CN113758663B - Alternating torsional vibration excitation method for pull rod rotor - Google Patents
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Abstract
A method for exciting the torsion vibration of pull-rod rotor includes such steps as sequentially calculating the amplitude and phase of input current signal needed by frequency converter of electric generator and the control signal generated by computer system, and calculating the amplitude and phase of said input current signal. After the control signal waveform output by the computer system is conditioned by the current module, the alternating control signal is converted into an alternating current signal and is input to the generator frequency converter, the generator frequency converter samples the alternating current signal, and the generator communication module controls the generator end to excite alternating torsional vibration. The torsional vibration working condition of the invention is closer to the actual torsional vibration working condition of the generator set, and the experimental result can provide reference for the monitoring, analysis and diagnosis of the actual torsional vibration of the pull rod rotor of the generator set, thereby having important engineering application value.
Description
Technical Field
The invention relates to a method for exciting alternating torsional vibration of a pull rod rotor, and belongs to the technical field of rotating machinery experiment systems and tests.
Background
The pull rod rotor is a key rotating part of the heavy-duty gas turbine, and the safety and the reliability of the pull rod rotor concern the normal operation of the whole heavy-duty gas turbine and the power generation equipment. In recent years, as heavy-duty gas turbines are increasingly used in the field of power generation, problems during operation are becoming more prominent, including load fluctuations in the grid, short circuits in the power system, and alternating torsional vibration loading on the tie-rod rotor that occurs in asynchronous parallel configurations. Such loads, if present over time, may cause the torsional vibration of the tie rod rotor to increase gradually beyond the allowable range, thereby causing damage to the rotor. Therefore, the torsional vibration excitation experiment is carried out on the pull rod rotor under the laboratory condition, the measurement is carried out, the influence of the torsional vibration excitation on the dynamic characteristics of the pull rod rotor is analyzed, and important basis can be provided for the torsional vibration measurement and fault monitoring and diagnosis of the pull rod rotor in the actual generator set.
At present, a corresponding rotor experiment system is available in China, and can excite the torsional vibration of a rotor and acquire and analyze torsional vibration signals. The common torsional vibration excitation mode comprises the use of a magnetic powder brake or a mechanical torsional vibration structure, however, the structural form and the working mode of the experiment tables are different from the working mode of an actual generator set, only one driving motor, the magnetic powder brake or the mechanical torsional vibration structure is often adopted to apply alternating torsional vibration load, the working condition of the alternating torsional vibration load generated from the generator end in the actual generator set is different, and the experimental result of the alternating torsional vibration load is insufficient for researching the torsional vibration load of the actual generator set and has low engineering application value.
Disclosure of Invention
In order to overcome the defects or shortcomings of the conventional pull rod rotor torsional vibration excitation and measurement method, the invention aims to provide a pull rod rotor alternating torsional vibration excitation method, which simulates the alternating torsional vibration working condition of an actual unit generated by a pull rod rotor under the laboratory condition.
The method comprises the following specific implementation steps:
a method of alternating torsional vibration excitation of a drawbar rotor, the method comprising the steps of:
1) Determining the waveform type of an output signal of an alternating torsional vibration computer according to the requirements of a rotor torsional vibration experiment;
2) Alternating torsional vibration control signal M for controlling computer output by computer system programming C And the current module outputs a current signal M e The conversion relationship between:
M e ＝f 1 (M C ) (1)
wherein the functional relationship f 1 Determining according to the output characteristic of the current module;
3) Determining the output current signal M of the current module according to the torque control characteristic of the frequency converter e A target torque signal M output by the frequency converter of the generator i The relationship between:
M i ＝f 2 (M e )+a (2)
wherein the functional relationship f 2 The method comprises the following steps of determining according to system characteristics of a frequency converter, obtaining a functional relation in a table look-up mode through a characteristic curve according to different control characteristics of the frequency converter, and determining a constant a by basic torque required in torque excitation;
4) Calculating the output torque M of the generator through the torque characteristic curve of the generator M And a target torque signal M i The relationship between:
M M ＝f 3 (M i ) (3) wherein the functional relationship f 3 According to the torque output characteristics of the generatorSex determination;
5) Calculating the rotor end torque M at one side of the driving motor according to the rotor torsional vibration kinetic equation T And generator output torque M M The relationship between:
a. according to the actual structure of the pull rod rotor, the whole pull rod rotor is simplified into a structure with an i-section shaft and a wheel disc;
b. and listing the torsional dynamic equation of each shaft section and each wheel disc, wherein the torsional dynamic equation of the ith shaft section or each wheel disc is as follows:
wherein G is the shear modulus of the rotor, J pi Is the moment of inertia of the i-th shaft section or wheel disc, θ i Is the corner of the ith shaft section or wheel disc, x is the length of the shaft section or wheel disc infinitesimal, rho is the density of the rotor material, I p The polar moment of inertia of the shaft section or the wheel disc, and t is a time variable;
c. and (3) combining i torsional vibration kinetic equations to obtain the torsional vibration kinetic equation of the whole rotor:
wherein J is the integral moment of inertia matrix of the pull rod rotor, C is the integral damping matrix of the pull rod rotor, K θ Is an integral torsional rigidity matrix of the pull rod rotor, M is an external torsional vibration excitation matrix,
{ theta } are angular acceleration, angular velocity and angular displacement vectors of the pull rod rotor respectively, and t is a time variable;
d. solving the angular displacement theta of the rotor end node at one side of the driving motor by using a differential equation solving method n Wherein n is the total number of nodes of the rotor; torsional stiffness k according to the endmost shaft θn The torque value of the endmost rotating shaft can be calculated as follows:
M T ＝k θn θ n (6)
e. whereby the rotor end torque M can be obtained T And generator output torque M M The relationship between:
M T ＝f 4 (M M ) (7)
wherein the functional relationship f 4 Solving according to formulas (4) - (6) to obtain;
6) Calculating the alternating torsional vibration control signal M to be output by the computer system according to the formulas (1) to (7) C Amplitude, frequency and phase parameters of;
7) Starting the pull rod rotor experiment table and the variable frequency controller, controlling the rotor to rotate at a constant rotating speed by the drive motor end through the drive motor frequency converter, and controlling an alternating torsional vibration control signal M generated by a computer system C The current is converted by the current module and then input to the generator frequency converter which controls a signal M according to alternating torsional vibration C The waveform, the frequency and the amplitude of the rotor control the rotor experiment table to generate alternating torsional vibration;
8) Real-time acquisition of torsional vibration signal M excited on rotor experiment table by torque sensor real And feeding back a signal to the computer system based on the desired torque value M at the end t of the rotor T (t) and the actual measured value M real (t) calculating an output parameter M at the next moment of the torsional vibration excitation system C (t + 1), considering the dynamic course of the system, then M C (t + 1) is represented by:
M C (t+1)＝h -1 M T (t+1)+g(M T (t)-M real (t)) (8)
h＝f 4 f 3 (f 2 f 1 +a) (9)
wherein M is T (t + 1) is the desired torque value at the moment of rotor end t +1, M T (t)-M real (t) is the residual value, g (M) T (t)-M real (t)) is a correction function related to the absolute value of the residual, and h is the torsional control signal transfer function calculated according to equations (1) - (6)Counting; and (5) iteratively calculating according to the formulas (8) to (9) until the residual value meets the requirement, and acquiring and storing the torsional vibration excitation signal at the moment.
The range of the alternating current signal output by the current module is 4-20 mA. The differential equation solving method adopts a Runge Kutta differential equation solving method.
Compared with the prior art, the invention has the following advantages and prominent technical effects: 1) According to the invention, the alternating control signal is output to the generator frequency converter through the computer system and the current module, the generator frequency converter directly controls the generator to generate the alternating torsional vibration load, and the working condition that the actual unit generates the alternating torsional vibration load from the generator end is effectively simulated under the laboratory condition; 2) The invention combines the pull rod rotor experiment table to adopt an electric signal control and excitation method, avoids the dependence of the traditional torsional vibration excitation method on a mechanical structure, can be suitable for generators with different powers and pull rod rotor experiment tables with different structures, and has good universality.
In a word, the invention can simulate the working condition that the actual unit generates alternating torsional vibration at the generator end under the laboratory condition, provides the simulation data support under the laboratory for the torsional vibration measurement, monitoring and diagnosis of the actual unit, and has important experiment and engineering application values.
Drawings
Fig. 1 is a schematic structural diagram of a pull rod rotor alternating torsional vibration excitation and measurement experiment system.
Fig. 2 is a flow chart of a method for exciting alternating torsional vibration of the pull rod rotor.
FIGS. 3 (a), (b), (c), (d) are time domain waveforms of induced alternating torsional vibrations at 5Hz,10Hz and 20Hz, respectively.
FIGS. 4 (a), (b), (c) and (d) are frequency domain waveforms of the alternating torsional vibrations excited by the present invention at 5Hz,10Hz and 20Hz, respectively.
In the figure: 1-a pull rod rotor alternating torsional vibration excitation and measurement experiment system; 2-driving the motor; 3-a disc torquemeter; 4-a first elastic coupling; 5-a first rolling bearing; 6-a pull rod of the pull rod rotor wheel disc set; 7-a pull rod rotor disk set; 8-a pull rod rotor shaft; 9-a second rolling bearing; 10-a second elastic coupling; 11-a generator; 12-a support base; 13-drive motor control signal line; 14-driving the motor communication module; 15-a torsional vibration signal line; 16-a generator communication module; 17-generator control signal line; 18-drive motor inverter; 19-a signal conditioning module; 20-a signal acquisition module; 21-a computer system containing data acquisition analysis and signal generation functions; 22-a current module; 23-generator frequency converter; 24-alternating torsional vibration computer output signal; 25-alternating torsional vibration current module output signal; 26-alternating torsional vibration frequency converter control signal.
Detailed Description
The working principle, method and process of torsional vibration excitation of the pull rod rotor will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of a rod rotor alternating torsional vibration excitation and measurement experiment system, and the rod rotor alternating torsional vibration excitation and measurement experiment system comprises a rod rotor experiment table and an alternating torsional vibration excitation and measurement system.
A driving motor 2 in the pull rod rotor experiment table is connected with a first elastic coupling 4 through a disc type torque meter 3, the disc type torque meter 3 is used for outputting a real-time torsional vibration signal in the rotor operation process, the first elastic coupling 4 is connected with a pull rod rotor shaft 8, a pull rod rotor wheel disc set 7 is installed and pre-tightened through a pull rod rotor wheel disc set pull rod 6, and the pull rod rotor shaft 8 is connected with a generator 11 through a second elastic coupling 10. The first rolling bearing 5 and the second rolling bearing 9 are respectively arranged at two ends of the pull rod rotor and used for providing support for the pull rod rotor. The support base 12 is used for providing support for the driving motor 2, the disk torque meter 3, the first rolling bearing 5, the second rolling bearing 9 and the generator 11.
A driving motor frequency converter 18 in the alternating torsional vibration exciting and measuring system transmits a control signal to a driving motor communication module 14 through a driving motor control signal line 13 to control a driving motor 2 to output a constant rotating speed. An alternating torsional vibration control signal generated by a computer system 21 with data acquisition and analysis and signal generation functions is output to a current module 22, the current module 22 outputs the alternating current signal to a generator frequency converter 23, and the generator frequency converter 23 is connected with a generator communication module 16 through a generator control signal line 17 to control a generator 11 to generate an alternating torsional vibration load. The real-time torsional vibration signal that disk torque meter 3 output passes through torsional vibration signal line 15 and exports signal conditioning module 19 and carries out signal conditioning, and signal conditioning module 19 exports the real-time torsional vibration signal after the conditioning to signal acquisition module 20, and signal acquisition module 20 inputs the signal to computer system 21 that contains data acquisition analysis and signal generation function and carries out real-time display, calculation and storage again.
Fig. 2 is a flow chart of a method for exciting alternating torsional vibration of a pull rod rotor, and the detailed steps of the excitation of the alternating torque are as follows:
1) Determining the waveform type of an output signal of an alternating torsional vibration computer according to the requirements of a rotor torsional vibration experiment;
2) Alternating torsional vibration control signal M for controlling computer output by computer system programming C And the current module outputs a current signal M e The conversion relationship between:
M e ＝f 1 (M C ) (1)
wherein the functional relationship f 1 Determining according to the output characteristic of the current module;
3) Determining the output current M of the current module according to the torque control characteristic of the frequency converter e Target torque signal M output by generator frequency converter i The relationship between:
M i ＝f 2 (M e )+a (2)
wherein the functional relationship f 2 The method comprises the following steps of determining according to system characteristics of a frequency converter, obtaining a functional relation in a table look-up mode through a characteristic curve according to different control characteristics of the frequency converter, and determining a constant a by basic torque required in torque excitation;
4) Calculating the output torque M of the generator through the torque characteristic curve of the generator M And a target torque signal M i The relationship between:
M M ＝f 3 (M i ) (3) wherein the functional relationship f 3 According to the torque output of the generatorDetermining the characteristics;
5) Calculating the rotor end torque M at one side of the driving motor according to the rotor torsional vibration kinetic equation T And generator output torque M M The relationship between:
a. according to the actual structure of the pull rod rotor, the whole pull rod rotor is simplified into a structure with an i-section shaft and a wheel disc;
b. and listing the torsional dynamic equation of each shaft section and each wheel disc, wherein the torsional dynamic equation of the ith shaft section or each wheel disc is as follows:
wherein G is the shear modulus of the rotor, J pi Is the moment of inertia of the i-th shaft section or wheel disc, θ i Is the corner of the ith shaft section or wheel disc, x is the length of the shaft section or wheel disc infinitesimal, rho is the density of the rotor material, I p The polar moment of inertia of the shaft section or the wheel disc, and t is a time variable;
c. and (3) combining i torsional vibration kinetic equations to obtain the torsional vibration kinetic equation of the whole rotor:
wherein J is the integral moment of inertia matrix of the pull rod rotor, C is the integral damping matrix of the pull rod rotor, K θ Is an integral torsional rigidity matrix of the pull rod rotor, M is an external torsional vibration excitation matrix,
{ theta } are angular acceleration, angular velocity and angular displacement vectors of the pull rod rotor respectively, and t is a time variable. From the above analysis, the specific form of the torsional vibration equation for a rotor containing n sections of shaft and disk is as follows:
the No. 1 shaft section is connected with the driving motor, and the No. n shaft section is connected with the generator. Here, the torque M exerted on the shaft segment n at the time t n (x, t) and Generator output Torque M M (x, t) has the following relationship:
M n (x,t)＝M M (x,t) (7)
torque M applied at time t on shaft segment No. 1 1 (x, t) and torque M excited at rotor end T (x, t) has the following relationship:
M 1 (x,t)＝M T (x,t) (8)
d. solving the angular displacement theta of the end node of the rotor at one side of the driving motor by using a Rungestegata differential equation solving method n Wherein n is the total number of nodes of the rotor; torsional stiffness k according to the endmost shaft θn The torque value of the endmost rotating shaft can be calculated as follows:
M T ＝k θn θ n (9)
the torsional rigidity of the nth section of rotor is determined according to the physical structure parameters of the rotor:
wherein L is n Is the length of the i-th section rotor.
e. The torque M excited at the rotor end can be obtained T And generator output torque M M The relationship between:
M T ＝f 4 (M M ) (11)
wherein the functional relationship f 4 Solving and obtaining according to formulas (4) - (10);
6) Calculating the alternating torsional vibration control signal M required to be output by a computer system through the transmission relation between the simultaneous formulas (1) to (11) C Amplitude, frequency and phase parameters of;
a) The pull rod rotor experiment table and the variable frequency controller are started, the driving frequency converter 18 transmits a control signal to the driving motor communication module 14 through the driving motor control signal line 13, the driving motor 2 is controlled to output constant rotating speed, the pull rod of the pull rod rotor wheel disc set 6, the pull rod rotor wheel disc set 7 and the pull rod rotor shaft 8 are driven to rotate at the constant rotating speed, and the generator 11 is driven to generate electricity. The computer system 21 outputs an alternating control signal to the current module 22 according to an alternating torsional amplitude value and an alternating torsional frequency which are actually required, the current module 22 converts the alternating control signal into a 4-20mA alternating current signal corresponding to the alternating torsional amplitude value and the alternating torsional frequency and inputs the alternating current signal to the generator frequency converter 23, the generator frequency converter 23 samples the alternating current signal and outputs the alternating control signal to the generator communication module 16 through the generator control signal line 17, and then the driving current of the generator 11 generates alternating amplitude fluctuation, so that the alternating torsional vibration signal is excited at the end of the generator 11. When the alternating load exists in the operation process of the pull rod rotor, the disc type torque meter 3 can output real-time torsional vibration signals to the signal conditioning module 19 through the torsional vibration signal wire 15, the signal conditioning module 19 conditions the torsional vibration signals and then outputs the conditioned torsional vibration signals to the signal acquisition module 20, and then the signal acquisition module 20 outputs the torsional vibration signals to the computer system 21 with data acquisition and analysis and signal generation functions to perform real-time display, calculation and analysis and processing.
b) Real-time acquisition of torsional vibration signal M excited on rotor experiment table by torque sensor real And feeding back a signal to the computer system based on the desired torque value M T (t) and the actual measured value M real (t) calculating an output parameter M at the next moment of the torsional vibration excitation system C (t + 1) consideration of the dynamic course of the system, M C (t + 1) is represented by:
M C (t+1)＝h -1 M T (t+1)+g(M T (t)-M real (t)) (8)
h＝f 4 f 3 (f 2 f 1 +a) (9)
wherein, g (M) T (t)-M real (t)) is a correction function related to the absolute value of the residual. Iteratively calculating the length according to equations (8) - (9)And when the residual value meets the requirement, acquiring and storing the torsional vibration excitation signal by using the disc type torque meter 3 and a computer system 21 with data acquisition and analysis and signal generation functions.
Example (b):
1. determining that a rotor experiment needs to excite a sine torsional vibration excitation signal, wherein the alternating torsional amplitude value is 0.2Nm, and the frequency is 5Hz;
2. according to the formulas (1) - (11), the calculated voltage amplitude of the computer output signal is 8V, the frequency is 5Hz, and the form is a sinusoidal signal;
3. inputting the output signal of the computer to a frequency converter of the generator, controlling the generator to generate alternating torque, and acquiring a real-time torsional vibration signal by a torque sensor;
4. the real-time torsional vibration signal collected by the torque sensor is shown in fig. 3 (a), and the spectrum diagram of the torsional vibration signal is shown in fig. 4 (a), with an amplitude of about 0.2Nm and a frequency of 5Hz.
5. Referring to the above steps 1-4, the required torsional amplitude and frequency are re-determined, and the excited torsional time domain waveforms of 10Hz,15Hz and 20Hz are shown in fig. 3 (b), (c) and (d), and the torsional frequency spectrum is shown in fig. 4 (b), (c) and (d).
Claims (3)
1. A method for exciting alternating torsional vibration of a pull rod rotor is characterized by comprising the following steps: the method is carried out based on a pull rod rotor alternating torsional vibration excitation and measurement experiment system, wherein the system comprises a pull rod rotor experiment table and an alternating torsional vibration excitation and measurement system; the pull rod rotor experiment table comprises a driving motor (2), a disc type torque meter (3), an elastic coupling, a rolling bearing, a pull rod rotor wheel disc group pull rod (6), a pull rod rotor wheel disc group (7), a pull rod rotor shaft (8), a generator (11) and a supporting base (12); the driving motor (2) is connected with a first elastic coupling (4) through a disc type torque meter (3), the first elastic coupling (4) is connected with one end of a pull rod rotor shaft (8), and the other end of the pull rod rotor shaft (8) is connected with a generator (11) through a second elastic coupling (10); a first rolling bearing (5) is arranged on the pull rod rotor shaft between the first elastic coupling and the pull rod rotor wheel disc set; a second rolling bearing (9) is arranged on the pull rod rotor shaft between the second elastic coupling (10) and the pull rod rotor wheel disc set;
the alternating torsional vibration excitation and measurement system comprises a driving motor communication module (14), a driving motor frequency converter (18), a signal conditioning module (19), a signal acquisition module (20), a current module (22), a generator communication module (16), a generator frequency converter (23) and a computer system (21) with data acquisition, analysis and signal generation functions; the driving motor frequency converter (18) is connected with the driving motor communication module (14) through a driving motor control signal line (13), a computer system (21) with data acquisition, analysis and signal generation functions is connected with the current module (22), the current module (22) is connected with the generator frequency converter (23), and the generator frequency converter (23) is connected with the generator communication module (16) through a generator control signal line (17); the disc type torque meter (3) is connected with a signal conditioning module (19) through a torsional vibration signal wire (15), and the signal conditioning module (19) is connected with a computer system (21) with data acquisition, analysis and signal generation functions through a signal acquisition module (20);
the alternating torsional vibration excitation method comprises the following steps:
1) Determining the waveform type of an output signal of an alternating torsional vibration computer according to the requirements of a rotor torsional vibration experiment;
2) Alternating torsional vibration control signal M for controlling computer output by computer system programming C And the current module outputs a current signal M e The conversion relationship between:
M e ＝f 1 (M C ) (1)
wherein the functional relationship f 1 Determining according to the output characteristic of the current module;
3) Determining the output current signal M of the current module according to the torque control characteristic of the frequency converter e Target torque signal M output by generator frequency converter i The relationship between:
M i ＝f 2 (M e )+a (2)
wherein the functional relationship f 2 The functional relation is determined according to the system characteristics of the frequency converter and the characteristics according to the different control characteristics of the frequency converterThe constant a is determined by the basic torque needed in the torque excitation;
4) Calculating the output torque M of the generator through the torque characteristic curve of the generator M And a target torque signal M i The relationship between:
M M ＝f 3 (M i ) (3)
wherein the functional relationship f 3 Determining a torque output characteristic of the generator;
5) Calculating the rotor end torque M at one side of the driving motor according to the rotor torsional vibration kinetic equation T And generator output torque M M The relationship between:
a. according to the actual structure of the pull rod rotor, the whole pull rod rotor is simplified into a structure with an i-section shaft and a wheel disc;
b. and listing the torsional dynamic equation of each shaft section and each wheel disc, wherein the torsional dynamic equation of the ith shaft section or each wheel disc is as follows:
wherein G is the shear modulus of the rotor, J pi Is the moment of inertia of the i-th shaft section or wheel disc, θ i Is the corner of the ith shaft section or wheel disc, x is the length of the shaft section or wheel disc infinitesimal, rho is the density of the rotor material, I p The polar moment of inertia of the shaft section or the wheel disc, and t is a time variable;
c. and (3) combining i torsional vibration kinetic equations to obtain the torsional vibration kinetic equation of the whole rotor:
wherein J is the integral moment of inertia matrix of the pull rod rotor, C is the integral damping matrix of the pull rod rotor, K θ Is an integral torsional rigidity matrix of the pull rod rotor, M is an external torsional vibration excitation matrix,
{ theta } are angular acceleration, angular velocity and angular displacement vectors of the pull rod rotor respectively, and t is a time variable;
d. solving the angular displacement theta of the rotor end node at one side of the driving motor by using a differential equation solving method n Wherein n is the total number of nodes of the rotor; torsional rigidity k according to the endmost shaft θn The torque value of the endmost rotating shaft can be calculated as follows:
M T ＝k θn θ n (6)
e. the rotor end torque M can be obtained T And generator output torque M M The relationship between:
M T ＝f 4 (M M ) (7)
wherein the functional relationship f 4 Solving according to formulas (4) - (6) to obtain;
6) Calculating the alternating torsional vibration control signal M to be output by the computer system according to the formulas (1) to (7) C Amplitude, frequency and phase parameters of;
7) Starting the pull rod rotor experiment table and the variable frequency controller, controlling the rotor to rotate at a constant rotating speed by the drive motor end through the drive motor frequency converter, and controlling an alternating torsional vibration control signal M generated by a computer system C The current is converted by the current module and then input to the generator frequency converter which controls a signal M according to alternating torsional vibration C The waveform, the frequency and the amplitude of the rotor control the rotor experiment table to generate alternating torsional vibration;
8) Real-time acquisition of torsional vibration signal M excited on rotor experiment table by torque sensor real And feeding back a signal to the computer system based on the desired torque value M at the end t of the rotor T (t) and the actual measured value M real (t) calculating an output parameter M at the next moment of the torsional vibration excitation system C (t + 1), considering the dynamic course of the system, then M C (t + 1) is represented by:
M C (t+1)＝h -1 M T (t+1)+g(M T (t)-M real (t)) (8)
h＝f 4 f 3 (f 2 f 1 +a) (9)
wherein M is T (t + 1) is the desired torque value at the moment of rotor end t +1, M T (t)-M real (t) is the residual value, g (M) T (t)-M real (t)) is a correction function related to the absolute value of the residual error, and h is a torsional vibration control signal transfer function calculated according to equations (1) - (6); and (5) iteratively calculating according to the formulas (8) to (9) until the residual value meets the requirement, and acquiring and storing the torsional vibration excitation signal at the moment.
2. A tie rod rotor alternating torsional vibration excitation method according to claim 1, characterized in that the output current M of the current module (22) e The range is between 4-20 mA.
3. The method for exciting alternating torsional vibration of a tie rod rotor according to claim 1, wherein the differential equation solving method is a Longgasta differential equation solving method.
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