Control method and device for reducing dehydration vibration of centrifugal dehydrator

Abstract

The invention relates to the technical field of industrial automation control, and discloses a control method for reducing dehydration vibration of a centrifugal dehydrator. Comprising the following steps: acquiring sampling period information, and respectively acquiring angle information, acceleration information and angular velocity information on x, y and z axes of a roller rotating mechanism of the centrifugal dehydrator according to time set by a sampling period; filtering the collected angle information, acceleration information and angular velocity information; respectively calculating the vibration speed, the vibration displacement and the vibration frequency of the three axes; inputting the vibration speed into a PID algorithm to generate a control instruction; the control instruction is sent to an execution mechanism; the device has the advantages of actively inhibiting vibration and improving the stability of equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation control, and particularly to a control method and device for reducing the dehydration vibration of a centrifugal dehydrator. Background Art

[0002] Rotary drum mechanisms are widely used in industries such as printing, textile, chemical industry, and general equipment manufacturing. However, during the rotation of the drum, due to factors such as the gaps in the mechanical structure, differences in material density, and changes in load, vibrations will inevitably occur. These vibrations not only reduce the processing quality of products, but also accelerate the wear of parts, reduce the service life of the equipment, and increase the maintenance cost.

[0003] Especially in industrial drum washing machines and industrial centrifugal dehydrators, the rotary drum is used as a core component, and it always maintains a high rotational speed during operation. The vibrations not only exist all the time, but also have a certain degree of randomness in terms of frequency and amplitude. Especially during the acceleration and deceleration phases, the position of the laundry inside the drum changes, which in turn causes a change in the overall center of gravity of the drum. Therefore, the vibrations are particularly obvious, posing a hidden danger to the long-term stable operation of the equipment and also affecting the washing effect and efficiency.

[0004] The existing vibration suppression methods mainly include passive shock absorption and switch quantity feedback control.

[0005] Passive shock absorption reduces vibration transmission by adding shock-absorbing materials or devices in the mechanical structure, such as cylinders, springs, rubber pads, etc. However, the suppression effect of this method is limited and it cannot adapt to working conditions that may change at any time.

[0006] As a simple active suppression measure, switch quantity feedback also has certain deficiencies. Although it can be applied to different working conditions, the operation is relatively cumbersome, and corresponding parameters need to be set according to different working conditions. Moreover, the response speed of the system is slow and the control accuracy is low, which does not match the high efficiency and full automation of industrial washing machines.

[0007] Therefore, a control method and device for reducing the dehydration vibration of a centrifugal dehydrator are provided to solve the above problems. Summary of the Invention

[0008] The main purpose of the present invention is to solve the problems that the existing passive shock absorption method has limited suppression effect and cannot adapt to working conditions that may change at any time, and the switch quantity feedback method is cumbersome to operate, requires setting corresponding parameters according to different working conditions, has a slow response speed, and low control accuracy, which does not match the high efficiency and full automation of industrial washing machines.

[0009] The first aspect of the present invention provides a control method for reducing the dehydration vibration of a centrifugal dehydrator, and the control method for reducing the dehydration vibration of a centrifugal dehydrator includes: Obtain sampling period information, and respectively obtain the angular information, acceleration information, and angular velocity information on the three axes of the drum rotating mechanism of the centrifugal dehydrator at the time set by the sampling period x 、 y and z ; Filter the collected angular information, acceleration information, and angular velocity information; Respectively calculate the vibration velocity, vibration displacement, and vibration frequency of the three axes; Input the vibration velocity into the PID algorithm to generate a control instruction; Send the control instruction to the actuator.

[0010] Furthermore, obtaining sampling period information, and respectively obtaining the angular information, acceleration information, and angular velocity information on the three axes of the drum rotating mechanism of the centrifugal dehydrator at the time set by the sampling period includes: x 、 y and z : Obtain sampling period information, and send a sampling command to the sampling end at the time set by the sampling period; Collect the angular information, acceleration information, and angular velocity information on the axis of the drum rotating angle mechanism of the centrifugal dehydrator through the sampling end x ; Collect the angular information, acceleration information, and angular velocity information on the axis of the drum rotating angle mechanism of the centrifugal dehydrator through the sampling end y ; Collect the angular information, acceleration information, and angular velocity information on the axis of the drum rotating angle mechanism of the centrifugal dehydrator through the sampling end z ; Encode the angular information, acceleration information, and angular velocity information in binary or hexadecimal; Obtain the encoded angular information, acceleration information, and angular velocity information, and convert the encoded angular information, acceleration information, and angular velocity information into decimal floating-point numbers through instruction decoding.

[0011] Furthermore, the step of respectively calculating the vibration velocity, vibration displacement, and vibration frequency of the three axes includes: Integrate the acceleration function to generate a vibration velocity function, and the specific formula of the vibration velocity function is: v(t)=v 0 +∫ 0 t ∫a(t)dt = v 0 +∫ 0 t ∫Asin(ωt + φ)dt ; The vibration velocity function is decomposed and simplified, and the formula after decomposition is: v(t)=v0 - A / ω * cos(ωt + φ)+A / ω * cosφ ; Integrating the vibration velocity function gives the vibration displacement function, and the specific formula of the vibration displacement function is: x(t)=x 0 +∫ 0 t ∫v(t)dt ; Directly substituting the vibration velocity function gives: x(t)=x 0 +∫ 0 t (v 0 ∫(−A / ω * cos(ωt + φ)+A / ω * cosφ)dt ; Decomposing it gives the vibration displacement, and the specific formula of the vibration displacement is: x(t)=x 0 +v 0 t - A / ω 2 *sin(ωt + φ)+A / ω 2 *sinφ+A / ω * tcosφ ; According to the relationship formula between the vibration angular velocity and the vibration frequency, the vibration frequency is obtained, and the specific formula of the vibration frequency is: f = ω / 2π ; Obtained by calculation x 、 y 、 z The parameters of the three axes are respectively: x Axis vibration velocity v x (t) , x Axis vibration displacement X x (t) , x Axis vibration frequency f x ; y Axis vibration velocity v y (t) , y Axis vibration displacement X y (t) , y Axis vibration frequency fy ; z Axial vibration velocity v z (t) , z Axial vibration displacement X z (t) , z Axial vibration frequency f z 。

[0012] Further, the step of inputting the vibration velocity into the PID algorithm to generate a control command includes: Input x Axial vibration velocity v x (t) , y Axial vibration velocity v y (t) , z Axial vibration velocity v z (t) into the PID algorithm; Obtain x Axial vibration velocity v x (t) set value of, y Axial vibration velocity v y (t) set value of, z Axial vibration velocity v z (t) set value of; Compare respectively x set value and actual value of the axial vibration velocity, y set value and actual value of the axial vibration velocity and z set value and actual value of the axial vibration velocity, generate x axial deviation value, y axial deviation value and z axial deviation value, and send x axial deviation value, y axial deviation value and z axial deviation value to be sorted from large to small; Generate control commands for the three axes through the PID algorithm.

[0013] Further, it further includes: judging whether an emergency stop is needed through the vibration displacement and vibration frequency, and if so, generating an emergency stop command and sending it to the actuator.

[0014] Further, the determination of whether an emergency stop is required based on the vibration displacement and vibration frequency specifically includes: Determine whether either the vibration displacement exceeds the defined range or the vibration frequency approaches the natural frequency of the mechanical structure is satisfied.

[0015] The second aspect of the present invention provides a control device for reducing the dehydration vibration of a centrifugal dehydrator. The control device for reducing the dehydration vibration of a centrifugal dehydrator includes: An information acquisition module, configured to acquire sampling period information, and acquire the angular information, acceleration information, and angular velocity information of the drum rotating mechanism of the centrifugal dehydrator at the time set according to the sampling period; A filtering module, which filters the acquired angular information, acceleration information, and angular velocity information; A vibration calculation module, configured to calculate the vibration velocity, vibration displacement, and vibration frequency of the three axes respectively; An instruction generation module, configured to input the vibration velocity into a PID algorithm to generate a control instruction; An instruction sending module, configured to send the control instruction to the actuator.

[0016] The third aspect of the present invention provides an electronic device, which includes a memory and at least one processor. Instructions and data are stored in the memory; The at least one processor calls the instructions and data in the memory, so that the electronic device executes each step of the control method for reducing the dehydration vibration of the centrifugal dehydrator as described above.

[0017] The fourth aspect of the present invention provides a readable storage medium, on which instructions and data are stored. When the instructions are executed by a processor, each step of the control method for reducing the dehydration vibration of the centrifugal dehydrator as described in any one of the above is implemented.

[0018] The present invention can monitor the vibration state of the drum in real time, control the actuator through a special algorithm, thereby accurately and efficiently actively suppressing vibration, improving the stability of the equipment, extending the service life of the equipment, reducing the maintenance cost, and improving the quality and efficiency of washing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flowchart of the control method for reducing the dehydration vibration of the centrifugal dehydrator provided by the present invention; Figure 2 It is a schematic structural diagram of the control device for reducing the dehydration vibration of the centrifugal dehydrator provided by the present invention; Figure 3 It is a schematic structural diagram of the electronic device provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0020] An embodiment of the present invention provides a control method for reducing dehydration vibration of a centrifugal dehydrator, including obtaining sampling period information, and respectively obtaining the angle information, acceleration information, and angular velocity information on the three axes of the drum rotating mechanism of the centrifugal dehydrator at the time set according to the sampling period. x , y and z After filtering the collected angle information, acceleration information, and angular velocity information, calculate the vibration velocity, vibration displacement, and vibration frequency of the three axes respectively; input the vibration velocity into the PID algorithm to generate a control instruction; send the control instruction to the actuator. The main purpose of the present invention is to solve the problems that the existing passive shock absorption method has limited suppression effect and cannot adapt to the working conditions that may change at any time, and the method of on-off feedback is cumbersome to operate, requires setting corresponding parameters according to different working conditions, has a slow response speed, and low control accuracy, which does not match the high efficiency and full automation of industrial washing machines.

[0021] In the description and claims of the present invention and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" or "having" and any variation thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0022] For ease of understanding, the specific process of the embodiment of the present invention is described below. Please refer to Figure 1 , the first embodiment of the control method for reducing dehydration vibration of a centrifugal dehydrator provided by the present invention includes: Obtain sampling period information, and respectively obtain the angle information, acceleration information, and angular velocity information on the three axes of the drum rotating mechanism of the centrifugal dehydrator at the time set according to the sampling period. x , y and z The specific process includes: Obtain sampling period information, and send a sampling command to the sampling end at the time set according to the sampling period; Collect the angle information, acceleration information, and angular velocity information on the axis of the drum rotation angle mechanism of the centrifugal dehydrator through the sampling end; Collect the angle information, acceleration information, and angular velocity information on the axis of the drum rotation angle mechanism of the centrifugal dehydrator through the sampling end. x axis; Collect the angle information, acceleration information, and angular velocity information on the axis of the drum rotation angle mechanism of the centrifugal dehydrator through the sampling end. yAngle information, acceleration information, and angular velocity information on the shaft; Collect the drum rotation angle mechanism of the centrifugal dehydrator through the sampling end z Angle information, acceleration information, and angular velocity information on the shaft; Encode the angle information, acceleration information, and angular velocity information in binary or hexadecimal; Obtain the encoded angle information, acceleration information, and angular velocity information, and convert the encoded angle information, acceleration information, and angular velocity information into decimal floating-point numbers through instruction decoding.

[0023] Filter the collected angle information, acceleration information, and angular velocity information; Calculate the vibration velocity, vibration displacement, and vibration frequency of the three axes respectively; The specific calculation process includes: Integrate the acceleration function to generate a vibration velocity function. The specific formula of the vibration velocity function is: v(t)=v 0 +∫ 0 t ∫a(t)dt = v 0 +∫ 0 t ∫Asin(ωt + φ)dt ; Decompose and simplify the vibration velocity function. The formula after decomposition is: v(t)=v0 - A / ω * cos(ωt + φ)+A / ω * cosφ ; Integrate the vibration velocity function to obtain a vibration displacement function. The specific formula of the vibration displacement function is: x(t)=x 0 +∫ 0 t ∫v(t)dt ; Directly substitute into the vibration velocity function to obtain: x(t)=x 0 +∫ 0 t (v 0 ∫(−A / ω * cos(ωt + φ)+A / ω * cosφ)dt ; Decompose it to obtain the vibration displacement. The specific formula of the vibration displacement is: x(t)=x 0 +v 0 t - A / ω 2*sin(ωt + φ)+A / ω 2 *sinφ+A / ω * tcosφ ; According to the relationship formula between the vibration angular velocity and the vibration frequency, the vibration frequency is obtained, and the specific formula for the vibration frequency is: f = ω / 2π ; Obtained by calculation x 、 y 、 z The parameters of the three axes are respectively: x Axis vibration velocity v x (t) , x Axis vibration displacement X x (t) , x Axis vibration frequency f x ; y Axis vibration velocity v y (t) , y Axis vibration displacement X y (t) , y Axis vibration frequency f y ; z Axis vibration velocity v z (t) , z Axis vibration displacement X z (t) , z Axis vibration frequency f z ..

[0024] Input the vibration velocity into the PID algorithm to generate a control command; Among them, it specifically includes: Input x Axis vibration velocity v x (t) , y Axis vibration velocity v y (t) , z Axis vibration velocity v z (t) into the PID algorithm; Obtain xShaft vibration velocity v x (t) of the set value, y Shaft vibration velocity v y (t) of the set value, z Shaft vibration velocity v z (t) of the set value; Compare respectively x the set value and the actual value of the vibration velocity of the shaft, y the set value and the actual value of the vibration velocity of the shaft and z the set value and the actual value of the vibration velocity of the shaft, generate x the deviation value of the shaft, y the deviation value of the shaft and z the deviation value of the shaft, and x the deviation value of the shaft, y the deviation value of the shaft and z the deviation value of the shaft are sorted from large to small; Through the PID algorithm, the control instructions for the three axes are generated in turn according to the deviation values from large to small. During actual operation, first control according to the axis with the largest deviation value. After the control result of the current axis tends to be stable, switch to the axis with the second largest deviation value for control. If a larger deviation appears in other axes again, immediately switch to that axis. The system is always in such a cycle to suppress the vibration of the drum in real time and omnidirectionally.

[0025] It also includes: judging whether one of the vibration displacement exceeding the limit range and the vibration frequency approaching the natural frequency of the mechanical structure is satisfied. If so, an emergency stop is required, and an emergency stop instruction is generated and sent to the actuator. If not, no emergency stop instruction is sent Send the control instruction to the actuator.

[0026] In the PID algorithm, P, I, and D represent Proportional, Integral, and Derivative respectively. It is an algorithm based on feedback control. By performing proportional, integral, and differential operations on the error between the set value and the measured value, the control quantity of the system output is adjusted to make the measured value as close as possible to the set value, thereby achieving precise control of the system.

[0027] Among them, the function of the proportional (P) is to output a control signal proportionally according to the error between the current measured value and the set value, driving the system output to change in the direction of reducing the error, so that the measured value can quickly adjust towards the set value, and then quickly eliminate the error.

[0028] During the operation of the proportional link, even if the measured value is close to the set value, there may still always be a small deviation between the two. The function of integration (I) is to accumulate these small deviations and finely adjust the output control quantity, so that the system output can more accurately track the set value.

[0029] Differential (D) can sense the changing trend of the error in advance by calculating the change rate of the error, and adjust the output control quantity in a timely manner, so that when the system is disturbed or in a dynamic change process, it can return to the stable state faster and enhance the stability of the system.

[0030] The system samples the vibration data of the X, Y, and Z axes respectively. After analyzing the input parameters of the three coordinate axes and cooperating with the PID algorithm, it comprehensively calculates the most appropriate output parameters to ensure the accuracy of the control instruction and avoid situations such as insufficient vibration suppression and excessive suppression.

[0031] The control method for reducing the dehydration vibration of the centrifugal dehydrator in the embodiments of the present invention has been described above. Next, the control device for reducing the dehydration vibration of the centrifugal dehydrator in the embodiments of the present invention will be described. Please refer to Figure 2 , the control device for reducing the dehydration vibration of the centrifugal dehydrator in the embodiments of the present invention includes, for the above embodiments: An information acquisition module 201, configured to acquire sampling period information, and acquire the angle information, acceleration information, and angular velocity information of the drum rotating mechanism of the centrifugal dehydrator at the time set by the sampling period; A filtering module 202, configured to filter the acquired angle information, acceleration information, and angular velocity information; A vibration calculation module 203, configured to calculate the vibration velocity, vibration displacement, and vibration frequency of the three axes respectively; An instruction generation module 204, configured to input the vibration velocity into the PID algorithm to generate a control instruction; An instruction sending module 205, configured to send the control instruction to the actuator.

[0032] Above Figure 2 The control device for reducing the dehydration vibration of the centrifugal dehydrator in the embodiments of the present invention has been described in detail from the perspective of modular functional entities. Next, the electronic device in the embodiments of the present invention will be described in detail from the perspective of hardware processing.

[0033] Figure 3It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention. The electronic device 300 may vary greatly due to different configurations or performances, and may include one or more processors 310 (for example, one or more processors) and a memory 320, and one or more storage media 330 for storing application programs 333 or data 332 (for example, one or more storage devices, including RAM, FLASH, etc.). Among them, the memory 320 and the storage medium 330 may be transient storage or persistent storage. The program stored in the storage medium 330 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations on the electronic device 300. Further, the processor 310 may be configured to communicate with the storage medium 330 and execute a series of instruction operations in the storage medium 330 on the electronic device 300.

[0034] The electronic device 300 may further include one or more power supplies 340, one or more input / output interfaces 350, and / or one or more operating systems 331, such as FreeRTOS, Android, etc. Those skilled in the art can understand that Figure 3 The shown structure of the electronic device does not constitute a limitation on the electronic device, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0035] The present invention also provides a computer-readable storage medium. The computer-readable storage medium may be a non-volatile computer-readable storage medium, and may also be a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer, the computer is caused to execute the steps of a control method for reducing the dehydration vibration of a centrifugal dehydrator.

[0036] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, or units can refer to the corresponding processes in the foregoing method embodiments, and will not be described herein again.

[0037] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a mobile device, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0038] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A control method for reducing the dehydration vibration of a centrifugal dehydrator, characterized in that: The control method for reducing the dehydration vibration of the centrifugal dehydrator comprises: Get the sampling cycle information, and get the drum rotation mechanism of the centrifugal dehydrator according to the time set in the sampling cycle x , y and z Angle information, acceleration information and angular velocity information on three axes; Filtering the collected angle information, acceleration information and angular velocity information; Calculate the vibration velocity, vibration displacement and vibration frequency of the three axes respectively; Input the vibration speed into the PID algorithm to generate control instructions; Send control instructions to the actuator.

2. The control method for reducing dehydration vibration of a centrifugal dehydrator according to claim 1, characterized in that: Get the sampling cycle information, and get the drum rotation mechanism of the centrifugal dehydrator according to the time set in the sampling cycle x , y and z The angle information, acceleration information and angular velocity information on the three axes include: Obtain sampling cycle information and send sampling commands to the sampling end according to the time set in the sampling cycle; The drum rotation angle mechanism of the centrifugal dehydrator is collected through the sampling end x Angle information, acceleration information and angular velocity information on the axis; The drum rotation angle mechanism of the centrifugal dehydrator is collected through the sampling end y Angle information, acceleration information and angular velocity information on the axis; The drum rotation angle mechanism of the centrifugal dehydrator is collected through the sampling end z Angle information, acceleration information and angular velocity information on the axis; Encode the angle information, acceleration information and angular velocity information in binary or hexadecimal; The angle information, acceleration information and angular velocity information after encoding are obtained, and the angle information, acceleration information and angular velocity information after encoding are converted into decimal floating point numbers through instruction decoding.

3. The control method for reducing dehydration vibration of a centrifugal dehydrator according to claim 2, characterized in that: The calculation of the vibration velocity, vibration displacement and vibration frequency of the three axes respectively includes: The acceleration function is integrated to generate a vibration velocity function, the specific formula of which is: v(t)=v 0 +∫ 0 t a(t)dt=v 0 +∫ 0 t Asin(ωt+φ)dt ； The vibration velocity function is decomposed and simplified, and the decomposed formula is: v(t)=v0-A / ω*cos(ωt+φ)+A / ω*cosφ ； The vibration displacement function is obtained by progressively integrating the vibration velocity function. The specific formula of the vibration displacement function is: x(t)=x 0 +∫ 0 t v(t)dt ； Directly substitute into the vibration velocity function to obtain: x(t)=x 0 +∫ 0 t (v 0 −A / ω*cos(ωt+φ)+A / ω*cosφ)dt ； The vibration displacement is obtained by decomposing it, and the vibration displacement formula is specifically as follows: x(t)=x 0 +v 0 t−A / ω 2 *sin(ωt+φ)+A / ω 2 *sinφ+A / ω*tcosφ ； According to the relationship formula between the vibration angular velocity and the vibration frequency, the vibration frequency is obtained. The specific formula of the vibration frequency is: f=ω / 2π ； Obtained by calculation x , y , z The parameters of the three axes are: x Shaft vibration speed v x (t) , x Shaft vibration displacement X x (t) , x Shaft vibration frequency f x ; y Shaft vibration speed v y (t) , y Shaft vibration displacement X y (t) , y Shaft vibration frequency f y ; z Shaft vibration speed v z (t) , z Shaft vibration displacement X z (t) , z Shaft vibration frequency f z .

4. The control method for reducing dehydration vibration of a centrifugal dehydrator according to claim 3, characterized in that: The step of inputting the vibration speed into the PID algorithm to generate a control instruction comprises: Will x Shaft vibration speed v x (t) , y Shaft vibration speed v y (t) , z Shaft vibration speed v z (t) Enter the PID algorithm; Get x Shaft vibration speed v x (t) The setting value of y Shaft vibration speed v y (t) The setting value of z Shaft vibration speed v z (t) The setting value of Compare x The set value and actual value of the vibration speed of the shaft, y The set value and actual value of the vibration speed of the shaft z The set value and actual value of the vibration speed of the shaft are generated x Axis deviation value, y The axis deviation and z The axis deviation value will x Axis deviation value, y The axis deviation and z The axis deviation values ​​are sorted from large to small; Generate control instructions for the three axes through PID algorithm.

5. The control method for reducing dehydration vibration of a centrifugal dehydrator according to claim 4, characterized in that: Also includes: The vibration displacement and vibration frequency are used to determine whether an emergency stop is required. If so, an emergency stop command is generated and sent to the actuator.

6. The control method for reducing dehydration vibration of a centrifugal dehydrator according to claim 5, characterized in that: The method of judging whether emergency stop is required by vibration displacement and vibration frequency specifically includes: Determine whether one of the following conditions is met: the vibration displacement exceeds the limit range and the vibration frequency is close to the natural frequency of the mechanical structure.

7. A control device for reducing the dehydration vibration of a centrifugal dehydrator, characterized in that: include: An information acquisition module is used to acquire sampling period information, and acquire angle information, acceleration information and angular velocity information of the drum rotating mechanism of the centrifugal dehydrator according to the time set in the sampling period; A filtering module is used to filter the collected angle information, acceleration information and angular velocity information; The vibration calculation module is used to calculate the vibration velocity, vibration displacement and vibration frequency of the three axes respectively; An instruction generation module, used for inputting vibration speed into PID algorithm to generate control instructions; The instruction sending module is used to send control instructions to the actuator.

8. An electronic device, comprising a memory and at least one processor, wherein the memory stores instructions and data; The at least one processor calls the instructions and data in the memory to enable the electronic device to execute the various steps of the control method for reducing the dehydration vibration of a centrifugal dehydrator as described in any one of claims 1 to 6.

9. A readable storage medium having instructions and data stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the control method for reducing the dehydration vibration of a centrifugal dehydrator as claimed in any one of claims 1 to 6 are implemented.

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