CN106168526B - A kind of rotor-support-foundation system on-line dynamic balancing system and method - Google Patents

A kind of rotor-support-foundation system on-line dynamic balancing system and method Download PDF

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Publication number
CN106168526B
CN106168526B CN201610670935.XA CN201610670935A CN106168526B CN 106168526 B CN106168526 B CN 106168526B CN 201610670935 A CN201610670935 A CN 201610670935A CN 106168526 B CN106168526 B CN 106168526B
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signal
rotor
foundation
support
dynamic balancing
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CN106168526A (en
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么宇辉
李鸿光
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Shanghai Jiao Tong University
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Shanghai Jiao Tong University
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00Testing static or dynamic balance of machines or structures
    • G01M1/30Compensating unbalance
    • G01M1/36Compensating unbalance by adjusting position of masses built-in the body to be tested

Abstract

The present invention provides a kind of rotor-support-foundation system on-line dynamic balancing system and method, comprising: signal transducer acquires the unbalance vibration information of rotor-support-foundation system and is converted into analog signal, is transmitted to signal picker;Signal picker, converts analog signals into digital signal, and after carrying out noise reduction, filtering processing to digital signal, send to data processing system;Data processing system calculates, the digital signal that receives of processing, obtains the unbalance mass, of rotor-support-foundation system and phase information and generates action signal, is sent to signal projector;Action signal is transmitted to balance regulator by signal projector;Balance regulator generation inside the adjuster acts, and so as to adjust the amount of unbalance of rotor-support-foundation system, realizes the on-line dynamic balancing of rotor-support-foundation system.The present invention realizes that rotor-support-foundation system completes dynamic balancing when not shutting down, and removes from and repeats to open machine, outage in traditional experiment of dynamic balancing, shuts down bring economic loss suitable for the system that should not be shut down to reduce.

Description

A kind of rotor-support-foundation system on-line dynamic balancing system and method
Technical field
The present invention relates to rotor on-line dynamic balancing fields, and in particular, to one kind by computer calculating amount of unbalance and Phase simultaneously controls the system and method that external balance regulator realizes rotor-support-foundation system on-line dynamic balancing.
Background technique
Actual rotor is inevitably present error during processing and manufacturing, installation etc., leads to its geometrical axis and rotation Shaft axis is not overlapped.When the rotor is turning, power system composed by the centrifugal intertia force of each elementary mass of rotor is not a balance Power system, at this point, it is uneven or unbalance to claim rotor to have.The imbalance of rotor is the main driving source of rotating machinery.Statistics It has been shown that, rotating machinery account for about 60%-70% due to what vibration cause failed, wherein what is failed due to rotor unbalance is accounted for about 30%.
Experiment of dynamic balancing under existence conditions, which needs first rotor to be disassembled to be put on dynamic balancing machine from machine, to be completed Experiment of dynamic balancing is installed back again later;Or carry out spot dynamic balance.Both methods complex steps, it is time-consuming, and need The machine of opening repeatedly is shut down, is not suitable for doing rapid dynamic balance.For example, shutdown once can band for the large rotors system such as steam turbine Carry out huge economic loss, is not suitable for traditional dynamic balance method.
Based on the above reasons, self-balancing technology has been gradually appeared.Rotor-support-foundation system may be implemented not using self-balancing technology Dynamic balancing is completed in the case where shutdown.Rotor-support-foundation system refers to including all adjuncts such as shaft, turntable, bearing, bearing block Whole set of system.
Existing self-balancing equipment design principle specifically include that change Mass Distribution, increase (reduction) quality and compensate from Three kinds of mental and physical efforts.
Changing Mass Distribution method is moved in ring by the mass block in motor or field drives balancing head, makes to put down Mass Distribution changes in weighing apparatus head, to balance the unbalance mass, of rotor-support-foundation system.It common are Zhejiang University's research and development now Electromagnetic balancing head.
Increase (reduction) mass method be in the operational process of rotor, by certain means rotor-support-foundation system uneven phase Certain mass is added or removed at position, to complete the on-line dynamic balancing of rotor-support-foundation system.Common increase quality method is with spray The liquid etc. that head by the solid of high-speed motion, quickly solidifies is injected in the unbalance phase surface of rotor-support-foundation system, mass block bonding On rotor-support-foundation system surface, to balance its unbalance mass,.But this method is easy that mass block is made to be bonded insecure, Bu Nengman The requirement of foot length time service.
Compensation centrifugation force method is certain to rotor one size of application by the means of electromagnetism and rotor rotates same frequency Electromagnetic force, the caused vibration of the power can offset the initial unbalance vibration of rotor, put down certainly to reach the online of rotor-support-foundation system Weigh purpose.At present do in this regard it is preferable to the diagnosis of Beijing University of Chemical Technology and self-healing Engineering Research Center.
Existing method has the drawback that:
1. the dynamic balancing of rotor-support-foundation system can only be realized in a short time, it cannot be guaranteed that the operating steady in a long-term of rotor-support-foundation system;
2. can only realize in laboratory, production can not be applied in practice.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of rotor-support-foundation system on-line dynamic balancing system and sides Method judges unbalanced phase and quality, and then generate by collecting its vibration signal for the rotor-support-foundation system to work online Movement goes to balance its unbalance mass, to achieve the effect that on-line dynamic balancing.
According to an aspect of the present invention, a kind of rotor-support-foundation system on-line dynamic balancing system is provided, comprising:
Signal transducer converts analog signal for vibration information for acquiring the unbalance vibration information of rotor-support-foundation system, And analog signal is transmitted to signal picker;
Signal picker, for the analog signal generated by signal transducer received to be converted to digital signal, and After carrying out noise reduction, filtering processing to digital signal, send to data processing system;
Data processing system, for calculating, handle the digital signal received, obtain rotor-support-foundation system unbalance mass, and Phase information simultaneously generates action signal, is sent to signal projector;
Signal projector, the action signal for generating data processing system are transmitted to balance regulator;
Balance regulator, for receiving the action signal of signal projector and the generation movement inside the adjuster, thus The amount of unbalance for adjusting rotor-support-foundation system, realizes the on-line dynamic balancing of rotor-support-foundation system.
Preferably, the balance regulator is made of part and phantom element on axis, in which:
It is partially linked together by key and the shaft in rotor-support-foundation system on the axis, and is rotated together with shaft;It is servo-actuated Part covers in shaft and keeps certain interval with shaft;Phantom element and axis top point keep rotating synchronously.
It is highly preferred that sucked type magnetic is installed in several apertures of equidistantly distributed, aperture bottom in the disk of part on the axis Iron;The tail portion of part is equipped with controller, battery pack and signal receiving device on axis.
It is highly preferred that the phantom element is made of stationary part and rotating part, in which:
Several apertures of equidistantly distributed in the disk of rotating part, the aperture one on the position of aperture and axis in the disk of part One is corresponding;Before operation, a steel ball is pre-placed in each aperture;
The outer rim of rotating part is equipped with the permanent magnet of several equidistantly distributeds;Close to the position of rotating part on stationary part It sets and hot-wire coil is installed.
It is highly preferred that part and the rotating part spacing in phantom element are 3-5mm on the axis.
Preferably, the balance regulator uses in pairs, and the two sides for the turntable being separately mounted in rotor-support-foundation system.
Preferably, the signal transducer is two eddy current displacement sensors;Two eddy current displacement sensors intersect It is placed in an angle of 90 degrees, plane composed by two eddy current displacement sensors is perpendicular to rotor axis direction.
Preferably, the signal picker includes filter, multichannel analog-to-digital conversion card and multi-channel signal acquiring card, letter The analog signal of number sensor transmission becomes digital signal after filter filtering and multichannel analog-to-digital conversion card analog-to-digital conversion, and It is saved by multi-channel signal acquiring card, and is sent to data processing system.
Preferably, the data processing system, the digital signal that signal picker is sent carry out at digital signal Reason, calculates the unbalance mass, and phase information of rotor-support-foundation system, and issue action signal from signal characteristic, action signal warp Emitted by signal projector, to control balance regulator movement.
It is highly preferred that the data processing system can use software realization, carried by PC machine.
It is highly preferred that the signal projector is mounted in the PC machine of data processing system.
According to another aspect of the present invention, a kind of rotor-support-foundation system on-line dynamic balancing method is provided, is included the following steps:
The first step installs balance regulator, signal transducer on needing to do dynamically balanced rotor-support-foundation system;
Second step connects signal transducer, signal picker, signal projector, data processing system by conducting wire;
Third step, starting rotor-support-foundation system, part is rotated together with shaft on the axis of balance regulator, balance regulator with The hot-wire coil of dynamic part generates electromagnetic force after being powered, and interacts to drive phantom element and axis top with permanent magnet Divide and keeps synchronized rotation;The unbalance information of rotor-support-foundation system is acquired by signal transducer, and signal transducer converts displacement signal At analog signal, and it is sent at signal picker;
The simulation that 4th step, signal picker transmit signal transducer through filter filtering and multichannel analog-to-digital conversion card Signal is filtered and analog-to-digital conversion, analog signal is become digital signal, digital signal is collected simultaneously by data collecting card It is sent to data processing system;
Unbalanced phase is obtained by calculation in the digital signal that 5th step, data processing system transmit signal picker And quality, action signal is generated, and action signal is sent to signal projector;
6th step, signal projector emit action signal, the signal receiver partially above installed on the axis of balance regulator Action signal is received, is powered and is generated by the sucked type electromagnet of the circular hole bottom of controller control unbalance phase position Electromagnetic force attracts on the steel ball to axis in the circular hole of the rotating part of corresponding position phantom element in the circular hole of part, to produce Raw compensation quality, and then realize the on-line dynamic balancing of rotor-support-foundation system.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1. the present invention realizes the dynamic balancing of rotor-support-foundation system in the operating condition, does not need repeatedly to shut down experiment, reduce Tradition shuts down the influence of dynamic balance method bring industrial production and economic loss, meets industrial production demand;
2. the present invention can stay on rotor-support-foundation system for a long time after completing a dynamic balancing, guarantee its dynamic balancing effect;
3. the present invention only need to install balance regulator additional on rotor-support-foundation system, avoid to rotor-support-foundation system carry out it is larger modification to Rotor performance bring influences;
4. the present invention can monitor the operation conditions of rotor-support-foundation system, dynamic balancing is carried out to rotor-support-foundation system in real time, to avoid As rotor-support-foundation system it is uneven caused by serious consequence, improve the safety of this relatively hazardous equipment of rotor-support-foundation system.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention, Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram of one embodiment of the present invention;
Fig. 2 is the signal flow schematic diagram of one embodiment of the present invention;
Fig. 3 is the balance regulator structural schematic diagram of one embodiment of the present invention;
Fig. 4 is partial schematic diagram on the axis of the balance regulator of one embodiment of the present invention;
Fig. 5 is the phantom element schematic diagram of the balance regulator of one embodiment of the present invention;
In figure: 100- balance regulator, 200- signal transducer, 300- signal picker, 400- signal projector, 500- Data processing system, 600- rotor-support-foundation system;
1- phantom element stator (stationary part), 2- coil, 3- permanent magnet, part on 4- axis, 5- circular hole, 6- sucked type electricity Magnet, 7- controller, 8- battery, 9- signal receiver, 10- phantom element rotor (rotating part), 11- steel ball, 12- circular hole, 13- turntable.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention Protection scope.
As shown in Figure 1 and Figure 2, a kind of rotor-support-foundation system on-line dynamic balancing system, including balance regulator 100, signal transducer 200, signal picker 300, signal projector 400 and data processing system 500, in which:
Signal transducer 200 is used to acquire the unbalance vibration information of rotor-support-foundation system, converts simulation letter for vibration information Number, and analog signal is transmitted to signal picker;
Signal picker 300 is used to the analog signal received being converted to digital signal, and carries out certain noise reduction, filter After the processing such as wave, send to data processing system;
Data processing system 500 obtains the unbalance mass, of rotor-support-foundation system for calculating, handling the digital signal received With phase information and generate action signal;
Signal projector 400 is used to the action signal that data processing system generates being transmitted to balance regulator;
Balance regulator 100 is used for by receiving action signal and the generation movement inside adjuster, so as to adjust rotor The amount of unbalance of system realizes the on-line dynamic balancing of rotor-support-foundation system.
Arrow direction indicates the flow direction of signal in Fig. 1 and Fig. 2.The imbalance of the collection rotor-support-foundation system 600 of signal transducer 200 Displacement signal, and displacement signal is converted into pass to signal picker 300 after analog signal;Signal picker 300 receives mould Quasi- signal is simultaneously filtered analog signal and analog-to-digital conversion, is collected by data collecting card and transmits signals to data Reason system 500;Unbalanced phase and quality is obtained by calculation in data processing system 500, and generates action signal, movement Signal sends signal projector 400 to;Signal projector 400 emits action signal and balances adjuster 100, balance regulator 100 receive action signal, and generate movement, to realize the on-line dynamic balancing of rotor-support-foundation system.
As shown in figure 3, in one embodiment, the balance regulator 100 for part 4 on the axis of 80mm and is servo-actuated by diameter Part forms, phantom element point phantom element rotor 10 and phantom element stator 1 including diameter 80mm, on axis part 4 with Dynamic 10 spacing 5mm of part rotor;Part 4 is connected by key on axis links together with the shaft of rotor-support-foundation system, can be with shaft It rotates together;10 sets of phantom element rotor in the shaft of rotor-support-foundation system 600, it is concentric with shaft and between keeping certain shaft Part 4 keeps rotating synchronously in gap, with axis;Phantom element stator 1 fixes on the ground.
As shown in figure 4, in one embodiment, being equally spacedly distributed at radius 30mm in the disk of part 4 on the axis The circular hole 5 that 16 diameters are 8mm, the bottom of circular hole 5 is equipped with sucked type magnet 6;The tail portion of part 4 is equipped with controller on axis 7, battery 8 and signal receiver 9, in which: controller 7 receives the control signal that data processing system 500 emits, while controlling number It is powered according to the coil in circular hole specified by processing system 500;Battery 8 is used to be powered to coil 2;Signal receiver 9 is for connecing Receive the control signal that data processing system 500 emits.
As shown in figure 5, in one embodiment, 16 circles are equally spacedly distributed in the disk of the phantom element rotor 10 Hole 12, the circular hole 5 on the position of circular hole 12 and axis in the disk of part 4 correspond.
As preferred embodiment, one 2 is pre-placed in 16 circular holes 12 on the phantom element rotor 10 Gram steel ball 11 (as shown in Figure 3).
As preferred embodiment, the outer rim of the phantom element rotor 10 is equally spacedly equipped with 20 permanent magnets 3, Position on phantom element stator 1 close to phantom element rotor 10 is equipped with hot-wire coil 2 (as shown in Figure 3);When hot-wire coil 2 Electromagnetic force can be generated when energization, and generates mutually anti-active force with permanent magnet 3, so that phantom element rotor 10 be pushed to rotate.
As preferred embodiment, the balance regulator 100 uses (1 peace of balance regulator as shown in figure 1 in pairs Weigh adjuster 2), and it is separately mounted to the two sides of the turntable of rotor-support-foundation system.
As preferred embodiment, the signal transducer 200 is two eddy current displacement sensors, model I type non-contact electric eddy shift sensor of ZZF2-;Two signal transducers are placed on the bearing block for transfering from one department to another system, and are handed over Fork is placed in an angle of 90 degrees;Plane composed by two signal transducers is perpendicular to rotor axis direction.
As preferred embodiment, the signal picker 300, including filter, multichannel analog-to-digital conversion card and more Channel signal capture card, analog signal become digital signal after filter filtering and multichannel analog-to-digital conversion card analog-to-digital conversion, And it is saved by multi-channel signal acquiring card.
The multi-channel signal acquiring card uses NI-9234 voltage signal collector
As preferred embodiment, the data processing system 500, the signal that signal picker is received is counted Word signal processing calculates the unbalance mass, of rotor-support-foundation system from signal characteristic and phase information and issues action signal, moves Make signal to emit via signal projector, control balance regulator movement.
As preferred embodiment, the data processing system 500 is carried by PC machine, and is realized via software programming.
As preferred embodiment, the signal projector 400 is mounted in the PC machine of data processing system 500.
Using above system structure, the balance method of rotor-support-foundation system on-line dynamic balancing system is carried out, is included the following steps:
The first step installs balance regulator, signal transducer 200 on needing to do dynamically balanced rotor-support-foundation system;
Second step leads to signal transducer 200, signal picker 300, signal projector 400, data processing system 500 Conducting wire is crossed to connect;
Third step starts rotor-support-foundation system, and part 4 is rotated together with rotor-support-foundation system on the axis of balance regulator 100, and balance is adjusted The phantom element rotor 10 of device 100 is saved by the effect of electromagnetic force between hot-wire coil 2 and permanent magnet 3, is kept with part 4 on axis Synchronized rotation;The unbalance information of rotor-support-foundation system is acquired by signal transducer 200, and displacement signal is converted into analog signal, is passed It send to signal picker 300;
4th step, signal picker 300 is filtered to it and analog-to-digital conversion, is collected by data collecting card, will believe Number it is sent to data processing system 500;
5th step, unbalanced phase and quality is obtained by calculation in data processing system 500, and generates action signal, Transmit signals to signal projector 400;
6th step, signal projector 400 emit action signal, the signal installed on part 4 on the axis of balance regulator 100 Receiver 9 receives action signal, and the sucked type electromagnetism of 5 bottom of circular hole of unbalance phase position is controlled by controller 7 Iron 6, which is powered, generates electromagnetic force, attracts the steel ball 11 in the circular hole 12 of corresponding position phantom element rotor 1 to the circle of part 4 on axis In hole 5, to produce compensation quality, and then the on-line dynamic balancing of rotor-support-foundation system is realized.Two balance regulators move simultaneously Make, completing dynamic balancing in equivalent to two planes of unbalance mass,.
The present invention realizes that rotor-support-foundation system completes dynamic balancing when not shutting down, and removes from traditional experiment of dynamic balancing and repeats to open Machine, outage shut down bring economic loss suitable for the system that should not be shut down to reduce.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow Ring substantive content of the invention.

Claims (8)

1. a kind of rotor-support-foundation system on-line dynamic balancing system characterized by comprising
Signal transducer converts analog signal for vibration information, and will for acquiring the unbalance vibration information of rotor-support-foundation system Analog signal is transmitted to signal picker;
Signal picker, for the analog signal generated by signal transducer received to be converted to digital signal, and logarithm After word signal carries out noise reduction, filtering processing, send to data processing system;
Data processing system obtains the unbalance mass, and phase of rotor-support-foundation system for calculating, handling the digital signal received Information simultaneously generates action signal, is sent to signal projector;
Signal projector, the action signal for generating data processing system are transmitted to balance regulator;
Balance regulator, for receiving the action signal of signal projector and the generation movement inside the adjuster, so as to adjust The amount of unbalance of rotor-support-foundation system realizes the on-line dynamic balancing of rotor-support-foundation system;
The balance regulator is made of part and phantom element on axis, in which:
It is partially linked together by key and the shaft in rotor-support-foundation system on the axis, and is rotated together with shaft;Phantom element It covers in the shaft of rotor-support-foundation system and keeps certain interval with shaft;Phantom element and axis top point keep rotating synchronously;
The phantom element is made of stationary part and rotating part, in which:
Several apertures of equidistantly distributed in the disk of rotating part, the aperture one on the position of aperture and axis in the disk of part are a pair of It answers;Before operation, a steel ball is pre-placed in each aperture;
The outer rim of rotating part is equipped with the permanent magnet of several equidistantly distributeds;
Position on stationary part close to rotating part is equipped with hot-wire coil.
2. a kind of rotor-support-foundation system on-line dynamic balancing system according to claim 1, which is characterized in that part on the axis Sucked type magnet is installed in several apertures of equidistantly distributed in disk, aperture bottom;The tail portion of part is equipped with controller, electricity on axis Pond group and signal receiving device.
3. -2 described in any item a kind of rotor-support-foundation system on-line dynamic balancing systems according to claim 1, which is characterized in that described flat The two sides for the turntable that weighing apparatus adjuster is used in pairs, and is separately mounted in rotor-support-foundation system.
4. -2 described in any item a kind of rotor-support-foundation system on-line dynamic balancing systems according to claim 1, which is characterized in that the letter Number sensor is two eddy current displacement sensors;Two eddy current displacement sensors intersect to be placed in an angle of 90 degrees, two electric whirlpools Plane composed by displacement sensor is flowed perpendicular to rotor-support-foundation system axis direction.
5. -2 described in any item a kind of rotor-support-foundation system on-line dynamic balancing systems according to claim 1, which is characterized in that the letter Number collector includes filter, multichannel analog-to-digital conversion card and multi-channel signal acquiring card, the simulation letter of signal transducer transmission Number through becoming digital signal after filter filtering and multichannel analog-to-digital conversion card analog-to-digital conversion, and protected by multi-channel signal acquiring card It deposits, and is sent to data processing system.
6. -2 described in any item a kind of rotor-support-foundation system on-line dynamic balancing systems according to claim 1, which is characterized in that the number According to processing system, the digital signal that signal picker is sent carries out Digital Signal Processing, calculates from signal characteristic The unbalance mass, and phase information of rotor-support-foundation system, and action signal is issued, action signal emits via signal projector, with control Balance regulator movement processed.
7. a kind of rotor-support-foundation system on-line dynamic balancing system according to claim 6, which is characterized in that the signal projector It is mounted in the PC machine of data processing system.
8. a kind of rotor-support-foundation system on-line dynamic balancing method using any one of the claim 1-7 system, which is characterized in that packet Include following steps:
The first step installs balance regulator, signal transducer on needing to do dynamically balanced rotor-support-foundation system;
Second step connects signal transducer, signal picker, signal projector, data processing system by conducting wire;
Third step starts rotor-support-foundation system, and part is rotated together with shaft on the axis of balance regulator, the servo-actuated portion of balance regulator The hot-wire coil divided generates electromagnetic force after being powered, and interacts with permanent magnet to drive phantom element and axis top code insurance Hold synchronized rotation;The unbalance information of rotor-support-foundation system is acquired by signal transducer, and displacement signal is converted into mould by signal transducer Quasi- signal, and be sent at signal picker;
The analog signal that 4th step, signal picker transmit signal transducer through filter filtering and multichannel analog-to-digital conversion card It is filtered and analog-to-digital conversion, analog signal is become into digital signal, digital signal is collected and is transmitted by data collecting card To data processing system;
Unbalanced phase and matter is obtained by calculation in the digital signal that 5th step, data processing system transmit signal picker Amount generates action signal, and action signal is sent to signal projector;
6th step, signal projector emit action signal, the partially upper signal receiver reception installed on the axis of balance regulator Action signal is powered by the sucked type electromagnet of the circular hole bottom of controller control unbalance phase position and generates electromagnetism Power attracts on the steel ball to axis in the circular hole of the rotating part of corresponding position phantom element in the circular hole of part, to generate benefit Quality is repaid, and then realizes the on-line dynamic balancing of rotor-support-foundation system.
CN201610670935.XA 2016-08-15 2016-08-15 A kind of rotor-support-foundation system on-line dynamic balancing system and method Active CN106168526B (en)

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CN108987298B (en) * 2017-05-31 2020-10-16 上海微电子装备(集团)股份有限公司 Rotary gluing device and method
CN107707096B (en) * 2017-09-11 2019-07-16 东北大学 A kind of two balancing frame bidirectional modulation on-line dynamic balancing heads of stepper motor driving
CN108361079B (en) * 2018-02-13 2020-02-18 北京化工大学 Rotor vibration control method and control device

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CN1039452C (en) * 1993-03-12 1998-08-05 浙江大学 Electromagnetic self-balancing head
JP3833037B2 (en) * 2000-01-18 2006-10-11 日本電産サンキョー株式会社 Automatic balancing device
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CN2766111Y (en) * 2005-01-26 2006-03-22 浙江大学 Mechanical on-line dynamic balancing head
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