CN104792482A - Accurate magnetic levitation bearing dynamic stiffness testing method - Google Patents
Accurate magnetic levitation bearing dynamic stiffness testing method Download PDFInfo
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- CN104792482A CN104792482A CN201510132850.1A CN201510132850A CN104792482A CN 104792482 A CN104792482 A CN 104792482A CN 201510132850 A CN201510132850 A CN 201510132850A CN 104792482 A CN104792482 A CN 104792482A
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Abstract
The invention discloses an accurate magnetic levitation bearing dynamic stiffness testing method. The numerical value expression of magnetic levitation bearing dynamic stiffness is accurately recognized through the comparison of finite element simulation calculation and the vibration test result, wherein a vibration test is one of a modal test and a frequency response test, and the comparison of calculation and the test result can be calculated through MatLab engineering software programming. By means of the method, the magnetic bearing stiffness expression under the stable magnetic levitation control can be obtained, and a useful research method and necessary test data are provided for the dynamic characteristics of a magnetic levitation bearing system.
Description
Technical field
The present invention relates to magnetic suspension control system technical field, particularly a kind of magnetic suspension bearing dynamic rate method for accurate testing.
Background technology
Magnetic suspension bearing technology is one and relates to multi-disciplinary integrated technology, by sensor, it can detect that rotor departs from the displacement of reference point, the displacement detected is transformed into control signal by the microprocessor (PID control) as controller, then this control signal is amplified by power amplifier, convert control electric current to, control electric current and in execution magnet, produce magnetic force thus to make controlled device maintain its levitation position constant.The mechanical supported due to magnetic levitation contacts, eliminate wearing and tearing, without the need to lubrication and seal, support the advantages such as dynamic perfromance is good, makes the application of this technology more and more extensive.
Because a lot of machine is all with flexible accessory, they all can be reduced to the overhanging thin-slab construction of cantilever substantially, but their internal resistances are very low, modal damping is little, if do not take measures to suppress its vibration, once be subject to external interference, significant impact will be produced to the serviceability of machine.
Magnetic suspension bearing is called for short magnetic bearing again, its rotor speed is high, energy consumption is low, mechanical wearing and tearing, little, the unlubricated medium of noise, life-span are long, it is flexible etc. to control, meet the performance requirement of high-precision high-speed rotor, motorized spindle supported with AMB is with a wide range of applications in fields such as Aero-Space, the energy, traffic, life science, vacuum technique, turbomachinery and lathes.
Magnetic levitation cantilever thin plate and magnetic suspension bearing-rotor control system are realized by the supporting of levitated object and Active Vibration Control effect by electromagnetic actuator, the dynamic stiffness of magnetic suspension bearing on by levitated object dynamic perfromance impact significantly, existing more ripe PID magnetic suspension control system, its controling parameters is (as proportional component, the parameter of integral element and differentiation element) on the impact of magnetic suspension bearing dynamic rate be pure theory calculate, larger error is had with true magnetic suspension bearing dynamic rate, so the dynamic Stiffness how accurately measuring magnetic suspension bearing is significant.
Summary of the invention
Technical matters to be solved by this invention is for defect involved in background technology, a kind of magnetic suspension bearing dynamic stiffness method for accurate testing is provided, magnetic field support stiffness expression formula under stable suspersion controls can be tried to achieve, the research method that the dynamic perfromance for research magnetic suspension bearing system provides and necessary test figure.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A kind of magnetic suspension bearing dynamic rate method for accurate testing, comprises following steps:
Step 1), contactless magnetic suspension bearing can magnetic conduction levitated object is arranged acceleration transducer to gather its acceleration responsive signal;
Step 2), power hammer arranges force snesor to gather power pumping signal;
Step 3), by under levitated object freely state, by power hammer knock by levitated object, gather power hammer on power pumping signal and by the acceleration responsive signal on levitated object, obtain by the test figure in frequency domain under levitated object freely state after signal transacting;
Step 4), by under levitated object stable suspersion state, by power hammer knock by levitated object, gather power hammer on power pumping signal and by the acceleration responsive signal on levitated object, obtain by the test figure in frequency domain under levitated object stable suspersion state after signal transacting;
Step 5), sets up by the accurate finite element model under levitated object free state according to the test figure obtained in step 3);
Step 6), according to the test figure obtained in step 4), spring-damper unit simulation magnetic suspension bearing is added on the basis of the finite element model set up in step 5), sets up by the finite element model of levitated object under stable suspersion state;
Step 7), by adjusting the coefficient of the rigidity expression formula of described spring-damper unit, the absolute value of difference between the test figure that obtains in the calculating data of the finite element model set up in step 6) and step 4) is made to be less than or equal to default threshold value, now, the rigidity expression formula of spring-damper unit is magnetic suspension bearing dynamic rate.
As the further prioritization scheme of a kind of magnetic suspension bearing dynamic rate method for accurate testing of the present invention, the rigidity expression formula of described spring-damper unit is:
K=p1+p2* ω+p3*ω
2+…+pn*ω
n-1
Wherein, ω is the frequency calculated, p1, p2 ..., pn is coefficient to be determined.
As the further prioritization scheme of a kind of magnetic suspension bearing dynamic rate method for accurate testing of the present invention, in step 3) and step 4) by power hammer knock by during levitated object with power hammer for reference point, acceleration transducer is transfer point.
As the further prioritization scheme of a kind of magnetic suspension bearing dynamic rate method for accurate testing of the present invention, being knocked by power hammer in step 3) and step 4) is reference point with acceleration transducer during levitated object, and power hammer is transfer point.
As the further prioritization scheme of a kind of magnetic suspension bearing dynamic rate method for accurate testing of the present invention, described test figure and calculating data are model frequency.
As the further prioritization scheme of a kind of magnetic suspension bearing dynamic rate method for accurate testing of the present invention, described test figure and calculating data are Mode Shape.
As the further prioritization scheme of a kind of magnetic suspension bearing dynamic rate method for accurate testing of the present invention, described test figure and calculating data are frequency response function.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1. calculate the dynamic stiffness that the method combined accurately measures magnetic suspension bearing, its simple operation by vibration test test and software, result is accurate; And other prior aries accurately cannot test out the dynamic stiffness of magnetic suspension bearing;
2. vibration-testing test is as ripe in means such as modal tests, and test figure is reliable, for the research of magnetic suspension bearing system dynamics provides authentic data, provides reliable foundation to engineer applied;
3. software calculates and adopts ripe business finite element software and MatLab engineering calculation software, and easy to operate, result of calculation is reliable.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to better understand technological means of the present invention, and can be implemented according to the content of instructions, coordinates accompanying drawing to be described in detail as follows below with preferred embodiments of the present invention.The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Accompanying drawing explanation
Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention, in the accompanying drawings:
Fig. 1 is magnetic suspension bearing system architecture and test schematic diagram;
Fig. 2 is the iterative convergent process of spring-damper unit dynamic rigidity coefficient p1 and p2;
Fig. 3 is the error iterative convergent process of compute mode frequency and Modal Test frequency.
In figure, 1-is by levitated object, and 2-power is hammered into shape, 3-acceleration transducer, 4-magnetic suspension bearing system, 5-divided oscillation signal analyzer, 6-PC computer.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
Structure is as shown in Figure 1 a kind of application scenarios of the method for accurate testing of magnetic suspension bearing dynamic rate disclosed by the invention, and system comprises by levitated object, power hammer, acceleration transducer, magnetic suspension bearing system, divided oscillation signal analyzer and PC computer.
In this system, the concrete steps of the method for accurate testing of magnetic suspension bearing dynamic rate are as follows:
Step 1), contactless magnetic suspension bearing can magnetic conduction levitated object is arranged acceleration transducer to gather its acceleration responsive signal, acceleration transducer is connected with an input channel of divided oscillation signal analyzer;
Step 2), power hammer is provided with force snesor to gather power pumping signal, force snesor is connected with another input channel of divided oscillation signal analyzer;
Step 3), by under levitated object freely state, is knocked by levitated object by power hammer, and the power pumping signal gathered on power hammer and by the acceleration responsive signal on levitated object, obtain first three rank model frequency through signal transacting;
Step 4), by under levitated object stable suspersion state, is knocked by levitated object by power hammer, and the power pumping signal gathered on power hammer and by the acceleration responsive signal on levitated object, obtain first three rank model frequency through signal transacting;
Step 5), model frequency is tested according in step 3), making compute mode frequency equal with testing model frequency in step 3) (or approximate) by adjust design parameters (Connecting quantity etc. as elastic modulus, stiff end), namely setting up by the accurate finite element model of levitated object under not state of a control;
Step 6), tests model frequency according in step 4), on the basis of the finite element model set up in step 5), adds spring-damper unit simulation magnetic suspension bearing, sets up the finite element model of cantilever thin plate under stable suspersion state;
Step 7), suppose the stiffness K=p1+p2* ω of the unit of spring-damper described in step 6), wherein ω is compute mode frequency, p1 is initial stiffness, p2 be rigidity with compute mode frequency change rate, by adjustment p1 and p2, make the compute mode of finite element model described in step 6) frequency equal with the Modal Test described in step 4) (or be similar to), namely determine magnetic suspension bearing dynamic rate, this process is by matlab programming realization.
Fig. 2 is the iterative convergent process of spring-damper unit dynamic rigidity coefficient p1 and p2;
Fig. 3 is the error iterative convergent process of compute mode frequency and Modal Test frequency.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (7)
1. a magnetic suspension bearing dynamic rate method for accurate testing, is characterized in that, comprises following steps:
Step 1), contactless magnetic suspension bearing can magnetic conduction levitated object is arranged acceleration transducer to gather its acceleration responsive signal;
Step 2), power hammer arranges force snesor to gather power pumping signal;
Step 3), by under levitated object freely state, by power hammer knock by levitated object, gather power hammer on power pumping signal and by the acceleration responsive signal on levitated object, obtain by the test figure in frequency domain under levitated object freely state after signal transacting;
Step 4), by under levitated object stable suspersion state, by power hammer knock by levitated object, gather power hammer on power pumping signal and by the acceleration responsive signal on levitated object, obtain by the test figure in frequency domain under levitated object stable suspersion state after signal transacting;
Step 5), sets up by the accurate finite element model under levitated object free state according to the test figure obtained in step 3);
Step 6), according to the test figure obtained in step 4), spring-damper unit simulation magnetic suspension bearing is added on the basis of the finite element model set up in step 5), sets up by the finite element model of levitated object under stable suspersion state;
Step 7), by adjusting the coefficient of the rigidity expression formula of described spring-damper unit, the absolute value of difference between the test figure that obtains in the calculating data of the finite element model set up in step 6) and step 4) is made to be less than or equal to default threshold value, now, the rigidity expression formula of spring-damper unit is magnetic suspension bearing dynamic rate.
2. magnetic suspension bearing dynamic rate method for accurate testing according to claim 1, is characterized in that, the rigidity expression formula of described spring-damper unit is:
K=p1+p2* ω+p3*ω
2+…+pn*ω
n-1
Wherein, ω is the frequency calculated, p1, p2 ..., pn is coefficient to be determined.
3. magnetic suspension bearing dynamic rate method for accurate testing according to claim 1, is characterized in that, in step 3) and step 4) by power hammer knock by during levitated object with power hammer for reference point, acceleration transducer is transfer point.
4. magnetic suspension bearing dynamic rate method for accurate testing according to claim 1, is characterized in that, being knocked by power hammer in step 3) and step 4) is reference point with acceleration transducer during levitated object, and power hammer is transfer point.
5. magnetic suspension bearing dynamic rate method for accurate testing according to claim 1, is characterized in that, described test figure and calculating data are model frequency.
6. magnetic suspension bearing dynamic rate method for accurate testing according to claim 1, is characterized in that, described test figure and calculating data are Mode Shape.
7. magnetic suspension bearing dynamic rate method for accurate testing according to claim 1, is characterized in that, described test figure and calculating data are frequency response function.
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| CN105547625A (en) * | 2016-01-15 | 2016-05-04 | 华北电力科学研究院有限责任公司 | Porcelain sleeve modal testing method, device and system |
| CN106122359A (en) * | 2016-07-01 | 2016-11-16 | 南京航空航天大学 | Magnetic suspension platform based on double-closed-loop control supporting vibration isolation control structure and method |
| CN106354955A (en) * | 2016-08-30 | 2017-01-25 | 南京航空航天大学 | Sliding bearing rigidity recognition method based on mill vibration mode parameters |
| CN106407606A (en) * | 2016-10-27 | 2017-02-15 | 昆明理工大学 | Loss identification and estimation method of experiment modal frequency |
| CN106950018A (en) * | 2017-02-08 | 2017-07-14 | 上海工程技术大学 | A kind of Flexible element dynamic rate measuring method and device |
| CN112987579A (en) * | 2021-05-13 | 2021-06-18 | 中国人民解放军国防科技大学 | Method, system and device for measuring suspension stiffness in electromagnetic suspension control system |
| CN114992241A (en) * | 2022-07-31 | 2022-09-02 | 常州明磁卓控智能科技有限公司 | Magnetic suspension motor instability pre-diagnosis method based on dynamic stiffness real-time detection |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105547625A (en) * | 2016-01-15 | 2016-05-04 | 华北电力科学研究院有限责任公司 | Porcelain sleeve modal testing method, device and system |
| CN106122359A (en) * | 2016-07-01 | 2016-11-16 | 南京航空航天大学 | Magnetic suspension platform based on double-closed-loop control supporting vibration isolation control structure and method |
| CN106354955A (en) * | 2016-08-30 | 2017-01-25 | 南京航空航天大学 | Sliding bearing rigidity recognition method based on mill vibration mode parameters |
| CN106407606A (en) * | 2016-10-27 | 2017-02-15 | 昆明理工大学 | Loss identification and estimation method of experiment modal frequency |
| CN106407606B (en) * | 2016-10-27 | 2019-05-10 | 昆明理工大学 | A kind of loss identification of experimental modal frequency and predictor method |
| CN106950018A (en) * | 2017-02-08 | 2017-07-14 | 上海工程技术大学 | A kind of Flexible element dynamic rate measuring method and device |
| CN106950018B (en) * | 2017-02-08 | 2019-06-28 | 上海工程技术大学 | A kind of Flexible element dynamic rate measurement method and device |
| CN112987579A (en) * | 2021-05-13 | 2021-06-18 | 中国人民解放军国防科技大学 | Method, system and device for measuring suspension stiffness in electromagnetic suspension control system |
| CN114992241A (en) * | 2022-07-31 | 2022-09-02 | 常州明磁卓控智能科技有限公司 | Magnetic suspension motor instability pre-diagnosis method based on dynamic stiffness real-time detection |
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Application publication date: 20150722 |