Vibration Transportation by the Coordination of Self Excited Vibratory Machine with Decentralized Control

本文研究的是由一台大型机械和若干台小型振动机械组成的分散运输系统，而非大型振动机械。这种分散运输系统的优点是机器体积紧凑，机器运行节能，工厂设计无需布置。振动机械的振动和大型工件的运动通过法向力和摩擦力耦合。耦合振动是非线性的，在小激励电压下的共振曲线在低频区有峰值，在大激励电压下的共振曲线在高频区有峰值。运输速度特性也呈现出同样的趋势。基于位移反馈控制的自激振动振动驱动系统能自动跟踪共振频率的变化，提高了振动机械的振动效率和振动传输效率。速度反馈控制在较低频段产生自激振动，实现较大工作质量的振动传递。自激振动的幅值恒定控制拉高了振幅和输送速度的上限。采用变速反馈增益的幅值控制能快速启动自激振动，并能快速抑制振动。由可变反馈增益控制的振动是在一个临界范围内，因此不会含有任何高次谐波分量，从而产生一定的噪声。详细的数学模型包括工作装置和振动机械的运动方程、两体之间的摩擦特性、电磁铁的电动力学、功率放大器特性、速度反馈控制器特性和恒幅控制器特性。使用详细的数学模型进行的模拟准确地预测了实际的机器行为。

This research deals with decentralized transportation system which consists of a large work and some small vibratory machine instead of a large vibratory machine. The merits of this decentralized transportation system are compact in machine size, saving energy in machine operation and layout free in plant design. Vibration of the vibratory machine and movement of the large work are coupled through normal force and friction force. The coupled vibration is nonlinear, and a resonance curve in small excited voltage has a peak in low frequency region and a resonance curve in large excited voltage has a peak in high frequency region. Transportation velocity property shows the same tendency. Driving system of the vibratory machine using self-excited vibration, which is derived from displacement feedback control, follows the resonance frequency change automatically, and the driving system improves vibratory machine eciency and vibration transportation eciency. Velocity feedback control products self-excited vibration in lower frequency region, and realizes vibration transportation of larger work mass. Amplitude constant control of self-excited vibration pulls up the upper limits of vibration amplitude and transportantion velocity. Amplitude control using variable velocity feedback gain starts up self-excited vibration quickly and also suppresses vibration quickly. The vibration which is controlled by variable feedback gain is in a critical limit and therefore, it will not contain any higher-harmonic components, which make some noise. The detail mathematical model consists of equations of motion for the work and the vibratory machine, frictional property between the two bodies, electric dynamics of an electromagnet, power amplier property, velocity feedback controller property and amplitude constant controller property. The simulation using the detail mathematical model predicts actual machine behavior precisely.