基于磁流变液阻尼器的转子系统振动主动控制研究
发布时间：2019-06-13 06:24
【摘要】：旋转机械是最常见也是最重要的一类机械装置,广泛应用于各工业领域,如电机、机床、压缩机、汽轮发电机和航空发动机等。旋转机械运行过程中,很多外在或内在因素(如不平衡、不对中和裂纹等)常引起转子振动,振动不仅是分析设备状态的重要指标,更是影响设备安全的重要因素。研究、分析并控制旋转机械的转子振动是保证设备稳定运行的关键。阻尼减振是转子振动常用的控制技术,磁流变液阻尼器是一种新型智能阻尼减振装置,由于能耗低、阻尼力大和可控性强等优势,已成功应用于建筑、桥梁等结构振动控制领域,在旋转机械振动领域也逐渐受到关注,具有广阔的应用前景。因此,本论文提出应用剪切式磁流变液阻尼器主动改变转子振动系统自身刚度和阻尼,对转子振动进行实时、在线的智能优化控制。在不改变轴系支撑形式、不停机状态下,在线抑制轴系振动,避免因轴系振动过大而被迫停机。本论文主要的工作：(1)介绍了转子系统振动的主动控制与被动控制技术,研究并分析了应用于转子振动的主动控制策略和方法,介绍了磁流变液阻尼器在转子振动控制领域的研究现状。设计制作了剪切式磁流变液阻尼器,以剪切式磁流变液阻尼器为转子振动控制手段,建立了磁流变液阻尼器-单跨转子系统动力学方程,运用Matlab/Simulink软件进行了仿真研究和分析,得出该磁流变液阻尼器对转子振动的影响和抑制规律。(2)根据磁流变液阻尼器-单跨转子系统的仿真和分析,提出并设计了三种主动控制策略,并进行了仿真研究。基于转速的开关和分段控制策略,根据转子运行过程中某些参数的变化,改变控制电流,抑制转子振动；基于振幅的闭环控制策略,能实时监测转子当前振动幅值,在线改变控制电流,将转子振动控制在期望目标值内：基于模式搜索算法的寻优逼近控制策略,可以实时跟踪转子振幅与转速的变化,自适应地找出适合当前转子振动状态的最优控制电流,实现转子振动的智能优化控制。(3)设计并搭建了磁流变液阻尼器-单跨转子振动控制系统,开发了基于磁流变液阻尼器的单跨转子振动控制系统软件平台。实验研究并验证了所提出控制方法的有效性和可靠性。实验表明,单跨转子振动在共振区抑振效果可达80%,非共振区可达30%。基于转速的开关和分段控制策略,能够在线改变控制电流,有效抑制转子振动；基于振幅的闭环控制策略,根据模型和经验公式,在线调节控制电流,将转子振幅控制在目标值以内；基于模式搜索法的寻优逼近控制策略,能实时跟踪转子运行过程中参数变化,有效控制转子振动,在线搜索出最合适的控制电流,实现转子振动的智能优化控制。(4)将文中提出的主动控制方法推广应用于双跨转子系统振动的主动控制,设计并搭建了磁流液阻尼器-双跨转子振动控制系统实验台,利用Labview并行编程机制,对双跨转子系统进行并行、相互独立的寻优控制。基于模式搜索算法的寻优逼近控制策略,能分别找出适合各跨转子当前工作状态的控制电流,迅速有效的抑制各跨转子通过两阶临界转速时的振动(一阶临界转速附近振动减小37%,二阶临界转速区减小42%)。(5)为验证寻优逼近控制策略对复杂转子系统振动控制的优化能力,在双跨转子振动控制平台上,开展了大量的实验研究工作。通过设置不同的控制参数(振动控制目标值、振动幅值允许误差和电流搜索步长),研究寻优逼近控制策略的控制参数对振动控制系统可控精度、响应速度与稳定性能的影响。不同的控制精度要求(允许误差),对系统寻优逼近控制过程稳定性会有影响；不同电流搜索步长下,搜索步长越大,系统寻优速度越快,但会对控制系统精度和稳定性有一定影响。实际控制过程中,需权衡系统的三种性能要求,在保证转子系统稳定性的前提下,尽可能提高响应速度和控制精度。论文提出的转子振动主动控制方法可以推广应用于三跨、四跨以上的多跨转子振动控制,最终实现轴系振动的靶向控制,有助于推动轴系不平衡故障的自愈调控,促进基于磁流变液阻尼器的轴系振动主动控制技术在工程中的推广及应用,也可以应用于其它的转子振动控制技术如反旋流控制。
[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.
【学位授予单位】：北京化工大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TB535
，
本文编号：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.
【学位授予单位】：北京化工大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：TB535
，
本文编号：2498305
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