Multi-hole type active cooperation gas static pressure rotary table suspension stabilizing system and control method thereof

Abstract

The invention discloses a porous active cooperative aerostatic turntable suspension stabilizing system and a control method thereof, and relates to the technical field of aerostatic turntables. The system comprises a bearing body, an I-shaped bearing component is arranged in the bearing body, a plurality of air inlet channels arranged in the axial direction are connected to the working face of the bearing body in the circumferential direction, an air source supply device is connected to the air inlet channels, and a sensing assembly matched with a control module is further arranged on the bearing body; the control module, the sensing assembly and the air source supply device form a closed-loop active control system with integrated structure control, and a cooperative control instruction is output in a mode of combining self-adaptive control and model prediction control in the control module to control the bearing to work. According to the control method, the preset suspension height serves as the criterion, stable suspension is achieved by collecting displacement signals, calculating deviation and adjusting pressure, and stability can be maintained through compensation of adjacent areas in the abnormal state. Based on cooperative control of the porous structure and the region, unification of the gas film rigidity and the system stability is achieved.

Description

Technical Field

[0001] This invention relates to the field of gas static pressure turntable technology, and in particular to a porous active cooperative gas static pressure turntable suspension stabilization system. Background Technology

[0002] Existing gas static pressure rotary table bearings mostly employ a fixed throttling structure, improving load-bearing capacity and stability by adjusting the overall gas supply pressure. This method is essentially a macroscopic, passive adjustment of the bearing system, making it difficult to directly determine and precisely control the suspension state of the load-bearing components. Existing solutions with zoned gas supply or adjustable flow structures often use gas film pressure, output volume, or gas film stiffness as adjustment criteria. The control targets are usually indirect physical quantities, lacking direct feedback on the actual suspension state of the load-bearing components, and are prone to over-adjustment or response lag under complex operating conditions. The following are some shortcomings:

[0003] 1. Increasing the overall air supply pressure can improve bearing stiffness, but it can easily induce air hammer vibration and reduce system stability; conversely, decreasing the air supply pressure is beneficial to stability, but it will result in insufficient load-bearing capacity.

[0004] 2. To cope with adverse operating conditions such as start-up, shutdown, and load changes, existing systems typically maintain a high air supply pressure for extended periods, resulting in high compressed air energy consumption and low operating efficiency.

[0005] 3. When faced with sudden changes in rotational speed or sudden loading or unloading, traditional passive bearings can only rely on the gas film compression effect to respond passively. The response speed is slow, the displacement suppression capability is limited, and there is a risk that the rotor will come into contact with the inner wall of the bearing.

[0006] 4. Fixed throttling structures cannot actively find and maintain the optimal combination of air film stiffness and thickness according to different speeds, loads and disturbance states, making it difficult to achieve global optimization of overall performance.

[0007] While existing technologies include solutions for zoned air supply or adjustable flow structures, most remain at the level of independent regional regulation, lacking coordinated control relationships between regions. They fail to treat the bearing as a gas-film coupled system for overall optimization, and do not form an active control system that deeply integrates structure and control algorithms. Therefore, a new control approach is needed to enable the system to directly use the suspension state of the load-bearing components as a stability criterion, achieving stable and reliable non-contact support of the turntable during operation. Summary of the Invention

[0008] To address the shortcomings in the aforementioned background technology, this invention proposes a porous active cooperative gas static pressure turntable suspension stabilization system and its control method, which solves the problem of the lack of cooperative control relationship between different regions of the bearing in the existing gas static pressure turntable.

[0009] The technical solution of this invention is implemented as follows: A porous active cooperative gas static pressure turntable suspension stabilization system includes a control module and a bearing body. The bearing body has an I-shaped load-bearing component. Several axially arranged air intake channels are circumferentially connected to the working surface of the bearing body. An air supply device is connected to the air intake channel. The bearing body is also equipped with a sensing component that cooperates with the control module. The control module, the sensing component, and the air supply device constitute a closed-loop active control system integrating structure and control. The control module collects working information through the sensing component, calculates the control quantity of each area based on a multi-channel gas film coupling model, and outputs cooperative control commands to control the bearing operation by combining adaptive control and model predictive control in the control module.

[0010] Furthermore, the bearing working surface of the bearing body is regularly divided into multiple air intake areas along the circumferential and axial directions. Each air intake area corresponds to an air intake channel, and each air intake area is supplied with air independently through an independent air intake channel, so that multiple controllable air film areas are formed on the bearing bearing surface.

[0011] Furthermore, the bearing body includes a turntable, a turntable stator mounting base is provided at the lower part of the turntable, a mover electric slide rail is provided inside the turntable stator mounting base, a turntable mover is provided on the mover electric slide rail, a turntable mover mounting plate is provided on the turntable mover and located inside the turntable stator mounting base, a turntable stator connecting plate is connected to the lower part of the turntable stator mounting base, a turntable encoder mounting platform is connected to the turntable stator connecting plate, a turntable encoder is provided on the turntable encoder mounting platform, and a turntable encoder connector is provided between the turntable encoder and the turntable stator connecting plate.

[0012] Furthermore, the I-shaped load-bearing component includes an upper static pressure plate, a mandrel, a gasket, and a lower static pressure plate. The upper and lower static pressure plates are connected to form an I-shaped structure through the mandrel and the gasket, and an air film gap is formed between the I-shaped structure and the working surface of the bearing body.

[0013] Furthermore, the sensing components include a pressure sensor array, an upper displacement sensor, a lower displacement sensor, and a speed sensor; each pressure sensor in the pressure sensor array is respectively set in an independent air intake channel and is positioned close to the air intake port of the air intake channel to monitor the air supply pressure of each air intake area in real time; the upper displacement sensor is mounted on the upper static pressure plate, and the lower displacement sensor is mounted on the lower static pressure plate to measure the air film gap; the speed sensor is mounted on the spindle to obtain the spindle rotation speed information in real time.

[0014] Furthermore, the air supply device includes an air compressor, an air tank, a dryer filter, and a total pressure regulating valve, which is used to set the basic air supply pressure of the system.

[0015] Furthermore, the gas supply device also includes an actuator array, which is an electric proportional valve array. Each air intake area is connected to an electric proportional valve, and the air inlets of all electric proportional valves are connected in parallel to a common pressure stabilizing chamber. The air outlets are connected to the air intake channels of the corresponding air intake areas, thereby realizing independent and continuous adjustment of the gas supply pressure of each area.

[0016] Furthermore, when calculating the pressure adjustment amount of each intake zone, the control module performs joint calculations based on the overall air film state of the bearing, so that the adjustment of a single zone simultaneously considers the impact on the air film stiffness and damping of adjacent zones, thereby achieving inter-zone coordination.

[0017] A method for stabilizing the suspension of a porous, actively coordinated gas static pressure turntable, applied to a porous, actively coordinated gas static pressure turntable suspension stabilization system, includes the following steps:

[0018] S1: The system starts and sets the initial stable suspension height H; at the same time, the air supply device, sensor components and intelligent control module are started. The air supply device sets the basic air supply pressure of the system through the total pressure regulating valve. The electric proportional valve array adjusts the air supply pressure of each air intake area according to the initial control command, so that the I-shaped load-bearing component is initially suspended and enters the waiting-to-stabilize state.

[0019] S2: Information acquisition. The upper displacement sensor and the lower displacement sensor collect the vertical displacement signals H1 and H2 of the I-shaped load-bearing component in real time. At the same time, the pressure sensor array collects the real-time air supply pressure of each air intake area, and the speed sensor collects the real-time rotation speed of the spindle. All the collected signals are transmitted to the intelligent control module in real time.

[0020] S3: Deviation calculation. After receiving H1 and H2, the intelligent control module calculates the upper air film gap deviation ΔH1 and the lower air film gap deviation ΔH2 according to the formulas ΔH1=H1-H and ΔH2=H2-H, respectively.

[0021] S4: Stability assessment. The intelligent control module determines whether both |ΔH1| and |ΔH2| are less than the allowable threshold ε. If satisfied, maintain the current gas supply status and return to S2 for continuous monitoring. If not satisfied, proceed to S5 for pressure adjustment.

[0022] S5: Pressure regulation. The intelligent control module generates the air supply pressure regulation amount ΔP for each air intake area through the formula ΔP=k1ΔH1-k2ΔH2. It optimizes ΔP by combining a multi-channel air film coupling model and outputs coordinated control commands by combining adaptive control and model predictive control to control the electric proportional valve array to regulate the air supply pressure of each area.

[0023] S6: Closed-loop feedback loop, returns to S2, repeats the process of S3~S5, continuously performs deviation calculation, stability judgment and pressure adjustment until the system restores stable suspension and maintains it.

[0024] Furthermore, under stable suspension conditions, H1≈H and H2≈H are satisfied. When a local sensor or electro-proportional valve malfunctions, compensation is made by adjusting the air supply parameters of adjacent areas to maintain stable system operation. When adjusting the air supply pressure, based on the multi-region air-film coupling model, a coordinated control command is output using adaptive control and model predictive control to achieve coordinated adjustment of the air supply pressure in each air intake area.

[0025] The beneficial effects of this invention are as follows: Based on a porous structure and regional collaborative control, this invention achieves a balance between air film stiffness and system stability, effectively suppressing air hammer vibration and eddy current phenomena. Through predictive-feedback active adjustment using upper and lower dual displacement references, it directly uses the suspension state of the load-bearing component as the criterion, avoiding the response lag and over-adjustment problems of indirect control. The system can adaptively allocate air supply according to operating conditions, significantly reducing compressed air energy consumption and improving operating efficiency. It maintains non-contact operation under all operating conditions, significantly reducing component wear, extending equipment service life, and enhancing the ability to suppress axial disturbances and dynamic loads. In addition, the collaborative control logic reduces control complexity, and the anomaly compensation mechanism ensures long-term stable operation of the system, achieving high-precision and high-reliability control of the turntable suspension. Attached Figure Description

[0026] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a partial enlarged view of the upper displacement sensor of the present invention;

[0029] Figure 3 This is a magnified view of a portion of the lower displacement sensor;

[0030] Figure 4 This is the control flowchart of the present invention.

[0031] In the diagram: 1 Turntable, 2 Spindle, 3 Upper static pressure plate, 4 Lower static pressure plate, 5 Gasket, 6 Turntable housing, 7 Turntable mounting plate, 8 Turntable stator mounting base, 9 Turntable stator connecting plate, 10 Turntable mover, 11 Turntable mover mounting plate, 12 Mover electric slide rail, 13 Turntable encoder mounting platform, 14 Turntable encoder, 15 Turntable encoder connector, 16 Pressure sensor, 17 Speed ​​sensor, 18 Lower displacement sensor, 19 Upper displacement sensor, 20 Air supply device, 21 Graphite insert, 22 Turntable radial graphite. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figure 1 As shown in Example 1, the multi-hole active cooperative gas static pressure turntable suspension stabilization system includes a control module and a bearing body. The bearing body contains an I-shaped load-bearing component. Several axially arranged air intake channels are circumferentially connected to the working surface of the bearing body, and air supply devices are connected to the air intake channels. The bearing body also has sensing components that cooperate with the control module. The control module, sensing components, and air supply devices constitute a closed-loop active control system integrating structure and control. The control module collects working information through the sensing components, comprehensively calculates the control quantities of each region based on a multi-channel gas film coupling model, and outputs cooperative control commands to control the bearing operation using a combination of adaptive control and model predictive control. The sensing components are used to collect system working information in real time and transmit the collected information to the intelligent control module, providing data support for control decisions. The intelligent control module, sensing components, and air supply devices constitute a closed-loop active control system integrating structure and control, realizing closed-loop management of the entire process of acquisition, calculation, control, and feedback. This solves the problems of poor suspension stability and large gas film coupling interference in traditional gas static pressure turntables, and overcomes the shortcomings of indirect control and lack of coordination in existing technologies.

[0034] like Figure 1As shown in Example 2, the porous active cooperative gas static pressure turntable suspension stabilization system divides the bearing working surface of the bearing body into multiple air intake areas along the circumferential and axial directions. Each air intake area has the same size, and isolation grooves are provided between adjacent air intake areas to reduce gas film coupling interference between adjacent areas, ensuring that the gas film state of each area is independently controllable. Each air intake area corresponds one-to-one with an air intake channel. The air intake axis of the air intake channel is parallel to the axis of the bearing body, and each air intake channel corresponds one-to-one with an air intake area. The air outlet is located within the corresponding air intake area, achieving airflow homogenization in conjunction with the graphite porous working surface. Furthermore, each air intake area is supplied with air independently through an independent air intake channel, forming multiple controllable gas film areas on the bearing bearing surface. The air supply pressure of each controllable gas film area can be independently adjusted, providing a structural basis for subsequent cooperative control.

[0035] In this embodiment, the bearing body includes a turntable, a turntable stator mounting base is provided at the lower part of the turntable, a mover electric slide rail is provided inside the turntable stator mounting base, a turntable mover is provided on the mover electric slide rail, a turntable mover mounting plate is provided on the turntable mover and located inside the turntable stator mounting base, a turntable stator connecting plate is connected to the lower part of the turntable stator mounting base, a turntable encoder mounting platform is connected to the turntable stator connecting plate, a turntable encoder is provided on the turntable encoder mounting platform, and a turntable encoder connector is provided between the turntable encoder and the turntable stator connecting plate.

[0036] Specifically, the bearing body is the core load-bearing component of the system. The turntable has a ring structure and serves as the core load-bearing component for turntable suspension. Its lower part is bolted to the turntable stator mounting base to ensure assembly accuracy. The inner wall of the turntable serves as the bearing working surface and is made of porous graphite material with numerous micro- and nano-sized pores, forming a natural porous throttling structure for homogenizing airflow and suppressing high-frequency micro-disturbances. The turntable stator mounting base is a hollow cavity structure, inside which a mover electric slide rail is fixedly installed. The mover electric slide rail extends axially along the turntable stator mounting base, providing guidance for the movement of the turntable mover. The turntable mover is slidably mounted on the mover electric slide rail and can move freely along the axial direction of the mover electric slide rail. A turntable mover mounting plate is fixedly connected to the upper part of the turntable mover, and the turntable mover mounting plate is entirely embedded in the hollow cavity of the turntable stator mounting base. The stator mount is fitted with a clearance fit to the inner wall of the turntable stator mounting base to avoid motion interference. A turntable stator connecting plate is bolted to the lower part of the turntable stator mounting base. The turntable stator connecting plate is a horizontally arranged flat plate structure; its upper surface is used to fix the turntable stator mounting base, and its lower surface is fixedly connected to a turntable encoder mounting platform. The turntable encoder mounting platform is used to install the turntable encoder, which is an incremental encoder. Its output is electrically connected to the intelligent control module to collect real-time rotation angle and speed auxiliary information of the turntable. A turntable encoder connector is provided between the turntable encoder and the turntable stator mounting plate. The turntable encoder connector adopts an elastic connection structure, which can effectively buffer the vibration during the turntable rotation process, avoid the vibration affecting the measurement accuracy of the turntable encoder, and ensure that the collected turntable motion information is accurate and reliable.

[0037] The other structures are the same as in Example 1.

[0038] like Figure 2 and Figure 3As shown in Example 3, the porous active cooperative gas static pressure turntable suspension stabilization system includes an I-shaped load-bearing component comprising an upper static pressure plate, a mandrel, a gasket, and a lower static pressure plate. The upper and lower static pressure plates are connected to form an I-shaped structure via the mandrel and gasket. Both the upper and lower static pressure plates are annular flat plate structures made of high-strength aluminum alloy to ensure the fitting accuracy with the working surface of the bearing body. Both the upper and lower static pressure plates are provided with grooves, in which graphite inserts are installed. The mandrel is a cylindrical structure, and its axis coincides with the axes of the upper and lower static pressure plates. An air film gap is formed between the I-shaped structure and the working surface of the bearing body. The thickness of the gasket can be adjusted according to the actual air film gap requirements to ensure that a standard I-shaped structure is formed after assembly. The I-shaped load-bearing component is the key component for forming the air film gap and realizing the suspension load. The I-shaped structure is embedded in the interior of the bearing body, and a uniform air film gap is formed between its outer surface and the working surface of the bearing body. The initial value of the air film gap is set near the suspension working point where the air film pressure distribution is uniform under the porous throttling structure and the air film stiffness and system stability are balanced. This gap is the core working space of gas static pressure suspension. Compressed gas forms an air film in the gap to realize the non-contact suspension of the turntable.

[0039] In this embodiment, the sensing components include a pressure sensor array, an upper displacement sensor, a lower displacement sensor, and a speed sensor. Each pressure sensor in the pressure sensor array is respectively disposed in an independent air intake channel and is located near the air intake port of the air intake channel, for real-time monitoring of the air supply pressure of each air intake area. The upper displacement sensor is mounted on the upper static pressure plate, and the lower displacement sensor is mounted on the lower static pressure plate, for measuring the air film gap. The speed sensor is mounted on the spindle for real-time acquisition of the spindle's rotational speed information.

[0040] Specifically, the pressure sensor array consists of high-precision pressure sensors that correspond one-to-one with the intake channels. Each pressure sensor is set in the corresponding intake channel and is located close to the intake port of the intake channel. The pressure sensors are diffused silicon pressure sensors, which are used to monitor the air supply pressure of each intake area in real time to ensure that the air supply pressure is consistent with the control command.

[0041] Both the upper and lower displacement sensors are non-contact eddy current displacement sensors, fixedly mounted on the upper static pressure plate without interfering with operation. The sensor's probe faces the upper working surface of the bearing body, used to measure the air film gap between the upper static pressure plate and the upper working surface of the bearing body in real time. The lower displacement sensor is fixedly mounted on the lower static pressure plate without interfering with operation, with its probe facing the lower working surface of the bearing body, used to measure the air film gap between the lower static pressure plate and the lower working surface of the bearing body in real time. The speed sensor is a Hall effect speed sensor, fixedly mounted at the end of the spindle, used to acquire the spindle's speed information in real time. The speed information helps the intelligent control module determine the system's operating status. When the speed changes abruptly, the control strategy is adjusted in a timely manner to ensure stable suspension.

[0042] In this embodiment, the output terminals of all sensors are electrically connected to the intelligent control module via shielded cables. The shielded cables can effectively reduce electromagnetic interference and ensure that the collected working information is transmitted accurately and stably.

[0043] In this embodiment, the air supply device includes an air compressor, an air tank, a dryer filter, and a total pressure regulating valve, which is used to set the system's base air supply pressure. The air supply device also includes an actuator array, which is an array of electro-proportional valves. Each air intake zone is connected to one electro-proportional valve, and the air inlets of all electro-proportional valves are connected in parallel to a common pressure-stabilizing chamber. The total pressure regulating valve is located at the air inlet of the common pressure-stabilizing chamber, and the air outlets of the electro-proportional valves are connected to the air intake channels of their respective air intake zones, enabling independent and continuous adjustment of the air supply pressure in each zone.

[0044] In this embodiment, when calculating the pressure regulation amount of each intake zone, the control module performs a joint calculation based on the overall air film state of the bearing. This allows the adjustment of a single zone to simultaneously consider the influence on the air film stiffness and damping of adjacent zones, achieving inter-zone coordination. The control module uses the vertical displacement deviation of the I-shaped bearing component as the sole stability criterion. First, it generates the air supply regulation demand reflecting the overall air film state of the bearing. Then, based on a multi-zone air film coupling model, it allocates this regulation demand to the pressure regulation amount of each intake zone and executes it through an electro-proportional valve array. The adjustment of each zone is not performed independently, but rather the coupling influence of the air film stiffness and damping of adjacent zones is comprehensively considered, thereby achieving inter-zone coordinated control. Finally, a closed-loop control is formed through displacement feedback.

[0045] Specifically, the intelligent control module, sensing components, and air supply device constitute a closed-loop active control system integrating structural control.

[0046] Information Acquisition: During system operation, the sensing components continuously collect various operational information. The pressure sensor array collects real-time air supply pressure in each intake zone; the upper and lower displacement sensors collect the air film gaps H1 and H2 on the upper and lower sides; and the speed sensor collects the real-time rotational speed of the spindle. All collected information is transmitted to the intelligent control module in real time. The intelligent control module, with a high-speed microprocessor as its core, is electrically connected to the sensing system to collect air film pressure, gap, and speed information, and is also electrically connected to the electro-pneumatic proportional valve array to output coordinated control commands. Sensor signals are input to the high-speed microprocessor control unit via conventional analog / pulse acquisition methods. After signal conditioning and A / D sampling, pressure, displacement, and speed information are obtained.

[0047] Control Calculation: The intelligent control module has a pre-stored multi-channel gas film coupling model. This model is based on fluid dynamics theory and the characteristics of gas hydrostatic bearings, and can accurately describe the coupling relationship between the gas films in each intake area. After receiving the working information transmitted by the sensing components, the intelligent control module inputs it into the multi-channel gas film coupling model to comprehensively calculate the control quantities of each intake area. Cooperative Control Logic: When calculating the pressure regulation of each intake area, the intelligent control module does not calculate the regulation of a single area independently, but rather calculates it jointly based on the overall gas film state of the bearing. It fully considers the impact of pressure regulation in a single area on the stiffness and damping of the gas film in adjacent areas, realizing cooperative control between areas and avoiding overall gas film instability caused by regulation in a single area.

[0048] Control command output: The intelligent control module adopts a combination of adaptive control and model predictive control to optimize the calculated control quantities for each region and output coordinated control commands. Adaptive control can adapt to changes in system parameters in real time, while model predictive control can predict the changing trend of the air film state in advance and adjust the control commands accordingly, ensuring the timeliness and accuracy of control. The control module calculates the control quantities based on the preset stable height H and displacement deviation, and generates control commands using conventional implementation methods of adaptive control and model predictive control.

[0049] Execution and Feedback: Control commands are transmitted to the electro-proportional valve array of the air supply device. Each electro-proportional valve independently adjusts the air supply pressure of its corresponding intake zone according to the control command, thereby adjusting the stiffness and damping of the air film in each zone to achieve the levitation stability of the I-shaped load-bearing component. Simultaneously, the sensing components continuously collect the adjusted operating information and transmit it to the intelligent control module, forming a closed-loop feedback. The intelligent control module further optimizes the control commands based on the feedback information to ensure that the system remains in a stable levitation state. Control commands are output to the electro-proportional valve drive terminal via conventional analog quantities (voltage / current) or PWM, achieving continuous adjustment of the air supply pressure in each zone, thus forming closed-loop feedback control.

[0050] All other structures are the same as in Example 1.

[0051] like Figure 4 As shown in Example 4, a porous active cooperative gas static pressure turntable suspension stabilization control method is applied to a porous active cooperative gas static pressure turntable suspension stabilization system, including the following steps:

[0052] S1: The system starts and sets the initial stable suspension height H; at the same time, the air supply device, sensor components and intelligent control module are started. The air supply device sets the basic air supply pressure of the system through the total pressure regulating valve. The electric proportional valve array adjusts the air supply pressure of each air intake area according to the initial control command, so that the I-shaped load-bearing component is initially suspended and enters the waiting-to-stabilize state.

[0053] S2: Information acquisition. The upper displacement sensor and the lower displacement sensor acquire the vertical displacement signals H1 and H2 of the I-shaped load-bearing component in real time. At the same time, the pressure sensor array acquires the real-time air supply pressure of each air intake area, and the speed sensor acquires the real-time speed of the spindle. All acquired signals are transmitted to the intelligent control module in real time.

[0054] S3: Deviation calculation. After receiving H1 and H2, the intelligent control module calculates the upper air film gap deviation ΔH1 and the lower air film gap deviation ΔH2 according to the formulas ΔH1=H1-H and ΔH2=H2-H, respectively.

[0055] S4: Stability assessment. The intelligent control module determines whether both |ΔH1| and |ΔH2| are less than the allowable threshold ε. If satisfied, maintain the current gas supply status and return to S2 for continuous monitoring. If not satisfied, proceed to S5 for pressure adjustment.

[0056] S5: Pressure regulation. The intelligent control module generates the air supply pressure regulation amount ΔP for each air intake area through the formula ΔP=k1ΔH1-k2ΔH2. It optimizes ΔP by combining a multi-channel air film coupling model and outputs coordinated control commands by combining adaptive control and model predictive control to control the electric proportional valve array to regulate the air supply pressure of each area.

[0057] S6: Closed-loop feedback loop, returns to S2, repeats the process of S2~S5, continuously performs deviation calculation, stability judgment and pressure adjustment until the system restores stable suspension and maintains it.

[0058] In a stable suspension state, H1≈H and H2≈H are satisfied. When a local sensor or electro-proportional valve malfunctions, the intelligent control module activates an anomaly compensation mechanism. Based on a multi-region gas-film coupling model, it adjusts the gas supply parameters of adjacent regions to compensate for the functional deficiencies in the abnormal regions, maintaining system stability. Simultaneously, it issues an alarm signal to alert personnel for troubleshooting and maintenance. This control method is implemented in a multi-hole active cooperative gas static pressure turntable suspension stabilization system. The system structure provides the hardware foundation for sensing, execution, and control, while the control method achieves active cooperative adjustment of the system's suspension state. The two form a complete closed-loop control system during implementation.

[0059] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A porous active cooperative gas static pressure turntable suspension stabilization system, comprising a control module, characterized in that, The bearing body includes an I-shaped load-bearing component. Several axially arranged air intake channels are circumferentially connected to the working surface of the bearing body, and an air supply device is connected to the air intake channel. The bearing body is also equipped with a sensing component that works in conjunction with the control module. The control module, the sensing component, and the air supply device constitute a closed-loop active control system that integrates structural control. The control module collects working information through the sensing component, calculates the control quantity of each area based on a multi-channel air-film coupling model, and outputs coordinated control commands to control the bearing operation by combining adaptive control and model predictive control in the control module.

2. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 1, characterized in that, The bearing body's bearing working surface is regularly divided into multiple air intake areas along the circumferential and axial directions. Each air intake area corresponds to an air intake channel, and each air intake area is supplied with air independently through an independent air intake channel, so that multiple controllable air film areas are formed on the bearing bearing surface.

3. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 1 or 2, characterized in that, The bearing body includes a turntable (1), a turntable stator mounting base (8) is provided at the lower part of the turntable (1), a mover electric slide rail (12) is provided inside the turntable stator mounting base (8), a turntable mover (10) is provided on the mover electric slide rail (12), a turntable mover mounting plate (11) located inside the turntable stator mounting base (8) is provided on the turntable mover (10), a turntable stator connecting plate (9) is connected at the lower part of the turntable stator mounting base (8), a turntable encoder mounting platform (13) is connected on the turntable stator connecting plate (9), a turntable encoder (14) is provided on the turntable encoder mounting platform (13), and a turntable encoder connector (15) is provided between the turntable encoder (14) and the turntable stator connecting plate (9).

4. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 3, characterized in that, The I-shaped bearing component includes an upper static pressure plate (3), a spindle (2), a gasket (5), and a lower static pressure plate (4). The upper static pressure plate (3) and the lower static pressure plate (4) are connected to form an I-shaped structure through the spindle (2) and the gasket (5). An air film gap is formed between the I-shaped structure and the working surface of the bearing body.

5. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 4, characterized in that, The sensing components include a pressure sensor (16) array, an upper displacement sensor (19), a lower displacement sensor (18), and a speed sensor (17). Each pressure sensor (16) in the pressure sensor (16) array is set in an independent air intake channel and is located near the air intake port of the air intake channel to monitor the air supply pressure of each air intake area in real time. The upper displacement sensor (19) is installed on the upper static pressure plate (3), and the lower displacement sensor (18) is installed on the lower static pressure plate (4) to measure the air film gap. The speed sensor (17) is installed on the spindle (2) to obtain the rotational speed information of the spindle (2) in real time.

6. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 1, 2, 4 or 5, characterized in that, The air supply device (20) includes an air compressor, an air tank, a dryer filter and a total pressure regulating valve, which is used to set the basic air supply pressure of the system.

7. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 6, characterized in that, The gas supply device (20) also includes an actuator array, which is an electric proportional valve array. Each air intake area is connected to an electric proportional valve. The air intake ports of all electric proportional valves are connected in parallel to a common pressure stabilizing chamber, and the air outlets are connected to the air intake channels of the corresponding air intake areas, so as to realize independent and continuous adjustment of the gas supply pressure of each area.

8. The porous active cooperative gas static pressure turntable suspension stabilization system according to claim 1, 2, 4, 5 or 7, characterized in that, When calculating the pressure regulation of each intake zone, the control module performs joint calculations based on the overall air film state of the bearing, so that the regulation of a single zone simultaneously considers the impact on the air film stiffness and damping of adjacent zones, thus achieving inter-zone coordination.

9. A method for controlling the suspension and stabilization of a porous active cooperative gas static pressure turntable, applied to the porous active cooperative gas static pressure turntable suspension and stabilization system according to any one of claims 1 to 8, characterized in that, Includes the following steps: S1: The system starts and sets the initial value of the stable suspension height H; at the same time, the air supply device (20), the sensing components and the intelligent control module are started. The air supply device (20) sets the basic air supply pressure of the system through the total pressure regulating valve. The electric proportional valve array adjusts the air supply pressure of each air intake area according to the initial control command, so that the I-shaped bearing component is initially suspended and enters the waiting-to-stabilize state. S2: Information acquisition: The displacement signals H1 and H2 of the I-shaped bearing component in the vertical direction are collected in real time by the upper displacement sensor (19) and the lower displacement sensor (18). At the same time, the pressure sensor (16) array collects the real-time air supply pressure of each air intake area, and the speed sensor (17) collects the real-time rotation speed of the spindle (2). All the collected signals are transmitted to the intelligent control module in real time. S3: Deviation calculation. After receiving H1 and H2, the intelligent control module calculates the upper air film gap deviation ΔH1 and the lower air film gap deviation ΔH2 according to the formulas ΔH1=H1-H and ΔH2=H2-H, respectively. S4: Stability assessment. The intelligent control module determines whether both |ΔH1| and |ΔH2| are less than the allowable threshold ε. If satisfied, maintain the current gas supply status and return to S2 for continuous monitoring. If the requirements are not met, proceed to S5 for pressure adjustment; S5: Pressure regulation. The intelligent control module generates the air supply pressure regulation amount ΔP for each air intake area through the formula ΔP=k1ΔH1-k2ΔH2. It optimizes ΔP by combining a multi-channel air film coupling model and outputs coordinated control commands by combining adaptive control and model predictive control to control the electric proportional valve array to regulate the air supply pressure of each area. S6: Closed-loop feedback loop, returns to S2, repeats the process of S3~S5, continuously performs deviation calculation, stability judgment and pressure adjustment until the system restores stable suspension and maintains it.

10. The control method according to claim 9, characterized in that, Under stable suspension conditions, H1≈H and H2≈H are satisfied. When a local sensor or electro-proportional valve malfunctions, compensation is made by adjusting the air supply parameters of adjacent areas to maintain stable system operation. When adjusting the air supply pressure, based on the multi-region air-film coupling model, a coordinated control command is output using adaptive control and model predictive control to achieve coordinated adjustment of the air supply pressure in each air intake area.

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