仿生機械鶴的機械機構(gòu)設(shè)計及運動仿真【含Creo三維及6張CAD圖帶開題報告-獨家】.zip

仿生機械鶴的機械機構(gòu)設(shè)計及運動仿真【含Creo三維及6張CAD圖帶開題報告-獨家】.zip,含Creo三維及6張CAD圖帶開題報告-獨家,仿生,機械,機構(gòu),設(shè)計,運動,仿真,Creo,三維,CAD,開題,報告,獨家 任務(wù)書 系 部 指導(dǎo)教師 職 稱 學(xué)生姓名 專業(yè)班級 學(xué) 號 論文題目 機械鶴的機械機構(gòu)設(shè)計及運動仿真 論 文 內(nèi) 容 目 標(biāo) 及 進 度 要 求 內(nèi)容 1、了解仿生機械的發(fā)展； 2、設(shè)計仿生鶴的結(jié)構(gòu)； 3、所設(shè)計的仿生鶴，能實現(xiàn)轉(zhuǎn)頭、低頭、仰頭等動作； 要求： 1、 收集資料（相關(guān)的書籍5本以上，文獻資料不少于10篇）； 2、 繪制工作原理圖（機械、電氣圖）； 3、 將機械圖繪制成三維裝配圖，并能夠?qū)崿F(xiàn)運動仿真； 4、 撰寫論文要符合論文規(guī)范要求，不少于10000字； 5、 翻譯相關(guān)英文文獻一篇，不少于3000字（英譯漢）。 進度 1、1—5 周，主要進行畢業(yè)設(shè)計準(zhǔn)備工作，熟悉題目，收集資料，進行畢業(yè)實習(xí)，明確研究目的和任務(wù)，構(gòu)思總體方案； 2、6—10周，設(shè)計計算，繪圖； 3、11—13周，編寫畢業(yè)設(shè)計論文，準(zhǔn)備畢業(yè)設(shè)計答辯。 指導(dǎo)教師簽名： 年 月 日 系 部 審 核 此表由指導(dǎo)教師填寫 由所在系部審核 開題報告 課題名稱 機械鶴的機械機構(gòu)設(shè)計及運動仿真 課題類型 實踐應(yīng)用型 指導(dǎo)教師 學(xué)生姓名 學(xué) 號 專業(yè)班級 本課題的研究現(xiàn)狀、研究目的及意義 一、 仿生學(xué)的研究現(xiàn)狀 1、仿生機械學(xué)是上世紀(jì)60年代初期出現(xiàn)的一門綜合性的新興邊緣學(xué)科，它是生命科學(xué)和工程技術(shù)科學(xué)相互滲透，相互結(jié)合而形成的。包含著對生物現(xiàn)象進行力學(xué)研究，對生物運動、動作進行工程分析，并把這些成果根據(jù)社會的要求付之實用化。仿生機械學(xué)是以生物科學(xué)的進步為基礎(chǔ)、實際工業(yè)生產(chǎn)中的需求為動力而發(fā)展起來的。現(xiàn)代科技的高速發(fā)展在促進機械這門古老專業(yè)發(fā)展的同時,也對其自身受力結(jié)構(gòu)、能量消耗和運動的可靠性提出了更為嚴(yán)苛的要求。怎樣才能使古老的機械學(xué)科適應(yīng)現(xiàn)代科技的發(fā)展、在現(xiàn)代社會重新煥發(fā)生機呢？ 20世紀(jì)60年代后期，隨著生物科學(xué)的蓬勃發(fā)展和仿生學(xué)研究的興起，機械學(xué)研究者發(fā)現(xiàn)了新的研究方向。他們把仿生學(xué)的原理融入到機械學(xué)中，以機械學(xué)為主體，以仿生學(xué)為雙翼，開啟了仿生機械學(xué)的研究。研究者們模仿生物的形態(tài)、結(jié)構(gòu)和控制原理，設(shè)計制造出功能更集中、效率更高并具有生物特征的機械。由于結(jié)合仿生學(xué)而設(shè)計出來的機械系統(tǒng)在結(jié)構(gòu)、功能、材料、控制、能耗等諸方面更加合理，因而仿生機械學(xué)的研究目前也得到了更多的重視。 2、仿生機械的種類有很多，按功能劃分大致可以分為抓取、移動、飛行、游動等四類。 本課題的主要研究方向為仿生學(xué)在飛行機械中的應(yīng)用更多的是在微型飛行器方面（簡稱MAV）,尤其是微型撲翼飛行器（簡稱FMAV）,這是一種模仿鳥類和昆蟲飛行,基于仿生學(xué)原理設(shè)計制造的新型飛行機器。不同于傳統(tǒng)飛行理論,FMAV的研究主要從兩個方面展開:非定常高升力機理分析和柔性撲翼的氣動特性分析。由于沒有具體的理論和經(jīng)驗公式可以遵循,目前對FMAV空氣動力學(xué)問題的研究還處于起步階段。 二、國內(nèi)外仿生機械學(xué)研究進展 1、國外發(fā)展 20世紀(jì)50年代末,美國就已經(jīng)在機械手和操作機的基礎(chǔ)上,采用伺服機構(gòu)和自動控制等技術(shù)，研制出有通用性的獨立的工業(yè)用自動操作裝置,并將其稱為工業(yè)機器人。工業(yè)機器人一經(jīng)誕生就得到了廣泛的應(yīng)用，許多單調(diào)、頻繁或是危險、惡劣環(huán)境下的作業(yè),?如沖壓、壓力鑄造、熱處理等，均是由工業(yè)機器人“手”來完成的。 法國工程師曾模仿蝗螂的特點制成蝗螂機器人。螳螂機器人有兩條長而靈活的曲臂,可以從各個方向舉起40公斤的重物:依靠四只各自獨立驅(qū)動的輪子,能夠在高低不平的地面快速行走,并能夠爬坡和攀登樓梯。它的身體里還裝有攝像機,能夠把工作現(xiàn)場的情況反映給監(jiān)控者。這種機器人非常適宜在異常危險的地方進行搶險救護工作。在仿生移動機械方面，美國JPL的Go?-?For機器人和日本Tohoku大學(xué)的ChariotⅡ機器人是比較杰出的代表。而在仿生飛行器方面,美國、澳大利亞、俄羅斯、印度、以色列等國已成立專門研究機構(gòu),并投入專項研究經(jīng)費,正在研制和開發(fā)各種性能獨特的微型飛行器,其中有些微型飛行器已進入實用化研究階段。如加利福尼亞大學(xué)研制的“會飛的機器蒼蠅?！? 2、國內(nèi)發(fā)展 國內(nèi)的仿生機械學(xué)研究起步相對比較晚，但目前也已經(jīng)取得了一定的成果。如吉林大學(xué)地面機械仿生技術(shù)實驗所在對松軟地面仿生移動機械方面的研究處于比較領(lǐng)先的地位。上海交通大學(xué)、中科院沈陽自動化研究、國防科技大學(xué)等單位相繼研制出了蛇形機器人樣機。中科院?沈陽自動化研究所和北京航空航天大學(xué)機器人研究所也曾研制出機器魚樣機。? 在靈巧手方面的研究國內(nèi)也取得了相當(dāng)可觀的成果。北京航空航天大學(xué)機器人研究所在國家國家“863”智能機器人主題支持下，研制出了能實現(xiàn)簡單抓持和操作作業(yè)的3指9自由度靈巧手；哈爾濱工業(yè)大學(xué)機器人研究所則研制出了高靈活性的仿人手臂及擬人雙足步行機器人。其仿人手臂具有工作空間大、關(guān)節(jié)無奇異姿態(tài)、結(jié)構(gòu)緊湊等特點，通過軟件控制可實現(xiàn)避障、回避關(guān)節(jié)極限和優(yōu)化動力學(xué)性能等。雙足步行機器人為關(guān)節(jié)式結(jié)構(gòu)，具有12個自由度，可以完成仿人步行的動作? 相比國外而言，國內(nèi)的仿生學(xué)機械仍要落后一些，仍有很大的發(fā)展?jié)摿Α? 三、研究目的及意義 仿生機械鳥是模仿鳥類的飛行原理，與普通飛行器相比，尺寸較小、便于攜帶、飛行靈活，可原地或在很小場地起飛，并具有較好的飛行特性和空中懸停能力，能完成其他飛行器所無法執(zhí)行的任務(wù)等優(yōu)點。仿生機械鳥在礦井救災(zāi)、搶險、有毒害環(huán)境下搜救及在日常生活方面有較好的應(yīng)用， 在礦井及有毒害環(huán)境下可進行搜救、探測與環(huán)境監(jiān)測，在日常生活中可提供空中拍攝和短距離小物品送達等。相比較現(xiàn)在的四軸飛行器如知名的大疆無人機，撲翼飛行鳥有更小的噪音，和更長的續(xù)航里程。 課題類型：課題類型： A-理論探究型 B-實踐應(yīng)用型 本課題的研究內(nèi)容 1、 研究內(nèi)容 通過分析鳥類飛行原理，設(shè)計出一種模擬鳥類撲翼飛行姿態(tài)的機構(gòu)，依仿生鳥的受力情況，確定其的驅(qū)動方式、關(guān)節(jié)傳動方式。 利用 Pro/E 對機構(gòu)進行三維建模、運動仿真分析，通過對樣機相關(guān)的試驗，驗證機構(gòu)的可行性和合理性。 1、 收集資料（相關(guān)的書籍5本以上，文獻資料不少于10篇）； 2、 繪制工作原理圖（機械、電氣圖）； 3、 將機械圖繪制成三維裝配圖，并能夠?qū)崿F(xiàn)運動仿真； 4、 撰寫論文要符合論文規(guī)范要求，不少于10000字； 5、 翻譯相關(guān)英文文獻一篇，不少于3000字（英譯漢）。 本課題研究的實施方案、進度安排 2、 仿生機械鳥機構(gòu)設(shè)計方案 仿生機械鳥運動系統(tǒng)由翅膀撲翼飛行機構(gòu)、翅膀折疊機構(gòu)、頭部搖擺機構(gòu)、尾部變向機構(gòu)和腿部行走機構(gòu)等組成，如圖 1 所示。 圖1 仿生機械鳥設(shè)計方案 1. 頭部搖頭機構(gòu) 2. 翅膀撲翼機構(gòu) 3. 翅膀折疊機構(gòu) 4. 尾部變向機構(gòu) 5. 腿部行走機構(gòu) 頭部和尾部的搖擺采用并聯(lián)的曲柄搖桿機構(gòu)；驅(qū)動頭部搖擺和尾部轉(zhuǎn)向的電動機選用微型直流電機；翅膀折疊采用平行四邊形機構(gòu)，翅膀的上下?lián)鋭邮褂们鷵u桿機構(gòu)；驅(qū)動翅膀上下?lián)鋭雍驼郫B的電動機選用微型直流電機。 腳部直線行走選用單自由度六桿步行機構(gòu)，驅(qū)動行走的電機選用微型直流電機。 整機總重量控制在 1 kg 以下。 3、進度安排 1、1—3 周，主要進行畢業(yè)設(shè)計準(zhǔn)備工作，熟悉題目，收集資料，進行畢業(yè)實習(xí)， 2、4—5周，明確研究目的和任務(wù)，構(gòu)思總體方案； 3、6—7周，開題報告，翻譯相關(guān)英文文獻； 4、8—9周，設(shè)計計算，繪制工作原理圖（機械、電氣圖）； 5、10周，繪制成三維裝配圖，并能夠?qū)崿F(xiàn)運動仿真； 6、11—13周，編寫畢業(yè)設(shè)計論文，準(zhǔn)備畢業(yè)設(shè)計答辯 已查閱的主要參考文獻 ［1］周驥平,武立新,朱興龍. 仿生撲翼飛行器的研究現(xiàn)狀及關(guān)鍵技術(shù)［J］.機器人技術(shù)與應(yīng),2004(6):12-17. ［2］余聯(lián)慶,趙毅,杜利珍.小型雙足步行機器人機械機構(gòu)設(shè)計［J］. 中國水運（理論版）,2007,2(7):183-184. ［3］唐為民,劉正平,路英華.Pro/E 機構(gòu)仿真模塊行走機器人創(chuàng)新設(shè)計［J］.機電產(chǎn)品開發(fā)與創(chuàng)新,2012,25(4):16-18. ［4］張學(xué)軍,張欣,叢佩超.移動式救援機器人的轉(zhuǎn)鉸空間軌跡跟蹤控制問題研究［J］.制造業(yè)自動化,2014,36(7):20-24. [5] 王為 汪建曉 主編，機械設(shè)計.武漢：華中科技大學(xué)出版社，2016 [6] 余聯(lián)慶,趙毅,杜利珍,等. 小型雙足步行機器人機械機構(gòu)設(shè)計［J］. 中國水運（理論版）,2007,2(7):183-184. [7] 唐為民,劉正平,路英華.Pro/E 機構(gòu)仿真模塊行走機器人創(chuàng)新設(shè)計［J］.機電產(chǎn)品開發(fā)與創(chuàng)新, 2012,25(4):16-18. [8] 張學(xué)軍,張欣,叢佩超.移動式救援機器人的轉(zhuǎn)鉸空間軌跡跟蹤控制問題研究［J］.制造業(yè)自動化,2014,36(7):20-24. [9] 易建軍,張明,徐中耀.汽車齒輪修形的研究[ J].汽車技術(shù),1997(12):29- 30. [10] 孫月海,張策,熊光彤,等.減小齒輪傳動誤差波動的漸開線直齒輪齒廓修形研究[J].天津大學(xué)學(xué)報,2001,34(2):214- 215. [11] 王炎,馬吉勝,劉海平.重載車輛變速箱齒輪齒廓修形技術(shù)研究[J].機械傳動,2011,35(11):12- 14. [12] 詹東安,唐樹為.高速齒輪齒部修形技術(shù)研究[ J].機械設(shè)計,2000,17(8):8- 10. [13] 魏延剛.漸開線直齒圓柱齒輪的邊緣效應(yīng)與齒向修形初探[J].中國機械工程,2011,22(12):1413- 1417. 指導(dǎo)教師意見 指導(dǎo)教師簽名： 年 月 日 目錄 1. 英文文獻翻譯 2 1.1 英文文獻原文題目 2 1.2 中文翻譯 18 2. 專業(yè)閱讀書目 29 2.1 微型撲翼式仿生飛行器 29 2.2 仿鳥復(fù)合振動的撲翼氣動分析 29 2.3 多自由度撲翼微型飛行器設(shè)計研究 30 2.4 微型仿生撲翼飛行器的尺度效應(yīng)分析 31 2.5 仿生微撲翼飛行器撲翼機構(gòu)的設(shè)計及其動態(tài)模擬和分析 31 2.6 微型撲翼飛行器的氣動建模分析與試驗 32 2.7 仿生微撲翼飛行器機構(gòu)動態(tài)分析與工程設(shè)計方法 32 2.8 機翼彈性變形對氣動特性影響的實驗研究 33 2.9 鳥類撲翼運動的非定常運動初步數(shù)值模擬研究 33 2.10 一種仿蜜蜂類昆蟲撲翼懸?？刂频姆抡婀浪阊芯?34 29 1. 英文文獻翻譯 1.1 英文文獻原文題目 Chapter 2 Research and rotating machinery fault vibration fault diagnosis of common. Rotating machinery are those main function is to be completed by the rotary movement of mechanical equipment, such as steam turbines, gas turbines, generators, motors, centrifugal blowers, centrifugal compressor pumps, vacuum pumps and a variety of slow growth of the gears and other machinery equipment, all belong to the scope of rotating machinery. Rotating machinery is the application of machinery and equipment most widespread, the number of the largest and most representative one of machinery and equipment, especially in electric power, petrochemical, metallurgy, machinery, aviation, nuclear industry and other industries, rotating machinery is a significant share an important position. 2.1 Classification of Rotating Machinery Vibration Rotating machinery vibration failure was classified as a major form of failure, according to different classification methods, a variety may be as follows 1. By vibration frequency classification (1) Vibration frequency; (2) Harmonic vibration, for example, two octave, 3 octave vibration; (3) The entire baseband frequency scores (such as 1 / 2, 1 / 3, etc.) of the vibration; (4) Frequency and baseband into the relationship between a certain percentages (eg 38% ~ 49%) of the vibration; (5) ultra-low-frequency (vibration frequency 5Hz below) vibration; (6) Ultra-high frequency (vibration frequency in 10 kHz and above) Vibration 2. Amplitude direction according to classification (1) Diameter (horizontal) to the vibration that is the direction along the shaft diameter of the vibration is generally divided into horizontal vibration straight vibration. (2) Axial vibration, that is, the direction along the axis of vibration cutting; (3) Tensional vibration, that is, the vibration along the shaft rotation direction. 3. by vibration of the reasons for classification (1) The vibration caused by rotor imbalance; (2) Shaft misalignment caused by vibration; (3) Sliding bearing and crankshaft vibration caused by eccentricity; (4) The machine parts caused by loose vibration; (5) Friction (such as seal friction, the rotor and the stator friction, etc.) caused by vibration; (6) Bearing damage caused by vibration; (7) Sliding bearing oil whirls and oil whip caused by vibration; (8) Air power and hydraulic vibration caused by factors such as; (9) Bearing stiffness asymmetry caused by vibration; (10) Electrical aspects of the reasons for the vibration caused by 4. Vibration occurred by the site classification (1) Rotor or shaft (including the journal, shaft profile vane, etc.) vibration; (2) Bearings (including the film sliding bearings and rolling bearing) vibration; (3) Shell, bearing vibration; (4) Infrastructure (including aircraft seats, table, or bracket, etc.) vibration; (5) Other areas such as valves, pipe stem, and a variety of structural vibration, etc. In addition, if according to the characteristics and forms of vibration, but also separation of synchronous vibrations (forced vibration) and sub-synchronous (self-excited vibration), etc... Due to vibrations caused by the failure of its manifestations are diverse, in order to accurately identified the cause failures cause - generally speaking, have to rely on signal processing techniques and vibration theory, and other modern methods and means to conduct a comprehensive and integrated analysis and in accordance with the gradual accumulation of experience in the specific circumstances, the only way to achieve fault diagnosis success. Failure of rotating machinery and therefore must be characterized by research. 2.2 The characteristics of rotating machinery fault The implementation of fault in the dynamic monitoring of rotating machinery, we must pay attention to other features: 2.2.1 Rotor Features The rotor component is the core of rotating machinery and equipment, which is fixed by the shaft and the installation of various types of circular discoid components (such as coupling, bearings, impeller, gear, balance disk, pulley, wheel, flywheel, etc.), formed. As the entire rotor in high-speed rotation movements, so its manufacture, installation, commissioning, maintenance and management have a very high demand. If you had problems with one of these components, or in connection with a change in part an exception occurred, they immediately drew a strong vibration unit. It can be said of dynamic monitoring rotating machinery monitoring and diagnosis is mainly the rotor state of motion. 2.2.2 The frequency characteristics of rotating machinery vibration Most of rotating machinery vibration signals is periodic signals, quasi-periodic signal, or a stationary random signal. Failure of rotating machinery vibration characteristics have a common point, namely, the failure of their characteristic frequency related with the rotor speed is equal to the rotor rotation frequency (referred to as transfer frequency, also known as frequency) and its octave or sub-frequency. Therefore, the analysis of vibration signals of the frequency and turn the relationship between the frequencies of rotating machinery fault diagnosis of a key. 2.2.3 for rotating machinery vibration monitoring the main way Vibration signal analysis is the basic method for monitoring rotating machinery, the main three-pronged approach to obtain monitoring information 1. Analysis of rotating machinery vibration frequency of each type of fault has its own characteristic frequency at the scene to make the frequency of the vibration signal analysis is the diagnosis of rotating machinery of the most effective method. Frequency speed of rotating machinery is like a "military demarcation line," the entire band is divided into sub-and super-asynchronous asynchronous vibration frequency of vibration of two sections, to seize this point, helps us to analyze and judge the fault 2. Analysis of amplitude and direction of features in some cases (certainly not all occasions) different types of rotating machinery fault vibration on the performance characteristics of a clear direction. Therefore, the vibration of rotating machinery measurements, as long as conditions permit, the general measure of each measuring point should be horizontal, vertical and axial three directions, as in different directions to provide us with a different fault information. Leakage measured in one direction, you may lose a message. 3. Analysis of the relationship between the amplitude changes with the speed of a considerable portion of rotating machinery fault vibration amplitude and speed changes are closely related, so on-site measurements, when necessary, to create conditions for as much as possible, in the process of changing the speed amplitude measurement of the machine value. 2.3 Rotating Machinery Vibration Fault Diagnosis As mentioned earlier, equipment fault diagnosis is essentially a pattern classification are based on test analysis obtained on the state information, and grouped into a certain type of equipment failure. Therefore, the characteristics of each type of fault must have sufficient understanding. Equipment diagnostics development today, the people through a large number of experimental studies and a wide range of diagnostic practice, for a variety of devices (especially rotating machinery) of the failure mechanism, fault type and its characteristics have a considerable understanding of understanding. Statistics show that, with the production of a different nature, the type of equipment used is also different, so the proportion of various types of failures is also inconsistent. Here are several common fault diagnosis of rotating machinery vibration characteristics, diagnostic methods and examples. 2.3.1 Imbalance According to the information that various types of rotating machinery failure due to imbalance of about 30%, we can see that the machine rotor imbalance caused by rotating machinery vibration is a common multiple faults. To fully understand and grasp the characteristics and mechanism of unbalanced fault diagnosis is very important. 1. The causes of imbalances caused by rotor imbalance are many reasons, such as: ① unreasonable because it is designed geometry caused by different heart, or deviate from the geometric center line of rotary valve shaft; ② Manufacture, installation error; ③ Rotor material uneven, or heat unevenly; ④ Rotor initial bending; ⑤ Work medium in the solid impurities in the rotor on the uneven deposition; ⑥ Rotor in the course of corrosion, wear and tear; ⑦ Rotor parts loose, fall off. 2. Rotor imbalance may lead to consequences for the flexible rotor may also generate additional degree of damage due to dynamic inertia of the centrifugal force caused by imbalance. For various reasons caused by rotor unbalance fault is a basically the same pattern. To sum up, the rotor imbalance may lead to the following undesirable consequences: (1) The rotor caused by repeated bending and internal stress, causing the rotor fatigue, even lead to rotor fault; (2) To enable the machine in operation during the excessive vibration and noise, so that it will accelerate the wear of bearings and other components to reduce life expectancy and efficiency of the machine; (3) Through the vibration of the rotor bearings, machine transmits to the base blocks and buildings, resulting in deterioration in working conditions. 3. Rotor imbalance generally include the following four cases (1) Static unbalance; (2) double-sided imbalances; (3) Static and dynamic imbalance; (4) Dynamic imbalance. for example:2-1: Among them, static imbalance is an imbalance in the cross section, while the remaining three kinds of imbalance is an imbalance on the number of sections, and each inspired by a cross-section due to imbalances in the lateral vibration and static unbalance is the same as the mechanism of. In other words, the cross section generated by the phase and amplitude of vibration and its size may vary, but the vibration frequency is exactly the same, are the first-order rotation frequency (fundamental frequency), 2-1f0 - a first-order frequency of the rotor, ie rotor fundamental frequency (Hz); n - rotor speed (r / min). Unbalanced rotor in rotation will produce a cycle of change was the imbalance in power, the cycle just that, as shown in Figure 2-2. With the rotor unbalance vibration signal, its time waveform and frequency spectrum of the typical curves shown in Figure 2-3, and generally has the following characteristics: (1) The vibration signal of the original time waveform of sine wave; (2) The frequency spectrum of vibration signal, its fundamental frequency component and a significant proportion, while other components such as frequency-doubling the proportion of relatively small. (3) In the process of speeding up or down, when (that is, when speed is less than the critical speed), the amplitude increases with the increase in W, both bearing the same direction of the force, while in the later, the amplitude increases with the W, but will decreases, and gradually tends to a smaller valuation. 4. The basic method of diagnosis of unbalanced fault diagnosis of unbalanced faults, we must first analyze the signal frequency components, the existence of transponder prominent situation. Second, look at the direction of vibration characteristics, if necessary, further analysis of the changes in amplitude as speed or measuring the phase. Because the latter two tests carried out too much trouble to stop the problem involved, which in general is difficult in the production of the site done, and only to a non-for not only had to do when, but time can not be delayed too long. 2.3.2 Misalignment As the rotor and turn on the sub-shaft connection between the use of connecting devices install properly, or due to bearing centerline deviation, or offset, or because the rotor bending, rotor and bearing clearance and load transfer in the bearing after the deformation and other reasons, tend to result in between the rotor (shaft) to the poor, resulting in vibration and lead to mechanical failure. It is also one of the very common mechanical failures . 1. Shaft misalignment of the shaft does not include the three forms of coupling misalignment and bearing right in both cases, here we only discuss the coupling (shaft) misalignment. Coupling does not usually possesses the following three forms, For example2-4: (1) Parallel misalignment, this time through the rotor axis lines in parallel displacement. (2) The angle misalignment, this time to switch on the two axis lines intersect, or angle displacement. (3) Parallel synthesis misalignment angle, this time two lines intersect the rotor axis of displacement. Figure 2-5 shows the shaft vibration caused by misalignment angle parallel to the simple diagram In general, the rotor shaft misalignment can cause additional load on the bearings, resulting in the bearing load between the re-allocation would lead to serious bearing damage caused by a strong vibration. On the other hand, with the coupling on both sides of bearing the load changes that may cause the system critical speed of the change in the uneven effects of an increase, giving rise to the coupling fatigue. When the bearing change is large, for the sliding bearing oil film may also cause instability. 2. Shaft misalignment of the main features of a typical shaft misalignment radial vibration signal time waveform and frequency spectrum 2-6. And mainly has the following characteristics: (1) The vibration signal of the original time waveform distortion sine wave. (2) The radial vibration frequency spectrum of the signal to a multiplier, and second harmonic components of the main shaft misalignment more serious, and the second harmonic component of the greater proportion, in most cases more than one harmonic component of . (3) The axial vibration of components in the spectrum to octave higher amplitude. (4) Coupling on both sides of the axial vibration is essentially 180 ° inverting. (5) A typical trajectory for the banana-shaped axis is precession. (6) Vibration on the more sensitive to changes in load, the general vibration amplitude increases with the load increase. 2.3.3 Rotor Crack If the rotor rotating machinery are poorly designed (including the improper selection or structure is irrational) or improper processing methods, or the super life of running, it will cause stress concentration leading to cracks. On the other hand, fatigue, creep and stress corrosion can cause micro-cracks in the rotor, plus large change due to the twist and radial load to form the mechanical stress state, resulting in continuous expansion of these micro-cracks eventually become a macro-crack. 1. Three forms of rotor cracks (1) Closed crack. Rotor rotates; the crack was always closed state. When the crack zone in a compressive stress state, would constitute a closed crack, such as the rotor weight is not an unbalanced force smaller or unbalanced force precisely the opposite point to cracks, or uneven quality, moments generated by the rotor is greater than the quality of generated moment and so on. Closed crack little effect on the rotor thrust. (2) Open crack. When the rotor spins, the crack was always open state. Open cracks force the situation is exactly the opposite and closed crack; the crack area is always in tension stress state. Open crack will reduce the stiffness of the rotor, and its stiffness to the different nature of each, so that vibration increased. (3) The opening and closing crack. With the rotation of the rotor movement, crack was open and close alternately state, and generally turn the rotor of each week, the crack will be the corresponding open and closed each time. Crack opening and closing part of the open crack and the crack in the middle of a closed transition state, which is the most complex forms. Figure 2-7 shows the rotor with the opening and closing crack deflection curve diagram. Despite the change in the crack will affect the rotor vibration characteristics, but in most cases is not very sensitive, even the cracks in the rotor has a deep, sometimes hard to find significant changes in the vibration condition. For example, according to theoretical calculations, if there is a change in central depth is equal to 1 / 4 turn on the diameter of the crack, its stiffness is only about 10%, while the changes in critical speed is smaller, only 5%. Therefore, these changes will likely be completely submerged into the other signal, that is, from the observed changes in the natural frequency of the rotor, or when the normal operation of the vibration changes according to the early detection of cracks is very difficult. At present more effective way is to stop the process of measurement and analysis open the rate of change in amplitude. Generally speaking, when there open crack rotor, the rotor will become of all the stiffness of the differences. As a result, the vibration of the rotor with a non-linear nature of the spectrum, in addition to a harmonic component, there are twice, three times to five times the high-harmonic components. Toward the crack, the stiffness of the rotor will be further reduced; a multiplier component, as well as twice or three times or five times, and other first-order harmonic components of the amplitude will be even greater. 2. Be passed on to crack the monitoring and diagnosis is divided into three areas (1) Open, stopping when the variation of amplitude versus speed. (2) The impact of crack depth on the amplitude. Under normal circumstances, the vibration spectrum and the second harmonic component of twice the amplitude will increase with the depth of the monotonic crack growth, while the corresponding phase decreased with the increase of crack depth irregular fluctuations. It just can be used to distinguish between normal vibrations caused by imbalance. (3) The crack growth rate. But the crack propagation speed increases as the crack depth to accelerate, with a corresponding rate of increase in amplitude occurs phenomenon. In particular the rapid increase in second harmonic amplitude can often provide crack diagnostic information, so can take advantage of two trends in the changes in the harmonic components to diagnose the rotor cracks. 3. Rotor cracks after the general characteristics of (1) The first-order critical speed is smaller than normal, especially when the crack worsens. (2) As the crack and stiffness caused by rotor asymmetry, the rotor speed of the formation of multiple resonance. (3) The crack rotor vibration response, one harmonic component of the degree of dispersion when compared with large crack-free. (4) A constant speed, the doubled, tripled the third harmonic and other components of the amplitude and the phase-order instability, and in particular to highlight the second harmonic component. (5) Due to the stiffness of cracked rotor asymmetry, so that pairs of rotor balancing difficulty. 1.2 中文翻譯 第2章旋轉(zhuǎn)機械故障的研究及常見故障的振動診斷 旋轉(zhuǎn)機械是指那些主要功能是由旋轉(zhuǎn)運動來完成的機械設(shè)備，如汽輪機、燃?xì)廨啓C、發(fā)電機、電動機、離心式鼓風(fēng)機、離心式壓縮機泵、真空泵以及各種減速增速的齒輪傳動裝置等機械設(shè)備，都屬于旋轉(zhuǎn)機械范圍。旋轉(zhuǎn)機械是機械設(shè)備中應(yīng)用面最廣、數(shù)量最多，而且最具有代表性的機械設(shè)備之一，尤其是在電力、石化、冶金、機械、航空、核工業(yè)等行業(yè)，旋轉(zhuǎn)機械更是占有舉足輕重的重要地位。 2.1旋轉(zhuǎn)機械振動的分類 振動故障是旋轉(zhuǎn)機械的主要故障表現(xiàn)形式，根據(jù)不同的分類方法，各種可被歸類為： 1．按振動頻率分類 (1)