Controlling torsional shaft oscillation
Torsional oscillation of a shaft in a swing drive system of an excavator is minimized by monitoring torsional strain of the shaft. An electric motor provides torque to the shaft in response to a drive signal provided by a converter. A compensation circuit produces a compensation signal as a function of torsional strain of the shaft. A field excitation circuit or regulator powers a converter as a function of the compensation signal such that a counter torque is provided to the shaft and torsional oscillation of the shaft is reduced.
1. A system for minimizing torsional oscillation of a shaft, said system comprising:
a converter for providing a drive signal in response to receiving power wherein the converter has a separately excited field and the drive signal is a function of the excitation of the separately excited field;
a motor for providing torque to the shaft in response to the drive signal provided by the converter;
a sensor for sensing a torsional strain of the shaft;
a regulator for producing a compensation signal as a function of the torsional strain of the shaft; and
an excitation circuit responsive to the sensor for regulating the separately excited field to vary the drive signal as a function of the compensation signal such that torsional strain of the shaft is attenuated.
2. The system of claim 1 wherein the converter is a generator having a forward field winding and a reverse field winding to form the separately excited field, and the excitation circuit is a field excitation circuit wherein the field excitation circuit provides power to the separately excited field of the generator.
3. The system of claim 2 wherein the forward and reverse windings sets are wired in parallel such that a gain of the field excitation circuit is increased.
4. The system of claim 1 further comprising a filter wherein the sensor provides a strain signal as a function of the torsional strain of the shaft and the filter filters the strain signal about a base frequency to provide a filtered strain signal; and
wherein the compensation signal comprises an inversion of the filtered strain signal.
5. The system of claim 4 wherein the base frequency is a natural frequency of torsional oscillation of the shaft.
6. The system of claim 1 wherein at least one of the following: (1) the shaft provides the received torque to a gear associated with the shaft and (2) the shaft is operatively connected to the motor via a gear set.
7. The system of claim 1 wherein the converter is an alternating current (AC) to direct current (DC) power converter having a shunt wound armature and the drive signal is a DC power signal.
8. The system of claim 1 wherein the converter is an alternating current (AC) power supply and the motor is an AC motor, and the drive signal is a voltage and frequency controlled AC power signal.
9. The system of claim 1 wherein the regulator limits the speed of the motor as a function of a voltage of the motor, wherein the system further comprises a second converter providing power to a second motor, and wherein the second converter limits the speed of the second motor as a function of the voltage of the motor.
10. The system of claim 1 wherein the regulator limits the speed of the motor as a function of a frequency and a voltage of the motor, and wherein the converter is a variable frequency alternating current drive.
11. A method of minimizing torsional oscillation of a shaft, said method comprising:
generating a drive signal in a converter in response to receiving power at the converter wherein the converter has a separately excited field and the drive signal is a function of the excitation of the separately excited field;
providing torque from a motor to the shaft in response to the drive signal driving the motor;
sensing a torsional strain of the shaft;
producing a compensation signal as a function of the sensed torsional strain; and
providing power to the separately excited field of the converter as a function of the compensation signal to vary the drive signal as a function of the compensation signal such that the torsional strain of the shaft is attenuated.
12. The method of claim 11 wherein the converter is a generator having a forward field winding and a reverse field winding to form the separately excited field, and providing power to the converter comprises providing power to the separately excited field of the generator.
13. The method of claim 12 wherein the forward and reverse windings sets are wired in parallel such that a gain of the excitation circuit is increased.
14. The method of claim 12 further comprising monitoring an applied torque of the motor and wherein said powering the field is a function of the compensation signal and the applied torque.
15. The method of claim 11 further comprising:
providing a strain signal as a function of the torsional strain; and
filtering the strain signal about a base frequency to provide a filtered strain signal; and
wherein the compensation signal comprises an inversion of the filtered strain signal.
16. The method of claim 15 wherein the base frequency is a natural frequency of torsional oscillation of the shaft.
17. The method of claim 11 wherein the shaft provides the received torque to a gear attached to the shaft and the shaft is operatively connected to the motor via a gear set.
18. The method of claim 11 wherein the converter is an alternating current (AC) to direct current (DC) power converter having a shunt wound armature and the drive signal is a DC power signal.
19. The method of claim 11 wherein the converter is an alternating current (AC) power supply and the motor is an AC motor, and the drive signal is a voltage and frequency controlled AC power signal.
20. A method of modifying an excavator swing drive system comprising:
connecting an armature of a converter of the swing drive system to exactly one drive motor;
connecting a forward field winding and a reverse field winding of the converter in parallel to form a single separately excited field;
monitoring a torsional strain of a shaft driven by the exactly one drive motor; and
regulating the separately excited field of the converter as a function of the monitored torsional strain such that torsional oscillation of the shaft is attenuated.
21. The method of claim 20 further comprising monitoring a current of the motor, monitoring a voltage of the motor and regulating the separately excited field as a function of the monitored current and the monitored voltage, wherein the monitored current is indicative of a torque of the motor, and the monitored voltage is indicative of a speed of the motor.
22. The method of claim 20 further comprising:
filtering the monitored torsional strain at a predetermined frequency; and
regulating the separately excited field of the converter as a function of the filtered torsional strain of the shaft.
23. The method of claim 22 wherein the predetermined frequency is a natural frequency of torsional oscillation of the shaft.
24. The method of claim 20 further comprising monitoring an applied torque of the motor and wherein said regulating the separately excited field of the converter is a function of the monitored applied torque.