CN103148164B - 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 PDFInfo
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- CN103148164B CN103148164B CN201310069501.0A CN201310069501A CN103148164B CN 103148164 B CN103148164 B CN 103148164B CN 201310069501 A CN201310069501 A CN 201310069501A CN 103148164 B CN103148164 B CN 103148164B
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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
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 needing constantly to shut down and dynamic balancing is carried out to equipment.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 cost a large amount of time and manpower, financial resources, use inconvenience.On line auto balancing technology is that a kind of parking without the need to equipment gets final product the technology of online elimination equipment imbalance fault, this technology can not only reduce the vibration that equipment brings because of imbalance in time, rapidly in theory, and can during the long-term operation of equipment, adjust its non-equilibrium state at any time, under making equipment operate in good state of equilibrium always.This technology is widely applied in high-precision grinder field at present, and main automatic balancing arrangement comprises electromechanical and liquid injection two kinds.
Two micro motors are equipped with in electromechanical Equilibrator inside, and drive 2 mass compensation equilibrium blocks to rotate by precise gearing, two micro motors respectively sense of rotation and angle all can be controlled by oscillating signal by microcomputer.Such device is because balancing speed is fast, have advantages such as shutting down aequum maintenance function; application is comparatively wide, but has asymmetrical mass block and complicated mechanical transmission mechanism because Equilibrator is inner, is not suitable for occasion at a high speed; and because this device is to the high request of machining accuracy, make to manufacture difficulty.
Liquid injection Equilibrator, the such as patent No. is the injection Equilibrator of US3950897, with the injection on-line dynamic balancing head that application number is 201110020818.6, by injecting appropriate liquid in the Equilibrator liquid storage cylinder rotated with device synchronization, reach self balancing object.Such apparatus structure is simple, be suitable for occasion at a high speed, but balanced capacity reduces with the increase of equilibration times, does not possess to shut down to keep function, and liquid splash during fluid injection also has impact to environment, and the shortcoming of these several respects limits the development of such device.Because existing Equilibrator all has the unavoidable defect determined by self structure, limit their use occasion.
For said structure defect, there is a kind of pneumatic liquid formula Equilibrator of improvement, the basic functional principle of this device to flow transfer for utilizing compressed air-driven balancing liquid 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, the intercropping controllability of driven equilibrium liquid through connecting tube at liquid storage cylinder flows, to change the mode of Equilibrator sole mass distribution, balance on-line equipment under test, realizes the mass balance of equipment under test.Stop without the need to equipment under test in equilibrium process, when the vibration values of equipment under test is reduced to after below permitted value, Equilibrator stops action, until the vibration amplitude of equipment under test exceeds standard again.
Such as application number is the pneumatic liquid formula rotor on-line automatic balance final controlling element of 201110457792.1, as depicted in figs. 1 and 2, primarily of Balance disc and air source distributor two-part composition, the liquid storage cylinder (i.e. liquid storage room) of the circumferentially uniform fan shape of periphery on circular Balance disc chassis, inside fill equilibrium liquid, Balance disc is with equipment under test synchronous rotary, and air source distributor transfixion, for pressurized air is imported in rotary component.Assigned direction transfer flowing pressed by compressed air-driven equilibrium liquid between two liquid storage cylinders that position is relative, realizes the autobalance rotating system under test (SUT).
For the control mode of injection or pneumatic liquid formula automatic balancing arrangement, method comparatively conventional is at present optimizing method.For injection Equilibrator, its basic principle is: first to a certain cavity volume examination jetting liquid, see that amplitude increases or reduces, as amplitude increases, then illustrate that this direction is not right, examination spray liquid storage cylinder changes, in order to the cavity volume hydrojet that the next one is adjacent; As amplitude reduces, then illustrate there is counterbalance effect, continue in this cavity volume hydrojet, until amplitude is when again becoming large, then to the adjacent cavity volume hydrojet of the next one.Circulation like this, till meeting the requirements of balance quality always.In this method, value and the phase place of amount of unbalance is not precalculated, although simple and easy to do, but operational efficiency is low, equilibrium time is longer, needs to carry out test solution operation to multiple liquid storage cylinder, the phenomenon of inevitable existence 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 are oriented accurately, system can have determine target carry out fluid injection or gas injection operation, compare with above-mentioned optimizing method, not only eliminate the process of repeatedly trying to spray, shorten equilibrium time, make execution efficiency higher, and in the process of this targeted inhibition imbalance fault, system vibration amplitude, by monotonic decreasing, avoids the generation of misadjustment phenomenon.
Summary of the invention
The object of this invention is to provide a kind of controlling method, solve liquid-type on line auto balancing device and accurately orientation can not eliminate the technical problem of the vibration that amount of unbalance brings.
Another object of the present invention is to provide a kind of target control system, solves the technical problem that the order of fluid injection or gas injection in liquid-type on line auto balancing device, duration and rotating equipment dynamic equilibrium state are difficult to accurate match.
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 received, extract a frequency-doubled signal of equipment under test;
A described frequency-doubled signal is utilized to calculate value and the phase place of the amount of unbalance of described equipment under test;
The described value of described amount of unbalance is converted to the distributed data of liquid in liquid storage cylinder when described amount of unbalance offset by Equilibrator, and forms liquid and inject or the time controling amount of gas-powered liquid storage cylinder liquid transfer;
According to value and the phase place of described amount of unbalance, described time controling amount is decomposed into the control duration of corresponding described liquid storage cylinder;
Described control duration according to described liquid storage cylinder exports control command, controls injection or the circulation of liquid in described liquid storage cylinder.
One frequency-doubled signal of described extraction equipment under test is by carrying out tracking filter acquisition to the real-time oscillating signal of described reception;
When the real-time oscillating signal of described reception is vibration displacement signal, the beat signal of the described equipment under test comprised in described vibration displacement signal, is eliminated by vector method, the steps include:
1) low speed start equipment under test, measures vibration amplitude and the phase place of now equipment under test, is designated as
2) promote equipment under test rotating speed to working state, measure the corresponding vibration parameter of now equipment under test, be designated as
3) difference of equipment under test corresponding vibration parameter during two states, is 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 are obtained 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
When described equipment under test is anisotropy, described test mass adopts multiple spot test mass, determines the relation between the value of influence coefficient and test mass angle, is designated as
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 is isotropy, described test mass is 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 controling amount of liquid injection or transfer is obtained by adaptive method, or passing ratio Y-factor method Y obtains.
Described time controling amount is optimized by by stages mode, is designated as:
The control duration that described time controling amount is decomposed into corresponding described liquid storage cylinder obtains by adopting projection pattern to decompose;
When described liquid storage cylinder is four, the phase place that described liquid storage cylinder center line is corresponding is respectively 0 °, 90 °, 180 ° and 270 °, the phase place of described unbalance mass, is done sinusoidal projection to the direction of adjacent two liquid storage cylinder center lines, decomposes the control duration that described time controling measures 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 be first long after short, or start for length, terminate time different, or start for when length difference; simultaneously terminate simultaneously, or start for length simultaneously, terminate 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: also comprise the controller be made up of data collector, positioning work piece, transducer, distributor and compiler,
Data collector, for receiving the real-time oscillating signal of 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, is converted to the distributed data of liquid in liquid storage cylinder when described amount of unbalance offset by Equilibrator by the described value of described amount of unbalance, and forms liquid and inject or the time controling amount of gas-powered liquid storage cylinder liquid transfer;
Distributor, according to value and the phase place of described amount of unbalance, is decomposed into the control duration of corresponding described liquid storage cylinder by described time controling amount;
Compiler, described control duration is formed corresponding control command and export, actuate actuators controls 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 and dynamically balanced controlling method is carried out to equipment under test, comprise the following steps:
Step 1, the initialization of target control system, setting influence coefficient;
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 a frequency multiplication composition wherein, when oscillating signal is displacement signal, eliminated the beat signal in a frequency-doubled signal by vector method by correlation filtering;
Step 4, positioning work piece, according to the influence coefficient of setting, obtain value and the phase place of the amount of unbalance of equipment under test 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 final controlling element action continues, and carry out by stages optimization to the master control time;
Step 6, distributor adopt sinusoidal projection mode according to the phase place of amount of unbalance, by the corresponding liquid storage cylinder of master control time devided modulation to Equilibrator, form the control duration of liquid storage cylinder respective actuators;
Control duration to respective actuators, execution sequence are converted to control command and export by step 7, compiler;
Step 8, final controlling element control corresponding solenoid valve action;
Step 9, controller repeat step 3 to 8, until dynamic balancing process terminates.
Utilize target control system of the present invention, can the value of amount of unbalance of dynamic monitoring rotating equipment and phase place, quick generation 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 is to target liquid storage cylinder Step wise approximation, avoids the generation of misadjustment phenomenon, the vibration values dullness of system under test (SUT) is reduced, saves equilibrium time.
Target controlling method of the present invention, utilizes 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.
Accompanying drawing explanation
Fig. 1 is the structural representation of a kind of Balance disc external end face mount type pneumatic liquid formula automatic balancing arrangement;
Fig. 2 is the communicating tube structure schematic diagram of above-mentioned Balance disc external end face mount type pneumatic liquid formula automatic balancing arrangement;
Fig. 3 is the structural representation of target control system embodiment of the present invention;
Fig. 4 is the structural representation of target control system middle controller 03 of the present invention;
Fig. 5 is each range restraint curve synoptic diagram when transducer adopts by stages to optimize in target control system middle controller 03 of the present invention;
Fig. 6 is the vibration amplitude recession curve schematic diagram of expection when transducer adopts by stages to optimize in target control system middle controller 03 of the present invention;
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 to the schematic diagram of master control time devided modulation.
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, for gathering vibrational state during equipment under test B operating mode, generates the real-time oscillating signal of equipment under test B;
Data acquisition unit 02, for providing signal transmission passage, transmits real-time oscillating signal;
Controller 03, for receiving real-time oscillating signal, according to onboard data transaction module location vibration source, the status data of vibration source is converted to the suppression data offsetting amount of unbalance, and by the controling parameters of liquid distribution in suppression data transfer for a change Equilibrator C liquid storage cylinder, generate corresponding drive singal;
The status data of vibration source comprises value and the phase place of amount of unbalance; The suppression data of amount of unbalance comprise the suppression 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, for driving its actuating mechanism controls gas or flow of fluid according to drive singal, 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 collection signal input end of the signal output part connection control device 03 of data acquisition unit 02, the drive singal output terminal of controller 03 connects the driving signal input of respective actuators 04, according to the type of liquid-type automatic balancing arrangement, air inlet port or the fluid injection port of actuator's liquid storage cylinder corresponding to Equilibrator C of final controlling element 04 connect.The air compression system A of the liquid-type automatic balancing arrangement of pneumatic liquid balance is made up of compressed air source unit A1, filtrating equipment A2 and decompressor A3, compressed air source unit A1 is used for air compressing to reach default pressure, filtrating equipment A2 obtains clean pressurized air for the impurity removed in pressurized air, decompressor A3 is used for the control signal adjustment compressed air pressure according to controller 03, makes its gas pressure inputting 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, and the rotor that measuring position should be equipment under test B is in the part or Equilibrator of Equilibrator and the part of rotor synchronous rotary; When adopting acceleration transducer, measuring position to should be in Equilibrator static part or equipment under test on the bearing support of Equilibrator.Data acquisition unit 02 adopts the number of Based PC I or usb bus to adopt card, and the number with real time data output function also can be adopted 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 power-off, electromagnetic valve outlet and air communicate, and when solenoid valves, the air inlet port of electromagnetic valve outlet and liquid storage cylinder communicates.Compressed air source unit A1 adopts non-lubricated air compressor or other air-pressure equipment.
The target control system of the present embodiment controls pressurized air and flows into corresponding liquid storage cylinder by the solenoid valve opened, the liquid in liquid storage cylinder is driven to shift to the liquid storage cylinder of correspondence, produce balancing mass, eliminate the vibration of equipment under test B, realize carrying out transient equiliblium to the equipment under test in operating mode, in equilibrium process, do not need equipment under test to exit work condition state, dynamic balancing dynamic conditioning.
As shown in Figure 4, controller 03 is made up of data collector 031, positioning work piece 032, transducer 033, distributor 034 and compiler 035;
Data collector 031, for receiving the real-time oscillating signal of 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 form the quality vector of amount of unbalance;
Transducer 033, to be converted to when Equilibrator C offsets amount of unbalance the distributed data of liquid in liquid storage cylinder by the value of amount of unbalance, and forms liquid and inject or the time controling amount of gas-powered liquid storage cylinder liquid transfer;
Distributor 034, according to value and the phase place of amount of unbalance, is decomposed into the control duration of corresponding liquid storage cylinder by time controling amount;
Compiler 035, control duration is formed corresponding control command and export, actuate actuators 04 controls injection or the circulation of liquid in described liquid storage cylinder.
Control command comprises the control duration of actuate actuators 04 actuator, and each ordinal relation controlled between duration.
Data collector 031 adopts the frequency multiplication composition in the method extraction equipment under test B oscillating signal of correlation filtering (also known as tracking filter).
When the real-time oscillating signal received is vibration displacement signal, due to equipment under test B beat, when comprising the beat signal of equipment under test (B) in signal, impact can be had on 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 now equipment under test B, is designated as
(2) promote equipment under test B rotating speed to working state, measure the corresponding vibration parameter of now equipment under test B, be designated as
(3) difference of equipment under test B corresponding vibration parameter during two states, is vibration parameters actual under equipment working state, is designated as
Wherein,
: the moments of vibration measured under equipment under test low speed;
A
0: the vibration amplitude measured under equipment under test low speed;
: the vibration phase measured under equipment under test low speed;
: the moments of vibration measured under equipment under test working speed;
A
1: the vibration amplitude measured under equipment under test working speed;
: the vibration phase measured under equipment under test working speed;
: moments of vibration actual under equipment under test working speed;
A: vibration amplitude actual under equipment under test working speed;
: vibration phase actual under equipment under test working speed.
Positioning work piece 032 adopts value and the phase place of influence coefficient method determination 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, value and the phase place of system amount of unbalance is obtained, namely
Wherein,
: influence coefficient vector;
K: the amplitude of influence coefficient;
φ: the phase place of influence coefficient;
: amount of unbalance vector;
M: the value of amount of unbalance;
θ: phase place corresponding to amount of unbalance.
When equipment under test isotropy, can take to determine influence coefficient method (test mass), only select an orientation, carry out a test mass, record the influence coefficient of this equipment on test mass direction, and think that the influence coefficient in other direction is consistent with this influence coefficient approx.
When equipment under test anisotropy, adopt and determine influence coefficient method, only go to the position of locating amount of unbalance with an influence coefficient, the error of positioning result can be made greatly to increase, and then affect balance quality and the balancing speed of whole Equilibrator.Need to adopt many influence coefficient methods (repeatedly test mass), by repeatedly test mass, determine the function relation between test mass phase place and influence coefficient, after determining amount of unbalance place phase place, determine according to this phase place the influence coefficient that this phase place is corresponding, and then draw the value of amount of unbalance.The concrete grammar of many influence coefficient methods is as follows:
(1) by multiple spot test mass, determine the relation between influence coefficient K and test mass angle, because before test mass, equipment under test is in state of equilibrium, therefore test mass angle also can think the phase theta of amount of unbalance, so can obtain
(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) the actual amplitudes M=A/K of unbalance mass, is obtained;
(5) unbalance mass, is located
Wherein, f (θ): the function relation between influence coefficient and phase angle of unbalance.
Many influence coefficient methods can simplify, and form four influence coefficient methods, namely by four test mass, determine the influence coefficient of four orthogonal directions.During actual use, by amount of unbalance place phase place, choose influence coefficient approx, obtain amount of unbalance more accurately.
Transducer 033 adopts adaptive method or scaling factor method, amount of unbalance value is converted to the distributed data of liquid in liquid storage cylinder when Equilibrator C offsets uneven, and form the time controling amount that liquid injects or gas-powered liquid shifts, the master control time (i.e. time controlled quentity controlled variable) that namely respective actuators action is lasting.
The concrete grammar of proportion of utilization Y-factor method Y is as follows:
Inner by setting Equilibrator C, mass flow rate q when liquid injects or shifts, is converted to the master control time that final controlling element 04 controls liquid or gas inject, i.e. T=M/q by amount of unbalance.
By carrying out by stages optimization to the master control time of time controling amount, control efficiency can be realized and promote.Namely
Wherein, the predefined value of mass flow rate during q: Equilibrator C mass transfer;
T: need the cumulative time that each final controlling element action continues;
T
0: the longest duration of theory calculate;
T
1: theory calculate is the longest;
K: regulation coefficient.
For the concrete structure of concrete device, such as typical T
0be set to 4000, k and be set to 0.8, T
1be set to 10, be specifically expressed as follows:
As shown in Figure 5, carry out by stages optimization to the control time, the first interval is used for making vibration amplitude be down to lower value fast, belongs to coarse adjustment; Vibration amplitude is progressively down to below setting value by the second interval being used for, and belongs to accurate adjustment; 3rd interval is for ignoring the vibration being less than setting value.
As shown in Figure 6, by carrying out by stages optimization to the master control time, the vibration amplitude recession curve of expecting can be realized.
Distributor 034 adopts the mode of projection to decompose the master control time, as utilized sine, by each liquid storage cylinder of master control time devided modulation to Equilibrator C, forms the control duration (i.e. control time) of each liquid storage cylinder respective actuators.
As shown in Figure 7, a kind of Equilibrator C is four symmetrical liquid storage cylinder a, liquid storage cylinder b, liquid storage cylinder c, liquid storage cylinder d, and the phase place corresponding to the center line of liquid storage cylinder is respectively 0 °, 90 °, 180 ° and 270 °, and unbalance mass, phase theta is positioned at first quartile.Realize master control time T in the angle of θ if want, only the direction of this value to a, b chamber center line need be projected, obtain opening time Ta, Tb of the corresponding solenoid valve in a, b chamber respectively.
In like manner, can obtain θ when being positioned at whole circumference arbitrary position, the corresponding relation of cumulative time and each chamber time is as follows:
Wherein, the opening time of Ta: liquid storage cylinder a respective actuators;
The opening time of Tb: liquid storage cylinder b respective actuators;
The opening time of Tc: liquid storage cylinder c respective actuators;
The opening time of Td: liquid storage cylinder d respective actuators.
The control time of each liquid storage cylinder respective actuators is converted to corresponding final controlling element actuating mechanism controls instruction and exports by compiler 035, and control command comprises final controlling element numbering and controls the parameter such as duration, execution sequence.
A such as liquid-type Equilibrator, comprise four symmetrical liquid storage cylinder a, liquid storage cylinder b, liquid storage cylinder c, liquid storage cylinder d, the phase place corresponding to the center line of liquid storage cylinder is respectively 0 °, 90 °, 180 ° and 270 °.When 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 perform, 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 starts simultaneously, terminates time different; (4), when length is different, terminate simultaneously; (5) length starts simultaneously, terminates simultaneously.By com-parison and analysis, think that (3) plants scheme works the best, when namely needing two chamber gas injections or fluid injection herein, the first simultaneously gas injection of two chambeies or fluid injections, when required gas injection or fluid injection time short chamber reach requirement, first stop, another chamber is continued, until the chamber of needed time length also reaches requirement.
Based on above-mentioned consideration, the control command that compiler 035 exports at every turn is two, comprises four parameters: the numbering B of the final controlling element of (1) action simultaneously
1with control duration T
1; (2) the numbering B of the final controlling element keeping action is continued
2duration T is controlled 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 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 two groups of liquid storage rooms (4a), (4c) and (4b), the respective shift direction of equilibrium liquid and transfer mass in (4d).
By the adjustment of control system to solenoid valve (16a), (16b), (16c), (16d) make-and-break time, utilize equilibrium liquid circulation in compressed air-driven liquid storage room, desirable equilibrium response speed, balance sensitivity and balance degree of regulation can be reached.
The liquid-type automatic balancing arrangement of liquid injection as previously mentioned, utilize the present embodiment, when 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 needed in corresponding liquid storage room.By the adjustment of control system to actuator's solenoid valve make-and-break time, control liquid to the implantation quality in each liquid storage room, desirable dynamic balancing speed of response, balance sensitivity and balance degree of regulation can be reached.
Utilize the target control system of aforesaid liquid formula Equilibrator, control liquid-type Equilibrator and dynamically balanced controlling method is carried out to equipment under test, comprise the following steps:
Step 1, the initialization of target control system, setting influence coefficient;
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 a frequency multiplication composition wherein, when oscillating signal is vibration displacement signal, eliminated the beat signal in a frequency-doubled signal by vector method by correlation filtering;
Step 4, positioning work piece 032, according to the influence coefficient of setting, obtain value and the phase place of the amount of unbalance of equipment under test B 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 carry out by stages optimization to the master control time;
Step 6, distributor 034 adopt sinusoidal projection mode according to the phase place of amount of unbalance, by the corresponding liquid storage cylinder of master control time devided modulation to Equilibrator C, form the control duration of liquid storage cylinder respective actuators 04;
Control duration to respective actuators 04, execution sequence are converted to control command and export by step 7, compiler 035;
Step 8, final controlling element 04 control corresponding solenoid valve action;
Step 9, controller 03 repeat step 3 to 8, until dynamic balancing process terminates.
Adopt above-mentioned controlling method, rapidly and efficiently can 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; not scope of the present invention is limited; under not departing from the present invention and designing the prerequisite of spirit; the various distortion that those of ordinary skill in the art make technological scheme of the present invention and improvement, all should fall in protection domain that claims of the present invention determines.
Claims (11)
1. a target controlling method for liquid-type on line auto balancing device, is characterized in that, comprise the following steps:
From the real-time oscillating signal received, extract a frequency-doubled signal of equipment under test (B);
A described frequency-doubled signal is utilized to calculate value and the phase place of the amount of unbalance of described equipment under test (B);
The described value of described amount of unbalance is converted to the distributed data of liquid in liquid storage cylinder when described amount of unbalance offset by Equilibrator (C), and forms liquid and inject or the time controling amount of gas-powered liquid storage cylinder liquid transfer;
According to value and the phase place of described amount of unbalance, described time controling amount is decomposed into the control duration of corresponding described liquid storage cylinder;
Described control duration according to described liquid storage cylinder exports control command, controls 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, is characterized in that: a frequency-doubled signal of described extraction equipment under test (B) is by carrying out tracking filter acquisition to the real-time oscillating signal of described reception;
When the real-time oscillating signal of described reception is vibration displacement signal, the beat signal of the described equipment under test (B) comprised in described vibration displacement signal, is eliminated by vector method, the steps include:
1) low speed start equipment under test (B), measures vibration amplitude and the phase place of now equipment under test (B), is designated as
2) promote equipment under test (B) rotating speed to working state, measure the corresponding vibration parameter of now equipment under test (B), be designated as
3) difference of equipment under test (B) corresponding vibration parameter during two states, is the frequency-doubled signal under equipment working state, is designated as
Wherein,
the moments of vibration measured under equipment under test low speed;
A
0: the vibration amplitude measured under equipment under test low speed;
the vibration phase measured under equipment under test low speed;
the moments of vibration measured under equipment under test working speed;
A
1: the vibration amplitude measured under equipment under test working speed;
the vibration phase measured under equipment under test working speed;
moments of vibration actual under equipment under test working speed;
A: vibration amplitude actual under equipment under test working speed;
vibration phase actual under equipment under test working speed.
3. the target controlling method of liquid-type on line auto balancing device according to claim 1, is characterized in that: value and the phase place of the amount of unbalance of described equipment under test (B) are obtained 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
Wherein,
influence coefficient vector;
K: the amplitude of influence coefficient;
φ: the phase place of influence coefficient;
amount of unbalance vector;
M: the value of amount of unbalance;
θ: phase place corresponding to amount of unbalance.
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) is for anisotropy, described test mass adopts multiple spot test mass, determines the relation between the value of influence coefficient and 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) is for isotropy, described test mass is some test mass;
Wherein, f (θ): the function relation between influence coefficient and phase angle of unbalance.
5. the target controlling method of liquid-type on line auto balancing device according to claim 4, it is characterized in that: when described equipment under test (B) is for anisotropy, described multiple spot test mass be preferably 4 test mass, described test mass angle φ is four orthogonal directions.
6. 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 controling amount of transfer is obtained by adaptive method, or passing ratio Y-factor method Y obtains.
7. the target controlling method of liquid-type on line auto balancing device according to claim 6, is characterized in that: described time controling amount is optimized by by stages mode, is designated as:
Wherein, T: need the cumulative time that each final controlling element action continues;
T
0: the longest duration of theory calculate;
T
1: theory calculate is the longest;
K: regulation coefficient.
8. the target controlling method of liquid-type on line auto balancing device according to claim 1, is characterized in that: by adopting projection pattern, described time controling amount is decomposed into the control duration of corresponding described liquid storage cylinder;
When described liquid storage cylinder is four, the phase place that described liquid storage cylinder center line is corresponding is respectively 0 °, 90 °, 180 ° and 270 °, the phase place of unbalance mass, is done sinusoidal projection to the direction of adjacent two liquid storage cylinder center lines, decomposes the control duration that described time controling measures two liquid storage cylinder respective actuators.
9. 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 be first long after short, or start for length simultaneously, asynchronously terminate, or during for length difference, terminate simultaneously, or start for length, terminate simultaneously. simultaneously
10. 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) be made up of data collector (031), positioning work piece (032), transducer (033), distributor (034) and compiler (035)
Data collector (031), for receiving the real-time oscillating signal of 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 described value of described amount of unbalance is converted to the distributed data of liquid in liquid storage cylinder when described amount of unbalance offset by Equilibrator (C), and forms liquid and inject or the time controling amount of gas-powered liquid storage cylinder liquid transfer;
Distributor (034), according to value and the phase place of described amount of unbalance, is decomposed into the control duration of corresponding described liquid storage cylinder by described time controling amount;
Compiler (035), described control duration is formed corresponding control command and export, actuate actuators (04) controls injection or the circulation of liquid in described liquid storage cylinder.
The 11. target control system utilizing liquid-type on line auto balancing device described in claim 10, control liquid-type on line auto balancing device and carry out dynamically balanced controlling method to equipment under test, it is characterized in that following steps:
Step 1, the initialization of target control system, setting influence coefficient;
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 a frequency multiplication composition wherein, when oscillating signal is displacement signal, eliminated the beat signal in a frequency-doubled signal by vector method by correlation filtering;
Step 4, positioning work piece (032), according to the influence coefficient of setting, obtain value and the phase place of the amount of unbalance of equipment under test (B) 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 carry out by stages optimization to the master control time;
Step 6, distributor (034) adopt sinusoidal projection mode according to the phase place of amount of unbalance, by the corresponding liquid storage cylinder of master control time devided modulation to Equilibrator (C), form the control duration of liquid storage cylinder respective actuators (04);
Control duration to respective actuators (04), execution sequence are converted to control command and export by step 7, compiler (035);
Step 8, final controlling element (04) control corresponding solenoid valve action;
Step 9, controller (03) repeat step 3 to 8, until dynamic balancing process terminates.
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| CN103821875B (en) * | 2014-03-03 | 2016-03-30 | 北京化工大学 | Rotating machinery multi-bearing rotor shafting vibration target control gear |
| CN109959486B (en) * | 2019-03-11 | 2020-02-07 | 浙江大学 | Rapid high-precision balancing method for polar coordinate type grinding wheel online dynamic balancing system |
| CN111451840B (en) * | 2020-04-08 | 2021-11-30 | 秦皇岛齐二数控机床有限公司 | High-speed self-balancing rotary table |
| CN114576310B (en) * | 2022-02-24 | 2022-10-04 | 北京化工大学 | Large-diameter hydraulic automatic balancing actuator |
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