CN110017958B - Method for balancing centrifugal force of reciprocating object - Google Patents
Method for balancing centrifugal force of reciprocating object Download PDFInfo
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- CN110017958B CN110017958B CN201910256849.8A CN201910256849A CN110017958B CN 110017958 B CN110017958 B CN 110017958B CN 201910256849 A CN201910256849 A CN 201910256849A CN 110017958 B CN110017958 B CN 110017958B
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- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
- G01M7/022—Vibration control arrangements, e.g. for generating random vibrations
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Abstract
The invention discloses a method for balancing centrifugal force of a reciprocating object, which comprises the following steps: s1, placing the moving part of the vibration table in a centrifugal field; the moving part comprises a framework, a driving coil and a direct current coil, and the driving coil and the direct current coil are wound at the same end of the framework; s2, collecting the rotating speed omega of the centrifuge; s3, passing current I into the direct current coil according to the rotating speed omega of the centrifuge to enable the ampere force of the direct current coil to be equal to the centrifugal force applied to the moving part, namely
Wherein m is the mass of the moving part of the vibration table, r is the vertical distance from the mass center of the moving part of the vibration table to the rotating shaft, omega is the speed of the centrifugal field angle, B is the magnetic field intensity, and L is the length of the direct current coil. The invention can reduce the interference of centrifugal force on the reciprocating motion amplitude of the moving part and ensure the normal work of the electromagnetic vibration table.
Description
Technical Field
The invention relates to the field of mechanical environment, in particular to a method for balancing centrifugal force of a reciprocating object.
Background
The centrifugal vibration equipment is a mechanical environment test equipment for testing the reliability of the whole machine or parts of a large-scale product, and is mainly applied to the fields of aviation and the like. In addition, the method can also be applied to the characteristic research of structural dynamics in the fields of water conservancy, construction, earthquake and the like.
The centrifugal vibration equipment mainly comprises a centrifugal machine test system, a vibration table test system, an auxiliary control system and the like. At present, the electromagnetic type vibration table has become a widely used mechanical environment test device due to wide use frequency range and small waveform distortion degree. If the electromagnetic vibration table is used as a component of a vibration table system in centrifugal vibration table equipment, the comprehensive technical index performance of the centrifugal vibration table equipment can be greatly improved.
However, when the electromagnetic vibration table is placed in a centrifugal field, the elastic motion system in the electromagnetic vibration table reciprocates in a direction perpendicular to the rotation axis in the centrifugal field, and the magnitude of the centrifugal force applied to the corresponding moving part is different according to the magnitude of the rotation angular velocity in the centrifugal field. Therefore, the amplitude of the reciprocating motion of the moving part is interfered, and the normal work of the electromagnetic vibration table is influenced.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for balancing the centrifugal force of a reciprocating object, which can reduce the interference of the centrifugal force on the reciprocating motion amplitude of a moving part and ensure the normal work of an electromagnetic vibration table.
In order to solve the technical problem, the invention provides a method for balancing the centrifugal force of a reciprocating object, which comprises the following steps:
s1, placing the moving part of the vibration table in a centrifugal field; the moving part comprises a framework, a driving coil and a direct current coil, and the driving coil and the direct current coil are wound at the same end of the framework;
s2, collecting the rotating speed omega of the centrifuge;
s3, passing current I into the direct current coil according to the rotating speed omega of the centrifuge to enable the ampere force of the direct current coil to be equal to the centrifugal force applied to the moving part, namely
Wherein m is the mass of the moving part of the vibration table, r is the vertical distance from the mass center of the moving part of the vibration table to the rotating shaft, omega is the speed of the centrifugal field angle, B is the magnetic field intensity, and L is the length of the direct current coil.
Further, in step S3, the current I introduced into the dc coil is corrected by using the correction coefficient μ to obtain a corrected current I ', that is, the corrected current I' is
Further, the obtaining of the correction coefficient μ includes the following steps:
t1, passing current into the excitation coil of the vibration table to establish a magnetic field of an annular air gap;
t2, start the centrifuge and make it at a fixed angleSpeed omega0Rotating;
t3, introducing current into the direct current coil, continuously adjusting the current value until the moving part moves to a preset zero position S0, and recording the corresponding current value IS0；
T4, cutting off the power supply of the direct current coil, closing the centrifuge, and introducing current into the driving coil to drive the moving part to move until the moving part moves to a first position S1;
t5, starting the centrifuge to make it at the same angular speed omega0Rotating, introducing current into the direct current coil, moving the moving part to the first position S1, and recording the corresponding current value IS1；
T6, repeating the steps T4-T5 until the current value I corresponding to the P-th position Sp is recordedSPWherein Sp is the peak value of the one-side displacement of the moving part;
t7, repeating the steps T4-T6 in the opposite direction;
t8 according to multiple sets of displacement amplitudes SPAnd a corresponding current value ISPCalculating a correction coefficient mupI.e. by
Further, step T8 includes the following steps:
t81, according to displacement amplitude SPAnd corresponding correction coefficient mupCalculating the corresponding functional relationship, i.e. mu ═ f(s)p)；
T82 according to displacement amplitude SPThe sum functional relationship μ ═ f(s)p) And inputting the corresponding correction coefficient mu in real time to dynamically balance the centrifugal force of the moving part.
Further, step T80 is included before step T81,
t80, repeating the above steps T4-T7 to obtain any displacement amplitude SPCorresponding multiple groups of the correction coefficients mupAnd for the above-mentioned several groups of mupAveraging to obtain an average value of the correction coefficient μ.
Further, step T0 is included before step T1,
t0, providing a first displacement sensor and a second displacement sensor in the centrifugal field, both of which are aligned with the center of the moving part so as to determine a preset zero position S0.
Further, step T5 includes the following steps:
t51, starting the centrifuge and making the centrifuge at the same angular speed omega0Rotating;
t52, a first limit piece is arranged on the vibration table, and when the angular velocity omega of the centrifuge reaches the fixed value omega0When the first limiting piece is in contact with the moving part, the moving part is in contact with the first limiting piece;
t53, electrifying the direct current coil until the moving part moves to the first position S1, and recording the corresponding current value IS1。
Further, in step S1, the axial direction of the moving member is perpendicular to a center axis around which the moving member is wound, and the bobbin is disposed toward the center axis away from an end of the drive coil.
Further, in step T6, a second stopper is provided on the vibration table to limit a peak value of the one-sided displacement of the moving member.
Further, the dc coil and the driving coil share the same coil.
The invention has the beneficial effects that:
after current is introduced into the direct current coil according to the rotating speed of the centrifugal field, the direct current coil can generate ampere force, and the ampere force is equal to the centrifugal force applied to the moving part in the centrifugal field, so that the influence of the centrifugal force on the reciprocating motion of the moving part is reduced, and the normal work of the vibrating table is ensured.
Drawings
FIG. 1 is a cross-sectional view of a vibration table of the present invention;
FIG. 2 is a schematic view of the normal operation of the vibration table of the present invention;
FIG. 3 is a simplified diagram of the vibration table in a centrifugal field according to the present invention;
FIG. 4 is a schematic view of the structure of the moving part;
fig. 5 is a schematic diagram of the moving part.
Wherein, 1, a vibration table; 11. a first limit piece; 12. a second limiting member; 2. a moving part; 21. a framework; 22. a drive coil; 23. a direct current coil; 31. a first displacement sensor; 32. a second displacement sensor.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Referring to fig. 1-5, one embodiment of a method of balancing centrifugal forces of a reciprocating object of the present invention comprises the steps of: s1, placing the moving part 2 of the vibration table 1 in a centrifugal field, wherein the vibration table 1 in the embodiment is an electromagnetic vibration table 1.
Referring to fig. 2 and 3, the vibration table 1 includes a moving part 2 and an elastic moving system, which is provided inside the vibration table 1, while the moving part 2 and the elastic moving system can be simplified into a simple structure. When the vibration table 1 is placed in the centrifugal field, the corresponding moving part 2 and elastic moving system are also placed in the centrifugal field, and thus the moving part 2 and elastic moving system reciprocate in the centrifugal field in a direction perpendicular to the central axis of the centrifuge.
Referring to fig. 2 and 3, when the moving member 2 and the elastic moving system reciprocate in the centrifugal field, the magnitude of the centrifugal force applied to the moving member 2 is different according to the magnitude of the rotational angular velocity in the centrifugal field (as shown in formula 1). Due to the centrifugal force of the moving part 2, the elastic moving system will be compressed by this centrifugal force until a new equilibrium point is reached, i.e. the elastic restoring force is in equilibrium with the centrifugal force experienced. Since the elastic movement system is already compressed in the new equilibrium position (as shown in equation 2), the working displacement of the reciprocating movement in the centrifugal field is smaller than that in the absence of the centrifugal field. Due to the influence of the centrifugal force of the moving part 2, not only the center balance position of the reciprocating motion of the moving part 2 is changed, but also the displacement of the reciprocating motion during the normal work is reduced.
F1＝-mrω2(1)
m is the mass of the movable part of the electromagnetic vibration table;
r is the distance from the mass center of a moving part of the electromagnetic vibration table to the rotating axis in the centrifugal field environment;
omega-angular velocity of rotation of centrifuge
F1＝-kx (2)
k-spring rate
x is the amount of change in displacement.
When the moving part 2 reciprocates in the centrifugal field, the moving part 2 gradually deviates from the central position under the action of centrifugal force and moves in the direction consistent with the direction of the centrifugal force until a new balance point is reached; it is even possible to be pressed to death from reciprocating motion, thus reducing the displacement amplitude of the moving part 2.
Referring to fig. 4, the moving member 2 includes a frame 21, a driving coil 22, and a dc coil 23, and the driving coil 22 and the dc coil 23 are wound around the same end portion of the frame 21. Since the moving part 2 of the vibration table 1 is usually disposed in an annular constant magnetic field, an exciting force is generated when a current is applied to the driving coil 22, so that the moving part 2 performs a reciprocating motion. When current is applied to the dc coil 23, an ampere force is generated, which can drive the moving member 2 to move. When the moving member 2 is placed in the centrifugal field, the axial direction of the moving member 2 is disposed perpendicular to the central axis around which it is wound, and the end of the bobbin 21 away from the driving coil 22 is disposed toward the central axis. The driving coil 22 and the dc coil 23 may be provided independently of each other, or may share the same coil.
The method of balancing the centrifugal force of a reciprocating object further includes step S2: the rotating speed omega of the centrifugal machine is collected, and the centrifugal force F1, F1-mr omega suffered by the moving part can be obtained according to the formula (1)2。
Step S3 according toThe rotation speed omega of the centrifugal machine leads current I into the direct current coil and generates ampere force FL，
FL＝BIL (4)
B-magnetic field intensity;
ID-the value of the input dc current;
l is the length of the input direct current coil.
In this case, to balance the centrifugal force of the moving member, it is only necessary to ensure that the ampere force and the centrifugal force to which the moving member is subjected are equal to each other, as shown in equation (5).
FL＝mrω2＝BIL (5)
Then there is
Wherein m is the mass of the moving part of the vibration table, r is the vertical distance from the mass center of the moving part of the vibration table to the rotating shaft, omega is the speed of the centrifugal field angle, B is the magnetic field intensity, and L is the length of the direct current coil.
For an electromagnetic vibration table, after the structure of the electromagnetic vibration table is designed, the mass m of a moving part, the length L of a coil and the magnetic field intensity B are generally fixed values; after mounting to the centrifugal field, r is also a fixed value. Therefore, in the process of balancing the centrifugal force, the centrifugal force applied to the working moving part can be dynamically and real-timely balanced by monitoring the rotating speed omega of the centrifugal machine in real time and then changing the current value input to the direct current coil in real time according to the formula (6) through logic operation.
On the basis, considering the influence factors such as the magnetic field strength B and the real-time change of the distance r from the center of mass of the moving part to the rotation axis during the operation of the moving part, a correction coefficient μ needs to be added, so that in step S3, the current I introduced into the dc coil is corrected by using the correction coefficient μ to obtain the corrected current I', which is shown in formula (7).
Referring to fig. 5, the obtaining of the correction coefficient μ includes the steps of:
t0, the first displacement sensor 31 and the second displacement sensor 32 are provided in the centrifugal field, and both the first displacement sensor 31 and the second displacement sensor 32 are aligned with the center of the moving part 2. The first displacement sensor 31 is connected with the driving coil 22 through an electric control device, the second displacement sensor 32 is also connected with the direct current coil 23 through the electric control device, and the first displacement sensor 31 and the second displacement sensor 32 both measure the displacement offset of the moving part 2 to feed back a signal of the position offset of the moving part 2, so that the position of the moving part 2 can be accurately determined. When the current value supplied to the dc coil 23 is adjusted based on the feedback signal of the displacement offset of the second displacement sensor 32 so that the displacement offset signal becomes 0, the position is recorded as the preset zero position S0.
T1, energizing the electromagnetically vibrating excitation coil such that the magnetic field strength of the annular air gap required by the coil is established.
T2, starting the centrifuge and making it at a fixed angular velocity omega0And (4) rotating.
T3, supplying current to the DC coil 23, continuously adjusting the current value until the moving part 2 moves to the preset zero position S0, and recording the corresponding current value IS0(ii) a Through the preset zero position S0 and the current value IS0It is convenient to determine the zero position of the moving part for comparison with subsequent measured values.
T4, generating an exciting force by using the current led into the driving coil 22 to drive the moving part 2 to move, which specifically comprises the following steps:
t41, cutting off the power supply of the direct current coil 23 and turning off the centrifuge;
t42, passing a current into the driving coil 22 to drive the moving part 2 to move until the first displacement sensor 31 detects that the moving part moves to the first position S1.
T5, generating an ampere force by the current passing through the dc coil 23, and moving the moving member 2; the method comprises the following specific steps:
t51, starting the centrifuge and making the centrifuge at the same angular speed omega0RotateThat is, the angular velocity of the centrifuge is made the same as that in step T2;
t52, the vibration table 1 is provided with a first limit part 11, when the angular velocity omega of the centrifuge reaches the fixed value omega0When the moving part 2 is in contact with the first limiting part 11; i.e. the position where the first limiting member 11 is arranged is the fixed position where the moving part 2 is moved by the centrifugal force, which is the angular velocity ω0The force applied by the centrifugal field to the moving part 2.
T53, supplying current to the DC coil 23 until the moving part 2 moves to a first position S1, wherein the first position S1 is the same as the first position S1 in the step T4, and recording the corresponding current value IS1。
In the process of repeating the steps each time, before the current is introduced into the direct current coil 23, the position of the moving part is determined by using the first limiting part 11, and the position of the moving part in each test can be accurately determined by using the first limiting part 11, so that the test error is reduced.
T6, repeating the steps T4-T5 until the current value I corresponding to the P-th position Sp is recordedSPWherein Sp is the peak value of the one-side displacement of the moving part.
The second limiting part 12 is arranged on the vibration table 1, so that the maximum value of the single-side position of the moving part can be limited by the second limiting part 12, and the tested data can be controlled in a better range to increase the accuracy of a statistical result.
T7, repeating the steps T4-T6 in the opposite direction; the method specifically comprises the following steps:
t71, cutting off the power supply of the direct current coil 23 and turning off the centrifuge; passing an opposite current through the driving coil 22 to drive the moving member 2 to move in an opposite direction until the first displacement sensor 31 detects that the moving member 2 moves to the first position-S1;
t72, starting the centrifuge and making the centrifuge at the same angular speed omega0Rotating when the angular velocity omega of the centrifuge reaches the fixed value omega0When the moving part is in contact with the first limiting part 11; then, a reverse current is introduced into the DC coil 23 until the moving partThe piece 2 moves in reverse to a first position-S1, the first position S1 being identical to the first position-S1 in step T71, and the corresponding current value I is recorded-S1；
T73, repeating the steps T71-T72 until the current value I corresponding to the P-th position-Sp in the reverse direction is recorded-SPwherein-Sp is the peak value of the reverse unilateral displacement of the moving part.
T8, calculating movable part and motion amplitude SPFunctional relationship between; the method specifically comprises the following steps:
t80, repeating the above steps T4-T7 to obtain any displacement amplitude SPCorresponding multiple groups of the correction coefficients mupSee FIG. 1, and for the above-mentioned groups of μpAveraging to obtain an average value of the correction coefficient mu, thereby reducing errors in measurement and statistics;
t81, according to displacement amplitude SPAnd corresponding correction coefficient mupCalculating corresponding function relation by interpolation, least square method and other methods; calculating a correction coefficient mu and a unimodal displacement amplitude S in a displacement amplitude interval of the moving partPFunctional relationship between mu and f(s)p) I.e. by
TABLE 1
T82, the function of the correction value mu can be directly used as the logical operation in the electric control system according to the displacement amplitude SPThe sum functional relationship μ ═ f(s)p) And inputting the corresponding correction coefficient mu in real time to dynamically balance the centrifugal force of the moving part. Meanwhile, the current input to the dc coil 23 can be dynamically corrected in real time according to the change of the angular velocity ω according to the formula (6), so that the purpose of dynamically balancing the centrifugal force of the moving part is achieved.
The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.
Claims (8)
1. A method of balancing centrifugal forces of a reciprocating object, comprising the steps of:
s1, placing the moving part of the vibration table in a centrifugal field; the moving part comprises a framework, a driving coil and a direct current coil, and the driving coil and the direct current coil are wound at the same end of the framework;
s2, collecting the rotating speed omega of the centrifuge;
s3, passing current I into the direct current coil according to the rotating speed omega of the centrifuge to enable the ampere force of the direct current coil to be equal to the centrifugal force applied to the moving part, namely
Wherein m is the mass of a moving part of the vibration table, r is the vertical distance from the mass center of the moving part of the vibration table to a rotating shaft, omega is the speed of a centrifugal field angle, B is the magnetic field intensity, and L is the length of a direct current coil;
in step S3, the current I introduced into the dc coil is corrected by using the correction coefficient μ to obtain a corrected current I', that is, the corrected current I
The obtaining of the correction coefficient mu comprises the following steps:
t1, passing current into the excitation coil of the vibration table to establish a magnetic field of an annular air gap;
t2, starting the centrifuge and making it at a fixed angular velocity omega0Rotating;
t3, introducing current into the direct current coil, continuously adjusting the current value until the moving part moves to a preset zero position S0, and recording the corresponding current value IS0；
T4, cutting off the power supply of the direct current coil, closing the centrifuge, and introducing current into the driving coil to drive the moving part to move until the moving part moves to a first position S1;
t5, starting the centrifuge to make it at the same angular speed omega0Rotating, introducing current into the direct current coil, moving the moving part to the first position S1, and recording the corresponding current value IS1；
T6, repeating the steps T4-T5 until the current value I corresponding to the P-th position Sp is recordedSPWherein Sp is the peak value of the one-side displacement of the moving part;
t7, repeating the steps T4-T6 in the opposite direction;
t8 according to multiple sets of displacement amplitudes SPAnd a corresponding current value ISPCalculating a correction coefficient mupI.e. by
2. The method of balancing the centrifugal force of a reciprocating object of claim 1, wherein step T8 further comprises the steps of:
t81, according to displacement amplitude SPAnd corresponding correction coefficient mupCalculating the corresponding functional relationship, i.e. mu ═ f(s)p)
T82 according to displacement amplitude SPThe sum functional relationship μ ═ f(s)p) And inputting the corresponding correction coefficient mu in real time to dynamically balance the centrifugal force of the moving part.
3. The method of balancing centrifugal forces of reciprocating objects of claim 2, further comprising step T80 prior to step T81,
t80, repeating the above steps T4-T7 to obtain any displacement amplitude SPCorresponding multiple groups of the correction coefficients mupAnd for the above-mentioned several groups of mupAveraging to obtain an average value of the correction coefficient μ.
4. The method of balancing centrifugal forces of reciprocating objects of claim 1, further comprising a step T0 prior to step T1,
t0, providing a first displacement sensor and a second displacement sensor in the centrifugal field, both of which are aligned with the center of the moving part so as to determine a preset zero position S0.
5. The method of balancing the centrifugal force of a reciprocating object of claim 1, wherein step T5 comprises the steps of:
t51, starting the centrifuge and making the centrifuge at the same angular speed omega0Rotating;
t52, a first limit piece is arranged on the vibration table, and when the angular velocity omega of the centrifuge reaches the fixed value omega0When the first limiting piece is in contact with the moving part, the moving part is in contact with the first limiting piece;
t53, continuing to supply current to the DC coil until the moving part moves to the first position S1, and recording the corresponding current value IS1。
6. The method of balancing centrifugal forces of reciprocating objects of claim 1, wherein in step S1, the axial direction of the moving member is disposed perpendicular to a central axis about which it is wound, and the end of the bobbin remote from the drive coil is disposed toward the central axis.
7. The method for balancing centrifugal forces of reciprocating objects of claim 1, wherein a second stopper is provided on said vibration table to limit a peak value of one-sided displacement of said moving part in step T6.
8. The method of balancing centrifugal forces of a reciprocating object of claim 1, wherein the dc coil and the drive coil share a common coil.
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