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CN113814072A - Method for monitoring unbalance force of sliding bearing of supergravity centrifugal machine - Google Patents

Method for monitoring unbalance force of sliding bearing of supergravity centrifugal machine Download PDF

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CN113814072A
CN113814072A CN202110591069.6A CN202110591069A CN113814072A CN 113814072 A CN113814072 A CN 113814072A CN 202110591069 A CN202110591069 A CN 202110591069A CN 113814072 A CN113814072 A CN 113814072A
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bearing
force
sliding bearing
centrifuge
sliding
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CN113814072B (en
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汪玉冰
邱冰静
李超
凌道盛
郑建靖
赵宇
谢海波
陈云敏
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B04—CENTRIFUGAL APPARATUS OR MACHINES FOR CARRYING-OUT PHYSICAL OR CHEMICAL PROCESSES
    • B04B—CENTRIFUGES
    • B04B9/00—Drives specially designed for centrifuges; Arrangement or disposition of transmission gearing; Suspending or balancing rotary bowls
    • B04B9/14—Balancing rotary bowls ; Schrappers
    • B04B9/146—Imbalance detection devices

Abstract

本发明公开了一种超重力离心机滑动轴承不平衡力监测方法。超重力离心机的主轴在上、中和下部分别装滑动轴承，滑动轴承设有轴瓦，轴瓦处布置力传感器，离心机试验实时力传感器采集获得荷载时程曲线；建立两个坐标系统合成每个滑动轴承的总支座反力，处理得到超重力离心机的动不平衡力，校核整个超重力离心机的动不平衡力以及滑动轴承的工作性能，实现超重力离心机的滑动轴承不平衡力监测。本发明在某些传感器失效情况下依然能够保证高精度运作以及最终不平衡荷载的准确性，还能够体现产生动不平衡量的其他因素，稳定运行和控制更有保证，适用范围广。

Figure 202110591069

The invention discloses a method for monitoring the unbalanced force of a sliding bearing of a supergravity centrifuge. The main shaft of the supergravity centrifuge is equipped with sliding bearings on the upper, middle and lower parts, respectively. The sliding bearings are provided with bearing bushes, and a force sensor is arranged at the bearing pad. The real-time force sensor collects the load time history curve in the centrifuge test; establishes two coordinate systems to synthesize each The total bearing reaction force of the sliding bearing is processed to obtain the dynamic unbalanced force of the hypergravity centrifuge, and the dynamic unbalanced force of the entire hypergravity centrifuge and the working performance of the sliding bearing are checked to realize the unbalanced sliding bearing of the hypergravity centrifuge. force monitoring. The invention can still ensure high-precision operation and the accuracy of the final unbalanced load in the case of some sensor failures, and can also reflect other factors that generate dynamic unbalance.

Figure 202110591069

Description

Method for monitoring unbalance force of sliding bearing of supergravity centrifugal machine
Technical Field
The invention belongs to the technical field of centrifuge rotor balance, relates to a monitoring technology of a hypergravity centrifuge, and particularly relates to a method for monitoring an unbalanced force of a sliding bearing of the hypergravity centrifuge.
Background
A high-gravity centrifuge, as a rotating device that operates at high speeds, is subjected to dynamic loads in addition to static loads, including rotational imbalances. The dynamic load causes the forced vibration of the equipment, so that the running stability and precision are reduced, the motion noise is increased, the abrasion of the motion part is accelerated, and the service life is shortened; the heavy one can not make the rotor run normally and can not reach the design index. Therefore, the method for monitoring and feeding back the unbalance of the centrifuge in the operation process in real time sensitively and reliably is an important condition for ensuring the stable operation of the supergravity centrifuge. Especially, the design index of the existing hypergravity centrifugal machine is continuously improved, the rotating speed and the load capacity of the existing hypergravity centrifugal machine are continuously increased, the mechanism for transferring the unbalanced force is more complex, and the accurate and efficient monitoring method is essential for the safe operation of the geotechnical centrifugal machine.
The main principle of the existing monitoring technology about the unbalanced load of the hypergravity centrifuge is as follows: a force sensor is arranged between a rotary operation mechanism (a rotary arm of the centrifuge) and a supporting mechanism (a main shaft of the centrifuge), when unbalanced force is generated at the end part of a rotary system, relative displacement exists between the rotary arm and the main shaft, and signals measured by the force sensor are the unbalanced force acting on two ends of the rotary arm of the centrifuge.
Utility model patent application No. CN202582809U discloses a geotechnical centrifuge unbalance force monitoring devices. The device of this patent includes a working end, a force sensor, a rotating arm support, a tension band, and a counterweight end. The working principle of the device is as follows: when the geotechnical centrifuge is in an unbalanced state, relative motion can be generated between the tension band and the rotating arm support, so that unbalanced force can be transmitted to the force sensor, and therefore unbalanced force monitoring is achieved.
The monitoring of the unbalance amount of the centrifugal machine is also an important component of a balancing system of the centrifugal machine, and a monitoring result is fed back to the balancing module, so that the safe operation of the centrifugal machine is effectively ensured.
Utility model patent application No. CN203342956U discloses a novel balanced self-interacting system of geotechnical centrifuge. The application includes a water tank, a load cell, a control valve, and a controller. The working principle of the regulating system is as follows: after the load of the working end of the centrifuge is increased, the sensor measures out the unbalanced force, the electromagnetic switch valve in the control valve is opened, water is injected into the water tank, and the electromagnetic switch valve is closed and stops injecting water until the unbalanced force is close to zero.
The invention patent application No. CN109092575A discloses a balancing device and a balancing method of a centrifugal machine based on rotation center position adjustment. The unbalanced force monitoring module in the application balancing system comprises a controller, a motion executing mechanism A, a motion executing mechanism B, a force sensor A and a force sensor B, wherein two ends of the sensor are respectively connected with the motion executing mechanism (a rotating arm support) and a rotating arm. The main working principle is as follows: when the centrifugal machine rotates, different values can be measured between the force sensors A and B due to unbalanced centrifugal force action of the two end parts, and the feedback result is used as the basis for judgment of the balancing system.
The patent application of invention No. CN109876931B discloses a monitoring method for unbalance amount of a supergravity centrifuge. A plurality of force sensors are arranged on foundation bolts used for fixing a transmission support of the hypergravity centrifugal machine at a base of the hypergravity centrifugal machine, the force sensors are arranged along a circumferential array, a relation curve between the load of the foundation bolts and the unbalanced force of the hypergravity centrifugal machine is obtained through a calibration test, and then the unbalanced force is obtained through indirect conversion of the calibration curve during an actual test.
The main defects of the unbalance monitoring method of the existing hypergravity centrifuge are as follows:
the monitoring device is required to be arranged between the rotating arm and the rotating arm support, and the newly-added mechanism not only increases the complexity of the main structure, but also has complex processing, troublesome installation and adjustment and limited measurement precision and limits the development of the self-technology. In addition, the balancing technology mainly utilizes the monitoring result of the unbalance amount monitoring device to feed back and control the moving mechanism to carry out balancing operation in real time, and if the additional mechanism is not well adjusted, the friction force additionally added to the centrifugal machine can influence the transmission of the unbalance force to cause the deviation of monitoring data.
In addition, the existing monitoring technology represents the unbalance amount which represents the unbalanced centrifugal force of the working end and the counterweight end through the measurement result of the force sensor between the rotating arm and the main shaft, but the monitoring result is deviated to be unsafe due to overcoming the action of the friction force between the rotating arm support and the rotating arm. Furthermore, the amount of unbalance to be borne by the centrifugal machine due to other reasons (such as swing carry-over angle, installation deviation, etc.) cannot be monitored by the prior art.
Finally, the dynamic unbalance load obtained through indirect conversion cannot reflect the effect of the unbalance force at the end part of the rotating arm on the bearing, and the bearing is a key supporting component related to the safe and effective operation of the supergravity centrifuge and is also a main component in a mechanical system, so that the real-time performance of the dynamic load and the stability of the machine operation can be ensured only by a direct unbalance force monitoring method based on the bearing, which is not solved by the existing indirect monitoring methods.
Disclosure of Invention
The invention aims to solve the technical problems in the background art, and provides a method for monitoring the unbalance force of a sliding bearing of a supergravity centrifugal machine, which is used for obtaining accurate dynamic unbalance load based on real-time monitoring of bearing stress and feeding back the reliability of the efficacy of a system component by a monitoring value.
The technical scheme adopted by the invention is as follows:
firstly, sliding bearings are respectively arranged at the upper part, the middle part and the lower part of a main shaft of the hypergravity centrifugal machine, each sliding bearing is provided with a different number of bearing bushes, force sensors are arranged at the bearing bushes of different sliding bearings,
secondly, performing a centrifuge test, collecting load force data of a force sensor on a bearing bush of each sliding bearing in real time, wherein the force sensor provides counter-force measurement to obtain a load time-course curve;
establishing two coordinate systems of a bearing bush system local polar coordinate system and a centrifuge integral Cartesian coordinate system, and synthesizing the total support counterforce of each sliding bearing according to a load time course curve and the set coordinate system;
the bearing bush system local polar coordinate system is used for determining the position of each bearing bush, and the centrifuge integral Cartesian coordinate system is used for determining the total support reaction force of the sliding bearing and synthesizing the dynamic unbalance force.
Step four, obtaining the dynamic unbalance force of the supergravity centrifuge according to the real-time total support counter force of each sliding bearing;
and fifthly, checking the dynamic unbalance force of the whole supergravity centrifugal machine and the working performance of the sliding bearing, and monitoring the unbalance force of the sliding bearing of the supergravity centrifugal machine.
In the third step of the method, the first step,
each sliding bearing establishes the same bearing bush system local polar coordinate system: the method comprises the following steps that the bearing bushes of a sliding bearing bush system are uniformly distributed along the circumference of a main shaft at intervals, the number of any one bearing bush is selected to be 1, the number of the rest bearing bushes are sequentially selected to be 2,3 and 4 … according to the anticlockwise direction, the circle center of the cross section of the main shaft is selected to be the origin of a polar coordinate system, the direction from the origin to the bearing bush No. 1 is specified to be the polar axis direction of the polar coordinate system and is marked as an x axis, and the anticlockwise rotating angle of the polar coordinate system is used as the positive direction of the angle of the coordinate system; in this way the x-axis of the local coordinate system of the bearing system at different slide bearings is set to one direction. The total of N force sensors for each bearing pad in the plain bearing are numbered 1,2,3 … N in a counter clockwise or clockwise sequence.
Setting an integral Cartesian coordinate system of the hypergravity centrifugal machine: the origin of the whole Cartesian coordinate system of the centrifuge is selected to be the circle center of the cross section of the lower sliding bearing, the X axis of the whole Cartesian coordinate system of the centrifuge is coincident with the X axis of the local polar coordinate system of the sliding bearing bush system, the Z axis of the whole Cartesian coordinate system of the centrifuge is coincident with the central line of the main shaft of the centrifuge, the direction is the direction in which the lower sliding bearing points to the upper sliding bearing, and the Y axis of the whole Cartesian coordinate system of the centrifuge is uniquely determined by the Z axis and the X axis through a right-hand rule.
In the second step, each load time-course curve is that the force monitored by the force sensor continuously changes along with the time tCurve of (a), expressed as qi(t)。
In the third step, the following processing is carried out for each sliding bearing to obtain the total support reaction force of each sliding bearing:
synthesizing the total support reaction force of the sliding bearing according to the load time-course curve of the force sensor on each bearing bush in the sliding bearing:
Figure BDA0003089582480000031
Figure BDA0003089582480000041
Figure BDA0003089582480000042
Figure BDA0003089582480000043
wherein Q (t) represents a total seat reaction force of the sliding bearing, QX(t) component of total seating reaction force of the slide bearing in the X direction in the Cartesian coordinate system of the centrifuge as a whole, QY(t) represents a component of the total seating reaction force of the slide bearing in the Y direction in the overall cartesian coordinate system of the centrifuge; i denotes the number of force sensors on the pads at the plain bearing, N denotes the total number of force sensors on the pads at the plain bearing, such as N-N at plain bearing a, M at the seat of middle plain bearing B, L at the upper plain bearing C, N, M, L denotes the total number of pads in the upper, middle and lower plain bearings, respectively, i.e. the total number of force sensors; etaiRepresenting the angle through which the force sensor at the ith bearing shell in the sliding bearing rotates in the local polar coordinate system of the bearing shell system, where eta is alpha, beta,
Figure BDA0003089582480000044
α、β、
Figure BDA0003089582480000045
respectively representing the deflection angles of the upper sliding bearing, the middle sliding bearing and the middle bearing bush of the lower sliding bearing, namely the deflection angle of the force sensor; gamma rayQThe azimuth angle of the total support reaction force in the coordinate system of the integral centrifuge can be gamma of the lower sliding bearingAGamma of plain bearingBOr gamma of upper slide bearingsC(ii) a t represents time;
thus, the total seating reaction forces obtained by the sliding bearings of the lower, middle and upper portions of the main shaft are respectively represented by QA(t)、 QB(t)、QC(t) wherein QA(t) represents the total seating reaction force of the lower slide bearing, QB(t) represents the total seating reaction force of the plain bearing in the middle, QC(t) represents the total abutment reaction force of the upper slide bearing.
In the fourth step, the dynamic unbalance force f (t) of the supergravity centrifuge is obtained according to the real-time total support reaction force q (t) of the three sliding bearings, and is expressed as follows:
QA(t)+QB(t)+QC(t)＝F(t)
wherein Q isA(t)、QB(t)、QC(t) represents total seating reaction forces obtained by the sliding bearings at the lower, middle and upper portions of the main shaft, respectively.
In the present invention, although the total seat reaction force of the three sliding bearings is a temperature-dependent quantity, the final dynamic unbalance force is a temperature-independent system quantity, and the temperature becomes an internal variable of the system and is equally cancelled by the three sliding bearings.
In the fifth step, the method specifically comprises the following steps:
and (3) establishing the following matrix relation according to the result of the total support reaction force Q (t) of the three sliding bearings obtained in the step three:
Figure BDA0003089582480000051
then, the dynamic balance force f (t) obtained in step four is checked by the following judgment formula:
F1(t)＝F2(t)＝F3(t)＝F(t)
wherein, F1(t) shows the dynamic unbalance force, F, calculated from the total bearing reaction forces of the lower and middle sliding bearings2(t) shows the dynamic unbalance force calculated from the total bearing reaction forces of the middle and upper plain bearings, F3(t) represents the dynamic unbalance force calculated by the total bearing reaction force of the lower and upper sliding bearings; kpqIs a coefficient matrix determined by the distance between the rotating arm and three sliding bearings of the hypergravity centrifuge, wherein p, q is 1,2,3, p, q all represent the serial numbers of the sliding bearings, and are respectively calculated as follows:
Figure BDA0003089582480000052
Figure BDA0003089582480000053
Figure BDA0003089582480000054
wherein L isBIndicating the length of the middle plain bearing from the lower plain bearing, LCIndicating the length of the upper slide bearing from the lower slide bearing, LFThe length of a dynamic unbalance force action line from the lower sliding bearing is shown, namely the length of a rotating arm of the centrifuge from the lower sliding bearing of the support;
due to the three sliding bearings, the three expressions are listed in a pairwise combination mode, and the three calculated values are expressed, theoretically, the three calculated values are consistent when the system works normally.
If the judgment formula of the dynamic balance force F (t) is satisfied, namely three equal signs in the judgment formula are all satisfied, the dynamic unbalance force derived by moment balance is equal to the dynamic unbalance force synthesized by direct support counter force (including the equal magnitude and direction), and the dynamic unbalance force synthesis is correct; the system components operate normally.
If the judgment formula of the dynamic balance force F (t) is not established, namely, if one equal sign in the judgment formula is not established, the problem occurs to a bearing bush with a certain sliding bearing transmitting force or a certain force sensor, so that the dynamic balance force is synthesized to generate deviation, early warning is carried out, the evolution condition of the working performance of the bearing bush of the bearing can be obtained according to long-term monitoring amount, the parts of three sliding bearings or the force sensors on the bearing bush are overhauled according to the deviation phenomenon indication, and the overload operation of the mechanism is avoided in time.
The hypergravity centrifugal machine comprises a main shaft, a rotating arm and a hanging basket; the main shaft of the supergravity centrifugal machine is provided with an upper sliding bearing, a middle sliding bearing and a lower sliding bearing at the upper part, the middle part and the lower part respectively; the upper sliding bearing, the middle sliding bearing and the lower sliding bearing are all provided with bearing bushes
The upper sliding bearing, the middle sliding bearing and the lower sliding bearing are the same in structure and respectively comprise a bearing bush, a bearing bush mounting bracket, a supporting rack and a force sensor; the support frame is fixedly installed on the inner wall of an external hypergravity centrifuge chamber, the support frame is arranged around the main shaft in an annular mode, a plurality of bearing bushes are arranged between the main shaft and the support frame along the circumferential interval, the bearing bushes are uniformly distributed at the same circumference interval, each bearing bush is connected with the support frame through a bearing bush mounting support in a mounting mode, and a force sensor is installed between the outer side face of each bearing bush and the support frame in a pressing mode.
The method reflects the stress condition of the support in real time through a force sensor on a bearing bush of the sliding bearing, further determines the magnitude and the direction of the total support reaction force of each support, then synthesizes the dynamic unbalance force of the system, and simultaneously provides an indirect method for checking the dynamic unbalance load.
The invention has the beneficial effects that:
the invention reflects the bearing stress condition in real time through the force sensor on the sliding bearing bush of the hypergravity centrifuge, further determines the magnitude and the direction of the total bearing counterforce of each bearing, then synthesizes the dynamic unbalance force of the system, and simultaneously provides an indirect method for checking the dynamic unbalance load.
Firstly, the method of the invention realizes the purpose of monitoring the reaction force change of the support in the whole process based on the working performance of the sensor, and further synthesizes the dynamic unbalance force, and the provided indirect checking method can ensure the reliability and stability of the final measured value, and even under the condition that some sensors fail, the monitoring system can still ensure the high-precision operation, thus having good robustness.
Secondly, the method for monitoring the unbalanced force directly based on the bearing can reflect the effect of the unbalanced force at the end part of the rotating arm on the bearing, and can accurately capture the real-time property of dynamic load change and the change of the performance of a sliding bearing bush, thereby fully ensuring the running safety of the hypergravity centrifuge.
And then, the requirement that auxiliary monitoring equipment needs to be installed in the existing method is overcome, and the dependence on foreign objects is reduced, because the unbalanced force firstly acts on the bearing and then is transmitted to each part such as a support, the stability of the monitoring precision is ensured by a direct method, and the dangerous working condition of underestimated load cannot be caused.
Finally, other factors generating dynamic unbalance can be reflected, stable operation and control of the machine are guaranteed, the requirements of the high precision and the high stability of the supergravity centrifugal machine are fully met, and the supergravity centrifugal machine is wide in application range, strong in scientificity, simple and easy to implement.
Drawings
FIG. 1 is a schematic diagram of the basic construction of a supergravity centrifuge;
FIG. 2 is a schematic view of the location and installation of a sensor on a bushing of a sliding bearing;
FIG. 3 is a schematic diagram of the arrangement of the bearing bush system and the sensor at different sliding bearings in the embodiment;
FIG. 4 is a time-course graph of a force sensor on a bearing shell of the lower slide bearing A in an embodiment;
in the figure: the device comprises a main shaft (1), a rotating arm (2), a hanging basket (3), a bearing bush (4), a bearing bush mounting bracket (5), a supporting rack (6) and a force sensor (7); comprises an upper sliding bearing (C), a middle sliding bearing (B) and a lower sliding bearing (A).
Detailed Description
The invention is further described with reference to the following figures and specific embodiments.
The embodiment of the invention and the implementation process thereof are as follows:
as shown in fig. 1, the supergravity centrifuge includes a main shaft 1, a rotor arm 2, and a basket 3; an upper sliding bearing C, a middle sliding bearing B and a lower sliding bearing A are respectively arranged at the upper part, the middle part and the lower part of a main shaft 1 of the supergravity centrifugal machine; the upper sliding bearing C, the middle sliding bearing B and the lower sliding bearing A are all provided with bearing bushes 4.
As shown in fig. 2, the upper sliding bearing C, the middle sliding bearing B and the lower sliding bearing a have the same structure, and each of them includes a bearing bush 4, a bearing bush mounting bracket 5, a supporting frame 6 and a force sensor 7; support frame 6 fixed mounting is in outside hypergravity centrifuge chamber inner wall, and support frame 6 arranges for the annular around main shaft 1, has a plurality of axle bushes 4 along circumference interval arrangement between main shaft 1 and the support frame 6, and a plurality of axle bushes 4 are at same circumference interval equipartition, and every axle bush 4 is through axle bush installing support 5 and support frame 6 erection joint, and it has a force transducer 7 to compress tightly to install between 4 lateral surfaces of every axle bush and the support frame 6.
Firstly, two coordinate systems are established according to the characteristics of the structure of the hypergravity centrifuge and the composition of the sliding bearing, and one coordinate system is a local polar coordinate system of the sliding bearing bush system. Specifically, one of the total 8 bearing bushes of the bearing bush system uniformly distributed on the lower sliding bearing a is designated as 1, the rest bearing bushes are sequentially designated as 2 and 3 … 8 in a counterclockwise direction, the center of the cross section of the main shaft is selected as the origin of the polar coordinate system, the direction from the origin o to the bearing bush 1 is set as the polar axis direction of the polar coordinate system and is designated as the x axis, the angle of the local polar coordinate rotated counterclockwise from the x axis is designated as alpha, the bearing bush system local polar coordinate system which is the same as that of the lower sliding bearing a is established for the centering sliding bearing B (containing 12 bearing bushes) and the upper sliding bearing C (containing 8 bearing bushes), the bearing bush deflection angle of the centering sliding bearing B is designated as beta, and the bearing bush deflection angle of the centering sliding bearing B, namely the deflection angle of the force sensor is designated as beta
Figure BDA0003089582480000071
Finally, the three-position sliding bearing bush system local polar coordinate system shown in fig. 3 is presented, the bushes are uniformly distributed along the circumference at intervals, and each bush is provided with a force sensor, so that the position of each bush and the force sensor thereof can be uniquely determined in the sliding bearing through the local polar coordinate system. And the other is to establish a whole Cartesian coordinate system of the hypergravity centrifuge, specifically, the origin of the coordinate system is selected as the center of a cross section of the lower sliding bearing A, namely, the center of the cross section of the lower sliding bearing A coincides with the origin o of a local polar coordinate system of a bearing bush system of the lower sliding bearing, the X axis of the whole Cartesian coordinate system of the centrifuge is specified to coincide with the X axis of the local polar coordinate system of the bearing bush system of the lower sliding bearing A, the central line of a main shaft is selected as the Z axis of the whole Cartesian coordinate system, and the direction is the direction in which the lower sliding bearing A points to the upper sliding bearing C, so that the Y axis of the whole Cartesian coordinate system of the centrifuge can be uniquely determined according to the right-hand rule.
Secondly, during the actual engine-rotating test, the load time-course curve of the sensor on each bearing bush is monitored and recorded in real time, the curve is a quantity which continuously changes along with the time t and is expressed as qiAnd (t) synthesizing the real-time total support reaction force of the sliding bearing according to the time curve of the force sensor. For example, force sensors are arranged on 8 bearing bushes of the lower sliding bearing A, and the rotary machine is operated to a certain time t0In which 4 sensors are pressed to provide additional counter-force, the load time course of these sensors is shown in fig. 4, t0Sensor magnitude at time q0. Two components Q of the total support counterforce of the lower sliding bearing A under the whole Cartesian coordinate system can be synthesized according to the positions and deflection angles of the four sensors of the lower sliding bearing A in the local coordinate system of the bearing bush system and the positive and negative meanings of the load value of the force sensor under the whole Cartesian coordinate systemAX(t0) And QAY(t0) And a final value QA(t0) Calculated according to the following formula:
Figure BDA0003089582480000081
Figure BDA0003089582480000082
Figure BDA0003089582480000083
Figure BDA0003089582480000084
in the formula, QA(t0) Represents t0Total seating reaction force, Q, of sliding bearing A at all timesAX(t0) Represents t0X component, Q, of the total seating reaction of the sliding bearing a at any moment in the overall cartesian coordinate systemAY(t0) Represents t0A Y component of the total support reaction force of the sliding bearing A under the overall Cartesian coordinate system at any moment; table 1 below shows the calculation of the two components of the total abutment reaction force of the lower slide bearing a, so that the total abutment reaction force value of the lower slide bearing a is 874.22kN and the azimuth angle is 215.6 ° by the combined calculation, and the total abutment reaction force and the azimuth angle of the middle slide bearing B and the upper slide bearing C can be obtained by the same procedure.
TABLE 1
Figure BDA0003089582480000085
Figure BDA0003089582480000091
And then, further obtaining real-time dynamic unbalance force of the hypergravity centrifugal machine according to the total support reaction force and the azimuth angle of the three calculated and synthesized sliding bearings. E.g. t obtained as described above0The total bearing reaction force of the sliding bearing at the moment is t0The dynamic unbalance force of the supergravity centrifuge at the moment is calculated according to the following formula:
QA(t0)+QB(t0)+QC(t0)＝F(t0)
because the positive and negative of different quantities in the whole Cartesian coordinate system of the centrifuge have definite meanings, the final result can be obtained by direct algebraic summation, the calculation result is shown in the table 2, and finally the final result is t0Dynamic unbalance force F (t) at time0) The value was 979.76 kN.
TABLE 2
Figure BDA0003089582480000092
And finally, checking the dynamic unbalance force obtained by the calculation through an indirect method. For example, according to t already obtained previously0The counter force and the dynamic unbalance force of the total support of the three sliding bearings at any moment are calculated in two steps according to the following matrix formula:
Figure BDA0003089582480000093
then checking according to the following judgment relationship:
F1(t0)＝F2(t0)＝F3(t0)＝F(t0)
wherein, Fk(t0) (k ═ 1,2,3) are all t indirectly calculated from two of the total bearing reaction forces of the three sliding bearings that have been combined0Moment dynamic unbalance force, matrix coefficient Kpq(p, q ═ 1,2,3) is based on the lower slide bearing a, the middle slide bearing B, the upper slide bearing C and the tumbler imbalance force F (t)0) The action lines, i.e. the relative position relationship between the center lines of the rotor arms, are calculated, for example, the geometric relationships between the three sliding bearings of the supergravity centrifuge and the action lines of the unbalance force are respectively: l isB＝1.9m，LC＝8.5m，LF5.06m, then each coefficient is calculated as follows:
Figure BDA0003089582480000094
Figure BDA0003089582480000095
Figure BDA0003089582480000096
substituting the coefficient and the synthesized total bearing reaction force of the sliding bearing into a matrix relation, and calculating the dynamic unbalance force as follows:
F1(t0)＝2.4709×874.56-1.92×615.3＝979.764
F2(t0)＝-0.375×615.3+1.68×720.5＝979.763
F3(t0)＝-0.601266×874.56+2.08861×720.5＝979.761
and then checking according to the judgment relation:
F1(t0)＝F2(t0)＝F3(t0)＝F(t0)
by the above checking calculation, t0And three equal signs are all established at the moment, so that the calculation result of judging the dynamic unbalance force is reliable. If the difference between the two results is larger, or an equal sign is not established, the performance fault of the bearing bush of the sliding bearing or the force sensor on the bearing bush is proved to be generated, and further maintenance is needed, so that the efficacy of the component can be fed back in the checking process, and early warning is carried out according to the deviation phenomenon of the result, so that the component is maintained, and the potential risk caused by overload operation of the mechanism is avoided in time. The above examples specifically give t0The calculation logic and the result explanation of the time are that the real-time monitoring, calculation and check are carried out according to the same principle and steps at each time of the whole process of the centrifuge test.
Therefore, the method disclosed by the invention can be used for directly realizing the purpose of monitoring the change of the counter force of the sliding bearing in the whole process based on the working performance of the sensor on the sliding bearing bush, even under the condition that some sensors fail, the monitoring system can still ensure high-precision operation and the accuracy of final unbalanced load, the method for directly measuring the bearing stress cannot cause the occurrence of dangerous working conditions of underestimated load, and other factors for generating dynamic unbalance can be reflected, so that the stable operation and control of the machine are more ensured, the application range is wide, the scientificity is strong, and the method is simple and easy to implement.

Claims (8)

1.一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：方法包括如下步骤：1. a supergravity centrifuge sliding bearing unbalance force monitoring method, is characterized in that: the method comprises the steps: 步骤一、在超重力离心机的主轴(1)在上部、中部和下部分别安装有滑动轴承，各个滑动轴承设置有轴瓦，在不同滑动轴承的轴瓦处布置力传感器，Step 1. Sliding bearings are installed on the upper part, the middle part and the lower part of the main shaft (1) of the hypergravity centrifuge respectively, each sliding bearing is provided with a bearing pad, and a force sensor is arranged at the bearing pads of different sliding bearings, 步骤二、进行离心机试验，实时采集每个滑动轴承的轴瓦上的力传感器的荷载力数据，获得荷载时程曲线；Step 2: Carry out a centrifuge test, collect the load force data of the force sensor on the bearing bush of each sliding bearing in real time, and obtain a load time history curve; 步骤三、建立轴瓦系局部极坐标系和离心机整体笛卡尔坐标系两个坐标系统，依据荷载时程曲线和设置的坐标系统合成每个滑动轴承的总支座反力；Step 3: Establish two coordinate systems of the local polar coordinate system of the bearing pad system and the overall Cartesian coordinate system of the centrifuge, and synthesize the total support reaction force of each sliding bearing according to the load time history curve and the set coordinate system; 步骤四、根据每个滑动轴承实时的总支座反力得到超重力离心机的动不平衡力；Step 4. Obtain the dynamic unbalanced force of the hypergravity centrifuge according to the real-time total support reaction force of each sliding bearing; 步骤五、校核整个超重力离心机的动不平衡力以及滑动轴承的工作性能，实现超重力离心机的滑动轴承不平衡力监测。Step 5: Check the dynamic unbalanced force of the entire hypergravity centrifuge and the working performance of the sliding bearing, so as to realize the monitoring of the unbalanced force of the sliding bearing of the hypergravity centrifuge. 2.根据权利要求1所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的方法步骤三中，每个滑动轴承建立相同的轴瓦系局部极坐标系：滑动轴承轴瓦系的轴瓦沿着主轴的圆周间隔均布，选取任一个轴瓦标号为1，剩余的轴瓦按照逆时针方向顺次标号为2，3，4…，选择主轴横截面的圆心为极坐标系的原点，规定原点到1号轴瓦的方向为极坐标系的极轴方向，记为x轴，且该极坐标系以逆时针转过的角度为坐标系角度的正方向；设置超重力离心机整体笛卡尔坐标系：选择离心机整体笛卡尔坐标系的原点是下部滑动轴承横截面的圆心，离心机整体笛卡尔坐标系的X轴与该滑动轴承轴瓦系局部极坐标系的x轴重合，离心机整体笛卡尔坐标系的Z轴与离心机主轴中心线重合，方向为下滑动轴承指向上滑动轴承的方向，离心机整体离心机坐标系的Y轴通过右手法则由Z轴和X轴唯一确定。2. a kind of supergravity centrifuge sliding bearing unbalance force monitoring method according to claim 1, is characterized in that: in described method step 3, each sliding bearing establishes identical bearing pad system local polar coordinate system: sliding The bearing pads of the bearing pad system are evenly spaced along the circumference of the main shaft. Select any bearing pad as 1, and the remaining bearing pads are sequentially labelled 2, 3, 4... in the counterclockwise direction. Select the center of the cross section of the main shaft as the polar coordinate system The origin of the origin, the direction from the origin to the No. 1 bearing bush is the polar axis direction of the polar coordinate system, denoted as the x-axis, and the polar coordinate system takes the counterclockwise angle as the positive direction of the coordinate system angle; set the hypergravity centrifuge Overall Cartesian coordinate system: The origin of the overall Cartesian coordinate system of the centrifuge is selected as the center of the cross section of the lower sliding bearing, and the X-axis of the overall Cartesian coordinate system of the centrifuge coincides with the x-axis of the local polar coordinate system of the sliding bearing bush system. The Z axis of the overall Cartesian coordinate system of the centrifuge coincides with the centerline of the centrifuge main shaft, and the direction is the direction of the lower sliding bearing pointing to the upper sliding bearing. Sure. 3.根据权利要求1所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的步骤二中，每个荷载时程曲线是力传感器所监测的力随着时间t不断变化的曲线，表达为qi(t)。3. a kind of supergravity centrifuge sliding bearing unbalanced force monitoring method according to claim 1, is characterized in that: in described step 2, each load time-history curve is the force monitored by force sensor along with time t The changing curve, expressed as qi (t). 4.根据权利要求1所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的步骤三中，针对每个滑动轴承均进行以下处理获得各个滑动轴承的总支座反力：依据滑动轴承中每个轴瓦上的力传感器(7)的荷载时程曲线合成该滑动轴承的总支座反力：4. a kind of supergravity centrifuge sliding bearing unbalanced force monitoring method according to claim 1, is characterized in that: in described step 3, all carry out the following processing for each sliding bearing to obtain the total support of each sliding bearing Seat reaction force: According to the load time history curve of the force sensor (7) on each bearing pad in the sliding bearing, the total support seat reaction force of the sliding bearing is synthesized:
Figure FDA0003089582470000021
Figure FDA0003089582470000021
Figure FDA0003089582470000022
Figure FDA0003089582470000022
Figure FDA0003089582470000023
Figure FDA0003089582470000023
Figure FDA0003089582470000024
Figure FDA0003089582470000024
 其中，Q(t)代表滑动轴承的总支座反力，QX(t)表示滑动轴承的总支座反力在离心机整体笛卡尔坐标系下沿着X方向的分量，QY(t)表示滑动轴承的总支座反力在离心机整体笛卡尔坐标系下沿着Y方向的分量；i表示滑动轴承处的轴瓦上的力传感器的序数，n代表滑动轴承处的轴瓦上的力传感器总数量，ηi代表滑动轴承中第i个轴瓦处的力传感器(7)在轴瓦系局部极坐标系中转过的角度，γQ代表总支座反力在整体离心机坐标系的方位角；t表示时间。Among them, Q(t) represents the total bearing reaction force of the sliding bearing, Q X (t) represents the component of the total bearing reaction force of the sliding bearing along the X direction in the overall Cartesian coordinate system of the centrifuge, Q Y (t ) represents the component of the total support reaction force of the sliding bearing along the Y direction in the overall Cartesian coordinate system of the centrifuge; i represents the ordinal number of the force sensor on the bearing pad at the sliding bearing, n represents the force on the bearing pad at the sliding bearing The total number of sensors, η i represents the angle that the force sensor (7) at the ith bearing pad in the sliding bearing rotates in the local polar coordinate system of the bearing pad system, γ Q represents the azimuth angle of the total support reaction force in the overall centrifuge coordinate system ; t represents time. 5.根据权利要求1所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的步骤四中，根据三个滑动轴承实时的总支座反力Q(t)得到超重力离心机的动不平衡力F(t)，表达如下：5. a kind of supergravity centrifuge sliding bearing unbalanced force monitoring method according to claim 1, is characterized in that: in described step 4, according to the real-time total support reaction force Q (t) of three sliding bearings The dynamic unbalance force F(t) of the hypergravity centrifuge is obtained, which is expressed as follows: QA(t)+QB(t)+QC(t)＝F(t)Q A (t)+Q B (t)+Q C (t)=F(t) 其中，QA(t)、QB(t)、QC(t)分别表示主轴(1)下部、中部和上部的滑动轴承获得的总支座反力。Among them, Q A (t), Q B (t), Q C (t) represent the total support reaction force obtained by the sliding bearings in the lower, middle and upper parts of the main shaft (1), respectively. 6.根据权利要求1所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的步骤五中，具体为：6. a kind of supergravity centrifuge sliding bearing unbalance force monitoring method according to claim 1, is characterized in that: in described step 5, is specifically: 根据步骤三获得的三个滑动轴承的总支座反力Q(t)的结果，建立如下矩阵关系：According to the results of the total support reaction force Q(t) of the three sliding bearings obtained in step 3, the following matrix relationship is established:
Figure FDA0003089582470000025
Figure FDA0003089582470000025
 然后，通过下面的判断公式校核步骤四获得的动平衡力F(t)：Then, check the dynamic balance force F(t) obtained in step 4 by the following judgment formula: F1(t)＝F2(t)＝F3(t)＝F(t)F 1 (t)=F 2 (t)=F 3 (t)=F(t) 其中，F1(t)表示的是通过下部和中部滑动轴承的总支座反力计算的动不平衡力，F2(t)表示的是通过中部和上部滑动轴承的总支座反力计算的动不平衡力，F3(t)表示的是通过下部和上部滑动轴承的总支座反力计算的动不平衡力；Kpq是通过超重力离心机的转臂和三个滑动轴承之间的距离确定的系数矩阵，p,q＝1,2,3，p,q均表示滑动轴承的序号，分别计算如下：where F 1 (t) represents the dynamic unbalance force calculated by the total support reaction force of the lower and middle sliding bearings, and F 2 (t) represents the total support reaction force calculated by the middle and upper sliding bearings The dynamic unbalance force of , F 3 (t) represents the dynamic unbalance force calculated by the total support reaction force of the lower and upper sliding bearings; The coefficient matrix determined by the distance between them, p, q = 1, 2, 3, p, q all represent the serial number of the sliding bearing, which are calculated as follows:
Figure FDA0003089582470000031
Figure FDA0003089582470000031
Figure FDA0003089582470000032
Figure FDA0003089582470000032
Figure FDA0003089582470000033
Figure FDA0003089582470000033
 其中，LB表示中滑动轴承(B)距离下滑动轴承(A)的长度，LC表示上滑动轴承(C)距离下滑动轴承(A)的长度，LF表示动不平衡力作用线距离下滑动轴承(A)的长度，也即离心机转臂距离支座下滑动轴承(A)的长度；Among them, LB represents the length of the middle sliding bearing ( B ) from the lower sliding bearing (A), LC represents the length of the upper sliding bearing ( C ) from the lower sliding bearing (A), and LF represents the line distance of the dynamic unbalanced force The length of the lower sliding bearing (A), that is, the length of the centrifuge arm from the lower sliding bearing (A) of the support; 若动平衡力F(t)的判断公式成立满足，则动不平衡力合成是正确的；If the judgment formula of the dynamic balance force F(t) is established and satisfied, then the dynamic unbalance force synthesis is correct; 若动平衡力F(t)的判断公式不成立，则存在某个滑动轴承传递力的轴瓦或者某一个力传感器出现了问题，从而导致动不平衡力合成出现偏差，进行提前预警，根据偏差现象指示对三个滑动轴承的部件或轴瓦上的力传感器进行检修，及时避免机构超负荷运作。If the judgment formula of the dynamic balance force F(t) does not hold, there is a problem with the bearing bush of a sliding bearing or a force sensor, which leads to a deviation in the synthesis of the dynamic unbalanced force. Overhaul the components of the three sliding bearings or the force sensor on the bearing shell to avoid overloading the mechanism in time. 7.根据权利要求1所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的超重力离心机的主轴(1)在上部、中部和下部分别安装有上滑动轴承(C)、中滑动轴承(B)和下滑动轴承(A)；上滑动轴承(C)、中滑动轴承(B)和下滑动轴承(A)均设置有轴瓦(4)。7. a kind of supergravity centrifuge sliding bearing unbalanced force monitoring method according to claim 1, is characterized in that: the main shaft (1) of described supergravity centrifuge is respectively installed with upper slide in upper part, middle part and lower part The bearing (C), the middle sliding bearing (B) and the lower sliding bearing (A); the upper sliding bearing (C), the middle sliding bearing (B) and the lower sliding bearing (A) are all provided with bearing bushes (4). 8.根据权利要求5所述的一种超重力离心机滑动轴承不平衡力监测方法，其特征在于：所述的上滑动轴承(C)、中滑动轴承(B)和下滑动轴承(A)结构相同，均包括了轴瓦(4)、轴瓦安装支架(5)、支撑机架(6)和力传感器(7)；支撑机架(6)固定安装，支撑机架(6)为环形布置在主轴(1)外周围，主轴(1)和支撑机架(6)之间沿周向间隔布置有多个轴瓦(4)，每个轴瓦(4)经轴瓦安装支架(5)和支撑机架(6)安装连接，每个轴瓦(4)外侧面和支撑机架(6)之间压紧安装有一个力传感器(7)。8. A method for monitoring unbalanced force of a supergravity centrifuge sliding bearing according to claim 5, characterized in that: the upper sliding bearing (C), the middle sliding bearing (B) and the lower sliding bearing (A) The structure is the same, including a bearing bush (4), a bearing bush mounting bracket (5), a support frame (6) and a force sensor (7); the support frame (6) is fixedly installed, and the support frame (6) is annularly arranged on the Around the outer periphery of the main shaft (1), a plurality of bearing bushes (4) are arranged at intervals in the circumferential direction between the main shaft (1) and the support frame (6), and each bearing bush (4) is connected to the bearing bush mounting bracket (5) and the support frame (6) Installation and connection, a force sensor (7) is pressed and installed between the outer surface of each bearing bush (4) and the support frame (6).
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