CN109847952A - A kind of double-axis centrifuge revolving platform dynamic balance method based on driving current - Google Patents
A kind of double-axis centrifuge revolving platform dynamic balance method based on driving current Download PDFInfo
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Abstract
A kind of double-axis centrifuge revolving platform dynamic balance method based on driving current, belongs to mechanical rotor dynamic balancing technique field.It is lower in order to solve unbalance dynamic identification precision existing for existing precision centrifuge revolving platform dynamic balance method, operate the problems such as complicated with calculating process and time-consuming big.Double-axis centrifuge main shaft is set with small rotational speed omega0Operation, revolving platform is with revolving speed-ω0Operation acquires the reference data of revolving platform driving current；Double-axis centrifuge main shaft is set with working speed ω operation, revolving platform is acquired revolving platform driving current data, extracted a frequency multiplication ingredient of electric current with revolving speed-ω operation；Setting double-axis centrifuge is run with rotational speed omega, carries out accurate identification and trim to the unbalancing value of revolving platform by way of adding test mass according to resulting one frequency multiplication of electric current.The method is higher to the identification precision of revolving platform shafting unbalance dynamic independent of any external sophisticated sensor, simple and easy, be not necessarily to many experiments, more practical for application of engineering project.
Description
Technical field
The present invention relates to dynamic balance of precision centrifuge method, in particular to a kind of twin shaft precision centrifugation based on driving current
Machine revolving platform dynamic balance method belongs to big machinery rotor dynamic balancing technical field.
Background technique
Double-axis centrifuge is mainly used for providing the big overload environment of navigation accuracy world Consistency test verifying, can
Carry out the test of control system big overload navigation accuracy, the verifying of inertia system world Consistency test, error model and associated calibration
Test.In actual operation, the technological levels such as current machine-building, processing, assembly and load sole mass distribution are limited to
With installation position error, it is to cause axis that the main shaft and revolving platform of double-axis centrifuge, which are all inevitably present unbalance dynamic,
It is mechanical oscillation, the principal element for influencing system accuracy and safe operation.
For the dynamic equilibrium problems of double-axis centrifuge principle axis shafting, different types of outer sensor can be chosen,
By reasonable disposition and layout, the measurement to physical quantity is realized, in conjunction with mechanical rotor dynamics and dynamic balance method, realize to turning
Effective identification of sub- unbalance dynamic.However, for the dynamic equilibrium problems of double-axis centrifuge revolving platform shafting, but by many
It restricts: on the one hand, due to the limitation of structure space, being difficult that essence is installed in revolving platform shafting under the premise of guaranteeing support stiffness
Close sensor is even popped one's head in；On the other hand, even if being mounted with sensor and realizing the detection to required physical quantity, due to main shaft
With the continuous rotation requirement of revolving platform, sensor useful signal is needed between acquisition equipment by slip ring and long distance transmission,
So that the signal is inevitably influenced by system noise, signal quality is difficult to ensure, is recognized for rotor unbalance dynamic
Increase difficulty.Document number is that the prior art of CN105478245A gives a kind of double freedom based on spindle vibration detection
Precision centrifuge countershaft unbalancing value discrimination method solves existing double freedom precision centrifuge countershaft unbalancing value
Identification problem provides reference and foundation for shafting dynamic balance correction.However, the mentioned method of the document has the disadvantage that
Firstly, it is necessary to sophisticated sensor measurement centrifuge principal axis vibration is configured, so that the unbalance dynamic of countershaft is recognized indirectly, sensor
Precision directly affects unbalance dynamic identification precision；Secondly as centrifuge principal axis axis rigidity is very big, this method is to rotary axis system
The sensitivity of unbalance dynamic is lower, causes unbalance dynamic identification precision low；Finally, identification process needs to carry out many experiments, behaviour
Make and calculating process is complicated, time-consuming big.
Summary of the invention
The technical problem to be solved in the present invention: the twin shaft precision based on driving current that the object of the present invention is to provide a kind of from
Scheming revolving platform dynamic balance method is distinguished with solving unbalance dynamic existing for existing double-axis centrifuge revolving platform dynamic balance method
It is lower to know precision, operation and calculating process are complicated, and time-consuming big problem.
The technical solution adopted by the present invention to solve the above technical problem is:
A kind of double-axis centrifuge revolving platform dynamic balance method based on driving current defines double-axis centrifuge
The revolving platform axle center O of (the arm-type precision centrifuge of double freedom) is coordinate origin, is co-located on the same water surface with revolving platform axle center
Main-shaft core be directed toward revolving platform axle center direction be positive direction of the x-axis, revolving platform axle center upwardly direction be z-axis positive direction, root
The direction of y-axis is determined according to the right-hand rule；Enable the initial position of static unbalance particle in x-axis positive axis, when main shaft is revolved with rotational speed omega
When turning, revolving platform is with revolving speed-ω rotation；(since static-unbalance is greater than ten under conditions of need to only consider static unbalance effect
Couple-unbalance again, therefore influence of the couple unbalance for the torque that revolving platform motor provides can be ignored, and only consider quiet
Unbalanced influence), when revolving platform turns over θ angle around main shaft, static unbalance particle accelerates relative to the angle in revolving platform axle center
Degree is ω2Lsin θ/r, wherein L is the distance between main-shaft core and revolving platform axle center, and r is static-unbalance to revolving platform axis
The distance of the heart, then the torque T that revolving platform motor provides are
T=T1+T2+mω2Lrsinθ (1)
Wherein, m is the equivalent mass of revolving platform static unbalance, T2For revolving platform system gravity generate moment of friction,
For a constant value；T1The moment of friction that normal pressure between revolving platform and revolving platform bearing generates, T1=k1FR, k1It is equivalent
Coefficient of friction, R are revolving platform bearing radius, and obtaining normal pressure F suffered by revolving platform is
Wherein, M is the gross mass that revolving platform removes static unbalance quality, and above tables is brought into formula (1) up to formula, is gone forward side by side
Row Fourier expansion, omission high-order is a small amount of, obtains the expression formula of revolving platform motor torque T shown in formula (3)
T=T2+Acos(ωt+90°) (3)
Wherein, A=m ω2Lr, according to formula (3) as can be seen that the size of one frequency multiplication amplitude of revolving platform driving current can be anti-
Mirror the size of revolving platform unbalancing value, and unbalance dynamic phaseuWith revolving platform driving current phaseiIn the presence of such as ShiShimonoseki
System, φu=φi+ 90 °, revolving platform with usually, is being needed in revolving platform machinery angular position φiMass compensation is carried out at -90 °；
The realization process of the method are as follows:
Step 1: setting double-axis centrifuge main shaft is with small rotational speed omega0Operation, revolving platform is with revolving speed-ω0Operation, acquisition
(when revolving speed is smaller, revolving platform can be ignored the reference data of revolving platform driving current due to the centrifugal force that unbalance dynamic generates
Disregard, but due to the presence of the undesirable factors such as friction, still with the presence of a frequency multiplication ingredient in revolving platform driving current, therefore is carrying out
Identification revolving platform driving current reference data is needed before unbalance dynamic identification), it is denoted as
Step 2: setting double-axis centrifuge main shaft, with working speed ω operation, revolving platform is adopted with revolving speed-ω operation
Collect revolving platform driving current data, extracts a frequency multiplication ingredient of electric current, be denoted asTherefore by unbalance dynamic
Caused one frequency multiplication of electric current isA1,φ1It is the amplitude and phase of one frequency multiplication of electric current before trim；
Step 3: setting double-axis centrifuge is with the revolving speed operation in step 2, it is logical according to resulting one frequency multiplication of electric current
The mode for crossing addition test mass carries out accurate identification and trim to the unbalancing value of revolving platform.
Further, in step 3, the unbalancing value of revolving platform is accurately distinguished by way of adding test mass
Know simultaneously trim, detailed process are as follows:
Step 3 one, in revolving platform machinery angular position φ1The test mass that quality is λ kg is added at -90 °, acquisition is turned round at this time
Platform driving current data extract frequency multiplication ingredient therein, withMake the difference to obtain one frequency multiplication amplitude A ' of electric current at this time1, therefore know list
The test mass of position quality causes the variation of one frequency multiplication amplitude of revolving platform driving current to be k=at same phase | A1-A′1|/λ
Step 3 two, in revolving platform machinery angular position φ1At -90 °, addition quality is A1The test mass of/k kg；Acquisition is at this time
Revolving platform driving current data extract frequency multiplication ingredient therein, withIt makes the difference to obtainAt this time to A1
And A2It is compared, if A2/A1≤ 20%, it is believed that the dynamic balancing of double-axis centrifuge at this time reaches required precision, moves flat
Weighing apparatus terminates；Otherwise it carries out
Step 3 three；
Step 3 three, in revolving platform machinery angular position φn- 90 ° (n=2,3 ...) at, addition quality is AnThe examination of/k kg
Weight acquires revolving platform driving current data at this time, extracts frequency multiplication ingredient therein, at this time n=n+1, withIt makes the difference to obtain One frequency multiplication of revolving platform driving current before expression n-th counterweight, until working as An/A1When≤20%, recognize
Reach required precision for the dynamic balancing of double-axis centrifuge at this time, dynamic balancing terminates.
Further, in step 3, the unbalancing value of revolving platform is accurately distinguished by way of adding test mass
Know simultaneously trim, detailed process are as follows:
Step 3 one, in revolving platform machinery angular position φ1The test mass that ξ kg is added at -90 °, acquires revolving platform driving current
Data extract frequency multiplication ingredient therein, withMake the difference to obtain the amplitude A of one frequency multiplication of electric current as caused by unbalance dynamic at this timem
(m=2,3 ...),Indicate one frequency multiplication of revolving platform driving current before the m times counterweight；
Step 3 two, to the amplitude A of one frequency multiplication of revolving platform driving current after each addition test massmIt is any with being initially not added with
The amplitude A of one frequency multiplication of revolving platform driving current as caused by unbalance dynamic when test mass1It is compared, works as Am/A1When≤20%, recognize
Reach required precision for the dynamic balancing of double-axis centrifuge at this time, dynamic balancing terminates.In step 3 two, work as Am/A1≤
20% it is invalid when, then carry out step 3 three: if Am/A1> 20% need to once be judged, again if Am> Am-1, it is believed that upper one
Test mass added by secondary is best to the identification effect of unbalance dynamic, needs to subtract the test mass of ξ kg, at this time double-axis centrifuge
Dynamic balancing effect is best.
Further, in step 1, the small rotational speed omega0It may be less than being equal to 6 °/s.
Further, it in step 2, for the revolving platform driving current signal obtained every time, requires to subtract revolving platform
The reference data of driving current, to obtain a frequency-doubled signal of the driving current as caused by revolving platform unbalance dynamic at this time.
Further, in step 1, extraction for a frequency multiplication ingredient of revolving platform driving current can be used FFT points
Analysis or correlation filtering method.
Further, in step 1, the unbalance dynamic is made of static unbalance and couple unbalance, wherein static unbalance
It can be indicated with a small mass block, couple unbalance can be considered the equal mass block of two quality about origin symmetry distribution.
Further, in step 1, normal pressure F suffered by revolving platform is the size that revolving platform is subject to along L negative direction
For M ω2The centripetal force and static-unbalance of L is m ω along the size that the direction r is subject to2L | cos θ | the resultant force of centripetal force.
The beneficial effects of the present invention are:
The present invention controls relationship between signal and external disturbance from closed-loop control system, utilizes revolving platform driving current
The feature sensitive to unbalance dynamic proposes a kind of revolution by detecting the arm-type precision centrifuge revolving platform driving current of twin shaft
Platform dynamic balance method.Compared with the prior art of document number CN105478245A, this method is independent of any external precision
Sensor, it is higher to the sensitivity and identification precision of revolving platform shafting unbalance dynamic, be provided simultaneously with it is simple and easy, without repeatedly real
The advantages of testing not only had improved dynamic balance accuracy but also had substantially reduced the dynamic balancing time, more practical for application of engineering project,
Solves the arm-type dynamically balanced problem of precision centrifuge revolving platform of twin shaft.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example and is used together to explain the present invention, be not construed as limiting the invention.In the accompanying drawings:
Fig. 1 is flow chart of the invention；
Fig. 2 is structural schematic diagram (wherein, 1- counterweight cabin, 2- large arm, 3- revolving platform, the 4- of double freedom precision centrifuge
Revolving platform motor, 5- main shaft, 6- bearing, 7- spindle motor, 8- ground)；
Fig. 3 is the motion analysis top view of double-axis centrifuge；
Fig. 4 is used the position distribution three-dimensional figure of mass block by double-axis centrifuge revolving platform unbalance dynamic emulation,
In big sphere be the unbalance mass, block being added, coordinate is (x1, 0,0), two spherulas are the couple unbalance quality being added
Block, coordinate are respectively (x2,y2,z2) and (- x2,-y2,-z2), the phase difference of even balance mass block and static unbalance mass block
For
When Fig. 5 is that double-axis centrifuge revolving platform is with and without couple unbalance before dynamic balancing, one times of revolving platform driving current
The comparison diagram of frequency amplitude；
When Fig. 6 is that double-axis centrifuge revolving platform only exists static unbalance, one times of driving current of revolving platform before and after trim
The comparison diagram of frequency amplitude；
When Fig. 7 is that double-axis centrifuge revolving platform exists simultaneously static unbalance and couple unbalance, revolving platform before and after trim
The comparison diagram of one frequency multiplication amplitude of driving current.
Specific embodiment
Specific embodiment 1: one kind described in present embodiment is based on driving electricity in conjunction with shown in Fig. 1 (a), Fig. 2 and Fig. 3
The realization process of the double-axis centrifuge revolving platform dynamic balance method of stream are as follows:
The arm-type precision centrifuge structural schematic diagram of twin shaft is as shown in Fig. 2, define the arm-type precision centrifuge revolving platform axis of twin shaft
Heart O be coordinate origin, with revolving platform axle center be in the main-shaft core on the same water surface be directed toward revolving platform axle center direction for x-axis just
Direction, revolving platform axle center upwardly direction are z-axis positive direction, and the direction of y-axis is determined according to the right-hand rule；Enable static unbalance particle
Initial position in x-axis positive axis, when main shaft is rotated with rotational speed omega, revolving platform with revolving speed-ω rotation；Need to only consider it is quiet not
Under conditions of balanced action (since static-unbalance is much larger than couple-unbalance, therefore what couple unbalance provided revolving platform motor
Torque influence can be ignored, and only consider the influence of static unbalance), when revolving platform turns over θ angle around main shaft, static unbalance
Particle is ω relative to the angular acceleration in revolving platform axle center2Lsin θ/r, wherein L is between main-shaft core and revolving platform axle center
Distance, r are static-unbalance to the distance in revolving platform axle center, then the torque T that revolving platform motor provides is
T=T1+T2+mω2Lrsinθ (4)
Wherein, m is the equivalent mass of revolving platform static unbalance, T2For revolving platform system gravity generate moment of friction,
Since the Mass Distribution of revolving platform system in the process of running varies less, T2It can be approximately a constant value.T1For revolving platform system
The moment of friction that normal pressure between revolving platform bearing generates, T1=k1FR, k1For equivalent friction factor, R is revolving platform bearing
Radius, obtaining normal pressure F suffered by revolving platform is
Wherein, M is the gross mass that revolving platform removes static unbalance quality, and above tables is brought into formula (1) up to formula, is gone forward side by side
Row Fourier expansion, omission high-order is a small amount of, obtains the expression formula of revolving platform motor torque T shown in formula (3)
T=T2+A cos(ωt+90°) (6)
Wherein, A=m ω2Lr, according to formula (3) as can be seen that the size of one frequency multiplication amplitude of revolving platform driving current can be anti-
Mirror the size of revolving platform unbalancing value, and unbalance dynamic phaseuWith revolving platform driving current phaseiIn the presence of such as ShiShimonoseki
System, φu=φi+ 90 °, revolving platform with usually, is being needed in revolving platform machinery angular position φiMass compensation is carried out at -90 °.
A kind of double-axis centrifuge revolving platform dynamic balance method based on driving current is realized by following steps:
Step 1: setting double-axis centrifuge main shaft is with small rotational speed omega0Operation, revolving platform is with revolving speed-ω0Operation, acquisition
(when revolving speed is smaller, revolving platform can be ignored the reference data of revolving platform driving current due to the centrifugal force that unbalance dynamic generates
Disregard, but due to the presence of the undesirable factors such as friction, still with the presence of a frequency multiplication ingredient in revolving platform driving current, therefore is carrying out
Measurement revolving platform driving current reference data is needed before unbalance dynamic identification), it is denoted as
Step 2: setting double-axis centrifuge main shaft is run with rotational speed omega, revolving platform is acquired back with revolving speed-ω operation
Turntable driving current data are extracted a frequency multiplication ingredient of driving current, are denoted asTherefore by unbalance dynamic
Caused one frequency multiplication of electric current isA1With φ1It is the amplitude and phase of one frequency multiplication of electric current before trim
Position；
Step 3: setting double-axis centrifuge is with the revolving speed operation in step 2, it is logical according to resulting one frequency multiplication of electric current
The mode for crossing addition test mass carries out accurate identification and trim to the unbalancing value of revolving platform, which can be by following manner reality
It is existing, as shown in Fig. 1 (a):
Step 3 one, in revolving platform machinery angular position φ1The test mass that quality is λ kg is added at -90 °, acquisition is turned round at this time
Platform driving current data extract frequency multiplication ingredient therein, withMake the difference to obtain one frequency multiplication amplitude A ' of electric current at this time1, therefore know
The test mass of unit mass causes the variation of one frequency multiplication amplitude of revolving platform driving current to be k=at same phase | A1-A′1|/λ
Step 3 two, in revolving platform machinery angular position φ1At -90 °, addition quality is A1The test mass of/k kg.Acquisition is at this time
Revolving platform driving current data extract frequency multiplication ingredient therein, withIt makes the difference to obtainAt this time to A1
And A2It is compared, if A2/A1≤ 20%, it is believed that the dynamic balancing of double-axis centrifuge at this time reaches required precision, moves flat
Weighing apparatus terminates；Otherwise step 3 three is carried out；
Step 3 three, in revolving platform machinery angular position φn- 90 ° (n=2,3 ...) at, addition quality is AnThe examination of/k kg
Weight acquires revolving platform driving current data at this time, extracts frequency multiplication ingredient therein, at this time n=n+1, withIt makes the difference to obtain One frequency multiplication of revolving platform driving current before expression n-th counterweight, until working as An/A1When≤20%, recognize
Reach required precision for the dynamic balancing of double-axis centrifuge at this time, dynamic balancing terminates.
Specific embodiment 2: present embodiment is with specific embodiment one the difference lies in that step 3 can also use
Following manner is realized, as shown in Fig. 1 (b):
Step 3 one, in revolving platform machinery angular position φ1The test mass that ξ kg is added at -90 °, acquires revolving platform driving current
Data extract frequency multiplication ingredient therein, withMake the difference to obtain the amplitude A of one frequency multiplication of electric current as caused by unbalance dynamic at this timem(m
=2,3 ...)；Indicate one frequency multiplication of revolving platform driving current before the m times counterweight；
Step 3 two, to the amplitude A of one frequency multiplication of revolving platform driving current after each addition test massmIt is any with being initially not added with
The amplitude A of one frequency multiplication of revolving platform driving current as caused by unbalance dynamic when test mass1It is compared, works as Am/A1When≤20%, recognize
Reach required precision for the dynamic balancing of double-axis centrifuge at this time, dynamic balancing terminates；Otherwise step 3 three is carried out；
If step 3 three, Am/A1> 20% need to once be judged, again if Am> Am-1, it is believed that examination added by last
It is again best to the identification effect of unbalance dynamic, need to subtract the test mass of ξ kg, the dynamic balancing effect of double-axis centrifuge is most at this time
It is good.Otherwise, step 3 is repeated until meeting the requirements.
Embodiment: in conjunction with attached drawing 1-7, present invention be described in more detail, of the present invention a kind of based on driving current
Double-axis centrifuge revolving platform dynamic balance method, identification and trim to unbalance dynamic under ideal simulated environment into
The undesirable factors such as friction are not added for row, and so there is no need to measuring basis data.
Experiment one: when considering that double-axis centrifuge revolving platform only exists static unbalance, quiet injustice as shown in Figure 4 is added
It weighs mass block (blue), quality 2.091kg, coordinate is (0.35,0,0), and double-axis centrifuge main shaft is arranged with revolving speed
ω=360 °/s operation, revolving platform acquire double-axis centrifuge revolving platform driving current with-ω=- 360 °/s of revolving speed operation
Signal, extract frequency multiplication ingredient therein, obtainφ at this time1=-90.2 °.It is returning
Turntable machinery angular position φ1At -90 °=- 180.2 °, i.e., coordinate is to add the test mass of λ=1kg at (- 0.400,0.001), obtain
A frequency multiplication amplitude to driving current signal at this time is A '1=43.348A, therefore know the test mass of unit mass at same phase
The variation for causing one frequency multiplication amplitude of revolving platform driving current is k=| A1-A′1|/λ=58.44A/kg
In revolving platform machinery angular position φ1The test mass that 1.742kg is added at -90 °=- 180.2 °, is driven electricity at this time
Flowing a frequency multiplication amplitude is A2=0.488A.
Due to A2/A1=0.48% < 20% is illustrated in figure 6 double-axis centrifuge revolving platform and only exists static unbalance
When, one frequency multiplication amplitude comparison diagram of revolving platform driving current before and after trim, at this time double-axis centrifuge dynamic balancing reaches specified essence
Degree, dynamic balancing terminate.
Experiment two: when revolving platform exists simultaneously static unbalance and couple unbalance, static unbalance matter as shown in Figure 4 is added
Gauge block (blue) and couple unbalance mass block (red), static unbalance and couple unbalance phase phase differenceWherein it is quiet not
The quality for balancing mass block is 2.091kg, and coordinate is (0.35,0,0), and the quality of each couple unbalance mass block is 0.207kg,
Coordinate is respectively (0.1,0.23,0.08) and (- 0.1, -0.23, -0.08).Double-axis centrifuge main shaft is set with rotational speed omega
=360 °/s operation, revolving platform acquire double-axis centrifuge revolving platform driving current with-ω=- 360 °/s of revolving speed operation
Signal extracts frequency multiplication ingredient therein, obtainsφ at this time1=-90.2 °.Such as Fig. 5 institute
Show, when for and without couple unbalance, the comparison diagram of one frequency multiplication amplitude of double-axis centrifuge revolving platform driving current before dynamic balancing,
As seen in Figure 5, before carrying out dynamic balancing, exist with and without couple unbalance, a frequency multiplication amplitude of revolving platform driving current is equal
Very big, in the presence of having couple unbalance, one frequency multiplication amplitude of driving current wants somewhat larger.
In revolving platform machinery angular position φ1The test mass that λ=1kg is added at -90 °=- 180.2 °, obtains driving current at this time
One frequency multiplication amplitude of signal is A '1=45.675A, therefore know that the test mass of unit mass causes revolving platform to drive at same phase
The variation of one frequency multiplication amplitude of electric current is k=| A1-A′1|/λ=56.117A/kg
In revolving platform machinery angular position φ1The test mass that 1.814kg is added at -90 °=- 180.2 °, is driven electricity at this time
Flowing a frequency multiplication amplitude is A2=0.586A.
Due to A2/A1=0.58% < 20% is illustrated in figure 7 double-axis centrifuge revolving platform and exists simultaneously quiet injustice
When weighing apparatus and couple unbalance, the comparison diagram of one frequency multiplication amplitude of revolving platform driving current before and after trim, double-axis centrifuge is dynamic at this time
Balance reaches designated precision, and dynamic balancing terminates.
The present invention proposes a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current, by revolution
The acquisition and processing of platform driving current data can effectively pick out the amplitude of double-axis centrifuge revolving platform unbalance dynamic
With phase and carry out trim, experiment one and one frequency multiplication width of double-axis centrifuge revolving platform driving current before and after two dynamic balancing of experiment
As shown in table 1, this method is to the attenuation rate of unbalance dynamic up to 99% or so for value, it was demonstrated that the validity of this method.
One frequency multiplication amplitude of driving current before and after 1 dynamic balancing of table
The present invention is suitable for the dynamic balancing to double-axis centrifuge, in the situation without departing substantially from spirit of that invention and its essence
Under, those skilled in the art make various corresponding changes and modifications in accordance with the present invention, but these change and modification are all answered
It falls within the protection scope of the appended claims of the present invention.
Claims (9)
1. a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current defines returning for double-axis centrifuge
Turntable axle center O is coordinate origin, is co-located in the side that the main-shaft core on the same water surface is directed toward revolving platform axle center with revolving platform axle center
To for positive direction of the x-axis, revolving platform axle center upwardly direction is z-axis positive direction, and the direction of y-axis is determined according to the right-hand rule；It enables quiet
The initial position of uneven particle is in x-axis positive axis, and when main shaft is rotated with rotational speed omega, revolving platform is with revolving speed-ω rotation；Only
Under conditions of need to considering static unbalance effect, when revolving platform turns over θ angle around main shaft, static unbalance particle is relative to revolving platform
The angular acceleration in axle center is ω2Lsin θ/r, wherein L is the distance between main-shaft core and revolving platform axle center, and r is static unbalance
The distance in revolving platform axle center is measured, then the torque T that revolving platform motor provides is
T=T1+T2+mω2Lrsinθ (1)
Wherein, m is the equivalent mass of revolving platform static unbalance, T2It is one for the moment of friction that the gravity of revolving platform system generates
Constant value；T1The moment of friction that normal pressure between revolving platform and revolving platform bearing generates, T1=k1FR, k1For equivalent friction system
Number, R are revolving platform bearing radius, and obtaining normal pressure F suffered by revolving platform is
Wherein, M is the gross mass that revolving platform removes static unbalance quality, above tables is brought into formula (1) up to formula, and carry out Fu
In leaf series expansion, omit high-order it is a small amount of, obtain the expression formula of revolving platform motor torque T shown in formula (3)
T=T2+Acos(ωt+90°) (3)
Wherein, A=m ω2Lr, according to formula (3) as can be seen that the size of one frequency multiplication amplitude of revolving platform driving current can reflect out
The size of revolving platform unbalancing value, and unbalance dynamic phaseuWith revolving platform driving current phaseiThere are following relationship,
φu=φi+ 90 °, revolving platform with usually, is being needed in revolving platform machinery angular position φiMass compensation is carried out at -90 °；
It is characterized in that, the realization process of the method are as follows:
Step 1: setting double-axis centrifuge main shaft is with small rotational speed omega0Operation, revolving platform is with revolving speed-ω0Operation, acquisition revolution
The reference data of platform driving current, is denoted as
Step 2: setting double-axis centrifuge main shaft, with working speed ω operation, revolving platform is acquired back with revolving speed-ω operation
Turntable driving current data are extracted a frequency multiplication ingredient of electric current, are denoted asTherefore caused by unbalance dynamic
One frequency multiplication of electric current beA1,φ1It is the amplitude and phase of one frequency multiplication of electric current before trim；
Step 3: setting double-axis centrifuge is passed through according to resulting one frequency multiplication of electric current and is added with the revolving speed operation in step 2
Heavy mode of adding an examination of carries out accurate identification and trim to the unbalancing value of revolving platform.
2. a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current according to claim 1,
It is characterized in that, in step 3, accurate identification and trim is carried out to the unbalancing value of revolving platform by way of adding test mass,
Detailed process are as follows:
Step 3 one, in revolving platform machinery angular position φ1The test mass that quality is λ kg is added at -90 °, revolving platform drives at this time for acquisition
Current data extracts frequency multiplication ingredient therein, withMake the difference to obtain one frequency multiplication amplitude A ' of electric current at this time1, therefore know unit mass
Test mass cause at same phase one frequency multiplication amplitude of revolving platform driving current variation be k=| A1-A′1|/λ
Step 3 two, in revolving platform machinery angular position φ1At -90 °, addition quality is A1The test mass of/k kg；Acquisition is turned round at this time
Platform driving current data extract frequency multiplication ingredient therein, withIt makes the difference to obtainAt this time to A1And A2Into
Row compares, if A2/A1≤ 20%, it is believed that the dynamic balancing of double-axis centrifuge at this time reaches required precision, dynamic balancing knot
Beam；Otherwise step 3 three is carried out；
Step 3 three, in revolving platform machinery angular position φn- 90 ° (n=2,3 ...) at, addition quality is AnThe test mass of/k kg,
Revolving platform driving current data at this time are acquired, extract frequency multiplication ingredient therein, at this time n=n+1, withIt makes the difference to obtain One frequency multiplication of revolving platform driving current before expression n-th counterweight, until working as An/A1When≤20%, recognize
Reach required precision for the dynamic balancing of double-axis centrifuge at this time, dynamic balancing terminates.
3. a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current according to claim 1,
It is characterized in that, in step 3, accurate identification and trim is carried out to the unbalancing value of revolving platform by way of adding test mass,
Detailed process are as follows:
Step 3 one, in revolving platform machinery angular position φ1The test mass that ξ kg is added at -90 °, acquires revolving platform driving current data,
Frequency multiplication ingredient therein is extracted, withMake the difference to obtain the amplitude A of one frequency multiplication of electric current as caused by unbalance dynamic at this timem(m=2,
3 ...),Indicate one frequency multiplication of revolving platform driving current before the m times counterweight；
Step 3 two, to the amplitude A of one frequency multiplication of revolving platform driving current after each addition test massmBe initially not added with any test mass
When one frequency multiplication of revolving platform driving current as caused by unbalance dynamic amplitude A1It is compared, works as Am/A1When≤20%, it is believed that this
When double-axis centrifuge dynamic balancing reach required precision, dynamic balancing terminates.
4. a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current according to claim 3,
It is characterized in that, in step 3 two, works as Am/A1≤ 20% it is invalid when, then carry out step 3 three: if Am/A1> 20%, need again into
The primary judgement of row, if Am>Am-1, it is believed that test mass added by the last time is best to the identification effect of unbalance dynamic, needs to subtract ξ
The test mass of kg, the dynamic balancing effect of double-axis centrifuge is best at this time.
5. a kind of double-axis centrifuge revolving platform dynamic balancing based on driving current according to claim 1,2,3 or 4
Method, which is characterized in that in step 1, the small rotational speed omega0It may be less than being equal to 6 °/s.
6. a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current according to claim 5,
It is characterized in that, in step 2, for the revolving platform driving current signal obtained every time, requires to subtract revolving platform driving current
Reference data, to obtain a frequency-doubled signal of the driving current as caused by revolving platform unbalance dynamic at this time.
7. a kind of double-axis centrifuge revolving platform dynamic balancing based on driving current according to claim 1,2,3 or 4
Method, which is characterized in that in step 1, fft analysis is can be used in extraction for a frequency multiplication ingredient of revolving platform driving current
Or correlation filtering method.
8. a kind of double-axis centrifuge revolving platform dynamic balancing based on driving current according to claim 1,2,3 or 4
Method, which is characterized in that in step 1, the unbalance dynamic is made of static unbalance and couple unbalance, wherein static unbalance
It can be indicated with a small mass block, couple unbalance can be considered the equal mass block of two quality about origin symmetry distribution.
9. a kind of double-axis centrifuge revolving platform dynamic balance method based on driving current according to claim 8,
It is characterized in that, in step 1, it along the size that L negative direction is subject to is M ω that normal pressure F suffered by revolving platform, which is revolving platform,2L's
Centripetal force and static-unbalance are m ω along the size that the direction r is subject to2L | cos θ | the resultant force of centripetal force.
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