CN110778604A - Vertical rotor system with active vibration suppression function and active vibration suppression method thereof - Google Patents
Vertical rotor system with active vibration suppression function and active vibration suppression method thereof Download PDFInfo
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- CN110778604A CN110778604A CN201911175500.8A CN201911175500A CN110778604A CN 110778604 A CN110778604 A CN 110778604A CN 201911175500 A CN201911175500 A CN 201911175500A CN 110778604 A CN110778604 A CN 110778604A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0402—Bearings not otherwise provided for using magnetic or electric supporting means combined with other supporting means, e.g. hybrid bearings with both magnetic and fluid supporting means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C23/00—Bearings for exclusively rotary movement adjustable for aligning or positioning
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0442—Active magnetic bearings with devices affected by abnormal, undesired or non-standard conditions such as shock-load, power outage, start-up or touchdown
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0444—Details of devices to control the actuation of the electromagnets
- F16C32/0451—Details of controllers, i.e. the units determining the power to be supplied, e.g. comparing elements, feedback arrangements with P.I.D. control
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C32/00—Bearings not otherwise provided for
- F16C32/04—Bearings not otherwise provided for using magnetic or electric supporting means
- F16C32/0406—Magnetic bearings
- F16C32/044—Active magnetic bearings
- F16C32/0474—Active magnetic bearings for rotary movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C41/00—Other accessories, e.g. devices integrated in the bearing not relating to the bearing function as such
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/18—Suppression of vibrations in rotating systems by making use of members moving with the system using electric, magnetic or electromagnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2233/00—Monitoring condition, e.g. temperature, load, vibration
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- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a vertical rotor system with an active vibration suppression function and an active vibration suppression method thereof, wherein the vertical rotor system consists of a driven rotor main shaft, a bearing box with a spherical hinge support, a variable-rigidity and damping electromagnetic bearing, a sensor, a measurement transmitter, a controller and a working section; the driven rotor spindle is used for generating rotary mechanical energy to drive the working section to do work, the working section can be arranged at the top end or the bottom end of the driven rotor spindle according to the working requirements of a rotor system, a bearing in the bearing box is used for supporting the rotor, a spherical hinge support is used for vibration reduction, and the sensor, the measuring transmitter, the controller and the electromagnetic bearing with variable rigidity and damping form an active vibration suppression system for realizing active vibration suppression of the rotor system. The rigidity and the damping of the electromagnetic bearing are adjusted by detecting the vibration of the rotor and analyzing the vibration of the rotor to generate a control signal, so that the corresponding vibration suppression force is output, and the active suppression of the vibration of the vertical rotor system is realized.
Description
Technical Field
The invention relates to the technical field of active vibration control of a vertical rotor system, in particular to a vertical rotor system with an active vibration suppression function.
Background
Common vertical rotor systems comprise a supergravity machine, a centrifugal machine, a circulating pump and the like, which are widely applied to the fields of chemical industry, electric power, energy sources and the like and occupy important positions in modern industrial production. Taking the hypergravity gas desulfurization process as an example, the unique flowing behavior of a multi-phase flow system under the hypergravity condition is utilized to strengthen the relative speed and mutual contact between phases, thereby realizing the high-efficiency mass and heat transfer process and the chemical reaction process. The mode of acquiring the hypergravity is mainly to form a centrifugal force field by rotating the whole or parts of equipment, and the related multiphase flow system mainly comprises a gas-solid system and a gas-liquid system. The gas phase is introduced into the rotor outer cavity from the tangential direction through a gas inlet pipe, and enters the filler from the outer edge of the rotor under the action of gas pressure. Liquid is introduced into the inner cavity of the rotor through the liquid inlet pipe and is sprinkled on the inner edge of the rotor through the spray head. The liquid entering the rotor is acted by the filler in the rotor, the circumferential speed is increased, and the generated centrifugal force pushes the liquid to the outer edge of the rotor. In the process, the liquid is dispersed and crushed by the filler to form a large and constantly updated surface area, and the zigzag flow channel accelerates the updating of the liquid surface. In this way, excellent mass transfer and reaction conditions are established inside the rotor. The liquid is thrown to the shell by the rotor and collected, and then leaves the super-heavy machine through the liquid outlet pipe. The gas leaves the rotor from the center of the rotor and is led out from a gas outlet pipe to finish the mass transfer and reaction process.
The rotor is a core component of the rotating machinery, and can generate vibration under various interferences and excitations while realizing effective energy conversion and mechanical functions. The vibration is a "congenital chronic disease" of a rotary machine including a vertical rotor system, and the vibration inevitably occurs as long as the rotary machine is in operation. When the unit can not effectively overcome the interference, the vicious accumulation of vibration is brought, the energy efficiency and stability of the unit are influenced, and even disastrous accidents are caused.
In addition, the rigid base and constraints of a vertical rotor system are less than those of a horizontal rotor system, which may cause more severe vibration. Therefore, in order to ensure the safe and quality-guaranteed operation of the vertical rotor system, the vertical rotor system should have a certain vibration suppression capability. The most common vibration suppression means of a vertical rotor system is to absorb energy and reduce vibration by using a damper, and the principle is to provide the damping of the rotor vortex motion to consume the energy of the vortex motion, and finally achieve the suppression of vibration [1,2 ]. However, the dampers used in the existing vertical rotor systems are often passive, and in terms of the actual form of force, the dampers can only simply apply additional fixed damping to the rotor during the operation of the rotor, which makes the vibration suppression range and functionality thereof rather limited. The engineering industry increasingly emphasizes the initiative and intellectualization of the vibration suppression unit [3], and from the relationship between force and vibration response, the active and intelligent vibration suppression unit can autonomously change the form of vibration suppression force, including the rigidity, damping property and periodic characteristic thereof, so as to more comprehensively deal with various vibrations and realize intelligent vibration suppression.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a vertical rotor system with an active vibration suppression function and an active vibration suppression method thereof, so as to ensure that the vertical rotor system can autonomously cope with interference and excitation during operation, ensure that the rotor vibration is stabilized in a suitable range, and reduce the probability of occurrence of accidents.
The invention firstly carries out optimization design aiming at the bearing constraint of a vertical rotor system, adopts a composite structure of a rolling bearing-sliding bearing (spherical hinge support) and an electromagnetic bearing to strengthen the vibration suppression capability of the system constraint; in addition, vibration feedback is introduced by using an electromagnetic bearing, so that the vibration suppression force is actively adjusted, and the vibration suppression force is adaptive to the change of working conditions to change the rigidity and damping characteristics; compared with a passive damper only applying fixed damping, the active vibration suppression system not only can change damping output, but also can realize independent configuration of critical rotating speed by changing the rigidity of the rotor system, and finally realize effective vibration suppression of the vertical rotor system within the full rotating speed range.
In order to achieve the above object, in a first aspect, the present invention provides a vertical rotor system with an active vibration suppression function, which comprises a driven rotor main shaft, a bearing box with a ball-and-socket joint, a variable-stiffness and damping electromagnetic bearing, a sensor, a measurement transmitter, a controller and a working section. Wherein:
the driven rotor main shaft is sequentially provided with a bearing box with a spherical hinge support and a variable-rigidity and damping electromagnetic bearing from top to bottom, and the top end or the bottom end of the driven rotor main shaft can be selectively connected with a working section;
the bearing box with the spherical hinge support consists of a bearing, a bearing box and the spherical hinge support, and is used for supporting the rotor main shaft and damping the rotor system;
the sensor comprises a key phase sensor and a vibration sensor which are respectively used for acquiring a key phase signal and a vibration displacement signal;
the measuring transducer is used for analyzing and calculating the key phase signal and the vibration displacement signal and transmitting the characteristic calculation value to the controller;
the controller receives the characteristic calculation value, adjusts the parameters of the controller, generates a control signal and outputs the control signal to the electromagnetic bearing with variable rigidity and damping;
the electromagnetic bearing with variable rigidity and damping is used for outputting vibration suppression force with certain rigidity and damping to the rotor according to the control signal, so that the active suppression of the rotor vibration is realized.
In a second aspect, an active vibration suppression method is provided, which is applied to a vertical rotor system with an active vibration suppression function, and includes:
acquiring a vibration signal on a rotor vibration measuring point and a key phase pulse signal on a rotor key phase measuring point in real time according to a certain sampling rate;
acquiring a characteristic calculation value according to the vibration signal and the key phase pulse signal;
generating a control signal according to the characteristic calculation value;
and outputting a vibration suppression force with certain rigidity and damping according to the control signal to realize active suppression of the vibration of the vertical rotor system.
Compared with the prior art, the vibration suppression range and the functionality are greatly improved, the vibration suppression range and the functionality are firstly embodied on the restraint structure of the system, the restraint structure of the system is optimized by using the spherical hinge between the bearing box and the rigid foundation, and the vibration suppression capability is improved; in addition, by introducing an active vibration suppression system mainly comprising a variable-rigidity and damping electromagnetic bearing, the output form of vibration suppression force is widened, namely the rigidity and the damping of the active vibration suppression system can be changed in real time according to actual vibration response, and finally the vibration within the full rotating speed range (including a resonance region) is effectively suppressed.
According to the embodiment of the application, a vibration signal and a key phase signal of the vertical rotor system in the working process are obtained by using the sensor, the measurement transmitter obtains a characteristic calculation value according to the vibration and key phase signal, and the controller adjusts a self parameter according to the characteristic calculation value and generates a control signal; the electromagnetic bearing sends the instruction of the control signal to the electromagnetic bearing, so that the electromagnetic bearing outputs corresponding vibration suppression force to the rotor, and the purposes of counteracting interference and excitation and realizing active vibration suppression are achieved. In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a vertical rotor system with an active vibration suppression function according to an embodiment of the present invention;
FIG. 2 is a flow chart of an active vibration suppression method according to an embodiment of the present invention;
fig. 3 shows a schematic structural diagram of a computer device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The vibration modes generated by the vertical rotor system in operation generally include free vibration, forced vibration, and self-excited vibration. Wherein the free vibration is a vibration form generated when subjected to step-like excitation, and the excitation is not continuous; the forced vibration is mainly vibration generated under periodic continuous excitation, such as harmonic vibration generated by unbalanced rotor and misaligned rotor; critical resonance conditions are also of particular concern in forced vibration, and many modern rotating devices are faced with the conditions of operation above critical rotation speed or operation at multiple rotation speeds in a transcritical neighborhood, so that the rotor passing through a critical point becomes inevitable, a rotor system has a vibration pole at the moment of passing through the critical point, and relatively large vibration exists in the neighborhood of the critical resonance point; self-excited vibration is vibration generated when the self-excited vibration is affected by some nonlinear factors or feedback effects, and the self-excited vibration often causes instability of a system. No matter which kind of vibration occurs in the vertical rotor system, certain accumulated damage can be caused to the rotor system, and especially when the vibration energy cannot be consumed in time or is increased suddenly, catastrophic damage can be caused to the unit, so that the whole production flow is threatened.
In order to solve the problems, in the embodiment of the application, a sensor is used for acquiring a vibration signal and a key phase signal of the vertical rotor system in the working process, a measurement transmitter acquires a characteristic calculation value according to the vibration signal and the key phase signal, and a controller adjusts a self parameter according to the characteristic calculation value and generates a control signal; the electromagnetic bearing outputs corresponding vibration suppression force to the rotor according to the instruction of the control signal, so that interference and excitation are counteracted, and the purpose of active vibration suppression is achieved.
To facilitate understanding of the present embodiment, a schematic structural diagram of a vertical rotor system with an active vibration suppression function disclosed in the embodiments of the present invention is first described in detail.
Referring to fig. 1, a vertical rotor system with active vibration suppression function in the embodiment of the present application is composed of a driven rotor main shaft 10, a bearing box 30 with a ball-and-socket joint support 20, a variable stiffness and damping electromagnetic bearing 40, a working section 50, sensors (including a key phase sensor 60 and a vibration sensor 70), a measurement transducer 80, and a controller 90; the driven rotor spindle 10 is used for generating rotary mechanical energy to drive the working section 50 to do work, the working section 50 is arranged at the top end or the bottom end of the driven rotor spindle 10 according to the working requirements of a rotor system, a bearing in the bearing box 30 is used for supporting the rotor, the spherical hinge support is used for damping vibration, and the sensor, the measuring transducer 80, the controller 90 and the electromagnetic bearing 40 with variable rigidity and damping form an active vibration suppression system for realizing active vibration suppression of the rotor system.
Wherein, the driven rotor main shaft 10 is directly connected with the working section 50 to form a basic rotating shaft; the bearing box 30 is a radial support constraint of the basic rotating shaft and comprises a bearing and a bearing seat, when the bearing is selected as a rolling bearing, an inner ring of the rolling bearing is matched with the basic rotating shaft to rotate together with the shaft, and an outer ring of the rolling bearing is matched with the bearing seat to support; when the bearing is selected as a sliding bearing, the rotating shaft is supported by lubricating liquid between the bearing and the rotating shaft; the spherical hinge support 20 is a support base of the bearing box 30 and used for restraining the bearing box, and the spherical hinge support 20 is connected with a system base; the spherical hinge structure in the spherical hinge support 20 is positioned between the bearing box and the support, the spherical hinge structure is a movable body, and the movable range of the spherical hinge structure is limited to the area enclosed by the bearing box 30 and the spherical hinge support 20; the key phase sensor 60 and the vibration sensor 70 are non-contact sensors, and are not directly connected to the driven rotor main shaft 10; the electromagnetic bearing 40 is divided into a rotor part and a stator part, the rotor part is matched with the driven rotor spindle 10 to rotate together with the spindle, and the stator part is connected with a system foundation; the measurement transducer 80, the controller 90 and the electromagnetic bearing 40 are in communication via signal lines and are not mechanically connected.
Specifically, a basic rotor structure and a stator structure of a vertical rotor system are formed by a driven rotor spindle 10, a bearing box 30 with a spherical hinge support 20, an electromagnetic bearing 40 and a working section 50;
the rotor structure comprises a driven rotor spindle 10, a working section 50, a rotor part of a bearing in a bearing box 30 and a rotor part of an electromagnetic bearing 40, wherein the driven rotor spindle 10 is directly connected with the working section 50, and when the bearing is selected as a rolling bearing, an inner ring of the rolling bearing is matched with a basic rotating shaft to rotate together with the shaft; when the bearing is selected as a sliding bearing, the rotating shaft is supported by lubricating liquid between the bearing and the rotating shaft; the rotor part of the electromagnetic bearing 40 is matched with the driven rotor spindle 10; the stator structure comprises a bearing seat in the bearing box 30, a spherical hinge support 20 and a stator part of the electromagnetic bearing 40, wherein the bearing seat is directly connected with the spherical hinge support to commonly restrict the movement of the spherical hinge structure; the spherical hinge mount and stator portion of the electromagnetic bearing 40 are connected to the base of the system.
The driven rotor spindle 10 is used for transmitting rotation energy to do work to the working section 50;
the bearing box 30 with the spherical hinge support 20 consists of the spherical hinge support, a bearing and a bearing seat, wherein the spherical hinge support 20 is used for damping and supporting the bearing box 30, the bearing is used for supporting a rotor, and the bearing seat 30 is used for external support of the bearing;
the introduction of the spherical hinge support enables the constraint of the bearing box to be more suitable for the vibration suppression requirement, the constraint of the system is expanded to the axial direction and the radial direction, and the rigidity and the damping of the system constraint are increased to a certain extent; the bearing is matched with the bearing seat to support the rotor system, the support part of the spherical hinge support is directly connected with the bearing seat, and the spherical hinge support and the bearing seat limit the movement of the spherical hinge structure within the range formed by connecting the spherical hinge support and the bearing seat.
The electromagnetic bearing 40 with variable rigidity and damping is used for outputting a vibration suppression force f with certain rigidity and damping according to the control signal u, and acting on the vertical rotor system to achieve the purpose of active vibration suppression;
the working section 50 is used for actual process operation and is connected to the top end or the bottom end of the driven main shaft according to actual process requirements;
specifically, the active vibration suppression system composed of the key phase sensor 60, the vibration sensor 70, the measurement transmitter 80, the controller 90 and the electromagnetic bearing 40 realizes active vibration suppression of the vertical rotor system;
the key phase sensor 60 is used for acquiring a key phase pulse signal of the vertical rotor system and acquiring a time interval of one rotation of the rotor by setting a trigger value; the key phase pulse signal will be transmitted to the measurement transducer 80 for calculation of the characteristic calculation;
the vibration sensor 70 is used for acquiring a vibration displacement signal at a vibration measuring point of the vertical rotor system; the vibration displacement signal is transmitted to the measuring transducer for calculating a characteristic calculation value;
the measurement transmitter 80 is used for calculating a characteristic calculation value; wherein the characteristic calculation value comprises a characteristic displacement feedback value q obtained based on the vibration displacement signal q
-And a characteristic velocity feedback value
And based on the vibration displacement signal q, the key phase pulse signal and the set value V
0The obtained characteristic difference value V
Δ；
The controller 90 is configured to perform adaptive adjustment of control parameters and generation and output of control signals; wherein the controller will depend on the characteristic difference V
ΔProportional parameter k (V) to controller
Δ) And a differential parameter c (V)
Δ) Performing self-adaptive adjustment, and finally closing the controller parameters and the characteristic displacement feedback value q
-And a characteristic velocity feedback value
Outputting a control signal u;
the electromagnetic bearing 40 with variable rigidity and damping is used for outputting a vibration suppression force f with certain rigidity and damping according to the control signal u, and acting on the vertical rotor system to achieve the purpose of active vibration suppression.
In the specific implementation, the above process is repeated cyclically, and the cycle period is equal to the sampling period T of the measuring transmitter.
In each sampling period T, the active vibration suppression system finishes the acquisition of feedback signals, namely acquires vibration displacement signals q and analyzes to obtain a characteristic displacement feedback value q
-And a characteristic velocity feedback value
The generation and output of the control signal u, the induction of the electromagnetic bearing and the output of the vibration suppression force f are carried out in the whole feedback control process, namely, the characteristic displacement feedback value q
-Characteristic velocity feedback value
The control signal u and the vibration suppression force f are updated according to the sampling period of the active vibration suppression system; the characteristic difference is calculated by taking adjacent trigger points of the key phase signal as boundaries, namely, the characteristic difference is updated once per circle, and the corresponding controller parameter updating frequency is updated once per circle.
Aiming at the two different parallel processes, namely the output of the vibration suppression force and the adaptive adjustment of the controller parameters, the updating frequencies are different, and the required controller input signals are also different. Respectively for the ith sampling period T
iTwo parallel processes of damping force output and adaptive adjustment of the nth loop controller parameter are illustrated, where i ═ 1,2,3.. N, N denotes the total number of sampling periods.
I, a vibration suppression force output process:
firstly, a measurement transmitter collects and analyzes real-time vibration displacement data q transmitted by a vibration sensor, and characteristic displacement feedback values q are respectively obtained
-And a characteristic velocity feedback value
Wherein the characteristic displacement feedback value q
-Satisfies formula (1):
q
-＝-q (1)
characteristic velocity feedback value
For a characteristic displacement feedback value q
-With respect to the first reciprocal of time t, equation (2) is satisfied:
then, the controller shifts the feedback value q according to the characteristics
-And a characteristic velocity feedback value
Generating a control signal u in the sampling period, wherein the control signal u satisfies the formula (3):
wherein, k (V)
Δ) The proportional parameter of the controller is a positive correlation term of the vibration suppression force rigidity; c (V)
Δ) The differential parameter of the controller is a positive correlation term of the damping of the vibration suppression force.
Finally, the electromagnetic bearing outputs a vibration suppression force f satisfying the formula (4) according to a control signal of the controller:
f＝k
uu (4)
at this point, the sampling period T is completed
iInternal damping force output process.
II. Adaptive adjustment of controller parameters
The measurement transmitter analyzes the collected key phase pulse signal, when the Nth key phase trigger event occurs, the measurement transmitter caches the vibration displacement signal before zero clearing, and starts to cache the vibration displacement signal in the current and the following sampling periods, and the current vibration displacement signal is defined as q
0After M sampling periods T, generating a key phase triggering event for the (N + 1) th time, and defining the vibration displacement signal in each sampling period T in the period as q
mM is 1,2,3. The effective value V of the vibration displacement in the Nth circle satisfies the formula (5):
after the Nth key phase triggering event occurs and before the (N + 1) th key phase triggering event does not occur, the measuring transmitter outputs the characteristic difference value in the (N-1) th circle to the controller, and the parameters of the controller keep the parameters obtained in the (N-1) th circle unchanged; when the N +1 th key phase trigger event occurs, the characteristic difference value V
ΔWill update and satisfy the formula (6)
V
Δ＝V-V
0(6)
Wherein, V
0Is a set value.
Accordingly, the controller proportional parameter k (V)
Δ) And a differential parameter c (V)
Δ) Will be according to V
ΔAdaptive adjustment is performed, k (V)
Δ) And c (V)
Δ) The proportional parameter and the differential parameter of the controller are both characteristic difference values V
ΔThe specific expression may be defined according to a specific control law.
Referring to fig. 2, a schematic flow chart of an active vibration suppression method provided in an embodiment of the present application is applied to a vertical rotor system with an active vibration suppression function; the method comprises the following steps:
s201: starting the ith sampling period, and completing the acquisition, analysis and calculation of vibration and key phase signals, the adaptive adjustment of controller parameters, the generation of control signals and the output of vibration suppression force in the sampling period;
s202: collecting a key phase signal and a vibration signal, wherein when the sampling period is T, a key phase signal point and a vibration signal point are collected at intervals of T;
s203: analyzing the key phase signal, and detecting whether the currently acquired key phase signal point causes a trigger event to occur;
s204: when the key phase triggering event does not occur, the current vibration signal point is stored in a buffer area, and the parameters of the controller are kept unchanged;
s205, when a key phase trigger event occurs, calculating effective values of all vibration signal points in the buffer area, and then emptying the buffer area; then, performing difference operation on the effective value and the set value to obtain a characteristic difference value; then updating the controller parameters according to the updated characteristic difference;
wherein the effective value V satisfies formula (5):
(5)
wherein the vibration displacement signal when the Nth key phase trigger event occurs is q
0After M sampling periods T, the N +1 key phase triggering event occurs, and the vibration displacement signal in each sampling period T in the period is defined as q
m，m＝1,2,3,...M。
Characteristic difference value V
ΔSatisfies formula (6):
(6)V
Δ＝V-V
0；
wherein, V
0Is a set value;
the parameter of the controller is then compared with the characteristic difference V
ΔFunction k (V) of correlation
Δ)、c(V
Δ) And updating, wherein the functional form is related to the selected adaptive law.
S206, updating the characteristic displacement feedback value and the characteristic speed feedback value according to the vibration signal q; wherein the characteristic displacement feedback value q
-And a characteristic velocity feedback value
Satisfying formulas (1) and (2);
s207, according to the controller parameter k (V)
Δ) And c (V)
Δ) And a characteristic displacement feedback value q
-Characteristic velocity feedback value
Generating a control signal u, the value of which satisfies formula (3);
s208, outputting a vibration suppression force f according to the control signal, wherein the value of the vibration suppression force f meets the formula (4);
s209, the active vibration suppression algorithm in the ith sampling period is finished, and the active vibration suppression algorithm in the (i + 1) th sampling period is carried out, namely, the step returns to S201.
Corresponding to the active vibration suppression method in fig. 2, an embodiment of the present invention further provides a computer apparatus, as shown in fig. 3, the apparatus includes a memory 100, a processor 200, and a computer program stored on the memory 100 and executable on the processor 200, where the processor 200 implements the steps of the active vibration suppression method when executing the computer program.
Specifically, the memory 100 and the processor 200 can be general memories and processors, and are not limited to specific embodiments, and when the processor 200 runs a computer program stored in the memory 100, the active vibration suppression method can be executed, so as to ensure that the vertical rotor system can autonomously cope with interference and excitation in operation, ensure that the rotor vibration is stabilized in a proper range, and reduce the probability of accidents.
Corresponding to the active vibration suppression method in fig. 2, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the rotor vibration control method.
Specifically, the storage medium can be a general-purpose storage medium, such as a mobile magnetic disk, a hard disk, or the like, and when a computer program on the storage medium is executed, the active vibration suppression method can be executed, so that the vertical rotor system can be ensured to autonomously cope with interference and excitation in operation, the rotor vibration is ensured to be stabilized in a proper range, and the probability of occurrence of an accident is reduced.
The computer program product of the active vibration suppression method and the control device provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides a vertical rotor system with initiative function of shaking down which characterized in that: the device comprises a driven rotor spindle (10), a bearing box (30) with a spherical hinge support (20), an electromagnetic bearing (40) with variable rigidity and damping, a working section (50), a sensor, a measurement transmitter (80) and a controller (90); the driven rotor spindle (10) is used for generating rotary mechanical energy to drive the working section (50) to do work, the working section (50) is arranged at the top end or the bottom end of the driven rotor spindle (10) according to the working requirement of a rotor system, a bearing in the bearing box (30) is used for supporting the rotor, and the sensor, the measuring transducer (80), the controller (90) and the electromagnetic bearing (40) with variable rigidity and damping form an active vibration suppression system; the sensors include a key phase sensor (60) and a vibration sensor (70);
the driven rotor main shaft (10) is directly connected with the working section (50);
a spherical hinge structure in the spherical hinge support (20) is positioned between the bearing box and the support, the spherical hinge structure is a movable body, and the movable range of the spherical hinge structure is limited to an area enclosed by the bearing box (30) and the spherical hinge support (20); the key phase sensor (60) and the vibration sensor (70) are non-contact sensors and are not directly connected with the driven rotor spindle (10); the electromagnetic bearing (40) is divided into a rotor part and a stator part, the rotor part is matched with the driven rotor spindle (10) to rotate together with the shaft, and the stator part is connected with the system foundation; the measurement transmitter (80), the controller (90) and the electromagnetic bearing (40) are communicated through signal wires.
2. The vertical rotor system with active vibration suppression according to claim 1, wherein: the bearing box (30) is used for radial support constraint of the basic rotating shaft and comprises a bearing and a bearing seat, when the bearing is selected as a rolling bearing, an inner ring of the rolling bearing is matched with the basic rotating shaft to rotate together with the shaft, and an outer ring of the rolling bearing is matched with the bearing seat to be used for supporting; when the bearing is selected as a sliding bearing, the rotating shaft is supported by lubricating liquid between the bearing and the rotating shaft; the ball pivot bearing (20) is the bearing base of the bearing housing (30) for restraining the bearing housing.
3. The vertical rotor system with active vibration suppression according to claim 1, wherein: a basic rotor structure and a stator structure of a vertical rotor system are formed by a driven rotor main shaft (10), a bearing box (30) with a spherical hinge support (20), an electromagnetic bearing (40) and a working section (50);
the rotor structure comprises a driven rotor spindle (10), a working section (50), a rotor part of a bearing in a bearing box (30) and a rotor part of an electromagnetic bearing (40), wherein the driven rotor spindle (10) is directly connected with the working section (50), and when the bearing is selected as a rolling bearing, an inner ring of the rolling bearing is matched with a basic rotating shaft to rotate together with the shaft; when the bearing is selected as a sliding bearing, the rotating shaft is supported by lubricating liquid between the bearing and the rotating shaft; the rotor part of the electromagnetic bearing (40) is matched with the driven rotor spindle (10); the stator structure comprises a bearing seat in a bearing box (30), a spherical hinge support (20) and a stator part of an electromagnetic bearing (40), wherein the bearing seat is directly connected with the spherical hinge support to commonly restrict the movement of the spherical hinge structure; the spherical hinge support and the stator part of the electromagnetic bearing (40) are connected with the base of the system.
4. The vertical rotor system with active vibration suppression according to claim 1, wherein: the bearing box (30) with the spherical hinge support (20) consists of the spherical hinge support, a bearing and a bearing seat, the spherical hinge support (20) is used for damping and supporting the bearing box (30), the bearing is used for supporting a rotor, and the bearing seat is used for outer support of the bearing;
the introduction of the spherical hinge support enables the constraint of the bearing box to be more suitable for the vibration suppression requirement, and the constraint of the system is expanded to the axial direction and the radial direction; the bearing is matched with the bearing seat to support the rotor system, the support part of the spherical hinge support is directly connected with the bearing seat, and the spherical hinge support and the bearing seat limit the movement of the spherical hinge structure within the range formed by connecting the spherical hinge support and the bearing seat.
5. The vertical rotor system with active vibration suppression according to claim 1, wherein: the electromagnetic bearing (40) with variable rigidity and damping is used for outputting a vibration suppression force f with certain rigidity and damping according to a control signal u, and acting on the vertical rotor system to realize active vibration suppression;
the active vibration suppression system consisting of the key phase sensor (60), the vibration sensor (70), the measurement transmitter (80), the controller (90) and the electromagnetic bearing (40) realizes active vibration suppression of the vertical rotor system;
the key phase sensor (60) is used for acquiring a key phase pulse signal of the vertical rotor system and acquiring a time interval of one rotation of the rotor by setting a trigger value; the key phase pulse signal will be transmitted to the measurement transducer (80) for calculation of the characteristic calculation value.
6. The vertical rotor system with active vibration suppression according to claim 1, wherein: the vibration sensor (70) is used for acquiring a vibration displacement signal at a vibration measuring point of the vertical rotor system; the vibration displacement signal is transmitted to the measuring transducer for calculating a characteristic calculation value;
the measurement transmitter (80) is used for calculating a characteristic calculation value; wherein the characteristic calculation value comprises a characteristic displacement feedback value q obtained based on the vibration displacement signal q
-And a characteristic velocity feedback value
And based on the vibration displacement signal q, the key phase pulse signal and the set value V
0The obtained characteristic difference value V
Δ。
7. The vertical rotor system with active vibration suppression according to claim 1, wherein: the controller (90) is used for performing adaptive adjustment of control parameters and generation and output of control signals; the controller will depend on the characteristic difference V
ΔProportional parameter k (V) to controller
Δ) And a differential parameter c (V)
Δ) Performing self-adaptive adjustment, and finally closing the controller parameters and the characteristic displacement feedback value q
-And a characteristic velocity feedback value
And outputting a control signal u.
8. The vertical rotor system with active vibration suppression according to claim 1, wherein: the rigidity and the damping of the electromagnetic bearing are variable, and the electromagnetic bearing is used for outputting a vibration suppression force f with certain rigidity and damping according to a control signal u and acting on a vertical rotor system to realize active vibration suppression.
9. An active vibration suppression method of a vertical rotor system with an active vibration suppression function is characterized in that:
in each sampling period T, the active vibration suppression system finishes the acquisition of feedback signals, namely acquires vibration displacement signals q and analyzes to obtain a characteristic displacement feedback value q
-And a characteristic velocity feedback value
The generation and output of a control signal u, the induction and output of an electromagnetic bearing, the whole feedback control process of a vibration suppression force f and a characteristic displacement feedback value q
-Characteristic velocity feedback value
The control signal u and the vibration suppression force f are updated according to the sampling period of the active vibration suppression system; the characteristic difference value is calculated by taking adjacent trigger points of the key phase signal as boundaries, namely, the updating is carried out once per circle, and the corresponding controller parameter updating frequency is also updated once per circle;
aiming at the two different parallel processes, namely the output of the vibration suppression force and the adaptive adjustment of the controller parameters, the updating frequencies are different, and the required input signals of the controller are also different; respectively for the ith sampling period T
iTwo parallel processes of inner vibration suppression force output and adaptive adjustment of an Nth circle controller parameter are explained, wherein i is 1,2,3.. N, and N represents the total number of sampling periods;
i, a vibration suppression force output process:
firstly, a measurement transmitter collects and analyzes real-time vibration displacement data q transmitted by a vibration sensor, and characteristic displacement feedback values q are respectively obtained
-And a characteristic velocity feedback value
Wherein the characteristic displacement feedback value q
-Satisfies formula (1):
q
-＝-q (1)
characteristic velocity feedback value
For a characteristic displacement feedback value q
-With respect to the first reciprocal of time t, equation (2) is satisfied:
then, the controller shifts the feedback value q according to the characteristics
-And a characteristic velocity feedback value
Generating a control signal u in the sampling period, wherein the control signal u satisfies the formula (3):
wherein, k (V)
Δ) The proportional parameter of the controller is a positive correlation term of the vibration suppression force rigidity; c (V)
Δ) The differential parameter is a positive correlation term of the damping of the vibration suppression force;
finally, the electromagnetic bearing outputs a vibration suppression force f satisfying the formula (4) according to a control signal of the controller:
f＝k
uu (4)
at this point, the sampling period T is completed
iAn internal damping force output process;
II. Adaptive adjustment of controller parameters
The measurement transmitter analyzes the collected key phase pulse signal, when the Nth key phase trigger event occurs, the measurement transmitter caches the vibration displacement signal before zero clearing, and starts to cache the vibration displacement signal in the current and the following sampling periods, and the current vibration displacement signal is defined as q
0After M sampling periods T, generating a key phase triggering event for the (N + 1) th time, and defining the vibration displacement signal in each sampling period T in the period as q
mM is 1,2,3,. M; the effective value V of the vibration displacement in the Nth circle satisfies the formula (5):
after the Nth key phase trigger event occurs and before the (N + 1) th key phase trigger event does not occur, the measuring transmitter outputs the characteristic difference value keeping the N-1 th circle to the controller, and the parameter of the controller is kept in the N-1 th circleThe obtained parameters are unchanged; when the N +1 th key phase trigger event occurs, the characteristic difference value V
ΔWill update and satisfy the formula (6)
V
Δ＝V-V
0(6)
Wherein, V
0Is a set value;
accordingly, the controller proportional parameter k (V)
Δ) And a differential parameter c (V)
Δ) Will be according to V
ΔAdaptive adjustment is performed, k (V)
Δ) And c (V)
Δ) The proportional parameter and the differential parameter of the controller are both characteristic difference values V
ΔThe specific expression may be defined according to a specific control law.
10. The active vibration suppression method for a vertical rotor system with an active vibration suppression function according to claim 9, characterized in that:
the method is applied to a vertical rotor system with an active vibration suppression function; the method comprises the following steps:
s201: starting the ith sampling period, and completing the acquisition, analysis and calculation of vibration and key phase signals, the adaptive adjustment of controller parameters, the generation of control signals and the output of vibration suppression force in the sampling period;
s202: collecting a key phase signal and a vibration signal, wherein when the sampling period is T, a key phase signal point and a vibration signal point are collected at intervals of T;
s203: analyzing the key phase signal, and detecting whether the currently acquired key phase signal point causes a trigger event to occur;
s204: when the key phase triggering event does not occur, the current vibration signal point is stored in a buffer area, and the parameters of the controller are kept unchanged;
s205, when a key phase trigger event occurs, calculating effective values of all vibration signal points in the buffer area, and then emptying the buffer area; then, performing difference operation on the effective value and the set value to obtain a characteristic difference value; then updating the controller parameters according to the updated characteristic difference;
wherein the effective value V satisfies formula (5):
wherein the vibration displacement signal when the Nth key phase trigger event occurs is q
0After M sampling periods T, the N +1 key phase triggering event occurs, and the vibration displacement signal in each sampling period T in the period is defined as q
m，m＝1,2,3,...M；
Characteristic difference value V
ΔSatisfies formula (6):
the parameter of the controller is then compared with the characteristic difference V
ΔFunction k (V) of correlation
Δ)、c(V
Δ) Updating, wherein the function form is related to the selected self-adaptive law;
s206, updating the characteristic displacement feedback value and the characteristic speed feedback value according to the vibration signal q; wherein the characteristic displacement feedback value q
-And a characteristic velocity feedback value
Satisfying formulas (1) and (2);
s207, according to the controller parameter k (V)
Δ) And c (V)
Δ) And a characteristic displacement feedback value q
-Characteristic velocity feedback value
Generating a control signal u, the value of which satisfies formula (3);
s208, outputting a vibration suppression force f according to the control signal, wherein the value of the vibration suppression force f meets the formula (4);
s209, the active vibration suppression algorithm in the ith sampling period is finished, and the active vibration suppression algorithm in the (i + 1) th sampling period is carried out, namely, the step returns to S201.
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| CN201911175500.8A CN110778604A (en) | 2019-11-26 | 2019-11-26 | Vertical rotor system with active vibration suppression function and active vibration suppression method thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227251A1 (en) * | 2020-05-14 | 2021-11-18 | 北京化工大学 | Comprehensive control method and device for stability of rotor system of centrifugal compressor |
| CN114199566A (en) * | 2021-11-11 | 2022-03-18 | 上海交通大学 | Restraint device and adjusting method for vertical rotor-floating bearing test |
-
2019
- 2019-11-26 CN CN201911175500.8A patent/CN110778604A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021227251A1 (en) * | 2020-05-14 | 2021-11-18 | 北京化工大学 | Comprehensive control method and device for stability of rotor system of centrifugal compressor |
| CN114199566A (en) * | 2021-11-11 | 2022-03-18 | 上海交通大学 | Restraint device and adjusting method for vertical rotor-floating bearing test |
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