基于磁流變液阻尼器的轉(zhuǎn)子系統(tǒng)振動主動控制研究
發(fā)布時間：2019-06-13 06:24
【摘要】：旋轉(zhuǎn)機械是最常見也是最重要的一類機械裝置,廣泛應(yīng)用于各工業(yè)領(lǐng)域,如電機、機床、壓縮機、汽輪發(fā)電機和航空發(fā)動機等。旋轉(zhuǎn)機械運行過程中,很多外在或內(nèi)在因素(如不平衡、不對中和裂紋等)常引起轉(zhuǎn)子振動,振動不僅是分析設(shè)備狀態(tài)的重要指標(biāo),更是影響設(shè)備安全的重要因素。研究、分析并控制旋轉(zhuǎn)機械的轉(zhuǎn)子振動是保證設(shè)備穩(wěn)定運行的關(guān)鍵。阻尼減振是轉(zhuǎn)子振動常用的控制技術(shù),磁流變液阻尼器是一種新型智能阻尼減振裝置,由于能耗低、阻尼力大和可控性強等優(yōu)勢,已成功應(yīng)用于建筑、橋梁等結(jié)構(gòu)振動控制領(lǐng)域,在旋轉(zhuǎn)機械振動領(lǐng)域也逐漸受到關(guān)注,具有廣闊的應(yīng)用前景。因此,本論文提出應(yīng)用剪切式磁流變液阻尼器主動改變轉(zhuǎn)子振動系統(tǒng)自身剛度和阻尼,對轉(zhuǎn)子振動進行實時、在線的智能優(yōu)化控制。在不改變軸系支撐形式、不停機狀態(tài)下,在線抑制軸系振動,避免因軸系振動過大而被迫停機。本論文主要的工作：(1)介紹了轉(zhuǎn)子系統(tǒng)振動的主動控制與被動控制技術(shù),研究并分析了應(yīng)用于轉(zhuǎn)子振動的主動控制策略和方法,介紹了磁流變液阻尼器在轉(zhuǎn)子振動控制領(lǐng)域的研究現(xiàn)狀。設(shè)計制作了剪切式磁流變液阻尼器,以剪切式磁流變液阻尼器為轉(zhuǎn)子振動控制手段,建立了磁流變液阻尼器-單跨轉(zhuǎn)子系統(tǒng)動力學(xué)方程,運用Matlab/Simulink軟件進行了仿真研究和分析,得出該磁流變液阻尼器對轉(zhuǎn)子振動的影響和抑制規(guī)律。(2)根據(jù)磁流變液阻尼器-單跨轉(zhuǎn)子系統(tǒng)的仿真和分析,提出并設(shè)計了三種主動控制策略,并進行了仿真研究�；谵D(zhuǎn)速的開關(guān)和分段控制策略,根據(jù)轉(zhuǎn)子運行過程中某些參數(shù)的變化,改變控制電流,抑制轉(zhuǎn)子振動；基于振幅的閉環(huán)控制策略,能實時監(jiān)測轉(zhuǎn)子當(dāng)前振動幅值,在線改變控制電流,將轉(zhuǎn)子振動控制在期望目標(biāo)值內(nèi)：基于模式搜索算法的尋優(yōu)逼近控制策略,可以實時跟蹤轉(zhuǎn)子振幅與轉(zhuǎn)速的變化,自適應(yīng)地找出適合當(dāng)前轉(zhuǎn)子振動狀態(tài)的最優(yōu)控制電流,實現(xiàn)轉(zhuǎn)子振動的智能優(yōu)化控制。(3)設(shè)計并搭建了磁流變液阻尼器-單跨轉(zhuǎn)子振動控制系統(tǒng),開發(fā)了基于磁流變液阻尼器的單跨轉(zhuǎn)子振動控制系統(tǒng)軟件平臺。實驗研究并驗證了所提出控制方法的有效性和可靠性。實驗表明,單跨轉(zhuǎn)子振動在共振區(qū)抑振效果可達80%,非共振區(qū)可達30%�；谵D(zhuǎn)速的開關(guān)和分段控制策略,能夠在線改變控制電流,有效抑制轉(zhuǎn)子振動；基于振幅的閉環(huán)控制策略,根據(jù)模型和經(jīng)驗公式,在線調(diào)節(jié)控制電流,將轉(zhuǎn)子振幅控制在目標(biāo)值以內(nèi)；基于模式搜索法的尋優(yōu)逼近控制策略,能實時跟蹤轉(zhuǎn)子運行過程中參數(shù)變化,有效控制轉(zhuǎn)子振動,在線搜索出最合適的控制電流,實現(xiàn)轉(zhuǎn)子振動的智能優(yōu)化控制。(4)將文中提出的主動控制方法推廣應(yīng)用于雙跨轉(zhuǎn)子系統(tǒng)振動的主動控制,設(shè)計并搭建了磁流液阻尼器-雙跨轉(zhuǎn)子振動控制系統(tǒng)實驗臺,利用Labview并行編程機制,對雙跨轉(zhuǎn)子系統(tǒng)進行并行、相互獨立的尋優(yōu)控制�；谀Ｊ剿阉魉惴ǖ膶�(yōu)逼近控制策略,能分別找出適合各跨轉(zhuǎn)子當(dāng)前工作狀態(tài)的控制電流,迅速有效的抑制各跨轉(zhuǎn)子通過兩階臨界轉(zhuǎn)速時的振動(一階臨界轉(zhuǎn)速附近振動減小37%,二階臨界轉(zhuǎn)速區(qū)減小42%)。(5)為驗證尋優(yōu)逼近控制策略對復(fù)雜轉(zhuǎn)子系統(tǒng)振動控制的優(yōu)化能力,在雙跨轉(zhuǎn)子振動控制平臺上,開展了大量的實驗研究工作。通過設(shè)置不同的控制參數(shù)(振動控制目標(biāo)值、振動幅值允許誤差和電流搜索步長),研究尋優(yōu)逼近控制策略的控制參數(shù)對振動控制系統(tǒng)可控精度、響應(yīng)速度與穩(wěn)定性能的影響。不同的控制精度要求(允許誤差),對系統(tǒng)尋優(yōu)逼近控制過程穩(wěn)定性會有影響；不同電流搜索步長下,搜索步長越大,系統(tǒng)尋優(yōu)速度越快,但會對控制系統(tǒng)精度和穩(wěn)定性有一定影響。實際控制過程中,需權(quán)衡系統(tǒng)的三種性能要求,在保證轉(zhuǎn)子系統(tǒng)穩(wěn)定性的前提下,盡可能提高響應(yīng)速度和控制精度。論文提出的轉(zhuǎn)子振動主動控制方法可以推廣應(yīng)用于三跨、四跨以上的多跨轉(zhuǎn)子振動控制,最終實現(xiàn)軸系振動的靶向控制,有助于推動軸系不平衡故障的自愈調(diào)控,促進基于磁流變液阻尼器的軸系振動主動控制技術(shù)在工程中的推廣及應(yīng)用,也可以應(yīng)用于其它的轉(zhuǎn)子振動控制技術(shù)如反旋流控制。
[Abstract]:Rotating machinery is the most common type of mechanical device, which is widely used in various industrial fields, such as electric machine, machine tool, compressor, turbo-generator and aviation engine. During the operation of rotating machinery, many external or internal factors (such as unbalanced, non-centering and crack, etc.) often cause rotor vibration. The vibration is not only an important index for analyzing the state of the equipment, but also an important factor affecting the safety of the equipment. The research, analysis and control of the rotor vibration of the rotating machine is the key to ensure the stable operation of the equipment. The damping and vibration damping is a common control technology for rotor vibration, and the magnetorheological fluid damper is a novel intelligent damping vibration damping device, which is successfully applied to the vibration control fields of buildings, bridges and the like due to the advantages of low energy consumption, large damping force and strong controllability and the like. And has a wide application prospect in the field of rotating mechanical vibration. Therefore, the paper puts forward the application of the shear-type magneto-rheological fluid damper to actively change the self-rigidity and damping of the rotor vibration system, and carry out real-time and on-line intelligent optimization control on the rotor vibration. In that mode of not changing the support form of the shafting, the vibration of the shafting is suppressed on-line under the condition of no stop, and the shaft system is prevented from being shut down due to the excessive vibration of the shaft system. The main work of this thesis is as follows: (1) The active control and the passive control technology of the vibration of the rotor system are introduced, the active control strategy and the method applied to the rotor vibration are studied and analyzed, and the research status of the magneto-rheological fluid damper in the field of rotor vibration control is introduced. The shear-type magneto-rheological fluid damper is designed, and the shear-type magnetorheological fluid damper is used as the vibration control method of the rotor. The dynamic equation of the magnetorheological fluid damper-single-span rotor system is established, and the simulation research and analysis are carried out by using the Matlab/ Simulink software. The influence of the magneto-rheological fluid damper on the vibration of the rotor and the law of inhibition are obtained. (2) According to the simulation and analysis of the magneto-rheological fluid damper-single-span rotor system, three active control strategies are put forward and the simulation research is carried out. according to the change of certain parameters in the operation process of the rotor, the control current is changed, the rotor vibration is restrained, the current vibration amplitude of the rotor can be monitored in real time, the control current can be changed on-line, The rotor vibration is controlled within the desired target value: based on the optimization approach control strategy of the mode search algorithm, the variation of the rotor amplitude and the rotation speed can be tracked in real time, the optimal control current suitable for the current rotor vibration state can be found adaptively, and the intelligent optimization control of the rotor vibration can be realized. (3) The magnetorheological fluid damper-single-span rotor vibration control system is designed and built, and a single-span rotor vibration control system software platform based on the magnetorheological fluid damper is developed. The effectiveness and reliability of the proposed control method are also verified. The results show that the vibration suppression effect of the single-span rotor can reach 80% and the non-resonant area can reach up to 30%. based on the speed-based switch and the segment control strategy, the control current can be changed on-line, the vibration of the rotor can be effectively inhibited, the control current is adjusted on-line according to the model and the empirical formula according to the model and the empirical formula, and the amplitude of the rotor is controlled within the target value; The optimal approach control strategy based on the mode search method can track the change of the parameters in the running process of the rotor in real time, effectively control the vibration of the rotor, and search out the most suitable control current on-line to realize the intelligent optimization control of the rotor vibration. (4) the active control method proposed in the paper is applied to the active control of the vibration of the double-span rotor system, Independent optimization control. based on the optimization approach control strategy of the mode search algorithm, the control current suitable for each current working state of each cross-rotor can be found out, and the vibration at the first-order critical speed of each cross-rotor through the two-step critical speed is rapidly and effectively restrained (the vibration in the vicinity of the first-order critical speed is reduced by 37 percent, The second-order critical speed region is reduced by 42%). (5) In order to verify the optimization ability of the optimization approach control strategy to the vibration control of the complex rotor system, a large number of experimental research work is carried out on the double-span rotor vibration control platform. By setting different control parameters (vibration control target value, vibration amplitude allowable error and current search step size), the influence of control parameters of the optimization approach control strategy on the controllable precision, response speed and stability of the vibration control system is studied. Different control precision requirements (allowable error) have an effect on the stability of the system optimization and control process; in different current search steps, the larger the search step size, the faster the system optimization speed, but will have a certain influence on the accuracy and stability of the control system. In the actual control process, the three performance requirements of the system need to be weighed, and the response speed and the control accuracy can be improved as much as possible under the premise of ensuring the stability of the rotor system. The method for active control of the rotor vibration proposed by the paper can be applied to the vibration control of a multi-span rotor with a three-span, four-span or more, and finally realizes the target control of the vibration of the shafting, and is beneficial to the self-healing regulation of the unbalanced fault of the shafting, The promotion and application of the vibration active control technology of the shafting vibration based on the magnetorheological fluid damper in the project can also be applied to other rotor vibration control technologies such as anti-swirl control.
【學(xué)位授予單位】：北京化工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：TB535
，
本文編號：2498305
[Abstract]:Rotating machinery is the most common type of mechanical device, which is widely used in various industrial fields, such as electric machine, machine tool, compressor, turbo-generator and aviation engine. During the operation of rotating machinery, many external or internal factors (such as unbalanced, non-centering and crack, etc.) often cause rotor vibration. The vibration is not only an important index for analyzing the state of the equipment, but also an important factor affecting the safety of the equipment. The research, analysis and control of the rotor vibration of the rotating machine is the key to ensure the stable operation of the equipment. The damping and vibration damping is a common control technology for rotor vibration, and the magnetorheological fluid damper is a novel intelligent damping vibration damping device, which is successfully applied to the vibration control fields of buildings, bridges and the like due to the advantages of low energy consumption, large damping force and strong controllability and the like. And has a wide application prospect in the field of rotating mechanical vibration. Therefore, the paper puts forward the application of the shear-type magneto-rheological fluid damper to actively change the self-rigidity and damping of the rotor vibration system, and carry out real-time and on-line intelligent optimization control on the rotor vibration. In that mode of not changing the support form of the shafting, the vibration of the shafting is suppressed on-line under the condition of no stop, and the shaft system is prevented from being shut down due to the excessive vibration of the shaft system. The main work of this thesis is as follows: (1) The active control and the passive control technology of the vibration of the rotor system are introduced, the active control strategy and the method applied to the rotor vibration are studied and analyzed, and the research status of the magneto-rheological fluid damper in the field of rotor vibration control is introduced. The shear-type magneto-rheological fluid damper is designed, and the shear-type magnetorheological fluid damper is used as the vibration control method of the rotor. The dynamic equation of the magnetorheological fluid damper-single-span rotor system is established, and the simulation research and analysis are carried out by using the Matlab/ Simulink software. The influence of the magneto-rheological fluid damper on the vibration of the rotor and the law of inhibition are obtained. (2) According to the simulation and analysis of the magneto-rheological fluid damper-single-span rotor system, three active control strategies are put forward and the simulation research is carried out. according to the change of certain parameters in the operation process of the rotor, the control current is changed, the rotor vibration is restrained, the current vibration amplitude of the rotor can be monitored in real time, the control current can be changed on-line, The rotor vibration is controlled within the desired target value: based on the optimization approach control strategy of the mode search algorithm, the variation of the rotor amplitude and the rotation speed can be tracked in real time, the optimal control current suitable for the current rotor vibration state can be found adaptively, and the intelligent optimization control of the rotor vibration can be realized. (3) The magnetorheological fluid damper-single-span rotor vibration control system is designed and built, and a single-span rotor vibration control system software platform based on the magnetorheological fluid damper is developed. The effectiveness and reliability of the proposed control method are also verified. The results show that the vibration suppression effect of the single-span rotor can reach 80% and the non-resonant area can reach up to 30%. based on the speed-based switch and the segment control strategy, the control current can be changed on-line, the vibration of the rotor can be effectively inhibited, the control current is adjusted on-line according to the model and the empirical formula according to the model and the empirical formula, and the amplitude of the rotor is controlled within the target value; The optimal approach control strategy based on the mode search method can track the change of the parameters in the running process of the rotor in real time, effectively control the vibration of the rotor, and search out the most suitable control current on-line to realize the intelligent optimization control of the rotor vibration. (4) the active control method proposed in the paper is applied to the active control of the vibration of the double-span rotor system, Independent optimization control. based on the optimization approach control strategy of the mode search algorithm, the control current suitable for each current working state of each cross-rotor can be found out, and the vibration at the first-order critical speed of each cross-rotor through the two-step critical speed is rapidly and effectively restrained (the vibration in the vicinity of the first-order critical speed is reduced by 37 percent, The second-order critical speed region is reduced by 42%). (5) In order to verify the optimization ability of the optimization approach control strategy to the vibration control of the complex rotor system, a large number of experimental research work is carried out on the double-span rotor vibration control platform. By setting different control parameters (vibration control target value, vibration amplitude allowable error and current search step size), the influence of control parameters of the optimization approach control strategy on the controllable precision, response speed and stability of the vibration control system is studied. Different control precision requirements (allowable error) have an effect on the stability of the system optimization and control process; in different current search steps, the larger the search step size, the faster the system optimization speed, but will have a certain influence on the accuracy and stability of the control system. In the actual control process, the three performance requirements of the system need to be weighed, and the response speed and the control accuracy can be improved as much as possible under the premise of ensuring the stability of the rotor system. The method for active control of the rotor vibration proposed by the paper can be applied to the vibration control of a multi-span rotor with a three-span, four-span or more, and finally realizes the target control of the vibration of the shafting, and is beneficial to the self-healing regulation of the unbalanced fault of the shafting, The promotion and application of the vibration active control technology of the shafting vibration based on the magnetorheological fluid damper in the project can also be applied to other rotor vibration control technologies such as anti-swirl control.
【學(xué)位授予單位】：北京化工大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2015
【分類號】：TB535
，
本文編號：2498305
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