转子在线自动平衡技术控制原理及工程应用中的研究
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摘要
现代旋转机械正朝着高速化、重载化、智能化的方向发展,透平、风机、压缩机等高速旋转设备已经成为过程工业中的核心装置。然而,由于质量不平衡而引起的同频振动影响了设备的正常运转,因此保证转子平衡成为解决问题的关键。本文研究的主动平衡技术,寻求在线完成转子的平衡过程,力图避免传统动平衡方法中设备停车给企业带来的经济损失。本文的主要研究内容如下:
(1)总结了国内外自动平衡技术的研究现状和发展趋势,分析了自动平衡的主要难点和关键技术,阐述了本文研究的意义
(2)研究了动平衡和自动平衡的动力学原理和基本理论
(3)本文还研究了电磁型主动平衡装置基于影响系数法的单平面自校正自适应控制算法,最后在Jeffcott转子系统上针对正确和错误的影响系数初始值,仿真对比研究了传统的影响系数法、固定参数和时变参数影响系数法的平衡过程,仿真结果表明了时变参数影响系数法的优越性。
(4)本文采用了简单的模型,设计了针对持续注液平衡头的低层控制算法,并对它做了仿真实验研究。
Modern rotating machinery developed on the trend of high speed、heavy load and intelligence. The high speed rotary device are the key equipment in the process industry, such as turbomachinery、pan、compressor and so on. Resonance vibration caused by unbalance influences the ordinary operation of equipments, so rotor's balancing is the critical factor for solving this problem. In order to complete the balancing process on line, the active balancing technique is studied in this paper. This skill avoids the broken down of the equipment on tradition balancing method, which decreases the company's loss. The main works could be summarized as follow:
(1) The state of the art and tendency of the auto-balancing technology are reviewed and the significance is discussed.
(2) The dynamics principle and basic theory of dynamic balance and auto-balance are studied.
(3) Single-plane self-correction controlling algorithm based on the influencecoefficient method for electromagnetic active balancing device is also studied in this paper. Aiming atcorrect and false initial value of the influence coefficient, contrast simulations among balancing process rates of conventional influence coefficient method,fixed parameter and time-varying parameter influence coefficient method arecarried out on the Jeffcott rotor system. Simulation results indicate superiority of time-varying parameter influence coefficient method.
(4)Used the simple model, which designs the control algorithm of continuously-dripping balancing head is also studied in this paper.
(1)总结了国内外自动平衡技术的研究现状和发展趋势,分析了自动平衡的主要难点和关键技术,阐述了本文研究的意义
(2)研究了动平衡和自动平衡的动力学原理和基本理论
(3)本文还研究了电磁型主动平衡装置基于影响系数法的单平面自校正自适应控制算法,最后在Jeffcott转子系统上针对正确和错误的影响系数初始值,仿真对比研究了传统的影响系数法、固定参数和时变参数影响系数法的平衡过程,仿真结果表明了时变参数影响系数法的优越性。
(4)本文采用了简单的模型,设计了针对持续注液平衡头的低层控制算法,并对它做了仿真实验研究。
Modern rotating machinery developed on the trend of high speed、heavy load and intelligence. The high speed rotary device are the key equipment in the process industry, such as turbomachinery、pan、compressor and so on. Resonance vibration caused by unbalance influences the ordinary operation of equipments, so rotor's balancing is the critical factor for solving this problem. In order to complete the balancing process on line, the active balancing technique is studied in this paper. This skill avoids the broken down of the equipment on tradition balancing method, which decreases the company's loss. The main works could be summarized as follow:
(1) The state of the art and tendency of the auto-balancing technology are reviewed and the significance is discussed.
(2) The dynamics principle and basic theory of dynamic balance and auto-balance are studied.
(3) Single-plane self-correction controlling algorithm based on the influencecoefficient method for electromagnetic active balancing device is also studied in this paper. Aiming atcorrect and false initial value of the influence coefficient, contrast simulations among balancing process rates of conventional influence coefficient method,fixed parameter and time-varying parameter influence coefficient method arecarried out on the Jeffcott rotor system. Simulation results indicate superiority of time-varying parameter influence coefficient method.
(4)Used the simple model, which designs the control algorithm of continuously-dripping balancing head is also studied in this paper.
引文
[1]徐龙祥,高速旋转机械轴系动力学设计,北京,国防工业出版社,1994
[2]沈庆根,化工机器故障诊断技术,杭州,浙江大学出版社,1994
[3]钟一谔,何衍宗,王正,李方泽,转子动力学,北京,清华大学出版社,1987
[4]顾家柳,夏松波,王正,转子动力学,北京,国防工业出版社,1985
[5]周仁睦,转子动平衡:原理、方法和标准,北京,化学工业出版社,1992
[6]Vegte J V.Continuous automatic balancing of rotating system[J].Journal of Mechanical Engineering Science,1964,6(3):264-269.
[7]Vegte J V,Lake R T.Balancing of rotating system during operation.Journal of Sound and Vibration[J].1978,57(2),225-235
[8]Bishop R E D.On the possibility of balancing rotating flexible shafts[J].Journal of Mechanical Engineering Science,1982,24(4):215-220
[9]Lee C W,Kim Y D.Modal balancing of flexible rotors during operation:design and manual operation of balancing head[C].Proc.Instn.Mech.Engng.,1987,201(c5):349-355
[10]Ben-Ari R,Rosen A.Mathematical modeling of a helicopter rotor track and balance:theory[J].Journal of Sound and Vibration,1997,200(5),589-603
[11]Ben-Ari R,Rosen A.Mathematical modeling of a helicopter rotor track and balance:results[J].Journal of Sound and Vibration,1997,200(5),605-620
[12]王玉红,郭锴,陈建峰,等.超重力技术及其应用[J].金属矿山,1999,4:25-29
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[16]Goodman T.A least-squares method for calculating balance corrections.Trans.ASME:J.Engineering for Industry,1964,36:86-92
[17]Austrow J C.An optimum balance weight search algorithm.Journal of Engineering for Gas Turbines and Power,1994,116:678
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[24]GOSIEWSKI Z.Automatic balancing of flexible rotors,part 2:synthesis of system[J].Journal of Sound and Vibration,1987,114(1):103-119.
[25]C.R.Kropse.Robustness of Unbalance Response Controllers.Proceeding 3th Intl Symosium on Magnetic Beating Vibration.1992,(6):319-326.
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[38]余鹤轩.微机控制砂轮液体动态平衡装置的研制.磨床与磨削.1989,(1):13-17.
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[44]Tadeusz M.Position error occurrence in self-balancers used on rigid rotors of rotating machinery[J].Mechanism and Machine Theory,1988,23(1):71-78
[45]Sohn J S.Self-compensating dynamic ball balancer for disk player[P].United States Patent,6333912,2001-12-25
[46]Hhuang W Y,Chao C P,Kang J R,Sung C K.The application of ball-Type balancers for radial vibration reduction of high-speed optic disk drivers[J].Journal of Sound and Vibration,2002,250(3):415-430
[47]Johnson D D.Wheel balancing device for vehicular wheels[P].United States Patent,6719374,2004-4-13
[48]Rajalingham C,Rakheja S.Whirl suppression in hand-held power tool rotors using guided rolling balancers[J].Journal of Sound and Vibration,1998,217(3):453-466
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[51]Chung J,Jang I.Dynamic response and stability analysis Of an automatic ball balancer for a flexible rotor[J].Journal of Sound and Vibration,2003,259(1):31-43
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[56]Delvaux Steven,Van Barel Marc.Rank structures preserved by the QR-algorithm:The singular case[J].Journal of Computational and Applied Mathematics,2006,189(5):157-178
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[2]沈庆根,化工机器故障诊断技术,杭州,浙江大学出版社,1994
[3]钟一谔,何衍宗,王正,李方泽,转子动力学,北京,清华大学出版社,1987
[4]顾家柳,夏松波,王正,转子动力学,北京,国防工业出版社,1985
[5]周仁睦,转子动平衡:原理、方法和标准,北京,化学工业出版社,1992
[6]Vegte J V.Continuous automatic balancing of rotating system[J].Journal of Mechanical Engineering Science,1964,6(3):264-269.
[7]Vegte J V,Lake R T.Balancing of rotating system during operation.Journal of Sound and Vibration[J].1978,57(2),225-235
[8]Bishop R E D.On the possibility of balancing rotating flexible shafts[J].Journal of Mechanical Engineering Science,1982,24(4):215-220
[9]Lee C W,Kim Y D.Modal balancing of flexible rotors during operation:design and manual operation of balancing head[C].Proc.Instn.Mech.Engng.,1987,201(c5):349-355
[10]Ben-Ari R,Rosen A.Mathematical modeling of a helicopter rotor track and balance:theory[J].Journal of Sound and Vibration,1997,200(5),589-603
[11]Ben-Ari R,Rosen A.Mathematical modeling of a helicopter rotor track and balance:results[J].Journal of Sound and Vibration,1997,200(5),605-620
[12]王玉红,郭锴,陈建峰,等.超重力技术及其应用[J].金属矿山,1999,4:25-29
[13]Bishop R E D.On the possibility of balancing rotating flexible shafts[J].Journal of Mechanical Engineering Science,1982,24(4):215-220.
[14]闻邦春,顾家柳,夏松波等.高等转子动力学:理论、技术及应用.北京:机械工业出版社,1999.8
[15]Tessarzik,J.M.,Badgley,R.H.and Anderson,W.J.,"Flexible Rotor Balancing by the Exact Point-Speed Influence Coefficient Method," Transactions of ASME,Journal Engineering for Industry,pp.148-158(1972)
[16]Goodman T.A least-squares method for calculating balance corrections.Trans.ASME:J.Engineering for Industry,1964,36:86-92
[17]Austrow J C.An optimum balance weight search algorithm.Journal of Engineering for Gas Turbines and Power,1994,116:678
[18]Bishop R E D,and Parkinson A G;On the Use of Balance Machines for Flexible Rotors[J][M];ASME Transactions,Journal of Engineering for Industry;
[19]MACDUFF E J,CLARKN D1Ljungstrom air preheater design and op2eration,part Ⅰ:sealing and leakage[J].Combustion,1976,47:7-111
[20]Maslen,J.R.Bielk.A stability model for flexible rotors with magnetic bearings.ASME J.Dyn.Syst.Meas.Control 114(1)(1992):172-175.
[21]Lum K Y,Coppola Vincent T,Dennis B S.Adaptive autocentering control for an active magnetic bearing supporting a rotor with unknown mass imbalance.IEEE Transaction on control system technology,1996,4(5):587-597
[22]Stephens L S,Knospe C R;Effect of magnetic pole arrangement on core loss in laminated high-speed magnetic journal bearings[M];IEEE Trans.Mag;1996 年
[23]KNOSPE C R,HOPE R W,FEDIGAN S J,et al.Experiments in the control of imbalance response using magnetic beatings[J].Mechanics,1995,5(4):385-400.
[24]GOSIEWSKI Z.Automatic balancing of flexible rotors,part 2:synthesis of system[J].Journal of Sound and Vibration,1987,114(1):103-119.
[25]C.R.Kropse.Robustness of Unbalance Response Controllers.Proceeding 3th Intl Symosium on Magnetic Beating Vibration.1992,(6):319-326.
[26]Kerlin,J..Remote Control System for Rotary Device[P].U.S.Patent,1984
[27]P.J.McCleer,J.M.Bailey.Five Phase trapezoidal back emf PM sychonous machines and drives[J].in Proc.European Power Electron Conf.,1991,1-6.
[28]H.Kaliszer,D.Msc.Microprocessor-controlled Automatic Balancing System.International Conference on Vibration in Rotating Machinery.1988,(12):109-115.
[29]V.J.devegte,R.Tlake.Balancing of Rotating System during operation.Journal of Sound and Vibration.1978,57(2):225-235
[30]V.J.devegte.Balancing of Flexible Rotors during operation.Journal Mechanical Engineering Science.1981,23(5):161-175
[31]Y.John,C.W.Lee.Automatic Model Balancing of the Flexible Rotors During Operation:Computer Controlled Balanced Head.Proceedings of Institution of Mechanical Engineering.1990,199(c1):19-28.
[32]Zhou,S.,and Shi,J.,2000."Supervisory Adaptive Balancing of Rigid Rotors during Acceleration," Transactions of NAMRI/SME,Vol.27,425-430.
[33]Zhou,S.,and Shi,J.,2001a,"The Analytical Unbalance Response of Jeffcott Rotor during Acceleration," ASME Transactions,Journal of Manufacturing Science and Engineering,Vol.123,299-302.
[34]Zhou,S.,and Shi,J.,2001b,"Optimal One-Plane Active Balancing of Rigid Rotor during Acceleration," Journal of Sound and Vibration.
[35]Zhou,S.,Modeling,Estimation,and Active Balancing of Rotor System during Acceleration.2001,Ph.D.Dissertaiton,University of Michigan,Ann Arbor,Michigan.
[36]葛哲学等.新型电磁式自动平衡装置的研究.机械,2001.28(6):62-64.
[37]李勇等.永磁差频电动平衡头的振动控制实验研究.振动工程学报,2000,13(2):302-306.
[38]余鹤轩.微机控制砂轮液体动态平衡装置的研制.磨床与磨削.1989,(1):13-17.
[39]母德强等.径注式砂轮在线液体平衡装置的设计.中国机械工程.1996,7(3):58-59.
[40]周士炎,动平衡标准及评介,世界标准化与质量管理,1995,12,24-29
[41]夏松波,刘永光,李勇,须根发.旋转机械自动平衡综述[J].中国机械工程,1999,10(4):158-161
[42]Kikuchi Y,Higuchi D,Yeoh K H.Automatic equalizer[P].United States Patent,6492750,2002-12-10
[43]Masaki K,Mihara K,Yoshida S,Fukuyama S,Urayama N,Kikugawa M.Balanced disk drive apparatus[P].United States Patent,6711116,2004-3-23
[44]Tadeusz M.Position error occurrence in self-balancers used on rigid rotors of rotating machinery[J].Mechanism and Machine Theory,1988,23(1):71-78
[45]Sohn J S.Self-compensating dynamic ball balancer for disk player[P].United States Patent,6333912,2001-12-25
[46]Hhuang W Y,Chao C P,Kang J R,Sung C K.The application of ball-Type balancers for radial vibration reduction of high-speed optic disk drivers[J].Journal of Sound and Vibration,2002,250(3):415-430
[47]Johnson D D.Wheel balancing device for vehicular wheels[P].United States Patent,6719374,2004-4-13
[48]Rajalingham C,Rakheja S.Whirl suppression in hand-held power tool rotors using guided rolling balancers[J].Journal of Sound and Vibration,1998,217(3):453-466
[49]Rajalingham C,Bhat R B,Rakheja S.Automatic balancing of flexible vertical rotors using a guided ball[J].International Journal of Mechanical Sciences,1998,40(9):825-834
[50]Sperling L,Ryzhik B,Linz C,Duckstein H.Simulation of two-plane automatic balancing of a rigid rotor[J].Mathematics and Computers in Simulation,2002,58(4-6):351-36
[51]Chung J,Jang I.Dynamic response and stability analysis Of an automatic ball balancer for a flexible rotor[J].Journal of Sound and Vibration,2003,259(1):31-43
[52]Rajalingham C,Bhat R B.Complete balancing of a disk mounted on a vertical cantilever shaft using a two ball automatic balancer[J].Journal of Sound and Vibration,2006,290(1-2):169-191
[53]韩曾晋.自适应控制[M].北京:清华大学出版社,1995.34-39
[54]Knospe,C.R.,Hope R.W.,Tamer,W.M.,etc.Robustness of adaptive unbalance control of rotors with magnetic beatings[J].Journal of Vibration and Control,1996,2:33-52
[55]Dyer Stephen W,Ni Jun,Shi,Jianjun.Robust optimal influence-coefficient control of multiple-plane active rotor balancing systems[J].Journal of Dynamic Systems,Measurement and Control,2002,124(1):41-46
[56]Delvaux Steven,Van Barel Marc.Rank structures preserved by the QR-algorithm:The singular case[J].Journal of Computational and Applied Mathematics,2006,189(5):157-178
[57]韩余才,刘胜军,鞠彦忠,等.汽轮发电机组动平衡的等效动刚度系数方法[J].中国电机工程学报,1997,17(1):9-12
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