仿生機(jī)械鶴的機(jī)械機(jī)構(gòu)設(shè)計(jì)及運(yùn)動(dòng)仿真【含Creo三維及6張CAD圖帶開題報(bào)告-獨(dú)家】.zip,含Creo三維及6張CAD圖帶開題報(bào)告-獨(dú)家,仿生,機(jī)械,機(jī)構(gòu),設(shè)計(jì),運(yùn)動(dòng),仿真,Creo,三維,CAD,開題,報(bào)告,獨(dú)家 任務(wù)書 系 部 指導(dǎo)教師 職 稱 學(xué)生姓名 專業(yè)班級(jí) 學(xué) 號(hào) 論文題目 機(jī)械鶴的機(jī)械機(jī)構(gòu)設(shè)計(jì)及運(yùn)動(dòng)仿真 論 文 內(nèi) 容 目 標(biāo) 及 進(jìn) 度 要 求 內(nèi)容 1、了解仿生機(jī)械的發(fā)展； 2、設(shè)計(jì)仿生鶴的結(jié)構(gòu)； 3、所設(shè)計(jì)的仿生鶴，能實(shí)現(xiàn)轉(zhuǎn)頭、低頭、仰頭等動(dòng)作； 要求： 1、 收集資料（相關(guān)的書籍5本以上，文獻(xiàn)資料不少于10篇）； 2、 繪制工作原理圖（機(jī)械、電氣圖）； 3、 將機(jī)械圖繪制成三維裝配圖，并能夠?qū)崿F(xiàn)運(yùn)動(dòng)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(xiàn)一篇，不少于3000字（英譯漢）。 進(jìn)度 1、1—5 周，主要進(jìn)行畢業(yè)設(shè)計(jì)準(zhǔn)備工作，熟悉題目，收集資料，進(jìn)行畢業(yè)實(shí)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(jì)計(jì)算，繪圖； 3、11—13周，編寫畢業(yè)設(shè)計(jì)論文，準(zhǔn)備畢業(yè)設(shè)計(jì)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(bào)告 課題名稱 機(jī)械鶴的機(jī)械機(jī)構(gòu)設(shè)計(jì)及運(yùn)動(dòng)仿真 課題類型 實(shí)踐應(yīng)用型 指導(dǎo)教師 學(xué)生姓名 學(xué) 號(hào) 專業(yè)班級(jí) 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(jī)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(duì)生物現(xiàn)象進(jìn)行力學(xué)研究，對(duì)生物運(yùn)動(dòng)、動(dòng)作進(jìn)行工程分析，并把這些成果根據(jù)社會(huì)的要求付之實(shí)用化。仿生機(jī)械學(xué)是以生物科學(xué)的進(jìn)步為基礎(chǔ)、實(shí)際工業(yè)生產(chǎn)中的需求為動(dòng)力而發(fā)展起來(lái)的?，F(xiàn)代科技的高速發(fā)展在促進(jìn)機(jī)械這門古老專業(yè)發(fā)展的同時(shí),也對(duì)其自身受力結(jié)構(gòu)、能量消耗和運(yùn)動(dòng)的可靠性提出了更為嚴(yán)苛的要求。怎樣才能使古老的機(jī)械學(xué)科適應(yīng)現(xiàn)代科技的發(fā)展、在現(xiàn)代社會(huì)重新煥發(fā)生機(jī)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(jī)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(jī)械學(xué)中，以機(jī)械學(xué)為主體，以仿生學(xué)為雙翼，開啟了仿生機(jī)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(jì)制造出功能更集中、效率更高并具有生物特征的機(jī)械。由于結(jié)合仿生學(xué)而設(shè)計(jì)出來(lái)的機(jī)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(jī)械學(xué)的研究目前也得到了更多的重視。 2、仿生機(jī)械的種類有很多，按功能劃分大致可以分為抓取、移動(dòng)、飛行、游動(dòng)等四類。 本課題的主要研究方向?yàn)榉律鷮W(xué)在飛行機(jī)械中的應(yīng)用更多的是在微型飛行器方面（簡(jiǎn)稱MAV）,尤其是微型撲翼飛行器（簡(jiǎn)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(jì)制造的新型飛行機(jī)器。不同于傳統(tǒng)飛行理論,FMAV的研究主要從兩個(gè)方面展開:非定常高升力機(jī)理分析和柔性撲翼的氣動(dòng)特性分析。由于沒(méi)有具體的理論和經(jīng)驗(yàn)公式可以遵循,目前對(duì)FMAV空氣動(dòng)力學(xué)問(wèn)題的研究還處于起步階段。 二、國(guó)內(nèi)外仿生機(jī)械學(xué)研究進(jìn)展 1、國(guó)外發(fā)展 20世紀(jì)50年代末,美國(guó)就已經(jīng)在機(jī)械手和操作機(jī)的基礎(chǔ)上,采用伺服機(jī)構(gòu)和自動(dòng)控制等技術(shù)，研制出有通用性的獨(dú)立的工業(yè)用自動(dòng)操作裝置,并將其稱為工業(yè)機(jī)器人。工業(yè)機(jī)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(xiǎn)、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(jī)器人“手”來(lái)完成的。 法國(guó)工程師曾模仿蝗螂的特點(diǎn)制成蝗螂機(jī)器人。螳螂機(jī)器人有兩條長(zhǎng)而靈活的曲臂,可以從各個(gè)方向舉起40公斤的重物:依靠四只各自獨(dú)立驅(qū)動(dòng)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(jī),能夠把工作現(xiàn)場(chǎng)的情況反映給監(jiān)控者。這種機(jī)器人非常適宜在異常危險(xiǎn)的地方進(jìn)行搶險(xiǎn)救護(hù)工作。在仿生移動(dòng)機(jī)械方面，美國(guó)JPL的Go?-?For機(jī)器人和日本Tohoku大學(xué)的ChariotⅡ機(jī)器人是比較杰出的代表。而在仿生飛行器方面,美國(guó)、澳大利亞、俄羅斯、印度、以色列等國(guó)已成立專門研究機(jī)構(gòu),并投入專項(xiàng)研究經(jīng)費(fèi),正在研制和開發(fā)各種性能獨(dú)特的微型飛行器,其中有些微型飛行器已進(jìn)入實(shí)用化研究階段。如加利福尼亞大學(xué)研制的“會(huì)飛的機(jī)器蒼蠅?！? 2、國(guó)內(nèi)發(fā)展 國(guó)內(nèi)的仿生機(jī)械學(xué)研究起步相對(duì)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(jī)械仿生技術(shù)實(shí)驗(yàn)所在對(duì)松軟地面仿生移動(dòng)機(jī)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(yáng)自動(dòng)化研究、國(guó)防科技大學(xué)等單位相繼研制出了蛇形機(jī)器人樣機(jī)。中科院?沈陽(yáng)自動(dòng)化研究所和北京航空航天大學(xué)機(jī)器人研究所也曾研制出機(jī)器魚樣機(jī)。? 在靈巧手方面的研究國(guó)內(nèi)也取得了相當(dāng)可觀的成果。北京航空航天大學(xué)機(jī)器人研究所在國(guó)家國(guó)家“863”智能機(jī)器人主題支持下，研制出了能實(shí)現(xiàn)簡(jiǎn)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(jī)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(jī)器人。其仿人手臂具有工作空間大、關(guān)節(jié)無(wú)奇異姿態(tài)、結(jié)構(gòu)緊湊等特點(diǎn)，通過(guò)軟件控制可實(shí)現(xiàn)避障、回避關(guān)節(jié)極限和優(yōu)化動(dòng)力學(xué)性能等。雙足步行機(jī)器人為關(guān)節(jié)式結(jié)構(gòu)，具有12個(gè)自由度，可以完成仿人步行的動(dòng)作? 相比國(guó)外而言，國(guó)內(nèi)的仿生學(xué)機(jī)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(jī)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(chǎng)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(wú)法執(zhí)行的任務(wù)等優(yōu)點(diǎn)。仿生機(jī)械鳥在礦井救災(zāi)、搶險(xiǎn)、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(jìn)行搜救、探測(cè)與環(huán)境監(jiān)測(cè)，在日常生活中可提供空中拍攝和短距離小物品送達(dá)等。相比較現(xiàn)在的四軸飛行器如知名的大疆無(wú)人機(jī)，撲翼飛行鳥有更小的噪音，和更長(zhǎng)的續(xù)航里程。 課題類型：課題類型： A-理論探究型 B-實(shí)踐應(yīng)用型 本課題的研究?jī)?nèi)容 1、 研究?jī)?nèi)容 通過(guò)分析鳥類飛行原理，設(shè)計(jì)出一種模擬鳥類撲翼飛行姿態(tài)的機(jī)構(gòu)，依仿生鳥的受力情況，確定其的驅(qū)動(dòng)方式、關(guān)節(jié)傳動(dòng)方式。 利用 Pro/E 對(duì)機(jī)構(gòu)進(jìn)行三維建模、運(yùn)動(dòng)仿真分析，通過(guò)對(duì)樣機(jī)相關(guān)的試驗(yàn)，驗(yàn)證機(jī)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(xiàn)資料不少于10篇）； 2、 繪制工作原理圖（機(jī)械、電氣圖）； 3、 將機(jī)械圖繪制成三維裝配圖，并能夠?qū)崿F(xiàn)運(yùn)動(dòng)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(xiàn)一篇，不少于3000字（英譯漢）。 本課題研究的實(shí)施方案、進(jìn)度安排 2、 仿生機(jī)械鳥機(jī)構(gòu)設(shè)計(jì)方案 仿生機(jī)械鳥運(yùn)動(dòng)系統(tǒng)由翅膀撲翼飛行機(jī)構(gòu)、翅膀折疊機(jī)構(gòu)、頭部搖擺機(jī)構(gòu)、尾部變向機(jī)構(gòu)和腿部行走機(jī)構(gòu)等組成，如圖 1 所示。 圖1 仿生機(jī)械鳥設(shè)計(jì)方案 1. 頭部搖頭機(jī)構(gòu) 2. 翅膀撲翼機(jī)構(gòu) 3. 翅膀折疊機(jī)構(gòu) 4. 尾部變向機(jī)構(gòu) 5. 腿部行走機(jī)構(gòu) 頭部和尾部的搖擺采用并聯(lián)的曲柄搖桿機(jī)構(gòu)；驅(qū)動(dòng)頭部搖擺和尾部轉(zhuǎn)向的電動(dòng)機(jī)選用微型直流電機(jī)；翅膀折疊采用平行四邊形機(jī)構(gòu)，翅膀的上下?lián)鋭?dòng)使用曲柄搖桿機(jī)構(gòu)；驅(qū)動(dòng)翅膀上下?lián)鋭?dòng)和折疊的電動(dòng)機(jī)選用微型直流電機(jī)。 腳部直線行走選用單自由度六桿步行機(jī)構(gòu)，驅(qū)動(dòng)行走的電機(jī)選用微型直流電機(jī)。 整機(jī)總重量控制在 1 kg 以下。 3、進(jìn)度安排 1、1—3 周，主要進(jìn)行畢業(yè)設(shè)計(jì)準(zhǔn)備工作，熟悉題目，收集資料，進(jìn)行畢業(yè)實(shí)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(bào)告，翻譯相關(guān)英文文獻(xiàn)； 4、8—9周，設(shè)計(jì)計(jì)算，繪制工作原理圖（機(jī)械、電氣圖）； 5、10周，繪制成三維裝配圖，并能夠?qū)崿F(xiàn)運(yùn)動(dòng)仿真； 6、11—13周，編寫畢業(yè)設(shè)計(jì)論文，準(zhǔn)備畢業(yè)設(shè)計(jì)答辯 已查閱的主要參考文獻(xiàn) ［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(jī)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(jī)器人機(jī)械機(jī)構(gòu)設(shè)計(jì)［J］. 中國(guó)水運(yùn)（理論版）,2007,2(7):183-184. ［3］唐為民,劉正平,路英華.Pro/E 機(jī)構(gòu)仿真模塊行走機(jī)器人創(chuàng)新設(shè)計(jì)［J］.機(jī)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(dòng)式救援機(jī)器人的轉(zhuǎn)鉸空間軌跡跟蹤控制問(wèn)題研究［J］.制造業(yè)自動(dòng)化,2014,36(7):20-24. [5] 王為 汪建曉 主編，機(jī)械設(shè)計(jì).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(jī)器人機(jī)械機(jī)構(gòu)設(shè)計(jì)［J］. 中國(guó)水運(yùn)（理論版）,2007,2(7):183-184. [7] 唐為民,劉正平,路英華.Pro/E 機(jī)構(gòu)仿真模塊行走機(jī)器人創(chuàng)新設(shè)計(jì)［J］.機(jī)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(dòng)式救援機(jī)器人的轉(zhuǎn)鉸空間軌跡跟蹤控制問(wèn)題研究［J］.制造業(yè)自動(dòng)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(dòng)誤差波動(dòng)的漸開線直齒輪齒廓修形研究[J].天津大學(xué)學(xué)報(bào),2001,34(2):214- 215. [11] 王炎,馬吉?jiǎng)?劉海平.重載車輛變速箱齒輪齒廓修形技術(shù)研究[J].機(jī)械傳動(dòng),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(jī)械設(shè)計(jì),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(guó)機(jī)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(xiàn)翻譯 2 1.1 英文文獻(xiàn)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(dòng)的撲翼氣動(dòng)分析 29 2.3 多自由度撲翼微型飛行器設(shè)計(jì)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(jī)構(gòu)的設(shè)計(jì)及其動(dòng)態(tài)模擬和分析 31 2.6 微型撲翼飛行器的氣動(dòng)建模分析與試驗(yàn) 32 2.7 仿生微撲翼飛行器機(jī)構(gòu)動(dòng)態(tài)分析與工程設(shè)計(jì)方法 32 2.8 機(jī)翼彈性變形對(duì)氣動(dòng)特性影響的實(shí)驗(yàn)研究 33 2.9 鳥類撲翼運(yùn)動(dòng)的非定常運(yùn)動(dòng)初步數(shù)值模擬研究 33 2.10 一種仿蜜蜂類昆蟲撲翼懸停控制的仿真估算研究 34 29 1. 英文文獻(xiàn)翻譯 1.1 英文文獻(xiàn)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(jī)械故障的研究及常見故障的振動(dòng)診斷 旋轉(zhuǎn)機(jī)械是指那些主要功能是由旋轉(zhuǎn)運(yùn)動(dòng)來(lái)完成的機(jī)械設(shè)備，如汽輪機(jī)、燃?xì)廨啓C(jī)、發(fā)電機(jī)、電動(dòng)機(jī)、離心式鼓風(fēng)機(jī)、離心式壓縮機(jī)泵、真空泵以及各種減速增速的齒輪傳動(dòng)裝置等機(jī)械設(shè)備，都屬于旋轉(zhuǎn)機(jī)械范圍。旋轉(zhuǎn)機(jī)械是機(jī)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(jī)械設(shè)備之一，尤其是在電力、石化、冶金、機(jī)械、航空、核工業(yè)等行業(yè)，旋轉(zhuǎn)機(jī)械更是占有舉足輕重的重要地位。 2.1旋轉(zhuǎn)機(jī)械振動(dòng)的分類 振動(dòng)故障是旋轉(zhuǎn)機(jī)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(dòng)頻率分類 (1)