IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0497963
(2009-07-06)
|
등록번호 |
US-8225657
(2012-07-24)
|
우선권정보 |
CN-2008 1 0135639 (2008-07-07) |
발명자
/ 주소 |
- Shao, Xiao Yin
- Ma, Wei Min
- Wang, Qing Gang
- Shi, Wen Gang
- Hu, Xi
- Xing, Jian Hui
- Zhuo, Yue
|
출원인 / 주소 |
- Siemens Aktiengesellschaft
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
0 인용 특허 :
8 |
초록
▼
A method and an apparatus for quantitatively detecting the unbalanced state of a rotating shaft and a clamping state of a workpiece clamped to a shaft are disclosed by solving with a nonlinear multivariable method a Lagrange kinematics equation to determine from acquired position, velocity, accelera
A method and an apparatus for quantitatively detecting the unbalanced state of a rotating shaft and a clamping state of a workpiece clamped to a shaft are disclosed by solving with a nonlinear multivariable method a Lagrange kinematics equation to determine from acquired position, velocity, acceleration and torque signals of the rotating shaft an unbalanced amplitude variable and an unbalanced angle variable of the rotating shaft, optionally both with and without a workpiece. The motor driving the shaft is energized with a combined S-shaped and sinusoidal velocity profile with a position profile component, a velocity profile component, and an acceleration profile component. The components are selected such that the motor speed during the accelerating and decelerating stages does not change abruptly.
대표청구항
▼
1. A method for quantitatively detecting an unbalanced state of a rotating shaft, comprising the steps of: driving the rotating shaft;acquiring a position signal, a velocity signal, an acceleration signal, and a torque signal of the rotating shaft; andestablishing, according to a rotational kinetic
1. A method for quantitatively detecting an unbalanced state of a rotating shaft, comprising the steps of: driving the rotating shaft;acquiring a position signal, a velocity signal, an acceleration signal, and a torque signal of the rotating shaft; andestablishing, according to a rotational kinetic energy and a potential energy of the rotating shaft, a Lagrange kinematics equation including an unbalanced amplitude variable and an unbalanced angle variable of the rotating shaft, andacquiring, according to the position signal, the velocity signal, the acceleration signal, and the torque signal, a value of the unbalanced amplitude and a value of the unbalanced angle of the rotating shaft by solving the equation by means of a nonlinear multivariable method;wherein the unbalanced amplitude of the rotating shaft is a product of a length of a vertical line segment from a centroid of the rotating shaft to an axis of the rotating shaft and a mass of the rotating shaft, and the unbalanced angle of the rotating shaft is an included angle between the vertical line segment from the centroid of the rotating shaft to the axis of the rotating shaft and a horizontal axial plane of the rotating shaft. 2. The method of claim 1, further comprising the step of filtering the acquired position signal, the acquired velocity signal, the acquired acceleration signal and the acquired torque signal of the rotating shaft. 3. The method of claim 1, wherein the rotating shaft is driven by a motor, further comprising the steps of: applying a combined S-shaped and sinusoidal velocity profile as an energizing signal to the motor, with the combined velocity profile including a position profile, a velocity profile, and an acceleration profile;dividing the profiles along a time axis into an accelerating stage, a sinusoidal velocity profile stage, and a decelerating stage, andselecting the velocity profile such that a motor speed in the accelerating and decelerating stages does not exhibit an abrupt change. 4. The method of claim 3, wherein the unbalanced amplitude of the rotating shaft is: U=m·r wherein m is the mass of the rotating shaft, and r is the distance from the centroid of the rotating shaft to the axis of the rotating shaft. 5. The method of claim 4, wherein a rotational kinetic energy of the rotating shaft is: K=12Iθ.2wherein I is an inertia of the rotating shaft, and {dot over (θ)} is the velocity signal of the rotating shaft. 6. The method of claim 5, wherein a potential energy of the rotating shaft is: P=mgr[1+sin(θ0+θ)]wherein g is the gravitational constant, θ0 is the unbalanced angle of the rotational angle, and θ is the position signal of the rotating shaft. 7. The method of claim 6, wherein the Lagrange kinematics equation including the unbalanced amplitude variable and the unbalanced angle variable of the rotating shaft is established from the rotational kinetic energy and the potential energy of the rotating shaft as follows: ⅆⅆt∂L∂θ.-∂L∂θ=τwherein, τ is the torque signal of the rotating shaft, L=K−P so that: L=12Iθ.2-mgr[1+sin(θ0+θ)]leading to: ⅆⅆt(mr2θ.)-(-mgrcos(θ+θ0))=τso that: I{umlaut over (θ)}+Ug cos(θ+θ0)=τwherein {umlaut over (θ)} is the acceleration signal of the rotating shaft. 8. The method of claim 7, further comprising the step of introducing Coulomb friction and viscous friction in the equation I{umlaut over (θ)}+Ug cos(θ+θ0)=τ,thereby producing: I{umlaut over (θ)}+Ug cos(θ+θ0)+Fcfsgn({dot over (θ)}f)+Fvf{dot over (θ)}f+Fcrsgn({dot over (θ)}r)+Fvr{dot over (θ)}r+ε=τwherein and Fcf are Fvf the Coulomb friction coefficient and the viscosity friction coefficient, respectively, when the shaft is rotating in a forward direction, Fcr and Fvr are the Coulomb friction coefficient and the viscosity friction coefficient, respectively, when the shaft is rotating in a backward direction, {dot over (θ)}f and {dot over (θ)}r are the velocity signals when the shaft is rotating in the forward and backward directions, respectively, and sgn(θ.f)={1θ.f>00θ.f=0-1θ.f00θ.r=0-1θ.r<0and ε is a measurement error. 9. The method of claim 8, wherein the nonlinear multivariable method is a least square method. 10. An apparatus for quantitatively detecting an unbalanced state of a rotating shaft, comprising: a drive unit driving the rotating shaft;a signal acquisition unit for acquiring a position signal, a velocity signal, an acceleration signal, and a torque signal; andan unbalanced amplitude value and unbalanced angle value calculating unit for establishing a Lagrange kinematics equation including an unbalanced amplitude variable and an unbalanced angle variable of the rotating shaft according to a rotational kinetic energy and a potential energy of the rotating shaft, and for acquiring a value of unbalanced amplitude and a value of unbalanced angle of the rotating shaft by solving the equation with a nonlinear multivariable method according to the acquired position signal, the acquired velocity signal, the acquired acceleration signal, and the acquired torque signal;wherein the unbalanced amplitude of the rotating shaft is a product of a length of a vertical line segment from a centroid of the rotating shaft to an axis of the rotating shaft and a mass of the rotating shaft, and the unbalanced angle is an included angle between the vertical line segment from the centroid of the rotating shaft to the axis of the rotating shaft and a horizontal axial plane of the rotating shaft. 11. A method for detecting a clamping state of a workpiece, comprising the steps of: detecting an unbalanced amplitude and an unbalanced angle of the rotating shaft without the workpiece clamped with the method of claim 1, and computing from the unbalanced amplitude and the unbalanced angle a first unbalanced offset vector: {right arrow over (M)}=A1∠θ1 wherein, A1 is the unbalanced amplitude of the rotating shaft without the workpiece being clamped, and is the unbalanced angle of the rotating shaft without the workpiece being clamped;detecting an unbalanced amplitude and an unbalanced angle of the rotating shaft with the workpiece clamped on the rotating shaft with the method of claim 1, and computing from the unbalanced amplitude and the unbalanced angle a second unbalanced offset vector: {right arrow over (N)}=A2∠θ2 wherein, A2 is the unbalanced amplitude of the rotating shaft with the workpiece being clamped, and θ2 is unbalanced angle of the rotating shaft with the workpiece being clamped;calculating a difference vector between the unbalanced offset vector without the workpiece being clamped and the unbalanced offset vector with the workpiece being clamped: {right arrow over (R)}={right arrow over (M)}−{right arrow over (N)}=AR∠θR wherein, AR is the unbalanced amplitude of the difference vector, and θR is the unbalanced angle of the difference vector; anddetermining from the difference vector the clamping state of the workpiece, wherein a bigger AR of the difference vector {right arrow over (R)} indicates a bigger unbalanced deviation of the workpiece, representing an inferior clamping state of the workpiece. 12. A method for quantitatively detecting an unbalanced state of a rotating shaft, comprising the following steps of: driving the rotating shaft;acquiring a position signal, a velocity signal, an acceleration signal, and a torque signal of the rotating shaft; andsolving with a nonlinear multivariable method a Lagrange kinematics equation to determine an unbalanced amplitude variable and an unbalanced angle variable of the rotating shaft from the acquired position signal, the acquired velocity signal, the acquired acceleration signal, and the acquired torque signal of the rotating shaft,wherein the unbalanced amplitude variable of the rotating shaft is equal to a product of a distance from a centroid of the rotating shaft to an axis of the rotating shaft and a predetermined mass of the rotating shaft, and the unbalanced angle variable of the rotating shaft is an included angle between a vertical line segment from the centroid of the rotating shaft to the axis of the rotating shaft and a horizontal axial reference plane of the rotating shaft. 13. The method of claim 12, further comprising the step of filtering the acquired position signal, the acquired velocity signal, the acquired acceleration signal and the acquired torque signal of the rotating shaft. 14. The method of claim 12, further comprising the steps of driving the rotating shaft with a motor, energizing the motor with a combined S-shaped and sinusoidal velocity profile having a position profile component, a velocity profile component, and an acceleration profile component, and dividing the profiles along a time axis into an accelerating stage, a sinusoidal velocity profile stage, and a decelerating stage, with the combined S-shaped and sinusoidal velocity profile being selected such that a velocity of the motor during the accelerating and decelerating stages does not exhibit an abrupt change. 15. The method of claim 12, wherein the nonlinear multivariable method is a least square method. 16. An apparatus for quantitatively detecting an unbalanced state of a rotating shaft, comprising: a shaft drive unit driving the rotating shaft, the shaft drive unit having an electric motor;a signal generator generating a drive signal for the electric motor that produces a combined S-shaped and sinusoidal velocity profile having a position profile component, a velocity profile component, and an acceleration profile component, with the combined S-shaped and sinusoidal velocity profile being selected such that a velocity of the motor during accelerating and decelerating stages does not exhibit an abrupt change;a signal acquisition unit for acquiring a position signal, a velocity signal, an acceleration signal, and a torque signal of the rotating shaft; anda calculating unit that solves with a nonlinear multivariable method a Lagrange kinematics equation to determine an unbalanced amplitude variable and an unbalanced angle variable of the rotating shaft from the acquired position signal, the acquired velocity signal, the acquired acceleration signal, and the acquired torque signal of the rotating shaft,wherein the unbalanced amplitude of the rotating shaft is equal to a product of a distance from a centroid of the rotating shaft to an axis of the rotating shaft and a mass of the rotating shaft, and the unbalanced angle of the rotating shaft is an included angle between a vertical line segment from the centroid of the rotating shaft to the axis of the rotating shaft and a horizontal axial plane of the rotating shaft. 17. A method for detecting a clamping state of a workpiece, comprising the steps of:without the workpiece being clamped:a) driving a rotating shaft;b) acquiring a position signal, a velocity signal, an acceleration signal, and a torque signal of the rotating shaft; andc) solving with a nonlinear multivariable method a Lagrange kinematics equation to determine an unbalanced amplitude variable and an unbalanced angle variable of the rotating shaft from the acquired position signal, the acquired velocity signal, the acquired acceleration signal, and the acquired torque signal of the rotating shaft,d) wherein the unbalanced amplitude variable of the rotating shaft is equal to a product of a distance from a centroid of the rotating shaft to an axis of the rotating shaft and a predetermined mass of the rotating shaft, and the unbalanced angle variable of the rotating shaft is an included angle between a vertical line segment from the centroid of the rotating shaft to the axis of the rotating shaft and a horizontal axial reference plane of the rotating shaft, with the unbalanced amplitude and the unbalanced angle of the rotating shaft defining an unbalanced offset vector,clamping the workpiece on the shaft;repeating steps a) through d) above;calculating a difference vector between the unbalanced offset vector without the workpiece being clamped and the unbalanced offset vector with the workpiece being clamped; anddetermining the clamping state of the workpiece from the difference vector, with a larger difference vector indicating an inferior clamping state of the workpiece.
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