| 摘要 |
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. |
