CN116608991A - Engine nonlinear dynamic balance method and device based on casing vibration - Google Patents
Engine nonlinear dynamic balance method and device based on casing vibration Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/14—Determining unbalance
- G01M1/16—Determining unbalance by oscillating or rotating the body to be tested
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M1/00—Testing static or dynamic balance of machines or structures
- G01M1/30—Compensating unbalance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M15/00—Testing of engines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention discloses an engine nonlinear dynamic balance method and device based on casing vibration. The method comprises the following steps: acquiring a frequency response function from a bearing seat of an engine casing to a casing surface measuring point and a first acceleration signal of the casing surface measuring point of a complete machine system under the balanced rotating speed, and calculating the bearing seat position acting force of the casing under the balanced rotating speed based on the first acceleration signal and the frequency response function; calculating displacement, nonlinear oil film force and bearing force of the rotor structure at the supporting position based on the bearing seat position acting force; based on displacement, nonlinear oil film force and bearing force, decoupling is carried out by using modal coordinates, and an equivalent unbalance calculation equation is calculated; solving the equivalent unbalance equation to obtain a solution of an equivalent unbalance equation, calculating the equivalent unbalance according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance. The invention can effectively improve the nonlinear dynamic balance precision and effectively inhibit the vibration of the whole system.
Description
Technical Field
The invention relates to the technical field of engine dynamic balance, in particular to an engine nonlinear dynamic balance method and device based on casing vibration.
Background
The engine is a highly complex and precise rotary machine that plays a critical role in industrial development. The engine has the advantages of severe working environment and fast performance attenuation, and a great amount of financial resources and material resources are consumed often because of the unbalanced problem of the rotating parts, so that the engine dynamic balance has important engineering significance. Even if the rotor is dynamically balanced before assembly, the unbalance amount cannot be completely avoided after the whole machine is assembled due to assembly and other reasons. The engine has a severe internal working environment and limited space, and cannot directly monitor rotor vibration, and the whole engine system can be monitored only by installing a sensor on the casing. In addition, the existence of the nonlinear extrusion oil film damper brings difficulty to the dynamic balance of the whole engine.
In the prior art, a method of multiple test weights is generally adopted to dynamically balance a nonlinear system. For large rotary machines, the start-up and stop of multiple test weights consume huge manpower and material resources. In addition, in the whole engine modeling, a casing is usually simply modeled, or a whole engine system is simplified, which has a larger difference from the actual situation, and the dynamic balance of the whole engine is difficult to be effectively applied to engineering.
Disclosure of Invention
In view of the above, the present invention aims to overcome the defects in the prior art, and provide a method and a device for nonlinear dynamic balance of an engine based on casing vibration.
The invention provides the following technical scheme:
in a first aspect, an embodiment of the present disclosure provides a method for nonlinear dynamic balance of an engine based on casing vibration, the method including:
acquiring a frequency response function from a bearing seat in an engine casing to a measuring point on the surface of the casing and a frequency response function between the bearing seat, acquiring a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotating speed, and calculating the bearing seat position acting force of the casing at the balanced rotating speed based on the first acceleration signal and the frequency response function from the bearing seat to the measuring point on the surface of the casing;
calculating displacement, nonlinear oil film force and bearing force of a rotor structure of the engine at a supporting position based on the bearing seat position acting force;
based on the displacement, the nonlinear oil film force and the bearing force, decoupling is performed by using modal coordinates, and an equivalent unbalance calculation equation of the rotor structure is calculated;
solving the equivalent unbalance equation by a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance.
Further, the obtaining the frequency response function from the bearing pedestal in the engine casing to the measuring point on the surface of the casing comprises the following steps:
removing a rotor structure and a rotor supporting structure of the engine to obtain the casing;
sequentially applying exciting forces on exciting force application surfaces of all bearing seat sections in the casing to obtain second acceleration signals monitored by all casing surface measuring points and acceleration sensors on the bearing seat sections;
and calculating a frequency response function from the bearing pedestal to the measuring point on the surface of the casing and a frequency response function between the bearing pedestal based on the exciting force and the second acceleration signal.
Further, the obtaining a first acceleration signal of the case surface measurement point in the complete machine system under the balanced rotation speed includes:
removing an acceleration sensor on the section of the bearing seat, and installing the rotor structure and the rotor supporting structure to obtain the complete machine system;
and determining the balance rotating speed according to actual requirements, and obtaining a first acceleration signal of the case surface measuring point under the balance rotating speed.
Further, the calculating the bearing seat position acting force of the casing at the balanced rotation speed based on the first acceleration signal and the frequency response function of the bearing seat to the casing surface measuring point includes:
Calculating the position acting force of the bearing seat by using a frequency response function from the bearing seat to the measuring point on the surface of the casing and a first acceleration signal of the measuring point on the surface of the casing at the balance rotating speed, wherein the calculation formula is as follows:
wherein F is c Is the bearing seat position acting force, X c Is a displacement signal obtained by integrating the first acceleration signal,is a frequency response function from the bearing pedestal to the measuring point on the surface of the casing.
Further, the calculating the displacement of the rotor structure at the support position, the nonlinear oil film force, and the bearing force based on the bearing housing position force includes:
based on the bearing seat position acting force, a rotor supporting position acting force is obtained;
acquiring an oil film force expression, calculating the displacement by using an iterative algorithm based on a bearing force expression of a frequency response function between the bearing seats and based on the rotor supporting position acting force, the oil film force expression and the bearing force expression;
based on the displacement, the bearing force and the nonlinear oil film force are calculated using the oil film force expression and the bearing force expression.
Further, the calculating an equivalent unbalance calculation equation of the rotor structure based on the displacement, the nonlinear oil film force, and the bearing force using modal coordinates includes:
Based on the displacement, the nonlinear oil film force and the bearing force, establishing a finite element model and a rotor motion equation for the rotor structure, and performing modal analysis on the finite element model to obtain the inherent frequency and each order vibration mode of the rotor structure;
converting the rotor motion equation into a modal coordinate by utilizing the inherent frequency and each order of vibration mode of the rotor structure to obtain a rotor motion equation in the modal coordinate;
and converting the rotor motion equation in the modal coordinates to obtain the equivalent unbalance calculation equation.
Further, the preset iteration method is an iteration method based on a Gibberelon regularization, the solving the equivalent unbalance equation by the preset iteration method to obtain a solution of the equivalent unbalance equation includes:
calculating an approximate solution of the equivalent unbalanced calculation equation according to the Gihonov matrix, iterating the approximate solution as an initial calculation value, and judging whether a preset convergence condition is met after iterating for a preset number of times;
if the preset convergence condition is met, ending iteration to obtain a solution of the equivalent unbalance equation;
and if the preset convergence condition is not met, automatically adjusting the Gihonov matrix, and repeating iteration until the preset convergence condition is met.
Further, the calculating the equivalent unbalance amount of the rotor structure according to the solution of the equivalent unbalance amount equation includes:
according to the solution of the equivalent unbalance equation, calculating the size of the equivalent unbalance of the rotor structure, wherein the calculation formula is as follows:
in U i Is the size of the i-th equivalent unbalance amount, and U is the solution of the equivalent unbalance amount equation;
according to the solution of the equivalent unbalance equation, calculating the phase of the equivalent unbalance of the rotor structure, wherein the calculation formula is as follows:
in the method, in the process of the invention,is the phase of the i-th equivalent unbalance amount.
Further, the dynamically balancing the rotor structure according to the equivalent unbalance amount includes:
determining a number of rotor structures contained in the casing;
when the number of the rotor structures is equal to 1, directly carrying out dynamic balance on the rotor structures according to the equivalent unbalance;
when the number of the rotor structures is greater than 1, performing Fourier series decomposition on the first acceleration signals to obtain case vibration caused by the equivalent unbalance on different rotor structures, and sequentially performing dynamic balance on each rotor structure based on the case vibration on the different rotor structures.
In a second aspect, in an embodiment of the present disclosure, there is provided a nonlinear dynamic balancing device for an engine based on casing vibration, the device including:
the acquisition module is used for acquiring a frequency response function between a frequency response function from a bearing seat in an engine casing to a measuring point on the surface of the casing and the frequency response function between the bearing seat, acquiring a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotating speed, and calculating the bearing seat position acting force of the casing at the balanced rotating speed based on the first acceleration signal and the frequency response function from the bearing seat to the measuring point on the surface of the casing;
the calculating module is used for calculating the displacement, the nonlinear oil film force and the bearing force of the rotor structure of the engine at the supporting position based on the bearing seat position acting force;
the decoupling module is used for decoupling by utilizing modal coordinates based on the displacement, the nonlinear oil film force and the bearing force, and calculating an equivalent unbalance calculation equation of the rotor structure;
the dynamic balance module is used for solving the equivalent unbalance equation through a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance.
Embodiments of the present application have the following advantages:
the engine nonlinear dynamic balancing method based on the casing vibration provided by the embodiment of the application comprises the following steps: acquiring a frequency response function from a bearing seat in an engine casing to a measuring point on the surface of the casing and a frequency response function between the bearing seat, acquiring a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotating speed, and calculating the bearing seat position acting force of the casing at the balanced rotating speed based on the first acceleration signal and the frequency response function from the bearing seat to the measuring point on the surface of the casing; calculating displacement, nonlinear oil film force and bearing force of a rotor structure of the engine at a supporting position based on the bearing seat position acting force; based on the displacement, the nonlinear oil film force and the bearing force, decoupling is performed by using modal coordinates, and an equivalent unbalance calculation equation of the rotor structure is calculated; solving the equivalent unbalance equation by a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance. By the method, the nonlinear dynamic balance precision can be effectively improved, and vibration of the whole system is effectively restrained.
In order to make the above objects, features and advantages of the present application more 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 application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art. Like elements are numbered alike in the various figures.
Fig. 1 shows a flow chart of an engine nonlinear dynamic balancing method based on casing vibration provided by an embodiment of the application;
fig. 2 shows a schematic diagram of the distribution of acceleration sensors and exciting force positions on the cross section of any bearing pedestal provided by the embodiment of the application;
FIG. 3 illustrates a mounting relationship of a rotor structure, a rotor support structure, and a casing at any bearing housing position in accordance with an embodiment of the present application;
FIG. 4 shows a flowchart of an iterative method based on Ginkov regularization in accordance with an embodiment of the application;
Fig. 5 shows a schematic structural diagram of an engine nonlinear dynamic balance device based on casing vibration according to an embodiment of the present application.
Description of main reference numerals:
1-a case; 11-bearing seat mounting surface; 12-exciting force application surface; 21-a first acceleration sensor; 22-a second acceleration sensor; 31-a first excitation force position; 32-a second excitation force position; 41-rotor structure; 42-rolling bearings; 43-rotor support structure; 5-a first gap; 500-a non-linear dynamic balancing device of the engine based on the vibration of the casing; 510-an acquisition module; 520-a calculation module; 530-a decoupling module; 540-dynamic balancing module.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the templates herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
As shown in fig. 1, a flow chart of an engine nonlinear dynamic balance method based on casing vibration in an embodiment of the present application is shown, and the engine nonlinear dynamic balance method based on casing vibration provided in the embodiment of the present application includes the following steps:
step S110, a frequency response function between a frequency response function from a bearing pedestal in an engine casing to a measuring point on the surface of the casing and the frequency response function between the bearing pedestal is obtained, a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotating speed is obtained, and the bearing pedestal position acting force of the casing at the balanced rotating speed is calculated based on the first acceleration signal and the frequency response function from the bearing pedestal to the measuring point on the surface of the casing.
In this embodiment, as shown in fig. 2, a schematic diagram of the distribution of the acceleration sensor and the exciting force on the cross section of any bearing seat provided in this embodiment is shown. Wherein, acceleration sensor includes: a first acceleration sensor 21 and a second acceleration sensor 22. The first acceleration sensor 21 and the second acceleration sensor 22 are mounted on the bearing housing mounting surface 11. Specifically, the first acceleration sensor 21 and the second acceleration sensor 22 are mounted 90 ° apart. Preferably, the first acceleration sensor 21 and the second acceleration sensor 22 are mounted on the bearing seat mounting surface 11 in horizontal and vertical directions, and the acceleration monitoring direction is a radial direction of a connecting line of the respective positions and the axle center of the casing 1. The arrangement position of the acceleration sensor shown in fig. 2 is applicable to any cross section of the casing bearing seat, and the arrangement situation of the acceleration sensor of all cross sections of the bearing seat is not described here.
In addition, the exciting force position includes: a first excitation force position 31 and a second excitation force position 32. The first excitation force position 31 and the second excitation force position 32 are distributed on the excitation force applying surface 12. Specifically, the first excitation force position 31 and the second excitation force position 32 are separated by 90 °. Preferably, the first exciting force position 31 and the second exciting force position 32 are in the horizontal and vertical directions of the exciting force applying surface 12, and the exciting directions are radial directions which are respectively connected with the axle center of the casing 1. The exciting force position shown in fig. 2 is applicable to any cross section of the casing bearing seat, and the exciting force position of all cross sections of the bearing seat is not described here.
In the whole engine system, the rotor structure 41 and the rotor support structure 43 of the engine are removed, and the remaining part is the casing 1. And selecting a key or concerned position as a case surface measuring point on the surface of the case 1, and installing an acceleration sensor on the case surface measuring point.
Exciting forces are sequentially applied to exciting force applying surfaces 12 of all bearing seat sections of the casing 1 at a first exciting force position 31 and a second exciting force position 32, and exciting forces and second acceleration signals monitored by first acceleration sensors 21 and second acceleration sensors 22 on all surface measuring points of the casing and all bearing seat sections are obtained.
And carrying out secondary integration in the frequency domain based on all the acquired second acceleration signals, and converting the secondary integration into monitoring point displacement. After all exciting forces and all displacements under excitation are obtained, the frequency response function between the exciting forces and the displacements is calculated by the following formula:
wherein ω is the frequency of the exciting force x, H xy (ω) is a transfer function between the excitation force x and the displacement y, S x (ω) is the self-power spectral density of the excitation force x, S xy And (ω) is the cross-power spectral density of the excitation force x and the displacement y.
Specifically, if the casing 1 has n bearing blocks, the exciting force positions are 2n in total, and the acceleration sensors on the bearing block mounting surface 11 are 2n in all the casing cross sections. If there are m measuring points on the surface of the casing, the total number of acceleration sensors is 2n+m. There are 2n× (2n+m) transfer functions between the exciting force and displacement at a certain frequency. And processing the exciting force and second acceleration signals acquired by m acceleration sensors on the surface measuring point of the casing to obtain frequency response functions from 2n multiplied by m exciting forces to the surface measuring point of the casing, and sequentially combining the frequency response functions into a frequency response function matrix from the bearing seat of 2n multiplied by m to the surface measuring point of the casing. And processing the exciting force and second acceleration signals acquired by 2n acceleration sensors on all bearing seat mounting surfaces 11 to obtain frequency response functions from 2n multiplied by 2n exciting forces to bearing seat section measuring points, and sequentially combining the frequency response functions from 2n multiplied by 2n bearing seats to bearing seats.
It should be understood that, in the present embodiment, the exciting force application manner at the first exciting force position 31 and the second exciting force position 32 is hammering, but in specific practical application, the exciting force application direction may be other exciting manners, such as sweep excitation, etc., which is not limited in the embodiment of the present application.
Alternatively, in this embodiment, the frequency response function of the bearing seat to the surface measurement point of the casing and the frequency response function between the bearing seats may also be obtained by building a finite element model of the engine casing 1 by finite element calculation software (such as ANSYS), which is not limited in this embodiment.
Further, as shown in fig. 3, a mounting relationship diagram of the rotor structure 41, the rolling bearing 42, and the rotor support structure 43 at an arbitrary bearing housing position with the casing 1 is shown.
In the present embodiment, the rotor structure 41 is connected to an inner ring of the rolling bearing 42, and an outer ring of the rolling bearing 42 is mounted on the rotor support structure 43. The rotor support structure 43 is mounted on the housing mounting face 11 of the casing 1. Therefore, the first acceleration sensor 21 and the second acceleration sensor 22 on the bearing housing mounting surface 11 are removed when the rotor structure 41 and the rotor support structure 43 are mounted. A first gap 5 exists between the rotor support structure 43 and the casing 1, and when the first gap 5 is full of oil film, a squeeze film damper is formed, which provides a non-linear oil film force to the overall system of the engine. However, not all the first gaps 5 at the bearing seat positions are filled with the oil film, and when the first gaps 5 are air, the bearing seat positions are not pressed with the oil film damper, and thus, the oil film force is not present.
Further, the stress of the casing 1 at the bearing seat position includes: the rotor support structure 43 acts on the non-linear oil film force of the casing 1 due to the acting force of the bearing housing mounting surface 11 and the squeeze film damper formed when the oil film is filled in the first gap 5. The axial distance between the bearing seat mounting surface 11 and the first gap 5 is smaller than the axial distance of the entire casing 1, and in the embodiment of the present application, the forces acting on the bearing seat mounting surface 11 by the rotor support structure 43 and the positions of the nonlinear oil film forces acting on the casing 1 when the first gap 5 is full of the oil film are regarded as the same positions, and are both located at the bearing seat mounting surface 11.
It will be appreciated that the rotor structure 41 produces vibrations under the action of the unbalanced forces, which are transmitted through the rolling bearing 42 and the rotor support structure 43 to the casing surface measurement points of the casing 1, which are captured by the m acceleration sensors. In actual operation, a rotating speed or a working rotating speed with larger vibration is selected as a balance rotating speed, the balance rotating speed of the engine case 1 under the action of unbalanced force is determined, and m acceleration signals of the case surface measuring point under the balance rotating speed are obtained.
Further, the frequency response function G from the bearing pedestal to the measuring point of the surface of the casing is utilized bc And m first acceleration signals of the measuring points on the surface of the casing at the balance rotating speed, and calculating the bearing seat position acting force of the casing 1 at the balance rotating speed, wherein the calculation formula is as follows:
wherein F is c Is the bearing seat position acting force, X c Is a displacement signal obtained by integrating the first acceleration signals of the m case surface measuring points,is a frequency response function from the bearing pedestal to the measuring point on the surface of the casing. Specifically F c And X c Is a vector matrix containing both amplitude and phase information.
The frequency response function from the bearing seat to the measuring point on the surface of the casing can be utilized to effectively obtain the position acting force of the bearing seat.
And step S120, calculating displacement, nonlinear oil film force and bearing force of the rotor structure of the engine at a supporting position based on the bearing seat position acting force.
In the present embodiment, the bearing seat position force F of the casing 1 c With rotor-bearing-position forces F acting on the bearing position of the rotor structure 41 r Equal in size and opposite in direction:
F r ＝F b +F s (X b )＝-F c
wherein, bearing force expression is:
wherein F is r Is a rotor support position force matrix, F b The bearing force of the rotor supporting structure 43 on the bearing seat mounting surface 11 after the influence of the flexibility of the casing is considered, F s (X b ) Is the nonlinear oil film force K to the casing 1 when the first gap 5 is full of the oil film b Is the stiffness matrix of the rotor support structure, X b Is the displacement of the rotor structure in the supporting position. I is the identity matrix of the matrix of units,is a frequency response function between the bearing blocks.
In the embodiment of the application, the oil film force matrix F s (X b ) Displacement X from rotor structure 41 in the supporting position b And (5) correlation. Oil film force matrix F s (X b ) The specific oil film force expression comprises the force in the x direction and the y direction:
wherein:
wherein i represents the ith oil film, mu i Is the ith oil film viscosity, R i Is the i-th oil film inner diameter, L i Is the i-th oil film length, C i Is the i-th oil film viscosity gap. X is x i 、y i Respectively the displacement of the rotor structure in x and y directions at the corresponding ith oil film in the vibration of the supporting position, wherein omega is the balance rotating speed,representation of the pair ε i And carrying out derivative operation.
Further, force F is based on known rotor support position r After the bearing force expression and the oil film force expression, the displacement X of the rotor structure 41 at the supporting position is solved by using an iterative algorithm b 。
Alternatively, in the embodiment of the present application, the iterative algorithm may be a newton-larsen iterative algorithm, and a specific iterative algorithm may be determined according to practical situations, which is not limited in the embodiment of the present application.
Further, based on the oil film force expression and the bearing force expression, a nonlinear oil film force F to which the rotor structure 41 is subjected is calculated s (X b ) And bearing force F at the bearing position b 。
To this end, the data for unbalance detection are converted from the first acceleration signal of the case surface measurement point into a displacement X of the rotor in the bearing position b The unbalance amount identification process is simplified.
Step S130, based on the displacement, the nonlinear oil film force and the bearing force, performing decoupling by using modal coordinates, and calculating an equivalent unbalance calculation equation of the rotor structure.
In this embodiment, the unbalanced force, the nonlinear oil film force, the rotor structure damping force, and the support position elastic force in the rotor motion equation are regarded as the rotor structure external force. Further, the rotor structure 41 can be seen as a mass and damping only system. Optionally, the rotor structure 41 is grid-divided by using the iron-wood phoxim beam theory, and a finite element model of the rotor structure 41 and a rotor motion equation are established. And modal analysis is performed on the finite element model to obtain the natural frequency and each order of vibration mode of the rotor structure 41.
Further, the rotor motion equation is converted into the modal coordinates by using a vibration mode matrix composed of the vibration modes of each order of the rotor structure 41, so as to obtain the rotor motion equation in the modal coordinates:
Wherein ω is the exciting force frequency, E is the mass normalized vibration mode matrix, q is the displacement of the rotor structure in the modal coordinates,representing the quadratic derivative of q, Λ is ω 1 2 ，ω 2 2 ，…，ω R 2 Diagonal matrix of components omega i (i=1, 2, …, R is the natural frequency of the first R orders of the system.
Since the unbalance amount only affects the fundamental frequency vibration of the rotor structure 41, further, in the embodiment of the present application, the rotor motion equation in the modal coordinates is converted for the fundamental frequency component, so as to obtain an equivalent unbalance calculation equation:
QU＝Z
wherein:
Q＝BΩ 2
wherein:
E q ＝[E (b1) T E (b2) T …E (bn) T ] T
wherein E is (bi) The bi-th row vector of E is bi (i=1, 2, …, n) is the position of each degree of freedom of the bearing in the rotor finite element model, uc and Us are the equivalent unbalance of the rotor, C is the damping of the rotor, including gyroscopic effect, and Su, sb and Ss are the selection matrixes of unbalance force, bearing force and nonlinear oil film force respectively.
To this end, the unbalance amount recognition process is converted into a process of solving a linear equation set.
And step 140, solving the equivalent unbalance equation by a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance.
In the embodiment of the application, in the equivalent unbalance calculation equation, the matrix Q is a highly sick matrix, and the conventional calculation method cannot accurately calculate the equivalent unbalance U of the rotor c 、U s 。
Specifically, the embodiment of the application provides an iteration method based on Gihonov regularization, which can solve an equivalent unbalance calculation equation.
Fig. 4 shows a flowchart of an iterative method based on the gihonov regularization of an embodiment of the present application. As shown in fig. 4, an arbitrary gihonov matrix is selected to calculate an approximate solution of the equivalent imbalance calculation equation:
wherein: Γ=αi is a gihonov matrix, and different α have obvious influence on the approximation solution, so that even if α has a proper value, the solution of the pathological equation set sometimes cannot meet the actual requirement.
In the iterative process of the embodiment of the present application, for any α, it is specified that:
in the embodiment of the application, if the convergence condition is satisfied after the iteration is performed for the preset times Ending the iteration, epsilon is a convergence judgment constant. If the preset convergence condition is not satisfied after the iteration is performed for the preset times, automatically adjusting the value of the Gihonov matrix, namely alpha, repeating the iteration process shown in fig. 4 until the preset convergence condition is satisfied, and completing the solution of the equivalent unbalance equation to obtain the solution U of the equivalent unbalance equation.
In the embodiment of the present application, the solution U of the equivalent unbalance equation includes: first-order cos item unbalance U c First order sin term unbalance U s And:
wherein J is the number of balance, U i 、(i=1, 2,., J) is the magnitude and phase of the i-th equivalent imbalance amount, respectively.
Alternatively, U is an unbalance amount according to the first-order cos term c Calculating the equivalent unbalance amount:
similarly, U can be based on the first order sin term imbalance s Calculating the equivalent unbalance amount:
in the embodiment of the present application, as an alternative embodiment, when there are a plurality of balanced rotational speeds, the equivalent unbalance calculation equation is changed to:
the equivalent unbalance calculation equation solution and the equivalent unbalance calculation at the multiple balance rotation speeds are the same as those in step 140, and the present application is not described herein.
Further, after the equivalent unbalance amount is calculated, the rotor structure 41 is dynamically balanced by the equivalent unbalance amount. Firstly, determining the number of rotor structures 41 contained in the casing 1, and if only one rotor structure 41 is contained, directly carrying out dynamic balance on the rotor structure 41 by the equivalent unbalance amount; if a plurality of rotor structures 41 are included, the rotation speed of each rotor structure 41 is different, so that the case vibration collected by the case surface measuring point under the action of unbalanced force includes a plurality of frequencies.
In this embodiment of the present application, as an optional implementation manner, for the case of multiple rotor structures 41, fourier series decomposition is performed on the first acceleration signal collected by the case surface measurement point:
in the method, in the process of the application,fourier series, ω, corresponding to cos and sin terms for inducing vibration for the ith rotor structure i For the rotation frequency of the ith rotor structure, T is the vibration period. Further:
/>
wherein A is i 、ψ i Acceleration amplitude and phase of the case vibration caused for the ith rotor.
Further, according to steps 110-140, dynamic balancing is performed on the i rotor structures sequentially according to the vibration of the casing excited by the i rotors. The multi-rotor unbalance identification based on the first acceleration signal of the casing is realized, and the method is more in line with engineering application.
According to the engine nonlinear dynamic balance method based on the casing vibration, a first acceleration signal of a casing surface measuring point in a complete machine system at a balance rotating speed is obtained through obtaining a frequency response function between a frequency response function from a bearing seat in an engine casing to the casing surface measuring point and the bearing seat, and a bearing seat position acting force of the casing at the balance rotating speed is calculated based on the first acceleration signal and the frequency response function from the bearing seat to the casing surface measuring point; calculating displacement, nonlinear oil film force and bearing force of a rotor structure of the engine at a supporting position based on the bearing seat position acting force; based on the displacement, the nonlinear oil film force and the bearing force, decoupling is performed by using modal coordinates, and an equivalent unbalance calculation equation of the rotor structure is calculated; solving the equivalent unbalance equation by a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance. The method can effectively improve the nonlinear dynamic balance precision and effectively inhibit the vibration of the whole system.
Example 2
Fig. 5 is a schematic structural diagram of an engine nonlinear dynamic balancing device 500 based on casing vibration according to an embodiment of the present application, where the device includes:
the acquisition module 510 is configured to acquire a frequency response function between a frequency response function from a bearing seat in an engine casing to a measuring point on a surface of the casing and the bearing seat, acquire a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotation speed, and calculate a bearing seat position acting force of the casing at the balanced rotation speed based on the first acceleration signal and the frequency response function from the bearing seat to the measuring point on the surface of the casing;
a calculation module 520 for calculating displacement of the rotor structure of the engine at a support position, nonlinear oil film forces, and bearing forces based on the bearing housing position forces;
a decoupling module 530 for performing decoupling by using modal coordinates based on the displacement, the nonlinear oil film force, and the bearing force, and calculating an equivalent unbalance calculation equation of the rotor structure;
the dynamic balancing module 540 is configured to solve the equivalent unbalance equation by a preset iteration method, obtain a solution of the equivalent unbalance equation, calculate an equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and dynamically balance the rotor structure according to the equivalent unbalance.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
the first removing module is used for removing a rotor structure and a rotor supporting structure of the engine to obtain the casing;
the application module is used for sequentially applying exciting force on exciting force application surfaces of all bearing seat sections in the casing to obtain second acceleration signals monitored by all casing surface measuring points and acceleration sensors on the bearing seat sections;
and the first calculating submodule is used for calculating a frequency response function from the bearing seat to the measuring point on the surface of the casing and a frequency response function between the bearing seat based on the exciting force and the second acceleration signal.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
the second removing module is used for removing the acceleration sensor on the section of the bearing seat, and installing the rotor structure and the rotor supporting structure to obtain the complete machine system;
the first determining module is used for determining the balance rotating speed according to actual requirements and obtaining a first acceleration signal of the case surface measuring point under the balance rotating speed.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
The second calculating submodule is used for calculating the position acting force of the bearing seat by utilizing a frequency response function from the bearing seat to the measuring point of the surface of the casing and a first acceleration signal of the measuring point of the surface of the casing at the balance rotating speed, and the calculating formula is as follows:
wherein F is c Is the bearing seat position acting force, X c Is a displacement signal obtained by integrating the first acceleration signal,is a frequency response function from the bearing pedestal to the measuring point on the surface of the casing.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
the third calculation sub-module is used for obtaining the acting force of the rotor supporting position based on the acting force of the bearing seat position;
a fourth calculation sub-module for obtaining an oil film force expression, calculating the displacement using an iterative algorithm based on a bearing force expression of a frequency response function between the bearing blocks, based on the rotor support position acting force, the oil film force expression, and the bearing force expression;
and a fifth calculation sub-module for calculating the bearing force and the nonlinear oil film force using the oil film force expression and the bearing force expression based on the displacement.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
the analysis module is used for establishing a finite element model and a rotor motion equation for the rotor structure based on the displacement, the nonlinear oil film force and the bearing force, and carrying out modal analysis on the finite element model to obtain the inherent frequency and each order vibration mode of the rotor structure;
the first conversion module is used for converting the rotor motion equation into a modal coordinate by utilizing the inherent frequency and each order of vibration mode of the rotor structure to obtain the rotor motion equation in the modal coordinate;
and the second conversion module is used for converting the rotor motion equation in the modal coordinates to obtain the equivalent unbalance calculation equation.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
the judging module is used for calculating an approximate solution of the equivalent unbalanced calculation equation according to the Gihonov matrix, iterating the approximate solution as an initial calculation value, and judging whether the iteration reaches the preset convergence condition or not after the iteration is performed for the preset times;
the solving module is used for ending iteration if the preset convergence condition is met, so as to obtain a solution of the equivalent unbalance equation;
And the adjusting module is used for automatically adjusting the Gihonov matrix if the preset convergence condition is not met, and repeating iteration until the preset convergence condition is met.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
a sixth calculation sub-module, configured to calculate, according to the solution of the equivalent unbalance equation, the magnitude of the equivalent unbalance of the rotor structure, where a calculation formula is:
in U i Is the size of the i-th equivalent unbalance amount, and U is the solution of the equivalent unbalance amount equation;
a seventh calculation sub-module, configured to calculate, according to a solution of the equivalent unbalance equation, a phase of the equivalent unbalance of the rotor structure, where a calculation formula is:
in the method, in the process of the invention,is the phase of the i-th equivalent unbalance amount.
Optionally, the engine nonlinear dynamic balancing device 500 based on the casing vibration further includes:
a second determining module for determining the number of rotor structures contained in the casing;
the first dynamic balancing sub-module is used for directly carrying out dynamic balancing on the rotor structure according to the equivalent unbalance when the number of the rotor structures is equal to 1;
And the second dynamic balance sub-module is used for carrying out Fourier series decomposition on the first acceleration signals when the number of the rotor structures is greater than 1 to obtain the case vibration caused by the equivalent unbalance on different rotor structures, and carrying out dynamic balance on the rotor structures in sequence based on the case vibration on different rotor structures.
The engine nonlinear dynamic balance device based on the casing vibration can effectively improve nonlinear dynamic balance precision and effectively inhibit vibration of a complete machine system.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flow diagrams and block diagrams in the figures, which illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules or units in various embodiments of the invention may be integrated together to form a single part, or the modules may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules 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 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 smart phone, 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 foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention.
Claims (10)
1. A method of nonlinear dynamic balancing of an engine based on casing vibration, the method comprising:
acquiring a frequency response function from a bearing seat in an engine casing to a measuring point on the surface of the casing and a frequency response function between the bearing seat, acquiring a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotating speed, and calculating the bearing seat position acting force of the casing at the balanced rotating speed based on the first acceleration signal and the frequency response function from the bearing seat to the measuring point on the surface of the casing;
calculating displacement, nonlinear oil film force and bearing force of a rotor structure of the engine at a supporting position based on the bearing seat position acting force;
based on the displacement, the nonlinear oil film force and the bearing force, decoupling is performed by using modal coordinates, and an equivalent unbalance calculation equation of the rotor structure is calculated;
Solving the equivalent unbalance equation by a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance.
2. The method for nonlinear dynamic balance of an engine based on casing vibration according to claim 1, wherein the step of obtaining a frequency response function from a bearing seat in the engine casing to a casing surface measurement point comprises the steps of:
removing a rotor structure and a rotor supporting structure of the engine to obtain the casing;
sequentially applying exciting forces on exciting force application surfaces of all bearing seat sections in the casing to obtain second acceleration signals monitored by all casing surface measuring points and acceleration sensors on the bearing seat sections;
and calculating a frequency response function from the bearing pedestal to the measuring point on the surface of the casing and a frequency response function between the bearing pedestal based on the exciting force and the second acceleration signal.
3. The method for nonlinear dynamic balance of an engine based on casing vibration according to claim 2, wherein the step of obtaining the first acceleration signal of the casing surface measurement point in the complete machine system at the balanced rotation speed comprises the steps of:
Removing an acceleration sensor on the section of the bearing seat, and installing the rotor structure and the rotor supporting structure to obtain the complete machine system;
and determining the balance rotating speed according to actual requirements, and obtaining a first acceleration signal of the case surface measuring point under the balance rotating speed.
4. The non-linear dynamic balancing method of an engine based on casing vibration according to claim 1, wherein calculating the bearing seat position acting force of the casing at the balancing rotational speed based on the first acceleration signal and a frequency response function of the bearing seat to a casing surface measurement point comprises:
calculating the position acting force of the bearing seat by using a frequency response function from the bearing seat to the measuring point on the surface of the casing and a first acceleration signal of the measuring point on the surface of the casing at the balance rotating speed, wherein the calculation formula is as follows:
wherein F is c Is the bearing seat position acting force, X c Is a displacement signal obtained by integrating the first acceleration signal,is a frequency response function from the bearing pedestal to the measuring point on the surface of the casing.
5. The non-linear dynamic balancing method of an engine based on casing vibration according to claim 1, wherein calculating displacement of a rotor structure at a supporting position, non-linear oil film force, and bearing force based on the bearing housing position force comprises:
Based on the bearing seat position acting force, a rotor supporting position acting force is obtained;
acquiring an oil film force expression, calculating the displacement by using an iterative algorithm based on a bearing force expression of a frequency response function between the bearing seats and based on the rotor supporting position acting force, the oil film force expression and the bearing force expression;
based on the displacement, the bearing force and the nonlinear oil film force are calculated using the oil film force expression and the bearing force expression.
6. The engine nonlinear dynamic balance method based on casing vibration according to claim 1, wherein the calculating an equivalent unbalance calculation equation of the rotor structure based on the displacement, the nonlinear oil film force, and the bearing force using modal coordinates for decoupling comprises:
based on the displacement, the nonlinear oil film force and the bearing force, establishing a finite element model and a rotor motion equation for the rotor structure, and performing modal analysis on the finite element model to obtain the inherent frequency and each order vibration mode of the rotor structure;
converting the rotor motion equation into a modal coordinate by utilizing the inherent frequency and each order of vibration mode of the rotor structure to obtain a rotor motion equation in the modal coordinate;
And converting the rotor motion equation in the modal coordinates to obtain the equivalent unbalance calculation equation.
7. The engine nonlinear dynamic balance method based on the casing vibration according to claim 1, wherein the preset iteration method is an iteration method based on a Gihonov regularization, the solving the equivalent unbalance equation by the preset iteration method to obtain a solution of the equivalent unbalance equation comprises:
calculating an approximate solution of the equivalent unbalanced calculation equation according to the Gihonov matrix, iterating the approximate solution as an initial calculation value, and judging whether a preset convergence condition is met after iterating for a preset number of times;
if the preset convergence condition is met, ending iteration to obtain a solution of the equivalent unbalance equation;
and if the preset convergence condition is not met, automatically adjusting the Gihonov matrix, and repeating iteration until the preset convergence condition is met.
8. The engine nonlinear dynamic balance method based on the casing vibration according to claim 1, wherein the calculating the equivalent unbalance amount of the rotor structure according to the solution of the equivalent unbalance amount equation includes:
According to the solution of the equivalent unbalance equation, calculating the size of the equivalent unbalance of the rotor structure, wherein the calculation formula is as follows:
in U i Is the size of the i-th equivalent unbalance amount, U is the equivalent unbalance amountSolving an equation;
according to the solution of the equivalent unbalance equation, calculating the phase of the equivalent unbalance of the rotor structure, wherein the calculation formula is as follows:
in the method, in the process of the invention,is the phase of the i-th equivalent unbalance amount.
9. The non-linear dynamic balancing method of an engine based on casing vibration according to claim 2, wherein the dynamically balancing the rotor structure according to the equivalent unbalance amount includes:
determining a number of rotor structures contained in the casing;
when the number of the rotor structures is equal to 1, directly carrying out dynamic balance on the rotor structures according to the equivalent unbalance;
when the number of the rotor structures is greater than 1, performing Fourier series decomposition on the first acceleration signals to obtain case vibration caused by the equivalent unbalance on different rotor structures, and sequentially performing dynamic balance on each rotor structure based on the case vibration on the different rotor structures.
10. An engine nonlinear dynamic balancing device based on casing vibration, characterized in that the device comprises:
the acquisition module is used for acquiring a frequency response function between a frequency response function from a bearing seat in an engine casing to a measuring point on the surface of the casing and the frequency response function between the bearing seat, acquiring a first acceleration signal of the measuring point on the surface of the casing in a complete machine system at a balanced rotating speed, and calculating the bearing seat position acting force of the casing at the balanced rotating speed based on the first acceleration signal and the frequency response function from the bearing seat to the measuring point on the surface of the casing;
the calculating module is used for calculating the displacement, the nonlinear oil film force and the bearing force of the rotor structure of the engine at the supporting position based on the bearing seat position acting force;
the decoupling module is used for decoupling by utilizing modal coordinates based on the displacement, the nonlinear oil film force and the bearing force, and calculating an equivalent unbalance calculation equation of the rotor structure;
the dynamic balance module is used for solving the equivalent unbalance equation through a preset iteration method to obtain a solution of the equivalent unbalance equation, calculating the equivalent unbalance of the rotor structure according to the solution of the equivalent unbalance equation, and carrying out dynamic balance on the rotor structure according to the equivalent unbalance.
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