CN116317781B - Unbalanced vibration control method and device for coaxial double-rotor system based on micro speed difference - Google Patents
Unbalanced vibration control method and device for coaxial double-rotor system based on micro speed difference Download PDFInfo
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Abstract
The invention discloses a method and a device for controlling unbalanced vibration of a coaxial double-rotor system, wherein the method comprises the following steps: obtaining vibration signals of the coaxial double rotors, wherein the vibration signals comprise acceleration signals and key phase signals; extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight; and calculating vibration suppression parameters by using an influence coefficient method according to the input parameters so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance. The technical problems that in the prior art, extraction accuracy is insufficient and the extraction accuracy is seriously dependent on data length when a micro-speed difference dual-rotor beat signal is separated are solved.
Description
Technical Field
The invention relates to the technical field of high-end mechanical equipment, in particular to a coaxial double-rotor system unbalanced vibration control method and device based on micro-speed difference.
Background
The coaxial double-rotor system is widely applied to the aero-engine, and the unbalanced fault is one of main faults of the double-rotor system, and has a great threat to the safe and stable operation of the aero-engine. The coaxial double rotors are provided with an inner rotor and an outer rotor, the inner rotor and the outer rotor are connected together through an inter-shaft bearing, when a small difference exists between the rotation speeds of the inner rotor and the outer rotor, the vibration frequencies of vibration signals of the two rotors are close, and the vibration signals are expressed as beat vibration signals. The beat vibration signal is formed by superposing a sinusoidal signal with the same rotation frequency as the inner rotor, a sinusoidal signal with the same rotation frequency as the outer rotor and a noise signal. Since the rotation frequencies of the outer rotor and the inner rotor are very close, it is difficult to extract the respective vibration characteristics of the outer rotor and the inner rotor from the vibration signal. Different from the unbalance fault of a single-rotor system, the inner rotor and the outer rotor of the double-rotor system are connected through the bearing between the shafts, so that mutual interference exists in unbalanced vibration signals of the inner rotor and the outer rotor, and particularly when the rotating speeds of the inner rotor and the outer rotor are similar, real-time separation of beat vibration signals formed by unbalanced vibration of the inner rotor and the outer rotor becomes a key problem to be solved.
Currently, in some prior art, in the method for extracting unbalanced characteristics of a differential signal, a method for extracting unbalanced components of a differential double-rotor system based on spectrum correction is adopted, a power frequency component of a trigger reference rotor is directly extracted from a spectrum, and a power frequency component and a phase of another rotor are obtained by adopting a phase difference spectrum correction mode. However, the vibration signals of the inner rotor and the outer rotor are mutually interfered, the working frequencies are similar, the existing method is difficult to separate the micro-speed difference signals, the extraction precision and the extraction efficiency are poor, and the sampling time and the data length are required to be seriously relied on.
Therefore, the unbalanced vibration control method and device for the coaxial double-rotor system based on the micro-speed difference are provided to solve the problems that in the prior art, when the beat vibration signals of the double-rotor system with the micro-speed difference are separated, the extraction precision is insufficient and the extraction precision is seriously dependent on the data length, and the unbalanced vibration control method and device for the coaxial double-rotor system based on the micro-speed difference are the problems to be solved by those skilled in the art.
Disclosure of Invention
Therefore, the embodiment of the invention provides a coaxial double-rotor system unbalanced vibration control method and device based on micro-speed difference, which are used for solving the technical problems that the extraction precision is insufficient and the extraction precision is seriously dependent on the data length when a micro-speed difference double-rotor beat vibration signal is separated in the prior art.
In order to achieve the above object, the embodiment of the present invention provides the following technical solutions:
a method of unbalanced vibration control of a coaxial dual rotor system, the method comprising:
obtaining vibration signals of the coaxial double rotors, wherein the vibration signals comprise acceleration signals and key phase signals;
extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight;
and calculating vibration suppression parameters by using an influence coefficient method according to the input parameters so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance.
In some embodiments, obtaining the vibration signal of the coaxial dual rotors specifically includes:
setting the frequency of an inner rotor and the frequency of an outer rotor in the coaxial double rotors so that the frequency difference between the inner rotor and the outer rotor is smaller than a preset frequency value, and thus the inner rotor and the outer rotor are in a micro-speed difference state;
and respectively acquiring horizontal acceleration, vertical acceleration and key phase signals of the inner rotor and the outer rotor in the starting state under the micro-speed difference state.
In some embodiments, feature extraction is performed on the vibration signal to obtain an input parameter, which specifically includes:
based on the acceleration signal, calculating to obtain the amplitude and the phase of initial unbalanced vibration vectors of the inner rotor and the outer rotor in the coaxial double rotors;
under the state that the coaxial double rotors are in a stop operation state, the test weight adding operation is respectively carried out on the inner rotor and the outer rotor;
detecting acceleration signals after the test weight is added in a state that the coaxial double rotors are in operation;
and calculating the amplitude and the phase of the unbalanced vibration vector subjected to the coaxial double-rotor weight adding based on the acceleration signal subjected to the weight adding.
In some embodiments, based on the acceleration signal, the amplitude and the phase of the initial unbalanced vibration vector of the inner rotor and the outer rotor in the coaxial dual rotor are calculated, which specifically includes:
windowing the frequency response of the low-pass filter, and filtering the original signal of the acceleration signal by utilizing the frequency response after windowing to obtain a filtered signal;
performing complex modulation frequency shift on the filtering signal to obtain a frequency shift signal;
determining the frequency range and the spectral line number of the frequency shift signal;
performing a section-selecting DFT (discrete Fourier transform) operation on the frequency-shifted signal according to the frequency range and the spectral line number to obtain a signal section-selecting refined frequency spectrum;
And calculating according to the signal segment refinement frequency spectrum to obtain the amplitude and the phase of the initial unbalanced vibration vector.
In some embodiments, the windowed frequency response is expressed as:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 High cut-off frequency, w, of complex analytic filter e ＝(w 1 +w 2 ) The complex analysis filter is obtained by complex frequency shift of the low-pass filter, H (k) is the frequency response after windowing, H 0 (k) Is the frequency response of the low-pass filter, w is the windowing, w e J is an imaginary unit, k=1, 2, …, N, where N is the number of spectral analysis points, which is the center frequency of the complex analysis filter.
In some embodiments, the filtered signal is expressed as:
x″[n]＝x′[n]*H(k),k＝M,D+M,...,(N-1)D+M
wherein x '[ N ] is a filtered signal, x' [ N ] is a signal obtained by sampling the original signal, H (k) is a frequency response after windowing, D is a refinement multiple, M is a half-order of a filter, and N is a spectral analysis point number.
The invention also provides an unbalanced vibration control device of the coaxial double-rotor system, which comprises:
the signal acquisition unit is used for acquiring vibration signals of the coaxial double rotors, wherein the vibration signals comprise acceleration signals and key phase signals;
The signal processing unit is used for extracting the characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of the initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of the unbalanced vibration vector after the coaxial double rotors are subjected to test weight;
and the parameter generation unit is used for calculating a vibration suppression parameter by using an influence coefficient method according to the input parameter so as to add a counterweight corresponding to the vibration suppression parameter to the counterweight disc of the coaxial double rotor, wherein the vibration suppression parameter comprises the mass and the phase of the unbalance amount.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the program.
The invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method as described above.
The unbalanced vibration control method of the coaxial double-rotor system provided by the invention comprises the steps of obtaining vibration signals of the coaxial double-rotor, wherein the vibration signals comprise acceleration signals and key phase signals; extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight; and calculating vibration suppression parameters by using an influence coefficient method according to the input parameters so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance. In this way, the method utilizes the algorithm of combining ZFFT (refined fast Fourier transform) and DFT (discrete Fourier transform) to effectively separate the micro-speed beat vibration signals, extracts the unbalanced vibration amplitude and phase of the dual rotors, takes the extracted amplitude and phase as the input parameters of the influence coefficient method, calculates the mass and phase of the unbalance by adding test weight and carries out counterweight, thereby achieving the effect of controlling the unbalanced vibration of the dual rotors with micro-speed difference. The technical problems that in the prior art, extraction accuracy is insufficient and the extraction accuracy is seriously dependent on data length when a micro-speed difference dual-rotor beat signal is separated are solved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the ambit of the technical disclosure.
FIG. 1 is a schematic flow chart of a method for controlling unbalanced vibration of a coaxial dual-rotor system according to the present invention;
FIG. 2 is a second flow chart of the method for controlling unbalanced vibration of a coaxial dual-rotor system according to the present invention;
FIG. 3 is a third flow chart of the method for controlling unbalanced vibration of a coaxial dual rotor system according to the present invention;
FIG. 4 is a flow chart of a method for controlling unbalanced vibration of a coaxial dual rotor system according to the present invention;
FIG. 5 is a waveform of a beat vibration simulation signal with a frequency difference of 0.5 Hz;
FIG. 6 is a spectral analysis of a differential signal with a frequency difference of 0.5Hz in three ways;
FIG. 7 is a graph of relative error versus amplitude extracted at different rotational speeds for three methods;
FIG. 8 is a graph showing the effects of balancing the inner and outer rotors at different speeds;
FIG. 9 is a block diagram of a coaxial dual rotor system imbalance vibration control apparatus according to the present invention;
fig. 10 is a schematic diagram of an entity structure of an electronic device according to the present invention.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In a coaxial double-rotor system based on micro speed difference, the vibration signals of the inner rotor and the outer rotor are mutually interfered, the working frequency is similar, the traditional method is difficult to separate the micro speed difference signals, the extraction precision and the rapidity are poor, the sampling time and the data length are required to be seriously relied on, and therefore the separation and the extraction of the vibration signals of the inner rotor and the outer rotor contained in the micro speed difference signals are a key problem. If signals of similar frequency are processed with a fast fourier transform, longer sampling times are required to obtain higher spectral resolution, but in real-time applications it is desirable to minimize the sampling time. Typical methods for separating the beat vibration signals of the dual rotors with micro speed difference and extracting the unbalanced characteristics of the beat vibration signals include the methods of using a least square method to perform frequency spectrum correction of adjacent frequencies, using a cross-correlation method to perform characteristic identification on the micro speed difference signals, directly extracting the amplitude and the frequency of the rotors through the beat signals without beat decomposition, and the like. However, the least square method has poor recognition effect under the condition of low signal-to-noise ratio, the correlation method has certain loss of noise resistance when the integration time is short, the extraction of the signal phase by the non-beat method is difficult, the reference signal and the vibration signal are required to be adjusted to be synchronous when each time is used, and the steps are complex.
Aiming at the problems that the extraction precision is insufficient and the extraction precision is seriously dependent on the data length in the traditional method for separating the micro-speed difference double-rotor beat vibration signals by the development of a micro-speed difference coaxial double-rotor system, the invention provides a micro-speed difference coaxial double-rotor system unbalanced vibration control method, which utilizes ZFFT (refined fast Fourier transform) and DFT (discrete Fourier transform) combined ZFFT+FT (refined fast Fourier transform combined discrete Fourier transform) algorithm to effectively separate the micro-speed difference beat vibration signals, extracts unbalanced vibration amplitude and phase of double rotors, takes the extracted amplitude and phase as input parameters of an influence coefficient method, calculates the unbalanced mass and phase by adding weight and weights, thereby achieving the effect of controlling the micro-speed difference double-rotor unbalanced vibration.
In general, in order to achieve the purpose of inhibiting unbalanced vibration of the inner rotor and the outer rotor in unbalanced vibration of the micro-speed differential double rotors, firstly, vibration signals of the micro-speed differential coaxial double rotors are collected, then, characteristic extraction is carried out on the signals by using a ZFFT+FT (refined fast Fourier transform combined discrete Fourier transform) algorithm, finally, the extracted vibration amplitude and phase are used as input parameters of an influence coefficient method, an output result is the quality and the phase of the unbalanced quantity, and dynamic balance is carried out on the inner rotor and the outer rotor according to the unbalanced vector.
In a specific embodiment, the method for controlling unbalanced vibration of a coaxial dual-rotor system provided by the invention, as shown in fig. 1, comprises the following steps:
s110: obtaining vibration signals of the coaxial double rotors, wherein the vibration signals comprise acceleration signals and key phase signals;
s120: extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight;
s130: and calculating vibration suppression parameters by using an influence coefficient method according to the input parameters so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance.
In particularThe mass and phase of unbalance are calculated by using the influence coefficient method, and the unbalance corresponding to the balance weight is respectively added to the balance weight discs of the inner rotor and the outer rotor, thereby realizing the unbalance vibration suppression of the inner rotor and the outer rotor, and the unbalance is realizedThe calculation formula is as follows:
in the method, in the process of the invention,for the vibration response of the inner and outer rotors- >For unbalanced vibrational response after test weight addition, +.>For the test weight vector.
In step S110, as shown in fig. 2, a vibration signal of the coaxial dual rotors is obtained, which specifically includes the following steps:
s210: setting the frequency of an inner rotor and the frequency of an outer rotor in the coaxial double rotors so that the frequency difference between the inner rotor and the outer rotor is smaller than a preset frequency value, and thus the inner rotor and the outer rotor are in a micro-speed difference state;
s220: and respectively acquiring horizontal acceleration, vertical acceleration and key phase signals of the inner rotor and the outer rotor in the starting state under the micro-speed difference state.
Specifically, in a specific use scene, firstly, the acceleration sensors in the horizontal direction and the vertical direction are mounted on a micro-speed difference double-rotor test bed, the acceleration sensors in the two directions are respectively used for measuring unbalanced vibration signals of the rotor test bed in the horizontal direction and the vertical direction, and two photoelectric sensors are mounted for respectively measuring key phase signals of an inner rotor and an outer rotor. The serial port is used for sending data to set the frequency of the two frequency converters, the frequency is the working frequency of the motor for driving the inner rotor and the outer rotor to rotate, for example, the frequency difference between the two frequencies is set to be smaller than 1Hz, the inner rotor and the outer rotor in a micro-speed difference state are started, and acceleration signals and key phase signals are collected.
In step S120, as shown in fig. 3, feature extraction is performed on the vibration signal to obtain an input parameter, which specifically includes the following steps:
s310: based on the acceleration signal, calculating to obtain the amplitude and the phase of initial unbalanced vibration vectors of the inner rotor and the outer rotor in the coaxial double rotors;
s320: under the state that the coaxial double rotors are in a stop operation state, the test weight adding operation is respectively carried out on the inner rotor and the outer rotor;
s330: detecting acceleration signals after the test weight is added in a state that the coaxial double rotors are in operation;
s340: and calculating the amplitude and the phase of the unbalanced vibration vector subjected to the coaxial double-rotor weight adding based on the acceleration signal subjected to the weight adding.
Specifically, when the vibration signal is subjected to feature extraction, the collected acceleration signals in the horizontal and vertical directions are analyzed according to a ZFFT+FT (refined fast Fourier transform combined with discrete Fourier transform) algorithm, the frequency and the amplitude of initial unbalanced vibration of the inner rotor and the outer rotor are separated, and the phase difference of the key phase signal and the displacement signal is used as the phase of the unbalance amount, so that an initial unbalanced vibration vector is obtainedAmplitude and phase of (a) are provided. Suspending the operation of the inner rotor and the outer rotor, respectively adding test weights to the inner rotor and the outer rotor, and determining the added test weights +. >Quality and phase of (a). Restarting the inner rotor and the outer rotor in a micro-speed difference state, measuring acceleration signals in the horizontal and vertical directions after the weight is added, extracting the frequency of the inner rotor and the vibration amplitude after the weight is added corresponding to the frequency by utilizing a ZFFT+FT (refined fast Fourier transform combined with discrete Fourier transform) algorithm, and according to the key phase signal and the bitThe phase difference of the shift signal is used as the phase of the unbalance amount, thereby obtaining the rotor unbalance vibration vector after the test weight is added>Amplitude and phase of (a) are provided. The measured initial unbalance vibration vector of the inner rotor and the outer rotor>And unbalanced vibration vector after test weight addition +.>As an input parameter of the influence coefficient method, a test weight vector is input simultaneously>
In some embodiments, as shown in fig. 4, based on the acceleration signal, the amplitude and the phase of the initial unbalanced vibration vector of the inner rotor and the outer rotor in the coaxial dual rotor are calculated, which specifically includes the following steps:
s410: windowing the frequency response of the low-pass filter, and filtering the original signal of the acceleration signal by utilizing the frequency response after windowing to obtain a filtered signal;
s420: performing complex modulation frequency shift on the filtering signal to obtain a frequency shift signal;
S430: determining the frequency range and the spectral line number of the frequency shift signal;
s440: performing a section-selecting DFT (discrete Fourier transform) operation on the frequency-shifted signal according to the frequency range and the spectral line number to obtain a signal section-selecting refined frequency spectrum;
s450: and calculating according to the signal segment refinement frequency spectrum to obtain the amplitude and the phase of the initial unbalanced vibration vector.
Wherein, the expression of the frequency response after windowing is:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 High cut-off frequency, w, of complex analytic filter e ＝(w 1 +w 2 ) The complex analysis filter is obtained by complex frequency shift of the low-pass filter, H (k) is the frequency response after windowing, H 0 (k) Is the frequency response of the low-pass filter, w is the windowing, w e J is an imaginary unit, k=1, 2, …, N, where N is the number of spectral analysis points, which is the center frequency of the complex analysis filter.
Wherein, the expression of the filtering signal is:
x″[n]＝x′[n]*H(k),k＝M,D+M,...,(N-1)D+M
wherein x '[ N ] is a filtered signal, x' [ N ] is a signal obtained by sampling the original signal, H (k) is a frequency response after windowing, D is a refinement multiple, M is a half-order of a filter, and N is a spectral analysis point number.
In principle, during the balancing process, the zfft+ft (refined fast fourier transform combined with discrete fourier transform) algorithm analyzes an acceleration signal (it should be understood that, when calculating an initial unbalanced vibration vector, the acceleration signal is an acceleration signal of the inner and outer rotors before the weight is added and acquired by the sensor, and when calculating an unbalanced vibration vector after the weight is added, the process of analyzing the acceleration signal is an acceleration signal of the inner and outer rotors after the weight is added and acquired by the sensor:
According to the frequency shift property of Fourier transform, the signal after complex modulation of the original signal x [ n ] is:
wherein f 0 To refine the center frequency of the frequency band, f S Is the original signal sampling frequency.
Let the frequency response of the low pass filter be H 0 (k) Complex frequency shift is carried out to the filter to obtain a complex analysis filter, and the frequency response of the filter is windowed wTo reduce the ripple amplitude, the windowed frequency response can be expressed as:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 For its high cut-off frequency, w e ＝(w 1 +w 2 )/2。
Let the original signal x [ n ]]Sampling frequency f s The number of spectrum analysis points is N, the thinning multiple is D, the half-order of the filter is M, and the number of spectrum analysis points is equal to x [ N ]]Selecting and filtering, determining the position of the selected sampling point, and extracting the sampling point to form a new signal x' [ n ]]Filtering to obtain a signal x' [ n ]]The following are provided:
x″[n]＝x′[n]*H(k),k＝M,D+M,...,(N-1)D+M
for x' [ n ]]Frequency shift by complex modulation, where f 0 Is the center frequency.
In the above equation, a complex modulated frequency shifted signal is obtained. For this signal, a further choice is made for the frequency band of interest. First, the frequency range f to be refined is determined l ～f h . Selecting a new resolution df, using df as the frequency spacing, and setting the frequency range f l ～f h Dividing K frequency spectral lines to obtain a frequency sequence f:
f＝f l :df:f h
Next, DFT (discrete fourier transform) operation is performed on the signal x '"n in this frequency range, and the obtained spectrum x'" (k) is:
original signal x [ n ]]Is Δf=f s N, the frequency of the signal after the filtering is selected and extractedThe resolution is increased by a factor D, i.e. Δf' =f s And performing DFT (discrete Fourier transform) operation on the frequency resolution of the signal, wherein the frequency resolution of the signal is improved to be delta f '= m delta f' = m (delta f/D), and the resolution of the obtained frequency spectrum x '(k) is m delta f', so that the method further improves the frequency spectrum resolution by m times, and the smaller the value of the frequency resolution is, the higher the corresponding resolution capacity is, and therefore, more accurate signal separation frequency and corresponding amplitude are obtained by using ZFFT+FT (refined fast Fourier transform combined with discrete Fourier transform) algorithm.
After the frequency spectrum x (k) of the vibration signal is obtained, the amplitude corresponding to each frequency can be calculated, and since the modulus value of the frequency component is N/2 times the amplitude corresponding to the frequency component, the amplitude corresponding to the frequency component should be 2/N times the modulus value of the frequency component, which is:
A′(k)＝|x″′(k)|·2/N
after DFT (discrete fourier transform) operation, the signal falls between a positive frequency and a negative frequency, and the amplitude components corresponding to the positive frequency and the negative frequency are 1/2 of the actual signal amplitude, so that the actual signal amplitude is:
A(k)＝2A′(k)
The implementation process of the method provided by the invention is briefly described below by taking a specific use scenario as an example.
First, the simulated differential beat signal is separated:
the following simulation signals are constructed, and the simulation signals are formed by superposing two sinusoidal signals with different frequencies and a noise signal:
wherein x [ n ]]To simulate a micro-speed difference signal, f 1 、f 2 For the frequency of two sinusoidal signals, A 1 、A 2 Is the amplitude of the two sinusoidal signals,for their respective phasesBit, c [ n ]]Is a noise signal.
Complex modulation of the original signal x [ n ]:
wherein f 0 To refine the center frequency of the frequency band, f S Is the original signal sampling frequency.
The frequency response to the low pass filter is H 0 (k) Complex frequency shifting is performed, and then windowing w:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 For its high cut-off frequency, w e ＝(w 1 +w 2 )/2。
Setting a spectrum analysis point number N, a refinement multiple D and a half-order number M of a filter, extracting sampling points from x [ N ] to form a new signal x '[ N ], filtering the new signal x' [ N ] to obtain a signal x '[ N ] after filtering, wherein the signal x' [ N ] is as follows:
x″[n]＝x′[n]*H(k),k＝M,D+M,…,(N-1)D+M
for x' [ n ]]Frequency shift by complex modulation, where f 0 The center frequency is:
determining a refinement frequency range f l ～f h . Selecting a new resolution df as the frequency interval, and setting the frequency range f l ～f h Dividing K frequency spectral lines to obtain a frequency sequence f:
f＝f l :d f :f h
Performing a DFT (discrete fourier transform) operation on a signal having x '"[ n ] in the frequency range, the resulting spectrum x'" (k) being:
the amplitude corresponding to the frequency component in the frequency spectrum should be 2/N of the modulus value of the frequency component, which is:
A′(k)＝|x″′(k)|·2/N
because the amplitude components corresponding to the positive frequency and the negative frequency are 1/2 of the real signal amplitude, the real amplitude of the signal is:
A(k)＝2A′(k)
according to the simulation signal amplitude extraction result, the simulation beat signal is subjected to spectrum analysis by using a ZFFT+FT (refined fast Fourier transform combined with discrete Fourier transform) algorithm, and the extracted amplitude error is less than 0.1%.
The following describes the specific implementation method of the invention by taking the characteristic extraction of unbalanced vibration signals and unbalanced vibration control of a micro-speed differential dual-rotor test bed as examples.
1) Installing acceleration sensors in horizontal and vertical directions required by measurement and an eddy current sensor required by key phase signal measurement on a micro-differential speed double-rotor test bed;
2) Setting the rotating speed of the inner rotor and the rotating speed of the outer rotor through serial port software, wherein the rotating frequency difference of the inner rotor and the outer rotor is 1Hz, setting the sampling frequency and the sampling point number, simultaneously starting the inner rotor and the outer rotor, and collecting vibration signal acceleration data;
3) Measuring vibration response of inner rotor and vibration response of outer rotor
4) Respectively adding test weights to the inner rotor and the outer rotor, and selecting phases at the positions of the inner rotor and the outer rotor balance weight plates to add the test weights
5) Measuring unbalanced vibration response of inner and outer rotors after test weight
6) Calculating respective influence coefficients and unbalance amounts of the inner rotor and the outer rotor according to unbalance responses of the inner rotor and the outer rotor before and after the test weight is added and the mass and the phase of the added test weight, wherein the influence coefficientsThe method comprises the following steps:
unbalance amountThe method comprises the following steps:
7) Finally remove the test weightIn unbalance amount +.>Phase inversion direction addition and +.>The balancing weights with the same mould can finish balancing weight, and the rotor basically reaches a balanced state;
8) The vibration response of the balanced inner and outer rotors is measured. The unbalanced vibration of the inner and outer rotors is controlled based on a comparison of the initial unbalanced vibration response of the inner and outer rotors with the vibration response after the counterweight.
According to the embodiment, the micro-speed difference double-rotor beat vibration signal with the rotor frequency difference within 1Hz can be accurately separated, and the vibration characteristics of the micro-speed difference double-rotor beat vibration signal can not be accurately separated by the conventional method. The invention can measure unbalanced vibration characteristics of the rotor in real time, and solves the problem of weak real-time performance of the traditional method. The invention can extract the unbalanced vibration signal characteristics of the double rotors only by measuring the bearing seat signals by using the acceleration sensor, and solves the problem that the displacement sensor is difficult to be installed in special occasions to respectively measure the signals of the inner rotor and the outer rotor in practical application. As shown in fig. 5 to 8, the extraction accuracy of the present invention is significantly superior to CZT (chirped Z transform) and ZFFT (refined fast fourier transform) extraction methods, and higher frequency resolution can be obtained without increasing the data length. Under the same data length, the maximum relative error of the ZFFT+FT (refined fast Fourier transform combined with discrete Fourier transform) algorithm is 1/8 of the maximum relative error of the CZT (linear frequency modulation Z transform) algorithm, and is 1/5 of the maximum relative error of the ZFFT (refined fast Fourier transform) algorithm. The field test proves that the method can accurately and effectively identify the unbalanced response of the inner rotor and the outer rotor of the micro-speed difference coaxial double-rotor system, and can meet the requirements of real-time signal monitoring, real-time signal processing and unbalanced vibration control.
In the above specific embodiment, the method for controlling unbalanced vibration of a coaxial dual-rotor system provided by the present invention obtains vibration signals of the coaxial dual-rotor, where the vibration signals include an acceleration signal and a key phase signal; extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight; and calculating vibration suppression parameters by using an influence coefficient method according to the input parameters so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance. In this way, the method utilizes the algorithm of combining ZFFT (refined fast Fourier transform) and DFT (discrete Fourier transform) to effectively separate the micro-speed beat vibration signals, extracts the unbalanced vibration amplitude and phase of the dual rotors, takes the extracted amplitude and phase as the input parameters of the influence coefficient method, calculates the mass and phase of the unbalance by adding test weight and carries out counterweight, thereby achieving the effect of controlling the unbalanced vibration of the dual rotors with micro-speed difference. The technical problems that in the prior art, extraction accuracy is insufficient and the extraction accuracy is seriously dependent on data length when a micro-speed difference dual-rotor beat signal is separated are solved.
In addition to the above method, the present invention also provides a coaxial dual rotor system unbalance vibration control device, as shown in fig. 9, comprising:
a signal acquisition unit 910, configured to acquire a vibration signal of the coaxial dual rotors, where the vibration signal includes an acceleration signal and a key phase signal;
a signal processing unit 920, configured to perform feature extraction on the vibration signal to obtain input parameters, where the input parameters include an amplitude and a phase of an initial unbalanced vibration vector of the coaxial dual rotor, and an amplitude and a phase of an unbalanced vibration vector after the coaxial dual rotor is subjected to test weighing;
and a parameter generating unit 930, configured to calculate, according to the input parameter, a vibration suppression parameter by using an influence coefficient method, so as to add a counterweight corresponding to the vibration suppression parameter to the counterweight disc of the coaxial dual rotor, where the vibration suppression parameter includes a mass and a phase of an unbalance amount.
In some embodiments, obtaining the vibration signal of the coaxial dual rotors specifically includes:
setting the frequency of an inner rotor and the frequency of an outer rotor in the coaxial double rotors so that the frequency difference between the inner rotor and the outer rotor is smaller than a preset frequency value, and thus the inner rotor and the outer rotor are in a micro-speed difference state;
And respectively acquiring horizontal acceleration, vertical acceleration and key phase signals of the inner rotor and the outer rotor in the starting state under the micro-speed difference state.
In some embodiments, feature extraction is performed on the vibration signal to obtain an input parameter, which specifically includes:
based on the acceleration signal, calculating to obtain the amplitude and the phase of initial unbalanced vibration vectors of the inner rotor and the outer rotor in the coaxial double rotors;
under the state that the coaxial double rotors are in a stop operation state, the test weight adding operation is respectively carried out on the inner rotor and the outer rotor;
detecting acceleration signals after the test weight is added in a state that the coaxial double rotors are in operation;
and calculating the amplitude and the phase of the unbalanced vibration vector subjected to the coaxial double-rotor weight adding based on the acceleration signal subjected to the weight adding.
In some embodiments, based on the acceleration signal, the amplitude and the phase of the initial unbalanced vibration vector of the inner rotor and the outer rotor in the coaxial dual rotor are calculated, which specifically includes:
windowing the frequency response of the low-pass filter, and filtering the original signal of the acceleration signal by utilizing the frequency response after windowing to obtain a filtered signal;
Performing complex modulation frequency shift on the filtering signal to obtain a frequency shift signal;
determining the frequency range and the spectral line number of the frequency shift signal;
performing a section-selecting DFT (discrete Fourier transform) operation on the frequency-shifted signal according to the frequency range and the spectral line number to obtain a signal section-selecting refined frequency spectrum;
and calculating according to the signal segment refinement frequency spectrum to obtain the amplitude and the phase of the initial unbalanced vibration vector.
In some embodiments, the windowed frequency response is expressed as:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 High cut-off frequency, w, of complex analytic filter e ＝(w 1 +w 2 ) The complex analysis filter is obtained by complex frequency shift of the low-pass filter, H (k) is the frequency response after windowing, H 0 (k) Is the frequency response of the low-pass filter, w is the windowing, w e J is an imaginary unit, k=1, 2, …, N, where N is the number of spectral analysis points, which is the center frequency of the complex analysis filter.
In some embodiments, the filtered signal is expressed as:
x″[n]＝x′[n]*H(k),k＝M,D+M,...,(N-1)D+M
wherein x '[ N ] is a filtered signal, x' [ N ] is a signal obtained by sampling the original signal, H (k) is a frequency response after windowing, D is a refinement multiple, M is a half-order of a filter, and N is a spectral analysis point number.
In the above specific embodiment, the unbalanced vibration control device for the coaxial dual-rotor system provided by the invention obtains vibration signals of the coaxial dual-rotor, wherein the vibration signals comprise acceleration signals and key phase signals; extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight; and calculating vibration suppression parameters by using an influence coefficient method according to the input parameters so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance. In this way, the method utilizes the algorithm of combining ZFFT (refined fast Fourier transform) and DFT (discrete Fourier transform) to effectively separate the micro-speed beat vibration signals, extracts the unbalanced vibration amplitude and phase of the dual rotors, takes the extracted amplitude and phase as the input parameters of the influence coefficient method, calculates the mass and phase of the unbalance by adding test weight and carries out counterweight, thereby achieving the effect of controlling the unbalanced vibration of the dual rotors with micro-speed difference. The technical problems that in the prior art, extraction accuracy is insufficient and the extraction accuracy is seriously dependent on data length when a micro-speed difference dual-rotor beat signal is separated are solved.
Fig. 10 illustrates a physical structure diagram of an electronic device, as shown in fig. 10, which may include: a processor 1010, a communication interface (Communications Interface) 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communication interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. Processor 1010 may invoke logic instructions in memory 1030 to perform the methods described above.
Further, the logic instructions in the memory 1030 described above may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The processor 1010 in the electronic device provided in the embodiment of the present application may call the logic instruction in the memory 1030, and its implementation manner is consistent with the implementation manner of the method provided in the present application, and may achieve the same beneficial effects, which are not described herein again.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, are capable of performing the methods described above.
When the computer program product provided in the embodiment of the present application is executed, the above method is implemented, and a specific implementation manner of the computer program product is consistent with the implementation manner described in the embodiment of the foregoing method, and the same beneficial effects can be achieved, which is not described herein again.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, is implemented to perform the above methods.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Those skilled in the art will appreciate that in one or more of the examples described above, the functions described in the present invention may be implemented in a combination of hardware and software. When the software is applied, the corresponding functions may be stored in a computer-readable medium or transmitted as one or more instructions or code on the computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.
The foregoing detailed description of the invention has been presented for purposes of illustration and description, and it should be understood that the foregoing is by way of illustration and description only, and is not intended to limit the scope of the invention.
Claims (7)
1. A method for controlling unbalanced vibration of a coaxial dual rotor system, the method comprising:
Obtaining vibration signals of the coaxial double rotors, wherein the vibration signals comprise acceleration signals and key phase signals;
extracting characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of an initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of an unbalanced vibration vector after the coaxial double rotors are subjected to test weight;
according to the input parameters, calculating vibration suppression parameters by using an influence coefficient method so as to add weights corresponding to the vibration suppression parameters to the weight plates of the coaxial double rotors, wherein the vibration suppression parameters comprise mass and phase of unbalance;
according to the frequency shift property of Fourier transform, the original signal x [ n ] is subjected to complex modulation to form a signal x' [ n ]:
wherein f 0 To refine the center frequency of the frequency band, f s Sampling frequency for original signal;
let the frequency response of the low pass filter be H 0 (k) Complex frequency shifting is carried out on the filter to obtain a complex analysis filter, and the frequency response of the filter is windowed w to obtain windowed frequency response H (k);
the windowed frequency response is expressed as:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 High cut-off frequency, w, of complex analytic filter e ＝(w 1 +w 2 ) The complex analysis filter is obtained by complex frequency shift of the low-pass filter, H (k) is the frequency response after windowing, H 0 (k) Is the frequency response of the low-pass filter, w is the windowing, w e The center frequency of the complex analysis filter is j is an imaginary unit, and k=1, 2, … and N, wherein N is the number of spectrum analysis points;
let the original signal x [ m ]]Sampling frequency f s The number of spectrum analysis points is N, the thinning multiple is D, the half-order of the filter is M, and the number of spectrum analysis points is equal to x [ N ]]Selecting and filtering, determining the position of the selected sampling point, and extracting the sampling point to form a new signal x' [ n ]]Filtering to obtain a signal x' [ n ]]For x' [ n]Performing complex modulation frequency shift to obtain a complex modulation frequency shifted signal x' [ n ]]；
Wherein, the expression of the filtering signal is:
x″[n]＝x′[n]*H(k),k＝M,D+M,...,(N-1)D+M
wherein x '[ N ] is a filtered signal, x' [ N ] is a signal obtained by sampling the original signal, H (k) is a windowed frequency response, D is a refinement multiple, M is a half-order of a filter, and N is a spectrum analysis point number;
the expression of the complex modulation frequency shifted signal x' "[ n ] is:
determining the frequency range f to be refined l ～f h Selecting a new resolution df, using df as the frequency interval, and setting the frequency range f l ～f h Dividing K frequency spectral lines to obtain a frequency sequence f, f=f l ：df：f h ；
Performing discrete Fourier transform operation on the signal x '[ n ] in the frequency range to obtain a frequency spectrum x' (k), so that a more accurate signal separation frequency and a corresponding amplitude value can be obtained by combining a refined fast Fourier transform with a discrete Fourier transform algorithm;
wherein the expression of the spectrum x' "(k) is:
2. the method for controlling unbalanced vibration of a coaxial dual rotor system according to claim 1, wherein obtaining a vibration signal of the coaxial dual rotor specifically comprises:
setting the frequency of an inner rotor and the frequency of an outer rotor in the coaxial double rotors so that the frequency difference between the inner rotor and the outer rotor is smaller than a preset frequency value, and thus the inner rotor and the outer rotor are in a micro-speed difference state;
and respectively acquiring horizontal acceleration, vertical acceleration and key phase signals of the inner rotor and the outer rotor in the starting state under the micro-speed difference state.
3. The method for controlling unbalanced vibration of a coaxial dual rotor system according to claim 1, wherein the feature extraction is performed on the vibration signal to obtain an input parameter, specifically comprising:
based on the acceleration signal, calculating to obtain the amplitude and the phase of initial unbalanced vibration vectors of the inner rotor and the outer rotor in the coaxial double rotors;
Under the state that the coaxial double rotors are in a stop operation state, the test weight adding operation is respectively carried out on the inner rotor and the outer rotor;
detecting acceleration signals after the test weight is added in a state that the coaxial double rotors are in operation;
and calculating the amplitude and the phase of the unbalanced vibration vector subjected to the coaxial double-rotor weight adding based on the acceleration signal subjected to the weight adding.
4. The method for controlling unbalanced vibration of a coaxial dual rotor system according to claim 3, wherein the method for controlling the unbalanced vibration of the coaxial dual rotor system is characterized by calculating the amplitude and the phase of the initial unbalanced vibration vector of the inner rotor and the outer rotor in the coaxial dual rotor based on the acceleration signal, and specifically comprises the following steps:
windowing the frequency response of the low-pass filter, and filtering the original signal of the acceleration signal by utilizing the frequency response after windowing to obtain a filtered signal;
performing complex modulation frequency shift on the filtering signal to obtain a frequency shift signal;
determining the frequency range and the spectral line number of the frequency shift signal;
performing section selection discrete Fourier transform operation on the frequency-shifted signal according to the frequency range and the spectral line number to obtain a signal section selection refined frequency spectrum;
and calculating according to the signal segment refinement frequency spectrum to obtain the amplitude and the phase of the initial unbalanced vibration vector.
5. An unbalanced vibration control device for a coaxial dual rotor system, said device comprising:
the signal acquisition unit is used for acquiring vibration signals of the coaxial double rotors, wherein the vibration signals comprise acceleration signals and key phase signals;
the signal processing unit is used for extracting the characteristics of the vibration signals to obtain input parameters, wherein the input parameters comprise the amplitude and the phase of the initial unbalanced vibration vector of the coaxial double rotors and the amplitude and the phase of the unbalanced vibration vector after the coaxial double rotors are subjected to test weight;
the parameter generation unit is used for calculating a vibration suppression parameter by using an influence coefficient method according to the input parameter so as to add a counterweight corresponding to the vibration suppression parameter to a counterweight disc of the coaxial double rotor, wherein the vibration suppression parameter comprises the mass and the phase of unbalance;
according to the frequency shift property of Fourier transform, the original signal x [ n ] is subjected to complex modulation to form a signal x' [ n ]:
wherein f 0 To refine the center frequency of the frequency band, f s Sampling frequency for original signal;
let the frequency response of the low pass filter be H 0 (k) Complex frequency shifting is carried out on the filter to obtain a complex analysis filter, and the frequency response of the filter is windowed w to obtain windowed frequency response H (k);
The windowed frequency response is expressed as:
wherein w is 1 Low cut-off frequency, w, of complex analytic filter 2 For complex analysisHigh cut-off frequency of filter, w e ＝(w 1 +w 2 ) The complex analysis filter is obtained by complex frequency shift of the low-pass filter, H (k) is the frequency response after windowing, H 0 (k) Is the frequency response of the low-pass filter, w is the windowing, w e The center frequency of the complex analysis filter is j is an imaginary unit, and k=1, 2, … and N, wherein N is the number of spectrum analysis points;
let the original signal x [ n ]]Sampling frequency f s The number of spectrum analysis points is N, the thinning multiple is D, the half-order of the filter is M, and the number of spectrum analysis points is equal to x [ N ]]Selecting and filtering, determining the position of the selected sampling point, and extracting the sampling point to form a new signal x' [ n ]]Filtering to obtain a signal x' [ n ]]For x' [ n]Performing complex modulation frequency shift to obtain a complex modulation frequency shifted signal x' [ n ]]；
Wherein, the expression of the filtering signal is:
x″[n]＝x′[n]*H(k)，k＝M，D+M，...,(N-1)D+M
wherein x '[ N ] is a filtered signal, x' [ N ] is a signal obtained by sampling the original signal, H (k) is a windowed frequency response, D is a refinement multiple, M is a half-order of a filter, and N is a spectrum analysis point number;
determining the frequency range f to be refined l ～f h Selecting a new resolution df, using df as the frequency interval, and setting the frequency range f l ～f h Dividing K frequency spectral lines to obtain a frequency sequence f, f=f l ：df：f h ；
Performing discrete Fourier transform operation on the signal x '[ n ] in the frequency range to obtain a frequency spectrum x' (k), so that a more accurate signal separation frequency and a corresponding amplitude value can be obtained by combining a refined fast Fourier transform with a discrete Fourier transform algorithm;
wherein the expression of the spectrum x' "(k) is:
6. an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 4 when the program is executed.
7. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method according to any of claims 1 to 4.
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