Shafting vibration active control actuator and control system

Abstract

The invention relates to a shafting vibration active control actuator and a shafting vibration active control system, the shafting vibration active control actuator comprises a rotor module, a stator module and a bearing, the rotor module comprises a magnetizer, and the magnetizer is fixedly connected with a main shaft; the stator module comprises an iron core assembly, the iron core assembly is fixed in a shell, and elastic bodies are fixed at two ends of the iron core assembly in the shell; the bearing outer ring is fixedly connected with the elastomer; the bearing inner ring is fixedly connected with the main shaft; the iron core assembly comprises an iron core, the iron core comprises a hollow cylinder, and the inner surface of the hollow cylinder extends inwards to form four first magnetic columns and four second magnetic columns; each first magnetic column is provided with a coil; each second magnetic column comprises a permanent magnet; every two coils which are symmetrical in the circumferential direction form a set of electromagnetic excitation modules, and the winding directions of the two coils of each set of electromagnetic excitation modules are the same. Dynamic excitation force is applied to the rotating shaft through the elastic body and the electromagnetic excitation module, so that shafting vibration caused by unbalanced force of the rotor or other excitation force is controlled.

Description

Technical Field

[0001] This application relates to the field of active control technology for spindle vibration of rotating machinery, and in particular to an active control actuator and control system for shaft vibration. Background Technology

[0002] Rotating machinery is widely used in devices including marine engines, marine auxiliary machinery, aircraft engines, industrial compressors, and various electric motors. Under high speed, high temperature, and high load, the rotor system of rotating machinery will deform, wear, and change its concentricity, causing the rotor's center of mass to deviate from the center of rotation and resulting in vibration. Improving manufacturing processes and precision can usually suppress the unbalanced vibration generated by the rotor system itself to some extent. However, fluid machinery such as marine pumps and fans are subject to fluid imbalance excitation, generating additional low-frequency line spectrum vibrations. Excessive rotor vibration not only easily leads to rotor system failures but also often becomes a significant source of vibration and noise from rotating machinery and other systems. Vibrations caused by the operation of rotating machinery such as engines and auxiliary machinery in ships not only cause fatigue damage to the hull structure and equipment but also affect the normal operation of precision instruments such as sonar. Active vibration control technology typically focuses on isolating vibration noise from the transmission channel. However, since the vibration of rotating machinery will affect the rotor system itself as well as the vibration transmission objects such as the base and hull, the key to improving the smooth operation of rotating machinery and achieving the underwater radiated noise index of ships lies in how to reduce vibration and noise from the vibration source itself of the rotor system and eliminate the vibration noise transmitted to the hull structure from the source.

[0003] Traditional active control systems targeting low-frequency line spectra along the transmission path often require customization and debugging for specific systems consisting of rotating machinery, vibration isolation devices, etc., resulting in complex and uncommon vibration control systems. In contrast, active control systems designed for individual rotating machinery rotor systems can use standardized control modules tailored to the type and model of the machinery, reducing the difficulty of deploying active control systems and enabling universal design.

[0004] Therefore, we propose an active control actuator and control system for shaft vibration.

[0005] Application content

[0006] In view of the shortcomings of the existing production technology, the applicant provides a shaft vibration active control actuator and control system, which applies control force to the rotating shaft through an elastic body and a magnetic actuation component to control shaft vibration caused by various reasons.

[0007] The technical solution adopted in this application is as follows:

[0008] An active control actuator for shaft vibration, comprising:

[0009] The rotor module includes a magnetic conductor, which is fixedly connected to the main shaft;

[0010] The stator module includes a core assembly, which is fixed in the housing. Both ends of the core assembly are fixed inside the housing.

[0011] The bearing has its outer ring fixedly connected to an elastomer and its inner ring fixedly connected to the main shaft.

[0012] The iron core assembly includes an iron core, which includes a hollow cylinder. Four first magnetic pillars and four second magnetic pillars extend inward from the inner surface of the hollow cylinder. The four first magnetic pillars are evenly spaced along the circumference. A second magnetic pillar is placed between two adjacent first magnetic pillars.

[0013] Each first magnetic post is equipped with a coil; each second magnetic post contains a permanent magnet; the permanent magnet is magnetized radially;

[0014] Two coils that are symmetrical in the circumferential direction form a set of electromagnetic excitation modules, and the two coils of a set of electromagnetic excitation modules have the same winding direction;

[0015] The magnetic conductor is located inside the permanent magnet and the first magnetic pillar, and there are gaps between the magnetic conductor, the permanent magnet and the first magnetic pillar.

[0016] Its further features are:

[0017] The elastomer includes an outer connecting ring and an inner connecting ring, which are fixedly connected by an elastic structure.

[0018] The outer connecting ring of the elastomer is fixedly connected to the outer shell, and the inner connecting ring of the elastomer is fixedly connected to the outer ring of the bearing.

[0019] The magnetic conductor is a soft magnetic material.

[0020] The outer shell, elastomer, and bearing are all made of non-ferromagnetic materials.

[0021] The housing is equipped with a displacement sensor to monitor the rotation of the spindle.

[0022] The two sets of electromagnetic excitation modules are perpendicular to each other, and the electromagnetic forces generated by the two sets of electromagnetic excitation modules act on the magnetic conductor of the rotor module.

[0023] The first magnetic post is provided with a coil support, and a coil is wound on the coil support. The coil support is made of insulating material.

[0024] The iron core is made of silicon steel sheets stacked axially.

[0025] This application also discloses a control system, including:

[0026] At least two actuators;

[0027] The controller, electrically connected to the sensor, is used to control the actuator;

[0028] The sensor is electrically connected to the controller.

[0029] The beneficial effects of this application are as follows:

[0030] This application features a compact and reasonable structure, and is easy to operate. The magnetic conductor and permanent magnet form a complete magnetic circuit. Two sets of electromagnetic excitation modules generate mutually perpendicular electromagnetic forces that act on the magnetic conductor of the rotor module and are transmitted to the main shaft to generate corresponding control forces. This drives the main shaft to rotate, which in turn drives the bushing, magnetic conductor, positioning ring, and inner ring of the bearing to rotate. The electromagnetic force on the magnetic conductor is a non-contact loading force. The working force applied by the stator module can be adjusted according to the monitored vibration of the rotor module to achieve vibration control of the main shaft.

[0031] In addition, this application also has the following advantages:

[0032] (1) The residual friction in the circumferential elastic fixed compensation bearing of the elastomer will not cause the vibration of the rotor module to be transmitted to the external structure. Instead, it will absorb the vibration energy in the rotor module into the device by applying a principle similar to a vibration absorber, thereby controlling the generation of vibration from the vibration source.

[0033] (2) It adopts a modular design, which allows for the replacement of the corresponding bushing and housing structure according to the installation conditions of the mechanical equipment shaft system, thus possessing strong adaptability.

[0034] (3) The design method of using permanent magnets to provide bias magnetic field improves the efficiency of magnetic circuit system compared with the form of using bias current to provide bias magnetic field, so that a larger output electromagnetic force can be obtained under a smaller input current. The maximum electromagnetic force that the system can output is also greater. According to the test, the maximum electromagnetic force is about 400N under an input current of about 5A. This test result only represents the better value that can be obtained in comparison with similar products under the current equipment size. Attached Figure Description

[0035] Figure 1 This is an explosion diagram of this application.

[0036] Figure 2 This is a three-dimensional schematic diagram of this application.

[0037] Figure 3 for Figure 2 Top view.

[0038] Figure 4 for Figure 3 Schematic diagram of the AA section.

[0039] Figure 5This is a schematic diagram of the iron core assembly of this application.

[0040] Figure 6 This is a schematic diagram of the iron core of this application.

[0041] Figure 7 This is a three-dimensional schematic diagram of the elastomer of this application.

[0042] Figure 8 for Figure 1 Top view.

[0043] Figure 9 This is a schematic diagram of the magnetic field distribution of the permanent magnet and the winding direction of the coil in this application.

[0044] Figure 10 for Figure 9 A schematic diagram of the magnetic circuit of the static magnetic field.

[0045] Figure 11 This is a schematic diagram of one embodiment of the control system of this application.

[0046] Figure 12 This is a schematic diagram of another embodiment of the control system of this application.

[0047] The components include: 1. End cap; 2. Outer shell; 3. Elastomer; 4. Core assembly; 5. Bearing; 6. Positioning ring; 7. Magnetic conductor; 8. Bushing;

[0048] 31. Outer connecting ring; 32. Inner connecting ring; 33. Elastic structure;

[0049] 41. Iron core; 42. Permanent magnet; 43. Coil;

[0050] 411. Hollow cylinder; 412. First magnetic cylinder; 413. Second magnetic cylinder. Detailed Implementation

[0051] The specific embodiments of this application are described below with reference to the accompanying drawings.

[0052] like Figures 1-10 As shown, a shaft vibration active control actuator includes a stator module, a rotor module, and a connector. The stator module and the rotor module are connected by the connector, and the stator module and the rotor module can move relative to each other. The rotor module is fixedly connected to the main shaft, and the rotor module rotates together with the main shaft. The rotor module and the main shaft remain relatively stationary, while the stator module does not rotate.

[0053] The rotor module includes a magnetic conductor 7, which is fixedly connected to the main shaft.

[0054] In one embodiment, the rotor module further includes a bushing 8, which is transitionally fitted to the main shaft. The tolerance zones of the hole and the shaft overlap, and the bushing 8 can be installed by tapping it onto the main shaft, achieving high positioning accuracy. It is also axially fixed by a snap ring. A magnetic conductor 7 is sleeved on the bushing 8, and the magnetic conductor 7 is interference-fitted with the bushing 8.

[0055] In one embodiment, the rotor module further includes two positioning rings 6, which are disposed at both ends of the magnetic conductor 7 for axial positioning of the magnetic conductor 7.

[0056] The stator module includes a housing 2, an end cap 1, an elastomer 3, and a core assembly 4.

[0057] The core assembly 4 includes a core 41, a permanent magnet 42, and a coil 43. The core 41 includes a hollow cylinder 411, with magnetic columns extending inward from the inner surface of the hollow cylinder 411.

[0058] The magnetic pillars include a first magnetic pillar 412 and a second magnetic pillar 413, with a total of eight magnetic pillars, four for each of the first magnetic pillar 412 and the second magnetic pillar 413.

[0059] Four first magnetic pillars 412 are evenly spaced along the circumference, and a second magnetic pillar 413 is placed between two adjacent first magnetic pillars 412.

[0060] A coil support is provided on the first magnetic post 412, and a coil 43 is wound on the coil support. The coil support is made of insulating material, and the coil 43 is insulated from the iron core 41 through the coil support.

[0061] Two first magnetic pillars 412 are symmetrically arranged in the circumferential direction, and two other first magnetic pillars 412 are also symmetrically arranged in the circumferential direction. The two coils 43 symmetrically arranged in the circumferential direction form a set of electromagnetic excitation modules, and the two coils 43 of the set of electromagnetic excitation modules are wound in the same direction.

[0062] In one embodiment, the second magnetic post 413 is provided with a slot, and the permanent magnet 42 is also provided with a slot. The slots of the second magnetic post 413 and the slots of the permanent magnet 42 are provided with clamps, which connect the permanent magnet 42 and the second magnetic post 413, that is, the permanent magnet 42 and the iron core 41 are connected by clamps.

[0063] The iron core assembly 4 is disposed in the outer casing 2, and the iron core 41 is fixedly connected to the outer casing 2 by studs. Two elastic bodies 3 are provided, which are respectively disposed on both sides of the iron core assembly 4, and both elastic bodies 3 are inside the outer casing 2. The elastic bodies 3 are fixedly connected to the outer casing 2 by screws and bolts.

[0064] In one embodiment, the two elastomers 3 are arranged in a mirror-symmetric configuration.

[0065] Each second magnetic post 413 contains a permanent magnet 42, which is magnetized radially.

[0066] In one embodiment, the outer side of the permanent magnet 42 is the N pole, and the inner side of the permanent magnet 42 is the S pole.

[0067] In one embodiment, the outer side of the permanent magnet 42 is the S pole, and the inner side of the permanent magnet 42 is the N pole.

[0068] In one embodiment, the residual magnetic induction intensity of the permanent magnet 42 after magnetization is not less than 1.2T.

[0069] In one embodiment, the surface of the permanent magnet 42 is electroplated with Ni-Cu-Ni.

[0070] In one embodiment, the surface of the housing 2 is provided with multiple threaded holes for fastening connection with the elastomer 3, the end cap 1, and the core assembly 4. The surface of the housing 2 is also provided with multiple wire holes for the power supply wires of the coil 43 to pass through.

[0071] There are two end caps 1, which are respectively located at both ends of the outer shell 2. The outer shell 2 is fixedly connected to the end caps 1 by screws.

[0072] In one embodiment, the connector may be a bearing 5.

[0073] Specifically, bearing 5 can be an angular contact bearing, or it could be other types of bearings.

[0074] In one embodiment, a displacement sensor is provided on the housing 2. The rotation of the spindle is monitored by the displacement sensor, and the rotation speed measured in real time by the displacement sensor can be input into the active control algorithm as a reference signal.

[0075] In one embodiment, the iron core 41 is formed by stacking silicon steel sheets along the axial direction, and the thickness of a single silicon steel sheet is less than 0.5 mm.

[0076] In one embodiment, the concentricity of the silicon steel sheet is less than 0.03 mm, the flatness of the silicon steel sheet is less than 0.15 mm, the perpendicularity of the silicon steel sheet is less than 0.15 mm, and the thickness of the silicon steel sheet is ±0.2 mm.

[0077] In one embodiment, coil 43 is made by winding copper wire or enamel-coated copper wire or other conductors.

[0078] In one embodiment, coil 43 is wound with approximately 300 turns.

[0079] In one embodiment, the two coils 43 of a set of electromagnetic excitation modules can be connected in series or in parallel.

[0080] In one embodiment, the two sets of electromagnetic excitation modules are perpendicular to each other. The electromagnetic excitation modules generate mutually perpendicular electromagnetic forces that act on the magnetic conductor 7 of the rotor module, thereby being conducted into the rotor module.

[0081] The elastomer 3 includes an outer connecting ring 31 and an inner connecting ring 32, which are fixedly connected by an elastic structure 33. The outer connecting ring 31 and the inner connecting ring 32 can be relatively deformed by the elastic structure 33.

[0082] In one embodiment, the elastic structure 33 may be a filled elastic material.

[0083] In one embodiment, the elastic structure 33 is a spring helical structure or a wave-shaped structure, etc.

[0084] Bearings 5 ​​are provided at both ends of the bushing 8. The magnetic conductor 7 and two positioning rings 6 are located between the two bearings 5, and the inner rings of the bearings 5 ​​are fixedly connected to the bushing 8. The magnetic conductor 7, positioning rings 6 and two bearings 5 ​​are fixed by two snap rings.

[0085] In one embodiment, the bushing 8 can be adjusted to different specifications of inner diameter according to the spindle design, thereby adapting to shaft systems of different specifications.

[0086] The magnetic conductor 7 and the permanent magnet 42 form a complete magnetic circuit, and under the action of the coil 43, they generate radial electromagnetic force, which is transmitted to the main shaft to generate a corresponding control force.

[0087] In one embodiment, the inner ring of the magnetic conductor 7 and the bearing 5 can be directly fixed to the spindle.

[0088] In one embodiment, the magnetic conductor 7 is made of a soft magnetic material.

[0089] In one embodiment, the end cap 1, outer shell 2, elastomer 3, bearing 5, positioning ring 6, and bushing 8 all avoid using ferromagnetic materials to prevent alteration of the internal magnetic circuit structure of the device, and will even possess fixed residual magnetism under long-term magnetization.

[0090] The inner connecting ring 32 of the elastomer 3 is fixedly connected to the outer ring of the bearing 5.

[0091] The magnetic conductor 7 is located inside the core assembly 4;

[0092] Specifically, the magnetic conductor 7 is located inside the permanent magnet 42 and the first magnetic post 412.

[0093] There is a gap between the permanent magnet 42 and the magnetic conductor 7; there is a gap between the first magnetic post 412 and the magnetic conductor 7.

[0094] The connection between bearing 5 and stator module will still have a small residual torque, which will generate an imbalance. Dynamic excitation force is applied to the shaft through elastomer 3 and electromagnetic excitation module, thereby controlling the shaft vibration caused by rotor imbalance force or other excitation forces.

[0095] When the spindle rotates, it drives the inner ring of the bushing 8, the magnetic conductor 7, the positioning ring 6, and the bearing 5 to rotate. The electromagnetic force on the magnetic conductor 7 is a non-contact loading force. The working force applied by the stator module can be adjusted according to the monitored vibration of the rotor module to achieve vibration control of the spindle. It has advantages such as simple structure, convenient disassembly and assembly, and low deployment difficulty. It has advantages such as large output excitation force, pure and ideal output spectrum, and stable low-frequency output, making it an ideal actuator for active control of shaft vibration.

[0096] It is applicable to the active control of shaft systems of various types of rotating machinery. Compared with vibration reduction hardware such as integrated vibration isolation platforms, it does not require customized design for vibration systems composed of multiple mechanical devices. The control object is limited to a single rotating mechanical device, which can achieve low vibration and low noise of rotating equipment.

[0097] Adopting a modular design, the corresponding bushings 8 and counterweight parts can be replaced according to the installation conditions of the mechanical equipment shaft system, making its versatility among the best in similar equipment;

[0098] The design of using 42 permanent magnets to supply the bias magnetic field improves the efficiency of the magnetic circuit system compared to using bias current to provide the bias magnetic field. This allows for a larger output electromagnetic force with a smaller input current, and the maximum electromagnetic force that the system can output is also greater. Tests show that the maximum electromagnetic force is about 400N with an input current of about 5A. This test result only represents the better value that can be obtained compared with similar products under the current equipment size.

[0099] In practical use, the excitation source spectrum is input as needed, and the two sets of electromagnetic excitation modules generate mutually perpendicular electromagnetic forces that act on the magnetic conductor 7 of the rotor module and are transmitted to the main shaft of the external structure. The main shaft rotates, and the main shaft drives the rotor module to rotate. Dynamic excitation force is applied to the shaft through the elastic body 3 and the electromagnetic excitation module, thereby controlling the shaft vibration caused by rotor imbalance force or other excitation forces.

[0100] like Figure 11As shown, the actuator of this application can not only be installed on a shaft system as an inertial actuator attached to the shaft system according to existing usage, but also be rigidly connected to an external structure as an elastic bearing 5 with active control function. In the working mode as an active bearing, compared with an electromagnetic bearing, this device supports the weight of the shaft system with the elastic body 3, and does not need to completely balance the weight of the shaft system through electromagnetic force. Under the support of the elastic body 3, the small radial eccentricity of the shaft system caused by gravity can be compensated by setting a reverse pre-eccentricity of the inner ring 32 relative to the outer ring 31, or it can be balanced by the electromagnetic component 4 through a small bias current. This method enables the shaft system to achieve active vibration control through elastic support, while ensuring the reliability and economy of its support for the shaft system.

[0101] The stator module's magnetic circuit structure adopts a scheme in which four coils 43 and four permanent magnets 42 are arranged at intervals. On the one hand, as mentioned above, this simplifies the magnetic circuit structure of the rotor module. On the other hand, the design is guided by the simulation of the magnetic field distribution of the magnetic circuit, ensuring the linear relationship between the actuator current and the actuation force. Within the working current limit, the linearity of the actuation force output is good.

[0102] Existing actuators are used for axial movement, and there are many relatively simple ways to achieve this. This application uses non-contact force to perform radial movement on the shaft in two perpendicular directions without affecting the mechanical spindle structure of the rotor.

[0103] A control system includes a controller, a displacement sensor, and an actuator.

[0104] At least two actuators are installed on the spindle, and the controller is electrically connected to the actuators and the displacement sensor respectively; the actuators are controlled by the controller.

[0105] In one embodiment, such as Figure 11 As shown, the actuator functions as an inertial actuator, and the control system functions as the control system for the inertial actuator. A spindle bearing is also installed on the spindle.

[0106] In one embodiment, such as Figure 12 As shown, the actuator is a non-inertial actuator, and the control system is the control system of the non-inertial actuator. The actuator is set in the housing structure, and a vibration sensor is set on the inner wall of the housing structure. The vibration sensor is electrically connected to the controller.

[0107] The above description is an explanation of this application and not a limitation thereof. The scope of this application is defined by the claims. Within the scope of protection of this application, any form of modification may be made.

Claims

1. An active control actuator for shaft vibration, characterized in that, include: The rotor module includes a magnetic conductor (7), which is fixedly connected to the main shaft; The stator module includes a core assembly (4), which is fixed in the outer shell (2). Both ends of the core assembly (4) are fixed with elastic bodies (3) inside the outer shell (2). The bearing (5) has its outer ring fixedly connected to the elastomer (3) and its inner ring fixedly connected to the main shaft. The iron core assembly (4) includes an iron core (41), which includes a hollow cylinder (411). The inner surface of the hollow cylinder (411) extends inward with four first magnetic pillars (412) and four second magnetic pillars (413). The four first magnetic pillars (412) are evenly spaced along the circumference. A second magnetic pillar (413) is provided between two adjacent first magnetic pillars (412). Each first magnetic post (412) is provided with a coil (43); each second magnetic post (413) contains a permanent magnet (42); the permanent magnet (42) is magnetized radially; Two coils (43) symmetrical in the circumferential direction form a set of electromagnetic excitation modules, and the two coils (43) of a set of electromagnetic excitation modules are wound in the same direction; The magnetic conductor (7) is located inside the permanent magnet (42) and the first magnetic column (412), and there are gaps between the magnetic conductor (7), the permanent magnet (42), and the first magnetic column (412).

2. The shaft vibration active control actuator as described in claim 1, characterized in that: The elastomer (3) includes an outer connecting ring (31) and an inner connecting ring (32), which are fixedly connected by an elastic structure (33).

3. The shaft vibration active control actuator as described in claim 2, characterized in that: The outer connecting ring (31) of the elastomer (3) is fixedly connected to the outer shell (2), and the inner connecting ring (32) of the elastomer (3) is fixedly connected to the outer ring of the bearing (5).

4. The shaft vibration active control actuator as described in claim 1, characterized in that: The magnetic conductor (7) is a soft magnetic material.

5. The shaft vibration active control actuator as described in claim 4, characterized in that: The outer shell (2), elastomer (3) and bearing (5) are all made of non-ferromagnetic materials.

6. The shaft vibration active control actuator as described in claim 1, characterized in that: The housing (2) is equipped with a displacement sensor for monitoring the rotation of the spindle.

7. The shaft vibration active control actuator as described in claim 1, characterized in that: The two sets of electromagnetic excitation modules are perpendicular to each other, and the electromagnetic forces generated by the two sets of electromagnetic excitation modules act on the magnetic conductor (7) of the rotor module.

8. The shaft vibration active control actuator as described in claim 1, characterized in that: The first magnetic post (412) is provided with a coil support, and a coil (43) is wound on the coil support. The coil support is made of insulating material.

9. The shaft vibration active control actuator as described in claim 1, characterized in that: The iron core (41) is made of silicon steel sheets stacked along the axial direction.

10. A control system, characterized in that, include: At least two shaft vibration active control actuators as described in any one of claims 1-9; The controller, electrically connected to the sensor, is used to control the actuator; The sensor is electrically connected to the controller.

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