Automatic balancing system for paddle fan coaxial contra-rotating structure

Abstract

The invention relates to the technical field of aero-engine vibration control, and discloses an automatic balance system for a paddle fan coaxial contra-rotating structure, which comprises a signal acquisition and analysis module, an automatic balance state monitoring and control module and an automatic balance actuator. Wherein the signal acquisition and analysis module comprises a data processing unit, and the data processing unit adopts an identification algorithm and can be decoupled to respectively obtain information of an inner rotor and an outer rotor. The inner rotor automatic balance actuator is provided with a follow-up bearing support, the outer rotor automatic balance actuator is provided with a small bearing set which is annularly arranged, and the counterweight disc moves according to the driving control instruction to complete vibration suppression. Lightweight design is achieved, the response speed, long-term reliability and the like can meet the strict working condition requirements of the aero-engine, and the decoupling capacity is improved through a vibration identification algorithm.

Description

Technical Field

[0001] The present invention relates to the technical field of aero-engine vibration control, and more specifically, to an automatic balancing system for a coaxial contra-rotating structure of a propeller fan. Background Art

[0002] As the power core of an aircraft, the vibration characteristics of an aero-engine directly affect the reliability of the whole machine. Especially for a new type of propeller fan engine, which adopts a contra-rotating dual-propeller structure, while achieving advantages such as high subsonic speed, long range, and low fuel consumption, there are special vibration problems such as harmonic cross-coupling, large vibration noise, and coupling of aerodynamic and mass imbalance caused by the micro-speed difference between the inner and outer rotors.

[0003] The traditional solution is to perform low-speed dynamic balancing after the engine is disassembled, but it requires multiple shutdowns for trial weights, with low efficiency, and cannot match the actual working conditions of the propeller rotor, and cannot quickly achieve the dynamic balance of the coaxial contra-rotating structure of the propeller fan. Therefore, an automatic balancing technology that can adapt to the actual working conditions of the propeller rotor and quickly achieve the coaxial contra-rotating structure of the propeller fan has been widely used.

[0004] However, the automatic balancing technology shows differences in technical characteristics in different application fields. For example, the invention patent with the application number EP11400004 discloses an adaptive balancing device for a rotating device, which uses a thixotropic material to automatically adjust using centrifugal force for passive balancing, but has the defect of high requirements for the rotation of the engine main shaft; the invention patent with the application number US92513810 discloses an aircraft propeller balancing system, which adopts an electromechanical drive scheme with a slip ring structure, but has the problem of contact wear affecting the service life; the invention patent with the application number 2017114343782 discloses an electromagnetic automatic balancing head, which has the technical limitation of large volume and mass; the invention patent with the application number 2018113782310 discloses an internal-excitation automatic balancing device for a propeller, which adopts a deep groove ball bearing support structure, resulting in a large overall mass of the device.

[0005] These existing technical solutions are difficult to meet the stringent working conditions requirements of aero-engines in terms of lightweight design, dynamic response speed, long-term reliability, etc. In terms of vibration identification algorithms, the traditional holographic spectrum technology has the defect of insufficient decoupling ability for multi-source coupled vibration.

[0006] In view of this, it is necessary to provide an automatic balancing system for a coaxial contra-rotating structure of a propeller fan to solve the problems existing in the prior art, such as the requirement for monotonically decreasing the residual unbalanced forces of the inner and outer rotors, monotonically decreasing the unbalanced resultant force of the dual-rotor system, difficult assembly, weak identification computing power, and slow dynamic response speed. Summary of the Invention

[0007] In view of this, the present invention proposes an automatic balance system for a coaxial contra-rotating structure of a propeller fan, aiming to solve the problems existing in the prior art that it is difficult to meet the stringent working conditions requirements of aero-engines in terms of lightweight design, dynamic response speed, long-term reliability, etc., and in terms of vibration identification algorithms, the traditional holographic spectrum technology has the defect of insufficient decoupling ability for multi-source coupled vibration.

[0008] The present invention proposes an automatic balance system for a coaxial contra-rotating structure of a propeller fan, which includes a signal acquisition and analysis module, an automatic balance state monitoring and control module, and an automatic balance actuator. The signal acquisition and analysis module is used to monitor and collect the original vibration signals of the inner and outer rotors in real time, and then perform decoupling processing on the coupled vibration signals in the original vibration signals based on a decoupling algorithm to obtain vibration monitoring information, and send the vibration monitoring information to the automatic balance state monitoring and control module; the automatic balance state monitoring and control module is used to receive the vibration monitoring information and output a drive control instruction to the automatic balance actuator, and the drive control instruction includes the weight displacement direction and the step size; the automatic balance actuator includes an inner rotor automatic balance actuator and an outer rotor automatic balance actuator. Among them, the inner rotor automatic balance actuator is provided with a follow-up bearing support at the inner end of the stationary ring; the outer rotor automatic balance actuator is provided with a small bearing group arranged in a ring between the moving ring and the stationary ring; the automatic balance actuator all includes a weight disk, and the number of weight disks is 4. The weight disk moves according to the drive control instruction to complete vibration suppression.

[0009] Further, the signal acquisition and analysis module includes a vibration acceleration sensor, two rotational speed Hall sensors, four position Hall sensors, two four-channel acquisition cards, a set of acquisition boxes, and a data processing unit. Among them: the data processing unit is used for collecting the time domain signals of the inner and outer rotors, and performing identification and decoupling on the time domain signals, completing the collection of rotational speed signals, the collection of position signals, the time-frequency domain analysis of the inner and outer rotors, and the analysis of the position information of the weight disks in the automatic balance actuator.

[0010] Further, the vibration acceleration sensor is arranged at the circumferential position of the stationary ring bracket of the automatic balance actuator and is used for collecting the vibration signals of the inner and outer rotors; the rotational speed Hall sensor is arranged outside the excitation coil of the stationary ring, and the rotational speeds of the inner and outer rotors are measured through a rotational speed positioning magnet; the position Hall sensor is arranged inside the excitation coil of the stationary ring, and the phase of the weight disk relative to the reference of the automatic balance actuator is measured through a magnet and the rotational speed positioning magnet; the four-channel acquisition card transmits the collected time domain vibration signals, rotational speed signals, and phases to the data processing unit through the acquisition box.

[0011] Further, when the signal acquisition and analysis module decouples the coupled vibration signals in the original vibration signal based on the decoupling algorithm, it includes: after the data processing unit receives the information from the four-channel acquisition card, it uses the dual-rotor unbalance vibration identification algorithm of Kalman filtering and least squares identification considering harmonic coupling (HLSM-KF) to decouple and obtain the rotational speed, amplitude, phase of the unbalance amounts of the inner and outer rotors, and the position information of the counterweight disc in the automatic balance actuator, and sends them to the automatic balance state monitoring and control module.

[0012] Further, the automatic balance state monitoring and control module includes a host computer state monitoring and control software and a control unit, where: the host computer state monitoring and control software is used to receive vibration monitoring information, and complete the state monitoring and fault diagnosis of the inner and outer rotors, automatic balance state monitoring, calculation of the dual automatic balance influence coefficient method, and drive control of the automatic balance actuator; the control unit includes two adjustable voltage drive power supplies, a programmable logic controller PLC, and four pulse controllers. The adjustable voltage drive power supply is used to supply power to the pulse controllers. The programmable logic controller PLC serves as the main controller, can receive the drive control instructions sent by the host computer monitoring and control software, and control the pulse controllers to generate variable electric fields in the enameled copper coil to control the displacement of the counterweight disc.

[0013] Further, the host computer state monitoring and control software calculates the target compensation position of the counterweight disc through the dual-plane influence coefficient method and the dual automatic balance control algorithm based on two-stage robust optimization for the contra-rotating propeller fan; transmits the drive control instructions to the programmable logic controller PLC through the RS232 communication interface; the programmable logic controller PLC sends corresponding pulse signals to the pulse controllers corresponding to each counterweight disc according to the drive control instructions; the pulse controllers turn on the enameled copper coil corresponding to the counterweight disc and emit variable pulse currents to generate corresponding variable electromagnetic fields to magnetize the coil bracket, side excitation ring group, and oval soft iron, driving the counterweight disc to rotate around the rotation axis of the inner and outer rotors to a set angle; after reaching the target angle, the pulse controller stops emitting pulses, and the oval magnet magnetizes the side excitation rings on both sides to generate self-locking, making the counterweight disc stationary relative to the automatic balance actuator and rotating synchronously with the automatic balance actuator around the inner and outer rotors.

[0014] Further, the rotor automatic balance actuator includes a moving ring that rotates synchronously with the rotor, a stationary ring that is stationary relative to the casing, and a support structure between the moving ring and the stationary ring; the moving ring is fixedly connected to the inner rotor blade casing by a set screw and rotates synchronously therewith, for providing a balancing resultant force to suppress vibration; the stationary ring is connected to the stationary part of the rotor through a mounting bracket, for driving the counterweight disk of the moving ring through magnetic force.

[0015] Further, the moving ring includes an oblong magnet, an oblong soft iron, a left connecting plate of the moving ring, a left inner connecting plate, a right inner connecting plate, a right connecting plate, a side exciting ring group, a counterweight disk group, an ultra-thin bearing group, a bearing stopper, a tungsten copper counterweight, a rotational speed positioning magnet, and a counterweight disk position magnet.

[0016] Further, the stationary ring includes an enameled copper coil, a driving coil bracket, a connecting member for the inner rotor coil bracket, a connecting member for the outer rotor coil bracket, and a stationary ring bracket; in the inner rotor automatic balance actuator, the outer ring of the support bearing is fitted with the inner ring of the driving coil bracket, and the moving ring is fixed to the right connecting plate through a moving ring connecting plate, forming an integrated assembly structure with the moving ring on the outside and the stationary ring on the inside; in the outer rotor automatic balance actuator, a bearing bracket and a small bearing group are arranged on the right connecting plate of the moving ring, a stationary ring bracket is connected to the driving coil bracket, and the stationary ring bracket is in rolling contact with the outer ring of the small bearing, forming a split assembly structure.

[0017] Further, the outer ring of the first side bearing of the ultra-thin bearing group is positioned axially and radially through the left connecting plate and the left inner connecting plate, and the outer ring of the second side bearing of the ultra-thin bearing group is positioned axially and radially through the right inner connecting plate (15) and the right connecting plate; the outer circumference of the left side of the counterweight disk is circumferentially positioned with the inner ring of the first side bearing of the ultra-thin bearing group, and the outer circumference of the right side of the counterweight disk is circumferentially positioned with the inner ring of the second side bearing of the ultra-thin bearing group; the oblong magnet group, the oblong soft iron group, and the counterweight disk position magnet are embedded in the counterweight disk, wherein the oblong magnet group and the oblong soft iron group are respectively embedded alternately in the circumference of the counterweight disk, and the counterweight disk forms an axial limit through 3 bearing stoppers and a tungsten copper counterweight; the side exciting ring group is, from left to right, a first side exciting ring, a second side exciting ring, a third side exciting ring, and a fourth side exciting ring, and is successively installed on the left connecting plate, the left inner connecting plate, the right inner connecting plate, and the right connecting plate; the rotational speed positioning magnet is connected to at least one of the left connecting plate, the left inner connecting plate, the right inner connecting plate, and the right connecting plate.

[0018] Compared with the prior art, the beneficial effects of an automatic balance system for a coaxial contra-rotating structure of a propeller fan provided by the present invention are as follows:

[0019] 1. Through the dual-plane influence coefficient method and the counter-rotating propeller fan double automatic balance control algorithm based on two-stage robust optimization, the monotonic attenuation of the residual unbalanced forces of the inner and outer rotors is achieved, and the unbalanced resultant force of the dual-rotor system decreases monotonically;

[0020] 2. The counter-rotating propeller fan double-rotor unbalanced vibration identification algorithm using Kalman filtering and least squares identification considering harmonic coupling (HLSM-KF) can decouple and obtain the rotational speed, amplitude, phase of the unbalances of the inner and outer rotors and the position information of the counterweight disks in their respective automatic balance actuators, providing accurate dynamic data for subsequent vibration suppression;

[0021] 3. The outer-rotor automatic balance actuator uses a toroidal rolling bearing to replace the follower bearing, achieving a compact split assembly of the moving ring and the stationary ring, with the effects of light weight and easier maintenance; the inner-rotor automatic balance actuator is assembled by mating the outer ring of the support bearing with the inner ring of the drive coil bracket, and the moving ring is fixed to the right connecting plate through the moving ring connecting plate, forming an integrated installation with the moving ring on the outside and the stationary ring on the inside, making the magnetic gap accuracy more controllable and effectively avoiding interference between dynamic and static components;

[0022] 4. Independent automatic balance actuators for the inner and outer rotors are provided. Compared with the single-rotor automatic balance system, the balance actuators of the inner and outer rotors can cooperate to output reverse torques, thereby suppressing the pitching or yawing vibration of the whole machine caused by couple unbalance and extending the equipment life;

[0023] 5. The detachable counterweight disk assembly is adopted to support modular independent assembly, reducing the debugging difficulty and having application flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0025] Figure 1 is the system flow chart of an automatic balance system for a propeller fan coaxial counter-rotating structure provided by an embodiment of the present invention;

[0026] Figure 2 is the system block diagram of an automatic balance system for a propeller fan coaxial counter-rotating structure provided by an embodiment of the present invention;

[0027] Figure 3 is the structural schematic diagram of the inner-rotor automatic balance actuator of an automatic balance system for a propeller fan coaxial counter-rotating structure provided by an embodiment of the present invention;

[0028] Figure 4Schematic diagram of an outer rotor automatic balance actuator for an automatic balance system of a coaxial contra-rotating pusher fan provided by an embodiment of the present invention.

[0029] In the figure: 01 - stationary ring fixing member; 02 - inner side stopper of the inner ring of the support bearing; 03 - support bearing; 04a - inner rotor coil bracket connecting member; 04b - outer rotor coil bracket connecting member; 05 - drive coil bracket; 06 - enameled copper coil; 07 - side excitation ring group; 07a - first side excitation ring; 07b - second side excitation ring; 07c - third side excitation ring; 07d - fourth side excitation ring; 08 - oval magnet; 09 - oval soft iron; 10 - counterweight disk; 11a - bearing stopper; 11b - tungsten copper counterweight; 12 - ultra-thin bearing; 12a - first side bearing; 12b - second side bearing; 13 - left connecting plate of the moving ring; 14 - left inner connecting plate; 15 - right inner connecting plate; 16 - right connecting plate; 17 - moving ring connecting plate; 18 - outer side stopper of the outer ring of the support bearing; 19 - rotation center; 20 - position Hall sensor; 21 - speed Hall sensor; 22 - speed positioning magnet; 23 - counterweight disk position magnet; 24 - bearing bracket; 25 - small bearing group; 26 - small bearing stopper; 27 - small bearing pin; 28 - stationary ring bracket; 29 - rotation center. Detailed implementation manners

[0030] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0031] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown in the figure, an automatic balance system for a coaxial contra-rotating structure of a propeller fan includes a signal acquisition and analysis module, an automatic balance state monitoring and control module, and an automatic balance actuator. Among them, the signal acquisition and analysis module is used to monitor and collect the original vibration signals of the inner and outer rotors in real time, and then decouple the coupled vibration signals in the original vibration signals based on a decoupling algorithm to obtain vibration monitoring information, and send the vibration monitoring information to the automatic balance state monitoring and control module; the automatic balance state monitoring and control module is used to receive the vibration monitoring information and output a drive control instruction to the automatic balance actuator, and the drive control instruction includes the weight displacement direction and the step size; the automatic balance actuator includes an inner rotor automatic balance actuator and an outer rotor automatic balance actuator. Among them, for the inner rotor automatic balance actuator, a follow-up bearing support is arranged at the inner end of the static ring; for the outer rotor automatic balance actuator, a circularly arranged small bearing group is arranged between the moving ring and the static ring; the automatic balance actuator includes a weight disk 10, and the number of weight disks 10 is 4. The weight disk 10 moves according to the drive control instruction to complete vibration suppression.

[0032] Its working process is as Figure 1 shown:

[0033] The vibration acceleration sensor collects the vibration signals of the dual rotors in real time; the rotational speed Hall sensor 21 obtains the rotational speed pulses of the inner and outer rotors through the moving ring rotational speed positioning magnet 22; the position Hall sensor 20 detects the circumferential offset angles of the four weight disks 10 through the weight disk magnets 23. The four-channel acquisition card is independently powered by the acquisition box, the programmable logic controller PLC is powered by a 24V power supply, and the Hall sensor is powered by a 5V power supply. The vibration, rotational speed, and position signals are transmitted to the upper computer through the network cable; the dual-rotor unbalance identification software uses the HLSM-KF algorithm to perform harmonic decoupling on the original time-domain signals. The upper computer software executes the dual-plane influence coefficient method and combines the two-stage robust optimization algorithm to calculate the target compensation angles of the four weight disks 10, generate a control instruction including the displacement direction and the step size, and the control instruction is transmitted to the programmable logic controller PLC through the RS232 protocol and encoded into a four-channel pulse modulation signal. The PLC controls the pulse controller to output a variable pulse-width current to the target enameled copper coil 06, generates a gradient electromagnetic field in the coil bracket 05, the side excitation ring group 07, and the oval soft iron 09, and the electromagnetic force drives the weight disk 10 to rotate around the rotor axis to the set angle, and the ultra-thin bearing 12 guides the rotation trajectory; the oval magnet 08 and the side excitation ring 07 are magnetically coupled to realize the circumferential self-locking of the weight disk 10. The position Hall sensor 20 feeds back the actual position of the weight disk 10 to the upper computer in real time. The system compares the target and the actual position deviation. If the error is greater than the set threshold, a secondary balance adjustment is triggered.

[0034] Its overall structure is as Figure 2As shown in the figure, it includes a signal acquisition and analysis module, an automatic balance state monitoring and control module, and an automatic balance actuator. Among them, the signal acquisition and analysis module monitors and acquires the original vibration signals of the inner and outer rotors in real time, decouples the coupled vibration signals based on an algorithm, and sends the vibration monitoring information processed by the algorithm to the automatic balance state monitoring and control module; the automatic balance state monitoring and control module receives the vibration monitoring information output by the signal acquisition and analysis module, and outputs a drive control instruction including the counterweight displacement direction and the step amount to the automatic balance actuator through calculation; for the inner rotor automatic balance actuator, a follow-up bearing support is provided at the inner end of the stationary ring; for the outer rotor automatic balance actuator, a small bearing group 25 arranged in a ring is provided between the moving ring and the stationary ring. The counterweight disk 10 of the automatic balance actuator moves according to the drive control instruction to complete vibration suppression.

[0035] The structures and specific installation steps of its inner rotor and outer rotor automatic balance actuators are as Figure 3 and Figure 4 shown:

[0036] It also includes a stationary ring fixing piece 01, an inner side block 02 of the support bearing inner ring, a support bearing 03, a left connecting plate 13 of the moving ring, a connecting plate 17 of the moving ring, an outer side block 18 of the support bearing outer ring, a speed positioning magnet 22, a counterweight disk position magnet 23, a bearing bracket 24, a small bearing group 25, a small bearing block 26, a small bearing pin 27, a stationary ring bracket 28, and a rotation center 29.

[0037] Among them, the installation steps of the moving ring: First, pre-assemble the counterweight disk 10 assembly: embed the oval magnet 08, soft iron 09, and position magnet 23 into the circumferential groove of the counterweight disk 10 at the designed intervals, and fix them by interference fit and epoxy resin glue; achieve axial limit through three bearing blocks 11a and tungsten copper counterweight blocks 11b, and tighten the M3 hexagon socket head cap screws. Then install the side excitation ring: press-fit the side excitation rings 07a-d into the annular grooves of the left connecting plate 13, left inner connecting plate 14, right inner connecting plate 15, and right connecting plate 16 in sequence, and control the groove depth tolerance to be ±0.02 mm; use set screws to lock the four groups of connecting plates in series.

[0038] The installation steps of the stationary ring: First, prepare the coil bracket: wind an enameled copper coil 06 with a wire diameter of 0.8 mm and 250 ± 5 turns on the drive coil bracket 05, and impregnate it with high-temperature resistant insulating paint; install a speed Hall sensor 21 and a position Hall sensor 20 on the end face of the bracket, and set the sensor air gap δ0 to 1.0 ± 0.1 mm. Then assemble the stationary ring assembly: install the two groups of coil brackets 05 by buckling through the inner / outer rotor coil bracket connectors 04a / b; connect the stationary ring bracket 28 and the drive coil bracket 05 by interference fit.

[0039] Installation steps of the whole actuator: Inner-rotor actuator: Fix the inner-rotor actuator to the inner-rotor journal through a transition piece and position it through the stop of the left connecting plate 13. Outer-rotor actuator: Fix the moving ring to the outer-rotor shaft end through a transition piece and the left connecting plate 13; Position and install the static ring assembly on the static ring bracket by using the small bearing group fixed on the right connecting plate 16, and adjust the small bearings of the small bearing group 25 to roll on the outer circle of the static ring bracket; Finally, lock the adjusting bolts of the right connecting plate 16 of the moving ring and the static ring bracket 28 to achieve axial fixation.

[0040] Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc. that contain computer-usable program code.

[0041] The present application is described with reference to the flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate means for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0042] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including instruction means, and the instruction means implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0043] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0044] Finally, it should be noted that 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 above embodiments, those of ordinary skill in the art should understand that: modifications or equivalent replacements can still be made to the specific embodiments of the present invention, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered by the protection scope of the claims of the present invention.

Claims

1. An automatic balance system for a coaxial contra-rotating structure of a propeller fan, characterized in that, It includes a signal acquisition and analysis module, an automatic balance state monitoring and control module, and an automatic balance actuator. Among them, the signal acquisition and analysis module is used to monitor and acquire the original vibration signals of the inner and outer rotors in real time, and then decouple the coupled vibration signals in the original vibration signals based on a decoupling algorithm to obtain vibration monitoring information, and send the vibration monitoring information to the automatic balance state monitoring and control module; the automatic balance state monitoring and control module is used to receive the vibration monitoring information and output a drive control instruction to the automatic balance actuator, and the drive control instruction includes the counterweight displacement direction and the step size; the automatic balance actuator includes an inner rotor automatic balance actuator and an outer rotor automatic balance actuator. Among them, for the inner rotor automatic balance actuator, a follow-up bearing support is arranged at the inner end of the static ring; for the outer rotor automatic balance actuator, a small bearing group arranged in a ring shape is arranged between the moving ring and the static ring; the automatic balance actuators all include counterweight discs (10), and the number of counterweight discs (10) is 4. The counterweight discs (10) move according to the drive control instruction to complete vibration suppression.

2. The automatic balancing system for a contra-rotating pusher-fan coaxial structure according to claim 1, characterized in that, The signal acquisition and analysis module includes a vibration acceleration sensor, two rotational speed Hall sensors (21), four position Hall sensors (20), two four-channel acquisition cards, a set of acquisition boxes, and a data processing unit. Among them: the data processing unit is used for the time-domain signal acquisition of the inner and outer rotors, and performs identification and decoupling on the time-domain signals to complete the rotational speed signal acquisition, position signal acquisition, time-frequency domain analysis of the inner and outer rotors, and position information analysis of the counterweight discs (10) in the automatic balance actuator.

3. An automatic balance system for a coaxial contra-rotating structure of a propeller fan according to claim 2, characterized in that: the vibration acceleration sensor is arranged at the circumferential position of the static ring bracket of the automatic balance actuator, and the vibration acceleration sensor is used for acquiring the vibration signals of the inner and outer rotors; the rotational speed Hall sensors (21) are arranged outside the static ring excitation coil, and the rotational speeds of the inner and outer rotors are acquired through the rotational speed positioning magnets (22); the position Hall sensors (20) are arranged inside the static ring excitation coil, and the phase of the counterweight discs (10) relative to the reference of the automatic balance actuator is measured through the magnets (23) and the rotational speed positioning magnets (22); the four-channel acquisition cards transmit the acquired time-domain vibration signals, rotational speed signals, and phases to the data processing unit through the acquisition box.

4. The automatic balancing system for a coaxial contra-rotating structure of a propeller fan according to claim 2, characterized in that, When the signal acquisition and analysis module performs decoupling processing on the coupled vibration signals in the original vibration signals based on a decoupling algorithm, it includes: after the data processing unit receives the information from the four-channel acquisition cards, it uses a contra-rotating propeller fan dual-rotor unbalance vibration identification algorithm of Kalman filtering and least squares identification considering harmonic coupling (HLSM-KF) to decouple and obtain the rotational speed, amplitude, phase of the unbalance of the inner and outer rotors, and the position information of the counterweight discs (10) in the automatic balance actuator, and send them to the automatic balance state monitoring and control module.

5. An automatic balancing system for a coaxial contra-rotating structure of a propeller fan according to claim 1, characterized in that, The described automatic balance state monitoring and control module includes a host computer state monitoring and control software and a control unit, where: The host computer state monitoring and control software is used to receive vibration monitoring information, and complete the state monitoring and fault diagnosis of the inner and outer rotors, automatic balance state monitoring, calculation of the double automatic balance influence coefficient method, and drive control of the automatic balance actuator; The control unit includes two adjustable voltage drive power supplies, a programmable logic controller PLC, and four pulse controllers. The adjustable voltage drive power supply is used to supply power to the pulse controllers. The programmable logic controller PLC serves as the main controller, which can receive the drive control instructions sent by the host computer monitoring and control software, and control the pulse controllers to generate a variable electric field in the enameled copper coil (06) to control the displacement of the counterweight disk (10).

6. The automatic balancing system for a coaxial contra-rotating structure of a propeller fan according to claim 5, characterized in that, The host computer state monitoring and control software calculates the target compensation position of the counterweight disk (10) through the double-plane influence coefficient method and the dual automatic balance control algorithm of the contra-rotating propeller fan based on two-stage robust optimization for the received information; The drive control instructions are transmitted to the programmable logic controller PLC through the RS232 communication interface; The programmable logic controller PLC sends corresponding pulse signals to the pulse controllers corresponding to each counterweight disk (10) according to the drive control instructions; The pulse controller turns on the enameled copper coil (06) corresponding to the counterweight disk (10) and emits a variable pulse current, generating a corresponding variable electromagnetic field to magnetize the coil bracket (05), side excitation ring group (07), and oval soft iron (09), driving the counterweight disk (10) to rotate around the rotation axis of the inner and outer rotors to a set angle; After reaching the target angle, the pulse controller stops emitting pulses, and the oval magnet (08) magnetizes the side excitation rings (07) on both sides to generate self-locking, making the counterweight disk (10) stationary relative to the automatic balance actuator and rotating synchronously with the automatic balance actuator around the inner and outer rotors.

7. An automatic balancing system for a coaxial contra-rotating structure of a propeller fan according to claim 1, characterized in that, The described rotor automatic balance actuator includes the moving ring that rotates synchronously with the rotor, the stationary ring that is stationary relative to the casing, and the support structure between the moving ring and the stationary ring; The moving ring is fixedly connected to the inner rotor propeller shell by a set screw and rotates synchronously with it, used to provide a balancing resultant force to suppress vibration; The stationary ring is connected to the stationary components of the rotor through a mounting bracket, used to drive the counterweight disk of the moving ring through magnetic force.

8. An automatic balancing system for a coaxial contra-rotating structure of a propeller fan according to claim 6, characterized in that, The moving ring includes the oval magnet (08), oval soft iron (09), left connecting plate (13) of the moving ring, left inner connecting plate (14), right inner connecting plate (15), right connecting plate (16), side excitation ring group (07), counterweight disk (10), ultra-thin bearing group (12), bearing block (11a), tungsten copper counterweight block (11b), rotation speed positioning magnet (21), and counterweight disk position magnet (23).

9. An automatic balancing system for a coaxial contra-rotating structure of a propeller fan according to claim 5 or 6, characterized in that, The stationary ring includes the enameled copper coil (06), drive coil bracket (05), inner rotor coil bracket connector (04a), outer rotor coil bracket connector (04b), and stationary ring bracket (28); In the inner rotor automatic balance actuator, the outer ring of the support bearing (03) is fitted with the inner ring of the drive coil bracket (05). The inner ring is fixed to the right connecting plate (16) through the moving ring connecting plate (17), forming an integrated assembly structure with the moving ring on the outside and the stationary ring on the inside. In the outer rotor automatic balance actuator, a bearing bracket (24) and a small bearing group (25) are arranged on the right connecting plate (16) of the moving ring. A stationary ring bracket (28) is connected to the drive coil bracket (05). The outer ring of the stationary ring bracket (28) is in rolling contact with the outer ring of the small bearing (24), forming a split assembly structure.

10. The automatic balance system for a contra-rotating propeller-fan coaxial structure according to claim 3 or 8, wherein The outer ring of the first side bearing (12a) of the ultra-thin bearing group (12) is positioned in terms of outer diameter and axial direction through the left connecting plate (13) and the left inner connecting plate (14). The outer ring of the second side bearing (12b) of the ultra-thin bearing group (12) is positioned in terms of outer diameter and axial direction through the right inner connecting plate (15) and the right connecting plate (16). The outer circumference of the left side of the counterweight disk (10) is circumferentially positioned with the inner ring of the first side bearing (12a) of the ultra-thin bearing group (12). The outer circumference of the right side of the counterweight disk (10) is circumferentially positioned with the inner ring of the second side bearing (12b) of the ultra-thin bearing group (12). The long oval magnet group (08), the long oval soft iron group (09) and the counterweight disk position magnet (23) are embedded in the counterweight disk (10). Among them, the long oval magnet group (08) and the long oval soft iron group (09) are alternately embedded in the circumference of the counterweight disk (10). The counterweight disk (10) is axially limited by three bearing stoppers (11a) and a tungsten copper counterweight (11b). The side excitation ring group (07) includes a first side excitation ring (07a), a second side excitation ring (07b), a third side excitation ring (07c) and a fourth side excitation ring (07d) from left to right, and is sequentially installed on the left connecting plate (13), the left inner connecting plate (14), the right inner connecting plate (15) and the right connecting plate (16). The rotational speed positioning magnet (22) is connected to at least one of the left connecting plate (13), the left inner connecting plate (14), the right inner connecting plate (15) and the right connecting plate (16).

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