1840results about "Static/dynamic balance measurement" patented technology

The invention relates to the technical field of mining mechanical equipment, and particularly discloses a mining mechanical equipment anomaly detection system and method. Current signals, voltage signals and vibration signals in the operation process of mining mechanical equipment are obtained; the method comprises the following steps: extracting an equipment operation current-voltage correlation feature vector and a mining mechanical equipment time frequency correlation feature vector, fusing to obtain a mining mechanical equipment anomaly classification feature vector, and obtaining a classification result through a classifier to indicate whether the mining mechanical equipment is abnormal or not, thereby realizing anomaly detection of the mining mechanical equipment.

A vehicle component balancing robot apparatus, system and method for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components that impart vibrations to the vehicle. The apparatus includes a frame arranged so as to connect with the vehicle. A robot of the apparatus moves relative to the frame, and is configured so that the move, relative to the frame, resolves a predetermined location of a tire-wheel assembly relative to a reference frame of the robot. The robot has at least one end effector arranged to interface the tire-wheel assembly and the robot moves the at least one end effector to other predetermined locations on a wheel rim of the tire-wheel assembly, determined based on resolution of the predetermined location of the tire-wheel assembly relative to the reference frame.

A vehicle component balancing robot apparatus, system and method for on vehicle balancing of one or more of a tire, a wheel, bearings, brake components, and vehicle components that impart vibrations to the vehicle. The apparatus includes a frame arranged so as to connect with the vehicle. A robot of the apparatus moves relative to the frame, and is configured so that the move, relative to the frame, resolves a predetermined location of a tire-wheel assembly relative to a reference frame of the robot. The robot has at least one end effector arranged to interface the tire-wheel assembly and the robot moves the at least one end effector to other predetermined locations on a wheel rim of the tire-wheel assembly, determined based on resolution of the predetermined location of the tire-wheel assembly relative to the reference frame.

The invention discloses a quadruped inspection robot space positioning method and system based on gravity center sensing, and aims to construct a gravity center potential energy field through foot end contact force and body attitude information, form a gravity center disturbance mode in combination with fluctuation spectrum analysis, and reveal a disturbance propagation mechanism. A reverse compensation technology is adopted to generate an anti-disturbance sequence, a foot end force distribution topology is reconstructed, and active disturbance suppression is achieved; a multi-frequency detection wave beam and coherent superposition technology is introduced, an environment hologram is generated, geometric topology is reconstructed, and a high-precision environment sensing system is established; high and low impedance regions are identified through energy density analysis, and an energy optimal path is constructed in combination with double strategies of potential field bypassing and streamline tracking; establishing an oscillation analysis space for path projection simulation, identifying resonance risk points and determining stabilization parameters; finally, a coordinate reference is generated by adopting a quantum entanglement type multi-anchor-point synchronization mechanism, accurate positioning is realized by fusing environmental geometric information, and a technical closed loop from gravity center dynamics analysis to environmental perception navigation is realized.

The invention discloses a tunnel monitoring method and system based on a vibrating wire sensor, and relates to the technical field of tunnel engineering construction safety monitoring, and the method comprises the steps: collecting the vibration frequency data and spatial position coordinates of the vibrating wire sensor in a monitoring region; the method comprises the following steps: calculating a time difference and an energy attenuation ratio between adjacent sensors by extracting spectrum energy density distribution, and constructing a stress wave propagation field; dividing grids in the propagation field to calculate node stress values, generating a stress field distribution cloud picture and extracting a stress concentration area; calculating a gravity center position coordinate change rate and a stress time sequence curve of the stress concentration area, and determining fracture extension parameters; and calculating a surrounding rock bearing capacity attenuation curve based on the parameters, and outputting an early warning signal when the slope exceeds a threshold value. According to the invention, real-time monitoring and early warning of the tunnel surrounding rock instability risk are realized.

The invention relates to the technical field of bumper detection, in particular to an automobile bumper detection method and system, and the system comprises a rigid test bench, a multi-point adjustable impact loading module, a bumper surface deformation monitoring module, and a control and processing module. The to-be-tested automobile bumper is fixed on the test bench according to a preset mode, and the plurality of sensors are arranged based on a preset position; carrying out dynamic and static balance test on the to-be-tested automobile bumper according to the received control instruction, and carrying out corresponding index calculation; on the basis of static and dynamic test indexes, a quantitative report is generated, whether the balance of the bumper structure reaches the standard or not is automatically judged, complex static supporting and dynamic impact working conditions possibly encountered by the bumper on a vehicle can be effectively simulated in an integrated process, the static stability of the overall structure and the coordination under power impact of the bumper can be quantitatively evaluated, and the reliability of the bumper structure is improved. Therefore, the structural safety performance of the bumper can be reflected more truly.

According to the mass center self-balancing chassis system for U-rib weld defect detection and the control method, the problem that when detection equipment moves on a U-rib curved surface, the precision is reduced due to mass center deviation and view field inclination can be solved. The system integrates a Mecanum wheel omni-directional moving unit, four groups of electric telescopic supporting legs, a two-axis holder and an ECU (electronic control unit), and has the innovation point that dynamic mass center balance and posture self-correction are realized through rigid-flexible combined supporting leg design and multi-modal sensing fusion. The ECU adopts an improved Canny algorithm to process the image, extracts a U rib edge point set and fits a reference center; in combination with pressure and tilt angle sensor data, a real-time mass center is solved through a moment balance formula, and then an improved self-adaptive PID algorithm is used for driving the supporting legs to stretch out and draw back, so that the mass center returns to a reference center; the two-axis holder compensates the view field angle according to the inclination angle data to ensure that the view field angle is perpendicular to the weld joint. Through cooperation of a mechanical structure and an algorithm, the system can control centroid offset to be smaller than or equal to 5 mm and view field inclination to be smaller than or equal to 1 degree, the detection stability and precision are remarkably improved, and the algorithm is easy to deploy.

The invention provides a wind turbine generator blade pneumatic unbalance monitoring method and system based on a torque coefficient, and belongs to the technical field of data processing. Real-time operation data of a wind turbine generator under various operation conditions are collected, time sequence correlation processing is carried out on the real-time operation data, and the wind turbine generator blade pneumatic unbalance monitoring method and system based on the torque coefficient are obtained. A torque coefficient time sequence containing continuous timestamp marks and corresponding wind speed fluctuation characteristics are generated, pneumatic deviation analysis is constructed, a theoretical expected value and an actual measurement value of a torque coefficient are dynamically compared, and an initial imbalance index is generated; calling a pre-trained error compensation network to carry out environmental interference factor elimination processing on the initial imbalance index, and outputting a corrected imbalance index after environmental interference elimination; and then, constructing a blade pneumatic state evaluation model based on the result, and generating a blade pneumatic unbalance monitoring result containing an unbalance level and an early warning suggestion. According to the invention, the accuracy of the monitoring result can be improved.

The invention discloses a motor fault diagnosis method and system based on color image fusion symmetric point mode, and the method comprises the steps: converting a vibration signal and an electromagnetic signal of a motor into symmetric point mode images, and generating a color signal image fusing feature information; respectively abstracting the color signal images fused with the feature information into nodes and edges in a high-dimensional semantic space so as to construct graph structure data; and performing diagnosis classification on the graph structure data of the vibration signals and the electromagnetic signals by using respective capsule graph network models, and fusing diagnosis classification results of the vibration signals and the electromagnetic signals through a voting mechanism to obtain a final diagnosis classification result. According to the method, multi-channel time domain signals are converted into image expressions with dense information and consistent geometry, and unified feature modeling is carried out on the images based on a depth map structure network with topology perception capability, so that motor fault diagnosis with high diagnosis precision and strong robustness is realized.

The invention discloses a rotating equipment dynamic balance adjusting device, and relates to the technical field of rotating equipment dynamic balance. Comprising a bottom table, a guide rail is installed in the middle of the top end of the bottom table, a moving frame slides in the guide rail, a sliding block slides in the moving frame in a limited mode, a first electric push rod is installed at the bottom of the sliding block, a connecting frame is installed at the bottom of the first electric push rod, and a rotating ring is rotationally connected into the connecting frame; and a visual sensor is mounted in the rotating ring. Through the clamping assembly, the connecting frame, the fixing table and the rotating ring, when the rotating shaft is subjected to balance detection, the rotating ring can synchronously rotate along with the rotating shaft, so that an uneven area on the surface of the rotating shaft can be accurately marked conveniently, and the rotating ring synchronously rotates along with the rotating shaft; an uneven area on the surface of the rotating shaft can be accurately marked in real time, and repeated grinding and detection conducted by an operator due to inaccurate marking are avoided.

The utility model belongs to the technical field of marine shafting transmission device couplings, and particularly relates to a marine coupler static balance test bench, which comprises a hydraulic bearing and a static balance tool, and is characterized in that the hydraulic bearing is composed of a bearing seat and a bearing bush in the bearing seat; the two ends of the static balance tool are of columnar structures and are in clearance fit with bearing bushes of the hydraulic bearings respectively, stable rotation is achieved through supporting of the hydraulic bearings, the static balance tool is of a sectional structure and comprises a first supporting shaft, a second supporting shaft and a plurality of stepped shafts, the first supporting shaft and the second supporting shaft are connected with the hydraulic bearings on the two sides, and the stepped shafts are located between the first supporting shaft and the second supporting shaft. The coupler is arranged on the static balance tool in a sleeving mode, located between the two hydraulic bearings and coaxially rotates with the static balance tool. The problems that an existing test bench is insufficient in test precision, poor in structural adaptability and low in stability are solved, and the detection precision of static balance test, the capability of adapting to diversified structures, the vibration resistance and the stability are improved.

The invention discloses an impeller unbalance monitoring method based on a blade three-point identification visual technology. The impeller unbalance monitoring method comprises the steps that three identification points are marked on each blade; in the working process of the wind turbine generator, the cabin clearance monitoring camera is used for shooting images of the blades in real time; identifying the pixel coordinates of the identification points in the image through an image technology, and converting the pixel coordinates into world coordinates; fitting a blade track according to the world coordinates; and identifying the impeller imbalance condition according to the blade motion trail. According to the method, image data collected by a cabin clearance monitoring camera (located at the bottom of a cabin and close to a hub shooting blade) is utilized, pixel coordinates of marking points and internal and external parameters of the camera are recognized through an image technology, the positions of the marking points in a world coordinate system are converted, and the position of the marking points is determined according to the difference of tracks of the marking points of the three blades. And identifying the impeller imbalance condition of the wind generating set.

The invention provides a wind turbine generator blade pneumatic unbalance monitoring method and system based on deep learning, and belongs to the field of deep learning. Airflow motion state data generated by a distributed sensing array in the operation process of a wind turbine generator blade are collected; performing aerodynamic feature extraction and unbalance degree quantization processing on the airflow motion state data to obtain a blade aerodynamic feature vector set; correlation learning is carried out on the blade aerodynamic feature vector set and a preset blade historical aerodynamic performance evolution trajectory, and an aerodynamic imbalance development prediction vector is generated; based on the pneumatic unbalance development prediction vector, performing unbalance trend dynamic analysis to obtain a key influence factor and an influence degree sequence of pneumatic unbalance of the blade; and outputting an evaluation result of the pneumatic imbalance of the blade and a corresponding predictive maintenance strategy according to the key influence factor and the influence degree sequence. The adaptability of the maintenance strategy and the pneumatic unbalance state of the blade can be improved, and monitoring and predictive maintenance of the pneumatic unbalance of the blade of the wind turbine generator system are supported.

The invention discloses an impeller dynamic balance detecting and leveling device which comprises a base plate, a supporting column and a leveling assembly. The leveling assembly comprises a lifting piece installed on the supporting column. A transmission frame is mounted on the lifting part; a pneumatic part is mounted on the transmission frame; and a push rod is fixedly mounted at the output end of the pneumatic part. According to the impeller dynamic balance detection leveling equipment, dynamic compensation can be carried out on an unbalanced part in the dynamic balance detection process by adjusting the balancing weight in real time, continuous and efficient dynamic balance testing is achieved, the detection efficiency is remarkably improved, meanwhile, according to the balancing weight position indicated by the balancing weight, the balancing weight clamp is installed in the corresponding area of the impeller, and the balance weight position is adjusted. Therefore, the local mass distribution of the impeller is accurately adjusted, the balance state of the impeller is accurately adjusted, the accuracy and operation convenience of dynamic balance adjustment are further improved, and the efficient and reliable mass balance effect is achieved.

The invention relates to motor rotor performance detection equipment which comprises a base, a vertical plate fixedly connected to the top wall of the base, a supporting shaft fixedly connected to the front wall of the vertical plate, a reciprocating bearing arranged on the supporting shaft in a sleeving mode, a reciprocating roller supported by the reciprocating bearing, a T-shaped ring fixedly connected to the front end of the reciprocating roller, a vertical plate extending downwards and two transverse plates extending in the opposite directions arranged on the T-shaped ring, the front wall of the vertical plate is connected with a vertical sliding seat in a sliding mode, the top of the vertical sliding seat is connected with a shaft bottom sensing seat in a sliding mode, the shaft bottom sensing seat is provided with two shaft bottom contact wheels, and the transverse plates on the two sides are each connected with a transverse sliding seat in a sliding mode. According to the detection method of the motor rotor performance detection equipment, the vibration characteristics of the rotor can be analyzed more fully and comprehensively, the dynamic balance correction precision is improved, and the risk of missed judgment caused by missed detection of the vibration characteristics in the vertical direction is avoided.

The invention discloses a land-based virtual-real symbiosis experiment system for traveling cable swing, which comprises a land-based cable experiment table carrying a driving and loading module, and a mapping module for collecting real parameters of a traveling cable based on the driving and loading module to establish a mechanical model, the driving and loading module comprises driving equipment arranged on the land-based cable experiment table, the mapping module defines boundary conditions of the mapping module in a fixing mode of the land-based cable experiment table, and the boundary conditions serve as constraints of a dynamic model in the mapping module. By establishing real-time data transmission between the physical experiment table and the digital twin model, the problem of mapping lag is solved on the basis of real parameters collected by the driving and loading module, a simulation result can be fed back to the physical experiment table, parameter adjustment is guided, a digital research platform is provided for trailing cable reliability research in a land-based environment, and the reliability of a trailing cable is improved. And an effective guarantee is provided for ensuring absolute safety of cable running.

Provided are computer-implemented methods for autonomously controlling an aircraft with vertical take-off and landing capabilities and folding wings that includes controlling a plurality of thrust producing components of an aircraft to cause the aircraft to rise vertically when wings of the aircraft are in a first folded configuration, where when the wings of the aircraft are in the first folded configuration, a leading edge of each wing is oriented in a vertical direction setting motor controller gains based on the wings of the aircraft being in the first folded configuration, and causing the aircraft to align with a direction of airflow when the wings of the aircraft are in the first folded configuration, and controlling thrust producing components and control surfaces and internal articulation mechanisms of the aircraft to cause the aircraft to transition from folded wing configuration to unfolded wing configuration. Systems and computer program products are also provided.

The invention provides a loading safety monitoring method and system for a rear-loading vehicle and the vehicle. The method comprises the following steps that the arc height variable quantity of a plate spring of the vehicle in the current loading state is collected; based on the arc height variable quantity, a vehicle total weight estimated value is obtained through calculation; based on the axle load estimation values of the front axle and the rear axle and the axle distance of the vehicle, estimating the current gravity center height of the vehicle, and dynamically compensating the gravity center height according to the dynamic state parameters; and calculating a stability risk coefficient of the vehicle according to the total weight estimated value of the vehicle and the compensated gravity center height so as to carry out early warning. Displacement sensors are arranged on a front plate spring and a rear plate spring of a vehicle to collect arc height variation in real time, an axle load and a vehicle total weight estimated value are calculated based on a pre-calibrated plate spring rigidity coefficient, the gravity center height of the vehicle is estimated to evaluate the stability of the vehicle, and meanwhile the gravity center height is dynamically compensated based on dynamic parameters in the driving process. The evaluation precision under complex working conditions is improved, and the transportation safety is guaranteed.

The invention relates to the technical field of ship underwater positioning, in particular to a dynamic space positioning method and system for a sensor chain body of a ship drag chain, and the method comprises the steps: dispersing the drag chain into a plurality of hinged rigid sections in a two-dimensional inertial reference system, connecting the sensor chain body to the tail end, and taking the motion of a ship as a traction point boundary; according to the given traction speed, the initial pitch angle, depth and tension distribution are obtained through static balance; calculating local speeds in the sections according to translation and rotation states of upstream nodes of all the sections, obtaining distributed hydrodynamic loads in combination with fluid parameters, establishing moment balance equations at all the upstream nodes, and forming a second-order ordinary differential equation set with a pitch angle as an unknown quantity; and numerical solution is carried out under a unified time step length, and the mass center positions of each node and a sensor chain body are obtained according to geometric recursion, so that dynamic positioning in an inertial reference system is realized. According to the invention, the precision and reliability of underwater target motion analysis and target tracking can be improved.

The invention discloses a mass center regulation and control device and method suitable for micro-thrust calibration torsional pendulum, the mass center precise regulation and control device comprises a double-bottom-plate torsional pendulum base arranged in a vacuum tank, the base is provided with a supporting frame, a pivot and a torsional pendulum, and the supporting frame supports the torsional pendulum through the pivot; the torsional pendulum inclination angle control mechanism is arranged on the driving side of the double-bottom-plate torsional pendulum base, and the mass center position adjusting mechanism is arranged on the double-bottom-plate torsional pendulum base and connected with one end of the torsional pendulum. The controller is arranged outside the vacuum tank; the method comprises the following steps: judging whether the offset s of the current centroid position is less than 10 microns or not, if so, finishing fine adjustment, and if not, continuing to control a torsional pendulum inclination angle # imgabs0 #, and then calculating the offset of the centroid position until the offset s is less than 10 microns; according to the invention, the torsional pendulum inclination angle control resolution of 5 [mu] rad level can be realized, and the centroid positioning precision of 1 [mu] m level can be synchronously reached; 1 [mu] m-level mass center position adjusting resolution can be achieved, and it is ensured that the deflection distance of the torsional pendulum mass center from a rotating shaft is not larger than 10 [mu] m.

A powered balancing mobility device that can provide the user the ability to safely navigate expected environments of daily living including the ability to maneuver in confined spaces and to climb curbs, stairs, and other obstacles, and to travel safely and comfortably in vehicles. The mobility device can provide elevated, balanced travel.

A motion base for displacing an object above a support surface includes a base support structure; a displaceable carriage configured to be coupled to an object; and an actuation system, the actuation system including one or more actuators operatively coupling the displaceable carriage to the base support structure, the one or more actuators configured to displace the displaceable carriage relative to the base support structure. In one or more embodiments, a portion of the displaceable carriage is suspended below a portion of the one or more actuators of the actuation system.

The invention relates to the technical field of dynamic balance testing, in particular to a magnetic suspension fan impeller dynamic balance testing device which comprises a supporting table, a speed adjusting mechanism used for adjusting the speed of a belt is arranged in the middle of the top of the supporting table, and a lateral clamping mechanism used for laterally clamping and fixing an impeller rotor is arranged on the left side of the middle of the top of the supporting table. The right side of the top of the supporting table is fixedly connected with a second end fixing mechanism, and the left side of the top of the supporting table is slidably provided with a first end fixing mechanism. Through arrangement of the end fixing mechanisms, the rotating disc and the lateral clamping mechanism, multi-stage clamping and fixing of an impeller rotor are achieved, the clamping stability is improved, and the test error is reduced; when the lateral clamping mechanism carries out radial clamping on the impeller rotor, axial limiting and radial crimping are carried out on the belt driving the impeller rotor to rotate at the same time, the belt is prevented from slipping, the influence of belt slipping on a dynamic balance test result is avoided, and the test accuracy is improved.

The invention discloses a fast and accurate identification method for counter-rotating double-rotor unbalanced coupling vibration of a paddle fan engine. An unbalanced coupling signal separation method based on double-rotor micro-speed-difference waveform envelope is combined with an automatic balancing technology. Based on the characteristic of vibration coupling of inner and outer rotors of a micro-speed-difference double-rotor system, a vibration signal shows a beat vibration phenomenon. By extracting beat peak and beat valley characteristics of beat vibration signals, unbalanced vibration amplitudes and phase information of the inner rotor and the outer rotor are separated. And optimizing the separated vibration signals by adopting an unbalanced coupling signal separation method based on birotor parameter modeling and data fitting to obtain high-precision amplitude and phase parameters, and taking the high-precision amplitude and phase parameters as input parameters of an automatic balance control system. And combining a trial mass method and an influence coefficient method to calculate the unbalance magnitude and position of the inner and outer rotors. And finally, the automatic balance controller drives a counterweight disc in the actuator to move to a target position, the unbalance amount of the rotor system is counteracted, and dynamic balance of the system is achieved.

The invention relates to the technical field of vibration active control and artificial intelligence, and discloses an aero-engine fan rotor keyless phase virtual dynamic balance method and system based on a finite element method, and the system comprises a modeling and simulation module which is configured to obtain the first-order critical speed and vibration mode of an initial rotor dynamics simulation model; the model calibration module is configured to calibrate the initial rotor dynamics simulation model according to the first actual amplitude to obtain a calibrated rotor dynamics simulation model; the model updating module is configured to update the calibration rotor dynamics simulation model to obtain an updated rotor dynamics simulation model; and the trial weight and counterweight module is configured to substitute the second actual amplitude into particle swarm optimization, calculate the actual total unbalance amount of the rotor system and the trial weight angle difference, and finally add a counterweight and select a direction until the vibration is reduced to realize dynamic balance. According to the invention, the position of the unbalance can be accurately determined only through amplitude analysis.

The invention provides an underwater manipulator motion balance real-time monitoring method based on acoustic sensing, which comprises the following steps: if a frequency shift range exceeds a preset range threshold, filtering a signal data set, and separating superposed components of a friction sound signal and a water flow interference sound to obtain a preliminarily separated friction sound signal; performing short-time Fourier transform processing on the preliminarily separated friction sound signals, extracting time-frequency features of the friction sound signals, and obtaining a friction sound feature set; calculating the signal energy ratio of the friction sound signal to the water flow interference sound by analyzing the frequency spectrum difference between the friction sound feature set and the water flow interference sound, screening the interference sound according to the signal energy ratio, and rejecting the screened interference sound to obtain a separation signal; and when it is recognized that the manipulator executes the complex track task, track complexity is recognized, the position of the acoustic sensor array is dynamically adjusted according to the track complexity, the dynamic layout of the acoustic sensor array is optimized, and array configuration is obtained.

The invention provides an anti-cheating intelligent weighing system and method based on a multi-source signal, and relates to the technical field of weighing, and the method comprises the steps: carrying out the dynamic calculation based on pressure distribution time sequence data, an object three-dimensional contour, a gravity center position track and deformation displacement field data which are synchronously collected in real time, and combining a preset conduction reference library to generate multi-source features; dynamically calculating and generating a first weight, a second weight and a third weight based on a force conduction deviation value, a contour confidence value and a pressure distribution entropy value in the multi-source features; dynamically calculating and generating a dynamic credible threshold based on the first weight, the second weight and the third weight in combination with the geometric cross-border proportion value and the force conduction deviation degree value; calculating a global consistency index in the current weighing period based on the conduction reference library; based on the global consistency index and the dynamic credible threshold, an anti-cheating result is generated according to a preset judgment condition, and high-precision and high-reliability weighing anti-cheating is achieved through multi-source signal fusion and dynamic analysis.

The invention discloses a dynamic balance test de-weighting device, and relates to the technical field of dynamic balance test. The invention discloses dynamic balance test de-weighting equipment which comprises a machine base, a carrying mechanism which can ascend and descend and is arranged on the machine base in a mode of rotating around the axis direction of the carrying mechanism, and a driving mechanism used for driving the carrying mechanism to move, and a plurality of machining stations are arranged on the peripheral side of the carrying mechanism. A conveying mechanism, at least one testing mechanism and at least one weight removing mechanism are arranged on each machining station, and the carrying mechanism can sequentially pass through the machining stations in the movement process of the carrying mechanism. According to the dynamic balance test de-weight equipment, each mechanism on the dynamic balance test de-weight equipment can respectively bear the rotary body workpiece and test and de-weight the rotary body workpiece in the moving process of the carrying mechanism, so that the dynamic balance test de-weight efficiency is greatly improved; and meanwhile, all the mechanisms can be integrated into an integral structure through the carrying mechanism, so that the use cost is saved, and the occupied area of the equipment is reduced.

The invention discloses an air compressor rotor testing method and device, and relates to the technical field of air compressor rotor testing. Vibration signal data of a rotor at multiple rotating speeds are collected, a fast Fourier transform algorithm is adopted for analysis, frequency and phase distribution is extracted, weighted analysis is carried out on the phase distribution, and the frequency and the phase distribution are extracted; and extracting the coordinates of the initial position with uneven mass distribution to realize accurate positioning of the position with unbalanced mass of the rotor. Fitting the offset by using a least square method to obtain a mass deviation coordinate, generating an initial counterweight adjustment scheme, optimizing initial counterweight parameters by combining a gradient descent algorithm to obtain an optimized counterweight adjustment scheme, and re-iterating the counterweight parameters of the optimized counterweight adjustment scheme by using a particle swarm optimization algorithm to obtain a target counterweight scheme. And the vibration signal of the rotor meets the vibration balance standard. According to the invention, the dynamic balance test efficiency and precision of the air compressor rotor are improved, and the operation stability of rotary mechanical equipment is ensured.

The invention provides a method for measuring the gravity center of a large component based on a distributed six-dimensional force sensor. The method specifically comprises the steps that firstly, the six-dimensional force sensor is installed below a spherical hinge of a positioner and used for measuring the contact force and friction torque of the spherical hinge; then, according to the conversion principle of force and torque between coordinate systems, the acting force and torque of the positioner on the large component and the gravity and gravitational torque of the large component are converted into the base coordinate system, and therefore a torque balance equation of the large component in the base coordinate system is established; and finally, adjusting the spatial attitude of the large component, and solving the center-of-gravity position by adopting a least square method according to the moment balance equation of the large component under different attitudes. According to the method of the scheme, aiming at the influence of the friction torque of the spherical hinge on the gravity center measurement precision during the gravity center measurement of the large component, the friction torque of the spherical hinge during the posture adjustment of the large component can be calculated, so that the gravity center measurement precision of the large component is improved.