CN118310463B - Rotary transformer-based rotation runout monitoring system and method - Google Patents
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Abstract
Description
技术领域Technical Field
本发明基于旋转变压器的转动跳动监测系统及方法属于旋转变压器、精密测量和传感器技术领域。The invention discloses a rotational vibration monitoring system and method based on a rotary transformer, belonging to the technical field of rotary transformers, precision measurement and sensors.
背景技术Background Art
旋转变压器又称为同步分解器，是一种测量角度用的小型交流电动机，用来测量旋转物体的转轴角位移和角速度，属于电磁式传感器。旋转变压器由定子和转子组成，定子绕组作为变压器的原边，接受励磁电压，转子绕组作为变压器的副边，通过电磁耦合得到感应电压。A resolver, also known as a synchronous resolver, is a small AC motor used to measure angles. It is used to measure the angular displacement and angular velocity of the rotating shaft of a rotating object and is an electromagnetic sensor. A resolver consists of a stator and a rotor. The stator winding serves as the primary side of the transformer and receives the excitation voltage. The rotor winding serves as the secondary side of the transformer and obtains the induced voltage through electromagnetic coupling.
旋转变压器适用于所有使用旋转编码器的场合，目前，已经广泛应用于伺服控制系统、机器人系统、机械工具等领域的角度、位置检测系统。旋转变压器的精度取决于自身产品零部件的加工精度和零部件之间的装配精度。Resolvers are suitable for all occasions where rotary encoders are used. Currently, they have been widely used in angle and position detection systems in servo control systems, robot systems, machine tools, and other fields. The accuracy of resolvers depends on the processing accuracy of their own product components and the assembly accuracy between components.
在零部件加工过程中，转子可能出现转动偏心的情况，即转轴的轴心发生偏移的情况，这会影响旋转变压器的精度。为了弥补装配后甚至在使用过程中才发现的转动偏心，申请号2024104105966的发明专利《基于旋转变压器的转动偏心监测系统及方法》给出了解决方案，通过设置两个距离传感器，并利用距离数据，即可同时解算出偏心距离和偏心角度，为提高转子存在转动偏心的旋转变压器的精度奠定基础。During the processing of parts, the rotor may have rotational eccentricity, that is, the axis of the shaft may be offset, which will affect the accuracy of the resolver. In order to compensate for the rotational eccentricity that is not discovered until after assembly or even during use, the invention patent application number 2024104105966, "Rotational Eccentricity Monitoring System and Method Based on Resolver", provides a solution. By setting two distance sensors and using distance data, the eccentricity distance and eccentricity angle can be calculated at the same time, laying the foundation for improving the accuracy of resolvers with rotational eccentricity of the rotor.
除转子可能出现转动偏心外，在旋转变压器装配过程中存在装配误差，以及使用过程中受外力作用，还有可能出现实际转轴偏离理论位置且不固定的情况，在本发明中，由于实际转轴跳出理论位置，因此将其定义为转动跳动，转动跳动同样是影响旋转变压器精度的干扰因素之一，因此，为了恢复旋转变压器的精度，同样可以通过数据补偿的方式来弥补转动跳动的情况，而为了实现数据补偿，就要活得能够描述转动跳动的参数。然而，还没有查阅到能够实现上述功能的技术。In addition to the possibility of rotational eccentricity of the rotor, there are assembly errors during the assembly of the rotary transformer, and due to external forces during use, the actual shaft may deviate from the theoretical position and become unfixed. In the present invention, since the actual shaft jumps out of the theoretical position, it is defined as rotational jump. Rotational jump is also one of the interference factors affecting the accuracy of the rotary transformer. Therefore, in order to restore the accuracy of the rotary transformer, the rotational jump can also be compensated by data compensation. In order to achieve data compensation, it is necessary to be able to describe the parameters of the rotational jump. However, no technology that can achieve the above function has been found.
发明内容Summary of the invention
针对上述问题，本发明设计了一种基于旋转变压器的转动跳动监测系统，并提供了一种基于旋转变压器的转动跳动监测方法，仅安装两个距离传感器，即可解算出转动跳动的竖直方向偏移量、水平方向偏移量和半径，为提高转子存在转动跳动的旋转变压器的精度奠定基础。In view of the above problems, the present invention designs a rotation runout monitoring system based on a rotary transformer, and provides a rotation runout monitoring method based on a rotary transformer. By installing only two distance sensors, the vertical offset, horizontal offset and radius of the rotation runout can be calculated, laying the foundation for improving the accuracy of the rotary transformer with rotor rotation runout.
本发明的目的是这样实现的：The object of the present invention is achieved in that:
基于旋转变压器的转动跳动监测系统，在旋转变压器的转子理论转轴上方设置有第一距离传感器，在转子理论转轴下方设置有第二距离传感器，第一距离传感器和第二距离传感器距离理论转轴的距离相同，所述第一距离传感器和第二距离传感器均连接有处理器，所述处理器根据第一距离传感器和第二距离传感器获得的距离数据解算转动跳动的竖直方向偏移量、水平方向偏移量和半径。A rotational vibration monitoring system based on a rotary transformer is provided with a first distance sensor above the theoretical rotation axis of the rotor of the rotary transformer, and a second distance sensor is provided below the theoretical rotation axis of the rotor. The first distance sensor and the second distance sensor are at the same distance from the theoretical rotation axis. Both the first distance sensor and the second distance sensor are connected to a processor. The processor calculates the vertical offset, horizontal offset and radius of the rotational vibration according to the distance data obtained by the first distance sensor and the second distance sensor.
基于旋转变压器的转动跳动监测方法，包括以下步骤：The rotational vibration monitoring method based on the rotary transformer comprises the following steps:
步骤a、确定转子的理论转轴位置；Step a, determining the theoretical rotation axis position of the rotor;
步骤b、在理论转轴上方，设置第一距离传感器，所述第一距离传感器到理论转轴的距离为h；Step b, setting a first distance sensor above the theoretical rotation axis, wherein the distance from the first distance sensor to the theoretical rotation axis is h;
步骤c、在理论转轴下方，设置第二距离传感器，所述第二距离传感器到理论转轴的距离为h；Step c, setting a second distance sensor below the theoretical rotation axis, wherein the distance between the second distance sensor and the theoretical rotation axis is h;
步骤d、旋转变压器转动，第一距离传感器采集第一距离数据d1(t)，第二距离传感器采集第二距离数据d2(t)；Step d, the rotary transformer rotates, the first distance sensor collects first distance data d 1 (t), and the second distance sensor collects second distance data d 2 (t);
步骤e、利用计算转动跳动轨迹的竖直方向偏移量；Step e: Utilize Calculate the vertical offset of the rotational runout trajectory;
其中，min(d1(t))为第一距离数据d1(t)的最小值，min(d2(t))为第二距离数据d2(t)的最小值；Wherein, min(d 1 (t)) is the minimum value of the first distance data d 1 (t), and min(d 2 (t)) is the minimum value of the second distance data d 2 (t);
步骤f、计算D＝min(d1(t))+d2(t)min(d1(t)) Step f: Calculate D = min(d 1 (t)) + d 2 (t) min(d1(t))
其中，d2(t)min(d1(t))为与min(d1(t))同时刻的d2(t)Where, d 2 (t) min(d1(t)) is the d 2 (t) at the same time as min(d 1 (t))
步骤g、比较D和2h-2R的大小，如果：Step g, compare the size of D and 2h-2R, if:
D＝2h-2R，说明转动跳动轨迹不存在水平方向偏移，进入步骤h；D = 2h-2R, indicating that there is no horizontal deviation in the rotation and jumping trajectory, and the process goes to step h;
D＜2h-2R，说明转动跳动轨迹存在水平方向偏移，进入步骤i；D＜2h-2R, indicating that the rotation and jumping trajectory has a horizontal deviation, and the process goes to step i;
步骤h、利用计算转动跳动轨迹半径，结束；Step h: Utilize Calculate the radius of the rotational runout trajectory and end;
步骤i、利用计算转动跳动轨迹的半径；Step i: Utilization Calculate the radius of the rotational runout trajectory;
步骤j、利用计算转动跳动轨迹的水平方向偏移量，结束。Step j: Utilize Calculate the horizontal offset of the rotation and jump trajectory, and end.
上述的基于旋转变压器的转动跳动监测方法，其特征在于，步骤b和步骤c的顺序能够更换。The above-mentioned rotational vibration monitoring method based on the rotary transformer is characterized in that the order of step b and step c can be replaced.
本发明基于旋转变压器的转动跳动监测系统及方法的有益效果在于：仅安装两个距离传感器，即可解算出转动跳动的竖直方向偏移量、水平方向偏移量和半径，为提高转子存在转动跳动的旋转变压器的精度奠定基础。The beneficial effect of the rotary transformer-based rotational vibration monitoring system and method of the present invention is that only two distance sensors are installed to calculate the vertical offset, horizontal offset and radius of the rotational vibration, laying a foundation for improving the accuracy of the rotary transformer with rotor rotational vibration.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1是本发明基于旋转变压器的转动跳动监测方法的流程图。FIG. 1 is a flow chart of a rotational vibration monitoring method based on a rotary transformer according to the present invention.
图2是旋转变压器转子不存在转动跳动的示意图。FIG. 2 is a schematic diagram of a rotary transformer rotor without rotational jitter.
图3是旋转变压器转子仅存在圆周跳动的示意图。FIG. 3 is a schematic diagram showing a rotary transformer rotor with only circumferential runout.
图4是旋转变压器转子既存在竖直偏移又存在圆周跳动的示意图。FIG. 4 is a schematic diagram showing that the rotary transformer rotor has both vertical offset and circumferential runout.
图5是旋转变压器转子同时存在水平偏移、竖直偏移和圆周跳动的示意图。FIG5 is a schematic diagram showing a rotary transformer rotor having horizontal offset, vertical offset and circular runout at the same time.
图中：1转子、2第一距离传感器、3第二距离传感器、4处理器。In the figure: 1 rotor, 2 first distance sensor, 3 second distance sensor, 4 processor.
具体实施方式DETAILED DESCRIPTION
下面将通过附图对本发明具体实施方式作进一步详细描述。The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.
方式一Method 1
以下是本发明基于旋转变压器的转动跳动监测系统的具体实施方式。The following is a specific implementation of the rotation vibration monitoring system based on the rotary transformer of the present invention.
该具体实施方式下的基于旋转变压器的转动跳动监测系统，在旋转变压器的转子1理论转轴上方设置有第一距离传感器2，在转子1理论转轴下方设置有第二距离传感器3，第一距离传感器2和第二距离传感器3距离理论转轴的距离相同，所述第一距离传感器2和第二距离传感器3均连接有处理器4，如图2、图3、图4和图5所示，所述处理器4根据第一距离传感器2和第二距离传感器3获得的距离数据解算转动跳动的竖直方向偏移量、水平方向偏移量和半径。In the rotational vibration monitoring system based on the rotary transformer in this specific implementation mode, a first distance sensor 2 is arranged above the theoretical rotation axis of the rotor 1 of the rotary transformer, and a second distance sensor 3 is arranged below the theoretical rotation axis of the rotor 1. The first distance sensor 2 and the second distance sensor 3 are at the same distance from the theoretical rotation axis. The first distance sensor 2 and the second distance sensor 3 are both connected to a processor 4, as shown in Figures 2, 3, 4 and 5. The processor 4 calculates the vertical offset, horizontal offset and radius of the rotational vibration based on the distance data obtained by the first distance sensor 2 and the second distance sensor 3.
方式二Method 2
以下是本发明基于旋转变压器的转动跳动监测方法的具体实施方式。The following is a specific implementation of the rotational vibration monitoring method based on the rotary transformer of the present invention.
该具体实施方式下的基于旋转变压器的转动跳动监测方法，在具体实施方式一所述的基于旋转变压器的转动跳动监测系统上实现，流程图如图1所示，包括以下步骤：The rotary transformer-based rotational vibration monitoring method in this specific implementation is implemented on the rotary transformer-based rotational vibration monitoring system described in the specific implementation mode 1, and the flow chart is shown in FIG1 , and includes the following steps:
步骤a、确定转子1的理论转轴位置；Step a, determining the theoretical rotation axis position of the rotor 1;
步骤b、在理论转轴上方，设置第一距离传感器2，所述第一距离传感器2到理论转轴的距离为h；Step b, above the theoretical rotation axis, a first distance sensor 2 is arranged, and the distance between the first distance sensor 2 and the theoretical rotation axis is h;
步骤c、在理论转轴下方，设置第二距离传感器3，所述第二距离传感器3到理论转轴的距离为h；Step c, below the theoretical rotation axis, a second distance sensor 3 is arranged, and the distance between the second distance sensor 3 and the theoretical rotation axis is h;
步骤b和步骤c的顺序能够更换；The order of step b and step c can be changed;
步骤d、旋转变压器转动，第一距离传感器2采集第一距离数据d1(t)，第二距离传感器3采集第二距离数据d2(t)；Step d, the rotary transformer rotates, the first distance sensor 2 collects first distance data d 1 (t), and the second distance sensor 3 collects second distance data d 2 (t);
步骤e、利用计算转动跳动轨迹的竖直方向偏移量；Step e: Utilize Calculate the vertical offset of the rotational runout trajectory;
其中，min(d1(t))为第一距离数据d1(t)的最小值，min(d2(t))为第二距离数据d2(t)的最小值；Wherein, min(d 1 (t)) is the minimum value of the first distance data d 1 (t), and min(d 2 (t)) is the minimum value of the second distance data d 2 (t);
步骤f、计算D＝min(d1(t))+d2(t)min(d1(t)) Step f: Calculate D = min(d 1 (t)) + d 2 (t) min(d1(t))
其中，d2(t)min(d1(t))为与min(d1(t))同时刻的d2(t)Where, d 2 (t) min(d1(t)) is the d 2 (t) at the same time as min(d 1 (t))
步骤g、比较D和2h-2R的大小，如果：Step g, compare the size of D and 2h-2R, if:
D＝2h-2R，说明转动跳动轨迹不存在水平方向偏移，进入步骤h；D = 2h-2R, indicating that there is no horizontal deviation in the rotation and jumping trajectory, and the process goes to step h;
D＜2h-2R，说明转动跳动轨迹存在水平方向偏移，进入步骤i；D＜2h-2R, indicating that the rotation and jumping trajectory has a horizontal deviation, and the process goes to step i;
步骤h、利用计算转动跳动轨迹半径，结束；Step h: Utilize Calculate the radius of the rotational runout trajectory and end;
步骤i、利用计算转动跳动轨迹的半径；Step i: Utilization Calculate the radius of the rotational runout trajectory;
步骤j、利用计算转动跳动轨迹的水平方向偏移量，结束。Step j: Utilize Calculate the horizontal offset of the rotation and jump trajectory, and end.
需要说明的是，本发明的公式经过了严格的建模和推导，具体如下：It should be noted that the formula of the present invention has been rigorously modeled and derived, as follows:
情况一：旋转变压器转子不存在转动跳动，如图2所示。Case 1: There is no rotational jitter in the resolver rotor, as shown in Figure 2.
此时，第一距离传感器2和第二距离传感器3监测到的距离均为恒定的h-R。At this time, the distances monitored by the first distance sensor 2 and the second distance sensor 3 are both constant h-R.
情况二：旋转变压器转子仅存在圆周跳动，如图3所示。Case 2: The resolver rotor only has circumferential runout, as shown in Figure 3.
此时，转子转轴实际跳动轨迹在以理论转轴为圆心，半径为r的圆周上，则第一距离传感器2和第二距离传感器3监测到的距离范围均为[h-R-r,h-R+r]，且当第一距离传感器2监测到的距离为h-R-r时，第二距离传感器3监测到的距离为h-R+r；当第一距离传感器2监测到的距离为h-R+r时，第二距离传感器3监测到的距离为h-R-r；并且能够看出，在旋转变压器转子不存在水平偏移的情况下，第一距离传感器2监测到的距离与第二距离传感器3监测到的距离和在极限位置为定值2h-2R。At this time, the actual jumping trajectory of the rotor shaft is on a circle with the theoretical shaft as the center and a radius of r. The distance ranges monitored by the first distance sensor 2 and the second distance sensor 3 are both [h-R-r, h-R+r], and when the distance monitored by the first distance sensor 2 is h-R-r, the distance monitored by the second distance sensor 3 is h-R+r; when the distance monitored by the first distance sensor 2 is h-R+r, the distance monitored by the second distance sensor 3 is h-R-r; and it can be seen that when there is no horizontal offset of the rotating transformer rotor, the distance monitored by the first distance sensor 2 and the distance monitored by the second distance sensor 3 are a constant of 2h-2R at the extreme position.
情况三：旋转变压器转子既存在竖直偏移又存在圆周跳动，如图4所示。Case 3: The resolver rotor has both vertical offset and circumferential runout, as shown in Figure 4.
此时，转子转轴实际跳动轨迹在以理论转轴沿竖直方向偏移y为圆心，半径为r的圆周上，能够看出，第一距离传感器2监测到的距离与第二距离传感器3监测到的距离和在极限位置仍然为定值，但是同情况二相比，第一距离传感器2和第二距离传感器3监测的距离整体上相差y，一个为正差，一个为负差，利用这个差值，就能够将竖直方向偏移y解算出：At this time, the actual runout trajectory of the rotor shaft is on a circle with a radius of r and a vertical offset y of the theoretical shaft as the center. It can be seen that the distance monitored by the first distance sensor 2 and the distance monitored by the second distance sensor 3 are still constant at the extreme position, but compared with the second case, the distances monitored by the first distance sensor 2 and the second distance sensor 3 differ by y as a whole, one is a positive difference and the other is a negative difference. Using this difference, the vertical offset y can be solved:
第一距离传感器2监测到的距离最小值min(d1(t))＝h-R-r-y；The minimum distance value min(d 1 (t)) monitored by the first distance sensor 2 = hRry;
第二距离传感器3监测到的距离最小值min(d2(t))＝h-R-r+y；The minimum distance value min(d 2 (t)) monitored by the second distance sensor 3 = hR-r+y;
因此，利用能够计算转动跳动轨迹的竖直方向偏移量，利用能够计算转动跳动轨迹的半径。Therefore, using The vertical offset of the rotational runout trajectory can be calculated using Ability to calculate the radius of the rotational runout trajectory.
情况四：旋转变压器转子同时存在水平偏移、竖直偏移和圆周跳动，如图5所示。Case 4: The rotary transformer rotor has horizontal offset, vertical offset and circular runout at the same time, as shown in Figure 5.
此时，转子转轴实际跳动轨迹在以理论转轴沿水平方向偏移x、竖直方向偏移y为圆心，半径为r的圆周上，能够分析得到，在极限位置处，第一距离传感器2监测到的距离与第二距离传感器3监测到的距离和仅受到水平方向偏移量x的影响，且不受竖直方向偏移量y的影响，可以利用这个结论计算水平方向偏移量x，具体如下：At this time, the actual runout trajectory of the rotor shaft is on a circle with a radius of r and a horizontal offset x and a vertical offset y of the theoretical shaft as the center. It can be analyzed that at the extreme position, the sum of the distance monitored by the first distance sensor 2 and the distance monitored by the second distance sensor 3 is only affected by the horizontal offset x, and is not affected by the vertical offset y. This conclusion can be used to calculate the horizontal offset x, as follows:
第一距离传感器2监测到距离最小值min(d1(t))时，跳动半径r和转子半径R位于同一直线，且有：此时，第一距离传感器2和第二距离传感器3监测到距离和为D，且有两个方程联立，求得水平方向偏移x和跳动半径r。When the first distance sensor 2 detects the minimum distance min(d 1 (t)), the runout radius r and the rotor radius R are located on the same straight line, and: At this time, the first distance sensor 2 and the second distance sensor 3 detect that the sum of the distances is D, and there is The two equations are combined to obtain the horizontal offset x and the runout radius r.
其中：第一个公式可以推导出：带入到第二个公式中，就能够得到即能够求解出半径r，再带回到第一个公式中，即能够求解出水平方向偏移x。Among them: The first formula can be derived: Substituting this into the second formula, we get That is, the radius r can be solved, and then brought back to the first formula, the horizontal offset x can be solved.
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