A method and system for automatic online liquid injection balancing control of a high-speed electric spindle

Abstract

This application provides an automatic control method and system for online liquid spraying balance of a high-speed electric spindle, belonging to the field of spindle dynamic balancing technology. The method can determine whether a preset imbalance condition is met based on a first vibration signal acquired in real time from the high-speed spindle. If so, it determines the test liquid spraying volume and its corresponding spraying phase based on the corresponding initial imbalance vector, and performs a test liquid spraying operation on the high-speed spindle. Based on a second vibration signal acquired after the test liquid spraying operation, it determines the test weight imbalance vector to determine the corresponding counterweight vector. Based on a preset multi-phase optimization decomposition of the counterweight vector, it determines the online counterweight liquid spraying information, and performs counterweight liquid spraying control based on the online counterweight liquid spraying information and user confirmation information. Based on a third vibration signal acquired after the counterweight liquid spraying, when it is determined that the iterative balancing stage has begun, it updates the spindle response information using historical liquid spraying data and repeats the counterweight calculation and liquid spraying until the preset imbalance condition is no longer met.

Description

Technical Field

[0001] This application relates to the field of spindle dynamic balancing technology, and in particular to an automatic control method and system for online liquid injection balancing of a high-speed electric spindle. Background Technology

[0002] With the rapid development of precision manufacturing and high-speed machining technologies, electric spindles, as core components of CNC machine tools, are facing increasingly higher requirements for speed and precision. During high-speed operation, spindles are prone to mass eccentricity due to factors such as uneven material composition, assembly errors, and tool wear, leading to vibration and noise, which seriously affects machining quality, equipment lifespan, and operational safety.

[0003] Traditional dynamic balancing methods are mostly performed offline, requiring frequent start-ups and shutdowns of the equipment, which is cumbersome, inefficient, and unsuitable for high-speed continuous machining. While online dynamic balancing technology can achieve vibration control without stopping the machine, the balancing accuracy of existing online balancing systems cannot keep pace with the spindle speed, and the spray control particle size is relatively coarse, making it difficult to achieve high-precision, real-time controllable dynamic balancing correction without stopping the machine. Summary of the Invention

[0004] To address the aforementioned issues, this application provides an online liquid-jet balancing automatic control method and system for high-speed electric spindles, thereby achieving high-precision, real-time controllable dynamic balancing correction of the high-speed electric spindle without shutting down the machine, improving the spindle's balance and ensuring its smooth operation.

[0005] On one hand, embodiments of this application provide an automatic control method for online liquid injection balancing of a high-speed electric spindle, the method comprising:

[0006] Based on the first vibration signal of the high-speed spindle acquired in real time, determine whether the preset imbalance condition is met.

[0007] If so, based on the corresponding initial imbalance vector, determine the test spray volume and its corresponding spray phase, so as to perform a test spray operation on the high-speed spindle;

[0008] Based on the second vibration signal collected after the test spraying operation, the corresponding test weight imbalance vector is determined, and the corresponding counterweight vector is determined based on the test weight imbalance vector, the initial imbalance vector and the test spraying volume.

[0009] Based on the preset multi-phase optimization decomposition of the counterweight vector, the online counterweight spraying information is determined, and the online spraying balance device is controlled to spray counterweight liquid according to the online counterweight spraying information and user confirmation information.

[0010] Based on the third vibration signal collected after the counterweight is sprayed, it is determined whether the preset imbalance condition is met. If it is met, the iterative balance stage is entered, the spindle response information is updated using historical spraying data, and the counterweight calculation and spraying are repeated until the preset imbalance condition is no longer met.

[0011] In one implementation of this application, the test spray volume and its corresponding spray phase are determined based on the corresponding initial imbalance vector to perform a test spray operation on the high-speed spindle, specifically including:

[0012] Based on the preset loop variable value, determine whether the current stage is the iterative equilibrium stage;

[0013] If not, the test spray volume is calculated based on a preset empirical formula and the vibration amplitude in the initial unbalance vector; wherein, the preset empirical formula is constructed based on the relationship between the test spray volume and the vibration amplitude, rotor mass, gravitational acceleration, weighting radius, rotor angular velocity and preset sensitivity coefficient;

[0014] The injection phase is determined based on the imbalance phase corresponding to the initial imbalance vector; the injection phase and the imbalance phase are in opposite directions.

[0015] The test spraying operation is performed according to the test spraying volume and the spraying phase; the test spraying operation is to apply test spraying liquid corresponding to the test spraying volume to the position corresponding to the spraying phase of the high-speed spindle.

[0016] In one implementation of this application, when it is determined that the current stage is the iterative equilibrium stage, the response information is updated using historical spraying data and the counterweight calculation and spraying are repeated, specifically including:

[0017] The unbalance vector of the trial weight at the (k-1)th iteration corresponding to the current iteration number k is taken as the initial unbalance vector for the current iteration k; where k is a natural number greater than 1.

[0018] The counterweight injection response vector of the (k-1)th test is used as the unbalance vector of the current kth test weight.

[0019] Based on the initial imbalance vector corresponding to the current k-th iteration, the test weight imbalance vector, and the first iteration test spray volume, the counterweight vector is iteratively calculated to determine the corresponding online counterweight spray information and send it to the user terminal until the user confirms that counterweight spraying is prohibited or the preset imbalance condition is not met, at which point the iterative balancing phase ends.

[0020] In one implementation of this application, determining the corresponding counterweight vector based on the test weight imbalance vector, the initial imbalance vector, and the test spray volume specifically includes:

[0021] Calculate the first vector difference between the unbalance vector of the test weight and the initial unbalance vector;

[0022] The ratio of the first vector difference to the amount of test spray liquid is taken as the corresponding influence coefficient vector;

[0023] The counterweight vector is determined based on the unbalance vector of the test weight and the influence coefficient vector.

[0024] In one implementation of this application, the online counterweight spraying information is determined based on a preset multi-phase optimization decomposition of the counterweight vector, specifically including:

[0025] Based on the balance chamber angle, preset spray unit duration and single chamber spray duration threshold of the online spray balance device, a set of candidate spray vectors corresponding to each balance chamber is generated.

[0026] The candidate spray vector sets are merged into a complete set of single-cavity spray vectors;

[0027] Two candidate spray vectors are randomly selected from the complete set of single-cavity spray vectors, and combined to construct several composite vectors, so as to calculate the second vector difference between the counterweight vector and each of the composite vectors; wherein, the randomly selected two candidate spray vectors correspond to different sets of candidate spray vectors or correspond to the same set of candidate spray vectors;

[0028] Each of the second vector differences is traversed to determine the corresponding optimization vector deviation and its corresponding optimization composite vector according to the deviation optimization condition corresponding to the preset multi-phase optimization decomposition; wherein, the deviation optimization condition is used to determine the minimum value of the corresponding magnitude in each of the second vector differences;

[0029] The optimized synthetic vector is added to the online counterweight spray information.

[0030] In one implementation of this application, before controlling the online liquid spraying balancing device to perform counterweight liquid spraying, the method further includes:

[0031] If the user confirmation message indicates that counterweight spraying is prohibited, determine whether the system is in the iterative equilibrium phase.

[0032] If so, maintain the current preset loop variable value and iterate again to determine the counterweight vector;

[0033] If not, reacquire the first vibration signal to perform the test spraying operation.

[0034] In one implementation of this application, controlling the online liquid spraying balance device to perform liquid spraying based on the online counterweight spraying information and user confirmation information specifically includes:

[0035] If the user confirms that they agree to the counterweight spraying, the online spraying balance device is controlled to perform counterweight spraying based on the online counterweight spraying information.

[0036] After the counterweight spraying is performed, the preset cyclic variable value is accumulated.

[0037] In one implementation of this application, based on the first vibration signal of the high-speed spindle acquired in real time, it is determined whether a preset imbalance condition is met, specifically including:

[0038] The first vibration signal is intercepted using a phase detection signal;

[0039] Perform a Fourier transform on the intercepted vibration signal to determine the spectrum curve corresponding to the first harmonic of the high-speed spindle;

[0040] Extract the corresponding spectral peaks and corresponding peak phase angles from the aforementioned spectrum curve;

[0041] The spectral peak value is compared with a preset amplitude threshold. If the spectral peak value is greater than the preset amplitude threshold, the preset imbalance condition is satisfied; otherwise, the preset imbalance condition is not satisfied.

[0042] In one implementation of this application, the online liquid spraying balancing device includes at least four annular balancing chambers surrounding the high-speed main shaft, and each balancing chamber corresponds to a different phase in the circumferential direction of the high-speed main shaft.

[0043] Secondly, embodiments of this application also provide an online liquid injection balancing automatic control system for a high-speed electric spindle, the system comprising:

[0044] The first determining module is used to determine whether the preset imbalance condition is met based on the first vibration signal of the high-speed spindle acquired in real time.

[0045] The second determining module is used to determine the test spray volume and its corresponding spray phase based on the corresponding initial imbalance vector if the condition is met, so as to perform a test spray operation on the high-speed spindle.

[0046] The third determining module is used to determine the corresponding test weight imbalance vector based on the second vibration signal collected after the test spraying operation, so as to determine the corresponding counterweight vector based on the test weight imbalance vector, the initial imbalance vector and the test spraying volume.

[0047] The fourth determining module is used to determine the online counterweight spraying information based on the preset multi-phase optimization decomposition of the counterweight vector, so as to control the online spraying balance device to spray counterweight liquid according to the online counterweight spraying information and user confirmation information.

[0048] The judgment module is used to determine whether the preset imbalance condition is met based on the third vibration signal collected after the counterweight is sprayed. If the condition is met, the module enters the iterative balance stage, updates the spindle response information using historical spraying data, and repeats the counterweight calculation and spraying until the preset imbalance condition is no longer met.

[0049] Compared with the prior art, the significant advantages of this application are as follows:

[0050] (1) Through the above technical solution, this application can detect the imbalance state of the high-speed spindle in real time without stopping the machine, and achieve balance control of the high-speed spindle through a combination of two stages: test spraying and counterweight spraying. At the same time, this application also achieves fine adjustment of the spindle balance through an iterative balancing stage, thereby achieving high-precision, real-time controllable dynamic balance correction of the high-speed electric spindle without stopping the machine, improving the balance state of the spindle and making it run smoothly.

[0051] (2) This application improves the various limitations of existing balancing methods. Compared with traditional offline balancing methods, it greatly reduces the number of shutdowns, eliminates the need for frequent start-up and shutdown, reduces the balancing time, and improves productivity. It can quickly and effectively achieve high-speed and high-precision online dynamic balancing of electric spindles. Its corresponding software interface has the characteristics of real-time observability, high degree of automation, ease of operation, and low cost. Attached Figure Description

[0052] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0053] Figure 1 This is a schematic diagram of the control system structure corresponding to the online liquid spraying balance automatic control method for a high-speed electric spindle in an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of the front panel interface module structure of an online liquid spraying balance automatic control system for a high-speed electric spindle according to an embodiment of this application;

[0055] Figure 3 This is a flowchart illustrating an online liquid injection balance automatic control method for a high-speed electric spindle in an embodiment of this application.

[0056] Figure 4 This is another flowchart illustrating an automatic control method for online liquid spraying balance of a high-speed electric spindle in an embodiment of this application;

[0057] Figure 5 This is a schematic diagram illustrating the effect of liquid spraying with respect to vibration velocity in an embodiment of this application;

[0058] Figure 6 This is a schematic diagram of the structure of an online liquid spraying balance automatic control device for a high-speed electric spindle according to an embodiment of this application;

[0059] Figure 7 This is a schematic diagram of the structure of an online liquid spraying balance automatic control system for a high-speed electric spindle in an embodiment of this application.

[0060] List of components and reference numerals:

[0061] 1. Industrial control computer; 2. High-speed synchronous data acquisition instrument; 3. Accelerometer; 4. Magnetic encoder; 5. Spraying system valve assembly; 6. Spraying balancing device; 7. High-speed electric spindle; 8. Frequency converter; 9. Oil-air lubrication system; 10. Water cooling system; 11. Parameter input module; 12. Time-domain vibration waveform display; 13. Real-time vibration velocity display; 14. Result and process feedback; 15. Action and process control column. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0063] With the rapid advancement of science and technology, the modern machinery manufacturing industry is developing rapidly towards high speed, high precision, and high efficiency. The high speed of machine tools has become the current development trend of machine tools. This rapid progress has put forward higher requirements for machining tools. As the core part of the machine tool, the performance of the spindle largely determines the machining accuracy and production efficiency of the entire machine tool. Therefore, this rapid progress has also put forward higher requirements for the spindle.

[0064] The primary form of modern high-speed CNC machine tool spindles is the electric spindle. Imbalance in a spindle is inevitable. Due to asymmetrical structures in the spindle design, uneven distribution of spindle material density, errors during spindle machining and assembly, frequent tool changes during machining, and factors such as tool wear, detachment, and tool adhesion during spindle use, imbalance can occur, causing mass eccentricity on the rotor of the high-speed electric spindle. When the rotor rotates, the centrifugal force generated by this mass eccentricity excites the rotating system to vibrate, causing repeated bending and internal stress in the rotor, leading to rotor fatigue and even fracture. Simultaneously, it increases noise, accelerates bearing wear, affects the machine tool's service life and the machining accuracy of parts, and even poses certain safety hazards; the dangers are obvious.

[0065] Therefore, it is necessary to achieve high-precision dynamic balance control of high-speed spindles through effective dynamic balancing methods, so as to control the spindle imbalance within a reasonable range in real time and maintain the stable operation of the machine tool.

[0066] Online dynamic balancing technology combines dynamic balancing with automatic control, enabling real-time monitoring of spindle vibration. It completes rotor vibration information acquisition, imbalance calculation, and balance adjustment without shutting down the machine. It eliminates errors caused by environmental changes, tool position and machining conditions, changes in the mechanical properties of the shaft and tool, and manual addition of counterweights during spindle operation. This results in stronger real-time performance and higher balancing efficiency, avoiding the waste of manpower and resources caused by multiple start-ups and shutdowns. In production processes, continuous machining operation after a single spindle start-up is desired; therefore, online dynamic balancing control technology is becoming a widely used real-time balancing method. Online balancing systems are mainly classified into mechanical, electromagnetic, and liquid-jet types based on the liquid-jet dynamic balancing device used. Compared to the other two types, liquid-jet online dynamic balancing systems are simpler in structure, easier to control, and lower in cost.

[0067] Currently, most balancing control technologies are offline, requiring multiple start-ups and shutdowns, which wastes manpower and resources, cannot ensure a constant initial rotor state, has large system errors, and involves numerous procedures for adding and removing components, resulting in complex operations and low balancing efficiency. While online dynamic balancing technology can achieve vibration control without stopping the machine, the balancing accuracy of existing online balancing systems cannot match the spindle running speed, and the spray control granularity is relatively coarse, making it difficult to achieve high-precision, real-time controllable dynamic balancing correction without stopping the machine.

[0068] Based on this, the embodiments of this application provide an online liquid spraying balance automatic control method and system for high-speed electric spindles, which solves the problem of the lack of a high-precision, real-time controllable dynamic balance correction scheme for high-speed electric spindles without stopping the machine, thereby improving the balance state of the spindle, accurately achieving effective dynamic balance of each speed of the spindle online, and making it run smoothly.

[0069] The various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0070] This application provides a system for implementing an online liquid injection balancing automatic control method for a high-speed electric spindle. Figure 1 This is a schematic diagram of the structure of an online liquid injection balance automatic control system for a high-speed electric spindle, as shown below. Figure 1As shown, the system includes: an industrial control computer 1, a high-speed synchronous data acquisition instrument 2, an accelerometer 3, a magnetic encoder 4, a liquid spraying system valve assembly 5, a liquid spraying balancing device 6, a high-speed electric spindle 7, a frequency converter 8, an oil-air lubrication system 9, and a water cooling system 10. This system can realize online automatic balancing testing, data processing and analysis, and balancing compensation of the high-speed electric spindle.

[0071] Among them, the aforementioned accelerometer 3 is used to test the vibration signal near the bearing of the high-speed electric spindle and transmit the test result to the high-speed synchronous data acquisition instrument 2. The magnetic encoder 4 is used to determine the spindle phase signal and trigger the acquisition of the synchronous signal of the acquisition instrument. The industrial control computer 1 analyzes and processes the received data and issues instructions to control the liquid spraying system valve assembly 5 to spray liquid to the online liquid spraying balance device 6 to realize the online correction of the spindle imbalance. The frequency converter 8 is used to control the spindle speed. The oil-air lubrication system 9 and the water cooling system 10 are used for lubrication and cooling during the operation of the spindle.

[0072] During system operation, the accelerometer 3 is located on a bracket near the spindle bearing, the magnetic encoder 4 is located inside the spindle bearing, and the liquid spray balancing device 6 is located at the extended end of the spindle.

[0073] In addition, the system corresponding to the online liquid injection balance automatic control method for high-speed electric spindles of this application also includes the following front panel interface modules, such as... Figure 2 As shown: Parameter input module 11, Time-domain vibration waveform display 12, Real-time vibration velocity display 13, Result and process feedback 14, Action and process control column 15.

[0074] The parameter input module is responsible for inputting parameters related to the high-speed synchronous data acquisition instrument 2, such as sampling frequency, number of sampling points, sampling time, and sampling channels, as well as parameters related to the spindle speed and initial vibration amplitude. The time-domain vibration waveform display 12 can display the acceleration of the shaft and the time-domain signal waveform of the magnetic encoder during the experiment. The real-time vibration velocity display 13 can display the real-time vibration velocity curve obtained by Fourier transform and integration of the acceleration signal. The result and process feedback 14 reflects the calculation results and balancing process during the liquid spraying balancing, using a visual Boolean display control to indicate the specific balancing progress. The action and process control column 15 is... Throughout the process, the button bar that requires manual control can determine the next action to be performed based on the real-time vibration velocity display 13 and the result and process feedback 14. The parameter input module 11 determines the functions of the corresponding modules of the time-domain vibration waveform display 12 and the result and process feedback 14. The real-time vibration velocity display 13 is a more intuitive representation of the time-domain vibration waveform display 12. The real-time vibration velocity display 13 also reflects the result and process feedback 14 of the liquid spray balance from another perspective. The result and process feedback 14 of the liquid spray balance determines the action control of the action and process control column 15, which in turn indirectly determines the liquid spray balance process.

[0075] This application provides an embodiment of an automatic control method for online liquid injection balancing of a high-speed electric spindle, such as... Figure 3 As shown, the method may include steps S301-S305:

[0076] S301 determines whether the preset imbalance condition is met based on the first vibration signal of the high-speed spindle acquired in real time.

[0077] For example, the execution subject of the online liquid spraying balance automatic control method for high-speed electric spindle described in this application is the microcontroller of an industrial control computer. In actual use scenarios, other terminal devices with computing functions connected to the corresponding control system can also be set as the execution subject, such as servers, server clusters, cloud servers, etc. This application does not specifically limit the execution subject.

[0078] Before implementing the online liquid spraying balance automatic control method for high-speed electric spindles, this application will turn on the oil-air lubrication system and the water cooling system. After the high-speed electric spindle is basically lubricated, the electric spindle will be turned on to a certain speed, and then the online liquid spraying balance automatic control will be implemented.

[0079] The main body of this application runs the liquid spraying balance control software. Appropriate parameters are input into the parameter input module 11, and the operation action and process control column 15 collects and saves data. The time-domain vibration waveform and real-time vibration velocity of the spindle can be observed in real time on the front panel of the balancing software. The amplitude and phase of the unbalance vector are obtained through the built-in algorithm of the software, and the angle range of the unbalance phase corresponding to the liquid spraying balance device 6 is determined.

[0080] In this embodiment of the application, the determination of whether the preset imbalance condition is met based on the first vibration signal of the high-speed spindle acquired in real time specifically includes:

[0081] The first vibration signal is intercepted using a phase detection signal. A Fourier transform is performed on the intercepted vibration signal to determine the spectral curve corresponding to the first harmonic of the high-speed spindle. The corresponding spectral peaks and their corresponding peak phase angles are extracted from the spectral curve. The spectral peaks are compared with a preset amplitude threshold. If the spectral peak is greater than the preset amplitude threshold, a preset imbalance condition is determined to be met; otherwise, the preset imbalance condition is not met.

[0082] The high-speed electric spindle has a phase detection mark, and a magnetic encoder tests the phase detection signal when the spindle is running at high speed. The waveform changes between 0 and 1 at the phase detection slot, simultaneously counting the spindle speed. Since the input signal detected by the magnetic encoder changes once at the phase detection mark for each revolution of the spindle, a specific start time point corresponding to this mark signal is selected, and the time-domain vibration signal of the spindle is truncated for a certain length at this time point. For example, 20,000 data points can be extracted for signal processing. 20,000 data points provide the spindle's vibration information over a certain period without creating too much data and placing an excessive computational burden on the computer and control software.

[0083] The phase detection signal is used to extract a certain length of the first vibration signal acquired in real time. The extracted signal is then filtered and subjected to Fourier transform to obtain its first harmonic spectrum. The vibration peak (i.e., the spectral peak) and its phase angle are extracted. This spectral peak and its phase angle together constitute the unbalanced response of the high-speed electric spindle. This unbalanced response is a vector, represented as a complex number a+bi. The spectral peak is then compared with a preset amplitude threshold, which is a vibration expectation value set by the user based on actual usage scenarios and expert experience; no specific limitation is made here. If the spectral peak is greater than the preset amplitude threshold, it is determined that the high-speed electric spindle has experienced vibration imbalance, meeting the preset imbalance condition, and online balancing of the spindle is required. If the spectral peak is less than the preset amplitude threshold, it indicates that the spindle's vibration state is relatively stable, meeting the vibration requirements, and balancing of the spindle is not necessary. In this case, it will automatically enter a vibration free acquisition idle state. The idle state can be understood as only acquiring and recording vibration data, without liquid spraying or interfering with the spindle's operation.

[0084] The above scheme enables real-time detection of unexpected vibrations, allowing for timely intervention in spindle balancing.

[0085] S302, under the condition that the preset imbalance condition is met, the test spray volume and its corresponding spray phase are determined based on the corresponding initial imbalance vector, so as to perform test spray operation on the high-speed spindle.

[0086] In this embodiment of the application, the above-mentioned determination of the test spray volume and its corresponding spray phase based on the corresponding initial imbalance vector for performing a test spray operation on the high-speed spindle specifically includes:

[0087] Based on the preset loop variable values, determine whether the current stage is the iterative equilibrium stage. If it is determined that the current stage is not the iterative equilibrium stage, calculate the test spray volume based on the preset empirical formula and the vibration amplitude in the initial imbalance vector. The preset empirical formula is constructed based on the relationship between the test spray volume and the vibration amplitude, rotor mass, gravitational acceleration, weight radius, rotor angular velocity, and preset sensitivity coefficient. Determine the spray phase based on the imbalance phase corresponding to the initial imbalance vector. The spray phase and the imbalance phase are inversely related. Perform the test spray operation based on the test spray volume and spray phase. The test spray operation involves applying test spray volume corresponding to the spray phase position on the high-speed spindle.

[0088] It is understood that the online liquid spraying balance automatic control method for high-speed electric spindles in this application is a cyclic judgment process, which can participate in the control in real time during the operation of the high-speed spindle. When it is determined that the high-speed spindle meets the preset imbalance condition, it may not be the first time. For example, if it is determined that the preset imbalance condition is not met in the (k-1)th cycle of executing the preset imbalance condition judgment, the microcontroller records a k-1 identifier (i.e., the preset cyclic variable value) representing that the iterative balance stage is in progress. If it is also determined that the preset imbalance condition is not met in the kth cycle, then the process corresponding to the iterative balance will be executed. The test liquid spraying is not performed in the iterative balance stage. The specific implementation of the iterative balance stage will be described later.

[0089] If the preset loop variable value is determined to be 0, it indicates that the current stage is not the iterative equilibrium phase. In this case, a test spray operation will be performed. The test spray volume will be calculated using a preset empirical formula, as follows:

[0090]

[0091] in, This indicates the volume of the test spray liquid, in kilograms (kg). This indicates the vibration amplitude, with the unit being micrometers (µm). ); This indicates the rotor mass, expressed in kg. This represents the acceleration due to gravity, measured in meters per second squared (m²). ); Indicates the radius of the weight, in meters (m); The rotor angular velocity at equilibrium is expressed in radians per second (rad / s). The sensitivity coefficient has different selection ranges for different devices and is not specifically limited here. The weighting radius can be understood as the distance from the liquid injection nozzle of the balancing chamber to the center of the shaft along the radial direction. At least four balancing chambers are arranged circumferentially around the extended portion of the main shaft (this application uses four balancing chambers at 0 degrees, 90 degrees, 180 degrees, and 270 degrees as an example). The rotor angular velocity during balancing can be understood as the rotational speed at which liquid injection balancing is applied during high-speed main shaft operation; this rotational speed represents the "rotational speed during balancing." It should be noted that during the high-speed balancing phase, the test liquid volume automatically decreases as the rotational speed increases. This conclusion can also be obtained through the relationship between angular velocity and test liquid volume in the above empirical formula.

[0092] Specifically, the online liquid spray balancing device in this application includes at least four annular balancing chambers surrounding the high-speed main shaft, with each balancing chamber corresponding to a different phase in the circumferential direction of the high-speed main shaft. These phases include positions such as 0 degrees, 90 degrees, 180 degrees, and 270 degrees. In actual use, more than four balancing chambers may be used; this application does not impose a specific limitation on this.

[0093] Using the above formula, the appropriate test spray volume at the corresponding rotational speed is calculated. Simultaneously, based on the unbalance phase in the initial unbalance vector, the 180-degree direction of the unbalance phase is determined as the spray phase. Subsequently, the test spray is executed using the test spray volume and spray phase.

[0094] It should be noted that the test spray volume can also be obtained through other methods, such as manual calibration, expert experience setting, etc., and no specific limitation is made here.

[0095] In one embodiment of this application, for the iterative equilibrium phase, when it is determined that the current phase is the iterative equilibrium phase, the response information is updated using historical spraying data and the counterweight calculation and spraying are repeated, specifically including:

[0096] The unbalance vector of the trial weight in the (k-1)th iteration corresponding to the current iteration number k is used as the initial unbalance vector for the current kth iteration. Here, k is a natural number greater than 1. The counterweight spray response vector in the (k-1)th iteration is used as the unbalance vector of the trial weight in the current kth iteration. Based on the initial unbalance vector corresponding to the current kth iteration, the unbalance vector of the trial weight, and the amount of liquid sprayed in the first iteration, the counterweight vector is iteratively calculated to determine the corresponding online counterweight spray information and send it to the user terminal. This process continues until the user confirms that counterweight spraying is prohibited or the preset unbalance condition is not met. The iterative balancing phase ends by clicking the "End" button in the Action and Process Control section. The Action and Process Control section includes buttons for "Start Acquisition," "Data Saving," and "End." Users can manually terminate the ongoing spray balancing process by clicking the "End" button.

[0097] In other words, when the preset imbalance condition is met and the current preset cyclic variable value k is not equal to 0, the iterative balancing stage will begin. During this stage, no test spraying is performed; instead, the counterweight vector is calculated directly using the methods described above, and the process for determining the online counterweight spraying information is executed. In the iterative balancing stage, the previous test weight imbalance vector is assigned to the initial imbalance vector corresponding to the current original response, and the counterweight spraying response vector corresponding to the previous counterweight response (obtained from the analysis of the third vibration signal) is assigned to the test weight imbalance vector corresponding to the current test weight response. Subsequently, based on the current test weight imbalance vector, the initial imbalance vector, and the test spraying volume during the first iteration when the preset cyclic variable value is 1 (in simple terms, if k=0 and a test spraying was performed, after deciding to perform the first counterweight spraying, k is incremented by 1, and the iterative balancing stage begins, then this test spraying volume corresponds to the test spraying volume during the first iteration), the counterweight vector calculation is performed, and subsequent counterweight operations are executed.

[0098] In the iterative balancing phase, if the user indicates through the interactive interface that they do not wish to perform counterweight spraying, the preset cyclic variable value corresponding to the current iterative balancing phase is maintained, and either a trial spraying is performed or the trial weight vector calculation for the iterative balancing phase is performed. If the user confirms that counterweight spraying will be performed, the preset cyclic variable value is incremented by 1. If the preset imbalance condition is still met subsequently, the corresponding operation for the iterative balancing phase continues to be executed based on the updated preset cyclic variable value. If the user confirms that counterweight spraying will be performed, the preset cyclic variable value is incremented by 1, and the preset imbalance condition is no longer met subsequently, the iterative balancing phase ends. The counterweight vector calculation is explained in detail in step S303 and will not be repeated here.

[0099] By setting up an iterative balancing stage, this application can perform iterative counterweight vector calculation based on the initial test spraying operation, without having to perform multiple test spraying operations. This avoids the greater balance impact caused by adding liquid multiple times for the test spraying operation. Instead, after a relatively accurate single test spraying operation, the counterweight spraying is finely adjusted through counterweight vector calculation to quickly balance the main axis.

[0100] In addition, this application incorporates manual process control, which allows parameters to be modified or the balancing process to be stopped at any time based on the balancing progress. This greatly improves the controllability and human-computer interaction of the software corresponding to the control method. Furthermore, the data saving function in the action and process control column facilitates offline data analysis.

[0101] S303, based on the second vibration signal collected after the test spraying operation, determines the corresponding test weight imbalance vector, and determines the corresponding counterweight vector based on the test weight imbalance vector, the initial imbalance vector and the test spraying volume.

[0102] After the test spraying operation is performed, a second vibration signal will be acquired, and the test weight imbalance vector corresponding to the second vibration signal will be obtained by referring to the processing method of the first vibration signal.

[0103] Subsequently, in this embodiment of the application, the corresponding counterweight vector is determined based on the test weight imbalance vector, the initial imbalance vector, and the test spray volume, specifically including:

[0104] Calculate the first vector difference between the test weight imbalance vector and the initial imbalance vector. Use the ratio of this first vector difference to the test spray volume as the corresponding influence coefficient vector. Determine the counterweight vector based on the test weight imbalance vector and the influence coefficient vector.

[0105] Specifically, for example, the unbalanced vector of the test weight is... The initial imbalance vector is The first vector difference is The influence coefficient vector is , This indicates the amount of test fluid sprayed onto the spindle during the test spraying operation. Subsequently, the calculation formula for the counterweight vector is used. Calculate the counterweight vector that balances the response to the test weight. .

[0106] It should be noted that this application performs online liquid spraying, which is an irreversible process, and the balancing objective is the response of the test weight. Typically, in existing technologies using the influence coefficient method for balancing, the original rotor response A is tested first, then a certain amount of test weight T is added and the rotor's test weight response B is tested. Based on the original response and the test weight response, the influence coefficient C and the counterweight W are calculated. Then, the test weight is removed, and a counterweight is added at the corresponding position on the balancing device according to the calculated counterweight. That is... .

[0107] This application takes into account the irreversible nature of online liquid spraying, which prevents shutdown; even after shutdown, the test weight liquid sprayed into the balancing device is difficult to clean completely, making it difficult to return the rotor to its original state. Therefore, when using the online influence coefficient for liquid spraying balancing, the test weight response B is used in the counterweight calculation, meaning the balancing target is the test weight response rather than the original response. .

[0108] S304, based on the preset multi-phase optimization decomposition of the counterweight vector, determines the online counterweight spraying information, and controls the online spraying balance device to spray counterweight according to the online counterweight spraying information and user confirmation information.

[0109] In this embodiment of the application, the online counterweight spraying information is determined based on a preset multi-phase optimization decomposition of the counterweight vector, specifically including:

[0110] Based on the balancing chamber angle corresponding to the online liquid spraying balancing device, the preset liquid spraying unit duration, and the single-chamber liquid spraying duration threshold, a candidate liquid spraying vector set is generated for each balancing chamber. These candidate liquid spraying vector sets are then merged into a complete set of single-chamber liquid spraying vectors. Two candidate liquid spraying vectors are randomly selected from the complete set of single-chamber liquid spraying vectors and combined to construct several synthetic vectors to calculate the second vector difference between the counterweight vector and each synthetic vector. The randomly selected two candidate liquid spraying vectors may correspond to different candidate liquid spraying vector sets or the same candidate liquid spraying vector set. Each second vector difference is traversed to determine the corresponding optimization vector deviation and its corresponding optimization synthetic vector based on the deviation optimization condition corresponding to the preset multi-phase optimization decomposition. The deviation optimization condition is used to determine the minimum modulus value corresponding to each second vector difference. The optimization synthetic vector is then added to the online counterweight liquid spraying information.

[0111] In other words, this application generates several candidate spray vector sets for optimization decomposition based on the specific location and parameters of the online spray balancing device, and obtains two candidate spray vectors combined into an optimization vector. The reason for having two candidate spray vectors is that an unbalanced phase may require two balancing cavities for counterweight spraying. For example, a Cartesian coordinate system can be constructed using the radial cross-section of the main axis. This coordinate system has four quadrants, and the balancing cavities are located in each of the four quadrants. If the unbalanced phase is between 0° and 45°, then the second quadrant (135°-180°) and the third quadrant (-135°-180°) may be needed for counterweight spraying. Of course, only one quadrant may be needed for spraying, in which case the two candidate spray vectors correspond to the same balancing cavity, allowing that cavity to spray continuously.

[0112] For each balancing chamber angle, there is a corresponding 90-degree phase angle range, which is set by the user according to the actual usage scenario. The preset spray unit duration is, for example, 100 milliseconds, and the single-chamber spray duration threshold is, for example, 8 seconds. This is merely an example and not a specific limitation. Using this as an example, according to the preset spray unit duration, the single-chamber spray duration threshold is divided into 81 spray periods (it should be noted that the loop count variable in the software starts from 0, so the 0th time corresponds to a duration of 0 seconds, and the 81st time corresponds to a duration of 8 seconds). Each spray period corresponds to a spray quality value, resulting in 81 spray quality sequences (mass). This is combined with the angles of the four balancing chambers. This results in a set of 324 equilibrium vectors, which are candidate injection vectors. ,in, The value ranges from 0 to 80. The value ranges from 0 to 3 (representing the angle of the four balance chambers). It represents a quantity and is a natural number.

[0113] Subsequently, two vectors are randomly selected from the complete set of single-cavity jet vectors (e.g. Combine them, then calculate. Find the optimal solution based on the deviation optimization conditions. Combinations that achieve the minimum value include At this point, it is used as the optimal synthesis vector to determine the spray mass value and spray balance chamber, and to generate online counterweight spray information.

[0114] Furthermore, in one embodiment of this application, before controlling the online liquid spraying balancing device to perform counterweight liquid spraying, the method further includes:

[0115] If the user confirms that counterweight spraying is prohibited, determine whether the system is in the iterative equilibrium stage. If yes, maintain the current preset loop variable value and iterate again to determine the counterweight vector. That is, the iterative loop variable value will be maintained, the increment operation will not be performed, and the counterweight spraying information will be recalculated. If no (i.e., not in the iterative equilibrium stage), reacquire the first vibration signal to perform the test spraying operation, i.e., perform the test spraying operation again.

[0116] In other words, after obtaining online counterweight spraying information, this application does not directly execute counterweight spraying, but instead requires user confirmation to determine whether to proceed. This application can pre-set a user confirmation rule; for example, if the calculated online counterweight spraying information meets this rule, counterweight spraying is executed; otherwise, it is prohibited. User confirmation can also be achieved through a pop-up window displaying whether to execute counterweight spraying on a user interface. The user completes the confirmation operation by clicking on an option in the pop-up window. The specific user confirmation rule is set by the user based on the actual usage scenario and is not specifically limited here.

[0117] If the user confirms that counterweight spraying is prohibited, this application will further determine whether it is in the iterative equilibrium stage. If it is in the iterative equilibrium stage, the counterweight vector calculation will be performed again to determine the online counterweight spraying information. If it is not in the iterative equilibrium stage, a new round of online test spraying will begin.

[0118] Furthermore, this application controls the online liquid spraying balance device to perform counterweight liquid spraying based on online counterweight spraying information and user confirmation information, specifically including:

[0119] If the user confirms their agreement to the counterweight spraying, the online spraying balance device is controlled to perform counterweight spraying based on the online counterweight spraying information. After the counterweight spraying is executed, the preset cyclic variable value is accumulated.

[0120] In other words, at this point, the user confirms that the online liquid spraying device can be controlled to spray liquid into the balance chamber based on the online counterweight liquid spraying information. If the counterweight liquid spraying is completed, the previously preset loop variable value is incremented by 1, and the subsequent online liquid spraying balance automatic control is executed based on whether the preset imbalance condition is met.

[0121] S305, based on the third vibration signal collected after the counterweight is sprayed, determines whether the preset imbalance condition is met. If it is met, it enters the iterative balance stage, updates the spindle response information using historical spraying data, and repeats the counterweight calculation and spraying until the preset imbalance condition is no longer met.

[0122] The third vibration signal is collected after the counterweight spraying is performed. The processing of the third vibration signal can be referenced from the embodiment of processing the first vibration signal in S301 described above, and will not be repeated here. If it is determined that the preset imbalance condition is not met at this time, free acquisition will be performed; if it is determined that the preset imbalance condition is still met, since the preset loop variable value is not 0 at this time, the iterative balancing stage will be entered, and the counterweight balancing of the spindle will be performed.

[0123] Through the above technical solution, this application can detect the imbalance state of the high-speed spindle in real time without stopping the machine, and achieve balance control of the high-speed spindle through a combination of two stages: test spraying and counterweight spraying. Simultaneously, this application further achieves fine-tuning of the spindle balance through an iterative balancing stage, thereby realizing high-precision, real-time controllable dynamic balancing correction of the high-speed electric spindle without stopping the machine, improving the spindle's balance state and ensuring its smooth operation.

[0124] More specifically, this application can accurately achieve effective dynamic balancing of the spindle at various speeds online, significantly reducing spindle vibration to below the expected value, and enabling the spindle to maintain a stable balance and operate smoothly during speed changes. This method improves upon the traditional influence coefficient method by adding trial weights, allowing the spindle to be targeted during the trial weight balancing stage. It can effectively improve the vibration status of the spindle in the first spraying stage. Based on the measurement of the minimum single spray of the spraying system, multiple cyclic spraying is used to complete the counterweight compensation of the spindle. Multiple iterative counterweighting is performed based on the first counterweight balancing. The method of assigning rotating variables omits the trial weight spraying in the higher balancing stages. The method of manually confirming the spraying results before counterweight spraying balancing ensures the accuracy of this algorithm in multiple ways. It quickly and effectively realizes high-precision online spraying balance control technology for high-speed spindles, and provides the relevant software implementation.

[0125] To meet the requirements of online dynamic balancing control technology for high-speed spindle liquid spraying, this application uses an NI high-speed synchronous data acquisition instrument as the lower-level machine for dynamic data acquisition, and an industrial control computer as the upper-level machine for digital signal processing and data analysis. The analysis software is programmed using LabVIEW dataflow, and the upper and lower-level machines communicate using a PXI 4472 board. Through signal filtering and spectrum transformation, the fundamental frequency vibration signal is obtained from the vibration signal superimposed by various signals. The improved influence coefficient method is used to process and calculate the test data, successively obtaining the required balance compensation and controlling the liquid spraying actuator to perform the corresponding liquid spraying balancing.

[0126] In simpler terms, the overall approach of this application is to first test the original unbalanced response of the main spindle and perform online test spraying. The original vibration response of the spindle is then compared with the expected value. If the spindle vibration is significant, algorithmic balancing begins. The algorithm calculates the corresponding influence coefficient vector, further calculating the counterweight vector required to balance the test weight response. The spraying system is then controlled to add the counterweight online, completing the first round of spraying balance compensation. If the vibration amplitude of the spindle is still greater than the expected value, the algorithm automatically enters the iterative balancing phase. In this phase, test weight spraying is no longer performed; instead, the previous counterweight spraying response is assigned to the current test weight response, which is then used as the original response for the current test weight. The required secondary spraying balance value is then calculated. The liquid spraying process is performed, and the cycle count is automatically incremented by 1 after each liquid spraying of the counterweight. Before the liquid spraying of the counterweight, the calculated liquid spraying results need to be manually confirmed. If there are reservations about the liquid spraying analysis values, the balancing process can be terminated at any time. At ultra-high speeds, the liquid spraying can also be performed by continuously testing the liquid spraying to achieve successive micro-liquid spraying balancing. This method takes more time, but it can accurately determine the vibration of the spindle at each step. This method of manually confirming the liquid spraying before balancing and the successive liquid spraying balancing method that can be selected at ultra-high speeds provide a double guarantee for the effective balancing of the spindle at ultra-high speeds. During the iterative balancing stage, the vibration amplitude of the spindle is compared with the expected value after each liquid spraying balancing is completed. Once the ideal balancing range is reached, the balancing process is terminated and the process enters the free state acquisition stage.

[0127] Figure 4 This is another schematic flowchart illustrating an online liquid injection balancing automatic control method for a high-speed electric spindle provided in an embodiment of this application, as shown below. Figure 4As shown, the algorithm execution process includes: determining whether the vibration value (vibration amplitude) is greater than the expected value (preset amplitude threshold); if not (the preset imbalance condition is not met), the process ends; if so, determining whether the number of cycles k is equal to 0 (whether it is in the iterative equilibrium stage); if so (not in the iterative equilibrium stage), acquiring the waveform (first vibration signal) and calculating the original response; performing a test spray in the opposite direction of the initial phase angle (test spray operation); acquiring the waveform (second vibration signal) and calculating the test weight response; if the number of cycles k is not equal to 0, starting iterative spraying, assigning the (k-1)th test weight response to the kth original response, and assigning the (k-1)th counterweight response to the kth test weight response; Vector decomposition is performed to calculate the counterweight spraying. If spraying is not performed, the process returns to the judgment loop. If k equals 0, the waveform is acquired again to determine the original response of the spindle. A test spray is then performed in the opposite direction of the calculated initial phase angle. The response after the test spray is acquired again, and the counterweight spraying information is calculated. A pop-up window appears again to confirm whether spraying has occurred; k remains 0. If spraying has occurred, the system counterweight is sprayed, and k is incremented by 1. The waveform is acquired to calculate the counterweight response. If the vibration value is less than the expected value, the process ends and enters the Idle state to acquire the first vibration signal in real time. Otherwise, the process returns to the judgment loop. If k equals 0, the process returns to the judgment loop.

[0128] More specifically, the specific implementation steps of the above method are as follows:

[0129] Step 1) Test the initial dynamic imbalance A of the spindle to obtain its magnitude and orientation. The implementation method of this step and the software is as follows:

[0130] Step 1-1): Turn on the oil-air lubrication system and water cooling system. After the spindle is basically lubricated, turn on the electric spindle to a certain speed.

[0131] Step 1-2) Start the spray balance control software to collect data. Input appropriate parameters in the parameter input module, collect and save data in the operation and control column. The time-domain vibration waveform and real-time vibration velocity of the spindle can be observed in real time on the front panel of the balance software. The amplitude and phase of the unbalance vector are obtained through the built-in algorithm, and the angle range of the unbalance phase corresponding to the spray balance device is determined.

[0132] Step 2) Compare the measured magnitude of the original unbalance with the expected value stored in the system. If the measured original vibration is less than the expected vibration value, it indicates that the vibration state of the spindle is relatively stable and meets the vibration requirements. Therefore, it is not necessary to balance the spindle. At this time, the algorithm automatically enters the vibration free acquisition idle state. If the measured original vibration is greater than the expected vibration value, the improved influence coefficient method is used to balance the spindle online.

[0133] Step 3) Determine if the number of times the spray balance is performed is zero. If the loop variable k is zero, proceed to the trial weight addition stage. If the loop variable k is not zero, proceed to the iterative spray stage. If you want to proceed to the iterative balance stage, skip to step 10.

[0134] Step 4) When performing the initial liquid spraying balance, the number of cycles k is equal to zero. Calculate the appropriate test liquid mass at the corresponding rotation speed according to the empirical formula, and control the liquid spraying system to spray the corresponding amount of test liquid in the 180-degree direction of the original unbalanced phase. The liquid spraying mass is T. The minimum liquid spraying volume of the liquid spraying system is overcalibrated and the corresponding mass-time relationship is stored in the algorithm. Therefore, the control parameters issued by the control system are in time units.

[0135] Step 5) Test the spindle test weight imbalance response B to obtain the magnitude and orientation of the corresponding test weight imbalance. This step is implemented as follows:

[0136] Step 5-1) After the spindle has run smoothly, test the vibration waveform of the spindle under test weight through the software action and process control section, and save the data.

[0137] Step 5-2): Use the phase detection signal to truncate the acquired waveform to a certain length, calculate its test weight imbalance response, and obtain the magnitude and orientation of the corresponding test weight imbalance.

[0138] Step 6) Calculate the corresponding influence coefficient and the required counterweight balance. This step is implemented as follows:

[0139] Step 6-1): Calculate using the influence coefficient method formula. The corresponding influence coefficient vector C is obtained;

[0140] Step 6-2): Because online spraying is an irreversible process, the equilibrium target is the trial weight response, according to the formula... Furthermore, the counterweight vector W that needs to balance the response of the test weight is calculated, and the calculated counterweight vector W is decomposed into four phases optimally.

[0141] Step 7) Perform online counterweight spraying dynamic balancing. The software interface will pop up a dialog box asking whether to confirm the spraying calculation results. If you click "Confirm", the spraying system valve components will add the calculated balance vector to the corresponding positions of the online spraying balancing device. After the counterweight spraying is completed, the cycle count will automatically increment by 1. If you click "No", the software will exit the counterweight spraying in the first counterweight balancing stage and start a new round of online test spraying. At this time, repeat steps 2), 3), 4), 5), 6), and 7). If you click "No" every time, it is equivalent to performing successive online spraying micro-balancing. If you are in the iterative spraying balancing stage, click "No" and keep the preset cycle variable value. At this time, you do not exit the iterative balancing stage. The software will re-collect the response after the k-1th (previous) counterweighting of the main shaft and assign it to the kth (current) test weight response to recalculate the counterweight and start a new balancing step.

[0142] Step 8) Test the spindle counterweight imbalance response to obtain the magnitude and orientation of the imbalance after the spindle fluid spraying is balanced. This step is implemented as follows:

[0143] Step 8-1) After the spindle runs smoothly, test the vibration waveform of the spindle's counterweight through the software action and process control section, and save the data.

[0144] Step 8-2): Use the phase detection signal to truncate the acquired waveform to a certain length, calculate its counterweight imbalance response, and obtain the magnitude and orientation of the corresponding counterweight imbalance.

[0145] Step 9): Repeat the judgment process of Steps 2) and 3).

[0146] Step 10) Iterative spray balance: In this stage, no more trial weight spraying is performed. Instead, the (k-1)th counterweight spraying response is assigned to the kth trial weight response, and the (k-1)th trial weight spraying response is used as the original response of the kth.

[0147] Step 11), repeat steps 6), 7), 8), and 9); until the vibration reading of the spindle is less than the expected value; the above steps realize the online liquid spray balance identification and correction of the spindle.

[0148] Compared with existing dynamic balance control technology, this application has the following advantages:

[0149] (1) The high-speed spindle dynamic balancing method involved in this application can reach a spindle speed of up to 40,000 rpm, which meets the needs of high-speed spindle dynamic balancing test and balancing; (2) The built-in magnetic encoder involved in this application can control the acquisition sequence of spindle radial runout data, effectively eliminating the data acquisition error caused by the spindle speed fluctuation within a certain range; (3) This application improves the original method of adding the test weight of the influence coefficient, and determines the orientation of the test weight according to the angle of the original unbalance response instead of blindly spraying liquid, so that the rotor can effectively reduce vibration in the first liquid spray; (4) This application can adapt to the balancing requirements of the spindle in the ultra-high speed state, and can achieve micro-volume successive liquid spray balancing according to the requirements in the ultra-high speed stage, avoiding the calculation error caused by high speed interference in the calculation results; (5) This application adopts the method of combining main counterweight and iterative counterweight. After the counterweight liquid spray balancing, it enters the iterative liquid spray balancing stage. At this time, the test weight liquid spray is no longer needed, but the previous counterweight liquid spray response is called. The balance calculation should be performed in this case, so that the entire balance process is closely related; (6) This application requires manual confirmation of the calculation results. Before the counterweight liquid balance, the liquid calculation results need to be manually confirmed. If the accuracy of the calculation results cannot be determined, if it is in the first counterweight balance stage, a trial weight test will be performed again. If it is in the iterative liquid balance stage, the iterative counterweight calculation will be performed again, and a new round of balance will be entered. At this time, there is no trial weight liquid spraying. Manual confirmation improves the safety guarantee of high-speed liquid balance; (7) The online liquid automatic balance control technology involved in this application can control the liquid flow rate without stopping the machine, so that the balance amount of the spindle can be controlled during the balance process, thereby achieving high-precision balance and improving productivity; (8) The online liquid automatic balance control technology involved in this application is implemented by software, which can display the vibration time domain waveform and vibration speed of the spindle in real time, and intuitively display the balance process in the form of indicator lights. The pop-up dialog box to confirm the calculation results greatly increases the human-computer interaction.

[0150] The high-speed electric spindle online liquid spray balancing automatic control method of this application improves various limitations of existing balancing methods. Compared with traditional offline balancing methods, it greatly reduces the number of downtimes, eliminates the need for frequent start-up and shutdown, reduces balancing time, and improves productivity. It can quickly and effectively achieve high-speed and high-precision online dynamic balancing of electric spindles. Its corresponding software interface features real-time observability, high degree of automation, ease of operation, and low cost.

[0151] Figure 5 The image shows the effect of a liquid spraying experiment on the vibration velocity of a highly electrically powered spindle at 24000 r / min during online dynamic balancing. Figure 5 As shown, the horizontal axis represents time in seconds (s), and the vertical axis represents vibration velocity in millimeters per second (mm / s).

[0152] Figure 6 A schematic diagram of the structure of an online liquid spraying balance automatic control device for a high-speed electric spindle provided in this application embodiment is shown below. Figure 6 As shown, the device includes:

[0153] At least one processor; and a memory communicatively connected to the at least one processor. The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to:

[0154] Based on the first vibration signal acquired in real time from the high-speed spindle, it is determined whether the preset imbalance condition is met. If so, based on the corresponding initial imbalance vector, the test spray volume and its corresponding spray phase are determined to perform a test spray operation on the high-speed spindle. Based on the second vibration signal acquired after the test spray operation, the corresponding test weight imbalance vector is determined, and the corresponding counterweight vector is determined based on the test weight imbalance vector, the initial imbalance vector, and the test spray volume. Based on the preset multi-phase optimization decomposition of the counterweight vector, the online counterweight spray information is determined, and the online spray balancing device is controlled to perform counterweight spraying according to the online counterweight spray information and user confirmation information. Based on the third vibration signal acquired after the counterweight spraying, it is determined whether the preset imbalance condition is met. If it is met, the iterative balancing stage is entered, the spindle response information is updated using historical spray data, and the counterweight calculation and spraying are repeated until the preset imbalance condition is no longer met.

[0155] Based on the above concept, this application also provides a high-speed electric spindle online liquid injection balance automatic control system. Figure 7 A schematic diagram of the structure of an online liquid injection balance automatic control system for a high-speed electric spindle provided in this application embodiment is shown below. Figure 7 As shown, the high-speed electric spindle online liquid injection balance automatic control system includes:

[0156] The first determining module determines whether a preset imbalance condition is met based on the first vibration signal acquired in real time from the high-speed spindle. The second determining module, if yes, determines the test spray volume and its corresponding spray phase based on the corresponding initial imbalance vector, and performs a test spray operation on the high-speed spindle. The third determining module determines the corresponding test weight imbalance vector based on the second vibration signal acquired after the test spray operation, and determines the corresponding counterweight vector based on the test weight imbalance vector, the initial imbalance vector, and the test spray volume. The fourth determining module determines the online counterweight spray information based on a preset multi-phase optimization decomposition of the counterweight vector, and controls the online spray balancing device to perform counterweight spraying based on the online counterweight spray information and user confirmation information. The judging module determines whether the preset imbalance condition is met based on the third vibration signal acquired after the counterweight spray. If the condition is met, it enters the iterative balancing stage, updates the spindle response information using historical spray data, and repeats the counterweight calculation and spraying until the preset imbalance condition is no longer met.

[0157] This application embodiment also provides a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0158] Based on the first vibration signal acquired in real time from the high-speed spindle, it is determined whether the preset imbalance condition is met. If so, based on the corresponding initial imbalance vector, the test spray volume and its corresponding spray phase are determined to perform a test spray operation on the high-speed spindle. Based on the second vibration signal acquired after the test spray operation, the corresponding test weight imbalance vector is determined, and the corresponding counterweight vector is determined based on the test weight imbalance vector, the initial imbalance vector, and the test spray volume. Based on the preset multi-phase optimization decomposition of the counterweight vector, the online counterweight spray information is determined, and the online spray balancing device is controlled to perform counterweight spraying according to the online counterweight spray information and user confirmation information. Based on the third vibration signal acquired after the counterweight spraying, it is determined whether the preset imbalance condition is met. If it is met, the iterative balancing stage is entered, the spindle response information is updated using historical spray data, and the counterweight calculation and spraying are repeated until the preset imbalance condition is no longer met.

[0159] The various embodiments in this application are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the device, system, and medium embodiments are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0160] The devices, systems, media, and methods provided in the embodiments of this application are one-to-one correspondences. Therefore, the devices, systems, and media also have similar beneficial technical effects as their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices, systems, and media will not be repeated here.

[0161] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0162] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A high-speed electric spindle on-line liquid injection balancing automatic control method, characterized in that, The method comprises: Based on the first vibration signal collected in real time to the high-speed spindle, determine whether the preset unbalance condition is met; If yes, based on the corresponding initial unbalance vector, determine the test liquid quantity and its corresponding liquid phase position to perform test liquid operation to the high-speed spindle; Based on the second vibration signal collected after the test liquid operation, determine the corresponding test weight unbalance vector, and based on the test weight unbalance vector, the initial unbalance vector and the test liquid quantity, determine the corresponding counterweight vector; Based on the preset multi-phase optimization decomposition of the counterweight vector, determine the online counterweight liquid information to control the online counterweight liquid balance device to perform counterweight liquid according to the online counterweight liquid information and user confirmation information; Based on the third vibration signal collected after the counterweight liquid, judge whether the preset unbalance condition is met, and if yes, enter the iterative balance stage, update the spindle response information using historical liquid data and repeat the counterweight calculation and liquid, until the preset unbalance condition is not met.

2. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 1, wherein, Based on the corresponding initial unbalance vector, determine the test liquid quantity and its corresponding liquid phase position to perform test liquid operation to the high-speed spindle, specifically comprising: According to the preset cycle variable value, judge whether the current is the iterative balance stage; If no, calculate the test liquid quantity according to the preset empirical formula and the vibration amplitude in the initial unbalance vector; wherein the preset empirical formula is constructed based on the relationship between the test liquid quantity and the vibration amplitude, rotor mass, gravitational acceleration, weight radius, rotor angular velocity and preset sensitivity coefficient; According to the unbalance phase corresponding to the initial unbalance vector, determine the liquid phase; the liquid phase and the unbalance phase are in reverse relationship; According to the test liquid quantity and the liquid phase, execute the test liquid operation; the test liquid operation is to apply the test liquid corresponding to the test liquid quantity to the position corresponding to the liquid phase of the high-speed spindle.

3. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 2, characterized in that, In the case of judging that the current is the iterative balance stage, update the response information using historical liquid data and repeat the counterweight calculation and liquid, specifically comprising: The (k-1)th test weight unbalance vector corresponding to the current iteration number k is used as the initial unbalance vector of the current kth time; wherein k is a natural number greater than 1; The counterweight liquid response vector of the (k-1)th time is used as the test weight unbalance vector of the current kth time; According to the initial unbalance vector, the test weight unbalance vector and the first iteration test liquid quantity corresponding to the current kth time, iteratively calculate the counterweight vector to determine the corresponding online counterweight liquid information and send it to the user terminal, until the user confirmation information is to prohibit counterweight liquid or not to meet the preset unbalance condition, end the iterative balance stage.

4. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 1, wherein, Based on the test weight unbalance vector, the initial unbalance vector and the test liquid quantity, determine the corresponding counterweight vector, specifically comprising: Calculate the first vector difference between the test weight unbalance vector and the initial unbalance vector; The ratio of the first vector difference to the test liquid quantity is used as the corresponding influence coefficient vector; According to the trial weight imbalance vector and the influence coefficient vector, the counterweight vector is determined.

5. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 1, wherein, Based on preset multi-phase optimization decomposition of the counterweight vector, online counterweight spraying information is determined, specifically including: According to the balance cavity angle corresponding to the online spraying balance device, the preset spraying unit time length and the single cavity spraying time length threshold, the candidate spraying vector set corresponding to each balance cavity is generated; Each of the candidate spraying vector sets is merged into a single cavity spraying vector set; From the single cavity spraying vector set, two candidate spraying vectors are randomly selected to combine and construct a plurality of synthetic vectors to calculate the second vector difference between the counterweight vector and each of the synthetic vectors; wherein the two randomly selected candidate spraying vectors correspond to different candidate spraying vector sets or correspond to the same candidate spraying vector set; Each of the second vector differences is traversed to determine the corresponding optimization vector deviation and the corresponding optimization synthetic vector according to the deviation optimization condition corresponding to the preset multi-phase optimization decomposition; wherein the deviation optimization condition is used to determine the minimum value of the modulus corresponding to each of the second vector differences; The optimization synthetic vector is added to the online counterweight spraying information.

6. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 1, wherein, Before controlling the online spraying balance device to perform counterweight spraying, the method further includes: If the user confirmation information is to prohibit counterweight spraying, it is determined whether it is in the iterative balance stage; If yes, the current preset cycle variable value is maintained, and the iteration of determining the counterweight vector is performed again; If not, the first vibration signal is reacquired to perform the trial spraying operation.

7. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 2, wherein, According to the online counterweight spraying information and the user confirmation information, the online spraying balance device is controlled to perform counterweight spraying, specifically including: If the user confirmation information is to agree to counterweight spraying, the online spraying balance device is controlled to perform counterweight spraying according to the online counterweight spraying information; After performing counterweight spraying, the preset cycle variable value is accumulated.

8. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 1, wherein, Based on the first vibration signal of the high-speed spindle collected in real time, it is determined whether the preset imbalance condition is met, specifically including: The first vibration signal is signal intercepted through signal demodulation; The vibration signal obtained by signal interception is subjected to Fourier transform to determine a frequency spectrum curve corresponding to one frequency of the high-speed spindle; The corresponding spectral line peak value and the corresponding peak phase angle are extracted from the frequency spectrum curve; The spectral line peak value is compared with a preset amplitude threshold value to determine whether the preset imbalance condition is met in the case where the spectral line peak value is greater than the preset amplitude threshold value, otherwise, the preset imbalance condition is not met.

9. The automatic control method of online liquid injection balancing of a high-speed motorized spindle according to claim 1, wherein, The online spraying balance device includes at least 4 balance cavities annularly surrounding the high-speed spindle, and each of the balance cavities corresponds to different phases of the high-speed spindle in the circumferential direction.

10. A high-speed electric spindle on-line liquid injection balancing automatic control system, characterized in that, The system includes: A first determination module for determining whether a preset imbalance condition is met based on a first vibration signal of a high-speed spindle collected in real time; A second determination module for determining a trial spraying amount and a corresponding spraying phase based on a corresponding initial imbalance vector if the preset imbalance condition is met, to perform a trial spraying operation on the high-speed spindle; a third determining module, configured to determine a corresponding trial weight imbalance vector based on a second vibration signal collected after a trial liquid injection operation, so as to determine a corresponding counterweight vector based on the trial weight imbalance vector, the initial imbalance vector and the trial liquid injection amount; a fourth determining module, configured to determine online counterweight liquid injection information based on a preset multi-phase optimization decomposition on the counterweight vector, so as to control an online liquid injection balancing device to perform counterweight liquid injection according to the online counterweight liquid injection information and user confirmation information; a judging module, configured to judge whether the preset imbalance condition is met based on a third vibration signal collected after the counterweight liquid injection, so as to enter an iterative balancing stage when the preset imbalance condition is met, update spindle response information using historical liquid injection data and repeat counterweight calculation and liquid injection until the preset imbalance condition is not met.

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