CN108414147A - A kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap - Google Patents
A kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap Download PDFInfo
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The invention discloses a kind of unbalanced electro spindle online adaptive active balancing methods of consideration air gap, initially set up the online active balancing equation of electro spindle monoplane influence coefficient method；Then gain factor is introduced in the online active balancing equation of electro spindle monoplane influence coefficient method, improves the stability of balance on-line；Secondly forgetting factor is introduced to establish based on the electro spindle monoplane online adaptive active balancing equation for influencing the online real-time estimation of coefficient；The electro spindle monoplane online adaptive active balancing equation for considering that air gap imbalance influences finally is established, keeps the influence coefficient of estimation more accurate.Application by the method for the invention can significantly reduce the residual oscillation after electro spindle rotor balancing, the high real-time rotating accuracy of electro spindle rotor be ensured, to ensure its high processing quality.
Description
Technical field
The present invention relates to rotating machinery dynamic balancing technique fields, and in particular to a kind of unbalanced electro spindle of consideration air gap exists
The adaptive active balancing method of line.
Background technology
Currently, high-grade, digitally controlled machine tools main axis transmission system generally uses so-called " Zero-drive Chain " electricity of motor with integrated spindle axis
Main shaft.Electro spindle eliminates intermediate transmission link, and rotor directly serves as machine tool chief axis, enables Rotary Precision of Spindle of Machine Tools
It significantly improves, lathe is made to develop to high speed.
Rotor unbalance, that is, rotor quality center deviation the centre of gyration can make to generate uneven inertial centrifugal when its rotation
Power, to evoke the vibration of electro spindle.Electro spindle vibration can bring a negative impact workpiece surface quality in process, mainly
It shows as causing workpiece surface percent ripple and roughness.Since centrifugal force and rotating speed square are positive correlations, high speed electricity
Main shaft is more sensitive to rotor unbalance than standard machinery main shaft, and disequilibrium regulating becomes the key technology that electro spindle promotes and applies
One of.
Disequilibrium regulating in electro spindle rotor Life cycle mainly includes the balance of fabrication stage and service stage.System
The balance for making the stage mainly solves imbalance caused by structure design, material preparation, processing and manufacturing and assembly etc., typically one
It is balanced manually on the special balancing machine of platform.Service stage is by equipment point-detecting or continues to monitor according to vibration information discovery electricity
Main shaft imbalance problem, such as tool wear/breakage, shaft bending are carried out offline using dismounting main shaft and to rotor at this time
It is balanced on machine, the field balancing for shutting down but not removing rotor can also be used, certainly, field balancing, which needs to have on main shaft, to be adjusted
The structure or mechanism of whole mass eccentricity.
According to the different designs of field balancing mechanism, needs can be divided into and shut down and be not required to shut down two classes.It is not required to shut down flat
Weighing apparatus mechanism can realize unmanned intervention, and balance efficiency is high, therefore have become the hot spot of rotor dynamic balancing research.Meanwhile root
Whether need to be powered and control according to balance mechanism, is divided into as passive and two kinds of active balancing mechanism.Active balancing mechanism is to pass through
The rotor oscillation and rotary speed information that sensor detects in real time send out signal driving balance mechanism using controller and work, come
At the online active balancing for exempting to shut down, it is compared to passive equilibrium mechanism without studying rotor dynamics characteristic, and applicability is more
Extensively.Therefore, the on-line intelligence balance of electro spindle mainly uses active balancing at present.
When carrying out specific rotor balancing, there are two main methods, first, carrying out so-called be excused from an examination by dynamics calculation
Galassing weighs, this is not suitable for online active balancing；Second is that it is flat to carry out successive approximation by tentative counterweight (Mass Distribution allotment)
Weighing apparatus, it, without complicated theoretical calculation, is the strategy that current online active balancing generally uses, but it is to restrict it that balance efficiency is low
The main problem of development.
In order to reduce test mass number, colleague scholars, which propose, carries out online active balancing process using adaptive algorithm
Control, i.e., so-called adaptive influence coefficient method.The feasibility and validity of this method are in rotations such as main shaft, chemical machineries
It is verified in the active balancing of favourable turn tool.
However, for electric main shaft of digital control machine tool, people generally have ignored two specific questions of its active balancing, first, electricity
Main shaft wants smaller compared to the residual oscillation after other rotating machineries require higher balance quality to balance, second is that electro spindle occurs
It can also cause the air gap between electric machine rotor uneven in addition to generating centrifugal inertial force when rotor eccentricity, and then cause not expecting
Electric and magnetic oscillation.If including the oscillating component with rotating speed with frequency in electric and magnetic oscillation caused by air gap imbalance, with reality
Balance error will undoubtedly be caused as the processing mode of dynamic balancing signal by surveying in signal whole one times and turning frequency vibration, because of air gap
Imbalance is the unbalanced additive effect of rotor quality, needs to give when formulating equilibrium strategy and filters out.
Invention content
In order to improve the balanced capacity of existing adaptive influence coefficient method, it is an object of the invention to propose a kind of consideration gas
The unbalanced electro spindle online adaptive active balancing method of gap is solved as a kind of high-speed, high precision such as electrical spindle for machine tool is electronic
The online active balancing technical barrier of high-precision of machine significantly reduces the residual oscillation of such rotor by the application of this method, protects
The high rotating accuracy for demonstrate,proving rotor, to ensure the high processing quality of lathe.
In order to achieve the above objectives, the present invention adopts the following technical scheme that：
A kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap, includes the following steps：
Step 1：Based on rotor dynamic balancing influence coefficient method, the online active balancing of electro spindle monoplane influence coefficient method is established
Equation；
Step 2：On the basis of step 1, gain factor is introduced, establishing the electro spindle monoplane of high stability influences coefficient
The online active balancing equation of method；
Step 3：On the basis of step 2, forgetting factor is introduced, is established based on the electro spindle list for influencing coefficient On-line Estimation
Plane influence coefficient method online adaptive active balancing equation；
Step 4：On the basis of step 3, the unbalanced influence of air gap is considered, establishing improved electro spindle monoplane influences
Y-factor method Y online adaptive active balancing equation.
Further, step 1 specifically includes following steps：
Step 1.1：If the balancing vector mass-radius product that active balancing mechanism generates when+1 balance of kth time and kth is respectively
mk+1、mk, it is respectively u that electro spindle one that when+1 balance of kth time and kth measures turns frequency vibration magnitude againk+1、uk, p is a certain true
The true impact coefficient for determining electro spindle under rotating speed then has the online active balancing equation of electro spindle monoplane influence coefficient method：
Step 1.2：When carrying out online active balancing, influencing coefficient p is obtained by on-line testing, and actual measurement at this time influences
Coefficient is denoted as pk, it is obtained as the following formula：
Step 1.3：Based on the influence coefficient surveyed online, the online active balancing equation of electro spindle monoplane influence coefficient method
It is revised as：
Further, gain factor σ, and 0 ＜ σ ＜ 1 are introduced in step 2, then equilibrium equation is revised as：
Further, forgetting factor α, and 0 ＜ α ＜ 1 are introduced in step 3, obtain the influence of estimation online when kth time balance
Coefficient is：
Therefore, online adaptive active balancing equation in electro spindle monoplane is further modified to：
Further, the electro spindle monoplane online adaptive active balancing side that air gap imbalance influences is considered in step 4
Journey is determined as：
The unbalanced influence of air gap is embodied inOn, hereFor：
Wherein, τ represents one times of coefficient for turning frequency vibration component influences caused by eliminating air gap imbalance.
Further, τ is defined as：
Wherein,Turn frequency vibration for one times caused by the mass unbalance obtained for theoretical calculation；It is obtained for theoretical calculation
Air gap imbalance caused by one times turn frequency vibration；F (ω) indicates that coefficient τ is function related with speed omega.
Further, since τ is nondimensional coefficient, its value only withRatio it is related, therefore press
According to the essential laws of linear system kinetics equation, using centrifugal inertial forceIt is uneven to turn frequency with one times
Compared with prior art, the present invention has technique effect beneficial below：
Due to the unbalanced electro spindle online adaptive active balancing method of consideration air gap proposed by the present invention, electricity is being carried out
Influence coefficient when main shaft online adaptive active balancing to online real-time estimation is corrected, thus established it is online from
The balance of electro spindle rotor can more accurately be completed by adapting to active balancing equation, and the ability of online adaptive active balancing is made to obtain
To promotion, that is, turn frequency vibration smaller for remaining one times after balancing.
Description of the drawings
Fig. 1 is the implementing procedure figure of the present invention；
Fig. 2 is the vibration displacement signal results of the actual measurement of the specific embodiment of the invention；
Fig. 3 is the vibration acceleration signal result of the actual measurement of the specific embodiment of the invention.
Specific implementation mode
Present invention is further described in detail below：
1. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap, includes the following steps：
1) the balancing vector mass-radius product that active balancing mechanism generates when setting+1 balance of kth time and kth is respectively mk+1、mk,
It is respectively u that the electro spindle one measured when+1 balance of kth time and kth turns frequency vibration magnitude againk+1、uk, p is a certain determining rotating speed
The true impact coefficient of lower electro spindle then has the online active balancing equation of electro spindle monoplane influence coefficient method：
2) when carrying out online active balancing, influencing coefficient p is obtained by on-line testing, and actual measurement at this time influences coefficient note
For pk, it is obtained as the following formula：
3) based on the influence coefficient surveyed online, online active balancing equation is revised as：
4) it is the stability for improving balance on-line process, introduces gain factor σ (0 ＜ σ ＜ 1), then have：
5) it is to reduce the influence for estimating influencing coefficient result when time measurement noise, considers in influencing coefficient estimation scheme
The influence of result before introduces forgetting factor α (0 ＜ α ＜ 1), and the influence coefficient of estimation online is when obtaining kth time balance：
6) it is based on above step, electro spindle monoplane online adaptive active balancing equation, which can be obtained, is：
7) further, consider that the unbalanced electro spindle monoplane online adaptive active balancing equation of air gap is modified to：
8) the unbalanced influence of air gap is embodied inOn, hereFor：
Wherein, τ represents one times of coefficient for turning frequency vibration component influences caused by eliminating air gap imbalance.
2. the specific calculating process of correction factor τ described in is：
9) τ represents one times of coefficient for turning frequency vibration component influences caused by eliminating air gap imbalance, is defined as：
Wherein,Turn frequency vibration, theoretical meter for one times caused by the mass unbalance that respectively theoretical calculation obtains
Turn frequency vibration for one times caused by obtained air gap imbalance；τ is related with speed omega；
10) since τ is nondimensional coefficient, its value only withRatio it is related therefore dynamic according to linear system
The essential laws of mechanical equation can use centrifugal inertial forceTurn frequency unbalanced magnetic pull with one timesRatio carry out approximate calculation
τ, then the calculation formula of τ be reduced to：
The implementation process of the present invention is described in detail below in conjunction with the accompanying drawings：
Referring to Fig. 1, a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap, including following step
Suddenly：
1) according in the centrifugal force calculation formula (10) in physicsAccording to classical threephase asynchronous dynamic
In unbalanced magnetic pull calculation formula (10) under state air gap imbalance
2) according to formula (10), nondimensional coefficient τ is calculated, 170MD12Y16 electro spindles are calculated the expression formula of τ
For：
Wherein, ω is the angular velocity of rotation of electro spindle rotor.
3) it according to the process of formula (1) to (8), establishes and considers the unbalanced electro spindle monoplane online adaptive master of air gap
Dynamic balance equation；
4) it uses C language to develop equilibrium code, develops entire balance control software and hardware system；Develop electromagnetic type active balancing
Mechanism is installed on electro spindle；Acceleration transducer and displacement sensor is selected to test electro spindle vibration signal；It is sensing
During device detects electro spindle vibration signal in real time, such as once finding that vibration is transfinited, then balance control program, warp are triggered immediately
After quickly analyzing and determining, control system is instructed to electromagnetic type balance mechanism sending action, is completed by the movement of balance mechanism flat
Weighing apparatus acts, and counterbalance effect is evaluated by the vibrating data analysis result of vibrating sensor detection.
5) to electro spindle under tri- kinds of rotating speeds of 0 ° of imbalance of 4.47g ∠ and 1800r/min, 2100r/min, 2400r/min
Without balancing, carries out common adaptive influence coefficient method balance, carries out the unbalanced adaptive shadow of consideration air gap of the invention
It rings the residual vibration signal that Y-factor method Y balances after being balanced in the case of three kinds and carries out analysis comparison, as a result as shown in Figures 2 and 3,
Fig. 2 is vibration acceleration signal, and Fig. 3 is vibration displacement signal.
Test result with 3 according to fig. 2 carries out the unbalanced adaptive influence coefficient method balance of consideration air gap of the present invention
Residual oscillation than carrying out common adaptive influence coefficient method balance may be significantly smaller, it was demonstrated that a kind of consideration air gap of the present invention is uneven
Electro spindle online adaptive active balancing method, coefficient equilibrium method is influenced compared to common adaptive, after balance capable of being reduced
Residual oscillation improve workpiece processing quality to improve the ability of the online active balancing of electro spindle.
Claims (7)
1. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap, which is characterized in that including following step
Suddenly：
Step 1：Based on rotor dynamic balancing influence coefficient method, the electro spindle monoplane online active balancing side of influence coefficient method is established
Journey；
Step 2：On the basis of step 1, gain factor is introduced, the electro spindle monoplane influence coefficient method for establishing high stability exists
Line active balancing equation；
Step 3：On the basis of step 2, forgetting factor is introduced, is established based on the electro spindle monoplane for influencing coefficient On-line Estimation
Influence coefficient method online adaptive active balancing equation；
Step 4：On the basis of step 3, the unbalanced influence of air gap is considered, establishing improved electro spindle monoplane influences coefficient
Method online adaptive active balancing equation.
2. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap according to claim 1,
It is characterized in that, step 1 specifically includes following steps：
Step 1.1：If the balancing vector mass-radius product that active balancing mechanism generates when+1 balance of kth time and kth is respectively mk+1、
mk, it is respectively u that electro spindle one that when+1 balance of kth time and kth measures turns frequency vibration magnitude againk+1、uk, p is a certain determination turn
The true impact coefficient of the lower electro spindle of speed, then have the online active balancing equation of electro spindle monoplane influence coefficient method：
Step 1.2：When carrying out online active balancing, influencing coefficient p is obtained by on-line testing, and actual measurement at this time influences coefficient
It is denoted as pk, it is obtained as the following formula：
Step 1.3：Based on the influence coefficient surveyed online, the online active balancing equation modification of electro spindle monoplane influence coefficient method
For：
3. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap according to claim 2,
It is characterized in that, gain factor σ, and 0 ＜ σ ＜ 1 are introduced in step 2, then equilibrium equation is revised as：
4. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap according to claim 3,
It is characterized in that, forgetting factor α, and 0 ＜ α ＜ 1 are introduced in step 3, and the influence coefficient of estimation online is when obtaining kth time balance：
Therefore, online adaptive active balancing equation in electro spindle monoplane is further modified to：
5. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap according to claim 4,
It is characterized in that, considers that the electro spindle monoplane online adaptive active balancing equation that air gap imbalance influences is determined as in step 4：
The unbalanced influence of air gap is embodied inOn, hereFor：
Wherein, τ represents one times of coefficient for turning frequency vibration component influences caused by eliminating air gap imbalance.
6. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap according to claim 5,
It is characterized in that, τ is defined as：
Wherein,Turn frequency vibration for one times caused by the mass unbalance obtained for theoretical calculation；The gas obtained for theoretical calculation
Turn frequency vibration for one times caused by gap imbalance；F (ω) indicates that coefficient τ is function related with speed omega.
7. a kind of unbalanced electro spindle online adaptive active balancing method of consideration air gap according to claim 6,
Be characterized in that, since τ is nondimensional coefficient, its value only withRatio it is related therefore dynamic according to linear system
The essential laws of mechanical equation, using centrifugal inertial forceTurn frequency unbalanced magnetic pull with one timesRatio carry out approximate calculation
τ, then the calculation formula of τ be reduced to：
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Citations (5)
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|---|---|---|---|---|
| JP2012088058A (en) * | 2010-10-15 | 2012-05-10 | Ihi Corp | Influence coefficient acquisition method |
| CN102890477A (en) * | 2012-09-26 | 2013-01-23 | 西安交通大学 | On-line active dynamic balance measurement and control device and on-line active dynamic balance measurement and control method |
| US20130263437A1 (en) * | 2012-04-06 | 2013-10-10 | Carlo Buzzi | Balancing device, particularly for turbocompressors, and corresponding method |
| CN103411733A (en) * | 2013-07-30 | 2013-11-27 | 西安交通大学 | High-speed main shaft electromagnetic type field dynamic balancing device and method |
| CN103994859A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | High-precision on-line dynamic balance detection control system and method |
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- 2018-02-27 CN CN201810162477.8A patent/CN108414147B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012088058A (en) * | 2010-10-15 | 2012-05-10 | Ihi Corp | Influence coefficient acquisition method |
| US20130263437A1 (en) * | 2012-04-06 | 2013-10-10 | Carlo Buzzi | Balancing device, particularly for turbocompressors, and corresponding method |
| CN102890477A (en) * | 2012-09-26 | 2013-01-23 | 西安交通大学 | On-line active dynamic balance measurement and control device and on-line active dynamic balance measurement and control method |
| CN103411733A (en) * | 2013-07-30 | 2013-11-27 | 西安交通大学 | High-speed main shaft electromagnetic type field dynamic balancing device and method |
| CN103994859A (en) * | 2014-05-12 | 2014-08-20 | 上海大学 | High-precision on-line dynamic balance detection control system and method |
Non-Patent Citations (1)
| Title |
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| 樊红卫 等: "转子在线动平衡嵌入式控制***开发与验证", 《振动、测试与诊断》 * |
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