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工程设计学报
Chinese Journal of Engineering Design  2024, Vol. 31 Issue (4): 428-437    DOI: 10.3785/j.issn.1006-754X.2024.03.210
Reliability and Quality Design     
Transverse vibration analysis and active disturbance rejection decoupling control of rain erosion blades considering mass distribution
Chunlong FANG1(),Mengjun WANG2,He ZHOU1,Songmei LI1()
1.College of Electromechanical Engineering, Qingdao University of Science and Technology, Qingdao 266061, China
2.Shandong Wantong Hydraulic Co. , Ltd. , Rizhao 262399, China
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Abstract  

In order to improve the stability and safety of the high-speed rain erosion resistance test device, the transverse vibration characteristics of rain erosion blades were analyzed with the rotor-rain erosion blade system as the research object. Firstly, a four-degree-of-freedom transverse vibration model of rotor-rain erosion blade system was established considering the effects of rain erosion blade vibration, mass eccentricity of rotary-blade connecting disc and unbalanced magnetic pull force of rotor. Then, the motion differential equation of rotor-rain erosion blade system was established based on Lagrange equation, and the Runge-Kutta algorithm was used to solve the equation numerically, in order to observe the distribution law of axis trajectory and vibration amplitude of rotor and rain erosion blade. Considering the nonlinear strong coupling relationship between rotor and rain erosion blade, an active disturbance rejection decoupling control method was adopted to suppress the transverse vibration of rain erosion blade, and the parameters of the extended state observer were adjusted by pole assignment and bandwidth. Finally, an experimental platform was set up to analyze the vibration characteristics of the rain erosion blade before and after adopting active disturbance rejection decoupling control, and the results were compared with the numerical analysis results. The results showed that the vibration of rotor-rain erosion blade system exceeded the standard before the active disturbance rejection decoupling control was adopted, but the transverse vibration of rain erosion blade could be effectively suppressed after the active disturbance rejection decoupling control was adopted, which verified the feasibility and effectiveness of the control method. The research results can provide theoretical reference for the structural optimization of high-speed rain erosion resistance test device.

Key words： rotor-rain erosion blade system      transverse vibration      numerical analysis      active disturbance rejection      decoupling control     
Received: 23 October 2023      Published: 26 August 2024
CLC:  TH 113  
Corresponding Authors: Songmei LI     E-mail: fang_chun_long@163.com;lisongmei1025@163.com
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Chunlong FANG
Mengjun WANG
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Songmei LI
Cite this article:

Chunlong FANG,Mengjun WANG,He ZHOU,Songmei LI. Transverse vibration analysis and active disturbance rejection decoupling control of rain erosion blades considering mass distribution. Chinese Journal of Engineering Design, 2024, 31(4): 428-437.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2024.03.210     OR     https://www.zjujournals.com/gcsjxb/Y2024/V31/I4/428


考虑质量分布的雨蚀叶片横向振动分析与自抗扰解耦控制

为提升高速耐雨蚀测试装置运行的稳定性与安全性，以其转子-雨蚀叶片系统为研究对象，开展雨蚀叶片的横向振动特性分析。首先，综合考虑雨蚀叶片振动、旋叶连接盘质量偏心及转子不平衡磁拉力的影响，建立转子-雨蚀叶片系统的四自由度横向振动模型。然后，基于Lagrange方程建立转子-雨蚀叶片系统的运动微分方程，并利用Runge-Kutta算法对方程进行数值求解，以观察转子及雨蚀叶片的轴心轨迹与振幅的分布规律。考虑到转子与雨蚀叶片的非线性强耦合关系，采用自抗扰解耦控制方法来抑制雨蚀叶片的横向振动，其中扩张状态观测器的参数采用极点配置和带宽进行调节。最后，通过搭建实验平台来分析采用自抗扰解耦控制前后雨蚀叶片的振动特性，并与数值分析结果进行对比。结果表明，在采用自抗扰解耦控制前转子-雨蚀叶片系统存在振动超标现象，而采用自抗扰解耦控制后雨蚀叶片的横向振动得到了有效抑制，验证了该控制方法的可行性和有效性。研究结果可为后续高速耐雨蚀测试装置的结构优化提供理论参考。


关键词： 转子-雨蚀叶片系统,  横向振动,  数值分析,  自抗扰,  解耦控制 
Fig.1 Vibration model of rotor-rain erosion blade system
Fig.2 Schematic of two-dimensional structure of rotor-rain erosion blade system
参数单位数值
转子质量m1kg20
旋叶连接盘质量m2kg20
雨蚀叶片质量ma1kg10
雨蚀叶片质心到旋叶连接盘形心的距离l1m0.6
转子偏心距e1m1×10-4
旋叶连接盘偏心距e2m1×10-3
转子阻尼系数c1N·s/m2×102
旋叶连接盘阻尼系数c2N·s/m2×102
深沟球轴承Ⅰ刚度k1N/m1×108
深沟球轴承Ⅱ刚度k2N/m1×108
Table 1 Parameters of rotor-rain erosion blade system
Fig.3 Axis trajectory, vibration displacement time-domain map and Poincaré section of rotor and rain erosion blade with ω=150 rad/s
Fig.4 Axis trajectory, vibration displacement time-domain map and Poincaré section of rotor and rain erosion blade with ω=350 rad/s
Fig.5 Active disturbance rejection control structure for rotor-rain erosion blade system
Fig.6 Active disturbance rejection decoupling control process of rotor-rain erosion blade system
Fig.7 Vibration displacement of rotor-rain erosion blade system under active disturbance rejection decoupling control
Fig.8 Control variables and disturbance estimation of rotor-rain erosion blade system under active disturbance rejection decoupling control
Fig.9 Structure of high-speed rain erosion resistance test device
Fig.10 Time-domain map of vibration displacement of rain erosion blade before using active disturbance rejection decoupling control
Fig.11 Time-domain map of vibration displacement of rain erosion blade after using active disturbance rejection decoupling control
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