Multi-stage rotor inertia main shaft inclination transmission regulation and control method based on space pose matching
By adopting a multi-stage rotor inertial shaft tilt transmission control method based on spatial pose matching, the problem of accumulated inertial shaft tilt error in multi-stage rotor assembly of turbine engines was solved, and precise control of inertial shaft tilt was achieved, thereby improving the manufacturing quality and operational stability of the engine.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-28
- Publication Date
- 2026-03-10
AI Technical Summary
Existing multi-stage rotor assembly technology for turbine engines fails to effectively consider the transmission law of inertial shaft tilt error, resulting in excessive vibration of the assembled rotor at high speeds. Traditional balancing processes lose effectiveness in the supercritical range and cannot cope with the continuous vibration growth caused by inertial shaft tilt, thus becoming an obstacle to improving engine performance.
A multi-stage rotor inertial principal axis tilt transmission control method based on spatial pose matching is adopted. By defining a multi-coordinate system, obtaining and calculating the inertial tensor matrix, solving the inertial principal axis tilt angle, and establishing an inertial principal axis offset control model, the precise control of the inertial principal axis tilt is achieved.
It improves the assembly quality of multi-stage rotors, suppresses unbalanced vibrations in the rotor system, reduces the risk of failure, enhances the operational stability and service life of turbine engines, and breaks through the bottleneck of traditional assembly technology.
Smart Images
Figure CN121637795A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a multi-stage rotor transmission control method, specifically a multi-stage rotor inertial main shaft tilt transmission and control method based on spatial pose matching, belonging to the field of turbine engine rotor system manufacturing technology. Background Technology
[0002] Turbine engines are the core power source for transportation equipment such as aircraft and ships, and their rotors are subjected to severe vibrations at extremely high speeds. Rotor vibration not only limits engine performance improvements but also easily induces engine failures, affecting transportation efficiency. The machining of single-stage rotors and the assembly of multi-stage rotors are the two major production stages of rotor systems. While maintaining consistent machining accuracy, the assembly of multi-stage rotors directly impacts the final quality. Compared to traditional geometric error indicators such as concentricity, inertial shaft tilt, as a direct factor causing unbalanced excitation forces, is a more effective indicator of vibration generation. However, unlike the intuitive measurement of geometric quantities, optimizing the assembly of inertial shaft tilt is difficult to achieve through experience alone. The indirect causes of inertial shaft tilt have not received sufficient attention in the multi-stage rotor assembly process.
[0003] Current multi-stage rotor assembly technology in the industry still has significant limitations. For example, traditional methods often focus on controlling the centroid offset of a single-stage rotor and reducing centrifugal force excitation through low-speed dynamic balancing, but neglect the inertial torque excitation caused by the tilt of the inertial spindle. Furthermore, existing assembly processes lack coordinated matching design for the spatial orientation of each rotor stage and fail to consider the transmission law of inertial spindle tilt error, resulting in excessive vibration of the assembled rotor under actual high-speed conditions. More importantly, as the engine operating speed enters the supercritical range, the control effect of traditional balancing processes significantly diminishes, failing to cope with the continuous vibration growth caused by the inertial spindle tilt, which has become a core technical obstacle restricting engine performance upgrades. Therefore, a multi-stage rotor inertial spindle tilt transmission and control method based on spatial orientation matching is needed to achieve high-quality multi-stage rotor assembly. Summary of the Invention
[0004] To address the challenge of inertial spindle tilt control during turbine engine assembly, this invention proposes a multi-stage rotor inertial spindle tilt transmission control method based on spatial pose matching, thereby achieving assembly control.
[0005] The technical solution adopted by the present invention to solve the above problems is as follows: A multi-stage rotor inertial spindle tilt transmission control method based on spatial pose matching is implemented through the following steps: S1: Acquisition of rotor dimensional characteristics, geometric errors, and inertial axis tilt data; Define a multi-coordinate system during rotor assembly, and collect dimensional characteristics, geometric errors, and inertial axis data of each stage of the rotor. The coordinate system includes a centroid coordinate system, an assembly coordinate system, a centroid coordinate system, a rotation coordinate system, and an inertial axis coordinate system. The dimensional characteristics include rotor height and assembly surface radius. The geometric errors include the eccentricity of the upper end face relative to the lower end face, the eccentricity angle, the perpendicularity, and the angle corresponding to the lowest sampling point. The inertial axis data is the rotor inertial axis tilt angle. S2: Obtaining the inertia tensor matrix in the centroidal coordinate system; based on the data obtained in S1, the first... i The inertia tensor matrix of the stage rotor in the centroidal coordinate system; S3: Obtain the inertia tensor matrix in the assembly coordinate system; transform the inertia tensor matrix in the centroid coordinate system to the assembly coordinate system, and use the tensor matrix obtained in S2... i The inertia tensor matrix in the centroidal coordinate system of the first rotor stage is transformed from the centroidal coordinate system to the assembly coordinate system through a translation transformation, resulting in the translationally transformed inertia tensor matrix. Combining this with a rotation transformation from the centroidal coordinate system to the assembly coordinate system, the rotationally transformed inertia tensor matrix is obtained. Finally, by combining the translationally and rotationally transformed inertia tensors, the inertia tensor matrix in the assembly coordinate system is obtained. i The inertia tensor matrix of the stage rotor; S4: Solve for the inertia tensor matrix after multi-stage rotor assembly; the first inertia tensor matrix in the assembly coordinate system obtained from S3. i The inertia tensor matrix of the stage rotor is summed to obtain the value in the assembly coordinate system. n The inertia tensor matrix after the stage rotor is assembled; S5: Calculation of the inertia tensor matrix in the rotating coordinate system; the inertia tensor matrix of each rotor is transformed from the assembly coordinate system to the rotating coordinate system through rotational transformation. n After the stage rotor is assembled, it is synthesized into a complete product. n The inertia tensor matrix of the stage rotor in the slewing coordinate system; S6: Calculation n The inertial principal axis tilt angle after the stage rotor assembly; based on the values obtained in S5. n The angle between the principal axes of inertia and the axis of rotation is obtained by solving the inertia tensor matrix of the stage rotor in the gyratory coordinate system. n The inertial spindle tilt angle after the stage rotor is assembled; S7: Inertial principal axis tilt control; based on S6. n After the stage rotor is assembled, an inertial principal shaft tilt angle is established to create a rotor inertial principal shaft offset control model. The minimum inertial principal shaft tilt angle is obtained through the rotor inertial principal shaft offset control model and used as the inertial principal shaft tilt control.
[0006] Furthermore, if the data obtained from S1 is the first...i The inertial tensor matrix of the stage rotor in the center-of-mass coordinate system , the first i The inertial tensor matrix of the stage rotor in the center-of-mass coordinate system Translate to the centroid coordinate system to obtain the first i The inertial tensor matrix of the stage rotor in the centroidal coordinate system The specific expression is:
[0007] In the formula, For the first i The mass of the stage rotor, This is a translation transformation from the centroid coordinate system to the centroid coordinate system.
[0008] Furthermore, the first one described in S2 i The inertia tensor matrix of the stage rotor in the centroidal coordinate system is expressed as follows:
[0009] In the formula, x ij For the first i Stage rotor micro element j Coordinates on the x-axis y ij For the first i Stage rotor micro element j Coordinates on the y-axis; z ij For the first i Stage rotor micro element j Coordinates on the z-axis m ij For the first i Micro-element of stage rotor j The quality.
[0010] Furthermore, the inertial tensor matrix after the translation transformation described in S3 is represented as follows:
[0011] In the formula, Let be the transformation matrix for the inertia tensor from the centroid coordinate system to the assembly coordinate system. For the first i Geometric center position of the upper end face of the stage rotor Let be the position matrix of the centroid in the assembly coordinate system.
[0012] Furthermore, the inertia tensor matrix after the rotational transformation described in S3 is represented as follows:
[0013] In the formula, For the first i The spatial pose rotation matrix of the stage rotor from the centroid coordinate system to the assembly coordinate system, where T is the transpose.
[0014] Furthermore, in the assembly coordinate system described in S3, the first... i The inertia tensor matrix of the stage rotor is represented as follows:
[0015] Furthermore, in the assembly coordinate system described in S4 n The inertia tensor matrix after the stage rotor assembly is represented as follows:
[0016] Furthermore, as described in S5 n The inertia tensor matrix of the stage rotor in the gyratory coordinate system is represented as follows:
[0017] In the formula, This is the rotation matrix of the rotor from the assembly coordinate system to the rotary coordinate system.
[0018] Furthermore, in the rotary coordinate system described in S6 n The inertial spindle tilt angle after the stage rotor is assembled is expressed as follows:
[0019] In the formula, and Let be the moment of inertia about the three coordinate axes. It is the product of inertia perpendicular to the direction of rotation.
[0020] Furthermore, the rotor inertial main shaft tilt control model described in S7 is represented as follows:
[0021] In the formula, For the first i Assembly phase of the stage rotor.
[0022] The beneficial effects of this invention are: 1. This invention proposes a multi-stage rotor inertial shaft tilt transmission and control method based on spatial pose matching, which performs virtual assembly of the rotor before final assembly. By predicting the inertial shaft tilt at various assembly angles, the actual assembly process is guided, thereby improving the manufacturing quality of the turbine engine.
[0023] 2. This invention effectively suppresses the cumulative deviation between the inertial main shaft and the rotation axis of the multi-stage rotor by adjusting the assembly posture of each rotor to compensate for tilt transmission, thereby reducing the unbalanced vibration of the rotor system, reducing the risk of failures such as bearing wear and blade fatigue fracture, and significantly improving the operating stability and service life of the turbine engine.
[0024] 3. This invention breaks through the bottleneck of traditional assembly technology and achieves precise control of inertial spindle tilt error. This method abandons the limitation of traditional assembly which only focuses on centroid offset control. By establishing a spatial pose matching model, it accurately quantifies the tilt state and transmission law of the inertial spindles at each stage of the rotor, solving the problem of difficult-to-control cumulative tilt error of multi-stage rotors. Attached Figure Description
[0025] Figure 1 This is a flowchart illustrating the multi-stage rotor inertial spindle tilt transmission control method based on spatial pose matching according to the present invention. Figure 2 This is a schematic diagram of coordinate system translation transformation in this invention; Figure 3 This is a schematic diagram of coordinate system rotation transformation in this invention; Figure 4 This is a schematic diagram of the inertial principal shaft tilt of the two-stage rotor in different coordinate systems according to the present invention. Detailed Implementation
[0026] The present invention will now be further described with reference to the accompanying drawings: Specific implementation method one: Combining Figure 1-4 This implementation method is described as follows: Figure 1 As shown in the figure, the multi-stage rotor inertial spindle tilt transmission control method based on spatial pose matching described in this embodiment is implemented through the following steps: S1: Acquisition of rotor dimensional characteristics, geometric errors, and principal axis tilt data; defining a multi-coordinate system during rotor assembly, collecting dimensional characteristics, geometric errors, and principal axis data for each stage of the rotor. The coordinate system includes a centroid coordinate system, an assembly coordinate system, a centroid coordinate system, a rotation coordinate system, and a principal axis coordinate system. Dimensional characteristics include rotor height and assembly surface radius. Geometric errors include eccentricity, eccentricity angle, perpendicularity, and the angle corresponding to the lowest sampling point relative to the upper end face. Principal axis data includes the principal axis tilt angle and principal axis offset of a single-stage rotor. Specifically, this can be achieved by using a moment of inertia measuring device to measure the principal axis tilt angle of a single-stage rotor.
[0027] like Figure 2 and Figure 3 As shown, this is the first i Rotor centroid coordinate system ( xc o c y c z c Assembly coordinate system x a o a y a z a Centroid coordinate system x o o o y o z o Spatial location. The coordinate axes of the three coordinate systems do not coincide. The assembly coordinate system can be obtained by translating the centroid coordinate system to the mass coordinate system and then rotating it.
[0028] S2: Obtaining the inertia tensor matrix in the centroidal coordinate system; based on the data obtained in S1, the first... i The inertial tensor matrix of the stage rotor in the centroidal coordinate system.
[0029] The inertial tensor matrix in the centroid coordinate system can be obtained from the measurement data obtained by S1. And directly obtain the inertial tensor matrix in the centroid coordinate system .
[0030] If the result is the first i The inertial tensor matrix of the stage rotor in the center-of-mass coordinate system According to the position matrix of the centroid in the centroid coordinate system, , the first i The inertial tensor matrix of the stage rotor in the center-of-mass coordinate system Translating to the centroid coordinate system allows us to simultaneously obtain the first... i The inertial tensor matrix of the stage rotor in the centroidal coordinate system The specific expression is: (1) In equation (1), For the first i The mass of the stage rotor, This is a translation transformation from the centroid coordinate system to the centroid coordinate system.
[0031] The inertial tensor matrix in the centroid coordinate system can be transformed by translation according to equation (1). Transform to centroidal coordinate system .
[0032] Because the measurement error of the centroid is relatively large, what is usually obtained through measurement is the inertial tensor matrix relative to the rotor centroid coordinate system. , is not the inertial tensor matrix relative to the rotor's center of mass coordinate system. The first... i The inertial tensor matrix of the stage rotor in the centroidal coordinate system It is expressed as follows: (2) In equation (2), x ij For the first i Stage rotor micro element j Coordinates on the x-axis y ij For the first i Stage rotor micro element j Coordinates on the y-axis; z ij For the first i Stage rotor micro element j Coordinates on the z-axis m ij For the first i Micro-element of stage rotor j The quality.
[0033] S3: Obtain the inertia tensor matrix in the assembly coordinate system; transform the inertia tensor matrix in the centroid coordinate system to the assembly coordinate system, and use the tensor matrix obtained in S2... i The inertial tensor matrix in the centroid coordinate system of the stage rotor is transformed from the centroid coordinate system to the assembly coordinate system through translation transformation, resulting in the translated inertial tensor matrix.
[0034] Based on the parallel axis generalization theorem, the transformation matrix for translating the inertia tensor from the centroid coordinate system to the assembly coordinate system is as follows: (3) In equation (3), Let the position matrix of the centroid in the assembly coordinate system be given. This is the geometric center position of the upper end face of the i-th stage rotor.
[0035] Then the inertial tensor matrix after the translation transformation is the first... i The inertia tensor matrix of the stage rotor after translation from the centroidal coordinate system to the assembly coordinate system is expressed as follows: (4) Align the coordinate axes of the centroidal coordinate system and the assembly coordinate system, perform a rotation transformation on the inertia tensor matrix, and combine this with the rotation transformation from the centroidal coordinate system to the assembly coordinate system to obtain the rotated inertia tensor matrix. The rotated inertia tensor matrix is the [number missing]th [missing information]. iThe inertia tensor matrix of the stage rotor after rotating from the centroidal coordinate system to the assembly coordinate system is represented as follows: (5) In equation (5), For the first i The spatial pose rotation matrix of the stage rotor from the centroid coordinate system to the assembly coordinate system, where T is the transpose.
[0036] The uneven mass distribution of the rotor causes the principal axes of inertia to tilt relative to the rotation axis; this is called the initial tilt of the rotor's principal axes of inertia. During rotor assembly, the tilt angle of the principal axes of inertia changes due to form and position errors; this is called the secondary tilt of the principal axes of inertia. After coordinate system translation and rotation transformations, the inertia tensor matrix obtained from the translation and rotation is used to obtain the second tilt in the assembly coordinate system. i The inertia tensor matrix of the first-stage rotor. In the assembly coordinate system... i The inertia tensor matrix of the stage rotor is represented as follows: (6) S4: Solve for the inertia tensor matrix after multi-stage rotor assembly; the first inertia tensor matrix in the assembly coordinate system obtained from S3. i The inertia tensor matrix of the stage rotor is summed to obtain the value in the assembly coordinate system. n The inertia tensor matrix after the stage rotor is assembled.
[0037] n After the stage rotor is assembled, the inertia tensor matrix in the assembly coordinate system is expressed as: (7) S5: Calculation of the inertia tensor matrix in the rotating coordinate system; the inertia tensor matrix of each rotor is transformed from the assembly coordinate system to the rotating coordinate system through rotational transformation. n After the stage rotor is assembled, it is synthesized into a complete product. n The inertial tensor matrix of the stage rotor in the slewing coordinate system.
[0038] like Figure 4 As shown, the tilt angle of the principal inertial shafts after the two-stage rotor assembly is displayed. It can be seen that the tilt angles of the principal inertial shafts of the two-stage rotors are not the same in different coordinate systems. This invention studies the rotor principal inertial shaft tilt transmission model based on the axis of rotation. Therefore, it is also necessary to obtain the tilt of the principal inertial shafts of the multi-stage rotors in the rotation coordinate system through coordinate axis rotation transformation.
[0039] Based on the transformation relationship between the assembly coordinate system and the rotary coordinate system, the rotary coordinate system is obtained by rotating the assembly coordinate system. Therefore, the... n The inertia tensor matrix of the stage rotor in the gyratory coordinate system is represented as follows: (8) In equation (8), This is the rotation matrix of the rotor from the assembly coordinate system to the rotary coordinate system.
[0040] n The inertia tensor matrix of the stage rotor in the rotating coordinate system after assembly is expressed as: (9) The inertia matrix in its own principal axis coordinate system is: (10) Principal inertia and rotor rotation coordinate system z The included angle along the axis is α r The rotor's rotary coordinate system will rotate. α r After the angle z The axis coincides with the principal axis of inertia. The rotation matrix is: (11) The inertial tensor matrix of the rotor in the principal axis coordinate system is expressed as: (12) Based on the above formula, we have: (13) S6: Calculation n The inertial principal axis tilt angle after the stage rotor assembly; based on the values obtained in S5. n The angle between the principal axes of inertia and the axis of rotation is obtained by solving the inertia tensor matrix of the stage rotor in the gyratory coordinate system. n The inertial spindle tilt angle after the stage rotor is assembled.
[0041] In the rotating coordinate system n The inertial spindle tilt angle after the stage rotor is assembled is expressed as follows: (14) In the formula, and Let be the moment of inertia about the three coordinate axes. It is the product of inertia perpendicular to the direction of rotation.
[0042] S7: Inertial principal axis tilt control; based on S6. n After the stage rotor is assembled, an inertial principal shaft tilt angle is established to create a rotor inertial principal shaft offset control model. The minimum inertial principal shaft tilt angle is obtained through the rotor inertial principal shaft offset control model and used as the inertial principal shaft tilt control.
[0043] The rotor inertial main shaft tilt control model is represented as follows: (15) In equation (15), For the first i Assembly phase of the stage rotor.
[0044] By iterating through the assembly phases of each rotor stage, the recommended assembly phase θ = { is obtained based on the minimum inertia principal shaft tilt angle. θ i , i = 1,2,…, n}
[0045] This invention proposes a method for the transmission and control of inertial shaft tilt in multi-stage rotors based on spatial pose matching. It provides optimized assembly angle suggestions for each stage of the rotor to guide the actual assembly process. Virtual assembly of the rotors is performed before actual assembly. By predicting the inertial shaft tilt at each assembly angle, the actual assembly process is guided, improving the manufacturing quality of the turbine engine. By adjusting the assembly pose of each rotor to compensate for tilt transmission, the cumulative deviation between the inertial shaft and the rotation axis of the multi-stage rotors is effectively suppressed, reducing rotor system imbalance vibration, decreasing the risk of failures such as bearing wear and blade fatigue fracture, and significantly improving the operational stability and service life of the turbine engine. This method breaks through the bottlenecks of traditional assembly technology, achieving precise control of inertial shaft tilt error. It abandons the limitation of traditional assembly focusing only on centroid offset control. By establishing a spatial pose matching model, it accurately quantifies the tilt state and transmission law of the inertial shaft of each stage of the rotor, solving the problem of difficult control of accumulated tilt error in multi-stage rotors. Optimizing the inertial shaft tilt error after multi-stage rotor assembly improves the operational stability of the turbine engine and provides a technological foundation for engine upgrades and iterations.
[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.
Claims
1. A multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching, characterized in that: The multi-stage rotor inertia principal axis inclination transmission regulation and control method based on spatial pose matching is realized through the following steps: S1: rotor size feature, geometric error and inertia principal axis inclination data acquisition; defining a multi-coordinate system in the rotor assembly process, collecting the size features, geometric position error and inertia principal axis data of each stage of rotor, the coordinate system including the center of mass coordinate system, the assembly coordinate system, the centroid coordinate system, the rotation coordinate system and the inertia principal axis coordinate system, the size features including the rotor height and the assembly surface radius, the geometric position error including the eccentricity, eccentric angle, perpendicularity and the lowest point corresponding angle of the upper end surface relative to the lower end surface, and the inertia principal axis data being the single-stage rotor inertia principal axis inclination and the inertia principal axis offset; S2: inertia tensor matrix in the centroid coordinate system; the inertia tensor matrix of the first stage rotor in the centroid coordinate system is obtained according to the data obtained in S1 i S2: inertia tensor matrix in the centroid coordinate system; the inertia tensor matrix of the first stage rotor in the centroid coordinate system is obtained according to the data obtained in S1 S3: Obtain the inertia tensor matrix in the assembly coordinate system; transform the inertia tensor matrix in the centroid coordinate system of the first-stage rotor to the assembly coordinate system to obtain the inertia tensor matrix of the first-stage rotor in the assembly coordinate system i transform the inertia tensor matrix of the first-stage rotor in the centroid coordinate system to the assembly coordinate system through a translation transformation to obtain the inertia tensor matrix after the translation transformation; combine the rotation transformation from the centroid coordinate system to the assembly coordinate system to obtain the inertia tensor matrix after the rotation transformation; and combine the inertia tensor matrices after the translation and the rotation to obtain the inertia tensor matrix of the first-stage rotor in the assembly coordinate system i transform the inertia tensor matrix of the first-stage rotor in the centroid coordinate system to the assembly coordinate system through a translation transformation to obtain the inertia tensor matrix after the translation transformation; combine the rotation transformation from the centroid coordinate system to the assembly coordinate system to obtain the inertia tensor matrix after the rotation transformation; and combine the inertia tensor matrices after the translation and the rotation to obtain the inertia tensor matrix of the first-stage rotor in the assembly coordinate system S4: solving the inertia tensor matrix of the multi-stage rotor after assembly; the inertia tensor matrix of the stage rotor in the assembly coordinate system under S3, summed to obtain the inertia tensor matrix of the stage rotor after assembly in the assembly coordinate system i the inertia tensor matrix of the stage rotor in the assembly coordinate system under S3, summed to obtain the inertia tensor matrix of the stage rotor after assembly in the assembly coordinate system n the inertia tensor matrix of the stage rotor in the assembly coordinate system under S3, summed to obtain the inertia tensor matrix of the stage rotor after assembly in the assembly coordinate system S5: Calculation of the inertia tensor matrix in the rotating coordinate system; the inertia tensor matrix of each rotor is converted from the assembly coordinate system to the rotating coordinate system through a rotation transformation, and the inertia tensor matrix of the stage rotor is synthesized to obtain n the inertia tensor matrix of the stage rotor in the rotating coordinate system after assembly n the inertia tensor matrix of the stage rotor in the rotating coordinate system after assembly S6: Calculate n the inertia principal axis inclination angle of the assembled stage rotor; the inertia principal axis inclination angle of the assembled stage rotor is obtained based on S5 n the inertia tensor matrix of the stage rotor in the rotating coordinate system; the angle between the inertia principal axis and the rotating axis is solved, and the inertia tensor matrix of the stage rotor in the rotating coordinate system is obtained n the inertia principal axis inclination angle of the assembled stage rotor; S7: Inertial main shaft inclination regulation; based on S6 n The inertial main shaft inclination angle of the assembled stage rotor is used to establish a rotor inertial main shaft deviation regulation model, and the minimum inertial main shaft inclination angle obtained through the rotor inertial main shaft deviation regulation model is used as the inertial main shaft inclination regulation.
2. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 1, characterized in that: If the data obtained from S1 is the first... i The inertial tensor matrix of the stage rotor in the center-of-mass coordinate system , the first i The inertial tensor matrix of the stage rotor in the center-of-mass coordinate system Translate to the centroid coordinate system to obtain the first i The inertial tensor matrix of the stage rotor in the centroidal coordinate system The specific expression is: wherein the mass of the n-th i level rotor, is the translation transformation from the center of mass coordinate system to the centroid coordinate system.
3. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 2, characterized in that: The first i The inertia tensor matrix representation of the stage rotor in the centroid coordinate system is as follows: wherein x ij is the mass of the i rotor microelement of the j coordinate on the x-axis, y ij is the mass of the i rotor microelement of the j coordinate on the y-axis; z ij is the mass of the i rotor microelement of the j coordinate on the z-axis, m ij is the mass of the i rotor microelement of the j 4. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 3, characterized in that: The inertia tensor matrix after the translation transformation in S3 is represented as follows: wherein is the transformation matrix from the inertia tensor from the center of mass coordinate system to the assembly coordinate system, is the position of the geometric center of the upper end face of the i is the position of the geometric center of the upper end face of the is the position matrix of the center of mass in the assembly coordinate system.
5. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 4, characterized in that: The inertia tensor matrix after the rotation transformation in S3 is represented as follows: In the formula, is the spatial pose rotation matrix of the first i level rotor from the center of mass coordinate system to the assembly coordinate system, and T is the transpose.
6. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 5, characterized in that: The inertia tensor matrix of the rotor of the S3 stage is represented as follows: i The inertia tensor matrix of the rotor of the S3 stage is represented as follows: 。 7. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 6, characterized in that: The assembled coordinate system in S4 is described as n The inertia tensor matrix of the assembled rotor is expressed as follows: 。 8. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 7, characterized in that: S5 as described n The inertia tensor matrix of the stage rotor in the rotating coordinate system is represented as follows: In the formula, is the rotation matrix of the rotor from the assembly coordinate system to the swivel coordinate system.
9. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 8, characterized in that: In the rotating coordinate system described in S6 n The inertial spindle tilt angle after the stage rotor is assembled is expressed as follows: wherein and is the moment of inertia about the three coordinate axes, is the product of inertia normal to the direction of rotation.
10. The multi-stage rotor inertia principal axis tilt transfer regulation method based on spatial pose matching according to claim 9, characterized in that: The rotor inertia principal axis inclination regulation and control model in S7 is represented as follows: In the formulae, is the assembly phase of the rotor of the first i stage.