CN105426644A - Method, device, and system for modal damping identification - Google Patents
Method, device, and system for modal damping identification Download PDFInfo
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Abstract
The invention discloses a method, a device, and a system for modal damping identification. The method for modal damping identification comprises steps: obtaining amplitude-frequency data of a rotor, and phase-frequency data; according to the obtained amplitude-frequency data, drawing an amplitude-frequency curve, determining a critical rotation speed point; according to the obtained phase-frequency data, drawing and fitting a phase-frequency curve, to obtain a fitted phase-frequency curve equation; according to the fitted phase-frequency curve equation, calculating the slope of the tangent line of the critical rotation speed point in the phase-frequency curve; and according to the calculated slope, obtaining a modal damping ratio. The method for modal damping identification conveniently and accurately determines critical rotation speed from the amplitude-frequency curve. By using the slope of the tangent line of the critical rotation speed point in the phase-frequency curve and the damping ratio are in a reciprocal relationship, the modal damping ratio is identified, so as to conveniently, rapidly, and accurately obtain the modal damping ratio.
Description
Technical field
The present invention relates to aeromotor field, especially, relate to a kind of modal damping recognition methods and device.In addition, the invention still further relates to a kind of system comprising above-mentioned modal damping recognition device.
Background technology
In the measurement of vibration three elements frequency, amplitude and damping, the accurate identification difficulty of damping is maximum, and the control of damping to vibration & noise has very important effect.First, damping can suppress the vibration and noise of rotor-support-foundation system.Due to the vibration isolation effect of damping, rotor can smoothly by critical rotary speed, thus be avoided producing large amplitude by during critical rotary speed, cause turn, stator touches mill.Secondly, when adopting the kinematic behavior of Finite element arithmetic rotor-support-foundation system, the ratio of damping of rotor-support-foundation system must be inputted.Again, in common concern without in test mass transient equilibrium, also must record the ratio of damping of rotor-support-foundation system.
Damping is one of important motivity characteristic of structure, is the important parameter affecting rotor dynamic response amplitude and structural stability.Compare with rigidity with the quality of structure, the damping acquisition of information of structure is more difficult.This is because the complicated mechanism of damping and experiment measuring have difficulties.In the prior art, damping recognition methods is divided into time domain method and frequency domain method.
(1) time domain method (free Attenuation Method)
Single-mode system is the most basic vibrational system, can disclose a lot of fundamental characteristics of vibrational system.Multi-Degree-of Freedom Linear Systems usually can regard the linear superposition of multiple single-mode system characteristic as.
Single-degree-of-freedom has the oscillatory differential equation of damping system to be
In formula (1), x,
with
be respectively displacement, speed and acceleration.Generally, dampingratioζ <<1, therefore the response function of this system can be expressed as
In formula (2), t is time parameter,
for there being damped natural frequency, A and
be respectively amplitude and initial phase.
By initial displacement x
0and initial velocity
amplitude and initial phase can be obtained:
For little damping system (ζ <0.1), have
In formula, n is damped cycle, and damped cycle when usually getting amplitude attenuation half or 1/e calculates, as shown in Figure 1.
(2) frequency domain method (half-power bandwidth method)
Frequency domain method solves damping ratio by half-power bandwidth (-3dB), as shown in Figure 2.The basic representation of viscous damping system frequency response function is
Polar coordinates (complex exponential) form of frequency response function is
Wherein, frequency ratio
From data disclosed in prior art, time domain method and frequency domain method all have respective shortcomings and limitations.Such as time domain method is generally applicable to single-mode system, after improving, can be used for two degree freedom system.But it is affected by noise comparatively large, and not by average removing the impact of noise, and the response obtained is the superposition of multiple frequency.When using the structural damping of frequency domain method identification machinery, the position of its sample frequency, frequency resolution, sampling number, sample frequency and the ratio of signal frequency, the length analyzing data, spectral line, the size of tested damping and the closeness of signal frequency and frequency leakage etc. all can have an impact to damping measurement precision and stability.Because half-power bandwidth method calculates attenuation coefficient by the amplitude variations of rotating machinery thus draws damping ratios.When the rotation speed change of rotor, its support stiffness also can change.But the change of rotating machinery amplitude is the result of the many factors combined actions such as damping, self-deformation and stiffness variation, and damping is one of them principal element.Therefore, the impact on amplitude of these other factorses has also just become the source of damping measurement error.Especially when damping is very little, other factors relatively will be more outstanding on the impact of amplitude, and the error of measurement will be larger.Simultaneously in little damping situation, the Δ ω (ω of frequency domain method
b-ω
a) precision be difficult to improve, measuring error also can be caused to increase.Therefore, little damping time-frequency domain method measuring accuracy can step-down.In addition, gain knowledge according to rotor dynamic, the change of known rotor-support-foundation system amplitude rotating speed is relevant with the acceleration of rotor-support-foundation system.When ensureing that acceleration is constant value, the change of amplitude has also just become a Uncertainty.Therefore, frequency domain method also will be poor by the stability of amplitude variations determination damping ratio.
Therefore, how easy, fast and accurately identify modal damping, be a problem demanding prompt solution.
Summary of the invention
The invention provides a kind of modal damping recognition methods, device and system, thus easy, fast and accurately identify modal damping.
The technical solution used in the present invention is as follows:
According to an aspect of the present invention, a kind of modal damping recognition methods is provided, comprises step:
Obtain amplitude-frequency data and the phase audio data of rotor;
According to the amplitude-frequency data obtained, draw amplitude frequency curve, determine critical rotary speed point;
According to the phase audio data obtained, draw and matching phase frequency curve, obtain the phase frequency curve equation of matching;
According to the phase frequency curve equation of matching, calculate the tangent slope at critical rotary speed point place in the described phase frequency curve of matching; And according to the slope calculated, obtain damping ratios.
Further, the acquisition amplitude-frequency data of rotor and the step of phase audio data comprise:
Utilize the vibratory response of vibration-testing sensor measurement rotor, obtain amplitude-frequency data and phase audio data.
Further, the step of the vibratory response of vibration-testing sensor measurement rotor-support-foundation system is utilized to comprise:
Adopt eddy current displacement sensor to measure the rotor bow of rotor, adopt acceleration transducer to measure the vibration acceleration of rotor, adopt photoelectric sensor to measure the rotating speed of rotor.
Further, at critical rotary speed point place,
wherein
for frequency ratio,
ω is rotation angle frequency, ω
nfor undamped natural frequency,
k is stiffness coefficient, and m is the quality of rotor.
Further, in the described phase frequency curve of matching, the tangent slope at critical rotary speed point place is obtained by following formula:
Wherein,
for phasing degree,
for phasing degree is to the first order derivative of frequency ratio.
Further, damping ratios is obtained by following formula:
ζ
n＝1/K
According to a further aspect in the invention, additionally provide a kind of modal damping recognition device, comprising:
Data acquisition module, for obtaining amplitude-frequency data and the phase audio data of rotor;
Determination module, for according to the amplitude-frequency data obtained, draws amplitude frequency curve, determines critical rotary speed point;
Equation acquisition module, for according to the phase audio data obtained, draws and matching phase frequency curve, obtains the phase frequency curve equation of matching;
Damping ratio acquisition module, for the phase frequency curve equation according to matching, calculates the tangent slope at critical rotary speed point place in the described phase frequency curve of matching; And according to the slope calculated, obtain damping ratios.
Further, data acquisition module, also for utilizing the vibratory response of vibration-testing sensor measurement rotor, obtains amplitude-frequency data and phase audio data.
Further, data acquisition module, the rotor bow also for adopting eddy current displacement sensor to measure rotor, adopts acceleration transducer to measure the vibration acceleration of rotor, adopts photoelectric sensor to measure the rotating speed of rotor.
According to a further aspect in the invention, additionally provide a kind of modal damping recognition system, comprise above-mentioned modal damping recognition device.
The present invention has following beneficial effect:
1, facilitate from amplitude frequency curve and determine critical rotary speed exactly.
2, the tangent slope K of phase frequency curve at critical rotary speed point place and dampingratioζ is utilized
nreciprocal relation is become to identify damping ratios.From the variation relation of phase place and rotating speed
can find out, phase place
just dampingratioζ
nwith frequency ratio
function, owing to there is no the impact of other factors, the accuracy of identification of modal damping can be improved.
Except object described above, feature and advantage, the present invention also has other object, feature and advantage.Below with reference to figure, the present invention is further detailed explanation.
Accompanying drawing explanation
The accompanying drawing forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 takes amplitude attenuation half as schematic diagram during damped cycle calculating damping ratio in prior art time domain method;
Fig. 2 is by schematic diagram during half-power bandwidth calculating damping ratio in prior art frequency domain method;
Fig. 3 is the scheme of installation of rotor on exerciser;
Fig. 4 is the flow process intention that example is preferably executed in modal damping recognition methods of the present invention;
Fig. 5 is the amplitude frequency diagram in modal damping recognition methods of the present invention;
Fig. 6 is the phase frequency figure in modal damping recognition methods of the present invention;
Fig. 7 is the phase audio data of different approximating method gained in modal damping recognition methods of the present invention and original phase frequency Data Comparison figure;
Fig. 8 is the phase audio data of exponential function matching in modal damping recognition methods of the present invention and the tangent line figure at original phase frequency Data Comparison figure and critical rotary speed point place;
Fig. 9 be in modal damping recognition methods of the present invention phase-fitting curve at the tangent line schematic diagram at critical rotary speed point place;
Figure 10 is the high-level schematic functional block diagram of modal damping recognition device preferred embodiment of the present invention.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Reference Fig. 3, Fig. 3 are the scheme of installation that rotor is arranged on exerciser, and wherein, the rotor-support-foundation system being arranged on this exerciser comprises rear support 1, the turbine disk 2, transmission shaft 3, balance boss 4; Front bearing 5; Output shaft 6; High speed speed-increasing gear 7 and vacuum tank 8.Rotor-support-foundation system Dynamic Characteristics Test carries out on this exerciser.Whole exerciser is made up of speed end and low speed end, and speed end and low speed end are respectively by the DC motor Driver of a 400kW.Speed end and low speed end have respective acceleration system, supporting system and vacuum system (in order to prevent drive motor from transshipping, to provide safety guard plate; Be evacuated in vacuum tank 8 at the trial, the windage effect of blade when being used for eliminating rotor rotation).During test, direct current generator is inputted the input end of power from transmission shaft 3 by two-stage speed-increasing gear 7, drives rotor to rotate by output shaft 6.
Further, see Fig. 4, the preferred embodiments of the present invention provide a kind of modal damping recognition methods, comprise step:
Step 100, the amplitude-frequency data obtaining rotor and phase audio data.
Vibration-testing sensor is installed, measures the vibratory response of rotor-support-foundation system at the balance boss place of rotor-support-foundation system, therefrom test out a group rotor transient response data, to obtain amplitude-frequency and phase audio data.This vibration-testing sensor is eddy current displacement sensor, acceleration transducer and photoelectric sensor, vibratory response comprises rotor bow, vibration acceleration and rotating speed, in rotor dynamic behavior process of the test, the vibration acceleration of measurement rotor bow, supporting rotor two bearing and rotor speed.Rotor bow is measured (wherein 3 sensor measurement vertical vibrations and 1 sensor measurement horizontal vibration) by 4 eddy current displacement sensors, the vibration acceleration of supporting rotor two bearing is measured (wherein 2 sensor measurement vertical vibrations and 2 sensor measurement horizontal vibrations) by 4 acceleration transducers, and the rotating speed of rotor is measured by 1 photoelectric sensor.
Step 200, according to obtain amplitude-frequency data, draw amplitude frequency curve, determine critical rotary speed point.
Rotor-support-foundation system, according to the amplitude-frequency data obtained, draws amplitude frequency curve, and as shown in Figure 5, by the amplitude frequency curve figure in Fig. 5, obtain the critical rotary speed point of rotor, i.e. peak point, determines
position, wherein,
for frequency ratio,
ω is rotation angle frequency, ω
nfor undamped natural frequency,
k is stiffness coefficient, and m is the quality of rotor.
Consideration toughness damping system is actuated to forced vibration during simple harmonic quantity power in the external world, if harmonic excitation power is
F＝F
0sinωt(10)
Then single-degree-of-freedom has the differential equation of motion of damping system under the effect of sine excitation power to be
Wherein, m is quality, and c is ratio of damping, and k is stiffness coefficient, and t is the time, F
0for amplitude of exciting force, ω is rotation angle frequency, and x is the displacement that quality m leaves equilibrium position.
Formula (11) both sides obtain divided by m simultaneously
Wherein,
for the undamped natural frequency of system,
it is the n-th rank damping ratios.
Its solution is
Wherein
for frequency ratio.
In formula (15), ask phasing degree
to frequency ratio
first order derivative
At critical rotary speed point place, have
Step 300, according to the phase audio data obtained, to draw and matching phase frequency curve, obtain the phase frequency curve equation of matching.
Rotor-support-foundation system, according to the phase audio data obtained, as shown in Figure 6, draws phase frequency curve.And matching phase frequency curve, as shown in Figure 7, approximating method can be divided into fitting of a polynomial, power function fitting and exponential function matching etc.In the figure 7, find that the fitting precision of exponential function is higher by comparing.
Step 400, phase frequency curve equation according to matching, calculate the tangent slope at critical rotary speed point place in the described phase frequency curve of matching; And according to the slope calculated, obtain damping ratios.
Rotor-support-foundation system, according to the phase frequency curve equation of matching, as shown in Figure 8 and Figure 9, makes the phase frequency curve of matching at critical rotary speed point place
the tangent line at place, try to achieve this tangent slope K, its 1/K reciprocal is required damping ratios ζ
n.
The modal damping recognition methods that the present embodiment proposes, facilitates and determines critical rotary speed exactly from amplitude frequency curve; Utilize the tangent slope K of phase frequency curve at critical rotary speed point place and dampingratioζ
nreciprocal relation is become to identify damping ratios ζ
n, thus convenient, fast, accurately obtain damping ratios.
Preferably, as shown in Figure 10, present invention also offers a kind of modal damping recognition device, comprising:
Data acquisition module 10, for obtaining amplitude-frequency data and the phase audio data of rotor;
Determination module 20, for according to the amplitude-frequency data obtained, draws amplitude frequency curve, determines critical rotary speed point;
Equation acquisition module 30, for according to the phase audio data obtained, draws and matching phase frequency curve, obtains the phase frequency curve equation of matching;
Damping ratio acquisition module 40, for the phase frequency curve equation according to matching, calculates the tangent slope at critical rotary speed point place in the described phase frequency curve of matching; And according to the slope calculated, obtain damping ratios.
The data acquisition module 10 of rotor-support-foundation system, by vibration-testing sensor, is measured the vibratory response of rotor-support-foundation system, is therefrom tested out a group rotor transient response data, to obtain amplitude-frequency and phase audio data at the balance boss place of rotor-support-foundation system.This vibration-testing sensor is eddy current displacement sensor, acceleration transducer and photoelectric sensor, vibratory response comprises rotor bow, vibration acceleration and rotating speed, in rotor dynamic behavior process of the test, the vibration acceleration of measurement rotor bow, supporting rotor two bearing and rotor speed.Rotor bow is measured (wherein 3 sensor measurement vertical vibrations and 1 sensor measurement horizontal vibration) by 4 eddy current displacement sensors, the vibration acceleration of supporting rotor two bearing is measured (wherein 2 sensor measurement vertical vibrations and 2 sensor measurement horizontal vibrations) by 4 acceleration transducers, and the rotating speed of rotor is measured by 1 photoelectric sensor.
The determination module 20 of rotor-support-foundation system, according to the amplitude-frequency data obtained, draws amplitude frequency curve, and as shown in Figure 5, by the amplitude frequency curve figure in Fig. 5, obtain the critical rotary speed point of rotor, i.e. peak point, determines
position, wherein,
for frequency ratio,
ω is rotation angle frequency, ω
nfor undamped natural frequency,
k is stiffness coefficient, and m is the quality of rotor.
The equation acquisition module 30 of rotor-support-foundation system, according to the phase audio data obtained, as shown in Figure 6, draws phase frequency curve.And matching phase frequency curve, as shown in Figure 7, approximating method can be divided into fitting of a polynomial, power function fitting and exponential function matching etc.In the figure 7, find that the fitting precision of exponential function is higher by comparing.
The damping ratio acquisition module 40 of rotor-support-foundation system, according to the phase frequency curve equation of matching, as shown in Figure 8 and Figure 9, makes the phase frequency curve of matching at critical rotary speed point place
the tangent line at place, try to achieve this tangent slope K, its 1/K reciprocal is required damping ratios ζ
n.
The modal damping recognition device that the present embodiment proposes, more convenient and determine critical rotary speed exactly from amplitude frequency curve; Utilize the tangent slope K of phase frequency curve at critical rotary speed point place and dampingratioζ
nreciprocal relation is become to identify damping ratios ζ
n, thus convenient, fast, accurately obtain damping ratios.
The present embodiment additionally provides a kind of modal damping recognition system, comprises above-mentioned modal damping recognition device, does not repeat them here.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a modal damping recognition methods, is characterized in that, comprises step:
Obtain amplitude-frequency data and the phase audio data of rotor;
According to the described amplitude-frequency data obtained, draw amplitude frequency curve, determine critical rotary speed point;
According to the described phase audio data obtained, draw and matching phase frequency curve, obtain the phase frequency curve equation of matching;
According to the described phase frequency curve equation of matching, the tangent slope at critical rotary speed point place described in the described phase frequency curve calculating matching; And according to the described slope calculated, obtain damping ratios.
2. modal damping recognition methods according to claim 1, is characterized in that,
The amplitude-frequency data of described acquisition rotor and the step of phase audio data comprise:
Utilize the vibratory response of rotor described in vibration-testing sensor measurement, obtain described amplitude-frequency data and phase audio data.
3. modal damping recognition methods according to claim 2, is characterized in that,
Described vibration-testing sensor comprises eddy current displacement sensor, acceleration transducer and photoelectric sensor, described vibratory response comprises rotor bow, vibration acceleration and rotating speed, and the described step of the vibratory response of rotor described in vibration-testing sensor measurement that utilizes comprises:
Adopt described eddy current displacement sensor to measure the described rotor bow of described rotor, adopt described acceleration transducer to measure the described vibration acceleration of described rotor, adopt described photoelectric sensor to measure the described rotating speed of described rotor.
4. the modal damping recognition methods according to Claims 2 or 3, is characterized in that,
At described critical rotary speed point place,
wherein
for frequency ratio,
ω is rotation angle frequency, ω
nfor undamped natural frequency,
k is stiffness coefficient, and m is the quality of rotor.
5. modal damping recognition methods according to claim 4, is characterized in that,
The tangent slope at the place of critical rotary speed point described in the described phase frequency curve of matching is obtained by following formula:
Wherein, K is the tangent slope at critical rotary speed point place,
for phasing degree,
for phasing degree is to the first order derivative of frequency ratio.
6. modal damping recognition methods according to claim 5, is characterized in that,
Described damping ratios is obtained by following formula:
ζ
n＝1/K
Wherein, ζ
nfor damping ratios, K is the tangent slope at critical rotary speed point place.
7. a modal damping recognition device, is characterized in that, comprising:
Data acquisition module (10), for obtaining amplitude-frequency data and the phase audio data of rotor;
Determination module (20), for according to the described amplitude-frequency data obtained, draws amplitude frequency curve, determines critical rotary speed point;
Equation acquisition module (30), for according to the described phase audio data obtained, draws and matching phase frequency curve, obtains the phase frequency curve equation of matching;
Damping ratio acquisition module (40), for the described phase frequency curve equation according to matching, the tangent slope at critical rotary speed point place described in the described phase frequency curve calculating matching; And according to the described slope calculated, obtain damping ratios.
8. modal damping recognition device according to claim 7, is characterized in that,
Described data acquisition module (10), also for utilizing the vibratory response of rotor described in vibration-testing sensor measurement, obtains described amplitude-frequency data and phase audio data.
9. modal damping recognition device according to claim 8, is characterized in that,
Described data acquisition module (10), the rotor bow also for adopting eddy current displacement sensor to measure described rotor, adopts acceleration transducer to measure the vibration acceleration of described rotor, adopts photoelectric sensor to measure the rotating speed of described rotor.
10. a modal damping recognition system, is characterized in that, comprises the modal damping recognition device as described in any one of claim 7 to 9.
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| CN112504597A (en) * | 2020-11-10 | 2021-03-16 | 北京强度环境研究所 | Method for acquiring damping ratio from phase information |
| CN113266538A (en) * | 2021-05-31 | 2021-08-17 | 明阳智慧能源集团股份公司 | Method and system for automatically identifying modal frequency of offshore wind power tower and transmission chain |
| CN113266538B (en) * | 2021-05-31 | 2022-03-22 | 明阳智慧能源集团股份公司 | Method and system for automatically identifying modal frequency of offshore wind power tower and transmission chain |
| CN113375789B (en) * | 2021-06-09 | 2023-03-14 | 北京科技大学 | Structural damping ratio identification method based on free vibration |
| CN113375789A (en) * | 2021-06-09 | 2021-09-10 | 北京科技大学 | Structural damping ratio identification method based on free vibration |
| WO2023115510A1 (en) * | 2021-12-24 | 2023-06-29 | 方兴 | Phase slope-based system damping ratio determining method |
| CN115391744A (en) * | 2022-10-27 | 2022-11-25 | 中国航空工业集团公司北京长城计量测试技术研究所 | Load sensor dynamic model parameter identification method and device |
| CN115391744B (en) * | 2022-10-27 | 2022-12-27 | 中国航空工业集团公司北京长城计量测试技术研究所 | Load sensor dynamic model parameter identification method and device |
| CN116952368A (en) * | 2023-06-21 | 2023-10-27 | 交通运输部水运科学研究所 | Large-scale step pivot lock vibration monitoring method and system |
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