or begin simultaneously for length, finish simultaneously.
9. the target control system of a liquid-type on line auto balancing device, comprise sensor (01), data acquisition unit (02), final controlling element (04), it is characterized in that: also comprise the controller (03) that is formed by data collector (031), positioning work piece (032), transducer (033), distributor (034) and compiler (035)
Data collector (031) for the real-time oscillating signal that receives equipment under test (B), extracts a frequency-doubled signal wherein;
Positioning work piece (032) utilizes a described frequency-doubled signal to calculate value and the phase place of the amount of unbalance of described equipment under test (B);
Transducer (033), the distributed data of liquid in liquid storage cylinder when the described value of described amount of unbalance is converted to Equilibrator (C) and offsets described amount of unbalance, and form the time controlled quentity controlled variable that liquid injects or gas-powered liquid storage cylinder liquid shifts;
Distributor (034) according to value and the phase place of described amount of unbalance, is decomposed into described time controlled quentity controlled variable the control duration of corresponding described liquid storage cylinder;
Compiler (035) forms corresponding control command output with described control duration, and actuate actuators (04) is controlled injection or the circulation of liquid in described liquid storage cylinder.
10. utilize the target control system of the described liquid-type on line auto balancing of claim 9 device, control liquid-type on line auto balancing device equipment under test is carried out dynamically balanced controlling method, it is characterized in that following steps:
Influence coefficient is set in step 1, the initialization of target control system;
Step 2, sensor (01) gather the real-time oscillating signal of equipment under test (B), are sent to controller (03) by data acquisition unit (02);
Step 3, data collector (031) receive real-time oscillating signal, extract wherein a frequency multiplication composition by correlation filtering, when oscillating signal is displacement signal, eliminate beat signal in a frequency-doubled signal by vector method;
Step 4, positioning work piece (032) obtain value and the phase place of the amount of unbalance of equipment under test (B) according to the influence coefficient of setting by influence coefficient method;
Step 5, transducer (033) utilize value and the phase place of amount of unbalance, by adaptive method or scaling factor method, obtain the master control time that final controlling element (04) action continues, and the master control time are carried out the by stages optimize;
Step 6, distributor (034) adopt the sinusoidal projection mode according to the phase place of amount of unbalance, are assigned to the corresponding liquid storage cylinder of Equilibrator (C) the master control time, form the control duration of liquid storage cylinder respective actuators (04);
Step 7, compiler (035) will be converted to control duration, the execution sequence of respective actuators (04) control command output;
Step 8, final controlling element (04) are controlled the action of respective electrical magnet valve;
Step 9, controller (03) repeating step 3 to 8 are until the dynamic balancing process finishes.
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