CN1137016A - Self-excited oscillating type vibrator - Google Patents

Self-excited oscillating type vibrator Download PDF

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Publication number
CN1137016A
CN1137016A CN96102971A CN96102971A CN1137016A CN 1137016 A CN1137016 A CN 1137016A CN 96102971 A CN96102971 A CN 96102971A CN 96102971 A CN96102971 A CN 96102971A CN 1137016 A CN1137016 A CN 1137016A
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China
Prior art keywords
self
gain
output
vibration
amplitude
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Pending
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CN96102971A
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Chinese (zh)
Inventor
栗田裕
村岸恭次
安田均
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Shinko Electric Co Ltd
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Shinko Electric Co Ltd
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Publication of CN1137016A publication Critical patent/CN1137016A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
    • B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
    • B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
    • B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Apparatuses For Generation Of Mechanical Vibrations (AREA)
  • Jigging Conveyors (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

A self-oscillation rapping device leads self-oscillation to be stably and continuously carried out simultaneously when improving the building-up characteristic of the self-oscillation. The output of a vibration velocity detector 12 is positively fed back to a self-oscillation controller 15 to lead a feedback gain K to change according to k is equal to K1 Delta r plus K3 (Delta r) <3> plus kcr. Consequently, when the amplitude deviation Delta r is the maximum, namely, an initial value, the feedback gain K is very big, thus being capable of improving the building-up characteristic and also leading the Kcr to a regulated value when the stability limit is increased, thereby being capable of stably continuing self-oscillation.

Description

Self-excited oscillating type vibrator
The present invention relates to self-excited oscillating type vibrator.
Self-excited oscillating type vibrator has the advantage of automatic tracking resonance point in general, but is that the maintenance amplitude is that finite value must carry out some control.As attempt to utilize the saturation characteristic of controller or power amplifier to make amplitude constant, then the output of power amplifier will become square wave, and contains a lot of higher harmonic components.
In light of this situation, in the former clear 61-154599 of spy number a kind of self-excited oscillating type vibrator is as shown in Figure 3 disclosed.The block scheme that the part of functions of Fig. 3 is represented with transfer function shown in Figure 4 in addition.Promptly in Fig. 4, oscillatory system is done as a whole with 1 expression, and provides characteristic equation as shown in the figure.Amplitude detector 2 is near vibrating machine setting (for example eddy current transducer that is provided with near the leaf spring that connects its hopper and pedestal in vibration feeder), and amplitude controller 3, the output supply power amplifier 4 of amplitude controller 3 are supplied with in its output.On the other hand, the output x of vibrating machine supplies with autoexcitation controller 7, it is added to adder 6 with inverse feedback, therefore the time is autoexcitation, so another of adder 6 is input as zero, thereby the output x of vibrating machine further supplied to first-order lag link 5, and above-mentioned power amplifier 4 is supplied with in the output of first-order lag link 5.
When quality is that the vibrating machine 1 of m is with acceleration/accel dx 2/ dt 2During vibration, as integration delay component by a l/s (s be Laplace transform operator-as follows), then become speed dx/dt, it is used for quality m as the vibration damping masterpiece after be multiply by internal friction coefficient c, dx/dt is as then becoming x by an integration delay component l/s again, acts on the quality m as restoring force after it be multiply by spring constant k.Briefly express vibrating machine 1 with this C/LOOP, on resonant frequency, be delayed 90 ° phase place.Because of in the first-order lag link 5 of autoexcitation controller 7, being delayed 90 ° phase place,, therefore can produce autoexcitation so produce 180 ° phase difference in open loop.The gain K0 of power amplifier 4 will make this system produce vibration as more than stability boundaris, detect current amplitude and stipulate the poor of amplitude in amplitude controller 3, and come the gain K of control power amplifiers 4 thus 0That is, when when big, making this gain K with the deviation of amplitude given value 0Increase, when reaching the amplitude given value, make it get back to stability boundaris.Yet, as shown in Figure 5, the gain K0 of amplitude excursion Δ r and power amplifier has linear relationship, now, in order to improve the self-oscillatory characteristic of building up, when amplitude excursion Δ r is big, just must increase the gain K0 of power amplifier 4 fully, promptly produce pulsation but so will make amplitude detector 2 in its waveform, have higher harmonic components, it is put very large the output of power amplifier 4 will be changed, in vibrating machine, can not set up stable autoexcitation.
In view of the above problems, the invention provides a kind of self-excited oscillating type vibrator, have when good autoexcitation builds up characteristic, can also suppress the change in gain that the pulsation because of amplitude detecting device causes.
For reaching above purpose, self-excited oscillating type vibrator of the present invention has the vibration velocity detecting device that is used to detect the vibration machine vibration velocity, with the output of this vibration velocity detecting device as positive feedback signal and the autoexcitation controller that amplified with feedback gain, the output of this controller is carried out the power amplifier of power gain, and the vibratory driver that receives the output of this power amplifier, utilizing this vibratory driver that above-mentioned vibration machine is encouraged shakes, this self-excited oscillating type vibrator is characterised in that: making the value of above-mentioned feedback gain K is that amplitude excursion Δ r is relevant with the current amplitude and the difference of given amplitude, according to K=K 1Δ r+K N(Δ r) 2N+1+ K Cr(in the formula, K 1, K NBe constant, N is an integer, K CrBe the stability boundaris gain) relationship change.
For reaching above purpose, self-excited oscillating type vibrator of the present invention has the vibration displacement detector that is used to detect the vibration machine vibration displacement, with the output of this vibration displacement detector as positive feedback signal and the autoexcitation controller that amplified and lag behind with integral element or first-order lag link control phase with feedback gain, the output of this controller is carried out the power amplifier of power gain, and the vibratory driver that receives the output of this power amplifier, utilizing this vibratory driver that above-mentioned vibration machine is encouraged shakes, this self-excited oscillating type vibrator is characterised in that: making the value of above-mentioned feedback gain K is that amplitude excursion Δ r is relevant with the current amplitude and the difference of given amplitude, according to K=K 1Δ r+K N(Δ r) 2N+1+ K Cr(in the formula, K 1, K NBe constant, N is an integer, K CrBe the stability boundaris gain) relationship change.
For reaching above purpose, self-excited oscillating type vibrator of the present invention has the vibration displacement detector that is used to detect the vibration machine vibration displacement, with the output of this vibration displacement detector as positive feedback signal and the autoexcitation controller that amplified with feedback gain, the output of this controller is carried out the power amplifier of power gain, and the electromagnet that receives the output of this power amplifier, utilization is flow through magnetic attracting force that the electric current of this magnet spool produces and above-mentioned vibration machine is encouraged is shaken, this self-excited oscillating type vibrator is characterised in that: making the value of above-mentioned feedback gain K is that amplitude excursion Δ r is relevant with the current amplitude and the difference of given amplitude, according to K=K1 Δ r+K N(Δ r) 2N+1+ K Cr(in the formula, K 1, K NBe constant, N is an integer, K CrBe the stability boundaris gain) relationship change.
Because feedback gain K=K 1Δ r+K N(Δ r) 2N+1+ K Cr, for example K 1Δ r+K 3(Δ r) 3+ K CrBe odd function, when Δ r increases, because of being a cube characteristic, so its Δ r 3Become very big, make feedback gain K increase thus and be easy to cause autoexcitation, otherwise when amplitude excursion Δ r reduced, gain will diminish sharp, became K when deviation delta r is zero Cr, promptly become the stability boundaris gain, after this, vibrating machine is autoexcitation stably, and keep constant amplitude.In addition, under the situation of the vibration velocity that detects vibrating machine, identical during also with the detection displacement, when detecting displacement, make the phase phasic difference just can produce autoexcitation for 90 °, and when vibratory driver is solenoid actuated portion, under the situation that detects its vibration displacement, because electromagnet itself has 90 ° phase delay, thus need not phase delaying device autoexcitation promptly, and can stably continue its vibration.
Fig. 1 is the block diagram of self-excited oscillating type vibrator of the present invention.
Fig. 2 is the figure of its action of explanation.
Fig. 3 is the block diagram of the self-excited oscillating type vibrator of conventional example.
Fig. 4 is the block scheme that the part of functions of this device is represented with transfer function.
Fig. 5 is the figure of its action of explanation.
Fig. 6 is the time dependent time diagram of feedback gain of expression conventional example.
Fig. 7 is the time dependent time diagram of expression feedback gain of the present invention.
Nomenclature:
11 vibrating machines
12 vibration velocity detectors
13 amplitude detectors
14 amplitude controllers
15 autoexcitation controllers
Below, with reference to the description of drawings embodiments of the invention.
Figure 1 shows that the self-excited oscillating type vibrator of the embodiment of the invention, in the drawings, be not limited to the vibration feeder of present embodiment as vibrating machine 11, but general vibration mechanism, it is applied the vibratory driver 17 of encouraging the power of shaking is not that electromagnet type is encouraged the mechanism of shaking, but piezoelectric type or the DYN dynamic mechanism of shaking of encouraging.Therefore, be connected between the output (encouraging the power of shaking) of the output of the power amplifier 16 on its input end and vibratory driver 17 and do not have phase difference.In addition, the test section of vibration velocity detector 12 is installed on the movable part M of vibrating machine 11, or is configured in and its approaching place, and this detector 12 is made of vibration displacement detector and differentiator, or is made of vibration acceleration detector and integrator.Amplitude detector 13 carries out integration by the output to vibration velocity detector 12, detects amplitude, and amplitude controller 14 is supplied with in its output.Amplitude controller 14 includes comparator, sets the amplitude as given value on one input end, and the output of amplitude detector 13 then is added on another input end, and amplitude excursion Δ r is supplied with autoexcitation controller 15.Autoexcitation controller 15 includes alternate amplifier, is used to cut off the DC component and AC compounent is amplified, and the size of its feedback gain K is utilized the output control of amplitude controller 14.The relation of this amplitude excursion Δ r and feedback gain K as shown in Figure 2.That is, this gain trace is according to feedback gain K=K 1Δ r+K 3(Δ r) 3+ K Cr(in the formula, K 1, K 3Be constant, K CrBe the stability boundaris gain) change, promptly so-called 3 curves, hence one can see that when amplitude excursion Δ r is big, will obtain sizable yield value.
The structure of embodiments of the invention below illustrates its action as mentioned above.
Though not shown among the figure, power amplifier 16 is connected with direct supply by switch, when vibrating machine 11 autoexcitations drive, make power amplifier 16 enter mode of operation this switch closure.In addition, autoexcitation controller 15, amplitude controller 14 etc. are in mode of operation too.Because of when beginning the amplitude of vibrating machine 11 movable part M in amplitude controller 14 be zero, so amplitude excursion Δ r is a maxim.Promptly, the initial value of amplitude excursion Δ r is (a given amplitude-0), because there is linear relationship as shown in Figure 4 in prior art, promptly, amplify or PID (proportion integration differentiation) amplification by direct current, feedback gain K is increased linearly by the relation of K=Kp Δ r amplitude excursion Δ r.Therefore for improving the self-oscillatory characteristic of building up, at amplitude excursion Δ r is under the situation of initial value, feedback gain K is a value maximum in this system, but as for improving the self-oscillatory further increasing of characteristic of building up, then will be amplified to the pulse ripple that on amplitude detector 13, superposeing as mentioned above in this case, therefore feedback gain K can not stably be remained on the stability boundaris, will change a lot.Thereby the output of power amplifier 16 also changes.
Yet feedback gain K of the present invention supplies with the output of nonlinear operation, so when amplitude excursion Δ r was initial value, that decision feedback gain K mainly was the 2nd K in the above-mentioned formula 3(Δ r) 3, because autoexcitation is carried out rapidly, and near the gain of the characteristic of decision stability boundaris can be very little, so the influence that can reduce to pulse.
The feedback gain that Fig. 6 represents conventional example also illustrates behind the switch closure 900 milliseconds～910 milliseconds enlarged drawing over time, and gain K changes significantly with sinusoidal form.Fig. 7 represents feedback gain K of the present invention over time, and in 900 milliseconds～910 milliseconds, the stability boundaris gain is almost constant equally.This pulsation influence of expressing amplitude detector 13 is very little.
More than, embodiments of the invention have been described, certainly, the invention is not restricted to this, be that various distortion can be made in the basis with technological thought of the present invention.
For example, in above embodiment, by detecting the vibration velocity of vibrating machine 11, with its positive feed back, form C/LOOP, and make it produce autoexcitation, but also can not detect vibration velocity, and replace the detection vibration displacement, with this detection signal inverse feedback to autoexcitation controller 15, simultaneously with its phase delay and change above-mentioned feedback gain K.From the autoexcitation principle as can be known, at resonance point, the phase difference of vibration displacement and power is a pi/2, so in order to postpone the phase place of pi/2 again, also can adopt the link that postpones pi/2 phase.
In addition, vibratory driver adopts electromagnet excitation to shake under the situation of mechanism adopting the vibration displacement detecting device, and the phase place because of this mechanism postpones 90 ° so need not adopt the device of any phase retardation, can obtain effect of the present invention.
As mentioned above, as adopt self-excited oscillating type vibrator of the present invention, then improve self-oscillatory build up characteristic in, can make its vibrational stabilization ground continue to carry out.

Claims (3)

1. self-excited oscillating type vibrator, it has the vibration velocity detecting device that is used to detect the vibration machine vibration velocity, with the output of this vibration velocity detecting device as positive feedback signal and the autoexcitation controller that amplified with feedback gain, the output of this controller is carried out the power amplifier of power gain, and the vibratory driver that receives the output of this power amplifier, utilizing this vibratory driver that above-mentioned vibration machine is encouraged shakes, this self-excited oscillating type vibrator is characterised in that: making the value of above-mentioned feedback gain K is that amplitude excursion Δ r is relevant with the current amplitude and the difference of given amplitude, according to K=K 1Δ r+K N(Δ r) 2N+1+ K Cr(in the formula, K 1, K NBe constant, N is an integer, K CrBe the stability boundaris gain) relationship change.
2. self-excited oscillating type vibrator, it has the vibration displacement detector that is used to detect the vibration machine vibration displacement, with the output of this vibration displacement detector as positive feedback signal and the autoexcitation controller that amplified and lag behind with integral element or first-order lag link control phase with feedback gain, the output of this controller is carried out the power amplifier of power gain, and the vibratory driver that receives the output of this power amplifier, utilizing this vibratory driver that above-mentioned vibration machine is encouraged shakes, this self-excited oscillating type vibrator is characterised in that: making the value of above-mentioned feedback gain K is that amplitude excursion Δ r is relevant with the current amplitude and the difference of given amplitude, according to K=K 1Δ r+K N(Δ r) 2N+1+ K Cr(in the formula, K 1, K NBe constant, N is an integer, K CrBe the stability boundaris gain) relationship change.
3. self-excited oscillating type vibrator, it has the vibration displacement detector that is used to detect the vibration machine vibration displacement, with the output of this vibration displacement detector as positive feedback signal and the autoexcitation controller that amplified with feedback gain, the output of this controller is carried out the power amplifier of power gain, and the electromagnet that receives the output of this power amplifier, utilizing electric current to flow through electromagnetic attraction that this magnet spool produces encourages above-mentioned vibration machine and shakes, this self-excited oscillating type vibrator is characterised in that: making the value of above-mentioned feedback gain K is that deviation delta r is relevant with current amplitude with the difference of given amplitude, according to K=K 1Δ r+K N(Δ r) 2N+1+ K Cr(in the formula, K 1, K NBe constant, N is an integer, K CrBe the stability boundaris gain) relationship change.
CN96102971A 1995-03-29 1996-03-28 Self-excited oscillating type vibrator Pending CN1137016A (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP97740/95 1995-03-29
JP09774095A JP3752701B2 (en) 1995-03-29 1995-03-29 Self-excited vibration type vibration control device

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CN1137016A true CN1137016A (en) 1996-12-04

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CN96102971A Pending CN1137016A (en) 1995-03-29 1996-03-28 Self-excited oscillating type vibrator

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TW (1) TW300176B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100338538C (en) * 2004-08-20 2007-09-19 东南大学 Vibration material feeding controller with self-adapting frequency self maintaining amplitude and its control method
CN106959196A (en) * 2017-03-21 2017-07-18 中国地震局工程力学研究所 A kind of servo vibration table and control method

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5317587B2 (en) * 2008-08-29 2013-10-16 公立大学法人 滋賀県立大学 Control actuator and vibration control method
WO2011086879A1 (en) * 2010-01-18 2011-07-21 独立行政法人産業技術総合研究所 Method of measuring viscosity and viscosity measuring device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100338538C (en) * 2004-08-20 2007-09-19 东南大学 Vibration material feeding controller with self-adapting frequency self maintaining amplitude and its control method
CN106959196A (en) * 2017-03-21 2017-07-18 中国地震局工程力学研究所 A kind of servo vibration table and control method

Also Published As

Publication number Publication date
KR960033566A (en) 1996-10-22
JP3752701B2 (en) 2006-03-08
TW300176B (en) 1997-03-11
JPH08267008A (en) 1996-10-15
KR100351522B1 (en) 2002-11-14

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