An automatic balancing system for a propeller-fan coaxial counter-rotating structure

Abstract

The present invention relates to the technical field of aviation engine vibration control, and discloses an automatic balancing system for a coaxial counter-rotating propeller-fan structure, comprising a signal acquisition and analysis module, an automatic balancing state monitoring and control module, and an automatic balancing actuator. The signal acquisition and analysis module comprises a data processing unit, which adopts an identification algorithm to decouple and obtain information of the inner and outer rotors respectively. The inner rotor automatic balancing actuator is provided with a follower bearing support, and the outer rotor automatic balancing actuator is provided with a small bearing group arranged in an annular manner. The counterweight plate moves according to the drive control instruction to complete vibration suppression. The lightweight design, response speed, long-term reliability, etc. are achieved, which can meet the stringent working conditions of aviation engines, and the decoupling capability is improved by the vibration identification algorithm.

Description

Technical Field

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

[0002] As the core of aircraft power, the vibration characteristics of aircraft engines directly impact overall reliability. This is particularly true for new propfan engines, which utilize contra-rotating twin propellers. While achieving advantages such as high subsonic speeds, long range, and low fuel consumption, they also present unique vibration challenges, including harmonic cross-coupling caused by the slight speed difference between the inner and outer rotors, high vibration noise, and coupling between aerodynamic and mass imbalances.

[0003] The traditional solution involves performing low-speed dynamic balancing after disassembly, but this requires multiple stops for weight testing, is inefficient, and fails to adapt to the actual operating conditions of the propeller rotor, making it difficult to quickly achieve dynamic balancing of the coaxial counter-rotating propeller-fan structure. Therefore, automatic balancing technology, which can adapt to the actual operating conditions of the propeller rotor and quickly achieve dynamic balancing of the coaxial counter-rotating propeller-fan structure, has been widely used.

[0004] However, automatic balancing technology shows differences in technical features in different application fields. For example, the invention patent with application number EP11400004 discloses an adaptive balancing device for a rotating device, which adopts thixotropic materials to automatically adjust by centrifugal force and perform passive balancing, but has the defect of high requirements for the rotation of the engine main shaft; the invention patent with 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 application number 2017114343782 discloses an electromagnetic automatic balancing head, which has the technical limitation of large volume and mass; the invention patent with 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 struggle to meet the stringent operating requirements of aircraft engines in terms of lightweight design, dynamic response speed, and long-term reliability. In terms of vibration identification algorithms, traditional holographic spectrum technology suffers from insufficient ability to decouple multi-source coupled vibrations.

[0006] In view of this, it is necessary to provide an automatic balancing system for the coaxial counter-rotating structure of the propeller fan to solve the problems existing in the prior art such as the requirement for monotonically reducing the residual unbalance force of the inner and outer rotors, the monotonically decreasing 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 balancing system for a coaxial counter-rotating propeller-fan structure, aiming to solve the problems existing in the prior art, such as the difficulty in meeting the stringent operating requirements of aircraft engines in terms of lightweight design, dynamic response speed, and long-term reliability; and the defect of insufficient multi-source coupled vibration decoupling capability of traditional holographic spectrum technology in vibration identification algorithms.

[0008] The present invention proposes an automatic balancing system for a coaxial counter-rotating propeller fan structure, comprising a signal acquisition and analysis module, an automatic balancing state monitoring and control module, and an automatic balancing actuator, wherein 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 balancing state monitoring and control module; the automatic balancing state monitoring and control module is used to receive the vibration monitoring information and output a drive control instruction to the automatic balancing actuator, wherein the drive control instruction includes a counterweight displacement direction and a step amount; the automatic balancing actuator includes an inner rotor automatic balancing actuator and an outer rotor automatic balancing actuator, wherein the inner rotor automatic balancing actuator is provided with a follower bearing support at the inner end of the static ring; the outer rotor automatic balancing actuator is provided with a small bearing group arranged in an annular manner between the dynamic ring and the static ring; the automatic balancing actuators all include a counterweight disk, the number of which is 4, and the counterweight disk moves according to the drive control instruction to complete vibration suppression.

[0009] Furthermore, the signal acquisition and analysis module includes a vibration acceleration sensor, two speed Hall sensors, four position Hall sensors, two four-channel acquisition cards, a set of acquisition boxes and a data processing unit, wherein: the data processing unit is used to acquire the time domain signals of the inner and outer rotors, and identify and decouple the time domain signals, complete speed signal acquisition, position signal acquisition, time-frequency domain analysis of the inner and outer rotors and position information analysis of the counterweight plate in the automatic balancing actuator.

[0010] Furthermore, the vibration acceleration sensor is arranged at a circumferential position of the static ring bracket of the automatic balancing actuator to collect vibration signals of the inner and outer rotors; the speed Hall sensor is arranged on the outside of the static ring excitation coil to measure the speed of the inner and outer rotors through the speed positioning magnet; the position Hall sensor is arranged on the inside of the static ring excitation coil to measure the phase of the counterweight plate relative to the automatic balancing actuator reference through the magnet and the speed positioning magnet; the four-channel acquisition card transmits the collected time domain vibration signal, speed signal and phase to the data processing unit through the acquisition box.

[0011] Furthermore, when the signal acquisition and analysis module decouples the coupled vibration signal 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 adopts the contra-rotating propeller fan dual-rotor imbalance vibration identification algorithm of Kalman filtering and least squares identification taking into account harmonic coupling (HLSM-KF), decouples and obtains the speed, amplitude, phase of the inner and outer rotor imbalance and the position information of the counterweight plate in the automatic balancing actuator, and sends them to the automatic balancing state monitoring and control module.

[0012] Furthermore, the automatic balancing state monitoring and control module includes a host computer state monitoring and control software and a control unit, wherein: the host computer state monitoring and control software is used to receive vibration monitoring information, and complete the inner and outer rotor state monitoring and fault diagnosis, automatic balancing state monitoring, dual automatic balancing influence coefficient method calculation and the automatic balancing actuator drive control; the control unit includes two adjustable voltage drive power supplies, a programmable controller PLC and four pulse controllers, the adjustable voltage drive power supply is used to power the pulse controller, and the programmable 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 controller to generate a variable electric field in the enameled copper coil to control the displacement of the counterweight plate.

[0013] Furthermore, the upper computer status monitoring and control software will receive the information and calculate the target compensation position of the counterweight disk through the dual-plane influence coefficient method and the dual automatic balancing control algorithm of the counter-rotating propeller based on two-stage robust optimization; the drive control instruction will be transmitted to the programmable controller PLC through the RS232 communication interface; the programmable controller PLC will send a corresponding pulse signal to the pulse controller corresponding to each counterweight disk according to the drive control instruction; the pulse controller will connect the enameled copper coil corresponding to the counterweight disk and emit a variable pulse current to generate a corresponding variable electromagnetic field magnetizing coil bracket, side excitation ring group and oblong soft iron, driving the counterweight disk to rotate around the rotation axis of the inner and outer rotors to a set angle; after reaching the target angle, the pulse controller will stop emitting pulses, and the side excitation rings on both sides of the oblong magnet will generate self-locking, so that the counterweight disk will be stationary relative to the automatic balancing actuator and will rotate synchronously with the automatic balancing actuator around the inner and outer rotors.

[0014] Furthermore, the rotor automatic balancing actuator includes the dynamic ring that rotates synchronously with the rotor, the static ring that is stationary relative to the casing, and a support structure between the dynamic ring and the static ring; the dynamic ring is fixed to the inner rotor shell by a fastening bolt and rotates synchronously with it, so as to provide a balancing force to suppress vibration; the static ring is connected to the stationary part of the rotor through a mounting bracket, so as to drive the dynamic ring counterweight plate through magnetic field force.

[0015] Furthermore, the dynamic ring includes the oblong magnet, oblong soft iron, the left connecting plate of the dynamic ring, the left inner plate, the right inner plate, the right connecting plate, the side excitation ring group, the counterweight plate group, the ultra-thin bearing group, the bearing stopper, the tungsten-copper counterweight block, the speed positioning magnet and the counterweight plate position magnet.

[0016] Furthermore, the static ring includes an enameled copper coil, a driving coil bracket, an inner rotor coil bracket connector, an outer rotor coil bracket connector and a static ring bracket; in the inner rotor automatic balancing actuator, the outer ring of the supporting bearing cooperates with the inner ring of the driving coil bracket, and the dynamic ring is fixed to the right connecting plate through the dynamic ring connecting plate, forming an integrated assembly structure with the dynamic ring on the outside and the static ring inside; in the outer rotor automatic balancing actuator, a bearing bracket and a small bearing group are provided on the right connecting plate of the dynamic ring, the driving coil bracket is connected to the static ring bracket, and the static ring bracket is in rolling contact with the outer ring of the small bearing, forming a split assembly structure.

[0017] Furthermore, the outer ring of the first side bearing of the ultra-thin bearing group is positioned in the outer circle and axial direction by the left connecting plate and the left inner link plate, and the outer ring of the second side bearing of the ultra-thin bearing group is positioned in the outer circle and axial direction by the right inner link plate (15) and the right connecting plate; the left outer circle of the counterweight plate is circumferentially positioned with the inner ring of the first side bearing of the ultra-thin bearing group, and the right outer circle of the counterweight plate 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 plate position magnet are embedded on the counterweight plate, which In the figure, the oblong magnet group and the oblong soft iron group are alternately embedded in the circumference of the counterweight plate, and the counterweight plate is axially limited by three bearing blocks and a tungsten-copper counterweight block; the side excitation ring group is the first side excitation ring, the second side excitation ring, the third side excitation ring and the fourth side excitation ring from left to right, and is installed on the left connecting plate, the left inner plate, the right inner plate and the right connecting plate in sequence; the speed positioning magnet is connected to at least one of the left connecting plate, the left inner plate, the right inner plate and the right connecting plate.

[0018] Compared with the prior art, the automatic balancing system for a propeller-fan coaxial counter-rotating structure provided by the present invention has the following beneficial effects:

[0019] 1. By using the dual-plane influence coefficient method and a dual automatic balancing control algorithm for contra-rotating propellers based on two-stage robust optimization, the monotonic attenuation of the residual unbalance forces of the inner and outer rotors is achieved, resulting in a monotonic decrease in the unbalanced resultant force of the dual-rotor system.

[0020] 2. A contra-rotating propeller fan dual-rotor imbalance vibration identification algorithm using Kalman filtering and least squares identification with harmonic coupling (HLSM-KF) can decouple the speed, amplitude, and phase of the inner and outer rotor imbalances and the position of the counterweights in their respective automatic balancing actuators, providing accurate dynamic data for subsequent vibration suppression.

[0021] 3. The outer rotor automatic balancing actuator uses annular rolling bearings instead of follower bearings, achieving a compact split assembly of the dynamic and static rings, resulting in lighter weight and easier maintenance. The inner rotor automatic balancing actuator uses the outer ring of the support bearing to mate with the inner ring of the drive coil bracket, and the dynamic ring is fixed to the right connecting plate via the dynamic ring connecting plate, forming an integrated installation with the dynamic ring outside and the static ring inside. This makes the magnetic gap accuracy more controllable and effectively avoids interference between dynamic and static components.

[0022] 4. Equipped with independent automatic balancing actuators for the inner and outer rotors, compared with a single-rotor automatic balancing system, the inner and outer rotor balancing actuators can coordinately output reverse torque, thereby suppressing the pitch or yaw vibration of the entire machine caused by unbalanced couples and extending the life of the equipment;

[0023] 5. The detachable counterweight plate assembly supports modular independent assembly, reduces the difficulty of debugging, and has application flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

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

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

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

[0028] Figure 4A schematic structural diagram of an outer rotor automatic balancing actuator for an automatic balancing system of a propeller-fan coaxial counter-rotating structure provided in an embodiment of the present invention.

[0029] In the figure: 01-static ring fixing, 02-inner stopper of the inner ring of the supporting bearing, 03-support bearing, 04a-inner rotor coil bracket connecting piece, 04b-outer rotor coil bracket connecting piece, 05-driving 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-long round magnet, 09-long round soft iron, 10-counterweight plate, 11a-bearing stopper, 11b-tungsten copper counterweight, 12-ultra-thin Bearing, 12a—first side bearing, 12b—second side bearing, 13—left connecting plate of dynamic ring, 14—left inner plate, 15—right inner plate, 16—right connecting plate, 17—dynamic ring connecting plate, 18—outer stopper of supporting bearing outer ring, 19—rotation center, 20—position Hall sensor, 21—speed Hall sensor, 22—speed positioning magnet, 23—counterweight plate position magnet, 24—bearing bracket, 25—small bearing group, 26—small bearing stopper, 27—small bearing pin, 28—static ring bracket, 29—rotation center. DETAILED DESCRIPTION

[0030] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying 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 to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, unless there is a conflict, the embodiments of the present disclosure 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 accompanying drawings and in conjunction with the embodiments.

[0031] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4As shown, the present application discloses an automatic balancing system for a coaxial counter-rotating propeller fan structure, comprising a signal acquisition and analysis module, an automatic balancing state monitoring and control module, and an automatic balancing actuator, wherein 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 balancing state monitoring and control module; the automatic balancing state monitoring and control module is used to receive the vibration monitoring information and output a drive control instruction to the automatic balancing actuator, wherein the drive control instruction includes a counterweight displacement direction and a step amount; the automatic balancing actuator includes an inner rotor automatic balancing actuator and an outer rotor automatic balancing actuator, wherein the inner rotor automatic balancing actuator is provided with a follower bearing support at the inner end of the static ring; the outer rotor automatic balancing actuator is provided with a small bearing group arranged in an annular manner between the dynamic ring and the static ring; the automatic balancing actuators each include a counterweight disc 10, the number of which is 4, and the counterweight disc 10 moves according to the drive control instruction to achieve vibration suppression.

[0032] Its workflow is as follows Figure 1 As shown:

[0033] The vibration accelerometer collects the vibration signals of the dual rotors in real time. The speed Hall effect sensor 21 acquires the speed pulses of the inner and outer rotors via the rotating ring speed positioning magnet 22. The position Hall effect sensor 20 detects the circumferential offset angles of the four counterweight disks 10 via the counterweight disk magnets 23. The four-channel acquisition card is independently powered by the acquisition box, the programmable controller (PLC) is powered by a 24V power supply, and the Hall effect sensor is powered by a 5V power supply. The vibration, speed, and position signals are transmitted to the host computer via a network cable. The dual-rotor imbalance identification software uses the HLSM-KF algorithm to perform harmonic decoupling on the original time domain signals. The host computer software implements the dual-plane influence coefficient method, combined with a two-stage robust optimization algorithm, to calculate the target compensation angles of the four counterweight disks 10 and generate control instructions containing the displacement direction and step size. The control instructions are transmitted to the programmable controller (PLC) via the RS232 protocol and encoded as four pulse modulation signals. A PLC-controlled pulse controller outputs a variable-width pulse current to the target enameled copper coil 06, generating a gradient electromagnetic field within the coil support 05, the side excitation ring assembly 07, and the oblong soft iron 09. This electromagnetic force drives the counterweight 10 to rotate around the rotor axis to a set angle, with the ultra-thin bearing 12 guiding the rotational trajectory. The oblong magnet 08 and the side excitation ring 07 are magnetically coupled, achieving circumferential self-locking of the counterweight 10. The position Hall effect sensor 20 provides real-time feedback on the actual position of the counterweight 10 to the host computer. The system compares the deviation between the target and actual positions. If the error exceeds a set threshold, a secondary balancing adjustment is triggered.

[0034] Its overall structure is as follows Figure 2The system includes a signal acquisition and analysis module, an automatic balancing state monitoring and control module, and an automatic balancing actuator. The signal acquisition and analysis module monitors and collects the raw vibration signals of the inner and outer rotors in real time, decouples the coupled vibration signals based on an algorithm, and transmits the processed vibration monitoring information to the automatic balancing state monitoring and control module. The automatic balancing state monitoring and control module receives the vibration monitoring information output by the signal acquisition and analysis module and, after calculation, outputs a drive control instruction containing the counterweight displacement direction and step size to the automatic balancing actuator. The inner rotor automatic balancing actuator has a follower bearing support at the inner end of the stationary ring. The outer rotor automatic balancing actuator has a small bearing assembly 25 arranged in an annular pattern between the moving and stationary rings. The counterweight plate 10 of the automatic balancing actuator moves according to the drive control instruction to achieve vibration suppression.

[0035] The structure and specific installation steps of the inner rotor and outer rotor automatic balancing actuator are as follows: Figure 3 and Figure 4 As shown:

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

[0037] The dynamic ring installation steps include: First, pre-install the counterweight plate 10 assembly: Insert the oblong magnet 08, soft iron 09, and position magnet 23 into the circumferential groove of the counterweight plate 10 at the designed intervals and secure with an interference fit and epoxy resin glue. Axial positioning is achieved using three bearing blocks 11a and the tungsten copper counterweight 11b, and the M3 hexagon socket screws are tightened. Next, install the side excitation rings: Press-fit the side excitation rings 07a-d into the annular grooves of the left connecting plate 13, the left inner plate 14, the right inner plate 15, and the right connecting plate 16, sequentially, with a groove depth tolerance of ±0.02mm. Use set bolts to lock the four connecting plates in series.

[0038] Installation steps for the stationary ring: First, prepare the coil bracket: Wind an enameled copper coil (06) with a wire diameter of 0.8mm and 250±5 turns around the drive coil bracket (05), impregnating it with high-temperature resistant insulating varnish. Install the speed Hall effect sensor (21) and position Hall effect sensor (20) on the bracket end face, setting the sensor air gap (δ0) to 1.0±0.1mm. Next, assemble the stationary ring: Fasten the two sets of coil brackets (05) together using the inner / outer rotor coil bracket connectors (04a / b). Connect the stationary ring bracket (28) to the drive coil bracket (05) using a transition fit.

[0039] Actuator installation steps: Inner rotor actuator: Secure the inner rotor actuator to the inner rotor shaft journal through the transition piece, positioning it with the stop on the left connecting plate 13. Outer rotor actuator: Secure the rotating ring to the outer rotor shaft end through the transition piece and the left connecting plate 13. The stationary ring assembly is positioned and mounted on the stationary ring bracket using the small bearing group fixed on the right connecting plate 16. Adjust the small bearing group 25 so that the small bearing rolls on the outer circle of the stationary ring bracket. Finally, tighten the adjusting bolts between the right connecting plate 16 of the rotating ring and the stationary ring bracket 28 to achieve axial fixation.

[0040] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a fully hardware embodiment, a fully software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media, including but not limited to magnetic disk storage, CD-ROM, optical storage, and the like, containing computer-usable program code.

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

[0042] These computer program instructions may 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 produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0043] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered by the scope of protection of the claims of the present invention.

Claims

1. An automatic balancing system for a propeller fan coaxial counter-rotating structure, characterized in that: It includes signal acquisition and analysis module, automatic balancing state monitoring and control module and automatic balancing actuator, among which, 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 the decoupling algorithm to obtain vibration monitoring information, and send the vibration monitoring information to the automatic balancing state monitoring and control module; The automatic balancing state monitoring and control module is used to receive the vibration monitoring information and output a drive control instruction to the automatic balancing actuator, wherein the drive control instruction includes a counterweight displacement direction and a step amount; The automatic balancing actuator includes an inner rotor automatic balancing actuator and an outer rotor automatic balancing actuator, wherein the inner rotor automatic balancing actuator is provided with a follower bearing support at the inner end of the stationary ring; the outer rotor automatic balancing actuator is provided with a small bearing group arranged in an annular manner between the moving ring and the stationary ring; The automatic balancing actuators each include a counterweight disc (10), the number of the counterweight discs (10) being four, and the counterweight discs (10) moving according to the drive control instructions to achieve vibration suppression; The signal acquisition and analysis module includes a vibration acceleration sensor, two rotation speed Hall sensors (21), four position Hall sensors (20), two four-channel acquisition cards, a set of acquisition boxes and a data processing unit, wherein: The data processing unit is used for collecting time domain signals of the inner and outer rotors, and performing identification and decoupling on the time domain signals, completing speed signal collection, position signal collection, time-frequency domain analysis of the inner and outer rotors, and position information analysis of the counterweight disc (10) in the automatic balancing actuator; The vibration acceleration sensor is arranged at a circumferential position of the static ring bracket of the automatic balancing actuator, and the vibration acceleration sensor is used to collect vibration signals of the inner and outer rotors; The speed Hall sensor (21) is arranged outside the static ring excitation coil and collects the speeds of the inner and outer rotors through the speed positioning magnet (22); The position Hall sensor (20) is arranged inside the static ring excitation coil, and measures the phase of the counterweight plate (10) relative to the automatic balancing actuator reference through the magnet (23) and the speed positioning magnet (22); The four-channel acquisition card transmits the collected time domain vibration signal, speed signal and phase to the data processing unit through the acquisition box; The rotor automatic balancing actuator includes the dynamic ring that rotates synchronously with the rotor, the static ring that is stationary relative to the casing, and a support structure between the dynamic ring and the static ring; The dynamic ring is fixed to the inner rotor shell by fastening bolts and rotates synchronously with the inner rotor shell to provide a balancing force to suppress vibration; The stationary ring is connected to the stationary part of the rotor through a mounting bracket and is used to drive the dynamic ring counterweight plate through magnetic field force.

2. The automatic balancing system for a propeller-fan coaxial counter-rotating structure according to claim 1, characterized in that: When the signal acquisition and analysis module performs decoupling processing on the coupled vibration signal in the original vibration signal based on the decoupling algorithm, the signal acquisition and analysis module includes: After receiving the information from the four-channel acquisition card, the data processing unit adopts a contra-rotating propeller fan dual-rotor unbalance vibration identification algorithm based on Kalman filtering and least square identification taking into account harmonic coupling (HLSM-KF), decouples and obtains the rotational speed, amplitude, phase of the unbalance amount of the inner and outer rotors and the position information of the counterweight plate (10) in the automatic balancing actuator, and sends the information to the automatic balancing state monitoring and control module.

3. The automatic balancing system for a propeller-fan coaxial counter-rotating structure according to claim 1, characterized in that: The automatic balancing state monitoring and control module includes a host computer state monitoring and control software and a control unit, wherein: The host computer state monitoring and control software is used to receive vibration monitoring information and complete the inner and outer rotor state monitoring and fault diagnosis, automatic balancing state monitoring, dual automatic balancing influence coefficient method calculation and automatic balancing actuator drive control; The control unit includes two adjustable voltage drive power supplies, a programmable controller (PLC) and four pulse controllers. The adjustable voltage drive power supplies are used to power the pulse controllers. The programmable controller (PLC) serves as a master controller and can receive the drive control instructions sent by the host computer monitoring and control software, and control the pulse controller to generate a variable electric field in the enameled copper coil (06) to control the displacement of the counterweight plate (10).

4. The automatic balancing system for a propeller-fan coaxial counter-rotating structure according to claim 3, characterized in that: The host computer state monitoring and control software calculates the target compensation position of the counterweight plate (10) using the received information through a dual-plane influence coefficient method and a contra-rotating propeller dual automatic balancing control algorithm based on two-stage robust optimization; The drive control instruction is transmitted to the programmable controller PLC via the RS232 communication interface; The programmable controller PLC sends a corresponding pulse signal to the pulse controller corresponding to each counterweight disc (10) according to the drive control instruction; The pulse controller connects the enameled copper coil (06) corresponding to the counterweight disc (10) and emits a variable pulse current, thereby generating a corresponding variable electromagnetic field to magnetize the coil bracket (05), the side excitation ring group (07) and the oblong soft iron (09), and drives the counterweight disc (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 oblong magnet (08) magnetizes the side excitation ring group (07) on both sides to generate self-locking, so that the counterweight plate (10) is stationary relative to the automatic balancing actuator and follows the automatic balancing actuator to rotate synchronously around the inner and outer rotors.

5. The automatic balancing system for a propeller-fan coaxial counter-rotating structure according to claim 4, characterized in that: The dynamic ring comprises the oblong magnet (08), the oblong soft iron (09), a left connecting plate (13) of the dynamic ring, a left inner plate (14), a right inner plate (15), a right connecting plate (16), a side excitation ring group (07), a counterweight plate (10), an ultra-thin bearing group (12), a bearing block (11a), a tungsten copper counterweight block (11b), a speed positioning magnet (22) and a counterweight plate position magnet (23).

6. An automatic balancing system for a propeller-fan coaxial counter-rotating structure according to claim 3 or 4, characterized in that: The stationary ring comprises an enameled copper coil (06), a drive coil support (05), an inner rotor coil support connector (04a), an outer rotor coil support connector (04b) and a stationary ring support (28); In the inner rotor automatic balancing actuator, the outer ring of the supporting bearing (03) cooperates with the inner ring of the driving coil bracket (05), and the inner ring is fixed to the right connecting plate (16) through the dynamic ring connecting plate (17), forming an integrated assembly structure with the dynamic ring outside and the static ring inside; In the outer rotor automatic balancing actuator, a bearing bracket (24) and a small bearing group (25) are provided on the right connecting plate (16) of the dynamic ring, a stationary ring bracket (28) is connected to the driving coil bracket (05), and the stationary ring bracket (28) is in rolling contact with the outer ring of the small bearing to form a split assembly structure.

7. The automatic balancing system for a propeller-fan coaxial counter-rotating structure according to claim 5, characterized in that: The outer ring of the first side bearing (12a) of the ultra-thin bearing group (12) is positioned in the outer circle and axial direction by a left connecting plate (13) and a left inner connecting plate (14), and the outer ring of the second side bearing (12b) of the ultra-thin bearing group (12) is positioned in the outer circle and axial direction by a right inner connecting plate (15) and a right connecting plate (16); The left outer circle of the counterweight plate (10) is circumferentially positioned with the inner ring of the first side bearing (12a) of the ultra-thin bearing group (12), and the right outer circle of the counterweight plate (10) is circumferentially positioned with the inner ring of the second side bearing (12b) of the ultra-thin bearing group (12); The oblong magnet (08), the oblong soft iron (09) and the counterweight disc position magnet (23) are embedded on the counterweight disc (10), wherein the oblong magnet (08) and the oblong soft iron (09) are alternately embedded on the circumference of the counterweight disc (10), and the counterweight disc (10) is axially limited by three bearing blocks (11a) and a tungsten copper counterweight block (11b); The side excitation ring group (07) is composed of 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 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) in sequence; The 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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