Vibration automatic suppression system and control method thereof

Abstract

The present disclosure relates to a vibration automatic suppression system and a control method thereof. The system comprises a swing adjusting device, a rotation adjusting device, a rotating shaft device, a gravity device, a monitoring device, the rotation adjusting device and the rotating shaft device are fixedly connected, the rotating shaft device and the swing adjusting device are fixedly connected, the gravity device and the swing adjusting device are fixedly connected, the monitoring device is partially arranged on the rotating shaft device; in the case that the swing adjusting device is turned on, the swing adjusting device drives the gravity device to swing; in the case that the rotation adjusting device is turned on, the rotation adjusting device drives the rotating shaft device and the swing adjusting device to rotate, so as to drive the gravity device to rotate; the monitoring device is used for monitoring the axial linear rotation angle of the gravity device, and the axial line is the perpendicular line of the straight line in the swing direction when the swing adjusting device drives the gravity device to swing. The present disclosure can quickly adjust the inclination of the rotating shaft and the dynamic balance thereof through the detection device, minimize the vibration of the rotating shaft, and improve the stability of the rotating shaft system.

Description

Technical Field

[0001] This disclosure relates to the field of vibration control technology, and in particular to automatic vibration suppression systems and their control methods, devices, storage media and electronic devices. 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 provides an automatic vibration suppression system and its control method, apparatus, storage medium, and electronic equipment.

[0005] According to one aspect of this disclosure, an automatic vibration suppression system is provided, comprising:

[0006] The device includes an oscillation adjustment device, a rotation adjustment device, a rotating shaft device, a gravity device, and a monitoring device. The rotation adjustment device and the rotating shaft device are fixedly connected, the rotating shaft device and the oscillation adjustment device are fixedly connected, the gravity device and the oscillation adjustment device are fixedly connected, and the monitoring device is partially disposed on the rotating shaft device.

[0007] When the swing adjustment device is activated, the gravity device is driven to swing by the swing adjustment device.

[0008] When the rotation adjustment device is activated, the rotation adjustment device drives the rotating shaft device and the swing adjustment device to rotate, thereby driving the gravity device to rotate.

[0009] The monitoring device is used to monitor the rotation angle of the axial straight line of the gravity device, and the axial straight line is the perpendicular line to the straight line of the swing direction when the swing adjustment device drives the gravity device to swing.

[0010] In some possible implementations, the monitoring device includes an angle monitoring module and a displacement monitoring module. The angle monitoring module is mounted on the rotating shaft device, and the displacement monitoring module includes a laser sensor mounted on the main motor mounting plate. The main motor mounting plate is the outer cover of the main motor that drives the flexible rotating shaft to rotate, and the flexible rotating shaft is a device connected to the automatic vibration suppression system.

[0011] The angle monitoring module is used to determine the angle between the axial straight line of the gravity device and the straight line from the laser sensor to the center of the flexible shaft on the main motor mounting plate.

[0012] In some possible implementations, the system further includes a tightening nut fixedly connected to the rotation adjustment device, such that the automatic vibration suppression system is fixedly connected to the flexible rotating shaft.

[0013] In some possible implementations, the displacement monitoring module further includes a preset number of photosensitive monitoring points, which are set at the position corresponding to the laser sensor on the rear end face of the impeller of the impeller device connected to the tightening nut. The impeller device is a component of the system in which the flexible rotating shaft is located, and the rear end face of the impeller device is opposite to the end face of the laser sensor on the main motor mounting plate.

[0014] The laser sensor is used to measure the vertical distance between itself and a preset number of photosensitive monitoring points.

[0015] In some possible implementations, the swing adjustment device includes a first motor, a first swing shaft, a second swing shaft, a first connector, and a second connector. The two sides of the first motor are fixedly connected to the first swing shaft and the second swing shaft, respectively. The first swing shaft and the second swing shaft are movably connected to the first connector and the second connector, respectively. The first connector and the second connector are fixedly mounted on the rotating shaft device.

[0016] In some possible implementations, the gravity device includes a swing arm and a mass body, the mass body and the swing arm are fixedly connected, the swing arm and the swing adjustment device are fixedly connected, and when the first motor rotates, it drives the swing arm to swing, thereby causing the mass body to swing.

[0017] In some possible implementations, the rotation adjustment device includes a second motor, which, when rotating, drives the rotating shaft device and the swing adjustment device to rotate accordingly, thereby causing the gravity device to rotate.

[0018] According to a second aspect of this disclosure, a control method for an automatic vibration suppression system is provided, based on the system described above, the method comprising:

[0019] The control rotation adjustment device is turned on, driving the rotating shaft device and the swing adjustment device to rotate, thereby driving the gravity device to rotate, so that the included angle in the end plane is a preset included angle value. The included angle in the end plane is the included angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible rotating shaft. The axial straight line is the perpendicular line of the straight line where the swing direction of the gravity device is when the swing adjustment device drives the gravity device to swing.

[0020] When the included angle in the end plane is a preset included angle value and the flexible rotating shaft rotates along the first direction at a preset speed, the rotation adjustment device is controlled to open, driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate continuously along the second direction at the preset speed. The first direction and the second direction are two opposite directions.

[0021] The displacement monitoring module of the monitoring device determines the vertical distance between the laser sensor and a preset number of photosensitive monitoring points to obtain a first displacement set. The displacement monitoring module includes the laser sensor and the preset number of photosensitive monitoring points.

[0022] The first and second operating angles of the rotation adjustment device are determined based on the first set of displacements.

[0023] The rotation adjustment device is turned off to stop the gravity device from rotating;

[0024] After the gravity device stops rotating, the rotation angle of the rotation adjustment device is adjusted based on the first operating angle and the second operating angle to determine the final state of the gravity device rotation adjustment.

[0025] In some possible implementations, determining the first operating angle and the second operating angle of the rotation adjustment device based on the first set of displacements includes:

[0026] Determine the first target monitoring point corresponding to the first displacement value, the second target monitoring point corresponding to the second displacement value, and the third target monitoring point corresponding to the second displacement value in the first displacement set. The first displacement value is the minimum distance value in the first displacement set, and the second displacement value is any distance value in the first displacement set excluding the minimum and maximum distance values.

[0027] The first operating angle and the second operating angle are determined based on the first target monitoring point, the second target monitoring point and the third target monitoring point.

[0028] In some possible implementations, adjusting the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle to determine the final state of the gravity device rotation adjustment includes:

[0029] The rotation adjustment device is activated, driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on a third direction until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the first running angle, wherein the third direction is the same as the first direction or the same as the second direction.

[0030] When the rotation angle is the first running angle, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the second displacement set;

[0031] A first target difference is determined based on the second set of displacements, where the first target difference is the difference between the largest and smallest distance values ​​in the second set of displacements.

[0032] The rotation adjustment device is activated, driving the rotating shaft device and the swing adjustment device to rotate accordingly, thereby causing the gravity device to rotate based on the third direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle.

[0033] When the rotation angle is the second running angle, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain a third displacement set;

[0034] A second target difference is determined based on the third displacement set, whereby the second target difference is the difference between the largest and smallest distance values ​​in the third displacement set.

[0035] If the first target difference is greater than the second target difference, the final state of the rotation adjustment of the gravity device is determined.

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

[0037] When the first target difference is less than or equal to the second target difference, the rotation adjustment device is activated, driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on the fourth direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle, and the final state of the rotation adjustment of the gravity device is determined. The fourth direction and the third direction are two opposite directions.

[0038] In some possible implementations, after adjusting the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle to determine the final state of the rotation adjustment of the gravity device, the method further includes:

[0039] When the final state of the rotation adjustment of the gravity device is determined, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the fourth displacement set;

[0040] The third target difference is determined based on the fourth displacement set, whereby the third target difference is the difference between the largest and smallest distance values ​​in the fourth displacement set.

[0041] The swing adjustment device is activated to drive the gravity device to swing at the first preset angle based on the first direction;

[0042] After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the fifth displacement set.

[0043] A fourth target difference is determined based on the fifth displacement set, wherein the fourth target difference is the difference between the largest and smallest distance values ​​in the fifth displacement set;

[0044] If the difference between the third target and the fourth target is greater than the difference between the fourth target and the third target, the swing adjustment device is activated to drive the gravity device to continue swinging the first preset angle based on the first direction.

[0045] After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the sixth displacement set.

[0046] The fifth target difference is determined based on the sixth displacement set, whereby the fifth target difference is the difference between the largest and smallest distance values ​​in the sixth displacement set.

[0047] If the fourth target difference is less than or equal to the fifth target difference, the swing adjustment device is activated to drive the gravity device to swing the first preset angle based on the second direction, and the final state of the gravity device swing adjustment is determined.

[0048] In some possible implementations, the method further includes:

[0049] If the fourth target difference is greater than the fifth target difference, the swing adjustment device is activated to drive the gravity device to continue swinging the first preset angle based on the first direction.

[0050] After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the seventh displacement set.

[0051] The sixth target difference is determined based on the seventh displacement set, whereby the sixth target difference is the difference between the largest and smallest distance values ​​in the seventh displacement set.

[0052] The fourth target difference is updated based on the fifth target difference, and the fifth target difference is updated based on the sixth target difference.

[0053] In some possible implementations, the method further includes:

[0054] When the third target difference is less than or equal to the fourth target difference, the swing adjustment device is activated to drive the gravity device to swing the second preset angle based on the second direction, the second preset angle being twice the first preset angle;

[0055] After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the eighth displacement set.

[0056] The seventh target difference is determined based on the eighth displacement set, and the seventh target difference is the difference between the largest distance value and the smallest distance value in the eighth displacement set;

[0057] If the fourth target difference is less than or equal to the seventh target difference, the swing adjustment device is activated to drive the gravity device to swing at the first preset angle based on the first direction, and the final state of the swing adjustment of the gravity device is determined.

[0058] In some possible implementations, the method further includes:

[0059] If the fourth target difference is greater than the seventh target difference, the swing adjustment device is activated to drive the gravity device to continue swinging the first preset angle based on the second direction.

[0060] After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the ninth displacement set.

[0061] The eighth target difference is determined based on the ninth displacement set, whereby the eighth target difference is the difference between the largest and smallest distance values ​​in the ninth displacement set.

[0062] The fourth target difference is updated based on the seventh target difference, and the seventh target difference is updated based on the eighth target difference.

[0063] According to a third aspect of this disclosure, a control device for an automatic suppression system is provided, applied to the system described above, the device comprising:

[0064] The in-plane angle adjustment module is used to control the opening of the rotation adjustment device, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate, so that the in-plane angle is a preset angle value. The in-plane angle is the angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible rotating shaft. The axial straight line is the perpendicular line of the swing direction when the swing adjustment device drives the gravity device to swing.

[0065] The rotation adjustment module is used to control the rotation adjustment device to open when the included angle in the end plane is a preset included angle value and the flexible rotating shaft rotates along the first direction at a preset speed, thereby driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate continuously along the second direction at the preset speed, wherein the first direction and the second direction are two opposite directions;

[0066] The first displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device, and obtain the first displacement set. The displacement monitoring module includes the laser sensor and the preset number of photosensitive monitoring points.

[0067] The operating angle determination module is used to determine the first operating angle and the second operating angle of the rotation adjustment device based on the first displacement set.

[0068] A rotation adjustment device shut-off module is used to control the rotation adjustment device to shut off, so that the gravity device stops rotating;

[0069] The rotation angle adjustment module is used to adjust the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle after the gravity device stops rotating, so as to determine the final state of the rotation adjustment of the gravity device.

[0070] 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 suppression system as described in any one of the first aspects by executing the instructions stored in the memory.

[0071] 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 suppression system as described in any of the first aspects.

[0072] 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.

[0073] Implementing this disclosure will have the following beneficial effects:

[0074] With the swing adjustment device activated, the gravity device is driven to swing; the final spatial position during the swing process is determined, thus reducing vibration. With the rotation adjustment device activated, the rotating shaft device and the swing adjustment device are driven to rotate, thereby rotating the gravity device; this also reduces vibration. By adjusting the swing and rotation positions of the gravity device, vibration is minimized, reducing system noise. The monitoring device monitors the rotation angle of the gravity device's axial straight line, which is perpendicular to the line pointing in the swing direction when the swing adjustment device drives the gravity device to swing. By monitoring the rotation angle of the gravity device's axial straight line during rotation, the rotation adjustment device can be used to adjust the gravity device's rotational position relative to the monitoring device, quickly adjusting the gravity device's final position and automatically achieving vibration minimization control.

[0075] 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

[0076] 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.

[0077] Figure 1 This diagram illustrates the principle of precession of a flexible rotating shaft constrained at one end in the prior art.

[0078] Figure 2 A schematic diagram of the structure of an automatic vibration suppression system according to an embodiment of the present disclosure is shown;

[0079] Figure 3 A structural schematic diagram showing the installation location of the automatic vibration suppression system according to an embodiment of the present disclosure is shown.

[0080] Figure 4 A schematic diagram showing the mounting position of the laser sensor according to an embodiment of the present disclosure is shown.

[0081] Figure 5 A side view showing the axial linear rotation angle according to an embodiment of the present disclosure;

[0082] Figure 6 A front view showing the axial linear rotation angle according to an embodiment of the present disclosure;

[0083] Figure 7 A schematic flowchart of a control method for an automatic vibration suppression system according to an embodiment of the present disclosure is shown.

[0084] Figure 8 A flowchart illustrating a method for determining the operating angle according to an embodiment of the present disclosure is shown.

[0085] Figure 9 This diagram illustrates the relationship between curves drawn based on a first set of displacements according to an embodiment of the present disclosure.

[0086] Figure 10 A schematic flowchart of a method for a rotation adjustment device based on an operating angle control according to an embodiment of the present disclosure is shown.

[0087] Figure 11 A flowchart illustrating a method for determining the final state of rotational adjustment of a gravity device based on a rotational adjustment device according to an embodiment of the present disclosure is shown.

[0088] Figure 12 A schematic flowchart of a swing adjustment device control method according to an embodiment of the present disclosure is shown;

[0089] Figure 13 A flowchart illustrating the sixth target difference control method according to an embodiment of the present disclosure is shown.

[0090] Figure 14 A flowchart illustrating the seventh objective difference control method according to an embodiment of the present disclosure is shown.

[0091] Figure 15 A flowchart illustrating the eighth target difference control method according to an embodiment of the present disclosure is shown.

[0092] Figure 16A schematic diagram of the structure of a control device for an automatic vibration suppression system according to an embodiment of the present disclosure is shown.

[0093] Figure 17 A block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0094] Figure Labels

[0095] 100. Automatic vibration suppression system; 1. Rotation adjustment device; 2. Rotating shaft device; 3. Gravity device; 4. Tightening nut; 5. First motor; 61. First swing shaft; 62. Second swing shaft; 71. First connecting piece; 72. Second connecting piece; 31. Mass body; 32. Swing arm; 81. Laser sensor; Detailed Implementation

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] Figure 2 A schematic diagram of the structure of an automatic vibration suppression system 100 according to an embodiment of the present disclosure is shown, as follows: Figure 2 As shown, the above system includes:

[0103] The device includes an oscillation adjustment device, a rotation adjustment device 1, a rotating shaft device 2, a gravity device 3, and a monitoring device. The rotation adjustment device 1 and the rotating shaft device 2 are fixedly connected. The rotating shaft device 2 and the oscillation adjustment device are fixedly connected. The gravity device 3 and the oscillation adjustment device are fixedly connected. The monitoring device is partially installed on the rotating shaft device 2.

[0104] When the swing adjustment device is activated, the gravity device 3 is driven to swing by the swing adjustment device.

[0105] When the rotation adjustment device 1 is turned on, the rotation adjustment device 1 drives the rotating shaft device 2 and the swing adjustment device to rotate, thereby driving the gravity device 3 to rotate.

[0106] The monitoring device is used to monitor the rotation angle of the axial straight line of the gravity device 3, which is the perpendicular line to the straight line of the swing direction when the swing adjustment device drives the gravity device 3 to swing.

[0107] Gravity device 3 is fixed to the swing adjustment device. When the swing adjustment device is activated, it can drive gravity device 3 to swing in the direction of rotation of the swing adjustment device. During the rotation of the flexible shaft, the swing adjustment device adjusts the spatial position of the swing direction of gravity device 3 to counteract part of the eccentric force during the rotation of the flexible shaft and reduce some of the vibration of the flexible shaft. The flexible shaft is the adjustment object of the automatic vibration suppression system 100.

[0108] The swing adjustment device is fixed on the rotating shaft device 2. The rotating shaft device 2 is driven to the rotation adjustment device 1. After the rotation adjustment device 1 is turned on, it drives the rotating shaft device 2 and the swing adjustment device to rotate in the same direction, so that the gravity device 3 follows the rotation direction of the rotation adjustment device 1. During the rotation of the flexible shaft, the rotation adjustment device 1 adjusts the spatial position of the rotation direction of the gravity device 3 to counteract part of the eccentric force during the rotation of the flexible shaft and reduce part of the vibration of the flexible shaft.

[0109] In some embodiments, the automatic vibration suppression system 100 can be applied to a wind turbine impeller shaft system. (See also...) Figure 3 The automatic vibration suppression system 100 is installed as an integral part of the fan inlet channel and the impeller tightening nut 4, which fixes the automatic vibration suppression system 100 to the front end of the impeller.

[0110] The flexible shaft can be a shaft that is fixed and constrained at one end and not fixed at the other end. The flexible shaft can be a shaft in the fan impeller shaft system. The vibration automatic suppression system 100 is fixed to the unfixed end of the flexible shaft by tightening the nut 4, and is used to automatically adjust the vibration in the fan impeller shaft system.

[0111] In some embodiments, the monitoring device can be used to monitor the rotation angle of the axial straight line of the gravity device 3, so that the rotation adjustment device 1 adjusts the initial reference position of the gravity device 3 based on the rotation angle, and then quickly adjusts the final position of the gravity device 3 based on the initial reference position, thereby improving the efficiency of vibration adjustment. The initial reference position is the rotation angle of the axial straight line, which is a first preset angle, and the first preset angle can be 90 degrees.

[0112] The above technical solution, through a monitoring device, uses the rotation adjustment device 1 to determine the initial reference position of the gravity device 3, then uses the rotation adjustment device 1 to determine the optimal position of the gravity device 3 in the rotation direction to optimize the vibration of the flexible shaft in the rotation direction. Similarly, the swing adjustment device determines the optimal position of the gravity device 3 in the swing direction to optimize the vibration of the flexible shaft in the swing direction. Combining these two methods, the optimal position of the gravity device 3 is finally determined, minimizing the vibration of the flexible shaft, increasing system stability, and reducing system noise. Pre-determining the initial reference position of the gravity device 3 improves the efficiency of subsequent vibration adjustment.

[0113] In some embodiments, the monitoring device includes an angle monitoring module and a displacement monitoring module. The angle monitoring module is mounted on the rotating shaft device 2, and the displacement monitoring module includes a laser sensor 81, such as... Figure 4 As shown, the laser sensor 81 is mounted on the main motor mounting plate, which is the outer cover of the main motor that drives the flexible rotating shaft to rotate. The flexible rotating shaft is a device connected to the vibration automatic suppression system 100.

[0114] The angle monitoring module is used to measure the angle between the axial straight line of the gravity device 3 and the straight line from the laser sensor 81 to the center of the flexible shaft on the main motor mounting plate.

[0115] Specifically, the monitoring device includes an angle monitoring module and a displacement monitoring module. The displacement monitoring module includes a laser sensor 81. The angle monitoring module is mounted on the rotating shaft device 2. The angle monitoring module is used to monitor the rotation angle of the axial straight line of the gravity device 3, i.e., the included angle in the end plane. The included angle in the end plane is the angle between the axial straight line and the straight line from the laser sensor 81 to the center of the flexible rotating shaft on the main motor mounting plate. Figure 5 and Figure 6 As shown. The axial straight line is the perpendicular line to the line containing the swing direction of gravity device 3.

[0116] In some embodiments, the angle monitoring module includes an angle sensor.

[0117] The above technical solution monitors the rotation angle of the axial line of the gravity device 3 using the angle monitoring module. This allows the initial reference position of the gravity device 3 to be determined in advance based on the rotation angle of the axial line when the vibration automatic suppression system 100 is used to adjust the vibration of the shaft. This enables the final position of the gravity device 3 to be determined quickly using the rotation adjustment device 1 and the swing adjustment device, thereby optimizing the vibration of the shaft.

[0118] In some embodiments, the system further includes a tightening nut 4, which is fixedly connected to the rotation adjustment device 1 so that the vibration automatic suppression system 100 is fixedly connected to the flexible rotating shaft.

[0119] The nut 4 is fixedly connected to the flexible shaft. One end of the flexible shaft is fixed and the other end is not fixed. The flexible shaft is the adjustment object of the automatic vibration suppression system 100. The flexible shaft can be the shaft in the fan impeller shaft system. The automatic vibration suppression system 100 is fixed to the unfixed end of the flexible shaft by the nut 4 and is used to automatically adjust the vibration in the fan impeller shaft system.

[0120] The above technical solution uses the tightening nut 4 to fix the vibration automatic suppression system 100 to the object being adjusted, so as to achieve vibration optimization of the object being adjusted.

[0121] In some embodiments, the displacement monitoring module further includes a preset number of photosensitive monitoring points. The photosensitive monitoring points are set at the positions corresponding to the rear end face of the impeller of the impeller device connected to the tightening nut 4 and the laser sensor 81. The impeller device is a component of the system in which the flexible rotating shaft is located. The rear end face of the impeller device and the end face of the laser sensor 81 on the main motor mounting plate are opposite faces.

[0122] The laser sensor 81 is used to measure the vertical distance between itself and a preset number of photosensitive monitoring points.

[0123] In some embodiments, the displacement monitoring module includes a preset number of photosensitive monitoring points, for example, 36. Each photosensitive monitoring point has a photosensitive material attached to it. The photosensitive monitoring points are positioned on the impeller rear end face opposite the main motor mounting plate, corresponding to the laser sensor 81. The preset number of photosensitive monitoring points can be evenly arranged around the impeller rear end face, so that during one rotation, the laser emitted by the laser sensor 81 can illuminate each photosensitive monitoring point. When the photosensitive material on the photosensitive monitoring point senses the light emitted by the laser sensor 81, the vertical distance between the impeller rear end face and the laser sensor 81 can be measured. By monitoring the displacement change between the impeller rear end face and the laser sensor 81 through the displacement monitoring module, the optimal position of the gravity device 3 in the rotation space can be quickly determined using the rotation adjustment device 1, thus optimizing vibration.

[0124] In some embodiments, based on the rotation angle of the axial straight line of the gravity device 3 monitored by the angle monitoring module, the rotation adjustment device 1 is used to adjust the initial reference position of the gravity device 3 based on the rotation angle monitored by the angle monitoring module. The initial reference position can be a 90-degree angle between the axial straight line and the straight line from the laser sensor 81 to the center of the flexible rotating shaft on the main motor mounting plate.

[0125] Then, the rotation adjustment device 1 is used to monitor the change in the vertical distance between the rear end face of the impeller and the laser sensor 81 based on the initial reference position, so as to adjust the optimal position of the gravity device 3 during the rotation process and determine the final state of the rotation adjustment of the gravity device 3.

[0126] The oscillation adjustment device is used to continue to oscillate the gravity device 3 after the final state of the rotation adjustment device 3 is determined by the rotation adjustment device 1, based on the change in the vertical distance between the rear end face of the impeller and the laser sensor 81 monitored by the displacement monitoring module, in order to determine the final state of the oscillation adjustment of the gravity device 3 and thus minimize the vibration of the rotating shaft.

[0127] In some embodiments, the swing adjustment device includes a first motor 5, a first swing shaft 61, a second swing shaft 62, a first connector 71, and a second connector 72. The two sides of the first motor 5 are fixedly connected to the first swing shaft 61 and the second swing shaft 62, respectively. The first swing shaft 61 and the second swing shaft 62 are movably connected to the first connector 71 and the second connector 72, respectively. The first connector 71 and the second connector 72 are fixedly mounted on the rotating shaft device 2.

[0128] In the vibration adjustment device, the first motor 5 is positioned between the first connecting member 71 and the second connecting member 72 via a first swing shaft 61 and a second swing shaft 62. The first swing shaft 61 is embedded in the first connecting member 71, and the second swing shaft 62 is embedded in the second connecting member 72. The first swing shaft 61 and the second swing shaft 62 can rotate with the rotation of the first motor 5. The first connecting member 71 and the second connecting member 72 are fixed to the rotating shaft device 2 and can rotate with the rotation of the rotating shaft.

[0129] In some embodiments, the shape of the first pendulum shaft 61 and the shape of the second pendulum shaft 62 can be cylindrical, which is beneficial to the rotation of the first pendulum shaft 61 and the second pendulum shaft 62.

[0130] The line connecting the center of the first pendulum axis 61 and the center of the second pendulum axis 62 is an axial straight line, which is the perpendicular line to the straight line of the pendulum direction when the pendulum adjustment device drives the gravity device 3 to swing.

[0131] The above technical solution directly drives the gravity device 3 to swing through the first motor 5, which facilitates the adjustment of the swing space of the gravity device 3.

[0132] In some embodiments, the gravity device 3 includes a swing arm 32 and a mass body 31, the mass body 31 and the swing arm 32 are fixedly connected, the swing arm 32 is fixedly connected to a swing adjustment device, and when the first motor 5 rotates, it drives the swing arm 32 to swing, thereby causing the mass body 31 to swing.

[0133] The mass 31 of the gravity device 3 is fixed to one end of the swing arm 32, and the first motor 5 is fixedly embedded in the other end of the swing arm 32. When the first motor 5 rotates, it can drive the swing arm 32 to swing, thereby driving the mass 31 to swing.

[0134] In some embodiments, the initial state of the gravity device 3 can be that the direction of the swing arm 32 is consistent with the central axis of the rotating shaft device 2, and the center point of the mass body 31 is also located on the central axis of the rotating shaft device 2.

[0135] In some embodiments, the mass body 31 can be a sphere or other centrally symmetric object, which is not limited here. The weight of the mass body 31 can be set according to actual needs.

[0136] The above technical solution, by adjusting the gravity device 3, counteracts the eccentric force during the rotation of the flexible shaft, reduces system vibration, and improves system stability.

[0137] In some embodiments, the rotation adjustment device 1 includes a second motor. When the second motor rotates, it drives the rotating shaft device 2 and the swing adjustment device to rotate accordingly, thereby driving the gravity device 3 to rotate.

[0138] The rotation adjustment device 1 includes a second motor, which is driven to rotate the shaft device 2. When the second motor is turned on, it can drive the shaft device 2 to rotate, thereby driving the swing adjustment device and the gravity device 3 to rotate together. When the swing adjustment device is turned on and the rotation adjustment device 1 is turned off, the direction of rotation of the gravity device 3 is different from the direction of rotation of the gravity device 3 when the rotation adjustment device 1 is turned on and the swing adjustment device is turned off.

[0139] In some embodiments, both the first motor 5 and the second motor are micro motors, and the vibrations generated by the operation of the first motor 5 and the second motor can be ignored.

[0140] The above technical solution uses a second motor to drive the gravity device 3 to rotate, thereby determining the optimal position in the rotation space and optimizing vibration.

[0141] Please see Figure 7 According to a second aspect of this disclosure, a control method for an automatic vibration suppression system is provided, based on the system described above, the method comprising:

[0142] S101. Control the rotation adjustment device to open, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate, so that the included angle in the end plane is the preset included angle value. The included angle in the end plane is the angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible rotating shaft. The axial straight line is the perpendicular line of the straight line where the swing direction of the gravity device is when the swing adjustment device drives the gravity device to swing.

[0143] The automatic vibration suppression system can be installed on the unfixed end of the flexible shaft, with the other end fixed to the fan impeller system. The system is used to regulate the vibration of the flexible shaft of the fan impeller. Before the main motor drives the flexible shaft to rotate, the rotation adjustment device is first used to adjust the angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible shaft, ensuring that the angle within the end plane is a preset value. After adjusting the angle within the end plane to the preset value, the rotation adjustment device is turned off.

[0144] In some embodiments, the preset included angle value can be 90 degrees. When the included angle in the end plane is 90 degrees, the initial reference position of the gravity device relative to the displacement monitoring module is determined.

[0145] S102. When the included angle in the end plane is a preset included angle value and the flexible rotating shaft rotates along the first direction at a preset speed, the rotation adjustment device is opened, and the rotating shaft device and the swing adjustment device are driven to rotate accordingly, so as to drive the gravity device to rotate continuously along the second direction at a preset speed. The first direction and the second direction are two opposite directions.

[0146] After determining the initial reference position of the gravity device relative to the displacement monitoring module based on the rotation adjustment device, while the main motor drives the flexible shaft to rotate at a preset speed along the first direction, the swing adjustment device remains closed. Simultaneously, the rotation adjustment device is activated, driving the shaft device and the swing adjustment device to rotate accordingly, so that the gravity adjustment device rotates at a preset speed along the second direction, maintaining the initial reference position of the gravity device relative to the displacement monitoring module. The first direction and the second direction are opposite directions; for example, the first direction can be clockwise, and the second direction can be counterclockwise.

[0147] S103. The displacement monitoring module based on the monitoring device determines the vertical distance between the laser sensor and a preset number of photosensitive monitoring points to obtain a first displacement set. The displacement monitoring module includes a laser sensor and a preset number of photosensitive monitoring points.

[0148] During the rotation of the flexible shaft and the gravity device, the distance between the rear end face of the impeller and the laser sensor is monitored by the laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, and a first displacement set is obtained, which includes a preset number of distance values.

[0149] In some embodiments, the preset number can be 36. The 36 photosensitive monitoring points are set on the rear end face of the impeller and are evenly arranged in a circle so that when the flexible shaft and gravity device rotate, the light emitted by the laser sensor can illuminate the photosensitive monitoring points, thereby measuring the distance between them.

[0150] S104. Determine the first and second operating angles of the rotation adjustment device based on the first set of displacements.

[0151] The operating angle of the rotation adjustment device can be the angle between the axial straight line and the straight line from the impeller to the center of the flexible shaft on the main motor mounting plate, or the rotation angle of the axial straight line of the gravity device relative to the straight line of the preset direction on the impeller device. The axial straight line is the perpendicular line to the straight line of the swing direction of the gravity device. The first operating angle and the second operating angle are two corresponding positions, and the distance values ​​corresponding to the first operating angle and the second operating angle are the same.

[0152] In some embodiments, the first displacement set includes 36 distance values, with each pair of adjacent distance values ​​corresponding to a running angle differing by 10 degrees. A displacement curve is plotted based on the distance values ​​in the first displacement set; the resulting displacement curve can be a sine curve, such as... Figure 9 As shown.

[0153] S105. Close the rotation adjustment device to stop the gravity device from rotating;

[0154] After determining the first and second operating angles, the rotation adjustment device is turned off, causing the gravity device to stop moving.

[0155] S106. After the gravity device stops rotating, the rotation angle of the rotation adjustment device is adjusted based on the first operating angle and the second operating angle to determine the final state of the gravity device rotation adjustment.

[0156] Turn on the rotation adjustment device and use it to adjust the rotation angle of the gravity device relative to the impeller to the first operating angle. Then, use the rotation adjustment device to adjust the rotation angle of the gravity device relative to the impeller to the second operating angle. Compare the difference in distance between the two operating angles to determine the final state of the gravity device rotation adjustment.

[0157] The above technical solution uses the change in distance between the photosensitive monitoring point on the rear end face of the impeller and the laser sensor on the main motor mounting plate during the rotation of the flexible shaft to indicate the change in vibration amplitude during the rotation of the flexible shaft. Based on this principle, the final state of the gravity device rotation adjustment can be quickly determined, and the vibration during the rotation of the gravity device can be optimized.

[0158] Please see Figure 8 In some embodiments, determining the first and second operating angles of the rotation adjustment device based on the first set of displacements includes:

[0159] S1041. Determine the first target monitoring point corresponding to the first displacement value and the second target monitoring point corresponding to the second displacement value in the first displacement set, as well as the third target monitoring point corresponding to the second displacement value. The first displacement value is the minimum distance value in the first displacement set, and the second displacement value is any distance value in the first displacement set excluding the minimum and maximum distance values.

[0160] S1042. Determine the first operating angle and the second operating angle based on the first target monitoring point, the second target monitoring point and the third target monitoring point.

[0161] Specifically, the curve formed by the distance values ​​in the first displacement set can be a sine curve, and the monitoring point corresponding to each distance value is an angle value. The first displacement value can be the smallest distance value in the first displacement set, and the second displacement value can be any distance value in the first displacement set other than the smallest and largest distance values. The first displacement value corresponds to one target monitoring point, namely the first target monitoring point, and the second displacement value corresponds to two target monitoring points, namely the second target monitoring point and the third target monitoring point. The first target monitoring point and the second target monitoring point are adjacent monitoring points.

[0162] Please see Figure 9In some embodiments, the first target monitoring point can be the monitoring point corresponding to the valley value in the sine curve corresponding to the first displacement set, and the second target monitoring point and the third target monitoring point can be two symmetrical monitoring points other than the valley value and the peak value in the sine curve corresponding to the first displacement set. The first running angle α1 is determined based on the first target monitoring point and the second target monitoring point, and the second running angle α2 is determined based on the second target monitoring point and the third target monitoring point.

[0163] Please see Figure 10 In some embodiments, the rotation angle of the rotation adjustment device is adjusted based on a first operating angle and a second operating angle to determine the final state of the gravity device's rotation adjustment, including:

[0164] S1061. Control the rotation adjustment device to open, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on a third direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the first running angle, the third direction is the same as the first direction, or the same as the second direction.

[0165] S1062. When the included angle of rotation is the first running angle, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the second displacement set.

[0166] S1063. Determine the first target difference based on the second displacement set. The first target difference is the difference between the largest and smallest distance values ​​in the second displacement set.

[0167] S1064. Control the rotation adjustment device to open, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on a third direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle.

[0168] S1065. When the rotation angle is the second operating angle, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the third displacement set.

[0169] S1066. Determine the second target difference based on the third displacement set. The second target difference is the difference between the largest and smallest distance values ​​in the third displacement set.

[0170] S1067. If the difference between the first target and the second target is greater than the difference between the second target and the first target, determine the final state of the rotation adjustment of the gravity device.

[0171] Specifically, the rotation adjustment device is turned on while the swing adjustment device is kept off. The rotation adjustment device drives the rotating shaft device and the swing adjustment device to rotate, thereby driving the gravity device to rotate in a third direction. This makes the rotation angle between the axial straight line of the gravity device and the straight line in the preset direction on the impeller device the first operating angle. At this time, the swing adjustment device is not turned on, and its rotation direction is the same as that of the rotation adjustment device. The straight line in the preset direction on the impeller device can be the straight line from the impeller to the center of the flexible rotating shaft on the main motor mounting plate.

[0172] After the gravity device reaches its first operating angle, the rotation adjustment device is shut off. The distance between the impeller's rear end face and the laser sensor is monitored using the laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in a second displacement set. The difference between the maximum and minimum distance values ​​in the second displacement set is calculated to obtain a first target difference value. The gravity device continues to rotate in a third direction using the rotation adjustment device, causing the gravity device to rotate again in a second operating angle. This third direction can be either counterclockwise or clockwise. After the gravity device rotates in a second operating angle in a third operating angle, the rotation adjustment device is shut off again. The distance between the impeller's rear end face and the laser sensor is monitored again using the laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in a third displacement set. The difference between the maximum and minimum distance values ​​in the third displacement set is calculated to obtain a second target difference value. If the first target difference value is greater than the second target difference value, it is determined that the vibration amplitude has decreased after the gravity device rotates in a second operating angle. At this point, the final state of the gravity device's rotation adjustment is determined.

[0173] The above technical solution controls the gravity device to rotate at a first and second operating angle based on the angle monitoring module and the rotation adjustment device of the monitoring device. Then, it determines the magnitude of the maximum distance difference between the two after operation. In this way, it quickly determines the final state of the gravity device rotation adjustment with the minimum vibration amplitude, thereby improving the efficiency of vibration adjustment.

[0174] Please see Figure 11 In some embodiments, the method further includes:

[0175] S1069. When the first target difference is less than or equal to the second target difference, control the rotation adjustment device to open, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on the fourth direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle, and determine the final state of the gravity device rotation adjustment, where the fourth direction and the third direction are two opposite directions.

[0176] If the difference between the first target and the second target is less than or equal to the difference between the second and third targets, it indicates that the vibration amplitude of the gravity device after operating at the first operating angle is smaller than the vibration amplitude after operating at the first operating angle and then operating at the second operating angle. At this time, the control rotation adjustment device is activated, driving the gravity device to rotate at the second operating angle based on the fourth direction, where the fourth direction is the opposite direction of the third direction, so that the gravity device returns to the position before rotating at the second operating angle, that is, the state of the gravity device after operating at the first operating angle, thus determining the final state of the gravity device rotation adjustment.

[0177] The above technical solution, after the gravity device has operated at the second preset angle, if the vibration amplitude of the rotating shaft becomes larger than the previous vibration amplitude, then returns to the previous rotation step, so as to determine the state of the gravity device with the smallest vibration amplitude of the rotating shaft as the final state of the gravity device rotation adjustment, thereby improving the efficiency of vibration adjustment.

[0178] Please see Figure 12 In some embodiments, after adjusting the rotation angle of the rotation adjustment device based on a first operating angle and a second operating angle to determine the final state of the gravity device rotation adjustment, the method further includes:

[0179] S201. Given the final state of the rotation adjustment of the gravity device, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the fourth displacement set.

[0180] S202. Determine the third target difference based on the fourth displacement set. The third target difference is the difference between the largest and smallest distance values ​​in the fourth displacement set.

[0181] S203. Control the swing adjustment device to open, so as to drive the gravity device to swing a first preset angle based on the first direction;

[0182] S204. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the fifth displacement set.

[0183] S205. Determine the fourth target difference based on the fifth displacement set. The fourth target difference is the difference between the largest and smallest distance values ​​in the fifth displacement set.

[0184] S206. When the difference between the third target and the fourth target is greater than the difference between the fourth target and the third target, control the swing adjustment device to open so that the gravity device can continue to swing at a first preset angle based on the first direction.

[0185] S207. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the sixth displacement set.

[0186] S208. Determine the fifth target difference based on the sixth displacement set. The fifth target difference is the difference between the largest and smallest distance values ​​in the sixth displacement set.

[0187] S209. When the difference between the fourth target and the fifth target is less than or equal to the difference between the fifth target and the fifth target, control the swing adjustment device to open so as to drive the gravity device to swing at a first preset angle based on the second direction, and determine the final state of the swing adjustment of the gravity device.

[0188] Specifically, after the final state of the gravity device's rotation adjustment is determined and the shaft operation is relatively stable, the distance between the impeller's rear end face and the laser sensor is monitored using the laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in a fourth displacement set. The difference between the maximum and minimum distance values ​​in the fourth displacement set is then calculated to obtain the third target difference value. The rotation adjustment device is kept closed, while the swing adjustment device is activated, causing it to drive the gravity device to rotate a first preset angle in the first direction. After the gravity device has rotated the first preset angle, the swing adjustment device is deactivated. The distance between the impeller rear end face and the laser sensor is monitored using a laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in a fifth displacement set. The difference between the largest and smallest distance values ​​in the fifth displacement set is calculated to obtain a fourth target difference value. The magnitude of the third target difference value and the fourth target difference value is compared. If the third target difference value is greater than the fourth target difference value, the swing adjustment device is activated, causing the gravity device to continue rotating in the first direction by a first preset angle. The swing adjustment device is then deactivated. The distance between the impeller rear end face and the laser sensor in the displacement monitoring module is monitored using a laser sensor and a preset number of photosensitive monitoring points. The distance between the laser sensors is used to obtain the sixth displacement set. The difference between the largest and smallest distance values ​​in the sixth displacement set is used to obtain the fifth target difference value. The magnitude of the fourth target difference value and the fifth target difference value is judged. If the fourth target difference value is less than or equal to the fifth target difference value, it means that the vibration amplitude of the previous adjustment step is less than the adjusted vibration amplitude. The swing adjustment device is then activated, causing the swing adjustment device to drive the gravity device to rotate by a first preset angle based on the second direction, so that the gravity device swings to the position of the previous adjustment step. Finally, the final position of the gravity device in the swing space under the adjustment of the swing adjustment device is determined.

[0189] The above technical solution, after quickly determining the final state of the gravity device's rotation adjustment based on the monitoring device and the rotation adjustment device, uses the swing adjustment device to detect the distance changes monitored by the photosensitive monitoring point on the rear end face of the impeller and the laser sensor on the main motor mounting plate during the rotation of the flexible shaft, so as to optimize the vibration amplitude. The adjustment method is simple and effective.

[0190] Please see Figure 13 In some embodiments, the method further includes:

[0191] S301. When the difference between the fourth target and the fifth target is greater than the difference between the fifth target and the fourth target, control the swing adjustment device to open so that the gravity device can continue to swing at a first preset angle based on the first direction.

[0192] S302. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the seventh displacement set.

[0193] S303. Determine the sixth target difference based on the seventh displacement set. The sixth target difference is the difference between the largest and smallest distance values ​​in the seventh displacement set.

[0194] S304. Update the fourth objective difference based on the fifth objective difference, and update the fifth objective difference based on the sixth objective difference.

[0195] Specifically, if the fourth target difference is greater than the fifth target difference, it indicates that the vibration amplitude has decreased after adjustment. The swing adjustment device is then activated, continuing to drive the gravity device to rotate a first preset angle based on the first direction. After the gravity device finishes swinging, the swing adjustment device is deactivated. The distance between the impeller rear end face and the laser sensor is monitored using the laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in a seventh displacement set. The difference between the largest and smallest distance values ​​in the seventh displacement set is calculated to obtain the sixth target difference. The fifth target difference is determined as the fourth target difference, and the sixth target difference is determined as the fifth target difference. The magnitudes of the fourth and fifth target differences are then repeatedly assessed. If the fourth target difference is greater than the fifth target difference, the gravity device is oscillated based on the swing adjustment device in the first direction; if the fourth target difference is less than or equal to the fifth target difference, the gravity device is oscillated based on the swing adjustment device in the second direction. This process continues until the final position of the gravity device under the adjustment of the swing adjustment device is determined.

[0196] 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 gravity device under the adjustment of the swing device is determined, the optimal position of the swing process is found, and the vibration is optimized.

[0197] Please see Figure 14 In some embodiments, the method further includes:

[0198] S401. When the difference between the third target and the fourth target is less than or equal to the difference between the fourth target and the third target, the swing adjustment device is turned on to drive the gravity device to swing a second preset angle based on the second direction. The second preset angle is twice the first preset angle.

[0199] S402. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the eighth displacement set.

[0200] S403. Determine the seventh target difference based on the eighth displacement set. The seventh target difference is the difference between the largest and smallest distance values ​​in the eighth displacement set.

[0201] S404. When the difference between the fourth target and the seventh target is less than or equal to the difference between the seventh target and the fourth target, control the swing adjustment device to open so as to drive the gravity device to swing at a first preset angle based on the first direction, and determine the final state of the swing adjustment of the gravity device.

[0202] Specifically, if the third target difference is less than or equal to the fourth target difference, the swing adjustment device is activated, causing it to drive the gravity device to swing a second preset angle in the second direction. After the gravity device completes its swing, the swing adjustment device is deactivated. The distance between the impeller rear end face and the laser sensor is monitored using a laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in an eighth displacement set. The difference between the largest and smallest distance values ​​in the eighth displacement set is calculated to obtain the seventh target difference. The magnitudes of the fourth and seventh target differences are compared. If the fourth target difference is less than or equal to the seventh target difference, the swing adjustment device is activated, causing it to drive the gravity device to rotate a first preset angle in the first direction. The swing adjustment device is then deactivated, determining the final state of the gravity device's swing adjustment. The first and second preset angles can be set based on actual needs and are not limited here.

[0203] The above technical solution uses a swing adjustment device to control the gravity device to swing gradually, and compares the vibration amplitude before and after the swing to optimize the vibration amplitude. This method can adjust in real time when the system with the flexible rotating shaft is working, and adjust according to the actual operating conditions to improve accuracy.

[0204] Please see Figure 15 In some embodiments, the method further includes:

[0205] S501. When the difference between the fourth target and the seventh target is greater than the difference between the seventh target and the swing adjustment device is activated, so as to drive the gravity device to continue to swing the first preset angle based on the second direction.

[0206] S502. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the ninth displacement set.

[0207] S503. Determine the eighth target difference based on the ninth displacement set. The eighth target difference is the difference between the largest and smallest distance values ​​in the ninth displacement set.

[0208] S504. Update the fourth target difference based on the seventh target difference, and update the seventh target difference based on the eighth target difference.

[0209] Specifically, if the fourth target difference is greater than the seventh target difference, it indicates that the vibration amplitude has decreased after adjustment. The swing adjustment device is then activated, continuing to drive the gravity device to rotate a first preset angle based on the second direction. The swing adjustment device is then deactivated. The distance between the impeller rear end face and the laser sensor is monitored using the laser sensor and a preset number of photosensitive monitoring points in the displacement monitoring module, resulting in a ninth displacement set. The difference between the largest and smallest distance values ​​in the ninth displacement set is calculated to obtain the eighth target difference. The seventh target difference is determined as the fourth target difference, and the eighth target difference is determined as the seventh target difference. The magnitudes of the fourth and seventh target differences are then repeatedly assessed. If the fourth target difference is greater than the seventh target difference, the gravity device is oscillated in the second direction based on the swing adjustment device; if the fourth target difference is less than or equal to the seventh target difference, the gravity device is oscillated in the first direction based on the swing adjustment device. This process continues until the final position of the gravity device's oscillation under the adjustment of the swing adjustment device is determined.

[0210] 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 gravity device under the adjustment of the swing device is determined, the optimal position of the process in the swing space is found, and the vibration is optimized.

[0211] Please see Figure 16 According to a third aspect of this disclosure, a control device for an automatic suppression system is provided, applied to the system described above, the device comprising:

[0212] The in-plane angle adjustment module 10 is used to control the opening of the rotation adjustment device, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate, so that the in-plane angle is a preset angle value. The in-plane angle is the angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible rotating shaft. The axial straight line is the perpendicular line of the swing direction when the swing adjustment device drives the gravity device to swing.

[0213] The rotation adjustment module 20 is used to control the rotation adjustment device to open when the included angle in the end plane is a preset included angle value and the flexible rotating shaft rotates along the first direction at a preset speed, thereby driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate continuously along the second direction at a preset speed. The first direction and the second direction are two opposite directions.

[0214] The first displacement set determination module 30 is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device, and obtain the first displacement set. The displacement monitoring module includes the laser sensor and the preset number of photosensitive monitoring points.

[0215] The operating angle determination module 40 is used to determine the first operating angle and the second operating angle of the rotation adjustment device based on the first displacement set.

[0216] The rotation adjustment device closing module 50 is used to control the rotation adjustment device to close, so that the gravity device stops rotating;

[0217] The rotation angle adjustment module 60 is used to adjust the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle after the gravity device stops rotating, so as to determine the final state of the rotation adjustment of the gravity device.

[0218] In some embodiments, the running angle determination module 40 includes:

[0219] The target monitoring point determination unit is used to determine the first target monitoring point corresponding to the first displacement value and the second target monitoring point corresponding to the second displacement value in the first displacement set, as well as the third target monitoring point corresponding to the second displacement value. The first displacement value is the minimum distance value in the first displacement set, and the second displacement value is any distance value in the first displacement set excluding the minimum distance value and the maximum distance value.

[0220] The target monitoring point processing unit is used to determine the first operating angle and the second operating angle based on the first target monitoring point, the second target monitoring point and the third target monitoring point.

[0221] In some embodiments, the rotation angle adjustment module 60 includes:

[0222] The first rotation unit is used to control the rotation adjustment device to open, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on a third direction until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the first running angle, and the third direction is the same as the first direction or the same as the second direction.

[0223] The second displacement set determination unit is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device when the rotation angle is the first running angle, so as to obtain the second displacement set.

[0224] The first difference determination unit is used to determine the first target difference based on the second displacement set. The first target difference is the difference between the largest distance value and the smallest distance value in the second displacement set.

[0225] The second operating angle rotation unit is used to control the rotation adjustment device to open, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on a third direction until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second operating angle.

[0226] The third displacement set determination unit is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device when the rotation angle is the second running angle, so as to obtain the third displacement set.

[0227] The second difference determination unit is used to determine the second target difference based on the third displacement set. The second target difference is the difference between the largest distance value and the smallest distance value in the third displacement set.

[0228] The state determination unit is used to determine the final state of the gravity device rotation adjustment when the first target difference is greater than the second target difference.

[0229] In some embodiments, the apparatus further includes:

[0230] The second rotation unit is used to control the rotation adjustment device to open when the first target difference is less than or equal to the second target difference, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on the fourth direction until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle, and determine the final state of the rotation adjustment of the gravity device. The fourth direction and the third direction are two opposite directions.

[0231] In some embodiments, the apparatus further includes:

[0232] The fourth displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device when the final state of the rotation adjustment of the gravity device is determined, so as to obtain the fourth displacement set.

[0233] The third target difference determination module is used to determine a third target difference based on the fourth displacement set, wherein the third target difference is the difference between the largest distance value and the smallest distance value in the fourth displacement set;

[0234] The first swing module is used to control the swing adjustment device to be turned on, so as to drive the gravity device to swing the first preset angle based on the first direction;

[0235] The fifth displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device after the gravity device has completed its swing, and to obtain the fifth displacement set.

[0236] The fourth target difference determination module is used to determine a fourth target difference based on the fifth displacement set, wherein the fourth target difference is the difference between the largest distance value and the smallest distance value in the fifth displacement set;

[0237] The second swing module is used to control the swing adjustment device to open when the third target difference is greater than the fourth target difference, so as to drive the gravity device to continue swinging the first preset angle based on the first direction.

[0238] The sixth displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device after the gravity device has completed its swing, and obtain the sixth displacement set.

[0239] The fifth target difference determination module is used to determine a fifth target difference based on the sixth displacement set, wherein the fifth target difference is the difference between the largest distance value and the smallest distance value in the sixth displacement set;

[0240] The third swing module is used to control the swing adjustment device to open when the fourth target difference is less than or equal to the fifth target difference, so as to drive the gravity device to swing the first preset angle based on the second direction, and determine the final state of the swing adjustment of the gravity device.

[0241] In some embodiments, the apparatus further includes:

[0242] The fourth swing module is used to control the swing adjustment device to open when the fourth target difference is greater than the fifth target difference, so as to drive the gravity device to continue swinging the first preset angle based on the first direction;

[0243] The seventh displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device after the gravity device has completed its swing, and thus obtain the seventh displacement set.

[0244] The sixth target difference determination module is used to determine a sixth target difference based on the seventh displacement set, wherein the sixth target difference is the difference between the largest distance value and the smallest distance value in the seventh displacement set;

[0245] The fifth target difference update module is used to update the fourth target difference based on the fifth target difference, and to update the fifth target difference based on the sixth target difference.

[0246] In some embodiments, the apparatus further includes:

[0247] The fifth swing module is used to control the swing adjustment device to open when the third target difference is less than or equal to the fourth target difference, so as to drive the gravity device to swing the second preset angle based on the second direction, the second preset angle being twice the first preset angle;

[0248] The eighth displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device after the gravity device has completed its swing, and thus obtain the eighth displacement set.

[0249] The seventh target difference determination module is used to determine a seventh target difference based on the eighth displacement set, wherein the seventh target difference is the difference between the largest distance value and the smallest distance value in the eighth displacement set;

[0250] The sixth swing module is used to control the swing adjustment device to open when the fourth target difference is less than or equal to the seventh target difference, so as to drive the gravity device to swing the first preset angle based on the first direction, and determine the final state of the swing adjustment of the gravity device.

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

[0252] The seventh swing module is used to control the swing adjustment device to open when the fourth target difference is greater than the seventh target difference, so as to drive the gravity device to continue swinging the first preset angle based on the second direction;

[0253] The ninth displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device after the gravity device has completed its swing, and obtain the ninth displacement set.

[0254] The eighth target difference determination module is used to determine the eighth target difference based on the ninth displacement set, wherein the eighth target difference is the difference between the largest distance value and the smallest distance value in the ninth displacement set;

[0255] The seventh target difference update module is used to update the fourth target difference based on the seventh target difference, and to update the seventh target difference based on the eighth target difference.

[0256] 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.

[0257] This application provides a control device for an automatic vibration suppression system. The device can be a terminal or a server. The control device for the automatic vibration suppression system 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 suppression system provided in the above method embodiments.

[0258] 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.

[0259] 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 17 This is a hardware structure block diagram of an electronic device for a control method of an automatic vibration suppression system provided in an embodiment of this application. (See diagram for example.) Figure 17As 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.

[0260] 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 for wireless communication with the Internet.

[0261] Those skilled in the art will understand that Figure 17 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 17 The more or fewer components shown, or having the same Figure 17 The different configurations shown.

[0262] 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 implementing a control method for an automatic vibration suppression system 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 for the automatic vibration suppression system provided in the above method embodiment.

[0263] 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.

[0264] 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.

[0265] As can be seen from the embodiments of the automatic vibration suppression system and its control method, device, equipment, terminal, server, storage medium, or computer program provided in this application, when the swing adjustment device is activated, the gravity device is driven to swing by the swing adjustment device; the final spatial position during the gravity swing process is determined, thereby reducing vibration; when the rotation adjustment device is activated, the rotating shaft device and the swing adjustment device are driven to rotate by the rotation adjustment device, thereby driving the gravity device to rotate, thereby reducing vibration. By adjusting the swing position and rotation position of the gravity device, vibration is minimized, reducing system noise and ambient noise. The monitoring device is used to monitor the rotation angle of the axial straight line of the gravity device, where the axial straight line is the perpendicular line to the straight line where the swing direction of the gravity device is when the swing adjustment device drives the gravity device to swing. By using the monitoring device to monitor the rotation angle of the axial straight line during the rotation process of the gravity device, the rotation position of the gravity device relative to the monitoring device is adjusted by the rotation adjustment device, the final position of the gravity device is quickly adjusted, and vibration minimization control is automatically achieved.

[0266] 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.

[0267] 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.

[0268] 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.

[0269] 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 suppression system, characterized in that, The system includes: a swing adjustment device, a rotation adjustment device, a rotating shaft device, a gravity device, and a monitoring device. The rotation adjustment device and the rotating shaft device are fixedly connected, the rotating shaft device and the swing adjustment device are fixedly connected, and the gravity device and the swing adjustment device are fixedly connected. The monitoring device includes an angle monitoring module and a displacement monitoring module. The angle monitoring module is mounted on the rotating shaft device. The displacement monitoring module includes a laser sensor, which is mounted on the main motor mounting plate. The main motor mounting plate is the outer cover of the main motor that drives the flexible rotating shaft to rotate. The flexible rotating shaft is a device connected to the automatic vibration suppression system. The angle monitoring module is used to determine the angle between the axial straight line of the gravity device and the straight line from the laser sensor to the center of the flexible shaft on the main motor mounting plate; The swing adjustment device includes a first motor, a first swing shaft, a second swing shaft, a first connector and a second connector. The two sides of the first motor are fixedly connected to the first swing shaft and the second swing shaft respectively. The first swing shaft and the second swing shaft are movably connected to the first connector and the second connector respectively. The first connector and the second connector are fixedly mounted on the rotating shaft device. When the swing adjustment device is activated, the gravity device is driven to swing by the swing adjustment device. When the rotation adjustment device is activated, the rotation adjustment device drives the rotating shaft device and the swing adjustment device to rotate, thereby driving the gravity device to rotate. The monitoring device is used to monitor the rotation angle of the axial straight line of the gravity device, and the axial straight line is the perpendicular line to the straight line of the swing direction when the swing adjustment device drives the gravity device to swing.

2. The system according to claim 1, characterized in that, The system also includes a tightening nut, which is fixedly connected to the rotation adjustment device so that the automatic vibration suppression system is fixedly connected to the flexible rotating shaft.

3. The system according to claim 2, characterized in that, The displacement monitoring module also includes a preset number of photosensitive monitoring points. The photosensitive monitoring points are set at the positions corresponding to the laser sensor on the rear end face of the impeller of the impeller device connected to the tightening nut. The impeller device is a component of the system in which the flexible rotating shaft is located. The rear end face of the impeller device is opposite to the end face of the laser sensor on the main motor mounting plate. The laser sensor is used to measure the vertical distance between itself and a preset number of photosensitive monitoring points.

4. The system according to claim 1, characterized in that, The gravity device includes a swing arm and a mass body, the mass body and the swing arm are fixedly connected, the swing arm and the swing adjustment device are fixedly connected, and when the first motor rotates, it drives the swing arm to swing, thereby causing the mass body to swing.

5. The system according to claim 1, characterized in that, The rotation adjustment device includes a second motor. When the second motor rotates, it drives the rotating shaft device and the swing adjustment device to rotate accordingly, thereby driving the gravity device to rotate.

6. A control method for an automatic vibration suppression system, based on the system as described in any one of claims 1-5, characterized in that, The method includes: The control rotation adjustment device is turned on, driving the rotating shaft device and the swing adjustment device to rotate, thereby driving the gravity device to rotate, so that the included angle in the end plane is a preset included angle value. The included angle in the end plane is the included angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible rotating shaft. The axial straight line is the perpendicular line of the straight line where the swing direction of the gravity device is when the swing adjustment device drives the gravity device to swing. When the included angle in the end plane is a preset included angle value and the flexible rotating shaft rotates along the first direction at a preset speed, the rotation adjustment device is controlled to open, driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate continuously along the second direction at the preset speed. The first direction and the second direction are two opposite directions. The displacement monitoring module of the monitoring device determines the vertical distance between the laser sensor and a preset number of photosensitive monitoring points to obtain a first displacement set. The displacement monitoring module includes the laser sensor and the preset number of photosensitive monitoring points. The first and second operating angles of the rotation adjustment device are determined based on the first set of displacements. The rotation adjustment device is turned off to stop the gravity device from rotating; After the gravity device stops rotating, the rotation angle of the rotation adjustment device is adjusted based on the first operating angle and the second operating angle to determine the final state of the gravity device rotation adjustment.

7. The method according to claim 6, characterized in that, Determining the first and second operating angles of the rotation adjustment device based on the first set of displacements includes: Determine the first target monitoring point corresponding to the first displacement value and the second target monitoring point corresponding to the second displacement value in the first displacement set, as well as the third target monitoring point corresponding to the second displacement value. The first displacement value is the minimum distance value in the first displacement set, and the second displacement value is any distance value in the first displacement set excluding the minimum and maximum distance values. The first operating angle and the second operating angle are determined based on the first target monitoring point, the second target monitoring point and the third target monitoring point.

8. The method according to claim 6, characterized in that, The step of adjusting the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle to determine the final state of the rotation adjustment of the gravity device includes: The rotation adjustment device is activated, driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on a third direction until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the first running angle, wherein the third direction is the same as the first direction or the same as the second direction. When the rotation angle is the first running angle, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the second displacement set; A first target difference is determined based on the second set of displacements, where the first target difference is the difference between the largest and smallest distance values ​​in the second set of displacements. The rotation adjustment device is activated, driving the rotating shaft device and the swing adjustment device to rotate accordingly, thereby causing the gravity device to rotate based on the third direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle. When the rotation angle is the second running angle, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain a third displacement set; A second target difference is determined based on the third displacement set, whereby the second target difference is the difference between the largest and smallest distance values ​​in the third displacement set. If the first target difference is greater than the second target difference, the final state of the rotation adjustment of the gravity device is determined.

9. The method according to claim 8, characterized in that, The method further includes: When the first target difference is less than or equal to the second target difference, the rotation adjustment device is activated, driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate based on the fourth direction, until the rotation angle between the axial straight line of the gravity device and the straight line of the preset direction on the impeller device is the second running angle, and the final state of the rotation adjustment of the gravity device is determined. The fourth direction and the third direction are two opposite directions.

10. The method according to claim 6, characterized in that, After adjusting the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle to determine the final state of the rotation adjustment of the gravity device, the method further includes: When the final state of the rotation adjustment of the gravity device is determined, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device to obtain the fourth displacement set; The third target difference is determined based on the fourth displacement set, whereby the third target difference is the difference between the largest and smallest distance values ​​in the fourth displacement set. The swing adjustment device is activated to drive the gravity device to swing a first preset angle based on the first direction; After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the fifth displacement set. A fourth target difference is determined based on the fifth displacement set, wherein the fourth target difference is the difference between the largest and smallest distance values ​​in the fifth displacement set; If the difference between the third target and the fourth target is greater than the difference between the fourth target and the third target, the swing adjustment device is activated to drive the gravity device to continue swinging the first preset angle based on the first direction. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the sixth displacement set. The fifth target difference is determined based on the sixth displacement set, whereby the fifth target difference is the difference between the largest and smallest distance values ​​in the sixth displacement set. If the fourth target difference is less than or equal to the fifth target difference, the swing adjustment device is activated to drive the gravity device to swing the first preset angle based on the second direction, and the final state of the gravity device swing adjustment is determined.

11. The method according to claim 10, characterized in that, The method further includes: If the fourth target difference is greater than the fifth target difference, the swing adjustment device is activated to drive the gravity device to continue swinging the first preset angle based on the first direction. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the seventh displacement set. The sixth target difference is determined based on the seventh displacement set, whereby the sixth target difference is the difference between the largest and smallest distance values ​​in the seventh displacement set. The fourth target difference is updated based on the fifth target difference, and the fifth target difference is updated based on the sixth target difference.

12. The method according to claim 10, characterized in that, The method further includes: When the third target difference is less than or equal to the fourth target difference, the swing adjustment device is activated to drive the gravity device to swing a second preset angle based on the second direction, the second preset angle being twice the first preset angle; After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the eighth displacement set. The seventh target difference is determined based on the eighth displacement set, and the seventh target difference is the difference between the largest distance value and the smallest distance value in the eighth displacement set; If the fourth target difference is less than or equal to the seventh target difference, the swing adjustment device is activated to drive the gravity device to swing at the first preset angle based on the first direction, and the final state of the gravity device swing adjustment is determined.

13. The method according to claim 12, characterized in that, The method further includes: If the fourth target difference is greater than the seventh target difference, the swing adjustment device is activated to drive the gravity device to continue swinging the first preset angle based on the second direction. After the gravity device completes its swing, the vertical distance between the laser sensor and a preset number of photosensitive monitoring points is determined based on the displacement monitoring module of the monitoring device, thus obtaining the ninth displacement set. The eighth target difference is determined based on the ninth displacement set, whereby the eighth target difference is the difference between the largest and smallest distance values ​​in the ninth displacement set. The fourth target difference is updated based on the seventh target difference, and the seventh target difference is updated based on the eighth target difference.

14. A control device for an automatic suppression system, characterized in that, Applied to the system as described in any one of claims 1-5, characterized in that the device comprises: The in-plane angle adjustment module is used to control the opening of the rotation adjustment device, drive the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate, so that the in-plane angle is a preset angle value. The in-plane angle is the angle between the axial straight line of the gravity device and the straight line from the displacement monitoring module of the monitoring device to the center of the flexible rotating shaft. The axial straight line is the perpendicular line of the swing direction when the swing adjustment device drives the gravity device to swing. The rotation adjustment module is used to control the rotation adjustment device to open when the included angle in the end plane is a preset included angle value and the flexible rotating shaft rotates along the first direction at a preset speed, thereby driving the rotating shaft device and the swing adjustment device to rotate accordingly, so as to drive the gravity device to rotate continuously along the second direction at the preset speed, wherein the first direction and the second direction are two opposite directions; The first displacement set determination module is used to determine the vertical distance between the laser sensor and a preset number of photosensitive monitoring points based on the displacement monitoring module of the monitoring device, and obtain the first displacement set. The displacement monitoring module includes the laser sensor and the preset number of photosensitive monitoring points. The operating angle determination module is used to determine the first operating angle and the second operating angle of the rotation adjustment device based on the first displacement set. A rotation adjustment device shut-off module is used to control the rotation adjustment device to shut off, so that the gravity device stops rotating; The rotation angle adjustment module is used to adjust the rotation angle of the rotation adjustment device based on the first operating angle and the second operating angle after the gravity device stops rotating, so as to determine the final state of the rotation adjustment of the gravity device.

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 suppression system as described in any one of claims 6-13.

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 suppression system as described in any one of claims 6-13 by executing the instructions stored in the memory.

Images