CN118130090B - Method and system for measuring and calculating slip ratio of cam roller bearing of inner curve hydraulic motor - Google Patents
Method and system for measuring and calculating slip ratio of cam roller bearing of inner curve hydraulic motor Download PDFInfo
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- 238000005461 lubrication Methods 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 13
- 238000003860 storage Methods 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 9
- 238000010276 construction Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 4
- 238000012897 Levenberg–Marquardt algorithm Methods 0.000 claims description 3
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- 230000001276 controlling effect Effects 0.000 claims description 3
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Abstract
The invention discloses a friction torque test-based method and a friction torque test-based system for measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor. Firstly, establishing a friction torque calculation model of a cam roller bearing considering slip ratio based on a mixed elastic flow lubrication theory; then, a friction torque testing system of the cam roller bearing is established, and friction torques of the cam roller bearing under different working conditions are measured; and finally, based on the measured friction torque result, estimating the slip ratio of the cam roller bearing by adopting a nonlinear least square method, and finally obtaining the slip ratio of the cam roller bearing under different working conditions. The invention can solve the problem that the slip ratio of the cam roller bearing is difficult to measure.
Description
Technical Field
The invention belongs to the field of testing of friction pairs of an inner curve hydraulic motor, and particularly relates to a method and a system for measuring and calculating the slip ratio of a cam roller bearing of the inner curve hydraulic motor.
Background
Cam roller bearings in an inner curve hydraulic motor are one of the most important driving parts of the motor, converting hydraulic pressure into mechanical torque that pushes the motor to rotate through rolling contact with the guide rail cam curve. However, since the inner curve motor outputs a great torque, the cam roller bearing often adopts a full-load roller structure for the purpose of referring to the load bearing performance. The full-complement roller structure separates the rolling bodies without a cage, so that the rolling bodies are liable to collide with each other during movement, resulting in sliding between the rolling bodies and the raceways. In addition, the cam roller bearing repeatedly accelerates and decelerates when moving along the guide rail and is in an unsteady state, so that sliding is more easy to occur between the rolling bodies and the roller path.
The sliding between the rolling bodies and the roller path in the cam roller bearing seriously affects the performance indexes such as friction torque, fatigue life and the like of the bearing, and further affects the efficiency and reliability of the whole inner curve hydraulic motor. Measuring the slip ratio between the rolling bodies and the raceways in a cam roller bearing is thus of great importance for assessing the efficiency and life of the motor. At present, the measurement of the slip ratio of the bearing is mainly aimed at the bearing with a retainer structure, the slip ratio of the retainer is directly measured through a non-contact type rotating speed sensor or a high-speed camera, and an effective method for measuring the slip ratio between a rolling body and a raceway in the cam roller bearing with a full-load structure is not yet available.
In summary, it is necessary to provide a practical method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides a method and a system for measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor.
The invention is realized by the following technical scheme: in a first aspect, the invention provides a method for measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor, which specifically comprises the following steps:
(1) Based on a mixed elastic flow lubrication theory, a sliding friction coefficient calculation model between a roller and a roller path based on a slip ratio is constructed, and a cam roller bearing friction torque calculation model is established by combining the sliding friction torque model;
(2) Testing friction torque of the cam roller bearing under different working conditions;
(3) And estimating the slip ratio of the cam roller bearing by adopting a nonlinear least square method according to the friction torque test result, and finally obtaining the average slip ratio of the cam roller bearing.
Further, a slip ratio-based calculation model of the coefficient of sliding friction between the roller and the raceway is as follows:
；
Wherein F sk denotes a sliding friction coefficient between the roller and the raceway, k=ij denotes a sliding friction coefficient between the roller and the inner raceway, k= oj denotes a boundary friction coefficient between the roller and the outer raceway, F c denotes a Hertz contact half width, l r denotes a roller length, F denotes a normal contact load, Is the average viscosity of the oil liquid,Is the ultimate shearing stress of oil; h c and L a are the average oil film thickness and the asperity peak contact ratio, respectively; u s is the relative sliding speed between any roller and the inner and outer raceways, and the calculation formula is as follows:
；
where SRR is slip and u e is take-up speed.
Further, a cam roller bearing friction torque calculation model is established in combination with the sliding friction torque model as follows:
；
Wherein M e is friction torque caused by elastic hysteresis, M d is friction torque caused by oil dragging, M r is rolling friction torque, and M s is sliding friction torque.
Further, the calculation formula of the sliding friction torque M s is:
；
Wherein n b is the number of bearing rollers, d r is the diameter of the bearing rollers, F ij is the contact load between the jth roller and the inner raceway, F oj is the contact load between the jth roller and the outer raceway, d m is the pitch diameter of the bearing, F sij is the sliding friction coefficient between the jth roller and the inner raceway, and F soj is the sliding friction coefficient between the jth roller and the outer raceway.
Further, the friction torque of the cam roller bearing under different working conditions is tested based on a friction torque testing system of the cam roller bearing, and the system comprises a mechanical system, a hydraulic system and an electric control system; the mechanical system adopts a jacking loading structure of two cam roller bearings, the two cam roller bearings are contacted with the driving wheel under the action of hydraulic pressure, the servo motor drives the driving wheel to rotate, and a torque meter is connected between the servo motor and the driving wheel and is used for measuring friction torque of the cam roller bearings; the hydraulic system is used for loading a mechanical system, and the loading pressure is regulated by regulating the proportional overflow valve; the electric control system is used for controlling pressure and rotating speed and collecting tested friction torque data.
Further, after the friction torque of the cam roller bearing is measured, estimating the slip ratio of the cam roller bearing by a nonlinear least square method; the estimation of slip ratio is regarded as an optimization problem expressed as:
；
The optimization problem is solved through a Levenberg-Marquardt algorithm; and M exp (p, n) is the friction torque of the cam roller bearing measured when the pressure is p and the rotating speed is n, and finally solving to obtain the slip ratio of the cam roller bearing, and solving the slip ratio for a plurality of times to obtain the average slip ratio.
In a second aspect, the invention also provides a system for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor, which comprises a calculation model construction module, a friction torque test module and a slip ratio estimation module;
The calculation model construction module is used for constructing a calculation model of a sliding friction coefficient between a roller and a raceway based on a slip ratio based on a mixed elastic flow lubrication theory, and establishing a cam roller bearing friction torque calculation model by combining the sliding friction torque model;
The friction torque testing module is used for testing the friction torque of the cam roller bearing under different working conditions;
The slip ratio estimation module is used for estimating the slip ratio of the cam roller bearing by adopting a nonlinear least square method according to the friction torque test result, and finally obtaining the average slip ratio of the cam roller bearing.
In a third aspect, the present invention further provides an apparatus for calculating a slip ratio of a cam roller bearing of an inner curve hydraulic motor, including a memory and one or more processors, where executable codes are stored in the memory, and when the processor executes the executable codes, the method for calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor is implemented.
In a fourth aspect, the present invention also provides a computer readable storage medium having a program stored thereon, which when executed by a processor, implements the method for calculating a sliding rate of a cam roller bearing of an inner curve hydraulic motor.
In a fifth aspect, the present invention also provides a computer program product, including a computer program, which when executed by a processor, implements the method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor.
The invention has the beneficial effects that: and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor based on the friction torque test result. The stress characteristics of the cam roller bearing are guaranteed, the change of the structure of the cam roller bearing is avoided, and the slip ratio of the cam roller bearing is calculated effectively.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of an inner curve motor cam roller bearing.
FIG. 2 is a flow chart for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor.
FIG. 3 is a schematic diagram of a cam roller bearing friction torque testing system.
FIG. 4 is a schematic diagram of a device for measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor.
Detailed Description
The invention will be further described with reference to the drawings and examples in order to make the objects, technical solutions and some of the invention more apparent. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-2, the invention provides a method for measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor, which can provide basis for calculating the energy loss and the fatigue life of the cam roller bearing and provide guidance for the optimal design of the inner curve hydraulic motor, and is used for measuring and calculating the average slip ratio between a rolling body and a rollaway nest of the cam roller bearing of the inner curve hydraulic motor, and comprises the following steps:
(1) Based on a mixed elastic flow lubrication theory, the slip ratio of the cam roller bearing is considered, and a cam roller bearing friction torque calculation model is established;
The friction torque calculation formula of the cam roller bearing is as follows:
Wherein M e is friction torque caused by elastic hysteresis, M d is friction torque caused by oil dragging, M r is rolling friction torque, M s is sliding friction torque, and specific calculation formulas are as follows:
Wherein n b is the number of bearing rollers, a h is the elastic hysteresis friction coefficient, d r is the diameter of the bearing rollers, b ij is the half width of the Hertz contact between the jth roller and the inner race, b oj is the half width of the Hertz contact between the jth roller and the outer race, F ij is the contact load between the jth roller and the inner race, F oj is the contact load between the jth roller and the outer race, C d is the flow resistance coefficient, Is oil density, l r is roller length, d m is bearing pitch diameter,Assuming revolution angular velocity of the rollers for pure rolling, d o is inner hole diameter of the outer ring of the bearing, d i is outer diameter of the inner ring, f sij is sliding friction coefficient between the jth roller and the inner roller path, and f soj is sliding friction coefficient between the jth roller and the outer roller path.
Further, for any roller and inner/outer raceway, the sliding friction coefficient f s can be calculated according to the mixed-elastic flow lubrication theory, and the formula is as follows:
Wherein F sk denotes a sliding friction coefficient between the roller and the raceway, k=ij denotes a sliding friction coefficient between the roller and the inner raceway, k= oj denotes a boundary friction coefficient between the roller and the outer raceway, F c denotes a Hertz contact half width, l r denotes a roller length, F denotes a normal contact load, Is the average viscosity of the oil liquid,Is the ultimate shearing stress of oil. h c and L a are respectively the average oil film thickness and the rough peak contact ratio, and the calculation formulas are respectively as follows:
wherein W, U, G is a, V is a dimensionless load parameter, a dimensionless speed parameter, a dimensionless material parameter, a dimensionless roughness parameter and a dimensionless hardness parameter respectively. R ex is the equivalent contact radius.
Further, u s is the relative sliding speed between any roller and the inner/outer race, and its calculation formula is:
where SRR is slip and u e is take-up speed.
(2) In order to estimate the slip ratio SRR in the bearing, a cam roller bearing friction torque test system is established to test the bearing friction torque under different working conditions. As shown in fig. 3, the system comprises a mechanical system, a hydraulic system and an electric control system. The mechanical system adopts a jacking loading structure of two cam roller bearings, the two cam bearings are contacted with the driving wheel under the action of hydraulic pressure, the servo motor drives the driving wheel to rotate, and a torque meter is connected between the motor and the driving wheel and is used for measuring friction torque of the cam bearings. The hydraulic system is used for testing system loading, and loading pressure is adjusted by adjusting the proportional relief valve. The electric control system is used for controlling pressure and rotating speed and collecting tested friction torque data.
(3) After the friction torque of the cam roller bearing is measured by the friction torque test system, the slip ratio of the cam roller bearing is estimated by a nonlinear least square method. And (3) selecting an initial estimated value of the slip ratio according to experience to carry out algorithm estimation, and if the initial estimated value of the slip ratio is not converged, adjusting and updating the slip ratio and carrying out algorithm flow again. And iterating until the slip rate estimation error is minimum, and obtaining a final slip rate estimation value. The estimation of slip ratio can be regarded as an optimization problem expressed as:
the optimization problem can be solved by the Levenberg-Marquardt algorithm. Where M exp (p, n) is the cam roller bearing friction torque measured by the friction torque test system at a pressure p and a rotational speed n. And finally solving to obtain the slip ratio of the cam roller bearing. To avoid single measurement errors, the slip ratio is solved multiple times to obtain an average slip ratio.
Corresponding to the embodiment of the method for measuring and calculating the slip rate of the cam roller bearing of the inner curve hydraulic motor, the invention also provides an embodiment of a system for measuring and calculating the slip rate of the cam roller bearing of the inner curve hydraulic motor. The system comprises a calculation model construction module, a friction torque test module and a slip ratio estimation module; for specific implementation of each module, please refer to specific steps of the foregoing measuring and calculating method embodiment.
The calculation model construction module is used for constructing a calculation model of a sliding friction coefficient between a roller and a raceway based on a slip ratio based on a mixed elastic flow lubrication theory, and establishing a cam roller bearing friction torque calculation model by combining the sliding friction torque model;
The friction torque testing module is used for testing the friction torque of the cam roller bearing under different working conditions;
The slip ratio estimation module is used for estimating the slip ratio of the cam roller bearing by adopting a nonlinear least square method according to the friction torque test result, and finally obtaining the average slip ratio of the cam roller bearing.
Corresponding to the embodiment of the method for measuring and calculating the slip rate of the cam roller bearing of the inner curve hydraulic motor, the invention also provides an embodiment of a device for measuring and calculating the slip rate of the cam roller bearing of the inner curve hydraulic motor.
Referring to fig. 4, the device for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor provided by the embodiment of the invention comprises a memory and one or more processors, wherein executable codes are stored in the memory, and the processor is used for realizing the method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor in the embodiment when executing the executable codes.
The embodiment of the device for measuring and calculating the sliding rate of the cam roller bearing of the inner curve hydraulic motor can be applied to any equipment with data processing capability, and the equipment with the data processing capability can be equipment or a device such as a computer. The apparatus embodiments may be implemented by software, or may be implemented by hardware or a combination of hardware and software. Taking software implementation as an example, the device in a logic sense is formed by reading corresponding computer program instructions in a nonvolatile memory into a memory by a processor of any device with data processing capability. In terms of hardware, as shown in fig. 4, a hardware structure diagram of an apparatus with data processing capability, where the apparatus for calculating the slip ratio of cam roller bearing of an inner curve hydraulic motor provided by the present invention is located, is shown in fig. 4, and in addition to a processor, a memory, a network interface, and a nonvolatile memory shown in fig. 4, any apparatus with data processing capability in the embodiment is generally according to the actual function of the apparatus with data processing capability, and may further include other hardware, which is not described herein.
The implementation process of the functions and roles of each unit in the above device is specifically shown in the implementation process of the corresponding steps in the above method, and will not be described herein again.
For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. 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 purposes of the present invention. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The embodiment of the invention also provides a computer readable storage medium, wherein a program is stored on the computer readable storage medium, and when the program is executed by a processor, the method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor in the embodiment is realized.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of any of the data processing enabled devices described in any of the previous embodiments. The computer readable storage medium may also be an external storage device of any device having data processing capabilities, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), an SD card, a flash memory card (FLASH CARD), etc. provided on the device. Further, the computer readable storage medium may include both internal storage units and external storage devices of any data processing device. The computer readable storage medium is used for storing the computer program and other programs and data required by the arbitrary data processing apparatus, and may also be used for temporarily storing data that has been output or is to be output.
The invention also provides a computer program product, which comprises a computer program/instruction, wherein the computer program/instruction realizes the method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor when being executed by a processor.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (10)
1. The method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor is characterized by comprising the following steps of:
(1) Based on a mixed elastic flow lubrication theory, a sliding friction coefficient calculation model between a roller and a roller path based on a slip ratio is constructed, and a cam roller bearing friction torque calculation model is established by combining the sliding friction torque model;
(2) Testing friction torque of the cam roller bearing under different working conditions;
(3) And estimating the slip ratio of the cam roller bearing by adopting a nonlinear least square method according to the friction torque test result, and finally obtaining the average slip ratio of the cam roller bearing.
2. The method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor according to claim 1, wherein a calculation model of the sliding friction coefficient between the roller and the raceway based on the slip ratio is as follows:
；
Wherein F sk denotes a sliding friction coefficient between the roller and the raceway, k=ij denotes a sliding friction coefficient between the roller and the inner raceway, k= oj denotes a boundary friction coefficient between the roller and the outer raceway, F c denotes a Hertz contact half width, l r denotes a roller length, F denotes a normal contact load, Is the average viscosity of the oil liquid,Is the ultimate shearing stress of oil; h c and L a are the average oil film thickness and the asperity peak contact ratio, respectively; u s is the relative sliding speed between any roller and the inner and outer raceways, and the calculation formula is as follows:
；
where SRR is slip and u e is take-up speed.
3. The method for calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor according to claim 1, wherein the cam roller bearing friction torque calculation model is established by combining a sliding friction torque model as follows:
；
Wherein M e is friction torque caused by elastic hysteresis, M d is friction torque caused by oil dragging, M r is rolling friction torque, and M s is sliding friction torque.
4. The method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor according to claim 1, wherein the calculation formula of the sliding friction torque M s is as follows:
；
Wherein n b is the number of bearing rollers, d r is the diameter of the bearing rollers, F ij is the contact load between the jth roller and the inner raceway, F oj is the contact load between the jth roller and the outer raceway, d m is the pitch diameter of the bearing, F sij is the sliding friction coefficient between the jth roller and the inner raceway, and F soj is the sliding friction coefficient between the jth roller and the outer raceway.
5. The method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor according to claim 1, wherein the system comprises a mechanical system, a hydraulic system and an electric control system, and is used for testing the friction torque of the cam roller bearing under different working conditions based on a friction torque testing system of the cam roller bearing; the mechanical system adopts a jacking loading structure of two cam roller bearings, the two cam roller bearings are contacted with the driving wheel under the action of hydraulic pressure, the servo motor drives the driving wheel to rotate, and a torque meter is connected between the servo motor and the driving wheel and is used for measuring friction torque of the cam roller bearings; the hydraulic system is used for loading a mechanical system, and the loading pressure is regulated by regulating the proportional overflow valve; the electric control system is used for controlling pressure and rotating speed and collecting tested friction torque data.
6. The method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor according to claim 1, wherein after the friction torque of the cam roller bearing is measured, the slip ratio of the cam roller bearing is estimated by a nonlinear least square method; the estimation of slip ratio is regarded as an optimization problem expressed as:
；
The optimization problem is solved through a Levenberg-Marquardt algorithm; and M exp (p, n) is the friction torque of the cam roller bearing measured when the pressure is p and the rotating speed is n, and finally solving to obtain the slip ratio of the cam roller bearing, and solving the slip ratio for a plurality of times to obtain the average slip ratio.
7. The system is characterized by comprising a calculation model construction module, a friction torque test module and a slip rate estimation module;
The calculation model construction module is used for constructing a calculation model of a sliding friction coefficient between a roller and a raceway based on a slip ratio based on a mixed elastic flow lubrication theory, and establishing a cam roller bearing friction torque calculation model by combining the sliding friction torque model;
The friction torque testing module is used for testing the friction torque of the cam roller bearing under different working conditions;
The slip ratio estimation module is used for estimating the slip ratio of the cam roller bearing by adopting a nonlinear least square method according to the friction torque test result, and finally obtaining the average slip ratio of the cam roller bearing.
8. An apparatus for measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor, comprising a memory and one or more processors, wherein executable codes are stored in the memory, and the processor executes the executable codes to realize the method for measuring and calculating the slip ratio of the cam roller bearing of the inner curve hydraulic motor according to any one of claims 1-6.
9. A computer readable storage medium having a program stored thereon, wherein the program, when executed by a processor, implements a method of measuring and calculating a slip ratio of a cam roller bearing of an inner curve hydraulic motor according to any one of claims 1 to 6.
10. A computer program product comprising a computer program which, when executed by a processor, implements a method of measuring and calculating the slip ratio of a cam roller bearing of an inner curve hydraulic motor as claimed in any one of claims 1 to 6.
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004169715A (en) * | 2002-11-15 | 2004-06-17 | Kawaguchi Metal Industries Co Ltd | Sliding bearing |
| CN102353540A (en) * | 2011-06-29 | 2012-02-15 | 西安交通大学 | Slip testing apparatus for high-speed rolling bearing |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2006125475A (en) * | 2004-10-27 | 2006-05-18 | Jtekt Corp | Bearing device |
| DE102017223418B4 (en) * | 2017-12-20 | 2023-05-25 | Zf Friedrichshafen Ag | Model-based method and system for condition monitoring of a plain bearing, especially for wind turbines |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004169715A (en) * | 2002-11-15 | 2004-06-17 | Kawaguchi Metal Industries Co Ltd | Sliding bearing |
| CN102353540A (en) * | 2011-06-29 | 2012-02-15 | 西安交通大学 | Slip testing apparatus for high-speed rolling bearing |
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