Intelligent dismounting and mounting electric control system for motor bearing

Abstract

The application relates to the technical field of motor control, and discloses an intelligent motor bearing dismounting electric control system which comprises a low-voltage power supply unit, a power driving unit, a motor executing unit, a sampling and detecting unit and a main control unit. The sampling and detecting unit is used for collecting current signals, voltage signals, rotating speed signals and displacement signals, and the main control unit constructs electromagnetic characteristic quantities including current average value, current change rate, high-frequency disturbance response amplitude and equivalent electromagnetic impedance characteristics based on the signals. The main control unit switches between a constant-speed propulsion mode, a micro-vibration propulsion mode, a short-time high-torque pulse mode and a protection yielding mode according to the contact state, so that the control of the bearing dismounting process is realized. The application constructs electromagnetic characteristic quantities including current average value, current change rate, high-frequency disturbance response amplitude and equivalent electromagnetic impedance characteristics, and calculates a comprehensive contact state index, so that state recognition based on electrical signals is achieved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to an intelligent motor bearing disassembly and assembly control system. Background Technology

[0002] The disassembly and assembly of motor bearings are key processes in motor manufacturing and maintenance, and the relevant equipment typically includes mechanical actuators and electrical control systems.

[0003] Existing motor bearing assembly and disassembly equipment mostly uses a motor-driven lead screw or hydraulic mechanism to achieve axial loading, and an electrical control system to control the driving process. In this type of system, the electrical part is mainly responsible for driving the actuator and achieving basic operational control. In existing technologies, to achieve force control or state judgment during bearing assembly and disassembly, the following technical solutions are commonly used: one solution uses a force sensor at the actuator to directly measure the force applied during the bearing assembly and disassembly process and controls the process based on the measurement results; another solution detects changes in motor current and uses the current magnitude to indirectly reflect load changes, thereby controlling the assembly and disassembly process. In the solution using a force sensor, a sensor assembly needs to be added to the mechanical structure for signal acquisition and processing; in the solution using current estimation, the motor current amplitude is usually used as the basis for load judgment.

[0004] However, the inventors of this application discovered in the process of implementing the technical solution of this application that the above-mentioned technology has at least the following technical problems: during the bearing disassembly and assembly process, relying solely on the motor current amplitude or a single electrical parameter to judge the load cannot accurately reflect the bearing contact state and its change process, thus resulting in insufficient contact state recognition accuracy. Summary of the Invention

[0005] To overcome the above shortcomings, this invention provides an intelligent electrical control system for disassembling and assembling motor bearings, which aims to improve the problem that relying solely on the motor current amplitude or a single electrical parameter for load judgment during bearing disassembly and assembly cannot accurately reflect the bearing contact state and its changing process.

[0006] This invention provides the following technical solution: an intelligent disassembly and assembly electronic control system for motor bearings, comprising: Low-voltage power supply unit, used to provide DC power; A power drive unit, connected to the low-voltage power supply unit, is used to convert the DC power supply into multiphase AC power to drive the motor actuator unit. The motor actuator is connected to the power drive unit and to the bearing disassembly and assembly mechanism, and is used to drive the bearing to perform axial disassembly and assembly movements. The sampling and detection unit is connected to the motor execution unit and is used to collect the current signal, voltage signal, speed signal and displacement signal of the motor execution unit; The main control unit, connected to both the sampling and detection unit and the power drive unit, is used for: Electromagnetic characteristic quantities are constructed based on the current signal, voltage signal, speed signal, and displacement signal. The electromagnetic characteristic quantities include the average current value, current change rate, high-frequency disturbance response amplitude, and equivalent electromagnetic impedance characteristics. Calculate the comprehensive contact state index based on the aforementioned electromagnetic characteristic quantities; The contact status during bearing assembly and disassembly is determined based on the comprehensive contact status index. The system switches between multiple electric drive modes based on the contact state and outputs corresponding current control commands to the power drive unit to achieve adaptive control of the bearing assembly and disassembly process.

[0007] Preferably, in the main control unit, the step of constructing the electromagnetic characteristic quantities includes: The current signal is processed by a sliding window to obtain the average current value; The rate of change of current is calculated based on the change of current signal within a continuous sampling period; Calculate the equivalent electromagnetic impedance characteristics based on the relationship between the voltage signal and the current signal; The average current, rate of change of current, and equivalent electromagnetic impedance characteristics are normalized.

[0008] Preferably, the step of constructing the electromagnetic characteristic quantities further includes: A high-frequency disturbance signal is superimposed on the current control command; Acquire the current signal under the action of the high-frequency disturbance signal; The current signal is synchronously demodulated to obtain the high-frequency disturbance response amplitude; The amplitude of the high-frequency disturbance response is used as part of the electromagnetic characteristic quantity.

[0009] Preferably, in the main control unit, the step of calculating the comprehensive contact state index based on the electromagnetic characteristic quantities includes: Normalize each characteristic component in the electromagnetic characteristic quantity; Each feature component is weighted according to a preset weighting coefficient; The weighted results are superimposed to generate the comprehensive contact state index.

[0010] Preferably, the steps for determining the contact state during bearing assembly and disassembly based on the comprehensive contact state index include: The comprehensive contact status index is compared with multiple preset thresholds; Based on the comparison results, the bearing disassembly and assembly process is divided into the no-load approach state, the initial contact state, the normal disassembly and assembly state, the friction enhancement state, the eccentric loading state, and the jamming state. Output the corresponding contact status indicator.

[0011] Preferably, the step for determining the eccentric loading state includes: Extract the fluctuation characteristics of the current signal within a preset time window; Calculate the fluctuation range of the current signal relative to the average current value; When the fluctuation amplitude exceeds a preset threshold, the current contact state is determined to be an eccentric loading state.

[0012] Preferably, in the main control unit, the step of switching between multiple electric drive modes based on the contact state includes: When the contact state is normal disassembly / assembly state, select constant speed propulsion mode; When the contact state is a friction-enhanced state or an eccentrically loaded state, select the micro-vibration propulsion mode; When the contact state is stuck, the short-time high-torque pulse mode or the protection retreat mode is selected based on the comparison result between the input energy index and the preset energy threshold.

[0013] Preferably, in the main control unit, when the contact state is a friction-enhanced state or an eccentrically loaded state, the step of selecting the micro-vibration propulsion mode includes: A low-frequency vibration current signal is superimposed on the current control command; The amplitude of the low-frequency vibration current signal is adjusted according to the comprehensive contact state index. The superimposed current control command is output to the power drive unit.

[0014] Preferably, the steps of the short-time high-torque pulse mode include: Generate pulse current control commands with preset amplitude and duration; The pulse current control command is output to the power drive unit within a preset time period; After the pulse ends, the current control command is restored. It also limits the amplitude of current and voltage.

[0015] Preferably, in the main control unit, the steps of the protection retreat mode include: Calculate the input energy index based on the voltage signal and the current signal; When the input energy index exceeds the preset energy threshold, entering the short-time high-torque pulse mode is prohibited; The motor actuator is controlled to output reverse motion, causing the bearing to retract. After the yielding is completed, the contact state is reset to the no-load approach state, and the bearing disassembly and assembly control process is re-executed.

[0016] The present invention has the following beneficial effects: 1. This invention constructs electromagnetic characteristic quantities including average current, current change rate, high-frequency disturbance response amplitude, and equivalent electromagnetic impedance characteristics, and calculates comprehensive contact state indicators to determine the contact state during bearing assembly and disassembly, achieving state recognition based on electrical signals. This solves the problem of inaccurate recognition caused by relying on external sensors or single current estimation in the prior art.

[0017] 2. This invention switches between constant speed propulsion mode, micro-vibration propulsion mode, short-time high torque pulse mode and protection retreat mode according to the contact state, and enables the motor actuator to adopt different driving methods in different states by superimposing vibration current signals or outputting pulse current control commands, thereby improving the abnormal operation caused by increased friction, eccentric loading and jamming during bearing disassembly and assembly.

[0018] 3. This invention calculates the input energy index and sets an energy threshold. When the threshold is exceeded, it switches to a protection and yield mode to constrain the drive of the motor execution unit, thereby controlling the drive output during disassembly and assembly and avoiding continuous loading under abnormal conditions. Attached Figure Description

[0019] Figure 1 This is an architecture diagram of an intelligent disassembly and assembly electronic control system for motor bearings proposed in this invention. Detailed Implementation

[0020] The technical solutions in 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.

[0021] Reference Figure 1 In the first embodiment of the present invention, the present invention provides an intelligent disassembly and assembly electronic control system for motor bearings, comprising: Low-voltage power supply unit, used to provide DC power; The power drive unit, connected to the low-voltage power supply unit, is used to convert DC power into multiphase AC power to drive the motor actuator unit. The motor actuator is connected to the power drive unit and the bearing disassembly and assembly mechanism, and is used to drive the bearing to perform axial disassembly and assembly movements. The sampling and detection unit is connected to the motor actuator unit and is used to collect the current signal, voltage signal, speed signal and displacement signal of the motor actuator unit; The main control unit, connected to both the sampling and detection unit and the power drive unit, is used for: Electromagnetic characteristic quantities are constructed based on current signals, voltage signals, speed signals, and displacement signals. These electromagnetic characteristic quantities include the average current value, current change rate, high-frequency disturbance response amplitude, and equivalent electromagnetic impedance characteristics. Calculate the comprehensive contact state index based on electromagnetic characteristic quantities. The contact status during bearing assembly and disassembly is determined based on comprehensive contact status indicators; The system switches between multiple electric drive modes based on the contact state and outputs corresponding current control commands to the power drive unit to achieve adaptive control of the bearing assembly and disassembly process.

[0022] Specifically, the intelligent disassembly and assembly electronic control system for motor bearings follows the procedures below: The low-voltage power supply unit outputs DC power, and the power drive unit converts the DC power into multiphase AC power to drive the motor actuator unit. The motor actuator unit converts the rotational motion into axial motion through the bearing assembly and disassembly mechanism, thereby assembling or disassembling the bearing.

[0023] The sampling and detection unit collects current signals, voltage signals, speed signals and displacement signals in real time during the operation of the motor actuator and transmits the signals to the main control unit. The main control unit performs coordinate transformation on the three-phase current signals and three-phase voltage signals to obtain the current components and voltage components in the synchronous rotating coordinate system.

[0024] The main control unit processes the current signal, calculates the average current value within a preset time window, and calculates the rate of change of current based on the changes in the current signal within adjacent sampling periods. Simultaneously, it calculates the equivalent electromagnetic impedance characteristics based on the relationship between the voltage and current signals. During current control, the main control unit superimposes a high-frequency disturbance signal onto the current control command and acquires the corresponding current response signal. The current response signal is synchronously demodulated to obtain the amplitude of the high-frequency disturbance response. The average current value, the rate of change of current, the amplitude of the high-frequency disturbance response, and the equivalent electromagnetic impedance characteristics together constitute the electromagnetic characteristic quantities.

[0025] The main control unit normalizes each characteristic component in the electromagnetic characteristic quantity and performs weighted summation according to preset weights to obtain a comprehensive contact state index. The main control unit compares the comprehensive contact state index with a preset threshold and classifies the bearing disassembly and assembly process into different contact states based on the comparison result. The main control unit selects the corresponding electric drive mode according to the current contact state and generates a current control command; the current control command is output to the power drive unit to control the operating state of the motor actuator.

[0026] During system operation, the main control unit calculates the input energy index based on voltage and current signals. When the input energy index exceeds a preset energy threshold, the main control unit switches the control system to a protection mode, limiting the output of the motor actuator. Through these steps, continuous control of the bearing assembly and disassembly process is achieved.

[0027] Furthermore, in the main control unit, the steps for constructing electromagnetic characteristic quantities include: The current signal is processed by a sliding window to obtain the average current value; The rate of change of current is calculated based on the change of current signal within a continuous sampling period; Calculate the equivalent electromagnetic impedance characteristics based on the relationship between voltage and current signals; The average current, rate of change of current, and equivalent electromagnetic impedance characteristics are normalized.

[0028] In the main control unit, the steps for constructing electromagnetic characteristic quantities also include: A high-frequency disturbance signal is superimposed on the current control command; Acquire current signals under the influence of high-frequency disturbance signals; The current signal is synchronously demodulated to obtain the high-frequency disturbance response amplitude; The amplitude of the high-frequency disturbance response is used as part of the electromagnetic characteristic quantity.

[0029] Specifically, the average current is obtained by discretely averaging the q-axis current signal within a preset sliding window. The calculation method is as follows: [The text abruptly ends here, so the translation stops as well.] The current signal is summed and averaged within each sampling point. The average current value is used to characterize the current load level. In this scheme, the sliding window length... The preferred number of sampling points is 32 to 128.

[0030] The rate of change of current is calculated based on the current difference between adjacent sampling times, and its expression is: ; in, Indicates the rate of change of current. Indicates the first The q-axis current at each sampling time. This indicates the sampling period. In this scheme, the sampling period is... The preferred value is a fixed value within the range of 0.1 ms to 1 ms. The rate of change of current is used to characterize the transient characteristics of changes in motor load. The equivalent electromagnetic impedance characteristic is constructed based on the relationship between the changes in voltage and current signals, and is obtained by calculating the ratio of the voltage change to the current change, used to reflect the electromagnetic response characteristics of the motor port. In this scheme, both the voltage change and the current change are calculated using a differential method between adjacent sampling times.

[0031] The high-frequency disturbance signal superimposed on the current control command is expressed as follows: ; in, This indicates the superimposed current control command. This indicates a basic current control command. Indicates the amplitude of the high-frequency disturbance signal. This indicates the frequency of the high-frequency disturbance signal. In this scheme, the frequency of the high-frequency disturbance signal... Preferably a fixed value within the range of 50Hz to 500Hz, amplitude Preferably, it is 2% to 10% of the amplitude of the base current control command.

[0032] Under the influence of a high-frequency disturbance signal, the sampling and detection unit acquires the corresponding current signal and extracts the component with the same frequency as the high-frequency disturbance signal through synchronous demodulation to obtain the high-frequency disturbance response amplitude. The synchronous demodulation process involves multiplying the current signal with both sine and cosine basis functions, and then integrating the results within a preset window to obtain the response amplitude. During the construction of electromagnetic characteristics, the average current value, rate of change of current, equivalent electromagnetic impedance characteristics, and high-frequency disturbance response amplitude are normalized. This normalization is based on scaling the reference parameters corresponding to each characteristic. In this scheme, each reference parameter is set according to the system's rated operating state.

[0033] Through the above steps, an electromagnetic characteristic quantity combining steady-state and dynamic characteristics is formed, which is used for subsequent calculation of comprehensive contact state indicators, thereby providing a unified electrical characteristic input for state discrimination during bearing assembly and disassembly.

[0034] Furthermore, in the main control unit, the steps for calculating the comprehensive contact state index based on electromagnetic characteristic quantities include: Normalize each characteristic component in the electromagnetic characteristic quantity. Each feature component is weighted according to a preset weighting coefficient; The weighted results are superimposed to generate a comprehensive contact status index.

[0035] Specifically, electromagnetic characteristic quantities include the average current value. Current change rate High-frequency disturbance response amplitude and equivalent electromagnetic impedance characteristics Before calculating the comprehensive contact condition index, the above characteristic components are normalized to eliminate dimensional differences. Normalization is achieved by using the proportional relationship between each characteristic quantity and its corresponding reference parameter, where the average current corresponds to the following reference parameter: The reference parameter corresponding to the rate of change of current is The reference parameter corresponding to the amplitude of the high-frequency disturbance response is: The equivalent electromagnetic impedance characteristic corresponds to the reference parameter as follows: .

[0036] In this scheme, the current reference parameters Preferably, it is 0.6 to 0.8 times the rated current of the motor; current change rate reference parameter Preferably, it is a reference value for the change of rated current within one sampling period; high-frequency disturbance response reference parameters. Preferably, it is the average value of the disturbance response amplitude under no-load conditions; equivalent electromagnetic impedance reference parameters. The preferred value is the equivalent electromagnetic impedance value when the motor is running under no-load.

[0037] After normalization, the feature components are weighted. The weight coefficients are as follows: , , and This reflects the contribution of different feature components to contact state discrimination. The weighting coefficients satisfy the constraint that their sum is 1. In this scheme, the weighting coefficients are preferably set as follows: Among them, the average current and the amplitude of high-frequency disturbance response account for the main weights.

[0038] Based on the above processing, the normalized feature components are weighted and superimposed to obtain the comprehensive contact state index, the expression of which is: ; in, This indicates the overall contact status index; This represents the average current value; Indicates the rate of change of current; Indicates the amplitude of the high-frequency disturbance response; Indicates the characteristics of equivalent electromagnetic impedance; , , , Indicates the weighting coefficient; , , , These represent the normalized baseline parameters for each characteristic component.

[0039] To ensure the stability of the comprehensive contact state index, a moving average is applied to the comprehensive contact state index during the calculation process. The preferred length of the moving window is 8 to 32 sampling points to reduce the impact of sampling noise on the discrimination results.

[0040] The above method converts multiple electrical characteristic components into a single comprehensive contact state index, enabling a unified characterization of contact strength and load changes during bearing assembly and disassembly, thereby providing continuous and comparable input for subsequent contact state determination.

[0041] Furthermore, in the main control unit, the steps for determining the contact status during bearing assembly and disassembly based on comprehensive contact status indicators include: The comprehensive contact status index is compared with multiple preset thresholds; Based on the comparison results, the bearing disassembly and assembly process is divided into the no-load approach state, the initial contact state, the normal disassembly and assembly state, the friction enhancement state, the eccentric loading state, and the jamming state. Output the corresponding contact status indicator.

[0042] The steps for determining eccentric loading include: Extract the fluctuation characteristics of the current signal within a preset time window; Calculate the fluctuation range of the current signal relative to the average current value; When the fluctuation amplitude exceeds the preset threshold, the current contact state is determined to be an eccentric loading state.

[0043] Specifically, the main control unit is based on comprehensive contact status indicators. The relationship between the values ​​of the values ​​and multiple preset thresholds is used to classify the bearing assembly and disassembly process into different states. The preset thresholds include... , , and And satisfy an increasing relationship. The contact state discrimination rule can be expressed as: ; in, Indicates the contact status. Indicates a near-empty state. Indicates the initial contact state. This indicates a normal disassembly / reassembly state. Indicates a state of increased friction. Indicates a stuck state. This indicates the overall contact status index. to This indicates a preset threshold.

[0044] In this scheme, the preset threshold is determined based on system calibration, wherein The preferred value is in the range of 0.2 to 0.4. The preferred value is in the range of 0.4 to 0.6. The preferred value is in the range of 0.6 to 0.8. The preferred value is in the range of 0.8 to 1.2.

[0045] Based on the above state discrimination, the eccentric load state is further identified. The main control unit extracts the fluctuation characteristics of the current signal within a preset time window and calculates the fluctuation amplitude of the current signal relative to the average current value. The fluctuation amplitude is defined as the average absolute deviation between the current signal and the average current value within the time window, and its expression is: ; in, Indicator representing the amplitude of current fluctuation. Indicates the first The q-axis current at each sampling time. This represents the average current value at the current sampling time. Indicates the length of the time window.

[0046] In this scheme, the time window length Preferably, 16 to 64 sampling points are used. Fluctuation amplitude threshold. Preferably, it is 5% to 15% of the average current. When it meets the requirements... If, at that time, the comprehensive contact state index is within the friction enhancement state range, then the current contact state is determined to be an eccentric loading state. .

[0047] Through the above discrimination process, different contact states during bearing disassembly and assembly are classified, and the eccentric loading state is further identified through current fluctuation characteristics. This allows the contact state discrimination results to reflect the force changes of the bearing during disassembly and assembly, thus providing a basis for the selection of the subsequent electric drive mode.

[0048] Furthermore, in the main control unit, the steps for switching between multiple electric drive modes based on the contact state include: When the contact state is normal disassembly / assembly state, select constant speed propulsion mode; When the contact state is a friction-enhanced state or an eccentrically loaded state, select the micro-vibration propulsion mode; When the contact state is stuck, the short-time high-torque pulse mode or the protection retreat mode is selected based on the comparison result between the input energy index and the preset energy threshold.

[0049] When the contact state is a friction-enhanced state or an eccentrically loaded state, the steps for selecting the micro-vibration propulsion mode include: A low-frequency vibration current signal is superimposed on the current control command; The amplitude of the low-frequency vibration current signal is adjusted based on the comprehensive contact condition index; The superimposed current control command is output to the power drive unit.

[0050] Specifically, the main control unit selects the corresponding electric drive mode based on the contact state indicator q and generates current control commands. For constant speed propulsion mode, the main control unit generates basic current control commands based on the speed control loop. The basic current control command is used to maintain the motor actuator's axial movement at a set speed. In this scheme, the amplitude of the current control command corresponding to the set speed is preferably 0.3 to 0.6 times the rated current.

[0051] When the contact state is a friction-enhanced state or an eccentrically loaded state, the main control unit issues a base current control command. By superimposing a low-frequency vibration current signal, a superimposed current control command is obtained. Its expression is: ; in, This indicates the superimposed current control command. This indicates a basic current control command. Indicates the amplitude of the low-frequency vibration current signal. Indicates the vibration frequency. This represents the initial phase. In this scheme, the vibration frequency is... The preferred value is a fixed value within the range of 5Hz to 50Hz, and the vibration amplitude is... Preferably, it is 5% to 20% of the amplitude of the base current control command.

[0052] The amplitude of the low-frequency vibration current signal is adjusted according to the comprehensive contact condition index. The adjustment method is as follows: when the comprehensive contact condition index... When the amplitude increases, the vibration amplitude should be increased accordingly. This enhances the response to changes in force at the contact interface. In this design, the vibration amplitude can be adjusted linearly, with its range limited to a preset upper limit.

[0053] When the contact state is stuck, the main control unit calculates the input energy index. and with a preset energy threshold Comparison. When When selecting the short-duration high-torque pulse mode; when When this occurs, the protection retreat mode is selected. The input energy index is obtained by accumulating the product of the voltage signal and the current signal, and its calculation process is the same as described above. In short-time high-torque pulse mode, the main control unit outputs a pulse current control command, the amplitude of which is greater than the basic current control command, and the duration is limited to a preset time window. In this scheme, the pulse current amplitude is preferably 1.2 to 1.8 times the rated current, and the duration is preferably 10ms to 100ms.

[0054] By switching between electric drive modes and using micro-vibration control methods, the current control command of the motor actuator is adjusted under different contact conditions, so that the drive output can adapt to different stress conditions during bearing disassembly and assembly, thereby achieving control over the disassembly and assembly process.

[0055] Further steps in the short-duration high-torque pulse mode include: Generate pulse current control commands with preset amplitude and duration; Within a preset time period, a pulse current control command is output to the power drive unit; After the pulse ends, the current control command is restored. It also limits the amplitude of current and voltage.

[0056] The steps of the protection retreat mode include: Calculate the input energy index based on the voltage and current signals; When the input energy index exceeds the preset energy threshold, entering the short-time high torque pulse mode is prohibited. The control motor actuator outputs reverse motion, causing the bearing to retract. After the yielding is completed, the contact state is reset to the no-load approach state, and the bearing disassembly and assembly control process is re-executed.

[0057] Specifically, in the short-time high-torque pulse mode, when the main control unit detects a stuck contact state and the input energy index does not exceed a preset energy threshold, it generates a pulse current control command. The amplitude of the pulse current control command is denoted as... The duration is recorded as Its expression at discrete sampling times is as follows: ; in, Indicates the first Current control command at each sampling time This indicates a basic current control command. Indicates the pulse start sampling time. Indicates the number of sampling points for the pulse duration. , This indicates the sampling period. In this scheme, the pulse current amplitude... Preferably, the current is 1.2 to 1.8 times the rated current of the motor, and the duration is... The preferred time is 20ms to 80ms.

[0058] During pulse output, the current and voltage amplitudes are limited, with the current limit value denoted as... The voltage limit value is denoted as The limitation is that the current control command does not exceed The output voltage of the power drive unit does not exceed In this scheme, the current limit value is... Preferably, the voltage limit value is within twice the rated current. Preferably, it is 90% to 100% of the DC bus voltage.

[0059] In the protection retreat mode, the main control unit calculates the input energy index based on the voltage and current signals. Its expression is: ; in, Indicates the input energy index. , Indicates the first Voltage components at each sampling time, , Represents the current component. Indicates the start time of sampling in the current control phase. This indicates the sampling period. In this scheme, the energy threshold... It is preferable to set it according to the motor's rated power and allowable operating time.

[0060] When satisfied At this time, the main control unit prohibits entering the short-time high-torque pulse mode and executes the protection relief mode. In this mode, the main control unit adjusts the current control command to reverse control, causing the motor actuator to generate reverse torque, thereby causing the bearing to produce a relief displacement along the axial direction. The relief displacement is denoted as... The displacement is detected using displacement signals. In this scheme, the yield displacement... The preferred value is a fixed value within the range of 0.5 mm to 2 mm.

[0061] When the detected displacement reaches the yielding displacement, the main control unit stops the reverse drive and resets the contact state to the no-load approach state, and then re-executes the bearing disassembly and assembly control process.

[0062] By combining the aforementioned short-time high-torque pulse mode with the protection retreat mode, the drive output of the motor actuator is controlled in the stuck state, and the drive process is constrained by the input energy index, so that the control during the disassembly and assembly process has clear triggering conditions and execution paths.

[0063] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0064] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. 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 smart electrical control system for disassembling and assembling motor bearings, characterized in that, include: Low-voltage power supply unit, used to provide DC power; A power drive unit, connected to the low-voltage power supply unit, is used to convert the DC power supply into multiphase AC power to drive the motor actuator unit. The motor actuator is connected to the power drive unit and to the bearing disassembly and assembly mechanism, and is used to drive the bearing to perform axial disassembly and assembly movements. The sampling and detection unit is connected to the motor execution unit and is used to collect the current signal, voltage signal, speed signal and displacement signal of the motor execution unit; The main control unit, connected to both the sampling and detection unit and the power drive unit, is used for: Electromagnetic characteristic quantities are constructed based on the current signal, voltage signal, speed signal, and displacement signal. The electromagnetic characteristic quantities include the average current value, current change rate, high-frequency disturbance response amplitude, and equivalent electromagnetic impedance characteristics. Calculate the comprehensive contact state index based on the aforementioned electromagnetic characteristic quantities; The contact status during bearing assembly and disassembly is determined based on the comprehensive contact status index. The system switches between multiple electric drive modes based on the contact state and outputs corresponding current control commands to the power drive unit to achieve adaptive control of the bearing assembly and disassembly process.

2. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 1, characterized in that, In the main control unit, the step of constructing the electromagnetic characteristic quantities includes: The current signal is processed by a sliding window to obtain the average current value; The rate of change of current is calculated based on the change of current signal within a continuous sampling period; Calculate the equivalent electromagnetic impedance characteristics based on the relationship between the voltage signal and the current signal; The average current, rate of change of current, and equivalent electromagnetic impedance characteristics are normalized.

3. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 1, characterized in that, In the main control unit, the step of constructing the electromagnetic characteristic quantities further includes: A high-frequency disturbance signal is superimposed on the current control command; Acquire the current signal under the action of the high-frequency disturbance signal; The current signal is synchronously demodulated to obtain the high-frequency disturbance response amplitude; The amplitude of the high-frequency disturbance response is used as part of the electromagnetic characteristic quantity.

4. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 1, characterized in that, In the main control unit, the step of calculating the comprehensive contact state index based on the electromagnetic characteristic quantities includes: Normalize each characteristic component in the electromagnetic characteristic quantity; Each feature component is weighted according to a preset weighting coefficient; The weighted results are superimposed to generate the comprehensive contact state index.

5. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 1, characterized in that, In the main control unit, the steps for determining the contact state during bearing disassembly and assembly based on the comprehensive contact state index include: The comprehensive contact status index is compared with multiple preset thresholds; Based on the comparison results, the bearing disassembly and assembly process is divided into the no-load approach state, the initial contact state, the normal disassembly and assembly state, the friction enhancement state, the eccentric loading state, and the jamming state. Output the corresponding contact status indicator.

6. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 5, characterized in that, The steps for determining the eccentric loading state include: Extract the fluctuation characteristics of the current signal within a preset time window; Calculate the fluctuation range of the current signal relative to the average current value; When the fluctuation amplitude exceeds a preset threshold, the current contact state is determined to be an eccentric loading state.

7. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 1, characterized in that, In the main control unit, the step of switching between multiple electric drive modes based on the contact state includes: When the contact state is normal disassembly / assembly state, select constant speed propulsion mode; When the contact state is a friction-enhanced state or an eccentrically loaded state, select the micro-vibration propulsion mode; When the contact state is stuck, the short-time high-torque pulse mode or the protection retreat mode is selected based on the comparison result between the input energy index and the preset energy threshold.

8. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 7, characterized in that, In the main control unit, when the contact state is a friction-enhanced state or an eccentrically loaded state, the step of selecting the micro-vibration propulsion mode includes: A low-frequency vibration current signal is superimposed on the current control command; The amplitude of the low-frequency vibration current signal is adjusted according to the comprehensive contact state index. The superimposed current control command is output to the power drive unit.

9. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 7, characterized in that, The steps of the short-time high-torque pulse mode include: Generate pulse current control commands with preset amplitude and duration; The pulse current control command is output to the power drive unit within a preset time period; After the pulse ends, the current control command is restored. It also limits the amplitude of current and voltage.

10. The intelligent disassembly and assembly electronic control system for motor bearings according to claim 7, characterized in that, In the main control unit, the steps of the protection retreat mode include: Calculate the input energy index based on the voltage signal and the current signal; When the input energy index exceeds the preset energy threshold, entering the short-time high-torque pulse mode is prohibited; The motor actuator is controlled to output reverse motion, causing the bearing to retract. After the yielding is completed, the contact state is reset to the no-load approach state, and the bearing disassembly and assembly control process is re-executed.

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