CN109649966A - A kind of two-shipper motor synchronizing drives three mass vibration feeders and its parameter determination method - Google Patents

A kind of two-shipper motor synchronizing drives three mass vibration feeders and its parameter determination method Download PDF

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CN109649966A
CN109649966A CN201811545947.5A CN201811545947A CN109649966A CN 109649966 A CN109649966 A CN 109649966A CN 201811545947 A CN201811545947 A CN 201811545947A CN 109649966 A CN109649966 A CN 109649966A
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sin
cos
vibration
plastid
excitors
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CN109649966B (en
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张学良
李超
崔世举
高志国
岳红亮
王志辉
马辉
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Northeastern University China
Northeastern University, Boston
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Northeastern University China
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00Jigging conveyors
    • B65G27/10Applications of devices for generating or transmitting jigging movements
    • B65G27/16Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G27/00Jigging conveyors
    • B65G27/34Jigging conveyors comprising a series of co-operating units

Abstract

The invention belongs to vibrating material feeding device technical fields, are a kind of three mass vibration feeders of two-shipper motor synchronizing driving.Vibration Synchronization Theory is mainly applied, a kind of New type material feed machine of the vibrational state development of vibrational system difference resonance-type is utilized.The present invention includes hopper, body, pedestal, discharge port, vibration excitor, spring, conveyer belt, shake table, umbrella shape boss.The present invention is different from common oscillating feeder, and oscillating feeder of the invention is centainly innovated in structure, meets the features such as structure is simple, easy to maintenance and vibration force is big, and work efficiency is high.The present invention provides the parameter determination method of the oscillating feeder of the type simultaneously, provides certain guidance in the structure design and parameter selection of oscillating feeder.

Description

A kind of two-shipper motor synchronizing drives three mass vibration feeders and its parameter determination method
Technical field
The invention belongs to vibrating material feeding device technical field, be a kind of two-shipper motor synchronizing drive three mass vibration feeders and Its parameter determination method.
Background technique
Oscillating feeder, also known as vibration feeder, refer to can blocky, granular material from storage bin uniformly, timing, Continuously it is given to a kind of equipment gone in material receiving device.It is widely used in the industries such as metallurgy, coal mine, building materials, chemical industry.Vibrating feed Machine has many advantages, such as that structure is simple, feeding is uniform, continuity is good, exciting force is adjustable.Oscillating feeder is using in vibrator Eccentric block rotation generates centrifugal force, makes to sieve the movement that the movable parts such as compartment, vibrator are allocated as compulsory continuous circle or approximate circle.
The present invention is compared with other oscillating feeders:
(1) oscillating feeder common at present mainly uses vibration excitor and gear to combine, and vibration source needs vibration excitor and tooth Wheel generates, and triangle band connection is needed between motor and gear.And the present invention is three mass vibration feeder of motor synchronizing, relatively Gear and belt transmission are not needed in common vibrating motor, therefore structure is simple, it is easy to maintenance, it is according to vibration motor synchronizing reason By the novel vibration feeding machine of development,
(2) batcher of motor synchronizing at present is mostly the double-mass vibration feeder that resonated using nearly (Asia), and the present invention is being fed back Vibration amplification aspect, it is more outstanding than the oscillating feeder of double mass, therefore bigger amplitude can be generated, to improve mechanic Make efficiency.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, mainly apply Vibration Synchronization Theory, are resonated using vibrational system difference A kind of New type material feed machine of the vibrational state development of type.Propose a kind of two-shipper motor synchronizing drive three mass vibration feeders and Its parameter determination method.
A kind of three mass vibration feeders of two-shipper motor synchronizing driving, including hopper, shake table, vibration body, pedestal, exciting Device, spring, conveyer belt, umbrella shape boss;Vibration underpart is fixed on the base by spring, supports whole equipment, and provide Necessary elastic force and vibration isolation;Two sides are symmetrically installed two and half circularoscillations platforms above vibration body, and vibrate body and shake table Between by spring connect, shake table is to provide exciting force the material fallen is delivered to bottom end;It vibrates intermediate above body One umbrella shape boss is installed, is located at immediately below hopper, the effect of umbrella shape boss is that directing material is slipped in the cambered surface of shake table;? The vibration body of half circularoscillations platform bottom end is equipped with discharge port, and material is slipped in discharge port from shake table, and discharge port is divided into There is conveyer belt, facilitates conveying, the feeding of material;Vibration excitor is symmetrically mounted on vibration body, the eccentric rotor of two vibration excitors Reverse sync rotation, as power source;The movement of vibration body is defined in the direction y.
Working principle: when material enters hopper, first passing around umbrella boss, and material slides along umbrella wall, falls in shake table On, shake table is of reciprocating vibration, transports material to discharge port, and material is delivered to required equipment finally by transfer station.Vibration The exciting force of platform is provided by two vibration excitors, guarantees direction of vibration and the vibration of shake table and vibration excitor by parameter determination method Width reaches ideal effect.
The present invention is using three plastid kinetic model of two-shipper as research object, using mean parameter method, transfer function method etc. Principle obtains the synchronism and stabilizing power of system to the model foundation differential equation, by the specificity analysis of synchronism and stability Coefficient curve, dimensionless coupling torque maximum value figure etc., finally by the emulation of vibrational system, obtains the rate curve of plastid, Displacement curve, phase difference figure pass through the correctness of specificity analysis and the contrast verification method of system emulation.
Above-mentioned two-shipper motor synchronizing drives the parameter determination method of three mass vibration feeders, the kinetic model of the batcher Including three plastids and two vibration excitors;Two vibration excitors rotate in opposite directions;Plastid 1 and plastid 2 are two shake tables, The movement of horizontal direction opposite direction;Plastid 3 is vibration body, is moved up and down and in x-axis direction without motion, the parameter of the vibration excitor The method of determination includes the following steps:
Step 1: the kinetic model and differential equation of motion of system are established
The kinetic model of oscillating feeder is obtained according to Lagrangian method as shown in Figure 1, establish two rectangular coordinate systems Differential equation of motion
In formula
M1=m1+m01, M2=m2+m02, M3=m3+m01+m02
m01,m02--- the quality of vibration excitor 1 and 2;mi--- the quality (i=1~3) of plastid;f1y, f2y, f3y--- the side y Upward damped coefficient;Joi=moiri 2--- rotary inertia (i=1~2);R --- vibration excitor eccentricity;k1y,k2y--- the direction y Upper spring stiffness coefficient;--- the phase angle (i=1~2) of vibration excitor i;--- vibration excitor i angular speed (i=1~ 2);--- the angular acceleration (i=1~2) of vibration excitor i;
Step 2: synchronization conditions are derived
The response of system is obtained by transfer function method are as follows:
γ1y--- the angle of lag of plastid 1 in y-direction;
γ2y--- the angle of lag of plastid 2 in y-direction;
γ3y--- the angle of lag of plastid 3 in y-direction;
The mass ratio of η --- rotor 1 and 2;
The average phase angle of two vibration excitors isThe phase difference of two vibration excitors is 2 α, and is had:
Identical in quality, the i.e. M of plastid 1 and 21=M2, then have
A=-M1M2M3ω6 m0+(f1f2M1+f1f2M2+f1f2M3+f1f3M2+f2f3M1
+M1M2k1+M1M2k2+M1M2k3+M2M3k1+M1M3k2m0 4
-(k1k2M1+k1k2M2+k1k2M3+k1k3M2+k2k3M1+f1f3k2+f2f3k1+f1f2k3m0 2
+k1k2k3
C=- (f1f2+k1M2m0 2+k1k2, d=-f1M2ωm0 3+(f1k2+f2k1m0
E=- (k2M1+f1f2m0 2+k1k2, g=-f2M1ωm0 3+(k2f1+k1f2m0
H=M1M2ωm0 4-(f1f2+k1M2+k2M1m0 2+k1k2
P=- (f1M2+f2M1m0 3+(f1k2+f2k1m0
So having
In plastid 1, it is assumed that spring and the angle of horizontal direction are β.In plastid 2, it is assumed that spring and horizontal direction Angle is π-β.Displacement of the plastid 3 in the direction x is 0.Under lesser fluctuation, response of the system in the direction x are as follows:
In formula, M --- mass-coupling matrix, K --- stiffness coupling matrix, Δ (ω2) it is characterized value equation
When eigenvalue equation being enabled to be equal to 0, i.e. Δ (ω2)=0
-M1M2M3ω6+(k1yM2M3+k2yM1M3+k1yM1M2+k2yM1M2+k3yM1M24
-(k1yk2yM3+k1yk2yM2+k1yk3yM2+k1yk2yM1+k2yk3yM12+k1yk2yk3y=0
Enable k1y=k2y=k0, M1=M2=M0?
k0 2k3-k0 2ωm0 2M3-2ωm0 2M0k0 2-2k0ωm0 2M0k3+2k0ωm0 4M0M3+2ωm0 4M0 2k0
m0 4M0 2k3m0 6M0 2M3=0
When system works at steady state, i.e.,Formula (2) derivation is obtainedAnd substitute into formula (1) it in the last one equation, then enablesIt quadratures, we will obtain the average differential equation of two vibration excitors, such as Under:
In formulaThe kinetic energy of expression standard vibration excitor, ωm0Indicate the synchronous angular velocity of two motors, Te01, Te01The electromagnetic torque of two motors,Poor (the Δ of output torque of the output torque motor 1 and motor 2 of two motors T12) are as follows:
Arrangement formula (10):
In formula
It is the constraint function about α for the dimensionless coupling torque of two vibration excitors:
Therefore:
The synchronization criterion of two vibration excitors is that the dimensionless surplus torque absolute value of the difference of any two motor is less than or waits In the maximum value of dimensionless coupling torque.
It willSummation, then divided by 2Tu, the dimensionless load moment for obtaining two vibration excitors is as follows:
τ in formulaa(α, α) is the dimensionless load moment of two vibration excitors, and constraint function is as follows:
Synchronizing capacity coefficient before vibration excitor 1 and 2 is as follows:
Synchronizing capacity coefficient is bigger, and the synchronism of system is stronger, realizes that synchronization is easier.
Step 3: the stability criteria of synchronous regime
The kinetic energy equation of system are as follows:
The potential energy equation of system are as follows:
Mean kinetic energy equation E in a cycleTIt is averagely potential energy equation EVAre as follows:
P=-kyF3 2cos(2α-β)-kyF3 2cos(2α+β)-kyF1 2cos(2α-β)-kyF1 2cos(2α+β)
-k2yF3 2cos(2α-β)-k2yF3 2cos(2α+β)-k2yF2 2cos(2α-β)-k2yF2 2cos(2α+β)
-k2yF3 2sin(2α+β)+k2yF3 2sin(2α-β)-k2yF2 2sin(2α+β)+k2yF2 2sin(2α-β)
-k3yF3 2sin(2α+β)+k3yF3 2sin(2α-β)-2kyF3 2cos(β)-2kyF1 2cos(β)-2k2yF3 2cos(β)
-2k2yF2 2cos(β)-2k1yF3 2sin(β)-2kyF1 2sin(β)-2k2yF3 2sin(β)-2k2yF2 2sin(β)
-2k3yF3 2sin(β)
E in formulaTIndicate mean kinetic energy, EVIndicate average potential energy
So that
System Hamilton mean effort amount (I) is:
Under synchronous regime, the solution of stable phase potential differenceCorresponding to minimum Hamilton's action, Hessen matrix is just Fixed, Hessen matrix is expressed as H,
F1=k3yF3 2sin(2α-3β)-k3yF3 2sin(2α+3β)+k2yF2 2sin(2α-3β)-k2yF2 2sin(2α+3β)
-kyF3 2sin(2α+3β)+kyF3 2sin(2α-3β)-kyF1 2sin(2α+3β)+kyF1 2sin(2α-3β)
-k2yF3 2sin(2α+3β)+k2yF3 2sin(2α-3β)-k2yF2 2sin(2α+3β)-kyF3 2sin(2α-3β)
-kyF3 2cos(2α+3β)-kyF1 2cos(2α-3β)-kyF1 2cos(2α+3β)-k2yF3 2cos(2α-3β)
-k2yF3 2cos(2α+3β)-k2yF2 2cos(2α+3β)
F2=kyF3 2cos(2α-β)+kyF3 2cos(2α+β)+kyF1 2cos(2α-β)+kyF1 2cos(2α+β)
+k2yF3 2cos(2α-β)+k2yF3 2cos(2α+β)+k2yF2 2cos(2α-β)+k2yF2 2cos(2α+β)
+3kyF3 2sin(2α+β)-3kyF3 2sin(2α-β)+3kyF1 2sin(2α+β)-3kyF1 2sin(2α-β)
+3k2yF3 2sin(2α+β)-3k2yF3 2sin(2α-β)+3k2yF2 2sin(2α+β)-3k2yF2 2sin(2α-β)
+3k3yF3 2sin(2α+β)-3k3yF3 2sin(2α-β)
F3=3M3F3 2ωm0 2sin(2α-β)-3M3F3 2ωm0 2sin(2α+β)+M3F3 2ωm0 2sin(2α+3β)
-M3F3 2ωm0 2sin(2α-3β)-4M1F1 2ωm0 2sin(2α+β)+4M1F1 2ωm0 2sin(2α-β)
-4M2F2 2ωm0 2sin(2α+β)+4M2F2 2ωm0 2sin(2α-β)
F4=cos (γy3y)[-3kyF1F3sin(2α+β)+3kyF1F3sin(2α-β)-kyF1F3cos(2α-β)
-kyF1F3cos(2α+β)+kyF1F3cos(2α-3β)+kyF1F3cos(2α+3β)
+kyF1F3sin(2α+3β)-kyF1F3sin(2α-3β)]
F5=cos (γ2y3y)[-3kyF2F3sin(2α+β)+3k2yF2F3sin(2α-β)-k2yF2F3cos(2α-β)
-k2yF2F3cos(2α+β)+k2yF2F3cos(2α-3β)+k2yF2F3cos(2α+3β)
+k2yF2F3sin(2α+3β)-k2yF2F3sin(2α-3β)]
Therefore
In order to guarantee Hessen matrix normal Wishart distribution, it should meet following condition:
H>0 (25)
H is defined as the stabilizing power coefficient of system, and when formula (25) condition meets, system is then stable.
The invention has the benefit that the present invention proposes novel vibration feeding machine model, is driven, possessed using double vibration excitors Two conveying groove body (m1,m2), therefore guarantee when there is more material to need to convey, equipment can also work normally, working efficiency It is high.Material is easy to wear with groove body during transportation, therefore in the identical quantitative material of conveying, double trough body structure ratios The service life is longer for single trough body structure.And the equipment is at work, and body amplitude is essentially 0, smaller to surrounding environment influence.
Detailed description of the invention
(a) is that two-shipper motor synchronizing drives three plastid structure charts, (b) kinetic model in Fig. 1;
In figure: 1 hopper;2 shake tables;3 vibration bodies;4 vibration excitors;5 discharge ports;6 pedestals;7 springs;
The meaning of each parameter in Fig. 1:
m1--- the quality of plastid 1;
m2--- the quality of plastid 2;
m3--- the quality of plastid 3;
m01--- the quality of vibration excitor rotor 1;
m02--- the quality of vibration excitor rotor 2;
--- the corner of vibration excitor rotor 1;
--- the corner of vibration excitor rotor 2;
o1--- the mass center of vibration excitor 1;
o2--- the mass center of vibration excitor 2;
ki, i=0~3 --- spring rate;
Angle between the spring and horizontal direction of β --- plastid 1;
Angle between the spring and horizontal direction of π-β --- plastid 2;
Phase difference figure between Fig. 2 vibration excitor;
The angle of lag figure of tri- plastids of Fig. 3;
Fig. 4 net synchronization capability force coefficient curve graph;
Fig. 5 dimensionless maximum coupling torque figure;
Fig. 6 stability ability charts for finned heat;
1 motor speed figure of the region Fig. 7;
1 phase difference figure of the region Fig. 8;
Displacement diagram of the region Fig. 91 in the direction x;
Partial enlarged view of the region Figure 10 1 in the displacement in the direction x;
Displacement diagram of the region Figure 11 1 in the direction y;
Partial enlarged view of the region Figure 12 1 in the displacement in the direction y;
2 motor speed figure of the region Figure 13;
2 phase difference figure of the region Figure 14;
Displacement diagram of the region Figure 15 2 in the direction x;
Front partial enlarged view of the region Figure 16 2 in the displacement in the direction x;
Rear portion partial enlarged view of the region Figure 17 2 in the displacement in the direction x;
Displacement diagram of the region Figure 18 2 in the direction y;
Front partial enlarged view of the region Figure 19 2 in the displacement in the direction y;
Rear portion partial enlarged view of the region Figure 20 2 in the displacement in the direction y;
3 motor speed figure of the region Figure 21;
3 phase difference figure of the region Figure 22;
Displacement diagram of the region Figure 23 3 in the direction x;
Displacement diagram of the region Figure 24 3 in the direction y.
Specific embodiment
A kind of three mass vibration feeders of two-shipper motor synchronizing driving.Its kinetic model is shown in Fig. 1, comprising: vibration excitor m0i(i =1~2);Plastid mi(i=1~3), spring ki(i=1~3).The model is made of two vibration excitors and three plastids.Plastid 1 With 2 horizontal direction counter motions, plastid 3 is in the direction x non-displacement.And each vibration excitor is rotated around itself rotating shaft, withTable Show.
Embodiment 1: numerical analysis
The stable phase relationship of system is made of three kinds of phase relations, i.e., phase difference between vibration excitor, system response and Phase relation between phase relation between vibration excitor and system response.
It is assumed that Vibration Parameters are k1y=k2y=20000kN/m, k3y=10kN/m, m1=m2=1500kg, m3= 2000kg, m01=m02=10kg, M3=m3+m01+m02=2020kg, the intrinsic frequency of system is by can be calculated, A point: ω1= 116rad/s, B point: ω2=182rad/s.
Therefore according to ω1=116rad/s and ω2=182rad/s can be divided into three areas: 1st area is ωm01, 2nd area are ω1m02, 3rd area are ω2m0
Fig. 2 indicates that the phase angle relationship of two vibration excitors, 2 α indicate the phase difference between vibration excitor 1 and 2, work as excited frequency In region 1, the phase difference of two vibration excitors is 180 ° and 0 °;When excited frequency is in region 2, the phase difference of two vibration excitors is 0°;When excited frequency is in region 3, the phase difference of two vibration excitors is 0 ° and 180 °.
Fig. 3 indicates the angle of lag of three plastids, and γ is angle of lag, and the angle of lag of system is 180 ° in region 1;In region 2, The angle of lag of plastid 1 and 2 is 180 °, and the angle of lag of plastid 3 is 0 °;In region 3, the angle of lag of plastid 1 and 2 is 0 °, plastid 3 Angle of lag is 180 °.
ζ12Indicate synchronizing capacity coefficient, synchronization factor is bigger between two vibration excitors, and opposing coupler amount is bigger.Two excitings Device reaches synchronous easier, and system synchronizes down better.Known by Fig. 4, is with the increase of excited frequency in region 1 and region 2 System synchronizing capacity coefficient curve starts to be incremented by, and successively decreases later, in region 3, with the increase of excited frequency, system synchronizing capacity system Number curve is incremented by.
By adjusting the phase difference between two vibration excitors, coupling torque reach system energy distribution, thus guarantee be The stabilization of system.Known by Fig. 5, in region 1, with the increase of excited frequency, the curve of maximum coupling torque τ successively decreases.Region 2 and area In domain 3, with the increase of excited frequency, the curve of maximum coupling torque τ is first incremented by, and successively decreases later.
Known by Fig. 6, in region 1, stabilizing power coefficient is 0, and as excited frequency increases, stabilizing power coefficient is greater than 0, Region 2, stabilizing power coefficient have apparent increase, show that system is stablized.
Numerical results show: when system is relative to ω1Subresonance state and relative to ω2Super resonance state Under, i.e. 1 (ω of regionm01) and 3 (ω of region2m0), there are multiple groups stability solutions for the phase difference between two vibration excitors, out Nonlinear system multiplicity implementations are showed;When system is relative to ω2Subresonance state or relative to ω1Super resonance state Under, i.e. 2 (ω of region1m02), the stability force coefficient of system significantly increases.
Embodiment 2: the emulation of vibrational system
The emulation of vibrational system is mainly emulated using quadravalence Rouge-Kutta program, according to three divided before Region is emulated one by one.In practical engineering application, identical vibration excitor is generally taken, the parameter of four motors is identical, i.e. η=1.0. System univers parameter is selected as follows: rotor resistance Rr=3.40 Ω, stator resistance Rs=3.35 Ω, inductor rotor Lr=170mH, Stator inductance Ls=170mH, mutual inductance Lm=164mH, f1y=f2y=0.05.The other parameters of vibrational system: r=0.15m, m1= m2=1500kg, m3=2000kg, m01=m02=10kg, M3=m3+m01+m02=2020kg, adjusting parameter locate system respectively In subresonance state and super resonance state.
Region 1 is emulated, it is assumed that k1y=k2y=60000kN/m, k3y=10kN/m, z1=0.52:
Fig. 7 indicates the stable state of two vibration excitor speed, in a short time, under the speed of two vibration excitors is stable quickly Come, and synchronizing speed is basically stable at 983r/min or so, in 40s, vibration excitor 2 increases interference, and speed generates fluctuation, but Still in 983r/min or so after stabilization.
Fig. 8 shows phase difference stable state, preceding 20s phase difference is 0 °, and the phase difference of vibration excitor 1 and 2 is stablized later 180 °, in 40s, vibration excitor 2 increases interference, and the phase difference after stablizing is still 180 °, consistent with the phase difference of signature analysis.
Fig. 9 and 10 indicates plastid 1,2,3 in the displacement in the direction x.The counter motion in the horizontal direction of plastid 1 and 2.Exist later When 40s, vibration excitor 2 increases interference, and displacement curve generates fluctuation, and the displacement in the horizontal direction of plastid 3 is always 0.
Figure 11 and 12 indicates plastid 1,2,3 in the displacement in the direction y.The displacement of preceding 25s plastid 1 and 2 is equal or slightly larger than matter The displacement of body 3, and 3 plastids move in the same direction.In 40s, vibration excitor 2 increases interference, and the displacement curve of three plastids generates wave It is dynamic, after be restored to 0, meet the specificity analysis of angle of lag.
Region 2 is emulated, it is assumed that k1y=k2y=10000kN/m, k3y=10kN/m, z1=0.8:
Figure 13 indicates the stable state of two vibration excitor speed, and in a short time, the speed of two vibration excitors is stable quickly Get off, and synchronizing speed is basically stable at 790r/min -811r/min, in 30s, vibration excitor 2 increases interference, and speed produces Raw fluctuation, but still in 790r/min -811r/min after stablizing.
Figure 14 indicates phase difference stable state, and the phase difference of vibration excitor 1 and 2 is stablized at 0 °, increased in 30s formula vibration excitor 2 Interference, the phase difference after stablizing is still 0 °, consistent with the phase difference of signature analysis.
Figure 15,16,17 indicate plastid 1,2,3 in the displacement in the direction x.The counter motion in the horizontal direction of plastid 1 and 2, plastid 3 Displacement is 0.Later in 30s, vibration excitor 2 increases interference, and displacement curve generates fluctuation, is restored to original state later.
Figure 18,19,20 indicate plastid 1,2,3 in the displacement in the direction y.The displacement of plastid 1 and 2 is equal to or slightly less than plastid 3 Displacement, and 3 plastids move in the same direction.Later in 30s, vibration excitor 2 increases interference, and displacement curve generates fluctuation, extensive later Original state is arrived again.Meet the specificity analysis of angle of lag.
Region 3 is emulated, it is assumed that k1y=k2y=4000kN/m, k3y=10kN/m, z1=1.27:
Figure 21 indicates the stable state of two vibration excitor speed, and in a short time, the speed of two vibration excitors is stable quickly Get off, and synchronizing speed is basically stable at 983.23r/min or so, in 30s, vibration excitor 2 increases interference, and speed generates wave It is dynamic, but still in 983.23r/min after stablizing.
Figure 22 indicates phase difference stable state, and the phase difference of vibration excitor 1 and 2 is stablized at 0 °, becomes 180 ° in 5s, When 30s, vibration excitor 2 increases interference, and the phase difference after stablizing is restored to 180 °, consistent with the phase difference of signature analysis.
Figure 23 indicates plastid 1,2,3 in the displacement in the direction x.Before 30s, three plastids be all it is stable, in 30s, swash The device 2 that shakes increases interference, and displacement curve generates fluctuation, the 2 horizontal direction counter motion of plastid 1 and plastid, and the displacement of plastid 3 is 0, later System is restored to original state and keeps stable again.
Figure 24 indicates plastid 1,2,3 in the displacement in the direction y.Before 30s, three plastids be all it is stable, in 30s, swash The device 2 that shakes increases interference, and displacement curve generates fluctuation, and three plastid displacements are identical, and system is kept stable again later.
System emulation the result shows that: when system is before and after interference, phase difference and Numerical results are consistent, i.e., in region There are the diversity of nonlinear system between 1 and region 3, and can still stablize after system is interfered in region 2.Therefore should The working region selection region 2 of oscillating feeder under parameter.
(1) according to the Comparative result of the result of embodiment 1 and embodiment 2 it is found that Numerical Validation and system emulation result phase Together.Therefore parameter determination method of the invention is correct.
(2) present invention is the new model of oscillating feeder, using three plastid of twin-engined drives, according to the foundation of the differential equation, The phase difference in region 1 and region 3 that numerical analysis and emulation obtain oscillating feeder of the invention has two groups of solutions, that is, has non-linear The diversity of system, therefore working region is region 2.
(3) from the simulation result in region 2 it is found that the phase difference of two vibration excitors is 0 °, and vibration body does not have in the direction x Vibration, the direction y and plastid 1 and plastid 2 vibration on the contrary, therefore vibrating feed function of the invention generates very big vibration, Work efficiency is high.
(4) research contents of the invention is for the design of Structural Parameters of vibrating feed machine equipment and the selection of working region With great directive function.
The sample data parameter for the wherein a oscillating feeder that embodiment 3 is designed using the present invention.The present invention and not only It is limited to this design parameter.
Spring rate: k1y=k2y=10000kN/m, k3y=10kN/m;
Damped coefficient: f1y=f2y=0.05
Plastid quality: m1=m2=1500kg, m3=2000kg;
R=0.15m;z1=0.8;Synchronous rotational speed: ωm0=790r/min -811r/min
Vibration excitor eccentric rotor quality: m01=m02=10kg, M3=m3+m01+m02=2020kg;
The parameter of electric machine: rotor resistance Rr=3.40 Ω, stator resistance Rs=3.35 Ω, inductor rotor Lr=170mH, stator Inductance Ls=170mH, mutual inductance Lm=164mH.
Two motor models are consistent, three phase squirrel cage (pole model VB-1082-W, 380V, 50Hz, 6-, Δ-connection, 0.75kw, revolving speed 980r/min, 39kg).

Claims (3)

1. a kind of two-shipper motor synchronizing drives three mass vibration feeders, which is characterized in that including hopper, shake table, vibration body, Pedestal, vibration excitor, spring, conveyer belt, umbrella shape boss;Vibration underpart is fixed on the base by spring, and support is entirely set It is standby, and necessary elastic force and vibration isolation are provided;Two sides are symmetrically installed two and half circularoscillations platforms above vibration body, and vibrate body It is connected between shake table by spring, shake table is to provide exciting force the material fallen is delivered to bottom end;Vibrate body One umbrella shape boss is installed among top, is located at immediately below hopper, the effect of umbrella shape boss is that directing material is slipped to shake table In cambered surface;Discharge port is equipped on the vibration body of half circularoscillations platform bottom end, material is slipped in discharge port from shake table, out Material mouth has conveyer belt, facilitates conveying, the feeding of material;Vibration excitor is symmetrically mounted on vibration body, two vibration excitors Eccentric rotor reverse sync rotation, as power source;The movement of vibration body is defined in the direction y.
2. the parameter determination method that two-shipper motor synchronizing described in claim 1 drives three mass vibration feeders, which is characterized in that The kinetic model of the batcher includes three plastids and two vibration excitors;Two vibration excitors rotate in opposite directions;1 He of plastid Plastid 2 is two shake tables, and opposite direction moves in the horizontal direction;Plastid 3 be vibration body, move up and down and x-axis direction without Movement, the parameter determination method of the vibration excitor include the following steps:
Step 1: the kinetic model and differential equation of motion of system are established
Two rectangular coordinate systems are established, differential equation of motion is obtained according to Lagrangian method
In formula
M1=m1+m01, M2=m2+m02, M3=m3+m01+m02
m01,m02--- the quality of vibration excitor 1 and 2;mi--- the quality (i=1~3) of plastid;f1y, f2y, f3y--- on the direction y Damped coefficient;Joi=moiri 2--- rotary inertia (i=1~2);R --- vibration excitor eccentricity;k1y,k2y--- the side y upsprings Spring stiffness coefficient;--- the phase angle (i=1~2) of vibration excitor i;--- the angular speed (i=1~2) of vibration excitor i; --- the angular acceleration (i=1~2) of vibration excitor i;
Step 2: synchronization conditions are determined
The response of system is obtained by transfer function method are as follows:
γ1y--- the angle of lag of plastid 1 in y-direction;
γ2y--- the angle of lag of plastid 2 in y-direction;
γ3y--- the angle of lag of plastid 3 in y-direction;
The mass ratio of η --- rotor 1 and 2;
The average phase angle of two vibration excitors isThe phase difference of two vibration excitors is 2 α, and is had:
Identical in quality, the i.e. M of plastid 1 and 21=M2, then have
A=-M1M2M3ω6 m0+(f1f2M1+f1f2M2+f1f2M3+f1f3M2+f2f3M1+M1M2k1+M1M2k2+M1M2k3+M2M3k1+ M1M3k2m0 4-(k1k2M1+k1k2M2+k1k2M3+k1k3M2+k2k3M1+f1f3k2+f2f3k1+f1f2k3m0 2+k1k2k3
C=- (f1f2+k1M2m0 2+k1k2, d=-f1M2ωm0 3+(f1k2+f2k1m0
E=- (k2M1+f1f2m0 2+k1k2, g=-f2M1ωm0 3+(k2f1+k1f2m0
H=M1M2ωm0 4-(f1f2+k1M2+k2M1m0 2+k1k2
P=- (f1M2+f2M1m0 3+(f1k2+f2k1m0
So having
In plastid 1, it is assumed that spring and the angle of horizontal direction are β;In plastid 2, it is assumed that the angle of spring and horizontal direction For π-β;Displacement of the plastid 3 in the direction x is 0;Under lesser fluctuation, response of the system in the direction x are as follows:
In formula, M --- mass-coupling matrix, K --- stiffness coupling matrix, Δ (ω2) be characterized value equation and enable eigenvalue equation etc. When 0, i.e. Δ (ω2)=0
-M1M2M3ω6+(k1yM2M3+k2yM1M3+k1yM1M2+k2yM1M2+k3yM1M24-(k1yk2yM3+k1yk2yM2+k1yk3yM2+ k1yk2yM1+k2yk3yM12+k1yk2yk3y=0
Enable k1y=k2y=k0, M1=M2=M0?
k0 2k3-k0 2ωm0 2M3-2ωm0 2M0k0 2-2k0ωm0 2M0k3+2k0ωm0 4M0M3+2ωm0 4M0 2k0m0 4M0 2k3m0 6M0 2M3 =0
When system works at steady state, i.e.,Formula (2) derivation is obtainedAnd substitute into formula (1) most In the latter equation, then enableIt quadratures, the average differential equation of two vibration excitors will be obtained, as follows:
In formulaThe kinetic energy of expression standard vibration excitor, ωm0Indicate the synchronous angular velocity of two motors, Te01, Te01Two The electromagnetic torque of a motor,Poor (the Δ T of output torque of the output torque motor 1 and motor 2 of two motors12) are as follows:
Arrangement formula (10):
In formula
It is the constraint function about α for the dimensionless coupling torque of two vibration excitors:
Therefore:
The synchronization conditions of two vibration excitors are that the dimensionless surplus torque absolute value of the difference of any two motor is less than or equal to The maximum value of dimensionless coupling torque;
Step 3: the stability criteria of synchronous regime
The kinetic energy equation of system are as follows:
The potential energy equation of system are as follows:
Mean kinetic energy equation E in a cycleTIt is averagely potential energy equation EVAre as follows:
P=-kyF3 2cos(2α-β)-kyF3 2cos(2α+β)-kyF1 2cos(2α-β)-kyF1 2cos(2α+β)-k2yF3 2cos(2α- β)-k2yF3 2cos(2α+β)-k2yF2 2cos(2α-β)-k2yF2 2cos(2α+β)-k2yF3 2sin(2α+β)+k2yF3 2sin(2α-β)- k2yF2 2sin(2α+β)+k2yF2 2sin(2α-β)-k3yF3 2sin(2α+β)+k3yF3 2sin(2α-β)-2kyF3 2cos(β)- 2kyF1 2cos(β)-2k2yF3 2cos(β)-2k2yF2 2cos(β)-2k1yF3 2sin(β)-2kyF1 2sin(β)-2k2yF3 2sin(β)- 2k2yF2 2sin(β)-2k3yF3 2sin(β)
E in formulaTIndicate mean kinetic energy, EVIndicate average potential energy
So that
System Hamilton mean effort amount (I) is:
Under synchronous regime, the solution of stable phase potential differenceCorresponding to minimum Hamilton's action, Hessen matrix normal Wishart distribution, Hessen matrix is expressed as H,
F1=k3yF3 2sin(2α-3β)-k3yF3 2sin(2α+3β)+k2yF2 2sin(2α-3β)-k2yF2 2sin(2α+3β)-kyF3 2sin (2α+3β)+kyF3 2sin(2α-3β)-kyF1 2sin(2α+3β)+kyF1 2sin(2α-3β)-k2yF3 2sin(2α+3β)+k2yF3 2sin (2α-3β)-k2yF2 2sin(2α+3β)-kyF3 2sin(2α-3β)-kyF3 2cos(2α+3β)-kyF1 2cos(2α-3β)-kyF1 2cos (2α+3β)-k2yF3 2cos(2α-3β)-k2yF3 2cos(2α+3β)-k2yF2 2cos(2α+3β)
F2=kyF3 2cos(2α-β)+kyF3 2cos(2α+β)+kyF1 2cos(2α-β)+kyF1 2cos(2α+β)+k2yF3 2cos(2α-β) +k2yF3 2cos(2α+β)+k2yF2 2cos(2α-β)+k2yF2 2cos(2α+β)+3kyF3 2sin(2α+β)-3kyF3 2sin(2α-β)+ 3kyF1 2sin(2α+β)-3kyF1 2sin(2α-β)+3k2yF3 2sin(2α+β)-3k2yF3 2sin(2α-β)+3k2yF2 2sin(2α+β)- 3k2yF2 2sin(2α-β)+3k3yF3 2sin(2α+β)-3k3yF3 2sin(2α-β)
F3=3M3F3 2ωm0 2sin(2α-β)-3M3F3 2ωm0 2sin(2α+β)+M3F3 2ωm0 2sin(2α+3β)-M3F3 2ωm0 2sin(2 α-3β)-4M1F1 2ωm0 2sin(2α+β)+4M1F1 2ωm0 2sin(2α-β)-4M2F2 2ωm0 2sin(2α+β)+4M2F2 2ωm0 2sin(2 α-β)
F4=cos (γy3y)[-3kyF1F3sin(2α+β)+3kyF1F3sin(2α-β)-kyF1F3cos(2α-β)-kyF1F3cos (2α+β)+kyF1F3cos(2α-3β)+kyF1F3cos(2α+3β)+kyF1F3sin(2α+3β)-kyF1F3sin(2α-3β)]
F5=cos (γ2y3y)[-3kyF2F3sin(2α+β)+3k2yF2F3sin(2α-β)-k2yF2F3cos(2α-β)- k2yF2F3cos(2α+β)+k2yF2F3cos(2α-3β)+k2yF2F3cos(2α+3β)+k2yF2F3sin(2α+3β)-k2yF2F3sin(2 α-3β)]
Therefore
In order to guarantee Hessen matrix normal Wishart distribution, it should meet following condition:
H>0 (25)
H is defined as the stabilizing power coefficient of system, and when formula (25) condition meets, system is then stable.
3. two-shipper motor synchronizing according to claim 2 drives the parameter determination method of three mass vibration feeders, feature It is, it willSummation, then divided by 2Tu, the dimensionless load moment for obtaining two vibration excitors is as follows:
τ in formulaa(α, α) is the dimensionless load moment of two vibration excitors, and constraint function is as follows:
Synchronizing capacity coefficient before vibration excitor 1 and 2 is as follows:
Synchronizing capacity coefficient is bigger, and the synchronism of system is stronger, realizes that synchronization is easier.
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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60197507A (en) * 1984-03-21 1985-10-07 Rion Co Ltd Parts supplier of vibratory type
US4754870A (en) * 1982-08-12 1988-07-05 Litton Systems, Inc. Two mass vibrating feeder
CN201056417Y (en) * 2007-07-20 2008-05-07 徐州五洋科技有限公司 Double-plastid approximate subresonance type vibrating feeder
CN202277955U (en) * 2011-10-28 2012-06-20 基凯(北京)振动设备有限公司 Double-mass vibrating screen
CN105772395A (en) * 2016-05-11 2016-07-20 济南中燃科技发展有限公司 Double-mass vertical vibration anti-resonance screen

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4754870A (en) * 1982-08-12 1988-07-05 Litton Systems, Inc. Two mass vibrating feeder
JPS60197507A (en) * 1984-03-21 1985-10-07 Rion Co Ltd Parts supplier of vibratory type
CN201056417Y (en) * 2007-07-20 2008-05-07 徐州五洋科技有限公司 Double-plastid approximate subresonance type vibrating feeder
CN202277955U (en) * 2011-10-28 2012-06-20 基凯(北京)振动设备有限公司 Double-mass vibrating screen
CN105772395A (en) * 2016-05-11 2016-07-20 济南中燃科技发展有限公司 Double-mass vertical vibration anti-resonance screen

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