CN105241440B - A kind of complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force - Google Patents

A kind of complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force Download PDF

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CN105241440B
CN105241440B CN201510565912.8A CN201510565912A CN105241440B CN 105241440 B CN105241440 B CN 105241440B CN 201510565912 A CN201510565912 A CN 201510565912A CN 105241440 B CN105241440 B CN 105241440B
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rotor
force
particle
inverse
inverse field
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CN105241440A (en
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任元
辛朝军
蔡远文
许国锋
夏长峰
王琳静
缪存孝
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PLA Equipment College
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PLA Equipment College
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/02—Rotary gyroscopes
    • G01C19/04—Details
    • G01C19/06—Rotors

Abstract

The present invention relates to a kind of compensation method of the complex appearance high speed rotor centrifugal distortion based on the loading of inverse field force.Its step is：(1) ideal geometric model under the high rotary speed working state of rotor is established in Ansys simulation softwares；(2) apply to rotor and point to rotor shaft with the high gradient field of force, the direction in the field of force, i.e., load inverse field force to rotor；(3) simulation calculating is carried out；(4) geometric parameter after rotor deforms under inverse field force loading environment is obtained；(5) rotor geometry is designed according to deformation parameter；(6) when rotor with new structure is in condition of work, its geometric shape is desired profile, that is, realizes the compensation to rotor centrifugal distortion.The invention belongs to computer aided design and manufacture field, can be applied to high accuracy gyroscope rotor centrifugal distortion compensation, lifts gyro to measure precision.

Description

A kind of complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force
Technical field
The present invention relates to a kind of complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force, suitable for complexity Profile rotor at a high speed rotate when centrifugal distortion compensation, particularly suspension spherical spinner class high accuracy gyroscope rotor at a high speed rotate from The compensation of heart deformation.
Technical background
Super-conductive magnetic suspension gyro, electrostatically sus pended gyroscope are current internationally recognized two kinds of inertance elements of precision highest, and it is smart Degree has respectively reached 10-11°/hour and 10-6°/hour.In order to improve the measurement accuracy of gyro as far as possible, above-mentioned gyro is equal Contactless rotor suspension technology is employed, its suspension rotor is spherical envelope hollow-core construction.This spheric rotor suspends The caused centrifugal distortion when high speed rotates of the rotor of class gyro, is to cause the aspherical error of rotor under dynamic condition, and then Produce drift error, influence the principal element of gyro to measure precision.The precision of such gyro is further improved, just must basis The deformation characteristic of gyrorotor, using various designs or compensation method, the centrifugal distortion of compensation rotor in the operating condition, ensure Its sphericity in the operating condition.But due under sphere suspension rotor working condition velocity of rotation it is high, working environment is special (in vacuum chamber or in current stabilization air cavity), therefore the on-line measurement of its centrifugal distortion can not be realized.Simultaneously as the centrifugation of rotor becomes Shape is closely related with rotating speed, therefore, on the one hand, existing off-line measurement means are difficult to the ideal operation condition of rotor, separately On the one hand, the off-line measurement result under low-speed conditions is limited to the deformation-compensated meaning under working condition.Difficulty is big, can not realize Compensation.
It is more to spherical spinner centrifugal distortion analysis at present, focus primarily upon electrostatically sus pended gyroscope and superconductive suspension top Spiral shell, but the centrifugal distortion to the gyrorotor of complex configuration is analyzed, and the compensation method research of rotor centrifugal distortion, at present There is not yet pertinent literature is reported.Paper《Deformation analysis and optimization on hollow spherical rotor in elec-trostactically suspended gyroscope》With《Superconduction hollow ball shape turns Sub- deformation analysis》In related separately to the deformation analysis of electrostatically sus pended gyroscope and super-conductive magnetic suspension gyro hollow spherical rotor.Before The method that person uses finite element simulation, analyze static deformation of the electrostatic gyroscope hollow spherical rotor under different operating environment, Centrifugal distortion and temperature deformation, and qualitative proposition, reduce and compensate using the deformation characteristicses of centrifugal distortion in the operating condition Centrifugal distortion, so that it becomes approximate ball, to reduce the aspherical error of rotor dynamic, therefore is processed into long ball by rotor surface Shape, it is the important channel for improving electrostatic gyroscope precision.Spherical spinner involved by the latter because upper semi-circle end face be present in structure, Thus actually a kind of not exclusively spherical, article indicates the structure using Ansys software emulations and turned with preferable spherical shell structure Larger inconsistency be present in sub- centrifugal distortion.Two documents are from the angle analysis centrifugal distortion of rotor is emulated, not Feasible general centrifugal distortion compensation method is proposed, still can not realize the effective compensation to rotor centrifugal distortion.
New magnetic suspension control sensitivity gyrorotor is complicated, and its structure is that the solid segment of two different radiis is spelled Connect and form, segment body there are more complicated structure grooves again, and therefore, its centrifugal distortion in the operating condition can not use monograph《It is quiet Electric top dynamics》In perfect sphere Deformation Theory be described, rotor centrifugal distortion compensation problem is increasingly complex.The present invention Suffered centrifugal force is equivalent to cylindrical gradient field force when rotor is rotated at a high speed, and with the method for inverse field of force loading, obtains The structural parameters of ideal rotor in a static condition, it is achieved thereby that rotor is run in the operating condition with desired profile, accurate, It easily compensate for the centrifugal distortion error of rotor.
The content of the invention
The technology of the present invention solves problem：A kind of accurately, easily rotor centrifugal distortion error compensating method is provided, This method utilizes Ansys simulation softwares, by applying big gradient against the field of force to rotor, obtains structure under rotor static conditions and joins Number, realizes and is worked in working rotor state according to ideal structure, so as to compensate for the centrifugal distortion error of rotor, improve suspension The measurement accuracy of spherical spinner class gyro, as shown in Figure 1.
Complex appearance rotor (as shown in Figure 2) centrifugal distortion compensation method of the present invention based on the loading of inverse field force, its Technical scheme comprises the following steps：
(1) ideal geometric model established in Ansys simulation softwares under the high rotary speed working state of rotor, as shown in Figure 3；
(2) the inverse field of force is applied to rotorInverse field force is loaded to rotor, as shown in Figure 4；
(3) simulation calculating under the conditions of the inverse field of force is carried out in Ansys simulation softwares；
(4) geometric parameter after rotor deforms under inverse field of force loading environment is obtained, as shown in Figure 5；
(5) rotor geometry is designed according to the geometric parameter after deformation；
(6) when rotor with new structure is in condition of work, its geometric shape is desired profile, that is, realizes and centrifuge change to rotor The compensation of shape.
The basis of the above-mentioned complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force is to revolve rotor at a high speed Centrifugal force F when turning in rotor suffered by each particle, is equivalent to rotor being placed in the field of forceIn without spin when, in rotor Field force suffered by each particle, the size direction of field force are identical with centrifugal force.
The inverse field of force described aboveIntensity Q calculate determination according to the following formula：
Q=- ω2×r
In formula：
ω --- working rotor rotating speed (rad/s)；
Distance (m) of r --- the particle position apart from rotor shaft.
Centrifugal force F in the rotor suffered by a certain particle iiDirection is to be directed radially towards by rotor shaft where particle Position, centrifugal force FiSize calculate determination according to the following formula：
Fi=mi×ω2×ri
In formula：
mi--- particle i quality (kg).
A certain particle i is in the inverse field of force in rotorInterior suffered inverse field force FAi, its direction is by particle Position is directed radially towards rotor shaft, inverse field force FAiSize calculate determination according to the following formula：
FAi=-mi×ω2×ri
The present invention inventive principle be：According to the concept of field, " if every bit M to the total space or in wherein a certain region V, There is a vector to correspond to therewith, then claim on V given a vector field ", draw in the space W residing for rotor of the present invention Enter cylindrical coordinate, then point M therein position can be determined by coordinate (r, θ, z).Due to suffered by each particle of rotor in W Centrifugal force vectors FiIt is corresponding with the position coordinates of corresponding particle, i.e. Fi(r, θ, z), therefore, rotor rotate at a high speed suffered centrifuge Power can be equivalent to a vector field, the centrifugal force vector fieldIt can be expressed as
In formula：
F (r, θ, z) --- coordinate is the size (N) of centrifugal force suffered by particle at the locus of (r, θ, z)；
--- locus (r, θ, z) place's centrifugal force unit vector (rad/s)；
In order that geometry of the rotor under working environment is preferable spherical envelope structure, present invention assumes that occur from The heart the deforms, rotor under working condition is ideal structure, and as reference state, asked under static conditions, rotor is not sent out Geometry during raw centrifugal distortion.The method asked for is：Rotor under to reference state applies the inverse field of force, and this is against the field of forceWith former centrifugal force vector fieldIt is equal in magnitude, in the opposite direction, it can be expressed as：
At this against under force field, you can obtain occurring the rotor structure of inverse metamorphism, the structure is to make working rotor shape Static conditions rotor actual geometric configuration when being ideal structure under state.If carry out rotor structure with the structural parameters, you can Realize the centrifugal distortion compensation of rotor.
Compared with prior art, advantage is the present invention：
(1) present invention can realize, and the spherical spinner centrifugal distortion error of high speed rotation accurately, is easily fully compensated, Overcome electrostatically sus pended gyroscope, super-conductive magnetic suspension gyro can not realize the deficiency of effective compensation to rotor centrifugal distortion error.
(2) present invention can also realize the compensation to all kinds of labyrinth rotor centrifugal distortion errors, so as to be one The compensation of class high speed rotor centrifugal distortion error provides a kind of general compensation method.
Brief description of the drawings
Fig. 1 is the implementation process figure of the inventive method；
Fig. 2 a are the magnetic suspension control sensitivity gyrorotor ideal geometrical structure illustraton of model of the technology of the present invention solution；
Fig. 2 b are the magnetic suspension control sensitivity gyrorotor radial structure sectional view of the technology of the present invention solution；
Fig. 2 c are the magnetic suspension control sensitivity gyrorotor axial direction segment tomograph of the technology of the present invention solution；
Centrifugal distortion longitudinal section when Fig. 3 is the rotor normal work of the technology of the present invention solution
Fig. 4 a are the inverse field of force top view of the technology of the present invention solution；
Fig. 4 b are the inverse field of force schematic three dimensional views of the technology of the present invention solution；
Fig. 5 a are the rotor ideal geometrical structure of the technology of the present invention solution against deforming three dimensional sectional view in the field of force；
Fig. 5 b are the rotor of the technology of the present invention solution against the longitudinal section deformed in the field of force.
Specific embodiment
Illustrate the present invention's by taking the centrifugal distortion error compensation procedure of the sensitive gyro of novel magnetically levitated control as an example below Specific implementation process.
Fig. 1 is the shown complex appearance rotor centrifugal distortion compensation method flow based on the loading of inverse field force of the present invention Figure, it is as follows that it implements process：
Step (1), the ideal geometrical structure model under working rotor state is built in simulation software Ansys environment.Figure 2a is the magnetic suspension control sensitivity gyrorotor ideal geometrical structure model of structure.The rotor has axially and radially two radiuses point Not Wei r, R solid segment combine, and R>r.Wherein, contained on the segment of radial structure for Lorentz force magnetic bearing The annular groove of installation and the annular groove for motor stator installation, as shown in Figure 2 b, the segment of axial arrangement is three-dimensional for its sectional view As shown in Figure 2 c, rotor overall structure is the labyrinth with spherical envelope to structure.It is several shown in Fig. 2 a under actual condition The rotor of what structure can produce larger deformation when high speed rotates due to centrifugal action, rotor enveloping surface will deviate from it is spherical, As shown in figure 3, so as to which the drift error of gyro will be caused, gyro performance is reduced.
Step (2), apply the inverse field of force to rotor.In order to ensure geometry profile of the rotor under actual condition for ideal Spherical envelope, so as to compensate sub- centrifugal distortion error of turning round, improve gyro performance, it is necessary to initially just examine in rotor structure Consider the centrifugal distortion of rotor.The rotor centrifugal distortion is equivalent to stress deformation of the rotor in the field of force by the present invention, goes forward side by side one Step is equivalent to inverse in the reverse field of force of rotor using the state after rotor deformation for reference, by the state before rotor centrifugal distortion and answered Force deformation, so as to by applying the inverse field of force to rotor, you can obtain the structure before rotor centrifugal distortion.The inverse power applied to rotor Intensity Q calculate determination according to the following formula：
Q=- ω2×r
In formula：
ω --- working rotor rotating speed (rad/s)；
Distance (m) of r --- the particle position apart from rotor shaft.
Now, in rotor a certain particle i in the inverse field of forceInterior suffered inverse field force FAi, its direction is served as reasons Particle position is directed radially towards rotor shaft, inverse field force FAiSize calculate determination according to the following formula：
FAi=-mi×ω2×ri
In formula：
mi--- particle i quality (kg)
Fig. 4 a show the top view for applying the inverse field of force, and Fig. 4 b show the schematic three dimensional views for applying the inverse field of force.
Step (3), carry out the Ansys emulation under the loading environment of the inverse field of force.Fig. 5 a show rotor ideal geometrical structure and existed Distressed structure three dimensional sectional view under inverse force field, Fig. 5 b are rotor against the longitudinal section deformed in the field of force, and black is empty in figure Line is the profile before rotor deformation.
Step (4), obtain deformation geometry parameter.By data processing method in Ansys softwares, rotor is obtained against the field of force Geometric parameter after interior deformation.
Step (5), the structure of rotor is redesigned using the Structural Parameters of its Rotor acquired in step (4), obtained New rotor structure it is identical with the rotor geometry shown in Fig. 5 a in a static condition.
Step (6), make the rotor with new structure stable operation that step (5) designs in its working condition, even if it is with angular speed ω rotates at a high speed, and the caused centrifugal distortion of its high speed rotation be able to make the structure of rotor and the rotor geometry shown in Fig. 2 a Identical, i.e., the geometry of rotor in the operating condition is just its preferable working state structure, illustrates present invention realization Full remuneration to rotor centrifugal distortion.
The content not being described in detail in description of the invention belongs to prior art known to professional and technical personnel in the field.

Claims (5)

  1. A kind of 1. complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force, it is characterised in that：Including following step Suddenly：
    (1) ideal geometric model established in Ansys simulation softwares under the high rotary speed working state of rotor；
    (2) the inverse field of force is applied to rotorInverse field force is loaded to rotor；
    In formula：
    Distance (m) of r --- the particle position apart from rotor shaft；
    The subtended angle size (rad) of θ --- particle；
    The coordinate value (m) of z --- particle position in the axial direction；
    (3) simulation calculating under the conditions of the inverse field of force is carried out in Ansys simulation softwares；
    (4) geometric parameter after rotor deforms under inverse field of force loading environment is obtained；
    (5) rotor geometry is designed according to the geometric parameter after deformation；
    (6) when rotor with new structure is in condition of work, its geometric shape is desired profile, that is, is realized to rotor centrifugal distortion Compensation.
  2. 2. the complex appearance rotor centrifugal distortion compensation method according to claim 1 based on the loading of inverse field force, its feature It is：The basis of methods described is centrifugal force F when rotor is rotated at a high speed in rotor suffered by each particle, is equivalent to turn Son is placed in the field of forceIn without spin when, the field force in rotor suffered by each particle, the size direction of field force and centrifugal force It is identical, in above formula：
    Distance (m) of r --- the particle position apart from rotor shaft；
    The subtended angle size (rad) of θ --- particle；
    The coordinate value (m) of z --- particle position in the axial direction.
  3. 3. the complex appearance rotor centrifugal distortion compensation method according to claim 1 based on the loading of inverse field force, its feature It is：Step (2) the inverse field of forceIntensity Q calculate determination according to the following formula：
    Q=- ω2×r
    In formula：
    Distance (m) of r --- the particle position apart from rotor shaft；
    The subtended angle size (rad) of θ --- particle；
    The coordinate value (m) of z --- particle position in the axial direction；
    ω --- working rotor rotating speed (rad/s).
  4. 4. the complex appearance rotor centrifugal distortion compensation method according to claim 1 or 2 based on the loading of inverse field force, it is special Sign is：When rotor rotates at a high speed, the centrifugal force F in rotor suffered by a certain particle iiDirection be by rotor shaft radially Point to particle position, centrifugal force FiSize calculate determination according to the following formula：
    Fi=mi×ω2×ri
    In formula：
    mi--- particle i quality (kg)；
    ω --- working rotor rotating speed (rad/s)；
    ri--- the distance (m) of particle i positional distance rotor shafts.
  5. 5. the complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force according to claim 1 or 3, it is special Sign is：A certain particle i is in the inverse field of force in rotorInterior suffered inverse field force FAi, its direction is by particle institute Rotor shaft is directed radially towards in position, inverse field force FAiDetermination can be calculated according to the following formula, the "-" number in formula represents the side of inverse field force To：
    FAi=-mi×ω2×ri
    In formula：
    Distance (m) of r --- the particle position apart from rotor shaft；
    The subtended angle size (rad) of θ --- particle；
    The coordinate value (m) of z --- particle position in the axial direction；
    mi--- particle i quality (kg)；
    ω --- working rotor rotating speed (rad/s)；
    ri--- the distance (m) of particle i positional distance rotor shafts.
CN201510565912.8A 2015-09-08 2015-09-08 A kind of complex appearance rotor centrifugal distortion compensation method based on the loading of inverse field force Active CN105241440B (en)

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Publication number Priority date Publication date Assignee Title
CN106940194B (en) * 2017-03-10 2021-02-26 中国人民解放军装备学院 Online compensation method for centrifugal deformation error of magnetic suspension sensitive gyroscope rotor

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CN101557149A (en) * 2008-04-10 2009-10-14 何君 Rotor structure of high-speed induction motor
CN102682171A (en) * 2012-05-15 2012-09-19 中国电子科技集团公司第五十四研究所 Method for compensating thermal deformation of mold for high-precision composite material antenna reflector unit
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Publication number Priority date Publication date Assignee Title
US4343203A (en) * 1977-07-01 1982-08-10 Sperry Corporation Rotor structure for gyroscopic apparatus
CN101557149A (en) * 2008-04-10 2009-10-14 何君 Rotor structure of high-speed induction motor
CN102682171A (en) * 2012-05-15 2012-09-19 中国电子科技集团公司第五十四研究所 Method for compensating thermal deformation of mold for high-precision composite material antenna reflector unit
CN103488818A (en) * 2013-09-02 2014-01-01 西安电子科技大学 Compensation method of auxiliary reflective surface position of large-scale thermal deformation double-reflector antenna

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