JPS61218918A - Method for measuring vibromotive force of engine etc. - Google Patents
Method for measuring vibromotive force of engine etc.Info
- Publication number
- JPS61218918A JPS61218918A JP6172385A JP6172385A JPS61218918A JP S61218918 A JPS61218918 A JP S61218918A JP 6172385 A JP6172385 A JP 6172385A JP 6172385 A JP6172385 A JP 6172385A JP S61218918 A JPS61218918 A JP S61218918A
- Authority
- JP
- Japan
- Prior art keywords
- engine
- center
- acceleration
- gravity
- force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 13
- 230000001133 acceleration Effects 0.000 claims abstract description 43
- 230000005484 gravity Effects 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000005284 excitation Effects 0.000 claims description 21
- 238000005259 measurement Methods 0.000 abstract description 13
- 239000011159 matrix material Substances 0.000 description 11
- 238000004364 calculation method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000009466 transformation Effects 0.000 description 4
- 238000013016 damping Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000002485 combustion reaction Methods 0.000 description 1
- 230000002596 correlated effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H1/00—Measuring characteristics of vibrations in solids by using direct conduction to the detector
- G01H1/003—Measuring characteristics of vibrations in solids by using direct conduction to the detector of rotating machines
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
- Measurement Of Mechanical Vibrations Or Ultrasonic Waves (AREA)
- Testing Of Engines (AREA)
- Vibration Prevention Devices (AREA)
Abstract
Description
【発明の詳細な説明】
く技術分野〉
本発明は、内燃機関やモータ等の原動機、あるいは該原
動機を含む原動機系の起振力を測定する方法に関する。DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a method for measuring the excitation force of a prime mover such as an internal combustion engine or a motor, or a prime mover system including the prime mover.
〈従来技術〉
機関単体の振動評価を行なう場合や、防振計算を行なう
場合には、機関の起振力を測定する必要がある。機関の
起振力とは、クランク軸のような駆動軸の中心に作用す
る力である。<Prior Art> When evaluating the vibration of a single engine or performing anti-vibration calculations, it is necessary to measure the vibration excitation force of the engine. The vibrational force of an engine is a force that acts on the center of a drive shaft such as a crankshaft.
従来、この起振力は、直接的に実測する手法が開発され
ていないので、釣り合いの式を解くことによって、求め
られていた。Conventionally, this excitation force has been determined by solving a balance equation, since no method has been developed to directly measure it.
これに対して、近年、機関の起振力を直接に測定する装
置が開発されているが、この装置は、機関の達成振動を
非連成化し、その振動加速度から起振力を測定するもの
であって、測定の準備段階において機関を含む系に種々
の工夫を加える必要があった。すなわち、機関を含む系
の重心と起振中心とが一致するように、また慣性主軸の
Ｘ方向が機関のクランク軸となり慣性主軸のｙ方向が水
平となるように、系に付加マスを取り付け、さらに、系
の重心とその支持系の弾性中心、お上び慣性主軸と支持
系の弾性主軸とがそれぞれ一致するように支持系を工夫
しなければならなかった。In response to this, in recent years, a device has been developed that directly measures the vibrational force of the engine, but this device decouples the vibration achieved by the engine and measures the vibrational force from the vibration acceleration. Therefore, it was necessary to make various improvements to the system including the engine during the preparation stage for measurements. In other words, an additional mass is attached to the system so that the center of gravity of the system including the engine coincides with the center of vibration, and the X direction of the principal axis of inertia becomes the crankshaft of the engine, and the Y direction of the principal axis of inertia is horizontal. Furthermore, the support system had to be devised so that the center of gravity of the system coincided with the elastic center of the support system, and the principal axis of inertia coincided with the principal elastic axis of the support system.
そのため、この起振力測定装置では、測定時に上記した
ような種々の条件を満たす必要があるので、汎用性に乏
しく、装置自体が大がかりになり、起振力を得るまでに
時間がかかりすぎる、という問題があった。Therefore, this excitation force measuring device needs to satisfy the various conditions mentioned above during measurement, so it lacks versatility, the device itself becomes large-scale, and it takes too much time to obtain the excitation force. There was a problem.
〈発明の目的〉
本発明は、上述の問題点に鑑みてなされたものであって
、大がかりな装置を使用せずに、簡単な準備操作により
精度よく起振力を測定することができるようにすること
を目的とする。<Object of the Invention> The present invention has been made in view of the above-mentioned problems, and has an object to enable accurate measurement of excitation force by simple preparatory operations without using a large-scale device. The purpose is to
〈発明の構成〉
本発明は、上記の目的を達成するために、機関等の測定
対象物を弾性支持系で支持するとともに、該対象物の複
数位置でｘ、ｙ、ｚの３方向のうちのいくつかの方向に
加速度センサを取り付けたのち、前記加速度センサから
得られた少なくとも６個の並進加速度から剛体動きの式
を用いて対象物の重心周りの６個の加速度を算出し、前
記６個の加速度に質量もしくは慣性モーメントをそれぞ
れ乗じて重心周りの６分力を算出し、前記６分力の作用
点を対象物の重心から対象物の駆動軸の中心に移す演算
処理を行なって対象物の起振力を算出するようにしたも
のである。<Structure of the Invention> In order to achieve the above object, the present invention supports an object to be measured such as an engine with an elastic support system, and supports the object in three directions x, y, and z at a plurality of positions on the object. After installing acceleration sensors in several directions of the object, six accelerations around the center of gravity of the object are calculated from at least six translational accelerations obtained from the acceleration sensors using a rigid body motion formula, and The 6-component force around the center of gravity is calculated by multiplying the acceleration of the object by the mass or the moment of inertia, and calculation processing is performed to move the point of action of the 6-component force from the object's center of gravity to the center of the drive axis of the object. It is designed to calculate the excitation force of an object.
〈実施例〉
以下、本発明を図面に示す実施例に基づいて詳細に説明
する。第１図は本発明測定方法の実施に供する起振力測
定装置の概略構成図であって、該起振力測定装置は、測
定対象物である機関ｌを支持する弾性支持系２と、機関
ｌの表面の複数位置でｘ、ｙ、ｚの３方向のうちいずれ
かの方向に取り付けた加速度センサ３．３・・・と、該
加速度センサ３の検出信号を導入して後述する所定の演
算処理を行なうコンピュータ４とを備えている。５はコ
ンピュータ４の演算結果等を表示するＣＲＴ、６はコン
ピュータ４に所要の指示をするために操作されるキーボ
ードである。また、７は機関ｌの回転数を検出する回転
センサ、８は機関ｌのトップ位置を検出するトップセン
サであって、各センサ７．８は機関ｌの駆動軸であるク
ランク軸９に取り付けられたギア１０に対設されている
。<Example> Hereinafter, the present invention will be described in detail based on an example shown in the drawings. FIG. 1 is a schematic configuration diagram of an excitation force measuring device used for carrying out the measuring method of the present invention, and the excitation force measuring device consists of an elastic support system 2 that supports an engine l, which is an object to be measured, and an engine l. Acceleration sensors 3.3... are attached in any one of the three directions x, y, and z at multiple positions on the surface of l, and the detection signals of the acceleration sensors 3 are introduced to perform a predetermined calculation described later. It also includes a computer 4 that performs processing. 5 is a CRT for displaying the calculation results of the computer 4, and 6 is a keyboard operated to give necessary instructions to the computer 4. Further, 7 is a rotation sensor that detects the rotation speed of the engine l, 8 is a top sensor that detects the top position of the engine l, and each sensor 7.8 is attached to the crankshaft 9 that is the drive shaft of the engine l. The gear 10 is provided oppositely to the gear 10.
次に、本発明測定方法の各ステップを第２図のフローチ
ャートに基づいて詳細に説明する。Next, each step of the measuring method of the present invention will be explained in detail based on the flowchart of FIG.
（ステップｎｌ）
加速度センサ３の検出信号を導入して機関１表面での並
進加速度（６個以上、ｘ 、ｙ 、ｚの各方向について
それぞれ２個以上）を検出する。その理由は後述する。(Step nl) A detection signal from the acceleration sensor 3 is introduced to detect translational accelerations (six or more, two or more in each of the x, y, and z directions) on the surface of the engine 1. The reason will be explained later.
（ステップｎ２）
一般に剛体の振動の場合、加速度と力とが対応するのは
、重心においてのみである。したがって、上記の測定装
置１こおいて機関ｌの表面に設定された位置で検出され
た加速度と力とは、そのま亥対応づけることができない
。(Step n2) Generally, in the case of vibration of a rigid body, acceleration and force correspond only at the center of gravity. Therefore, the acceleration and force detected at a position set on the surface of the engine 1 by the measuring device 1 described above cannot be directly correlated.
そこで、まず、加速度センサ３によって検出された複数
の並進加速度から重心周りの加速度を求めなければなら
ない。Therefore, first, the acceleration around the center of gravity must be determined from the plurality of translational accelerations detected by the acceleration sensor 3.
重心周りの加速度と任意の位置（検出点Ｐｉ）の加速度
との間には、剛体動きの式から次式（１）の関係がある
。Between the acceleration around the center of gravity and the acceleration at an arbitrary position (detection point Pi), there is a relationship expressed by the following equation (1) based on the equation of rigid body motion.
検出点での並進加速度をαｉｘ、αｉｙ、αｉｚ１同じ
く検出点での回転加速度をδｉｘ、 ”ｊｌ ｉｙ、δ
ｉｚ、重心周りの並進加速度をαｇｘ、αｇｙ、αｇｚ
ｓ同じく重心周りの回転加速度をδｇｘ、 ３ ｇｙ、
δｇｚ、検出点Ｐｉの座標をＸｉ、Ｙｉ、Ｚｉとすると
、
・・・（１）式・・・
上記の式において、 上記の検出点での回転加速度は直
接的に測定することができないが、検出点３点（Ｐ ｉ
ＸＰ ｊＸＰ ｋ）の並進加速度から次式（２）により
求められる。The translational acceleration at the detection point is αix, αiy, αiz1, and the rotational acceleration at the detection point is δix, ”jl iy, δ
iz, the translational acceleration around the center of gravity is αgx, αgy, αgz
s Similarly, the rotational acceleration around the center of gravity is δgx, 3 gy,
δgz, and the coordinates of the detection point Pi are Xi, Yi, Zi, ...Equation (1)... In the above equation, although the rotational acceleration at the above detection point cannot be directly measured, 3 detection points (P i
It is obtained from the translational acceleration of XP jXP k) using the following equation (2).
（αｉｘ −ａ ｊｘ）＝ （Ｚｉ−ＺＤ（＃ ｙ −
（Ｙｉ −Ｙｊ）＃ ｚ（αｉｙ −ａ ｊｙ）＝ −
（Ｚｉ −Ｚｙ）＃ ｘ＋ （Ｘｉ −Ｘｊ）Ｍ ｚＣ
ａ ｉｚ −ａ ｋｚ） ＝ （Ｙｉ −Ｙｋ） ｊ）
’ ｘ −（Ｘｉ −Ｘｋ）ｇｙ（ただし、−１ｆ−ｊ
−Ｉ−ｋ） ・・・・・・（２）（２）式
を考慮して（１）式を書き換えると、（３）式になる。(αix −a jx)= (Zi−ZD(# y −
(Yi −Yj)# z(αiy −a jy)= −
(Zi −Zy)# x+ (Xi −Xj)M zC
a iz - a kz) = (Yi - Yk) j)
'x - (Xi -Xk)gy (where -1f-j
-I-k) ...(2) If equation (1) is rewritten in consideration of equation (2), equation (3) is obtained.
Ｘｉ、Ｙｉ、Ｚｉを検出点Ｐｉ（１０座標、Ｘｊ、Ｙｊ
、Ｚｊを検出点Ｐｊの座標、Ｘｋ、Ｙｋ、Ｚｋを検出点
Ｐｋの座標とすると、
・・・（３）式・・・
上記（３）式から、任意の３検出点での直交３方向の並
進加速度を６個測定すれば、重心周りの６個の加速度を
算出しうろことが分かる。Xi, Yi, Zi are the detection points Pi (10 coordinates, Xj, Yj
, Zj is the coordinate of the detection point Pj, and Xk, Yk, Zk are the coordinates of the detection point Pk. Equation (3)... From the above equation (3), three orthogonal directions at any three detection points It turns out that if we measure six translational accelerations, we can calculate six accelerations around the center of gravity.
しかし、測定された並進加速度には測定誤差がが含まれ
ている、と考えられる。そこで、本発明方法、では、（
３）式を解くのに、最小２乗法を採用して精度の向上を
図った。However, it is considered that the measured translational acceleration includes measurement errors. Therefore, in the method of the present invention, (
3) To solve the equation, we adopted the least squares method to improve accuracy.
ところで、（３）式の行を測定方向により適当に入れ換
えることにより、６個以上の検出点で測定された並進加
速度と重心周りの並進加速度との関係は、（４）式のよ
うになる。By the way, by appropriately replacing the lines of equation (3) depending on the measurement direction, the relationship between the translational acceleration measured at six or more detection points and the translational acceleration around the center of gravity becomes as shown in equation (4).
（余白）
上記（４）式をマトリクス表示すると、（５）式のよう
になる。(Margin) When the above equation (4) is displayed in a matrix, it becomes equation (5).
（αｎ）＝（Ｔ）・（αｇ） ・・・・・・（５
）上記（５）式において、（αｎ）は測定点の並進加速
度、（αｇ）は重心周りの加速度、（Ｔ）は変換マトリ
クスである。(αn)=(T)・(αg) ・・・・・・(5
) In the above equation (5), (αn) is the translational acceleration of the measurement point, (αg) is the acceleration around the center of gravity, and (T) is the transformation matrix.
次に誤差ベクトルを（Ｅ）とすると、この誤差ベクトル
は（６）式のように表わすことができる。Next, let the error vector be (E), this error vector can be expressed as in equation (6).
（Ｅ）＝（αｎ）−（Ｔ）・（αｇ） ・・・・・・（
６）最小２乗誤差を最小にするには、
ｄ（Ｅ”） （Ｅ ）／ｄ（αｇ）＝０であるから、（
７）式％式％
］）
（７）式より、測定誤差の影響を最小にして重心周りの
６個の加速度を算出する。(E)=(αn)−(T)・(αg) ・・・・・・(
6) To minimize the least squares error, d(E”) (E)/d(αg)=0, so (
7) Formula % Formula % ]) From formula (7), six accelerations around the center of gravity are calculated while minimizing the influence of measurement errors.
（ステップｎ３） 剛体の運動方程式は、次式の（８）式の通りである。(Step n3) The equation of motion of the rigid body is as shown in the following equation (8).
（Ｍ ） ｄ”（Ｘｇ）／ｄｔ”＋ （Ｃ） ｄ（Ｘｇ
）／ｄｔ＋（Ｋ）（Ｘｇ）−（Ｆｇ）ｓｉｎ（ωｔ）
−（８）タタし、ＣＭ）は質量マトリクス、（Ｃ）は
減衰マトリクス、（Ｋ）は剛性マトリクス、（Ｆ）は力
のベクトル、ωは角振動数である。(M) d”(Xg)/dt”+ (C) d(Xg
)/dt+(K)(Xg)−(Fg)sin(ωt)
-(8) Tatami, CM) is the mass matrix, (C) is the damping matrix, (K) is the stiffness matrix, (F) is the force vector, and ω is the angular frequency.
ここで、支持系の剛性が小さく、かつ減衰が小さければ
、換言すると、測定周波数域ωが系の固有振動数ω０よ
り大きければ、前記（８）式は加速度ベクトルを用いて
（９）式のように変形することができる。Here, if the stiffness of the support system is small and the damping is small, in other words, if the measurement frequency range ω is larger than the natural frequency ω0 of the system, the above equation (8) can be converted to equation (9) using the acceleration vector. It can be transformed as follows.
（Ｆｇ）＝ＣＭ）・（αｇ） ・・・・・・（９）こ
こでＣＭ）はマトリクスであり、該マトリクスＣＭ）で
機関質量をｍ、機関の慣性モーメントを■、機関の慣性
乗積をＪとすると、マトリクスＣＭ）は、
である。(Fg)=CM)・(αg) (9) Here, CM) is a matrix, and in this matrix CM), the engine mass is m, the moment of inertia of the engine is ■, and the product of inertia of the engine Let J be the matrix CM).
したがって、機関の質量および慣性テンソルを測定もし
くは計算により求めれば、重心に作用する力（Ｆｇ）は
゛、（９）式より容易に算出できる。Therefore, if the mass and inertia tensor of the engine are determined by measurement or calculation, the force (Fg) acting on the center of gravity can be easily calculated from equation (9).
（ステップｎ４）
前述したように、機関の起振力とは、クランク軸中心に
作用する力である。したがって、先に求めた重心Ｇに作
用する力の作用点をクランク軸中心Ｐに移動しなければ
ならない。力の作用点を重心から任意の点（この場合は
クランク軸中心）へ移す変換は、次の（１０）式で行な
う。(Step n4) As mentioned above, the excitation force of the engine is a force that acts on the center of the crankshaft. Therefore, the point of application of the force acting on the center of gravity G determined previously must be moved to the crankshaft center P. The conversion to move the point of force application from the center of gravity to an arbitrary point (in this case, the center of the crankshaft) is performed using the following equation (10).
（Ｆ）＝ＣＤ）・（Ｆ ｇ） ・・・・・・（
１０）上記の（ｉ ｏ）式で、（Ｆ）は起振力、ＣＯ３
は変換マトリクスであって、この変換マトリクスＣＤ）
は、
この変換マトリクスＣＤ）で、ｘ、ｙ、ｚはクランク軸
中心Ｐの座標である。(F)=CD)・(F g) ・・・・・・(
10) In the above equation (i o), (F) is the excitation force, CO3
is a transformation matrix, and this transformation matrix CD)
is the transformation matrix CD), where x, y, and z are the coordinates of the crankshaft center P.
上記の（ｌＯ）式により機関の起振力が求められる。The excitation force of the engine is determined by the above equation (lO).
第４図の線図に本発明測定方法の測定結果を示す。測定
対象である機関は２気筒立型水冷機関で、その上下方向
起振力を表示している。比較のため、出願人会社で用い
ている精度が検証された計算による算出方法で求めた起
振力を併記している。The diagram of FIG. 4 shows the measurement results of the measurement method of the present invention. The engine being measured is a two-cylinder vertical water-cooled engine, and its vertical excitation force is displayed. For comparison, the excitation force determined by the calculation method used by the applicant company and whose accuracy has been verified is also shown.
この測定結果からも明らかなように、本発明方法によれ
ば、起振力が精度よく求められることが分かる。As is clear from this measurement result, according to the method of the present invention, the excitation force can be determined with high accuracy.
〈発明の効果〉
以上のように、本発明によれば、簡単な準備操作により
、検出信号から直接的に起振力を求めることができ、大
がかりな装置を使用せず容易に、かつ精度よく起振力を
測定することができる。<Effects of the Invention> As described above, according to the present invention, the excitation force can be determined directly from the detection signal by simple preparatory operations, and can be easily and accurately obtained without using large-scale equipment. Excitation force can be measured.
第１図は本発明測定方法の実施に供する測定装置の概略
構成図、第２図は本発明測定方法のフローチャート、第
３図は測定の座標系を示す説明図、第４図は実験結果を
示す線図である。
１・・・機関、２・・・弾性支持系、３・・・加速度セ
ンサ、４・・・コンピュータ。Figure 1 is a schematic configuration diagram of a measuring device used to carry out the measuring method of the present invention, Figure 2 is a flowchart of the measuring method of the present invention, Figure 3 is an explanatory diagram showing the coordinate system of measurement, and Figure 4 shows the experimental results. FIG. 1... Engine, 2... Elastic support system, 3... Acceleration sensor, 4... Computer.
Claims (1)
もに、該対象物の複数位置に加速度センサを取り付け、
前記加速度センサの検出信号から対象物の起振力を測定
する方法であって、 前記加速度センサから得られた少なくとも６個の並進加
速度から剛体動きの式を用いて対象物の重心周りの６個
の加速度を算出するステップと、前記６個の加速度に質
量もしくは慣性モーメントをそれぞれ乗じて重心周りの
６分力を算出するステップと、前記６分力の作用点を対
象物の重心から対象物の駆動軸の中心に移す演算処理を
行なって対象物の起振力を算出するステップとを含むこ
とを特徴とする機関等の起振力測定方法。(1) An object to be measured such as an engine is supported by an elastic support system, and acceleration sensors are attached to multiple positions on the object.
A method of measuring an excitation force of an object from a detection signal of the acceleration sensor, the method comprising: measuring the excitation force of an object from at least six translational accelerations obtained from the acceleration sensor using a rigid body movement equation; a step of calculating the 6-component force around the center of gravity by multiplying each of the 6 accelerations by mass or moment of inertia, and locating the point of action of the 6-component force from the center of gravity of the object to the object's center of gravity. A method for measuring an excitation force of an engine, etc., comprising the step of calculating the excitation force of an object by performing arithmetic processing to move the object to the center of a drive shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6172385A JPS61218918A (en) | 1985-03-25 | 1985-03-25 | Method for measuring vibromotive force of engine etc. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6172385A JPS61218918A (en) | 1985-03-25 | 1985-03-25 | Method for measuring vibromotive force of engine etc. |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61218918A true JPS61218918A (en) | 1986-09-29 |
| JPH0376850B2 JPH0376850B2 (en) | 1991-12-06 |
Family
ID=13179424
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6172385A Granted JPS61218918A (en) | 1985-03-25 | 1985-03-25 | Method for measuring vibromotive force of engine etc. |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61218918A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100428141B1 (en) * | 2001-09-06 | 2004-04-30 | 현대자동차주식회사 | Engine behaviour measurement 3 axises deformation system in vehicle |
| JP2006275637A (en) * | 2005-03-28 | 2006-10-12 | Toyota Motor Corp | Device and method for measuring engine balance |
-
1985
- 1985-03-25 JP JP6172385A patent/JPS61218918A/en active Granted
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100428141B1 (en) * | 2001-09-06 | 2004-04-30 | 현대자동차주식회사 | Engine behaviour measurement 3 axises deformation system in vehicle |
| JP2006275637A (en) * | 2005-03-28 | 2006-10-12 | Toyota Motor Corp | Device and method for measuring engine balance |
| JP4525415B2 (en) * | 2005-03-28 | 2010-08-18 | トヨタ自動車株式会社 | Engine balance measuring apparatus and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0376850B2 (en) | 1991-12-06 |
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