Water-lubricated bearing system with dynamic balance function and control method

Abstract

The water-lubricated bearing system with the dynamic balance function comprises a rotating shaft, the middle of the rotating shaft is sequentially sleeved with a lining layer, a shaft sleeve and a shell outwards in the diameter direction, the two ends of the rotating shaft are each sleeved with a water-lubricated bearing end cover, and the shell and the two water-lubricated bearing end covers jointly form a closed cavity. The water-lubricated bearing end cover is connected with a control system; the system can restrain unbalanced vibration of a water-lubricated bearing shaft system in the continuous operation process of the water-lubricated bearing; the invention further discloses a control method of the bearing system with the dynamic balance function, and the control method comprises the steps that 1, the water lubrication bearing system with the dynamic balance function is installed, and the upper computer is started when the water lubrication bearing system is powered on; 2, vibration displacement and rotation speed of the rotating shaft are collected and uploaded to an upper computer; 3, the current vibration amplitude is calculated and compared with a threshold value, and whether dynamic balance operation is executed or not is judged; step 4, repeating the operations of the steps 2-3; the method monitors the state of the rotating shaft in real time to keep the rotating shaft balanced continuously.

Description

Technical Field

[0001] The present invention belongs to the technical field of bearings, relates to a water-lubricated bearing system with a dynamic balance function, and also relates to a control method for the above-mentioned water-lubricated bearing system with a dynamic balance function. Background Art

[0002] At present, water-lubricated bearings are widely used in hydraulic machinery and equipment. They use water as a lubricant and have advantages such as environmental protection and no pollution. However, due to the low viscosity characteristics of water, combined with the diverse bearing structures and complex operating conditions, it is difficult to form an effective lubricating film, and the shafting imbalance problem is prominent. Although the existing water-lubricated bearing balancing technologies cover various methods such as structural optimization, lubrication regulation, and fault diagnosis, most of them focus on the research of lubrication mechanisms and friction characteristics under different operating conditions of the bearings. The existing technologies lack effective control technologies for dynamic imbalance during the continuous operation of water-lubricated bearings. Especially when facing the vibration problem caused by shafting imbalance, it is difficult to adjust the counterweight in a timely manner through active control means, resulting in the rotating shaft continuously being in an unbalanced vibration state, seriously affecting the operation stability and reliability of the equipment. Summary of the Invention

[0003] The first object of the present invention is to provide a water-lubricated bearing system with a dynamic balance function, which solves the problem of the lack of effective control of dynamic imbalance during the continuous operation of water-lubricated bearings in the existing technology.

[0004] The second object of the present invention is to provide a control method for a water-lubricated bearing system with a dynamic balance function.

[0005] The first technical solution adopted by the present invention is a water-lubricated bearing system with a dynamic balance function, including a rotating shaft. A lining layer, a shaft sleeve, and a housing are sequentially sleeved on the middle part of the rotating shaft along the diameter direction outward. The lining layer, the shaft sleeve, the housing, and the rotating shaft are coaxial. A water-lubricated bearing end cover is sleeved on each end of the rotating shaft. The housing and the two water-lubricated bearing end covers together form a sealed cavity, and the water-lubricated bearing end cover is connected to the control system.

[0006] The characteristics of the first technical solution of the present invention also lie in: The rotating shaft is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft are shaft shoulders, and the lining layer and the housing are both matched with the large-diameter part of the rotating shaft; The two water-lubricated bearing end covers are sleeved on the small-diameter part of the rotating shaft and have an interference fit with the rotating shaft.

[0007] A waterproof sealing ring is arranged between the inner end face of the water-lubricated bearing end cover and the shaft shoulder, and an end cover oil seal is connected in a transitional manner between the water-lubricated bearing end cover and the rotating shaft.

[0008] The water-lubricated bearing end cover includes an external end cover. One end of the external end cover is disc-shaped, and the other end is cylindrical. The outer diameter of the outer circle of the disc end of the external end cover is greater than that of the cylindrical end, and the inner diameter of the inner circle of the disc end of the external end cover is less than that of the cylindrical end. The housing is sleeved on the outer circle of the cylindrical end of the external end cover and is bolted to the end face of the disc end of the external end cover. An end cover oil seal and a rotating shaft are sequentially sleeved inward along the diameter direction of the inner circle of the disc end of the external end cover. The inner end face of the disc end of the external end cover is matingly connected to the end face of the housing. An internal fixed cover is installed in the inner cavity of the cylindrical end of the external end cover. An internal sealing cover is sealingly covered on the cylindrical end of the external end cover. The internal fixed cover and the internal sealing cover are used in pairs, and a sealing cavity is formed by the combination of the internal fixed cover and the internal sealing cover. A dynamic balance device is arranged in the sealing cavity.

[0009] A plurality of positioning chutes are evenly distributed along the inner side wall of the cylindrical end of the external end cover in a circumferential direction. The opening direction of the positioning chutes is consistent with the axis direction of the external end cover. A plurality of fixing grooves are evenly distributed along the edge of the end face of the cylindrical end of the external end cover in a circumferential direction. A plurality of first threaded holes are arranged along the end face of the cylindrical end of the external end cover in a circumferential direction. A plurality of end cover sliding strips are evenly distributed along the outer side wall of the internal fixed cover in a circumferential direction. The end cover sliding strips are matched with the positioning chutes. One end of the internal sealing cover is disc-shaped, and the other end is cylindrical. The outer diameter of the outer circle of the disc end of the internal sealing cover is greater than that of the cylindrical end, and the inner diameter of the inner circle of the disc end of the internal sealing cover is less than that of the cylindrical end. A plurality of sealing cover sliding strips are evenly distributed along the outer side wall of the cylindrical end of the internal sealing cover in a circumferential direction. The sealing cover sliding strips are matched with the positioning chutes. The inner circle of the disc end of the internal sealing cover is in interference fit with the second rolling bearing, and the inner circle of the second rolling bearing is in interference connection with the rotating shaft. A plurality of fixing blocks are arranged along the outer side wall of the disc end of the internal sealing cover in a circumferential direction. The fixing blocks are matched with the fixing grooves. A plurality of second threaded holes are opened on the end face of the disc end of the internal sealing cover. The second threaded holes are matched with the first threaded holes.

[0010] A first diversion hole is opened along the axis direction on the end face of the cylindrical end of the external end cover, and a second diversion hole is opened along the axis direction on the end face of the disc end of the internal sealing cover. The first diversion hole and the second diversion hole are aligned with each other.

[0011] The dynamic balance device includes a static ring. The static ring is fixed in the inner cavity of the internal fixed cover. The static ring is integrally in a ring structure. A plurality of static ring threaded holes are arranged along the side wall of the static ring in a circumferential direction. A plurality of fixing threaded holes are arranged along the side wall of the internal fixed cover in a circumferential direction. The fixing threaded holes are matched with the static ring threaded holes and are connected by bolts. A plurality of stator cores are evenly distributed along the end face of the static ring in a circumferential direction. A driving coil is also wound on the static ring. The dynamic balance device further includes a central stator, which is sleeved on the rotating shaft and has an interference fit with the rotating shaft. Collars are provided at both ends of the central stator. The middle part of the central stator has an interference fit with the first magnetic locking ring. The first magnetic locking ring has the same axial dimension as the stationary ring and is located in the same installation plane. The inner diameter of the stationary ring is greater than the outer diameter of the first magnetic locking ring. A first rolling bearing is provided at one end of the central stator close to the end cover oil seal. The central stator has an interference fit with the first rolling bearing through the collar. The outer ring of the first rolling bearing has an interference fit with the inner ring of the internal fixed cover. At the other end of the central stator, a dynamic ring fixed bearing and a sleeve are sequentially arranged along the axial direction outward. The sleeve is axially connected to the central stator through the collar. The outer ring of the sleeve has an interference fit with the inner ring of the second rolling bearing. The outer ring of the second rolling bearing has an interference fit with the inner ring of the disc end of the internal sealing cover. The inner ring of the dynamic ring fixed bearing has an interference fit with the central stator. The outer ring of the dynamic ring fixed bearing has an interference fit with the inner ring of the second magnetic locking ring. The outer ring of the second magnetic locking ring has an interference fit with the inner ring of the dynamic ring. The dynamic ring is integrally in a ring structure. A number of permanent magnets are inlaid around the end face of the dynamic ring, and the permanent magnets are inlaid in a manner that the magnetic polarities are alternately positive and negative. The second magnetic locking ring and the counterweight ring are in a coaxial integral structure. The inner diameter of the counterweight ring is smaller than the inner diameter of the second magnetic locking ring, and the outer diameter of the counterweight ring is larger than the outer diameter of the second magnetic locking ring. A number of permanent magnets are embedded around the end face of the second magnetic locking ring, and the permanent magnets are inlaid in a manner that the magnetic polarities are alternately positive and negative. A number of fastening screw holes are provided along the edge of the end face of the counterweight ring. The counterweight ring is bolted to the dynamic ring through the fastening screw holes. A number of counterweight holes are also provided around the end face of the counterweight ring.

[0012] A wire groove is opened along the axial direction on the inner wall of the cylindrical end of the external end cover, and a wire hole matching the wire groove is provided on the end face of the disc end of the external end cover.

[0013] The control system includes a number of sensors, specifically Hall sensors, displacement sensors, and acceleration sensors. The Hall sensors are arranged on the dynamic ring, and the displacement sensors and acceleration sensors are both arranged at one end of the rotating shaft. The Hall sensors, displacement sensors, and acceleration sensors are all electrically connected to the input end of the signal amplifier. The output end of the signal amplifier is sequentially connected to the data acquisition module and the upper computer. The output end of the upper computer is sequentially connected to the control module and the drive module. The output end of the drive module is connected to the drive coil through a wire, and a power supply module is also connected to the drive module. The second technical solution adopted by the present invention is a control method for a water-lubricated bearing system with dynamic balance function. Using the above-mentioned water-lubricated bearing system with dynamic balance function, the specific steps are as follows: Step 1: Install the water-lubricated bearing system with dynamic balance function on both sides of the rotating shaft, power it on and run, and at the same time turn on the upper computer. Step 2: Collect the vibration displacement and rotational speed of the rotating shaft through a displacement sensor and an acceleration sensor, and upload them to the host computer through a signal amplifier and a data acquisition module; Step 3: The host computer calculates the current vibration amplitude of the rotating shaft according to the vibration displacement and rotational speed in Step 2, and then compares the current vibration amplitude with the set threshold to determine whether to perform a dynamic balancing operation. If the current vibration amplitude is greater than the threshold, perform a dynamic balancing operation. If the current vibration amplitude is less than the threshold, execute the next step; Step 4: Repeat the operations in Steps 2-3.

[0014] The features of the second technical solution of the present invention further lie in: The dynamic balancing operation in Step 3 is specifically as follows: Step 3.1: The host computer obtains the displacement vector of the rotating shaft according to the vibration displacement in Step 2 , and then calculates the unbalance vector ; The specific process of calculating the unbalance vector quantity in Step 3.1 is as follows: Step 3.1.1: Obtain the observed values during translation and rotation when a water-lubricated bearing with dynamic balancing function is running: (1) x 1 (t) is the observed value of the translation system; M is the displacement stiffness of the water-lubricated bearing; I is the current stiffness; u(t) is the displacement deviation function of the disturbing force with respect to time on the rotating shaft; x 2 (t) is the observed value of the rotation system; N is the cross-feedback control parameter; Step 3.1.2: Introduce a non-singular linear transformation P into the observer, and transform the above formula (1) into: (2) Step 3.1.3: According to the above equation, obtain the final sliding mode observer equation as: (3) is the sliding mode observation error; L is the feedback parameter; is the disturbance quantity; Step 3.1.4: It can be seen from the above formula (3) that the disturbance observed by the sliding mode observer includes the translational disturbance m p and the rotational disturbance m z . Taking the correction amount of the displacement deviation of the rotating shaft position as the control target, minimize the two disturbances, that is: (4) In the formula: is the translational distance, α is the angle of rotation of the bearing, ε is the disturbance coefficient, and t is the running time; Step 3.1.5. Through calculation, the correction amount of the displacement deviation can be obtained: (5) For the displacement vector collected by the displacement sensor and the correction amount of the displacement deviation of the water-lubricated bearing rotating shaft obtained by the above formula (5) perform correction, then the actual unbalance vector is: (6).

[0015] Step 3.2. Decompose the unbalance vector of the rotating shaft into the balance vectors , of the counterweight rings on the left and right sides of the rotating shaft, that is = + , and obtain the balance positions , to which the counterweight rings need to be rotated according to the balance vectors , ; Step 3.3. The host computer sends control instructions to the control module according to the balance positions , to which the counterweight rings need to be rotated in Step 3.2. The control module supplies power to the drive coil by generating corresponding positive and negative pulse voltages through controlling the drive module. The stator core is magnetized and interacts with the permanent magnet on the moving ring to generate an axial driving electromagnetic torque. The moving ring drives the counterweight ring to rotate relative to the rotating shaft, adjusts the centroid positions of the two counterweight rings, and thus realizes the counterweight action.

[0016] The beneficial effects of the present invention are: The present invention provides a water-lubricated bearing system with a dynamic balance function. By controlling the system to adjust the mass distribution of the counterweight rings inside the end cover of the water-lubricated bearing in real time, a force equal in magnitude and opposite in direction to the unbalanced force is synthesized, which can effectively suppress the unbalanced vibration phenomenon of the rotor in the water-lubricated bearing system during the continuous operation of the water-lubricated bearing, and effectively improve the operation stability and reliability of the equipment.

[0017] The control method of the water-lubricated bearing system with a dynamic balance function of the present invention is simple to operate. The host computer sends control instructions to the control module, and the control module supplies power to the drive coil by generating corresponding positive and negative pulse voltages through controlling the drive module, thereby adjusting the centroid positions of the two counterweight rings, realizing the counterweight action, completing the dynamic balance operation, adjusting the counterweight in a timely manner through active regulation means, and monitoring the state of the rotating shaft in real time to keep the rotating shaft in a balanced state continuously. Description of the Drawings

[0018] Figure 1 Fig. is a schematic structural diagram of the water-lubricated bearing system with dynamic balance function of the present invention; Figure 2 Fig. is a schematic structural diagram of the end cover of the water-lubricated bearing in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 3 Fig. is a sectional view of the end cover of the water-lubricated bearing in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 4 Fig. is a schematic structural diagram of the outer end cover in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 5 Fig. is a schematic structural diagram of the inner seal cover in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 6 Fig. is a side view of the second magnetic lock ring and the counterweight ring in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 7 Fig. is a front view of the second magnetic lock ring and the counterweight ring in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 8 Fig. is a schematic structural diagram of the control system in the water-lubricated bearing system with dynamic balance function of the present invention; Figure 9 Fig. is a schematic diagram of the closed-loop control principle of the water-lubricated bearing system with dynamic balance function of the present invention.

[0019] In the figures, 1. rotating shaft, 2. housing, 3. lining, 4. bushing, 5. waterproof seal ring, 6. end cover oil seal, 7. shaft shoulder; 8. control system, 801. Hall sensor, 802. displacement sensor, 803. acceleration sensor, 804. signal amplifier, 805. data acquisition module, 806. upper computer, 807. control module, 808. drive module, 809. power supply module; 9. Water-lubricated bearing end cover, 901. External end cover, 902. Positioning chute, 903. Fixed groove, 904. First threaded hole, 905. First diversion hole, 906. Wire chute, 907. Wire hole, 908. Internal fixed cover, 909. End cover slide bar, 910. Internal seal cover, 911. Seal cover slide bar, 912. Fixed clamping block, 913. Second threaded hole, 914. Second diversion hole, 915. Static ring, 916. Fixed threaded hole, 917. Stator core, 918. Drive coil, 919. Central stator, 920. First magnetic lock ring, 921. First rolling bearing, 922. Moving ring fixed bearing, 923. Sleeve, 924. Second rolling bearing, 925. Moving ring, 926. Permanent magnet, 927. Counterweight ring, 928. Second magnetic lock ring, 929. Fastening screw hole. Specific implementation mode

[0020] The present invention will be described in detail below in conjunction with the drawings and specific implementation modes.

[0021] The first technical solution provided by the present invention is a water-lubricated bearing system with dynamic balance function, as Figure 1 shown, including a rotating shaft 1. A lining layer 3, a shaft sleeve 4, and a housing 2 are sequentially sleeved on the middle part of the rotating shaft 1 along the diameter direction outward. Among them, the lining layer 3, the shaft sleeve 4, the housing 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cover 9 is sleeved on each end of the rotating shaft 1. The housing 2 and the two water-lubricated bearing end covers 9 together form a sealed cavity, and the water-lubricated bearing end cover 9 is connected to the control system 8. A water-lubricated bearing end cover 9 is sleeved on each end of the rotating shaft 1. By adjusting the mass distribution of the counterweight ring 927 inside the water-lubricated bearing end cover 9 in real time through the control system 8, a force equal in magnitude and opposite in direction to the unbalanced force is synthesized, and the unbalanced vibration phenomenon of the water-lubricated bearing can be effectively suppressed during the continuous operation of the water-lubricated bearing.

[0022] The rotating shaft 1 is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft 1 are shaft shoulders 7. The lining layer 3 and the housing 2 are both matched with the large-diameter part of the rotating shaft 1. The two water-lubricated bearing end covers 9 are sleeved on the small-diameter part of the rotating shaft 1 and are in interference fit with the rotating shaft 1.

[0023] A waterproof sealing ring 5 is arranged between the inner end face of the water-lubricated bearing end cover 9 and the shaft shoulder 7. An end cover oil seal 6 is connected in a transitional manner between the water-lubricated bearing end cover 9 and the rotating shaft 1.

[0024] The water-lubricated bearing end cover 9, as Figure 2 and Figure 3As shown in the figure, the end cover 9 of the water-lubricated bearing includes an outer end cover 901. One end of the outer end cover 901 is disc-shaped, and the other end is cylindrical. The outer diameter of the outer circle of the disc end of the outer end cover 901 is greater than that of the cylindrical end, and the inner diameter of the inner circle of the disc end of the outer end cover 901 is less than that of the cylindrical end. The housing 2 is sleeved on the outer circle of the cylindrical end of the outer end cover 901 and is bolted to the end face of the disc end of the outer end cover 901. An end cover oil seal 6 and a rotating shaft 1 are sequentially sleeved inward along the diameter direction of the inner circle of the disc end of the outer end cover 901.

[0025] The inner end face of the disc end of the outer end cover 901 is matched and connected with the end face of the housing 2. An inner fixed cover 908 is installed in the inner cavity of the cylindrical end of the outer end cover 901. An inner sealing cover 910 is matched and sealed on the cylindrical end of the outer end cover 901. The inner fixed cover 908 and the inner sealing cover 910 are used in pairs. The sealing cavity formed by the combination of the inner fixed cover 908 and the inner sealing cover 910 is provided with a dynamic balance device.

[0026] The outer end cover 901, as Figure 4 shown, a plurality of positioning chutes 902 are evenly distributed along the inner side wall of the cylindrical end of the outer end cover 901. The opening direction of the positioning chutes 902 is consistent with the axis direction of the outer end cover 901. A plurality of fixing grooves 903 are evenly distributed along the edge of the end face of the cylindrical end of the outer end cover 901. A plurality of first threaded holes 904 are provided along the end face of the cylindrical end of the outer end cover 901.

[0027] A plurality of end cover sliding strips 909 are evenly distributed along the outer side wall of the inner fixed cover 908. The end cover sliding strips 909 are matched with the positioning chutes 902. By inserting the end cover sliding strips 909 into the positioning chutes 902, the inner fixed cover 908 is stationary relative to the outer end cover 901.

[0028] The inner sealing cover 910, as Figure 5 shown, one end of the inner sealing cover 910 is disc-shaped, and the other end is cylindrical. The outer diameter of the outer circle of the disc end of the inner sealing cover 910 is greater than that of the cylindrical end, and the inner diameter of the inner circle of the disc end of the inner sealing cover 910 is less than that of the cylindrical end. A plurality of sealing cover sliding strips 911 are evenly distributed along the outer side wall of the cylindrical end of the inner sealing cover 910. The sealing cover sliding strips 911 are matched with the positioning chutes 902. Among them, end cover sliding strips 909 and sealing cover sliding strips 911 are correspondingly provided on the outer side walls of the inner fixed cover 908 and the inner sealing cover 910. They are installed in an embedded and sealed manner with the positioning chutes 902 to seal the dynamic balance device inside the cavity of the outer end cover 901, playing a waterproof role.

[0029] The inner ring of the disc end of the internal seal cover 910 is in interference fit with the second rolling bearing 924. The inner ring of the second rolling bearing 924 is in interference connection with the rotating shaft 1. A number of fixing blocks 912 are provided along the outer side wall of the disc end of the internal seal cover 910. The fixing blocks 912 are matched with the fixing grooves 903. A number of second threaded holes 913 are opened on the end face of the disc end of the internal seal cover 910. The second threaded holes 913 are matched with the first threaded holes 904. Bolts are used to pass through the second threaded holes 913 and the first threaded holes 904 to tightly connect the external end cover 901 and the internal seal cover 910, which can prevent the internal fixing cover 908 from generating circumferential offset and driving the whole device to offset, and further prevent the influence on the dynamic balance accuracy.

[0030] On the end face of the cylindrical end of the external end cover 901, a first diversion hole 905 is opened along the axial direction. On the end face of the disc end of the internal seal cover 910, a second diversion hole 914 is opened along the axial direction. The first diversion hole 905 and the second diversion hole 914 are matched and aligned with each other.

[0031] The dynamic balance device includes a static ring 915. The static ring 915 is fixed in the inner cavity of the internal fixing cover 908. The static ring 915 is integrally in a ring structure. A number of static ring threaded holes are provided along the side wall of the static ring 915. Along the side wall of the internal fixing cover 908, fixing threaded holes 916 are provided. The fixing threaded holes are matched with the static ring threaded holes and are connected by bolts. Among them, the static ring 915 is fixed in the inner cavity of the internal fixing cover 908 by bolts, so that the static ring 915 is stationary relative to the internal fixing cover 908, while the static ring 915 rotates relative to the rotating shaft 1. A number of stator cores 917 are evenly distributed along the end face of the static ring 915. Driving coils 918 are also wound on the cores 917.

[0032] Among them, the dynamic balance device is mainly composed of two parts: a static ring 915 and a moving ring 925. The static ring 915 generates a controllable electromagnetic force through an electromagnetic drive circuit to drive the moving ring 925. Its drive circuit adopts the excitation principle of an axial magnetic field synchronous motor, and controls the magnitude and direction of the electromagnetic force by adjusting the excitation current to achieve high-precision balance adjustment of the moving ring 925. The moving ring 925 is an element that forms a dynamic balance compensation mass by receiving the voltage pulse signal of the static ring 915 to control the weight ring 927 supported by the bearing. By adjusting the mass distribution of the weight ring 927, a force equal in magnitude and opposite in direction to the unbalanced force is synthesized to achieve dynamic balance, thereby effectively suppressing the unbalanced vibration of the rotating shaft 1.

[0033] The dynamic balance device further includes a central stator 919. The central stator 919 is sleeved on the rotating shaft 1 and has an interference fit with the rotating shaft 1. Collars are provided at both ends of the central stator 919, and the components installed at both ends of the stator are axially fixed through the collars. The middle part of the central stator 919 has an interference fit with the first magnetic locking ring 920. The first magnetic locking ring 920 has the same axial dimension as the static ring 915 and is located in the same installation plane. The inner diameter of the static ring 915 is larger than the outer diameter of the magnetic locking ring. When the rotating shaft 1 rotates, it drives the first magnetic locking ring 920 to rotate together.

[0034] A first rolling bearing 921 is provided at one end of the central stator 919 close to the end cover oil seal 6. The central stator 919 has an interference fit with the first rolling bearing 921 through the collar and rotates with the rotating shaft 1. The outer ring of the first rolling bearing 921 has an interference fit with the inner ring of the internal fixed cover 908. On the other end of the central stator 919, a moving ring fixed bearing 922 and a sleeve 923 are successively provided along the axial direction outward. The sleeve 923 is axially connected to the central stator 919 through the collar. The outer ring of the sleeve 923 has an interference fit with the inner ring of the second rolling bearing 924. The outer ring of the second rolling bearing 924 has an interference fit with the inner ring of the disc end of the internal seal cover 910. Among them, when the rotating shaft 1 rotates, the internal seal cover 910 and the internal fixed cover 908 move relative to the shaft. The inner ring of the moving ring fixed bearing 922 has an interference fit with the central stator 919, and the outer ring of the moving ring fixed bearing 922 has an interference fit with the inner ring of the second magnetic locking ring 928. The outer ring of the second magnetic locking ring 928 has an interference fit with the inner ring of the moving ring 925.

[0035] The moving ring 925 is integrally in a ring structure. A number of permanent magnets 926 are inlaid around the end face of the moving ring 925. The permanent magnets 926 are inlaid in a manner that the magnetic polarities are positive and negative alternately. The second magnetic locking ring 928 and the counterweight ring 927 are a coaxial integral structure. As Figure 6 and Figure 7 shown, the inner diameter of the counterweight ring 927 is smaller than the inner diameter of the second magnetic locking ring 928, and the outer diameter of the counterweight ring 927 is larger than the outer diameter of the second magnetic locking ring 928. A number of permanent magnets 926 are embedded around the end face of the second magnetic locking ring 928. The permanent magnets 926 are inlaid in a manner that the magnetic polarities are positive and negative alternately. A number of fastening screw holes 929 are provided along the edge around the end face of the counterweight ring 927. The counterweight ring 927 is bolted to the moving ring 925 through the fastening screw holes 929. A number of counterweight holes are also provided around the end face of the counterweight ring 927. According to the actual unbalance amount, counterweight mass can be added into the counterweight holes through the counterweight holes.

[0036] A wire groove 906 is opened along the axial direction on the inner side wall of the cylindrical end of the external end cover 901. A wire hole 907 matching the wire groove 906 is provided on the end face of the disc end of the external end cover 901. The internal wiring can be led out to the outside through the wire hole 907 on the external end cover 901 via the wire groove 906.

[0037] Among them, when the stationary ring 915 is not energized, due to the magnetic locking torque between the first magnetic locking ring 920 and the second magnetic locking ring 928, the counterweight ring 927, the moving ring 925 and the rotating shaft 1 rotate synchronously. When the drive coil 918 is excited, the permanent magnets on the stationary ring 915 and the moving ring 925 interact with each other using the principle of attraction between opposite poles and repulsion between like poles. When the electromagnetic torque of the interaction is greater than the magnetic locking torque, it drives the counterweight ring 927 to achieve a step. After the coil excitation ends, the counterweight ring stabilizes at the next position and does not move relative to the rotating shaft.

[0038] The control system 8, as Figure 8 shown, the control system 8 includes several sensors. Specifically, Hall sensors 801, displacement sensors 802, and acceleration sensors 803 are used. The Hall sensors 801 are arranged inside the outer end cover 901 to detect the position of the moving ring 925. Both the displacement sensors 802 and the acceleration sensors 803 are arranged at one end of the rotating shaft 1. The Hall sensors 801, displacement sensors 802, and acceleration sensors 803 are all electrically connected to the input end of the signal amplifier 804. The output end of the signal amplifier 804 is successively connected to the data acquisition module 805 and the upper computer 806. The output end of the upper computer 806 is successively connected to the control module 807 and the drive module 808. The output end of the drive module 808 is connected to the drive coil 918 through a wire. A power supply module 809 is also connected to the drive module 808.

[0039] The water-lubricated bearing system with dynamic balance function of the present invention has the following working process: When the water-lubricated bearing system with dynamic balance function of the present invention is working, the displacement sensor 802, the acceleration sensor 803, and the Hall sensor 801 can real-time monitor the vibration displacement, rotation speed, and the position of the moving ring 925 of the rotating shaft 1. The measured value signals obtained are sent to the data acquisition module 805 through the signal amplifier 804, and are transmitted to the upper computer 806 in real-time synchronization through the analog input interface of the data acquisition module 805. The upper computer 806 calculates the current vibration amplitude of the rotating shaft 1 based on the vibration displacement and the rotation speed. The upper computer 806 compares the current vibration amplitude with the set threshold value; when the current vibration amplitude of the rotating shaft 1 is higher than the set value, the dynamic balance operation is started; the upper computer 806 sends a control command, and sends it to the drive module 808 through the control module 807. The drive module 808 forms a corresponding electrical signal according to the control signal, and outputs the electrical signal to the drive coil 918 through the data line to supply power to the drive coil 918. Then, the stator core 917 is magnetized and interacts with the permanent magnet 926 on the moving ring 925 to generate an axial driving electromagnetic torque. The moving ring 925 drives the counterweight ring 927 to rotate relative to the rotating shaft 1, adjusts the centroid positions of the two counterweight rings 927, and thus realizes the counterweight action to suppress the unbalanced vibration of the rotating shaft and complete the dynamic balance operation.

[0040] Among them, the dynamic balance device is located inside the water-lubricated bearing end covers 9 at both left and right ends of the rotating shaft 1. There is a counterweight ring 927 in each of the dynamic balance devices at both ends of the rotating shaft 1, which are concentric and parallel. The two counterweight rings 927 move independently. When the static ring 915 is not energized, due to the magnetic locking torque between the first magnetic locking ring 920 and the second magnetic locking ring 928, the counterweight ring 927, the moving ring 925 and the rotating shaft 1 rotate synchronously. When the drive coil 918 is energized, the stator core 917 is magnetized and interacts with the permanent magnet 926 on the moving ring 925 to generate an axial driving electromagnetic torque. The moving ring 925 drives the counterweight ring 927 to rotate relative to the rotating shaft 1, so as to achieve the purpose of adjusting the centroid positions of the two counterweight rings 927. By adjusting the centroid positions of the two counterweight rings 927, the dynamic balance operation of the rotating shaft 1 is further realized, that is, the vector synthesized by the two mass blocks in the same correction plane is the correction mass.

[0041] The second object of the present invention is to provide a control method for a water-lubricated bearing system with a dynamic balance function. Using the above-mentioned water-lubricated bearing system with a dynamic balance function, the specific steps are as follows: Step 1: Install a water-lubricated bearing system with a dynamic balance function on both sides of the rotating shaft 1, energize and operate it, and at the same time turn on the upper computer 806; Step 2: Collect the vibration displacement and rotational speed of the rotating shaft 1 through the displacement sensor 802 and the acceleration sensor 803, and upload them to the upper computer 806 through the signal amplifier 804 and the data acquisition module 805; Step 3: The upper computer 806 calculates the current vibration amplitude of the rotating shaft 1 according to the vibration displacement and rotational speed in Step 2, and then compares the current vibration amplitude with the set threshold to judge whether to perform a dynamic balance operation. If the current vibration amplitude is greater than the threshold, perform a dynamic balance operation. If the current vibration amplitude is less than the threshold, execute the next step; Step 4: Repeat the operations in Steps 2-3; The dynamic balance operation described in Step 3 is specifically as follows: Step 3.1: The upper computer obtains the displacement vector of the rotating shaft 1 according to the vibration displacement in Step 2 and then calculates the unbalance vector ; The specific process of calculating the unbalance vector in Step 3.1 is as follows: Step 3.1.1: Obtain the observed values during translational and rotational motions when the water-lubricated bearing with a dynamic balance function is operating: (1) x 1 (t) is the observed value of the translational system; M is the displacement stiffness of the water-lubricated bearing; I is the current stiffness; u(t) is the displacement deviation function of the disturbing force with respect to time on the rotating shaft; x 2(t) is the observed value of the rotating system; N is the cross-feedback control parameter; Step 3.1.2: Introduce a non-singular linear transformation P into the observer, and transform the above formula (1) into: (2) Step 3.1.3: According to the above equation, the final sliding mode observer equation is obtained as: (3) is the sliding mode observation error; L is the feedback parameter; is the disturbance quantity; Step 3.1.4: It can be seen from the above formula (3) that the disturbance observed by the sliding mode observer includes the translational disturbance m p and the rotational disturbance m z . Taking the correction amount of the displacement deviation at the position of the rotation axis as the control target, minimize the two disturbances, that is: (4) In the formula: is the translational distance, α is the rotation angle of the bearing, ε is the disturbance coefficient, and t is the running time; Step 3.1.5: The correction amount of the displacement deviation can be obtained through calculation: (5) Use the correction amount of the displacement deviation of the water-lubricated bearing rotation axis obtained by the above formula (5) to correct the displacement vector collected by the displacement sensor, then the actual unbalance vector is: (6).

[0042] Step 3.2: Decompose the unbalance vector of the rotation axis 1 into the balance vectors , of the counterweight rings 927 on the left and right sides of the rotation axis 1, that is = + , and obtain the balance positions , to which the counterweight rings 927 need to rotate according to the balance vectors , ; Step 3.3: The host computer determines according to the balance positions , , a control instruction is sent to the control module 807. The control module 807 supplies power to the drive coil 918 by generating corresponding positive and negative pulse voltages through the control of the drive module 808. The stator core 917 is magnetized and interacts with the permanent magnet 926 on the moving ring 925 to generate an axial driving electromagnetic torque. The moving ring 925 drives the counterweight ring 927 to rotate relative to the rotating shaft 1, adjusting the centroid positions of the two counterweight rings 927, thereby realizing the counterweight action. Specifically, as Figure 9 shown, Figure 9 is the schematic diagram of the closed-loop control of the water-lubricated bearing. In the figure, the displacement sensor 802 is used to collect the displacement signal of the rotating shaft 1 , and the disturbance force of the water-lubricated bearing is observed by using a sliding mode observer. The correction amount of the displacement deviation is calculated from the disturbance force , combined with the displacement vector collected by the displacement sensor 802 , the current displacement signal error value of the rotating shaft 1 is calculated and obtained , which is used as the input control quantity. The control module 807 and the drive module 808 are used to control the dynamic balancing device, and the displacement offset after the balance of the rotating shaft 1 is output, realizing the vibration closed-loop control of the water-lubricated bearing.

[0043] Through the above method, the host computer 806 sends a control instruction to the control module 807. The control module 807 supplies power to the drive coil 918 by generating corresponding positive and negative pulse voltages through the control of the drive module 808. The stator core 917 is magnetized and interacts with the permanent magnet 926 on the moving ring 925 to generate an axial driving electromagnetic torque. The moving ring 925 drives the counterweight ring 927 to rotate relative to the rotating shaft 1, adjusting the centroid positions of the two counterweight rings 927, thereby realizing the counterweight action and completing the dynamic balancing operation.

[0044] The specific embodiments of the water-lubricated bearing system with dynamic balancing function of the present invention are as follows: Embodiment 1 The water-lubricated bearing system with dynamic balancing function includes a rotating shaft 1. A lining 3, a bushing 4, and a housing 2 are sequentially sleeved on the middle part of the rotating shaft 1 in the radial direction outward. The lining 3, the bushing 4, the housing 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cap 9 is sleeved on each end of the rotating shaft 1. The housing 2 and the two water-lubricated bearing end caps 9 together form a sealed cavity, and the water-lubricated bearing end cap 9 is connected to the control system 8.

[0045] Embodiment 2 The water-lubricated bearing system with dynamic balancing function includes a rotating shaft 1. A lining 3, a bushing 4, and a housing 2 are sequentially sleeved on the middle part of the rotating shaft 1 in the radial direction outward. The lining 3, the bushing 4, the housing 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cap 9 is sleeved on each end of the rotating shaft 1. The housing 2 and the two water-lubricated bearing end caps 9 together form a sealed cavity, and the water-lubricated bearing end cap 9 is connected to the control system 8.

[0046] The rotating shaft 1 is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft 1 are shaft shoulders 7. Both the lining layer 3 and the outer shell 2 are matched with the larger-diameter part of the rotating shaft 1.

[0047] Embodiment 3 A water-lubricated bearing system with a dynamic balance function, including a rotating shaft 1. A lining layer 3, a shaft sleeve 4, and an outer shell 2 are sequentially sleeved on the rotating shaft 1 along the diameter direction outward in the middle of the rotating shaft 1. The lining layer 3, the shaft sleeve 4, the outer shell 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cover 9 is sleeved on each end of the rotating shaft 1 respectively. The outer shell 2 and the two water-lubricated bearing end covers 9 together form a sealed cavity, and the water-lubricated bearing end cover 9 is connected to the control system 8.

[0048] The rotating shaft 1 is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft 1 are shaft shoulders 7. Both the lining layer 3 and the outer shell 2 are matched with the larger-diameter part of the rotating shaft 1.

[0049] The two water-lubricated bearing end covers 9 are sleeved on the smaller-diameter part of the rotating shaft 1 and are in interference fit with the rotating shaft 1.

[0050] Embodiment 4 A water-lubricated bearing system with a dynamic balance function, including a rotating shaft 1. A lining layer 3, a shaft sleeve 4, and an outer shell 2 are sequentially sleeved on the rotating shaft 1 along the diameter direction outward in the middle of the rotating shaft 1. The lining layer 3, the shaft sleeve 4, the outer shell 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cover 9 is sleeved on each end of the rotating shaft 1 respectively. The outer shell 2 and the two water-lubricated bearing end covers 9 together form a sealed cavity, and the water-lubricated bearing end cover 9 is connected to the control system 8.

[0051] The rotating shaft 1 is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft 1 are shaft shoulders 7. Both the lining layer 3 and the outer shell 2 are matched with the larger-diameter part of the rotating shaft 1.

[0052] The two water-lubricated bearing end covers 9 are sleeved on the smaller-diameter part of the rotating shaft 1 and are in interference fit with the rotating shaft 1.

[0053] A waterproof sealing ring 5 is arranged between the inner end face of the water-lubricated bearing end cover 9 and the shaft shoulder 7, and an end cover oil seal 6 is connected in a transitional manner between the water-lubricated bearing end cover 9 and the rotating shaft 1.

[0054] Embodiment 5 A water-lubricated bearing system with a dynamic balance function, including a rotating shaft 1. A lining layer 3, a shaft sleeve 4, and an outer shell 2 are sequentially sleeved on the rotating shaft 1 along the diameter direction outward in the middle of the rotating shaft 1. The lining layer 3, the shaft sleeve 4, the outer shell 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cover 9 is sleeved on each end of the rotating shaft 1 respectively. The outer shell 2 and the two water-lubricated bearing end covers 9 together form a sealed cavity, and the water-lubricated bearing end cover 9 is connected to the control system 8.

[0055] The rotating shaft 1 is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft 1 are shaft shoulders 7, and both the lining layer 3 and the outer shell 2 are matched with the larger-diameter part of the rotating shaft 1.

[0056] Two water-lubricated bearing end covers 9 are sleeved on the smaller-diameter part of the rotating shaft 1 and are in interference fit with the rotating shaft 1.

[0057] A waterproof sealing ring 5 is arranged between the inner end face of the water-lubricated bearing end cover 9 and the shaft shoulder 7, and an end cover oil seal 6 is connected in a transitional manner between the water-lubricated bearing end cover 9 and the rotating shaft 1.

[0058] The water-lubricated bearing end cover 9 includes an outer end cover 901. One end of the outer end cover 901 is disc-shaped, and the other end is cylindrical. The outer diameter of the disc end of the outer end cover 901 is larger than the outer diameter of the cylindrical end, and the inner diameter of the disc end of the outer end cover 901 is smaller than the inner diameter of the cylindrical end.

[0059] The outer shell 2 is sleeved on the outer circle of the cylindrical end of the outer end cover 901 and is bolted to the end face of the disc end of the outer end cover 901. An end cover oil seal 6 and the rotating shaft 1 are sequentially sleeved inward along the diameter direction in the inner circle of the disc end of the outer end cover 901. The inner end face of the disc end of the outer end cover 901 is matched and connected to the end face of the outer shell 2. An inner fixed cover 908 is installed in the inner cavity of the cylindrical end of the outer end cover 901, and an inner sealing cover 910 covers the matching end of the cylinder of the outer end cover 901. The inner fixed cover 908 and the inner sealing cover 910 are used in pairs, and a sealing cavity formed by the combination of the inner fixed cover 908 and the inner sealing cover 910 is provided with a dynamic balance device.

[0060] Embodiment 6 A water-lubricated bearing system with a dynamic balance function includes a rotating shaft 1. A lining layer 3, a shaft sleeve 4, and an outer shell 2 are sequentially sleeved outward along the diameter direction in the middle of the rotating shaft 1. The lining layer 3, the shaft sleeve 4, the outer shell 2, and the rotating shaft 1 are coaxial. A water-lubricated bearing end cover 9 is sleeved on each end of the rotating shaft 1 respectively. The outer shell 2 and the two water-lubricated bearing end covers 9 jointly form a closed cavity, and the water-lubricated bearing end cover 9 is connected to the control system 8.

[0061] The rotating shaft 1 is a stepped shaft with a larger diameter in the middle than at both ends. The stepped parts at both ends of the rotating shaft 1 are shaft shoulders 7, and both the lining layer 3 and the outer shell 2 are matched with the larger-diameter part of the rotating shaft 1.

[0062] Two water-lubricated bearing end covers 9 are sleeved on the smaller-diameter part of the rotating shaft 1 and are in interference fit with the rotating shaft 1.

[0063] A waterproof sealing ring 5 is arranged between the inner end face of the water-lubricated bearing end cover 9 and the shaft shoulder 7, and an end cover oil seal 6 is connected in a transitional manner between the water-lubricated bearing end cover 9 and the rotating shaft 1.

[0064] The water-lubricated bearing end cover 9 includes an outer end cover 901. One end of the outer end cover 901 is disc-shaped, and the other end is cylindrical. The outer diameter of the outer circle of the disc end of the outer end cover 901 is larger than that of the outer circle of the cylindrical end, and the inner diameter of the inner circle of the disc end of the outer end cover 901 is smaller than that of the inner circle of the cylindrical end.

[0065] The housing 2 is sleeved on the outer circle of the cylindrical end of the outer end cover 901 and is bolted to the end face of the disc end of the outer end cover 901. An end cover oil seal 6 and a rotating shaft 1 are sequentially sleeved inward along the diameter direction of the inner circle of the disc end of the outer end cover 901. The inner end face of the disc end of the outer end cover 901 is matingly connected to the end face of the housing 2. An inner fixed cover 908 is installed in the inner cavity of the cylindrical end of the outer end cover 901. The cylindrical matching end of the outer end cover 901 is sealed with an inner seal cover 910. The inner fixed cover 908 and the inner seal cover 910 are used in pairs, and a sealing cavity is formed by the combination of the inner fixed cover 908 and the inner seal cover 910. A dynamic balance device is arranged in the sealing cavity.

[0066] A plurality of positioning chutes 902 are evenly distributed along the inner side wall of the cylindrical end of the outer end cover 901. The opening direction of the positioning chutes 902 is consistent with the axis direction of the outer end cover 901. A plurality of fixing grooves 903 are evenly distributed along the edge of the end face of the cylindrical end of the outer end cover 901. A plurality of first threaded holes 904 are arranged along the end face of the cylindrical end of the outer end cover 901.

[0067] A plurality of end cover slide bars 909 are evenly distributed along the outer side wall of the inner fixed cover 908. The end cover slide bars 909 are matched with the positioning chutes 902.

[0068] One end of the inner seal cover 910 is disc-shaped, and the other end is cylindrical. The outer diameter of the outer circle of the disc end of the inner seal cover 910 is larger than that of the outer circle of the cylindrical end, and the inner diameter of the inner circle of the disc end of the inner seal cover 910 is smaller than that of the inner circle of the cylindrical end. A plurality of seal cover slide bars 911 are evenly distributed along the outer side wall of the cylindrical end of the inner seal cover 910. The seal cover slide bars 911 are matched with the positioning chutes 902.

[0069] The inner circle of the disc end of the inner seal cover 910 is in interference fit with the second rolling bearing 924, and the inner circle of the second rolling bearing 924 is in interference connection with the rotating shaft 1. A plurality of fixing blocks 912 are arranged along the outer side wall of the disc end of the inner seal cover 910. The fixing blocks 912 are matched with the fixing grooves 903. A plurality of second threaded holes 913 are opened on the end face of the disc end of the inner seal cover 910. The second threaded holes 913 are matched with the first threaded holes 904.

[0070] On the end face of the cylindrical end of the outer end cover 901, a first diversion hole 905 is axially provided. On the end face of the disc end of the internal seal cover 910, a second diversion hole 914 is axially provided. The first diversion hole 905 and the second diversion hole 914 are aligned with each other.

[0071] The dynamic balance device includes a stationary ring 915. The stationary ring 915 is fixed inside the cavity of the internal fixed cover 908. The stationary ring 915 is integrally in a ring structure. A number of stationary ring threaded holes are provided along the side wall of the stationary ring 915 for one week. Along the side wall of the internal fixed cover 908 for one week, fixing threaded holes 916 are provided. The fixing threaded holes 916 match the stationary ring threaded holes and are connected by bolts. A number of stator cores 917 are evenly distributed along the end face of the stationary ring 915 for one week. A drive coil 918 is also wound on the stationary ring 915.

[0072] The dynamic balance device further includes a central stator 919. The central stator 919 is sleeved on the rotating shaft 1 and has an interference fit with the rotating shaft 1. Collars are provided at both ends of the central stator 919. The middle part of the central stator 919 has an interference fit with the first magnetic locking ring 920. The first magnetic locking ring 920 has the same axial dimension as the stationary ring 915 and is located in the same installation plane. The inner diameter of the stationary ring 915 is larger than the outer diameter of the first magnetic locking ring 920.

[0073] A first rolling bearing 921 is provided at one end of the central stator 919 close to the end cover oil seal 6. The central stator 919 has an interference fit with the first rolling bearing 921 through the collar. The outer ring of the first rolling bearing 921 has an interference fit with the inner ring of the internal fixed cover 908. At the other end of the central stator 919, a moving ring fixed bearing 922 and a sleeve 923 are successively provided axially outward along the axis. The sleeve 923 is axially connected to the central stator 919 through the collar. The outer ring of the sleeve 923 has an interference fit with the inner ring of the second rolling bearing 924. The outer ring of the second rolling bearing 924 has an interference fit with the inner ring of the disc end of the internal seal cover 910. The inner ring of the moving ring fixed bearing 922 has an interference fit with the central stator 919. The outer ring of the moving ring fixed bearing 922 has an interference fit with the inner ring of the second magnetic locking ring 928. The outer ring of the second magnetic locking ring 928 has an interference fit with the inner ring of the moving ring 925.

[0074] The moving ring 925 is integrally in a ring structure. A number of permanent magnets 926 are inlaid along the end face of the moving ring 925 for one week. The permanent magnets 926 are inlaid in a way that the magnetic polarities are positive and negative alternately.

[0075] The second magnetic locking ring 928 and the counterweight ring 927 are of a coaxial integral structure. The inner diameter of the counterweight ring 927 is smaller than that of the second magnetic locking ring 928, and the outer diameter of the counterweight ring 927 is larger than that of the second magnetic locking ring 928. A number of permanent magnets 926 are embedded along the circumference of the end face of the second magnetic locking ring 928, and the permanent magnets 926 are embedded in a manner that the magnetic polarities are alternately positive and negative. Fastening screw holes 929 are arranged along the circumference of the edge of the end face of the counterweight ring 927. The counterweight ring 927 is bolted to the moving ring 925 through the fastening screw holes 929. A number of counterweight holes are also arranged along the circumference of the end face of the counterweight ring 927.

[0076] A wire groove 906 is provided along the axial direction on the inner wall of the cylindrical end of the outer end cover 901, and a wire hole 907 matching the wire groove 906 is provided on the end face of the disc end of the outer end cover 901.

[0077] The control system 8 includes a number of sensors. Specifically, Hall sensors 801, displacement sensors 802, and acceleration sensors 803 are adopted. The Hall sensors 801 are arranged on the moving ring 925, and the displacement sensors 802 and acceleration sensors 803 are both arranged at one end of the rotating shaft 1. The Hall sensors 801, displacement sensors 802, and acceleration sensors 803 are all connected to the input end of a signal amplifier 804. The output end of the signal amplifier 804 is sequentially connected to a data acquisition module 805 and a host computer 806. The output end of the host computer 806 is sequentially connected to a control module 807 and a drive module 808. The output end of the drive module 808 is connected to the drive coil 918 through a wire. A power supply module 809 is also connected to the drive module 808.

Claims

1. A water-lubricated bearing system with dynamic balancing function, characterized in that: The invention comprises a rotating shaft (1), wherein a lining layer (3), a shaft sleeve (4), and a housing (2) are sequentially sleeved in the middle of the rotating shaft (1) in the diameter direction outward, the lining layer (3), the shaft sleeve (4), the housing (2), and the rotating shaft (1) are coaxial, and a water-lubricated bearing end cover (9) is sleeved at each end of the rotating shaft (1), the housing (2) and the two water-lubricated bearing end covers (9) together form a closed cavity, and the water-lubricated bearing end covers (9) are connected to a control system (8).

2. The water-lubricated bearing system with dynamic balancing function according to claim 1, characterized in that: The rotating shaft (1) is a stepped shaft with a diameter in the middle portion being larger than the diameters at both ends; the stepped portions at both ends of the rotating shaft (1) are shaft shoulders (7); and the lining (3) and the outer shell (2) are both matched with the large diameter portion of the rotating shaft (1); The two water-lubricated bearing end covers (9) are sleeved on the small diameter portion of the rotating shaft (1) and are interference fit with the rotating shaft (1).

3. The water-lubricated bearing system with dynamic balancing function according to claim 2, characterized in that: A waterproof sealing ring (5) is provided between the inner end surface of the water-lubricated bearing end cover (9) and the shaft shoulder (7), and an end cover oil seal (6) is provided in transition connection between the water-lubricated bearing end cover (9) and the rotating shaft (1).

4. The water-lubricated bearing system with dynamic balancing function according to claim 3, characterized in that: The water-lubricated bearing end cover (9) comprises an external end cover (901), one end of the external end cover (901) is in the shape of a disk, the other end of the external end cover (901) is in the shape of a cylinder, the outer ring diameter of the disk end of the external end cover (901) is larger than the outer ring diameter of the cylinder end, and the inner ring diameter of the disk end of the external end cover (901) is smaller than the inner ring diameter of the cylinder end; The outer shell (2) is sleeved on the outer ring of the cylindrical end of the external end cover (901) and is bolted to the end face of the disc end of the external end cover (901); the inner ring of the disc end of the external end cover (901) is sleeved with an end cover oil seal (6) and a rotating shaft (1) in sequence inwardly along the diameter direction; the inner end face of the disc end of the external end cover (901) is matched and connected with the end face of the outer shell (2); the inner cavity of the cylindrical end of the external end cover (901) is installed with an internal fixed cover (908); the cylindrical end of the external end cover (901) is matched with an internal sealing cover (910); the internal fixed cover (908) and the internal sealing cover (910) are used in pairs; the internal fixed cover (908) and the internal sealing cover (910) are combined to form a sealed cavity; a dynamic balancing device is arranged in the sealed cavity.

5. The water-lubricated bearing system with dynamic balancing function according to claim 4, characterized in that: The cylindrical end of the external end cover (901) is provided with a plurality of positioning grooves (902) evenly distributed along the inner side wall, the opening direction of the positioning grooves (902) is consistent with the axial direction of the external end cover (901), the cylindrical end of the external end cover (901) is provided with a plurality of fixing grooves (903) evenly distributed along the edge of the end surface, and the cylindrical end of the external end cover (901) is provided with a plurality of first threaded holes (904) along the end surface; The inner fixed cover (908) is evenly distributed along the outer wall thereof with a plurality of end cover slide bars (909), the end cover slide bars (909) matching with the positioning slide grooves (902); One end of the internal sealing cover (910) is disc-shaped, and the other end of the internal sealing cover (910) is cylindrical. The outer diameter of the disc end of the internal sealing cover (910) is larger than the outer diameter of the cylindrical end, and the inner diameter of the disc end of the internal sealing cover (910) is smaller than the inner diameter of the cylindrical end. The cylindrical end of the internal sealing cover (910) is evenly distributed along the outer wall thereof with a plurality of sealing cover slide bars (911), and the sealing cover slide bars (911) match the positioning slide grooves (902). The inner ring of the disc end of the internal sealing cover (910) is interference fit with the second rolling bearing (924), and the inner ring of the second rolling bearing (924) is interference connected with the rotating shaft (1). The disc end of the internal sealing cover (910) is provided with a plurality of fixing blocks (912) along the outer wall, and the fixing blocks (912) match the fixing grooves (903). The end surface of the disc end of the internal sealing cover (910) is provided with a plurality of second threaded holes (913), and the second threaded holes (913) match the first threaded holes (904).

6. The water-lubricated bearing system with dynamic balancing function according to claim 5, characterized in that: The end surface of the cylindrical end of the external end cover (901) is provided with a first flow guide hole (905) along the axial direction, and the end surface of the disc end of the internal sealing cover (910) is provided with a second flow guide hole (914) along the axial direction. The first flow guide hole (905) and the second flow guide hole (914) are aligned with each other.

7. The water-lubricated bearing system with dynamic balancing function according to claim 6, characterized in that: The dynamic balancing device comprises a stationary ring (915), wherein the stationary ring (915) is fixed in the inner cavity of the internal fixed cover (908), the stationary ring (915) is annular in structure as a whole, the stationary ring (915) is provided with a plurality of stationary ring threaded holes along a circumference of the side wall, the internal fixed cover (908) is provided with a fixing threaded hole (916) along a circumference of the side wall, the fixing threaded hole (916) matches the stationary ring threaded hole and is connected by bolts, the stationary ring (915) is evenly distributed with a plurality of stator cores (917) along a circumference of the end surface, and a driving coil (918) is also wound around the stationary ring (915); The dynamic balancing device further comprises a central stator (919), the central stator (919) being sleeved on the rotating shaft (1) and being interference fit with the rotating shaft (1), collars being provided at both ends of the central stator (919), a middle portion of the central stator (919) being interference fit with a first magnetic locking ring (920), the first magnetic locking ring (920) and the stationary ring (915) having the same axial dimensions and being located in the same installation plane, the inner diameter of the stationary ring (915) being larger than the outer diameter of the first magnetic locking ring (920); A first rolling bearing (921) is disposed at one end of the central stator (919) close to the end cover oil seal (6); the central stator (919) is interference-fitted with the first rolling bearing (921) via a sleeve ring; the outer ring of the first rolling bearing (921) is interference-fitted with the inner ring of the internal fixed cover (908); the other end of the central stator (919) is sequentially provided with a moving ring fixed bearing (922) and a sleeve (923) outwardly along the axial direction; the sleeve (923) is interference-fitted with the central stator (919) via a sleeve ring. 9) Axially connected, the outer ring of the sleeve (923) is interference fit with the inner ring of the second rolling bearing (924), the outer ring of the second rolling bearing (924) is interference fit with the inner ring of the disc end of the internal sealing cover (910), the inner ring of the moving ring fixed bearing (922) is interference fit with the central stator (919), the outer ring of the moving ring fixed bearing (922) is interference fit with the inner ring of the second magnetic locking ring (928), and the outer ring of the second magnetic locking ring (928) is interference fit with the inner ring of the moving ring (925); The moving ring (925) is annular in structure as a whole, and a plurality of permanent magnets (926) are inlaid around the end surface of the moving ring (925), wherein the permanent magnets (926) are inlaid in a manner of alternating positive and negative magnetism; The second magnetic locking ring (928) and the counterweight ring (927) are coaxial and integral structures. The inner diameter of the counterweight ring (927) is smaller than the inner diameter of the second magnetic locking ring (928). The outer diameter of the counterweight ring (927) is larger than the outer diameter of the second magnetic locking ring (928). The second magnetic locking ring (928) is embedded with a plurality of permanent magnets (926) along the end surface. The permanent magnets (926) are embedded in a manner of alternating positive and negative magnetism. The counterweight ring (927) is provided with fastening screw holes (929) along the edge of the end surface. The counterweight ring (927) is bolted to the moving ring (925) through the fastening screw holes (929). The counterweight ring (927) is also provided with a plurality of counterweight holes along the end surface.

8. The water-lubricated bearing system with dynamic balancing function according to claim 7, characterized in that: The inner wall of the cylindrical end of the external end cover (901) is provided with a wire groove (906) along the axial direction, and the end surface of the disc end of the external end cover (901) is provided with a wire hole (907) matching the wire groove (906).

9. The water-lubricated bearing system with dynamic balancing function according to claim 8, characterized in that: The control system (8) comprises a plurality of sensors, wherein the sensors specifically adopt a Hall sensor (801), a displacement sensor (802), and an acceleration sensor (803). The Hall sensor (801) is arranged on a moving ring (925), and the displacement sensor (802) and the acceleration sensor (803) are both arranged at one end of a rotating shaft (1). The Hall sensor (801), the displacement sensor (802), and the acceleration sensor (803) are all electrically connected to an input end of a signal amplifier (804). The output end of the signal amplifier (804) is connected to a data acquisition module (805) and a host computer (806) in sequence. The output end of the host computer (806) is connected to a control module (807) and a drive module (808) in sequence. The output end of the drive module (808) is connected to a drive coil (918) via a wire. The drive module (808) is also connected to a power supply module (809).

10. A control method for a water-lubricated bearing system with a dynamic balancing function, characterized in that: The water-lubricated bearing system with dynamic balancing function described in claim 9 is adopted, and the specific steps are as follows: Step 1: Install a water-lubricated bearing system with a dynamic balancing function on both sides of the rotating shaft (1), power it on, and turn on the host computer (806); Step 2: The vibration displacement and rotation speed of the rotating shaft (1) are collected by means of a displacement sensor (802) and an acceleration sensor (803), and uploaded to a host computer (806) via a signal amplifier (804) and a data acquisition module (805); Step 3, the host computer (806) calculates the current vibration amplitude of the rotating shaft (1) according to the vibration displacement and the rotation speed in step 2, and then compares the current vibration amplitude with the set threshold value to determine whether to perform a dynamic balancing operation. If the current vibration amplitude is greater than the threshold value, a dynamic balancing operation is performed; if the current vibration amplitude is less than the threshold value, the next step is executed; Step 4: Repeat steps 2-3. The dynamic balancing operation described in step 3 is as follows: Step 3.1: The host computer obtains the displacement vector of the rotating axis (1) according to the vibration displacement in step 2. , then calculate the imbalance vector ; The unbalanced vector is calculated in step 3.1 above The specific process of measurement is as follows: Step 3.1.1, obtain the observed values ​​of the water-lubricated bearing with dynamic balancing function during translation and rotation: （1） x1(t) is the observed value of the translation system; M is the displacement stiffness of the water-lubricated bearing; I is the current stiffness; u(t) is the displacement deviation function of the disturbance force to the rotating axis over time; x2(t) is the observed value of the rotation system; N is the cross-feedback control parameter; Step 3.1.2: Introduce the non-singular linear transformation P into the observer and transform the above formula (1) into: (2) Step 3.1.3: According to the above equation, the final synovial observer equation is: （3） is the synovial observation error; L is the feedback parameter; is the disturbance amount; Step 3.1.4: From the above formula (3), we can see that the disturbance observed by the synovial observer includes the translation disturbance m p and rotational disturbance m z , the correction amount of the displacement deviation of the rotation axis position To control the target, the two disturbances are minimized, namely: （4） Where: is the translation distance, α is the angle of bearing rotation, ε is the disturbance coefficient, and t is the running time; Step 3.1.5: The correction amount of displacement deviation can be obtained through calculation: （5） The displacement vector collected by the displacement sensor The correction value of the displacement deviation of the rotating shaft of the water-lubricated bearing obtained by the above formula (5) is After correction, the actual unbalanced vector for: （6）； Step 3.2: Change the unbalance vector of the rotating shaft (1) , decomposed into the equilibrium vectors of the counterweight rings (927) on the left and right sides of the rotation axis (1) , ,Right now = + , and according to the equilibrium vector , Obtain the equilibrium position to which the counterweight ring (927) needs to be rotated , ; Step 3.3: The host computer needs to rotate the counterweight ring (927) to the equilibrium position in step 3.

2. , , sending a control instruction to the control module (807), the control module (807) generates corresponding positive and negative pulse voltages to power the drive coil (918) by controlling the drive module (808), the stator core (917) is excited and interacts with the permanent magnet (926) on the moving ring (925) to generate an axial driving electromagnetic torque, the moving ring (925) drives the counterweight ring (927) to rotate relative to the rotating shaft (1), adjusts the center of mass position of the two counterweight rings (927), and thus realizes the counterweight action.

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