Flexible shaft with one end restrained and automatic vibration suppression system and control method thereof

Abstract

The present disclosure relates to a one-end constrained flexible rotating shaft automatic vibration suppression system and a control method thereof. The system comprises a driving motor, a rotating shaft electromagnet, a balancing device, an adjusting disc, an axial adjusting device and a transverse adjusting device; the driving motor is used to drive the rotating shaft electromagnet; the transverse adjusting device and the rotating shaft electromagnet are fixedly connected; the adjusting disc is fixedly connected with the axial adjusting device; the balancing device and the axial adjusting device are slidingly connected; and the balancing device and the transverse adjusting device are partially connected. In the case that the adjusting disc is not adsorbed on the rotating shaft electromagnet, the transverse adjusting device is driven by the driving motor to drive the balancing device to move transversely; in the case that the adjusting disc is adsorbed on the rotating shaft electromagnet, the axial adjusting device is driven by the driving motor to drive the balancing device to rotate axially. The present disclosure can automatically adjust the inclination and dynamic balance of the flexible rotating shaft, and effectively reduce the vibration during the rotation of the flexible rotating shaft.

Description

Technical Field

[0001] This disclosure relates to the field of vibration control technology, and in particular to an automatic vibration damping system for a flexible rotating shaft with one end constrained, and its control method, device, storage medium and electronic equipment. Background Technology

[0002] According to the basic theory of rotor dynamics, a general synchronous precession problem will exist in the actual operation of a dynamically unbalanced impeller and its flexible shaft, such as... Figure 1 As shown, with the widespread use of modern high-speed fans, the speed of more and more fans is approaching or completely exceeding the first critical speed of the rotor. The synchronous precession of the impeller rotor running near the critical speed will more easily excite its corresponding modes, thus leading to greater vibration problems.

[0003] Before mass production and installation, wind turbine impellers undergo dynamic balancing to reduce vibration caused by dynamic imbalance during assembly and operation. However, this does not guarantee complete dynamic balance. Even for low-speed impeller shaft systems, due to the specific nature of their working environment, such as oil fume environments, the accumulation of oil stains or dust over time can deteriorate the rotor's original dynamic balance, leading to increased impeller rotor vibration. Summary of the Invention

[0004] To address at least one of the aforementioned technical problems, this disclosure proposes an automatic vibration damping system for a flexible rotating shaft with one end constraint, as well as its control method, apparatus, storage medium, and electronic equipment.

[0005] According to one aspect of this disclosure, an automatic vibration damping system for a flexible rotating shaft with one end constraint is provided, comprising:

[0006] Drive motor, rotating shaft electromagnet, balancing device, adjusting disc, axial adjustment device and lateral adjustment device;

[0007] The drive motor is used to drive the rotating shaft electromagnet. The lateral adjustment device is fixedly connected to the rotating shaft electromagnet. The adjustment disk is fixedly connected to the axial adjustment device. The balancing device is slidably connected to the axial adjustment device. The balancing device and the lateral adjustment device are partially connected.

[0008] When the adjustment disc is not attracted to the rotating shaft electromagnet, the drive motor drives the lateral adjustment device so that the lateral adjustment device drives the balancing device to move laterally.

[0009] When the adjusting disc is attracted to the rotating shaft electromagnet, the drive motor drives the axial adjusting device so that the axial adjusting device drives the balancing device to rotate axially.

[0010] In some possible implementations, the axial adjustment device includes a transmission box, which is fixedly connected to the adjustment disc, and the transmission box is used to drive the balancing device to rotate.

[0011] In some possible implementations, the lateral adjustment device includes a fixing module comprising a curved body and a flat body, one side of the curved body and the flat body being fixedly connected, the curved body being fixedly connected to the drive motor, and an adjustment disk disposed between the flat body and the rotating shaft electromagnet, the adjustment disk being magnetically connected to the flat body, or the adjustment disk being magnetically connected to the rotating shaft electromagnet.

[0012] In some possible implementations, the lateral adjustment device further includes a drive shaft, which is fixedly connected to the rotating shaft electromagnet, and the rotating shaft electromagnet is also used to drive the drive shaft to rotate.

[0013] In some possible implementations, the balancing device includes a balancing arm, a first mass body, and a second mass body, wherein the first mass body and the second mass body have the same mass, and the first mass body and the second mass body are respectively disposed at both ends of the balancing arm.

[0014] In some possible implementations, the balance arm is provided with a gear belt, and the drive shaft is provided with a gear corresponding to the gear belt. The drive shaft moves or is fixed on the gear belt of the balance arm through the gear.

[0015] According to a second aspect of this disclosure, a control method for an automatic vibration damping system of a flexible rotating shaft with one end constraint is provided. Based on the system described above, the method includes:

[0016] Acquire the first vibration data of the flexible rotating shaft;

[0017] The control shaft electromagnet is disconnected from the adjustment plate, and the fixing module and the adjustment plate are magnetically connected.

[0018] The drive motor is controlled to drive the rotating shaft electromagnet to rotate by a first preset angle, thereby driving the lateral adjustment device, which in turn causes the lateral adjustment device to move the balancing device laterally.

[0019] After the balancing device completes its lateral movement, the second vibration data of the flexible rotating shaft is acquired.

[0020] When the first vibration data is greater than the second vibration data, the balancing device is adjusted laterally based on the second vibration data using the lateral adjustment device.

[0021] or,

[0022] If the first vibration data is greater than the second vibration data, the balancing device is axially adjusted based on the second vibration data using an axial adjustment device.

[0023] In some possible implementations, the method further includes:

[0024] When the first vibration data is less than or equal to the second vibration data, the fixing module and the adjusting plate are disconnected, and the rotating shaft electromagnet is attracted to the adjusting plate.

[0025] The drive motor is controlled to drive the rotating shaft electromagnet to rotate a second preset angle based on the first direction, so as to drive the axial adjustment device, and the axial adjustment device drives the balancing device to rotate along the first direction;

[0026] After the balancing device has rotated, the balancing device is laterally adjusted based on the second vibration data using the lateral adjustment device.

[0027] or,

[0028] After the balancing device has rotated, the rotation of the balancing device is adjusted by the axial adjustment device based on the second vibration data.

[0029] In some possible implementations, the axial adjustment of the balancing device based on the second vibration data via an axial adjustment device includes:

[0030] The fixing module and the adjusting plate are disconnected, and the rotating shaft electromagnet and the adjusting plate are attracted and connected.

[0031] The drive motor drives the rotating shaft electromagnet to rotate by the third preset angle based on the first direction, so as to drive the axial adjustment device, and the axial adjustment device drives the balancing device to rotate along the first direction;

[0032] After the balancing device has rotated, the third vibration data of the flexible rotating shaft is acquired;

[0033] When the second vibration data is greater than the third vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to continue rotating the third preset angle based on the first direction;

[0034] After the rotating electromagnet completes its rotation, the fourth vibration data of the flexible rotating shaft is acquired.

[0035] When the third vibration data is less than or equal to the fourth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the third preset angle based on the second direction, and the final state of the axial adjustment of the balancing device is determined, wherein the first direction and the second direction are opposite directions.

[0036] In some possible implementations, the method further includes:

[0037] If the third vibration data is greater than the fourth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the third preset angle based on the first direction;

[0038] After the rotating electromagnet completes its rotation, the fifth vibration data of the flexible rotating shaft is acquired.

[0039] The third vibration data is updated based on the fourth vibration data, and the fourth vibration data is updated based on the fifth vibration data.

[0040] In some possible implementations, the method further includes:

[0041] When the second vibration data is less than or equal to the third vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate by the fourth preset angle based on the second direction, so as to drive the axial adjustment device, and the axial adjustment device drives the balancing device to rotate along the second direction, wherein the fourth preset angle is twice the third preset angle;

[0042] After the rotating electromagnet completes its rotation, the sixth vibration data of the flexible rotating shaft is acquired.

[0043] If the third vibration data is less than or equal to the sixth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate by the third preset angle based on the first direction, and the final state of the axial adjustment of the balancing device is determined.

[0044] In some possible implementations, the method further includes:

[0045] If the third vibration data is greater than the sixth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the third preset angle based on the second direction;

[0046] After the rotating electromagnet completes its rotation, the seventh vibration data of the flexible rotating shaft is acquired.

[0047] The third vibration data is updated based on the sixth vibration data, and the sixth vibration data is updated based on the seventh vibration data.

[0048] In some possible implementations, the lateral adjustment of the balancing device based on the second vibration data via the lateral adjustment device includes:

[0049] The electromagnet of the rotating shaft is disconnected from the adjusting plate, and the fixing module and the adjusting plate are magnetically connected.

[0050] The drive motor drives the rotating shaft electromagnet to rotate by the first preset angle based on the first direction, so as to drive the lateral adjustment device, and the lateral adjustment device drives the balancing device to move laterally;

[0051] After the balancing device has completed its lateral movement, the eighth vibration data of the flexible rotating shaft is acquired;

[0052] If the second vibration data is greater than the eighth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the first preset angle based on the first direction;

[0053] After the rotating electromagnet completes its rotation, the ninth vibration data of the flexible rotating shaft is acquired.

[0054] When the eighth vibration data is less than or equal to the ninth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the first preset angle based on the second direction, so as to drive the lateral adjustment device, so that the lateral adjustment device drives the balancing device to move laterally, and the final state of the lateral adjustment of the balancing device is determined.

[0055] In some possible implementations, the method further includes:

[0056] If the eighth vibration data is greater than the ninth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the first preset angle based on the first direction;

[0057] After the rotating electromagnet completes its rotation, the tenth vibration data of the flexible rotating shaft is acquired.

[0058] The eighth vibration data is updated based on the ninth vibration data, and the ninth vibration data is updated based on the tenth vibration data.

[0059] In some possible implementations, the method further includes:

[0060] When the second vibration data is less than or equal to the eighth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the fifth preset angle based on the second direction, and the fifth preset angle is twice the first preset angle.

[0061] After the rotating electromagnet completes its rotation, the eleventh vibration data of the flexible rotating shaft is acquired.

[0062] If the eighth vibration data is less than or equal to the eleventh vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the first preset angle based on the first direction, and the final state of the lateral adjustment of the balancing device is determined.

[0063] In some possible implementations, the method further includes:

[0064] If the eighth vibration data is greater than the eleventh vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the first preset angle based on the second direction;

[0065] After the rotating electromagnet completes its rotation, the twelfth vibration data of the flexible rotating shaft is acquired.

[0066] The eighth vibration data is updated based on the eleventh vibration data, and the eleventh vibration data is updated based on the twelfth vibration data.

[0067] According to a third aspect of this disclosure, a control device for an automatic vibration damping system of a flexible rotating shaft with one end constraint is provided, characterized in that it is applied to the system described above, and the device comprises:

[0068] The first vibration data acquisition module is used to acquire the first vibration data of the flexible rotating shaft when the balancing device is in the initial position, wherein the initial position is the first mass body and the second mass body of the balancing device are symmetrical about the center of the balancing arm.

[0069] The first connection control module is used to control the rotating shaft electromagnet to disconnect from the adjusting plate, and to control the fixing module and the adjusting plate to be attracted together.

[0070] The first rotation control module is used to control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle, so as to drive the lateral adjustment device, and cause the lateral adjustment device to drive the balancing device to move laterally.

[0071] The second vibration data acquisition module is used to acquire the second vibration data of the flexible rotating shaft after the balancing device has moved laterally.

[0072] A lateral adjustment module is used to adjust the balancing device laterally based on the second vibration data when the first vibration data is greater than the second vibration data.

[0073] or,

[0074] An axial adjustment module is used to adjust the balancing device axially based on the second vibration data when the first vibration data is greater than the second vibration data.

[0075] According to a fourth aspect of this disclosure, an electronic device is provided, including at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements a control method for an automatic vibration damping system for a one-end constrained flexible shaft as described in any one aspect of the first aspect by executing the instructions stored in the memory.

[0076] According to a fifth aspect of this disclosure, a computer-readable storage medium is provided that stores at least one instruction or at least one program, the at least one instruction or at least one program being loaded and executed by a processor to implement a control method for an automatic vibration damping system for a flexible shaft with one-end constraint as described in any of the first aspects.

[0077] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure.

[0078] Implementing this disclosure will have the following beneficial effects:

[0079] When the adjusting disc is not attached to the rotating shaft electromagnet, the drive motor drives the lateral adjusting device, causing it to move the balancing device laterally. By adjusting the lateral center of gravity of the balancing device, the optimal lateral position is found, partially offsetting the eccentric force during the rotation of the flexible shaft and reducing vibration. When the adjusting disc is attached to the rotating shaft electromagnet, the drive motor drives the axial adjusting device, causing it to rotate the balancing device axially. By adjusting the center of gravity of the balancing device during rotation, the optimal position is found, further offsetting the eccentric force during the rotation of the flexible shaft and reducing vibration. Under the combined adjustment of the lateral and axial adjusting devices, the optimal position for the balancing device to offset the eccentric force is determined, achieving vibration minimization control, reducing noise generated by vibration in the system containing the flexible shaft, and increasing system stability.

[0080] Other features and aspects of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0081] To more clearly illustrate the technical solutions of this application, the accompanying drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0082] Figure 1 This diagram illustrates the principle of precession of a flexible rotating shaft constrained at one end in the prior art.

[0083] Figure 2 A schematic diagram of an automatic vibration damping system for a flexible rotating shaft with one end constrained according to an embodiment of the present disclosure is shown.

[0084] Figure 3 A schematic diagram of the structure of the lateral adjustment device according to an embodiment of the present disclosure is shown;

[0085] Figure 4 This diagram illustrates the structure of the adjustment disc and the electromagnet adsorption of the rotating shaft according to an embodiment of the present disclosure;

[0086] Figure 5 A structural schematic diagram showing the installation location of the automatic vibration damping system according to an embodiment of the present disclosure is shown.

[0087] Figure 6 This diagram illustrates the structure of the adjustment disc and the fixing module adsorption according to an embodiment of the present disclosure;

[0088] Figure 7 A flowchart illustrating an automatic vibration damping system control method for a flexible rotating shaft with one end constrained, according to an embodiment of the present disclosure, is shown.

[0089] Figure 8 A flowchart illustrating a method for controlling an axial adjustment device to drive a balancing device to rotate according to an embodiment of the present disclosure is shown.

[0090] Figure 9 A flowchart illustrating a control method for a lateral adjustment device according to an embodiment of the present disclosure is shown.

[0091] Figure 10 A flowchart illustrating a fifth vibration data-based control method according to an embodiment of the present disclosure is shown.

[0092] Figure 11 A flowchart illustrating the sixth vibration data-based control method according to an embodiment of the present disclosure is shown.

[0093] Figure 12 A flowchart illustrating a seventh vibration data-based control method according to an embodiment of the present disclosure is shown.

[0094] Figure 13A flowchart illustrating the ninth vibration data-based control method according to an embodiment of the present disclosure is shown.

[0095] Figure 14 A flowchart illustrating the tenth vibration data-based control method according to an embodiment of the present disclosure is shown.

[0096] Figure 15 A flowchart illustrating the eleventh vibration data-based control method according to an embodiment of the present disclosure is shown.

[0097] Figure 16 A schematic flowchart of a control method based on twelfth vibration data according to an embodiment of the present disclosure is shown;

[0098] Figure 17 A schematic diagram of a control device for an automatic vibration damping system of a flexible rotating shaft with one end constrained, according to an embodiment of the present disclosure, is shown.

[0099] Figure 18 A block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0100] Figure Labels

[0101] 100. Automatic vibration damping system; 1. Drive motor; 2. Rotating shaft electromagnet; 3. Balancing device; 4. Adjusting disc; 5. Axial adjustment device; 6. Lateral adjustment device; 31. Balance arm; 32. First mass body; 33. Second mass body; 61. Fixing module; 62. Drive shaft; Detailed Implementation

[0102] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0103] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or server that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or devices.

[0104] Various exemplary embodiments, features, and aspects of this disclosure will now be described in detail with reference to the accompanying drawings. The same reference numerals in the drawings denote elements that have the same or similar functions. Although various aspects of the embodiments are shown in the drawings, they are not necessarily drawn to scale unless specifically indicated otherwise.

[0105] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments.

[0106] In this document, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Furthermore, the term "at least one" in this document means any combination of at least two of any one or more elements. For example, including at least one of A, B, and C can mean including any one or more elements selected from the set consisting of A, B, and C.

[0107] Furthermore, to better illustrate this disclosure, numerous specific details are set forth in the following detailed description. Those skilled in the art will understand that this disclosure can be practiced without certain specific details. In some instances, methods, means, components, and circuits well known to those skilled in the art have not been described in detail in order to highlight the main points of this disclosure.

[0108] Figure 2 and Figure 3 This diagram illustrates the structure of an automatic vibration damping system for a flexible rotating shaft with one end constrained according to an embodiment of the present disclosure. Figure 2 and Figure 3 As shown, the above system includes:

[0109] 1. Drive motor, 2. Rotary shaft electromagnet, 3. Balancing device, 4. Adjusting disc, 5. Axial adjustment device, and 6. Lateral adjustment device;

[0110] Drive motor 1 is used to drive shaft electromagnet 2. Lateral adjustment device 6 is fixedly connected to shaft electromagnet 2. Adjustment disk 4 is fixedly connected to axial adjustment device 5. Balancing device 3 is slidably connected to axial adjustment device 5. Balancing device 3 and lateral adjustment device 6 are partially connected.

[0111] When the adjusting plate 4 is not attracted to the rotating shaft electromagnet 2, the lateral adjusting device 6 is driven by the drive motor 1 so that the lateral adjusting device 6 drives the balancing device 3 to move laterally.

[0112] With the adjusting plate 4 attracted to the rotating shaft electromagnet 2, the axial adjusting device 5 is driven by the drive motor 1, so that the axial adjusting device 5 drives the balancing device 3 to rotate axially.

[0113] The rotating shaft electromagnet 2 can rotate under the drive of the drive motor 1, and it becomes magnetic when energized, losing its magnetism when de-energized. The balancing device 3 is the object to be adjusted by the lateral adjustment device 6 and the axial adjustment device 5; it affects the eccentric force during the rotation of the flexible shaft. The adjusting disc 4 can be attracted by the energized electromagnet. The axial adjustment device 5 can adjust the balancing device 3 laterally, and it can also adjust the balancing device 3 by rotation.

[0114] In some embodiments, the drive motor 1 and the rotating shaft electromagnet 2 are drivenly connected. When the drive motor 1 is turned on and rotates, it drives the rotating shaft electromagnet 2 to rotate. The adjusting disk 4 is fixedly connected to the axial adjustment device 5. When the adjusting disk 4 and the rotating shaft electromagnet 2 are not connected, the rotating shaft electromagnet 2 cannot drive the adjusting disk 4 to rotate when it rotates, and therefore cannot drive the axial adjustment device 5 to rotate.

[0115] When the rotating shaft electromagnet 2 is de-energized, it does not have an attraction function. When the adjusting disk 4 and the rotating shaft electromagnet 2 are disconnected, and the drive motor 1 starts rotating, it drives the rotating shaft electromagnet 2 to rotate. The rotating shaft electromagnet 2 then drives the lateral adjustment device 6 to rotate, thereby causing the balancing device 3 to move laterally. During the rotation of the flexible shaft, the lateral adjustment device 6 moves the balancing device 3 laterally to find the optimal lateral position, minimizing the vibration of the flexible shaft rotation.

[0116] like Figure 4 As shown, when the rotating shaft electromagnet 2 is energized, it has an adsorption function and is adsorbed to the adjusting plate 4. When the drive motor 1 starts rotating, it drives the rotating shaft electromagnet 2 to rotate. The rotating shaft electromagnet 2 drives the axial adjusting device 5 and the lateral adjusting device 6 to rotate together, thereby causing the balancing device 3 to rotate accordingly. During the rotation of the flexible shaft, the lateral adjusting device 6 rotates the balancing device 3 to find the optimal position during rotation, minimizing the vibration of the flexible shaft.

[0117] In some embodiments, the adjusting disk 4 may be disc-shaped, the rotating shaft electromagnet 2 may be cylindrical, and the radius of the adjusting disk 4 may be the same as the radius of the rotating shaft electromagnet 2.

[0118] In some embodiments, the drive motor 1 is fixedly connected to the tightening nut, and the tightening nut is fixedly connected to the unconstrained end of a constrained flexible rotating shaft.

[0119] In some embodiments, the automatic vibration damping system 100 can be applied to a wind turbine impeller shaft system. (See also...) Figure 5The automatic vibration damping system 100 is installed in the fan inlet channel and the tightening nut of the impeller as one unit. The tightening nut fixes the automatic vibration damping system 100 to the front end of the impeller.

[0120] In some embodiments, the automatic vibration damping system 100 further includes a vibration detection device mounted on the mounting plate of the main drive, which is a drive for driving the flexible shaft, and the vibration detection device is used to monitor the vibration data of the system in which the flexible shaft is located.

[0121] In some embodiments, the vibration monitoring device may be a vibration sensor.

[0122] The above technical solution cleverly adjusts the position of the balancing device 3 in the system through the structure of the automatic vibration damping system 100, thereby minimizing the vibration during the rotation of the flexible shaft. The structure is simple and cost-effective.

[0123] Please see Figure 4 In some embodiments, the axial adjustment device 5 includes a transmission box, which is fixedly connected to the adjustment disc 4. The transmission box is used to drive the balancing device 3 to rotate.

[0124] Furthermore, part of the lateral adjustment device 6 is located inside the transmission box. The transmission box has through holes on both sides adjacent to the connection with the adjustment plate 4, allowing the balancing device 3 to pass through from inside the transmission box. Parts of the balancing device 3 and the lateral adjustment device 6 are connected inside the transmission box by gears.

[0125] The above technical solution uses a balancing device 3 inserted into a transmission box, so that when the transmission box rotates, it can drive the balancing device 3 to rotate, thereby adjusting the position of the balancing device 3 in the direction of rotation.

[0126] In some embodiments, the lateral adjustment device 6 includes a fixing module 61, which includes a curved body and a flat body. One side of the curved body and the flat body are fixedly connected. The curved body is fixedly connected to the drive motor 1. The adjustment disk 4 is disposed between the flat body and the rotating shaft electromagnet 2. The adjustment disk 4 is attracted to the flat body or the adjustment disk 4 is attracted to the rotating shaft electromagnet 2.

[0127] In some embodiments, the fixing module 61 is an L-shaped structure composed of a curved surface and a flat surface. The fixing module 61 is made of an electromagnet, which becomes magnetic when energized and loses its magnetism when de-energized. The curved surface is suspended on the rotating shaft electromagnet 2 and fixedly connected to the housing of the drive motor 1. The flat surface is on the other side of the rotating shaft electromagnet 2. An adjusting disk 4 is disposed between the flat surface and the rotating shaft electromagnet 2, and the adjusting disk 4 can be tilted to either side of the flat surface and the rotating shaft electromagnet 2.

[0128] Furthermore, when the fixed module 61 is energized and the rotating shaft electromagnet 2 is not energized, the adjusting disk 4 and the fixed module 61 are magnetically connected, such as... Figure 6 As shown, the rotating shaft electromagnet 2 is disconnected from the adjusting plate 4. Therefore, when the drive motor 1 drives the rotating shaft electromagnet 2 to rotate, the adjusting plate 4 is fixed by the fixing module 61 and does not rotate. Consequently, the axial connecting device connected to the adjusting plate 4 will not rotate.

[0129] When the fixed module 61 is de-energized, the adjustment disk 4 and the fixed module 61 are disconnected.

[0130] The above technical solution, through the coordinated action of the fixed module 61 and the rotating shaft electromagnet 2, allows switching between lateral adjustment mode and axial adjustment mode, saving costs and making adjustment convenient.

[0131] In some embodiments, the lateral adjustment device 6 further includes a drive shaft 62, which is fixedly connected to a rotating shaft electromagnet 2. The rotating shaft electromagnet 2 is also used to drive the drive shaft 62 to rotate.

[0132] Furthermore, the drive shaft 62 is housed inside the transmission box and is not in contact with the transmission box. The drive shaft 62 is connected to the rotating shaft electromagnet 2. When the rotating shaft electromagnet 2 rotates, it drives the drive shaft 62 to rotate. When the transmission box does not rotate, the balancing device 3 moves laterally.

[0133] The above technical solution allows the drive shaft 62 to rotate, which in turn drives the balancing device 3 to move laterally. This achieves lateral adjustment of the center of gravity of the balancing device 3 in a simple way, thereby reducing the vibration of the flexible shaft rotation, facilitating adjustment, and saving costs.

[0134] In some embodiments, the balancing device 3 includes a balancing arm 31, a first mass body 32 and a second mass body 33, the first mass body 32 and the second mass body 33 having the same mass, and the first mass body 32 and the second mass body 33 being respectively disposed at both ends of the balancing arm 31.

[0135] Furthermore, the balance arm 31 passes through the transmission box and is connected to the transmission shaft 62 inside the transmission box. A first mass body 32 and a second mass body 33 are respectively provided at both ends of the balance arm 31, such as... Figure 3 As shown; the initial state of the balancing device 3 is that the drive shaft 62 is at the center of the balancing arm 31, and the first mass body 32 and the second mass body 33 are symmetrical about the drive shaft 62.

[0136] In some embodiments, the weights of the first mass body 32 and the second mass body 33 are set based on actual needs. The heights of the first mass body 32 and the second mass body 33 are the same, and the heights of the first mass body 32 and the second mass body 33 are greater than the height of the gear shaft. The gear shaft can be a cylinder, and its height is the diameter of the circular side surface of the cylinder. By designing the heights of the first mass body 32 and the second mass body 33, the balancing device 3 achieves static balance in the vertical direction, which is perpendicular to the balancing arm 31.

[0137] It should be noted that the horizontal direction mentioned throughout the text refers to the direction of the longest side of the balance arm 31, that is, the straight line formed by the balance arm 31 connecting the first mass body 32 and the second mass body 33. The axial direction mentioned throughout the text refers to the direction of rotation of the rotating electromagnet 2.

[0138] In some embodiments, the balance arm 31 is in the form of a rectangular sheet. The first mass body 32 and the second mass body 33 can be cuboids or cubes, and there is no limitation on this.

[0139] The above technical solution uses the balancing device 3 to counteract the eccentric force during the rotation of the flexible shaft, thus reducing vibration simply and effectively.

[0140] In some embodiments, a gear belt is provided on the balance arm 31, and a gear corresponding to the gear belt is provided on the drive shaft 62. The drive shaft 62 moves or is fixed on the gear belt of the balance arm 31 through the gear.

[0141] Furthermore, gear belts are installed at predetermined distances from the center of the balance arm 31 to both sides of the first mass body 32 and the second mass body 33. Gears corresponding to the gear belts are wrapped around the outside of the drive shaft 62. When the drive shaft 62 rotates while the transmission box remains stationary, the drive shaft 62 moves along the balance arm 31, causing the balancing device 3 to move left and right. When the transmission box rotates, causing the balancing device 3 to rotate, the friction between the gears in the transmission box and the gear belts of the balance arm 31 can fix the balancing device 3 in place, preventing it from sliding along the balance arm 31 during rotation.

[0142] According to the second aspect of this disclosure, please refer to Figure 7 This paper provides a control method for an automatic vibration damping system of a flexible rotating shaft with one-end constraint. Based on the system described above, the method includes:

[0143] S101. Obtain the first vibration data of the flexible rotating shaft;

[0144] S102, Control the rotating shaft electromagnet to disconnect from the adjusting plate, and control the fixed module and the adjusting plate to be attracted and connected;

[0145] S103. Control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle, so as to drive the lateral adjustment device, and make the lateral adjustment device drive the balancing device to move laterally.

[0146] S104. After the balancing device has moved laterally, acquire the second vibration data of the flexible rotating shaft;

[0147] S1041. If the first vibration data is greater than the second vibration data, the balancing device is adjusted laterally based on the second vibration data using the lateral adjustment device.

[0148] or,

[0149] S1042. If the first vibration data is greater than the second vibration data, the balancing device is axially adjusted based on the second vibration data using the axial adjustment device.

[0150] When the flexible shaft rotates, an automatic vibration damping system is used to adjust the vibration generated by the rotation of the flexible shaft.

[0151] The first vibration data A0 of the flexible rotating shaft is obtained based on the vibration detection device; the rotating shaft electromagnet is de-energized, and at the same time, the fixing module is energized, so that the rotating shaft electromagnet is disconnected from the adjusting plate, and the fixing module and the adjusting plate are magnetically connected. The drive motor is turned on, and the drive motor drives the rotating shaft electromagnet to rotate a first preset angle. This causes the lateral adjustment device to drive the balancing device to produce a certain displacement in the direction of the balance arm, and then the drive motor is turned off. After the balancing device completes its lateral movement, the second vibration data A1 of the flexible rotating shaft is acquired; it is then determined whether the first vibration data A0 is greater than the second vibration data A1. If the first vibration data A0 is greater than the second vibration data A1, the lateral adjustment device is used to adjust the balancing device laterally based on the second vibration data to determine the optimal lateral position of the balancing device, so that the vibration data detected by the vibration detection device is relatively minimized. Alternatively, the axial adjustment device is used to adjust the balancing device rotationally based on the second vibration data to determine the optimal position of the balancing device during rotation, so that the vibration data detected by the vibration detection device is relatively minimized.

[0152] In some embodiments, the balancing device is laterally adjusted using a lateral adjustment device based on the second vibration data. After the lateral position of the balancing device is fixed, the first target vibration data is acquired. The second vibration data A1 is then updated based on the first target vibration data. Finally, the balancing device is axially adjusted using an axial adjustment device based on the second vibration data A1. The optimal lateral position is first adjusted using the lateral adjustment device, and then the optimal axial position is adjusted using the axial adjustment device to achieve the final optimal position determination, thereby minimizing vibration.

[0153] In some embodiments, the balancing device is rotated using an axial adjustment device based on the second vibration data. After the axial position of the balancing device is fixed, second target vibration data is acquired. The second vibration data A1 is updated based on the second target vibration data, and then the balancing device is laterally adjusted using a lateral adjustment device based on the second vibration data A1. The axial optimal position is first adjusted using the axial adjustment device, and then the lateral optimal position is adjusted using the lateral adjustment device to achieve the final optimal position determination, thereby minimizing vibration.

[0154] In some embodiments, when acquiring the first vibration data of the flexible rotating shaft, the balancing device is in an initial state, where the drive shaft 62 is at the center of the balancing arm, and the first mass body and the second mass body are symmetrical about the drive shaft 62.

[0155] In some embodiments, the above method can be applied to a wind turbine impeller shaft system equipped with an automatic vibration damping system. The wind turbine impeller shaft system includes a flexible shaft constrained at one end.

[0156] The above technical solution, when adjusting the vibration of the system containing the flexible rotating shaft, first obtains the first vibration data before adjustment and the second vibration data after fine adjustment. If the first vibration data before adjustment is greater than the second vibration data after fine adjustment, it indicates that the adjustment method is effective. Then, axial or lateral adjustment is continued to minimize the vibration data, thereby minimizing the vibration of the system containing the flexible rotating shaft, reducing noise, and improving the stability of the system.

[0157] Please see Figure 8 In some embodiments, the method further includes:

[0158] S201. When the first vibration data is less than or equal to the second vibration data, control the fixed module and the adjustment plate to disconnect, and control the rotating shaft electromagnet to be attracted and connected to the adjustment plate.

[0159] S202. Control the drive motor to drive the rotating shaft electromagnet to rotate by a second preset angle based on the first direction, so as to drive the axial adjustment device, so that the axial adjustment device drives the balancing device to rotate along the first direction.

[0160] S2021. After the balancing device has rotated, the balancing device is laterally adjusted based on the second vibration data using the lateral adjustment device.

[0161] or,

[0162] S2022. After the balancing device has rotated, the rotation of the balancing device is adjusted by the axial adjustment device based on the second vibration data.

[0163] Specifically, if the first vibration data A0 is less than or equal to the second vibration data A1, it means that continuing in this adjustment direction will not reduce the vibration. Therefore, the fixed module is de-energized, causing the fixed module and the adjustment disk to disconnect. The rotating shaft electromagnet is energized, causing the rotating shaft electromagnet and the adjustment disk to be attracted and connected. Then, the drive motor is turned on, causing the drive motor to drive the rotating shaft electromagnet to rotate a second preset angle based on the first direction. The rotating shaft electromagnet further drives the adjustment disk and the axial adjustment device to rotate, and the axial adjustment device drives the balancing device to rotate. After the rotation is completed, the drive motor is turned off.

[0164] After the balancing device has rotated, it is adjusted laterally using a lateral adjustment device based on the second vibration data to determine the optimal lateral position of the balancing device, minimizing the vibration data detected by the vibration detection device. Alternatively, it can be adjusted by rotating the balancing device using an axial adjustment device based on the second vibration data to determine the optimal position of the balancing device during rotation, minimizing the vibration data detected by the vibration detection device. The order of these adjustment methods can be varied.

[0165] In some embodiments, the first direction is clockwise and the second preset angle is 180 degrees.

[0166] In the above technical solution, when adjusting the vibration of the system containing the flexible rotating shaft, the first vibration data before adjustment and the second vibration data after fine adjustment are first obtained. If the first vibration data before adjustment is less than or equal to the second vibration data after fine adjustment, it indicates that the adjustment method is ineffective. The position of the balancing device is changed, and vibration adjustment is continued to ensure the effectiveness of vibration adjustment.

[0167] Please see Figure 9 In some embodiments, the balancing device is axially adjusted based on the second vibration data using an axial adjustment device, including:

[0168] S421, Control the fixed module and the adjustment plate to disconnect, and control the rotating shaft electromagnet and the adjustment plate to be attracted and connected;

[0169] S422. Control the drive motor to drive the rotating shaft electromagnet to rotate a third preset angle based on the first direction, so as to drive the axial adjustment device, so that the axial adjustment device drives the balancing device to rotate along the first direction.

[0170] S423. After the balancing device has rotated, acquire the third vibration data of the flexible shaft;

[0171] S424. If the second vibration data is greater than the third vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating a third preset angle based on the first direction.

[0172] S425. After the rotating shaft electromagnet has finished rotating, acquire the fourth vibration data of the flexible rotating shaft;

[0173] S426. When the third vibration data is less than or equal to the fourth vibration data, control the drive motor to drive the rotating shaft electromagnet to rotate by a third preset angle based on the second direction, and determine the final state of the axial adjustment of the balancing device, wherein the first direction and the second direction are opposite directions.

[0174] Specifically, the fixed module is de-energized, disconnecting it from the adjustment plate; the rotating shaft electromagnet is energized, attracting it to the adjustment plate; and the drive motor is activated, causing it to rotate the rotating shaft electromagnet in the first direction by a third preset angle. The rotating shaft electromagnet drives the adjusting plate and the axial adjusting device fixedly connected to the adjusting plate to rotate together, thereby causing the balancing device to rotate accordingly, and the drive motor is turned off. After the balancing device has rotated, based on the third vibration data A11 obtained by the vibration detection device, the magnitudes of the second and third vibration data are compared. If the second vibration data is greater than the third vibration data A11, the drive motor is turned on to continue driving the rotating shaft electromagnet to rotate the third preset angle in the first direction. Turn off the drive motor and acquire the fourth vibration data A12 of the flexible shaft; determine the magnitudes of the third vibration data A11 and the fourth vibration data A12. If the third vibration data A11 is less than or equal to the fourth vibration data A12, it indicates that the vibration data in the previous adjustment step is less than the adjusted vibration data. Turn on the drive motor so that it drives the shaft electromagnet to rotate a third preset angle based on the second direction. This allows the balancing device to return to the position of the previous adjustment step, ultimately determining the final position of the balancing device's rotation under the adjustment of the axial adjustment device.

[0175] In some embodiments, the second direction is counterclockwise.

[0176] The above technical solution utilizes an axial adjustment device and a rotational balancing device to adjust the vibration, while detecting the magnitude of the vibration data during the adjustment process, thereby optimizing the vibration data and making the adjustment method simple and effective.

[0177] Please see Figure 10 In some embodiments, the method further includes:

[0178] S4261. When the third vibration data is greater than the fourth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating a third preset angle based on the first direction.

[0179] S4262. After the rotating shaft electromagnet has finished rotating, acquire the fifth vibration data of the flexible rotating shaft;

[0180] S4263. Update the third vibration data based on the fourth vibration data, and update the fourth vibration data based on the fifth vibration data.

[0181] Specifically, if the third vibration data A11 is greater than the fourth vibration data A12, it indicates that the adjusted vibration data has decreased. The drive motor is then activated, continuing to drive the rotating shaft electromagnet to rotate a third preset angle based on the first direction. Turn off the drive motor and continue to acquire the fifth vibration data of the flexible rotating shaft. Determine the fourth vibration data as the third vibration data and the fifth vibration data as the fourth vibration data. Continue to judge the magnitude of the third vibration data and the fourth vibration data. Repeat the process of adjusting the rotation of the balancing device based on the first direction when the third vibration data is greater than the fourth vibration data, or adjusting the rotation of the balancing device based on the second direction when the third vibration data is less than or equal to the fourth vibration data, until the final position of the rotation of the balancing device under the adjustment of the axial adjustment device is finally determined.

[0182] If the above technical solution is effective in adjusting the vibration along the same direction, it will continue to be adjusted until the final position of the rotation of the balancing device under the adjustment of the axial adjustment device is determined, the optimal position of the rotation process is found, and the vibration is optimized.

[0183] Please see Figure 11 In some embodiments, the method further includes:

[0184] S4241. When the second vibration data is less than or equal to the third vibration data, control the drive motor to drive the rotating shaft electromagnet to rotate a fourth preset angle based on the second direction, so as to drive the axial adjustment device, so that the axial adjustment device drives the balancing device to rotate along the second direction, and the fourth preset angle is twice the third preset angle.

[0185] S4242. After the rotating shaft electromagnet has finished rotating, acquire the sixth vibration data of the flexible rotating shaft;

[0186] S4243. When the third vibration data is less than or equal to the sixth vibration data, control the drive motor to drive the rotating shaft electromagnet to rotate by a third preset angle based on the first direction, and determine the final state of the axial adjustment of the balancing device.

[0187] Specifically, if the second vibration data is less than or equal to the third vibration data, the drive motor is activated, causing the drive motor to drive the rotating shaft electromagnet to rotate in the second direction by a fourth preset angle 2. This drives the axial adjustment device to rotate, causing the balancing device to rotate accordingly, and then shuts off the drive motor; it acquires the sixth vibration data A22, and determines the magnitude of the third vibration data and the sixth vibration data. If the third vibration data is less than or equal to the sixth vibration data, it turns on the drive motor, causing the drive motor to drive the rotating shaft electromagnet to rotate a third preset angle based on the first direction. Turn off the drive motor and confirm the final state of the axial adjustment of the balancing device. The first to fourth preset angles can be set according to actual needs, and are not limited here.

[0188] The above technical solution uses an axial adjustment device to control the balancing device to rotate gradually, and compares the vibration data before and after rotation to optimize the vibration data. This method can be adjusted in real time when the system containing the flexible rotating shaft is working, and can be adjusted according to the actual operating conditions to improve accuracy.

[0189] Please see Figure 12 In some embodiments, the method further includes:

[0190] S42431. When the third vibration data is greater than the sixth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating a third preset angle based on the second direction.

[0191] S42432. After the rotating shaft electromagnet has finished rotating, acquire the seventh vibration data of the flexible rotating shaft;

[0192] S42433. Update the third vibration data based on the sixth vibration data, and update the sixth vibration data based on the seventh vibration data.

[0193] Specifically, if the third vibration data A11 is greater than the sixth vibration data A22, it indicates that the adjusted vibration data has decreased. The drive motor is then activated, continuing to drive the rotating shaft electromagnet to rotate a third preset angle based on the second direction. Turn off the drive motor and continue to acquire the seventh vibration data A23 of the flexible rotating shaft. Determine the sixth vibration data as the third vibration data and the seventh vibration data as the sixth vibration data. Continue to judge the magnitude of the third vibration data and the sixth vibration data. Repeat the process of adjusting the rotation of the balancing device based on the second direction when the third vibration data is greater than the sixth vibration data, or adjusting the rotation of the balancing device based on the first direction when the third vibration data is less than or equal to the sixth vibration data, until the final position of the rotation of the balancing device under the adjustment of the axial adjustment device is finally determined.

[0194] If the above technical solution is effective in adjusting the vibration along the same direction, it will continue to be adjusted until the final position of the rotation of the balancing device under the adjustment of the axial adjustment device is determined, the optimal position of the rotation process is found, and the vibration is optimized.

[0195] Please see Figure 13 In some embodiments, the balancing device is laterally adjusted based on the second vibration data using a lateral adjustment device, including:

[0196] S411, Control the rotating shaft electromagnet to disconnect from the adjusting plate, and control the fixing module and the adjusting plate to be attracted and connected;

[0197] S412. Control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle based on the first direction, so as to drive the lateral adjustment device, so that the lateral adjustment device drives the balancing device to move laterally.

[0198] S413. After the balancing device has moved laterally, acquire the eighth vibration data of the flexible rotating shaft.

[0199] S414. If the second vibration data is greater than the eighth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating by a first preset angle based on the first direction.

[0200] S415. After the rotating shaft electromagnet has finished rotating, acquire the ninth vibration data of the flexible rotating shaft;

[0201] S416. When the eighth vibration data is less than or equal to the ninth vibration data, control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle based on the second direction, so as to drive the lateral adjustment device, so that the lateral adjustment device drives the balancing device to move laterally, and determine the final state of the lateral adjustment of the balancing device.

[0202] Specifically, the electromagnet of the rotating shaft is de-energized, causing it to disconnect from the adjusting plate; the fixing module is energized, causing it to magnetically connect with the adjusting plate; and the drive motor is activated, causing it to drive the electromagnet of the rotating shaft to rotate a first preset angle in a first direction. The rotating shaft electromagnet drives the lateral adjustment device to rotate. At this time, the adjustment disc does not rotate, the axial rotation device does not rotate, and therefore the balancing device does not rotate accordingly. However, the rotation of the lateral adjustment device causes displacement in the lateral direction of the balancing device, thereby driving the balancing device to move. After the rotating shaft electromagnet rotates by the first preset angle, the drive motor is turned off. Based on the vibration detection device, the eighth vibration data A4 is obtained. The magnitudes of the second vibration data and the eighth vibration data are compared. If the second vibration data is greater than the eighth vibration data, the drive motor is turned on, causing the drive motor to drive the rotating shaft electromagnet to continue rotating by the first preset angle in the first direction. The drive motor is then turned off, and the ninth vibration data A41 of the flexible rotating shaft is obtained. The magnitudes of the eighth vibration data A4 and the ninth vibration data A41 are compared. If the eighth vibration data is less than or equal to the ninth vibration data, it indicates that the vibration data in the previous adjustment step is less than the adjusted vibration data. The drive motor is then turned on, causing the drive motor to drive the rotating shaft electromagnet to rotate by the first preset angle in the second direction. This causes the balancing device to move laterally to the position of the previous adjustment step, and finally determines the final position of the balancing device's lateral movement under the adjustment of the lateral adjustment device.

[0203] The above technical solution utilizes a lateral adjustment device to detect the magnitude of vibration data during the lateral movement of the balancing device, thereby optimizing the vibration data during the adjustment process. The adjustment method is simple and effective.

[0204] Please see Figure 14 In some embodiments, the method further includes:

[0205] S4161. When the eighth vibration data is greater than the ninth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating by a first preset angle based on the first direction.

[0206] S4162. After the rotating shaft electromagnet has finished rotating, acquire the tenth vibration data of the flexible rotating shaft;

[0207] S4163. Update the eighth vibration data based on the ninth vibration data, and update the ninth vibration data based on the tenth vibration data.

[0208] Specifically, if the eighth vibration data is greater than the ninth vibration data, it indicates that the adjusted vibration data has decreased. The drive motor is then activated, continuing to drive the rotating shaft electromagnet to rotate by a first preset angle based on the first direction. The process involves rotating the lateral adjustment device on the balancing device, causing the balancing device to move laterally. After the balancing device finishes moving, the drive motor is turned off. The tenth vibration data A42 of the flexible rotating shaft is then acquired. The ninth vibration data is identified as the eighth vibration data, and the tenth vibration data is identified as the ninth vibration data. The magnitudes of the eighth and ninth vibration data are then compared. If the eighth vibration data is greater than the ninth vibration data, the lateral adjustment device is used to adjust the balancing device's movement in the first direction. If the eighth vibration data is less than or equal to the ninth vibration data, the lateral adjustment device is used to adjust the balancing device's movement in the second direction. This process continues until the final position of the balancing device under the adjustment of the lateral adjustment device is determined.

[0209] If the above technical solution is effective in adjusting the vibration along the same direction, it will continue to be adjusted until the final position of the balancing device under the adjustment of the lateral adjustment device is determined, the optimal position of the movement process is found, and the vibration is optimized.

[0210] Please see Figure 15 In some embodiments, the method further includes:

[0211] S4141. When the second vibration data is less than or equal to the eighth vibration data, control the drive motor to drive the rotating shaft electromagnet to rotate a fifth preset angle based on the second direction. The fifth preset angle is twice the first preset angle.

[0212] S4142. After the rotating shaft electromagnet completes its rotation, acquire the eleventh vibration data of the flexible rotating shaft;

[0213] S4143. When the eighth vibration data is less than or equal to the eleventh vibration data, control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle based on the first direction, and determine the final state of the lateral adjustment of the balancing device.

[0214] Specifically, if the second vibration data is less than or equal to the eighth vibration data, the drive motor is activated, causing the drive motor to drive the rotating shaft electromagnet to rotate in the second direction by a fifth preset angle 2. This drives the lateral adjustment device to rotate, thereby moving the balancing device accordingly. The drive motor is then turned off. Eleventh vibration data A51 is acquired, and the magnitudes of the eighth and eleventh vibration data are compared. If the eighth vibration data is less than or equal to the eleventh vibration data, the drive motor is turned on, causing the drive motor to drive the rotating shaft electromagnet to rotate a first preset angle based on the first direction. The drive motor is then turned off, determining the final state of the lateral adjustment of the balancing device. The fifth preset angle can be set based on actual needs and is not limited here.

[0215] The above technical solution utilizes a lateral adjustment device to control the balancing device to move gradually laterally, and compares the vibration data before and after the movement to optimize the vibration data. This method can be adjusted in real time when the system containing the flexible rotating shaft is working, and can be adjusted according to the actual operating conditions to improve accuracy.

[0216] Please see Figure 16 In some embodiments, the method further includes:

[0217] S41431. When the eighth vibration data is greater than the eleventh vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating by a first preset angle based on the second direction.

[0218] S41432. After the rotating shaft electromagnet completes its rotation, acquire the twelfth vibration data of the flexible rotating shaft;

[0219] S41433. Update the eighth vibration data based on the eleventh vibration data, and update the eleventh vibration data based on the twelfth vibration data.

[0220] Specifically, if the eighth vibration data is greater than the eleventh vibration data, it indicates that the adjusted vibration data has decreased. The drive motor is then turned on, and the drive motor continues to drive the rotating shaft electromagnet to rotate by a first preset angle based on the second direction. The drive motor is then turned off, and the twelfth vibration data A52 of the flexible rotating shaft is acquired. The eleventh vibration data is determined as the eighth vibration data, and the twelfth vibration data is determined as the eleventh vibration data. The magnitudes of the eighth and eleventh vibration data are then determined. This process is repeated when the eighth vibration data is greater than the eleventh vibration data, and the balancing device is adjusted based on the second direction using the lateral adjustment device. Alternatively, when the eighth vibration data is less than or equal to the eleventh vibration data, the balancing device is adjusted based on the first direction using the lateral adjustment device. This process continues until the final position of the balancing device under the adjustment of the lateral adjustment device is determined.

[0221] If the above technical solution is effective in adjusting the vibration in the same direction, it will continue to adjust until the final position of the balancing device under the adjustment of the lateral adjustment device is determined, the optimal position of the lateral movement process is found, and the vibration is optimized.

[0222] Please see Figure 17 According to a third aspect of this disclosure, a control device for an automatic vibration damping system of a flexible rotating shaft with one end constrained is provided, characterized in that it is applied to the system described above, and characterized in that the device comprises:

[0223] The first vibration data acquisition module 10 is used to acquire the first vibration data of the flexible rotating shaft when the balancing device is in the initial position. The initial position is that the first mass body and the second mass body of the balancing device are symmetrical about the center of the balancing arm.

[0224] The first connection control module 20 is used to control the disconnection of the rotating shaft electromagnet from the adjusting plate, and to control the adsorption connection between the fixing module and the adjusting plate.

[0225] The first rotation control module 30 is used to control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle, so as to drive the lateral adjustment device and cause the lateral adjustment device to drive the balancing device to move laterally.

[0226] The second vibration data acquisition module 40 is used to acquire the second vibration data of the flexible rotating shaft after the balancing device has moved laterally.

[0227] The lateral adjustment module 41 is used to adjust the balance device laterally based on the second vibration data when the first vibration data is greater than the second vibration data.

[0228] or,

[0229] The axial adjustment module 42 is used to adjust the balancing device axially based on the second vibration data when the first vibration data is greater than the second vibration data.

[0230] In some embodiments, the apparatus further includes:

[0231] The second connection control module is used to control the fixed module and the adjustment plate to disconnect when the first vibration data is less than or equal to the second vibration data, and to control the rotating shaft electromagnet to be attracted and connected to the adjustment plate.

[0232] The second rotation control module is used to control the drive motor to drive the rotating shaft electromagnet to rotate a second preset angle based on the first direction, so as to drive the axial adjustment device, and cause the axial adjustment device to drive the balancing device to rotate along the first direction.

[0233] The lateral movement module is used to adjust the balancing device laterally based on the second vibration data after the balancing device has rotated.

[0234] or,

[0235] The axial rotation module is used to adjust the rotation of the balancing device based on the second vibration data after the balancing device has rotated.

[0236] In some embodiments, the axial adjustment module 42 includes:

[0237] The third connection control unit is used to control the disconnection of the fixed module and the adjustment plate, and to control the magnetic connection between the rotating shaft electromagnet and the adjustment plate;

[0238] The third rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate a third preset angle based on the first direction, so as to drive the axial adjustment device, and cause the axial adjustment device to drive the balancing device to rotate along the first direction.

[0239] The third vibration data acquisition unit is used to acquire the third vibration data of the flexible rotating shaft after the balancing device has rotated.

[0240] The fourth rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to continue rotating a third preset angle based on the first direction when the second vibration data is greater than the third vibration data.

[0241] The fourth vibration data acquisition unit is used to acquire the fourth vibration data of the flexible shaft after the rotating electromagnet has finished rotating;

[0242] The fifth rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate a third preset angle based on the second direction when the third vibration data is less than or equal to the fourth vibration data, and to determine the final state of the axial adjustment of the balancing device. The first direction and the second direction are opposite directions.

[0243] In some embodiments, the apparatus further includes:

[0244] The sixth rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to continue rotating a third preset angle based on the first direction when the third vibration data is greater than the fourth vibration data.

[0245] The fifth vibration data acquisition unit is used to acquire the fifth vibration data of the flexible rotating shaft after the rotating shaft electromagnet has finished rotating;

[0246] The first update unit is used to update the third vibration data based on the fourth vibration data, and to update the fourth vibration data based on the fifth vibration data.

[0247] In some embodiments, the apparatus further includes:

[0248] The seventh rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate a fourth preset angle based on the second direction when the second vibration data is less than or equal to the third vibration data, so as to drive the axial adjustment device, so that the axial adjustment device drives the balancing device to rotate along the second direction, and the fourth preset angle is twice the third preset angle.

[0249] The sixth vibration data acquisition unit is used to acquire the sixth vibration data of the flexible rotating shaft after the rotating shaft electromagnet has finished rotating;

[0250] The eighth rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate by a third preset angle based on the first direction when the third vibration data is less than or equal to the sixth vibration data, and to determine the final state of the axial adjustment of the balancing device.

[0251] In some embodiments, the apparatus further includes:

[0252] The ninth rotation control unit is used to control the drive motor to drive the rotating shaft electromagnet to continue rotating a third preset angle based on the second direction when the third vibration data is greater than the sixth vibration data.

[0253] The seventh vibration data acquisition unit is used to acquire the seventh vibration data of the flexible shaft after the rotating electromagnet has finished rotating;

[0254] The second update unit is used to update the third vibration data based on the sixth vibration data, and to update the sixth vibration data based on the seventh vibration data.

[0255] In some embodiments, the lateral adjustment module 41 includes:

[0256] The fourth connection control unit is used to control the disconnection of the rotating shaft electromagnet from the adjusting plate, and to control the magnetic connection between the fixing module and the adjusting plate;

[0257] The first motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate a first preset angle based on a first direction, so as to drive the lateral adjustment device, and cause the lateral adjustment device to drive the balancing device to move laterally.

[0258] The eighth vibration data acquisition unit is used to acquire the eighth vibration data of the flexible rotating shaft after the balancing device has moved laterally.

[0259] The second motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to continue rotating by a first preset angle based on the first direction when the second vibration data is greater than the eighth vibration data.

[0260] The ninth vibration data acquisition unit is used to acquire the ninth vibration data of the flexible shaft after the rotating electromagnet has finished rotating;

[0261] The third motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle based on the second direction when the eighth vibration data is less than or equal to the ninth vibration data, so as to drive the lateral adjustment device, so that the lateral adjustment device drives the balancing device to move laterally, and determines the final state of the lateral adjustment of the balancing device.

[0262] In some embodiments, the apparatus further includes:

[0263] The fourth motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to continue rotating by a first preset angle based on the first direction when the eighth vibration data is greater than the ninth vibration data.

[0264] The tenth vibration data acquisition unit is used to acquire the tenth vibration data of the flexible shaft after the rotating electromagnet has finished rotating;

[0265] The third update unit is used to update the eighth vibration data based on the ninth vibration data, and to update the ninth vibration data based on the tenth vibration data.

[0266] In some embodiments, the apparatus further includes:

[0267] The fifth motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate a fifth preset angle based on the second direction when the second vibration data is less than or equal to the eighth vibration data. The fifth preset angle is twice the first preset angle.

[0268] The eleventh vibration data acquisition unit is used to acquire the eleventh vibration data of the flexible shaft after the rotating electromagnet has finished rotating;

[0269] The sixth motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle based on the first direction when the eighth vibration data is less than or equal to the eleventh vibration data, and to determine the final state of the lateral adjustment of the balancing device.

[0270] In some embodiments, the apparatus further includes:

[0271] The seventh motion control unit is used to control the drive motor to drive the rotating shaft electromagnet to continue rotating by a first preset angle based on the second direction when the eighth vibration data is greater than the eleventh vibration data.

[0272] The twelfth vibration data acquisition unit is used to acquire the twelfth vibration data of the flexible shaft after the rotating electromagnet has finished rotating;

[0273] The fourth update unit is used to update the eighth vibration data based on the eleventh vibration data, and to update the eleventh vibration data based on the twelfth vibration data.

[0274] In some embodiments, the functions or modules of the apparatus provided in this disclosure can be used to perform the methods described in the above method embodiments. The specific implementation can be referred to the description of the above method embodiments, and for the sake of brevity, it will not be repeated here.

[0275] This application provides a control device for an automatic vibration damping system of a flexible shaft with one end constraint. The device can be a terminal or a server. The control device for the automatic vibration damping system of the flexible shaft with one end constraint includes a processor and a memory. The memory stores at least one instruction or at least one program. The at least one instruction or at least one program is loaded and executed by the processor to implement the control method of the automatic vibration damping system of the flexible shaft with one end constraint as provided in the above method embodiment.

[0276] Memory is used to store software programs and modules. The processor executes these stored software programs and modules to perform various functional applications and data processing. Memory can primarily consist of a program storage area and a data storage area. The program storage area stores the operating system, application programs required for functionality, etc.; the data storage area stores data created based on device usage, etc. Furthermore, memory can include high-speed random access memory (RAM) and non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory can also include a memory controller to provide the processor with access to the memory.

[0277] The methods and embodiments provided in this application can be executed in electronic devices such as mobile terminals, computer terminals, servers, or similar computing devices. Figure 18 This is a hardware structure block diagram of an electronic device for a control method of an automatic vibration damping system for a flexible rotating shaft with one end constraint, as provided in an embodiment of this application. Figure 18As shown, the electronic device 900 can vary significantly due to differences in configuration or performance. It may include one or more central processing units (CPUs) 910 (CPUs 910 may include, but are not limited to, microprocessors such as MCUs or programmable logic devices such as FPGAs), a memory 930 for storing data, and one or more storage media 920 (e.g., one or more mass storage devices) for storing application programs 923 or data 922. The memory 930 and storage media 920 may be temporary or persistent storage. The program stored in the storage media 920 may include one or more modules, each module may include a series of instruction operations on the electronic device. Furthermore, the CPU 910 may be configured to communicate with the storage media 920 and execute the series of instruction operations in the storage media 920 on the electronic device 900. Electronic device 900 may also include one or more power supplies 960, one or more wired or wireless network interfaces 950, one or more input / output interfaces 940, and / or one or more operating systems 921, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0278] The input / output interface 940 can be used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the electronic device 900. In one example, the input / output interface 940 includes a network interface controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the input / output interface 940 may be a radio frequency (RF) module used for wireless communication with the Internet.

[0279] Those skilled in the art will understand that Figure 18 The structure shown is for illustrative purposes only and does not limit the structure of the electronic device described above. For example, the electronic device 900 may also include... Figure 18 The more or fewer components shown, or having the same Figure 18 The different configurations shown.

[0280] Embodiments of this application also provide a computer-readable storage medium, which can be disposed in an electronic device to store at least one instruction or at least one program related to the control method of an automatic vibration damping system for a one-end constrained flexible shaft in the method embodiment. The at least one instruction or the at least one program is loaded and executed by the processor to implement the control method of the automatic vibration damping system for a one-end constrained flexible shaft provided in the above method embodiment.

[0281] Optionally, in this embodiment, the storage medium may be located at at least one of the multiple network servers in a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0282] According to one aspect of this application, a computer program product or computer program is provided, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the methods provided in the various alternative implementations described above.

[0283] As can be seen from the embodiments of the control method, apparatus, device, terminal, server, storage medium, or computer program of the one-end constrained flexible shaft automatic vibration damping system provided in this application, when the adjusting plate is not attracted to the shaft electromagnet, the lateral adjusting device is driven by a drive motor to move the balancing device laterally. By adjusting the lateral center of gravity of the balancing device, the optimal lateral position is found, partially offsetting the eccentric force during the rotation of the flexible shaft, thus reducing vibration. When the adjusting plate is attracted to the shaft electromagnet, the axial adjusting device is driven by a drive motor to rotate the balancing device axially. By adjusting the center of gravity of the balancing device during rotation, the optimal position is found, partially offsetting the eccentric force during the rotation of the flexible shaft, further reducing vibration. Under the joint adjustment of the lateral and axial adjusting devices, the optimal position for the balancing device to offset the eccentric force is determined, achieving vibration minimization control, reducing noise generated by vibration in the system containing the flexible shaft, and increasing system stability.

[0284] It should be noted that the order of the embodiments described above is merely for descriptive purposes and does not represent the superiority or inferiority of the embodiments. Furthermore, the above description focuses on specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in a different order than that shown in the embodiments and still achieve the desired results. Additionally, the processes depicted in the drawings do not necessarily require a specific or sequential order to achieve the desired results. In some implementations, multitasking and parallel processing are also possible or may be advantageous.

[0285] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device, equipment, and storage medium embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0286] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware, or by a program instructing the relevant hardware to implement them. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0287] The above description is only a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An automatic vibration damping system for a flexible rotating shaft with one-end constraint, characterized in that, The system includes: a drive motor, a rotating shaft electromagnet, a balancing device, an adjusting disc, an axial adjusting device, and a lateral adjusting device; The drive motor is used to drive the rotating shaft electromagnet. The lateral adjustment device is fixedly connected to the rotating shaft electromagnet. The adjustment disk is fixedly connected to the axial adjustment device. The balancing device is slidably connected to the axial adjustment device. The balancing device and the lateral adjustment device are partially connected. When the adjustment disc is not attracted to the rotating shaft electromagnet, the drive motor drives the lateral adjustment device so that the lateral adjustment device drives the balancing device to move laterally. When the adjusting disc is attracted to the rotating shaft electromagnet, the drive motor drives the axial adjusting device so that the axial adjusting device drives the balancing device to rotate axially. The lateral adjustment device includes a fixing module and a drive shaft. The fixing module includes a curved body and a flat body, which are fixedly connected to one side. The curved body is fixedly connected to the drive motor. The adjustment disk is disposed between the flat body and the rotating shaft electromagnet. The adjustment disk is magnetically connected to the flat body or the rotating shaft electromagnet. The drive shaft is fixedly connected to the rotating shaft electromagnet, and the rotating shaft electromagnet is also used to drive the drive shaft to rotate. The balancing device includes a balancing arm with a gear belt, and a transmission shaft with a gear corresponding to the gear belt. The transmission shaft moves or is fixed on the gear belt of the balancing arm via the gear.

2. The system according to claim 1, characterized in that, The axial adjustment device includes a transmission box, which is fixedly connected to the adjustment disc. The transmission box is used to drive the balancing device to rotate.

3. The system according to claim 1, characterized in that, The balancing device further includes a first mass body and a second mass body, the first mass body and the second mass body having the same mass, and the first mass body and the second mass body are respectively disposed at both ends of the balancing arm.

4. A control method for an automatic vibration damping system of a flexible rotating shaft with one-end constraint, based on the system described in any one of claims 1-3, characterized in that, The method includes: Acquire the first vibration data of the flexible rotating shaft; The control shaft electromagnet is disconnected from the adjustment plate, and the fixing module and the adjustment plate are magnetically connected. The drive motor is controlled to drive the rotating shaft electromagnet to rotate by a first preset angle, thereby driving the lateral adjustment device, which in turn causes the lateral adjustment device to move the balancing device laterally. After the balancing device completes its lateral movement, the second vibration data of the flexible rotating shaft is acquired. When the first vibration data is greater than the second vibration data, the balancing device is adjusted laterally based on the second vibration data using the lateral adjustment device. or, If the first vibration data is greater than the second vibration data, the balancing device is axially adjusted based on the second vibration data using an axial adjustment device.

5. The method according to claim 4, characterized in that, The method further includes: When the first vibration data is less than or equal to the second vibration data, the fixing module and the adjusting plate are disconnected, and the rotating shaft electromagnet is attracted to the adjusting plate. The drive motor is controlled to drive the rotating shaft electromagnet to rotate a second preset angle based on a first direction, so as to drive the axial adjustment device, and the axial adjustment device drives the balancing device to rotate along the first direction; After the balancing device has rotated, the balancing device is laterally adjusted based on the second vibration data using the lateral adjustment device. or, After the balancing device has rotated, the axial adjustment device is used to adjust the balancing device axially based on the second vibration data.

6. The method according to any one of claims 4-5, characterized in that, The axial adjustment of the balancing device based on the second vibration data via the axial adjustment device includes: The fixing module and the adjusting plate are disconnected, and the rotating shaft electromagnet and the adjusting plate are attracted and connected. The drive motor drives the rotating shaft electromagnet to rotate a third preset angle based on a first direction, thereby driving the axial adjustment device, which in turn drives the balancing device to rotate along the first direction. After the balancing device has rotated, the third vibration data of the flexible rotating shaft is acquired; When the second vibration data is greater than the third vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to continue rotating the third preset angle based on the first direction; After the rotating electromagnet completes its rotation, the fourth vibration data of the flexible rotating shaft is acquired. When the third vibration data is less than or equal to the fourth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the third preset angle based on the second direction, and the final state of the axial adjustment of the balancing device is determined, wherein the first direction and the second direction are opposite directions.

7. The method according to claim 6, characterized in that, The method further includes: If the third vibration data is greater than the fourth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the third preset angle based on the first direction; After the rotating electromagnet completes its rotation, the fifth vibration data of the flexible rotating shaft is acquired. The third vibration data is updated based on the fourth vibration data, and the fourth vibration data is updated based on the fifth vibration data.

8. The method according to claim 6, characterized in that, The method further includes: When the second vibration data is less than or equal to the third vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate a fourth preset angle based on the second direction, so as to drive the axial adjustment device, and the axial adjustment device drives the balancing device to rotate along the second direction. The fourth preset angle is twice the third preset angle. After the rotating electromagnet completes its rotation, the sixth vibration data of the flexible rotating shaft is acquired. If the third vibration data is less than or equal to the sixth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate by the third preset angle based on the first direction, and the final state of the axial adjustment of the balancing device is determined.

9. The method according to claim 8, characterized in that, The method further includes: If the third vibration data is greater than the sixth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the third preset angle based on the second direction; After the rotating electromagnet completes its rotation, the seventh vibration data of the flexible rotating shaft is acquired. The third vibration data is updated based on the sixth vibration data, and the sixth vibration data is updated based on the seventh vibration data.

10. The method according to any one of claims 4-5, characterized in that, The lateral adjustment of the balancing device based on the second vibration data via the lateral adjustment device includes: The electromagnet of the rotating shaft is disconnected from the adjusting plate, and the fixing module and the adjusting plate are magnetically connected. The drive motor drives the rotating shaft electromagnet to rotate the first preset angle based on the first direction, so as to drive the lateral adjustment device, and the lateral adjustment device drives the balancing device to move laterally; After the balancing device has completed its lateral movement, the eighth vibration data of the flexible rotating shaft is acquired; If the second vibration data is greater than the eighth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the first preset angle based on the first direction; After the rotating electromagnet completes its rotation, the ninth vibration data of the flexible rotating shaft is acquired. When the eighth vibration data is less than or equal to the ninth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the first preset angle based on the second direction, so as to drive the lateral adjustment device, so that the lateral adjustment device drives the balancing device to move laterally, and the final state of the lateral adjustment of the balancing device is determined, wherein the first direction and the second direction are opposite directions.

11. The method according to claim 10, characterized in that, The method further includes: If the eighth vibration data is greater than the ninth vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the first preset angle based on the first direction; After the rotating electromagnet completes its rotation, the tenth vibration data of the flexible rotating shaft is acquired. The eighth vibration data is updated based on the ninth vibration data, and the ninth vibration data is updated based on the tenth vibration data.

12. The method according to claim 10, characterized in that, The method further includes: When the second vibration data is less than or equal to the eighth vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate a fifth preset angle based on the second direction, the fifth preset angle being twice the first preset angle; After the rotating electromagnet completes its rotation, the eleventh vibration data of the flexible rotating shaft is acquired. If the eighth vibration data is less than or equal to the eleventh vibration data, the drive motor is controlled to drive the rotating shaft electromagnet to rotate the first preset angle based on the first direction, and the final state of the lateral adjustment of the balancing device is determined.

13. The method according to claim 12, characterized in that, The method further includes: If the eighth vibration data is greater than the eleventh vibration data, control the drive motor to drive the rotating shaft electromagnet to continue rotating the first preset angle based on the second direction; After the rotating electromagnet completes its rotation, the twelfth vibration data of the flexible rotating shaft is acquired. The eighth vibration data is updated based on the eleventh vibration data, and the eleventh vibration data is updated based on the twelfth vibration data.

14. A control device for an automatic vibration damping system of a flexible rotating shaft with one end constraint, characterized in that, Applied to the system as described in any one of claims 1-3, characterized in that the device comprises: The first vibration data acquisition module is used to acquire the first vibration data of the flexible rotating shaft when the balancing device is in the initial position, wherein the initial position is the first mass body and the second mass body of the balancing device are symmetrical about the center of the balancing arm. The first connection control module is used to control the rotating shaft electromagnet to disconnect from the adjusting plate, and to control the fixing module and the adjusting plate to be attracted together. The first rotation control module is used to control the drive motor to drive the rotating shaft electromagnet to rotate by a first preset angle, so as to drive the lateral adjustment device, and cause the lateral adjustment device to drive the balancing device to move laterally. The second vibration data acquisition module is used to acquire the second vibration data of the flexible rotating shaft after the balancing device has moved laterally. A lateral adjustment module is used to adjust the balancing device laterally based on the second vibration data when the first vibration data is greater than the second vibration data. or, An axial adjustment module is used to adjust the balancing device axially based on the second vibration data when the first vibration data is greater than the second vibration data.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one instruction or at least one program, which is loaded and executed by a processor to implement the control method of the automatic vibration damping system as described in any one of claims 4-13.

16. An electronic device, characterized in that, The system includes at least one processor and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the at least one processor implements the control method of the automatic vibration damping system as described in any one of claims 4-13 by executing the instructions stored in the memory.

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