A multi-dimension multi-order modal analysis method based on an excitation motor

Abstract

The application belongs to the technical field of motor control, and particularly relates to a multi-dimension multi-order modal analysis method based on an exciting motor. The multi-dimension multi-order modal analysis method based on the exciting motor takes the exciting motor as a research object, and establishes a modal analysis model based on the exciting motor. The application establishes the self modal vibration mode of the exciting motor based on the finite element model calculation, compares and analyzes the self modal vibration mode with the modal vibration mode under the multi-modal, establishes the synchronous vibration control and the control method under the resonance frequency range of the exciting motor based on the multi-order modal analysis, simultaneously establishes the fuzzy PID control algorithm based on the modal analysis, controls the synchronous control of the non-linear multi-exciting motor caused by the continuous vibration, reduces the speed and frequency errors in the synchronous vibration process of the multi-exciting motor, and adds the adjustable eccentric block damping device in the resonance time domain to reduce the rotation speed of the eccentric block and change the vibration frequency to pass through the resonance time domain.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of motor control, and the IPC classification number is H02P23 / 04, and particularly relates to a multi-dimension multi-order modal analysis method based on a vibration exciting motor. BACKGROUND

[0002] The processing of metal products cannot be separated from deburring, and the main reason for burr is the uneven structure of the surface of the metal material caused by cutting deformation in the processing. The commonly used methods for deburring of metal surface include chemical deburring, vibration deburring and high temperature deburring, among which vibration grinding deburring is the most commonly used, and the control method involved in the vibration exciting motor as one of the important devices of the vibration deburring equipment is also very important. The traditional vibration exciting motor usually has the problems of large vibration noise and thread shedding caused by long-term vibration, and cannot better solve the problem of synchronous control of multiple vibration exciting motors.

[0003] The patent CN201020627694 provides a multi-motor synchronous control system, collects the synchronization error in the synchronous operation of the multi-motor, establishes a control feedback, adjusts the error by interpolation of the feedback, and better controls the synchronization of the motor. However, this patent does not specify the specific motor control method, the multi-motor synchronous control involves the coordination of multiple parameters, and at the same time, due to the application of the motor in different fields, the environmental factors involved will cause the nonlinear change of the parameters of the motor, thereby causing the inaccuracy of the feedback adjustment.

[0004] The patent CN201410027710 provides a new type of self-synchronous double-motor installation form of vibrating screen, which installs two synchronous motors in a face-to-face form on the surface of the web plate, optimizes the structure to improve the stress of the motor beam, and optimizes the stress of the motor beam in the large vibrating screen mechanism. However, this patent uses a double-motor vibration exciting method, but does not explicitly state the simultaneous driving control method of the double motor, which is easy to cause the problem of inconsistent vibration frequency of the double vibration exciting motor and cause the damage of the motor.

[0005] Therefore, in view of the problems existing in the synchronous control and modal control method of the multiple vibration exciting motors at the present stage, it is urgent to develop a multi-dimension multi-order modal analysis method based on a vibration exciting motor. The modal vibration mode of the vibration exciting motor itself is determined, and the modal vibration mode of the vibration exciting motor itself is compared with the modal vibration mode under different frequencies, so as to better adjust the parameters of the vibration exciting motor under the multi-modal mode, and establish a reasonable parameter optimization mechanism, so as to better realize the synchronous operation of the multiple vibration exciting motors, and optimize the resonance problem caused by the vibration exciting motor in the working process. SUMMARY

[0006] In view of the above problems, the application provides a multi-dimensional multi-order modal analysis method based on a vibration excitation motor, and a modal analysis model based on the vibration excitation motor is established, and the main analysis method is as follows: firstly, the self modal vibration mode and the modal parameters of the vibration excitation motor are established; then, the modal vibration mode under the multi-modal state is compared and analyzed with the self modal vibration mode, a control method based on the vibration excitation motor is established by acquiring the comparison and analysis data, so that the working state of the vibration excitation motor is adjusted by adjusting the control parameters in the control method.

[0007] Preferably, the modal analysis replaces the model mass of the vibration excitation motor by establishing a lumped mass unit model and a support spring model to determine the self modal vibration mode of the vibration excitation motor; and the modal parameters corresponding to the self modal vibration mode are calculated by establishing a finite element model; the modal parameters include frequency, damping and vibration mode.

[0008] Preferably, the self modal vibration mode is compared and analyzed with the modal vibration mode under the multi-modal state, and a vibration excitation motor synchronous vibration control method based on multi-order modal analysis and a control method under the resonance frequency domain are established.

[0009] Preferably, the vibration excitation motor synchronous vibration control is based on the synchronous use of multiple vibration excitation motors; the multiple vibration excitation motors pass through the vibration passage gravity center in the structure layout.

[0010] Preferably, the vibration excitation motor synchronous vibration control establishes a fuzzy PID control method based on the master-slave motor synchronous control, sets up parameter compensation between the motion parameters of multiple vibration excitation motors, controls the synchronous motion of the multiple vibration excitation motors, adjusts the frequency range, establishes the modal vibration mode under different frequencies, and compares the modal vibration mode with the self modal vibration mode.

[0011] Preferably, the control method under the resonance frequency domain acquires the comparison data of the modal vibration mode under different frequencies and the self modal vibration mode, extracts the amplitude comparison data in the resonance time domain, adds an adjustable eccentric block damping device in the resonance time domain, reduces the rotation speed of the eccentric block, and changes the vibration frequency to pass through the resonance time domain.

[0012] Preferably, the vibration excitation motor comprises a fixed eccentric block, a rotating shaft, a mounting flange, a machine shell, an adjustable eccentric block and a rotor; the mounting flange is fixed to the upper end of the machine shell, the fixed eccentric block is arranged above the mounting flange, the adjustable eccentric block is mounted to the lower end of the machine shell, the rotor is mounted below the adjustable eccentric block, and the included angle between the fixed eccentric block and the adjustable eccentric block can be adjusted.

[0013] Preferably, the multi-dimension is divided into six vibration directions, i.e., x-direction rotation vibration, y-direction rotation vibration, z-direction rotation vibration, x-direction movement, y-direction movement and z-direction movement by establishing a six-degree-of-freedom vibration excitation motor motion mode.

[0014] Preferably, the fixed eccentric block and the adjustable eccentric block generate a rotating torque during the movement of the excitation motor; the rotating torque generates an eccentric force output and drives the excitation motor to rotate and vibrate.

[0015] Preferably, by adjusting the angle of the adjustable eccentric block, the rotating torque of the centrifugal force is adjusted, so that the size of the centrifugal force of the excitation motor is adjusted.

[0016] The present application has the following beneficial effects:

[0017] (1) The present application establishes the modal shape of the excitation motor based on the finite element model calculation, and compares and analyzes the modal shape under the multi-modal and the modal shape of the excitation motor, and establishes the synchronous vibration control and resonance frequency control method of the excitation motor based on the multi-modal analysis.

[0018] (2) The synchronous vibration control of the excitation motor based on the multi-modal analysis, by establishing a fuzzy PID control algorithm, is used for the synchronous control of the nonlinear multi-excitation motor caused by continuous vibration, and by establishing a closed-loop feedback control model, the speed and frequency error in the synchronous vibration process of the multi-excitation motor is reduced.

[0019] (3) The present application adds an adjustable eccentric block damping device in the resonance time domain to reduce the rotating speed of the eccentric block and change the vibration frequency to pass through the resonance time domain, which better solves the resonance problem of the multi-excitation motor in the running process. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 A method flowchart of a multi-dimensional multi-modal analysis method based on an excitation motor. DETAILED DESCRIPTION

[0021] A multi-dimensional multi-modal analysis method based on an excitation motor, a modal analysis model based on an excitation motor is established, the main analysis method is: first, the modal shape and modal parameters of the excitation motor are established; then the modal shape under the multi-modal is compared and analyzed with the modal shape, the control method based on the excitation motor is established by obtaining the data of the comparative analysis, so as to adjust the working state of the excitation motor by adjusting the control parameters in the control method.

[0022] In a preferred embodiment, the excitation motor is applied to a deburring and grinding device, and the specific connection mode is that the excitation motor is connected with a machining clamp through a connecting rod, the machining clamp is connected with a vibration connecting plate, and a plurality of springs are installed below the vibration connecting plate to ensure uniform acceptance of the deburring and grinding device during vibration.

[0023] In an embodiment, the modal analysis substitutes the model mass of the vibration excitation motor by establishing a lumped mass element model and a support spring model to determine the self modal vibration mode of the vibration excitation motor; and calculates the modal parameters corresponding to the self modal vibration mode by establishing a finite element model; the modal parameters include frequency, damping and vibration mode.

[0024] In an embodiment, the self modal vibration mode is compared with the modal vibration mode under multi-modal, and a vibration excitation motor synchronous vibration control method based on multi-order modal analysis and a control method under resonance frequency domain are established.

[0025] In an embodiment, the vibration excitation motor synchronous vibration control is based on the synchronous use of multiple vibration excitation motors; the multiple vibration excitation motors pass through the vibration passage barycenter in the structural layout of the vibration line.

[0026] In a preferred embodiment, the vibration line is the central axis of the vibration excitation motor, and the vibration passage barycenter is the barycenter position of the vibrating screen in the burr grinding device. If two vibration excitation motors are installed, the vibration excitation motors are installed at an installation angle of 45°-50° on both sides of the vibrating screen in the burr grinding device to ensure balanced vibration, and the rotation directions of the two vibration excitation motors are opposite.

[0027] In an embodiment, the vibration excitation motor synchronous vibration control establishes a fuzzy PID control method based on master-slave motor synchronous control, controls the synchronous motion of multiple vibration excitation motors by setting parameter compensation between the motion parameters of the multiple vibration excitation motors, and establishes modal vibration modes under different frequencies by adjusting the frequency range and comparing them with the self modal vibration mode.

[0028] In a preferred embodiment, the fuzzy PID control method first sets the related parameters required for PID control according to the long-term work experience of the technical personnel, and the specific parameters include a proportional coefficient for accelerating the speed of adjusting error and reducing the difference to, an integral coefficient for eliminating the steady-state error in the control system, and a differential coefficient for better improving the nonlinear dynamic parameter changes caused by external environmental vibration in the system, and a fuzzy controller is added on this basis, the fuzzy controller establishes a fuzzy rule table according to the integral coefficient and the differential coefficient, and realizes the parameter synchronous optimization of multiple vibration excitation motors through the fuzzy inference mechanism in the fuzzy rule table.

[0029] In an embodiment, the control method under the resonance frequency domain extracts amplitude comparison data in the resonance time domain by obtaining comparison data of the modal vibration mode under different frequencies and the self modal vibration mode, and adds an adjustable eccentric block damping device in the resonance time domain part to reduce the rotation speed of the eccentric block and change the vibration frequency to pass through the resonance time domain.

[0030] In an embodiment, the excitation motor comprises a fixed eccentric block, a rotating shaft, a mounting flange, a housing, an adjustable eccentric block, and a rotor; the mounting flange is fixed on the upper end of the housing, the fixed eccentric block is arranged above the mounting flange, the adjustable eccentric block is installed on the lower end of the housing, the rotor is installed below the adjustable eccentric block, and the angle between the fixed eccentric block and the adjustable eccentric block can be adjusted.

[0031] In an embodiment, the multidimensional excitation motor is divided into six vibration directions, i.e., x-direction rotational vibration, y-direction rotational vibration, z-direction rotational vibration, x-direction movement, y-direction movement, and z-direction movement, by establishing a six-degree-of-freedom excitation motor movement mode.

[0032] In an embodiment, the fixed eccentric block and the adjustable eccentric block generate a rotational torque during the movement of the excitation motor; the rotational torque generates an eccentric force output and drives the rotational vibration of the excitation motor.

[0033] In a preferred embodiment, the eccentric force F=G / g×r×w 2 , wherein G is the mass of the adjustable eccentric block, r is the distance between the center of mass of the adjustable eccentric block and the rotating shaft of the excitation motor, and w is the frequency of the motor rotation angle.

[0034] In an embodiment, the size of the rotational torque of the centrifugal force is adjusted by adjusting the angle of the adjustable eccentric block, so as to adjust the size of the centrifugal force of the excitation motor.

Claims

1. A multi-dimension multi-order modal analysis method based on an excitation motor, characterized in that, A modal analysis model based on the excitation motor is established; the main analysis method is: first, the modal shape and modal parameters of the excitation motor itself are established; then the modal shape under multi-modal is compared and analyzed with the modal shape of itself, and the control method based on the excitation motor is established by obtaining the comparative analysis data, so as to adjust the working state of the excitation motor by adjusting the control parameters in the control method; The modal analysis replaces the model mass of the excitation motor by establishing a lumped mass element model and a support spring model to determine the modal shape of the excitation motor itself; and the modal parameters corresponding to the modal shape are calculated by establishing a finite element model; the modal parameters include frequency, damping and mode shape; The modal shape of itself is compared and analyzed with the modal shape under multi-modal, and the synchronous vibration control method of the excitation motor based on multi-modal analysis and the control method under resonance frequency range are established; The synchronous vibration control method of the excitation motor is based on the synchronous use of multiple excitation motors; the multiple excitation motors pass through the vibration passage center of gravity in structure layout; The synchronous vibration control method of the excitation motor establishes a fuzzy PID control method based on master-slave motor synchronous control, sets up parameter compensation between the motion parameters of multiple excitation motors, controls the synchronous motion of multiple excitation motors, adjusts the frequency range, establishes the modal shape under different frequencies, and compares with the modal shape of itself; The control method under resonance frequency range obtains the comparative data of the modal shape under different frequencies and the modal shape of itself, extracts the amplitude comparative data in resonance time domain, adds adjustable eccentric block damping device in the resonance time domain, reduces the rotation speed of the eccentric block, and changes the vibration frequency to pass through the resonance time domain.

2. The multi-dimension multi-mode analysis method based on the vibration excitation motor according to claim 1, wherein, The excitation motor comprises a fixed eccentric block, a rotating shaft, a mounting flange, a machine shell, an adjustable eccentric block and a rotor; the mounting flange is fixed on the upper end of the machine shell, the fixed eccentric block is arranged above the mounting flange, the adjustable eccentric block is installed on the lower end of the machine shell, the rotor is installed below the adjustable eccentric block, and the included angle between the fixed eccentric block and the adjustable eccentric block can be adjusted.

3. The multi-dimension multi-mode analysis method based on the vibration excitation motor according to claim 1, wherein, The multiple dimensions are divided into six vibration directions, i.e. x-direction rotation vibration, y-direction rotation vibration, z-direction rotation vibration, x-direction movement, y-direction movement and z-direction movement, by establishing a six-degree-of-freedom excitation motor motion mode.

4. The multi-dimension multi-mode analysis method based on the vibration excitation motor according to claim 2, characterized in that, The fixed eccentric block and the adjustable eccentric block generate a rotary torque during the motion of the excitation motor; the rotary torque generates an eccentric force output and drives the rotation vibration of the excitation motor.

5. The multi-dimension multi-mode analysis method based on the vibration excitation motor according to claim 2, characterized in that, The angle of the adjustable eccentric block is adjusted to adjust the size of the rotary torque of the centrifugal force, so as to adjust the size of the centrifugal force of the excitation motor.

Images