CN100564932C - Rigidity-variable full-automatic power vibration-absorber - Google Patents
Rigidity-variable full-automatic power vibration-absorber Download PDFInfo
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- CN100564932C CN100564932C CNB2007100224958A CN200710022495A CN100564932C CN 100564932 C CN100564932 C CN 100564932C CN B2007100224958 A CNB2007100224958 A CN B2007100224958A CN 200710022495 A CN200710022495 A CN 200710022495A CN 100564932 C CN100564932 C CN 100564932C
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- bump leveller
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Abstract
The present invention relates to a kind of rigidity-variable full-automatic power vibration-absorber that is applied to machinery, electric equipment vibration damping and noise control.It is narrow to have solved passive control type bump leveller control bandwidth, the shortcoming of the too much and semi-actively controlled bump leveller shock attenuation result of the required control energy of ACTIVE CONTROL formula bump leveller deficiency.Structural feature is: power unit comprises pedestal, the pedestal end face is provided with pair of base, and pedestal is provided with the ring-type guide rod, and the opening end both sides of ring-type guide rod are connecting magnetic rheology elastic body respectively, the ring-type guide rod is connecting the kinoplaszm gauge block, and kinoplaszm gauge block bottom is provided with power mechanism.Shock attenuation result of the present invention is good, the vibration damping frequency bandwidth, and consumed energy is few, and intake lacks than the ACTIVE CONTROL bump leveller, and therefore stability is better than ACTIVE CONTROL bump leveller; It is simple in structure, and controlling method is easy, the system reliability height.
Description
Technical field
The present invention relates to a kind of device that is applied to machinery, electric equipment vibration damping and noise control.
Background technique
In machinery and electric equipment in the past, often occur because the vibration of equipment causes machinery and electric equipment premature damage or environment caused the situation of noise pollution.
As a kind of vibration damping means, existing bump leveller technology has developed into the damping technology that comprises ACTIVE CONTROL formula bump leveller, passive control type bump leveller and semi-actively controlled bump leveller.The passive control type bump leveller does not have regulating power fully, and certain narrow limitation is arranged, the vibration control of only suitable arrowband, and when excited frequency departed from the bump leveller natural frequency, the situation that reduces even worsen can appear in traditional passive type bump leveller effectiveness in vibration suppression.The effectiveness in vibration suppression of ACTIVE CONTROL is better than Passive Control, can carry out active adjustment, is fit to broadband control.But ACTIVE CONTROL belongs to power control, and the energy of control force need be provided, and cost is higher, complicated technology realization.During by traditional ACTIVE CONTROL vibration damping, energizing frequency is far away more from the bump leveller natural frequency, and the active force that needs is just big more, and the required energy that provides is also just big more.Semi-actively controlled bump leveller belongs to parameter control, and it depends on the transmission characteristics of structure and the information of dynamic load, and the parameter of real time altering structure reduces structural vibrations.Change semi-actively controlled bump leveller natural frequency and be a kind of common method in half ACTIVE CONTROL, even but the natural frequency accurate tracking of semi-actively controlled bump leveller excited frequency, promptly keep semi-actively controlled bump leveller natural frequency identical with excited frequency, effectiveness in vibration suppression also can reduce along with the increase of the natural frequency of vibration damping object and excited frequency bias, is difficult for being implemented in the effectiveness in vibration suppression that all reaches good in the wideband section.
The shock-absorbing means of mentioning in the patent of invention of application number 96107066.8 adopts the principle design of passive control type bump leveller.Because the vibration damping bandwidth is narrower, have only to adopt to increase damping or vibration damper weight quality and adopt the mode of a plurality of vibration damping weights to solve, be that effectiveness in vibration suppression reduces but increase damping; Increase vibration damper weight quality and adopt the mode of a plurality of vibration damping weights to make the structure heaviness.Simultaneously, such mode is very limited to the increase of vibration damping bandwidth, generally only several hertz.A kind of active magnetorheological also damped type bump leveller and installation method have been mentioned in the patent of invention of application number 02131043.2, can use linear electric motor, metal spring and magnetic rheological liquid damper initiatively to change the purpose that parameters such as system's control force and damping reach " optimal tuning ", but this controlling method complexity, because need to promote linear motor, can consume more energy, and according to the bump leveller principle, it is not too remarkable to the properties influence of bump leveller to change these parameters.Application number is that to have mentioned a kind of combined damping device that has ACTIVE CONTROL formula bump leveller be to adopt the power that has increased ACTIVE CONTROL on passive bump leveller for 94246820.1 utility model patent, but because the natural frequency of bump leveller is immutable, when energizing frequency departs from the bump leveller natural frequency when far away more, the active force that needs is just big more, energy needed is also just big more, and while stability is the phase strain differential also.In addition, the magnetic flowing deformation elastomer frequency shift type attenuator of mentioning in the utility model patent of application number 200520076452.4 is the principle design that adopts half ACTIVE CONTROL, because it is far away that excited frequency departs from the natural frequency of vibration damping object probably, so its shock attenuation result is limited.
Summary of the invention
Narrow in order to solve passive control type bump leveller control bandwidth, the shortcoming of the too much and semi-actively controlled bump leveller shock attenuation result of the required control energy of ACTIVE CONTROL formula bump leveller deficiency, the present invention has designed the full rigidity dynamic vibration absorber that initiatively becomes of a kind of combination half ACTIVE CONTROL and active control technology advantage, has reached the purpose that obtains best shock attenuation result in very wide frequency range with less energy.
Structural design scheme is as follows particularly:
Rigidity-variable full-automatic power vibration-absorber, comprise power unit, controlling component and sensor, described power unit comprises pedestal 2, pedestal 2 end faces are provided with pair of base 6, be provided with the ring-type guide rod 4 of a side opening on the pedestal 6 by bearing 24, the opening end of ring-type guide rod 4 is positioned at pedestal 6, opening end is a T word shape, connect by coupling 26 between the opening end, T word shape opening end both sides are connecting magnetic rheology elastic body 5 respectively, and magnetic rheology elastic body 5 outsides are connecting outer ring magnetic guiding loop 25, and outer ring magnetic guiding loop 25 is positioned on the pedestal, ring-type guide rod 4 is connecting the kinoplaszm gauge block, and kinoplaszm gauge block bottom is provided with power mechanism;
Described kinoplaszm gauge block comprises ring-type guide rod 4 and the winding field coil 21 on ring-type guide rod 4;
Described power mechanism is connecting the parts 17 that link to each other with the kinoplaszm gauge block that are used to provide active force, and corresponding pedestal is connecting the parts 18 that link to each other with the vibration damping object that are used to provide active force.
Described coupling material is a NULL.
Described kinoplaszm gauge block bottom connects is used to the parts that link to each other with the kinoplaszm gauge block 17 of active force are provided is a lateral capacitance pole plate, and corresponding pedestal is connecting and is being used to the parts that link to each other with the vibration damping object 18 of active force are provided is the opposite side capacitor plate.
Described kinoplaszm gauge block bottom connects is used to provide the parts that link to each other with the kinoplaszm gauge block 17 of active force to be hot-wire coil, and corresponding pedestal is connecting and is being used to the parts that link to each other with the vibration damping object 18 of active force are provided is the vibration damping hot-wire coil.
Wherein ring-type guide rod 4, magnetic rheology elastic body 5 and outer ring magnetic guiding loop 25 are formed the magnetic conductive loop of a closure, and magnetic rheology elastic body 5 is connecting ring-type guide rod 4 and outer ring magnetic guiding loop 25, and magnetic direction along the ring-type magnetic rheology elastic body radially.
The above-mentioned alternative structure one that the active force link is provided is characterized in that what it was made up of the hot-wire coil on being installed between bump leveller kinoplaszm gauge block and vibration damping object.The interaction in the magnetic field that produces by hot-wire coil just can realize providing active force.
This patent uses and becomes elastic element and the damping member of rigidity link as bump leveller, and the controlling method of employing shift frequency, by becoming the rigidity controlling unit, under the situation that does not change structure and size, regulate the natural frequency of bump leveller, the natural frequency of bump leveller is equated with energizing frequency all the time, one group of internal force is provided between bump leveller kinoplaszm gauge block and vibration damping object simultaneously, make it opposite with vibration damping object vibration acceleration direction all the time by active force controlling unit control active force, size equals the inertial force of vibration damping object.The final goal of control is that the natural frequency of bump leveller is equated with the frequency that acts on the excitation on the vibration damping object all the time, inertial force when making the size that acts on the active force on the vibration damping object equal the vibration of vibration damping object simultaneously, direction is opposite with vibration damping object acceleration direction.If comprise the principal vibration frequency of a plurality of needs controls on the vibration damping object, can adopt the combination of a plurality of bump levellers, control the vibration of each frequency range respectively.
Compare with traditional bump leveller, the present invention has following remarkable advantage:
1, shock attenuation result is good, under the basicly stable situation of the vibration frequency of vibration damping object, can reduce the vibration of vibration damping object effectively.
2, vibration damping frequency bandwidth, by regulating the natural frequency and the active force of control action on the vibration damping object of bump leveller, the vibration frequency that can follow the tracks of the vibration damping object in the scope of broad reaches significant effectiveness in vibration suppression all the time.
3, because the bump leveller adjustable natural, active force is provided again simultaneously, even the feasible energizing frequency that acts on the vibration damping object has departed from the natural frequency of vibration damping object, bump leveller also can provide under the situation of less active force, reach shock attenuation result preferably, having guaranteed has the better damping effect in wider frequency.
4, consumed energy is few, as long as provide the fundamental voltage of change bump leveller natural frequency and less active force just can reach the better damping effect.
5, intake lacks than the ACTIVE CONTROL bump leveller, and is therefore stable fixed better than ACTIVE CONTROL bump leveller.
6, the bump leveller associated mass is little, and absorbing efficient height can have higher shock attenuation result in wideer absorbing bandwidth under the less mass ratio ratio of vibration damping object (quality of bump leveller with).
7, the present invention is simple in structure, and controlling method is easy, so the system reliability height.
8, realize modularization easily, be easy to require to be used in combination a plurality of bump levellers according to the vibration damping of different frequency range.
Description of drawings
Fig. 1 is for initiatively becoming rigidity dynamic vibration absorber principle schematic entirely.
Fig. 2 initiatively becomes rigidity dynamic vibration absorber structural representation entirely for the electric field force driving rotating.
Fig. 3 initiatively becomes rigidity dynamic vibration absorber structural representation entirely for the magnetic field force driving rotating.
Fig. 4 becomes the rigidity section structure diagram for rotary type initiatively becomes the rigidity dynamic vibration absorber entirely
Wherein: vibration damping object 1; Pedestal 2; Kinoplaszm gauge block 3; Guide rod 4; Magnetic rheology elastic body 5; Pedestal 6; Be used to provide the capacitor plate 7 that links to each other with the kinoplaszm amount of active force; Be used to provide the capacitor plate 8 that links to each other with the vibration damping object of active force; Basis 9; Charge amplifier 10; Controlling component 11; Power amplifier 12; Data acquisition and processing (DAP) system 13; Sensor 14; Rotary type initiatively becomes the rigidity dynamic vibration absorber entirely and becomes rigidity section 15; Power unit 16; Be used to provide the parts 17 that link to each other with the kinoplaszm amount of active force; Be used to provide the parts 18 that link to each other with the vibration damping object of active force; Be used to provide the hot-wire coil 19 that links to each other with the kinoplaszm amount of active force; Be used to provide the hot-wire coil 20 that links to each other with the vibration damping object of active force; Field coil 21; Magnetic conductive rod 22; Concentrating flux plate 23; Bearing 24; Outer ring magnetic guiding loop 25; Shaft joint 26.
M1, k1, c1 are equivalent mass, equivalent stiffness and the equivalent dampings of vibration damping object; Acted on the m1 plsinwt and-these two exciting forces of p2sinwt, wherein plsinwt is load excitation ,-p2sinwt is the active controlling force that applies; X1 has represented the displacement of vibration damping object; M2, k2, c2 are equivalent mass, equivalent stiffness and the equivalent dampings of bump leveller, and wherein back both have represented the characteristic of magnetic rheology elastic body; Acted on p2sinwt on the m2, it is the active controlling force that applies; X2 has represented the displacement of bump leveller kinoplaszm gauge block.
The direction of arrow among Fig. 2, Fig. 3 and Fig. 4 is the direction in the magnetic field in magnetic rheology elastic body of field coil generation.
Embodiment
Embodiment 1:
Rigidity-variable full-automatic power vibration-absorber comprises power unit 16, controlling component 11 and sensor 14, and bump leveller controlling component 11 comprises charge amplifier 10, power amplifier 12 and data acquisition and processing (DAP) system 13, sees Fig. 1.
As Fig. 2, electric field force driving rotating shown in Figure 4 initiatively becomes the power unit of rigidity dynamic vibration absorber entirely, is by vibration damping object 1; Pedestal 2; Kinoplaszm gauge block 3; Annular guide rod 4; Magnetic rheology elastic body 5; Pedestal 6; Be used to provide the capacitor plate 8 that links to each other with the kinoplaszm amount of active force; Be used to provide the capacitor plate 7 that links to each other with the vibration damping object of active force; Field coil 21; Bearing 24; Outer ring magnetic guiding loop 25; Shaft joint 26 is formed.The lower end of pedestal 2 is fixed on the vibration damping object 1 with screw thread, link together with the upper end and the pedestal 6 of bolt pedestal 2, annular guide rod 4 links to each other with pedestal 6 by bearing 24 annular guide rod 4 can only be swayed, outer ring magnetic guiding loop 25 by be threaded and pedestal 6 be fixed together, magnetic rheology elastic body 5 is connecting outer ring magnetic guiding loop 25 and annular guide rod 4 has been formed magnetic conductive loop, the two ends of annular guide rod 4 are linked together by shaft joint 26, connect with bolt between annular guide rod 4 and the shaft joint 26, the material of shaft joint 26 is that NULL makes most magnetic field flow through magnetic rheology elastic body 5, field coil 21 is enclosed within on the annular guide rod 4, be used to provide the capacitor plate 8 that links to each other with the kinoplaszm gauge block of active force to be screwed, under it, will be used to provide the capacitor plate 7 that links to each other with the vibration damping object of active force to be fixed on vibration damping object 1 with screw in the lower end of kinoplaszm gauge block.
The design principle of said structure is as follows: the main frequency range of test vibration damping object vibration, the natural frequency that initiatively becomes the rigidity dynamic vibration absorber according to no magnetic field is down entirely selected parameter than the vibration damping frequency that needs low 20% to 50%.The natural frequency that the electric field force driving rotating entirely initiatively becomes the rigidity dynamic vibration absorber into
M=mR
2The K broad sense rigidity that is magnetic rheology elastic body under field-free wherein, M is the generalized mass of the kinoplaszm gauge block of bump leveller, G is field-free magnetorheological flexible shear modulus down, b is the width of magnetic rheology elastic body, r is the radius of outer ring magnetic guiding loop inwall, m is the size of bump leveller kinoplaszm amount, R is the equivalent turning radius, m generally selects 5% to 40% of vibration damping object quality, just can regulate the natural frequency of bump leveller power unit under no magnetic field by the size that changes magnetic rheology elastic body, make no magnetic field initiatively become the natural frequency of rigidity dynamic vibration absorber down entirely than the vibration damping frequency that needs low 20% to 50%.
The rigidity-variable full-automatic power vibration-absorber working procedure is as follows: be installed in sensor 14 on the bump leveller kinoplaszm gauge block 3 and the sensor 14 that is installed on the vibration damping object 1 signal is transferred to controlling component through charge amplifier 10, controlling component obtains the frequency of external load through signal processing, controlling component output control signal is given power amplifier 12, and the field current of setting suitable size by power amplifier 12 makes the natural frequency of bump leveller equate with the energizing frequency of external load.The sensor 14 that is installed on the vibration damping object 1 is transferred to controlling component with signal, controlling component obtains the acceleration of vibration damping object through data processing, acceleration output control signal according to vibration damping object 1 is given power amplifier 12, power amplifier 12 drives and is used to provide the parts 8 that link to each other with the kinoplaszm amount of active force to provide the parts 7 that link to each other with the vibration damping object of active force to interact with being used to, realize applying an active force on the vibration damping object 1, its size equals the size of the inertial force of vibration damping object, and direction is opposite with vibration damping object acceleration direction.
Above-mentioned magnetic rheology elastic body is as a kind of method that realizes becoming rigidity, it is a kind of novel intellectual material, generally be to obtain after elastomer (high molecular polymer such as rubber etc.) also solidifies by can embedding of micron-scale at the solid particle of magnetized soft iron magnetic under the magnetic field, it has many particular performances under the action of a magnetic field, can be controlled by magnetic field as the rigidity (comprising shear modulus and Young's modulus) and the damping of material.Because its particle is fixed in the matrix, the problem that does not have particles settling and reunion, thereby compare with common magnetic flow liquid, magnetic rheology elastic body not only has characteristics such as controllability, reversibility, response be rapid, and good stability, characteristics such as structural design is simple, preparation cost is low.The magnetic current elastomer can be bought from U.S. lord company.
Embodiment 2:
Magnetic field force driving rotating as shown in Figure 3, Figure 4 initiatively becomes the power unit of rigidity dynamic vibration absorber entirely, is by vibration damping object 1; Pedestal 2; Kinoplaszm gauge block 3; Annular guide rod 4; Magnetic rheology elastic body 5; Pedestal 6; Be used to provide the hot-wire coil 20 that links to each other with the kinoplaszm gauge block of active force; Be used to provide the hot-wire coil 19 that links to each other with the vibration damping object of active force; Field coil 21; Bearing 24; Outer ring magnetic guiding loop 25; Shaft joint 26 is formed.The lower end of pedestal 2 is fixed on the vibration damping object 1 with screw thread, link together with the upper end and the pedestal 6 of bolt pedestal 2, annular guide rod 4 links to each other with pedestal 6 by bearing 24 annular guide rod 4 can only be swayed, outer ring magnetic guiding loop 25 by be threaded and pedestal 6 be fixed together, magnetic rheology elastic body 5 is connecting outer ring magnetic guiding loop 25 and annular guide rod 4 has been formed magnetic conductive loop, the two ends of annular guide rod 4 are linked together by shaft joint 26, connect with bolt between annular guide rod 4 and the shaft joint 26, the material of shaft joint 26 is that NULL makes most magnetic field flow through magnetic rheology elastic body, field coil 21 is enclosed within on the annular guide rod 4, be used to provide the hot-wire coil 20 that links to each other with the kinoplaszm gauge block of active force to be screwed, under it, will be used to provide the hot-wire coil 19 that links to each other with the vibration damping object of active force to be fixed on vibration damping object 1 with screw in the lower end of kinoplaszm gauge block 15.Its working principle, working procedure and control mode are substantially the same manner as Example 1, and difference is to use the magnetic force of hot-wire coil as active force.
Claims (4)
1, rigidity-variable full-automatic power vibration-absorber, comprise power unit, controlling component and sensor, controlling component comprises charge amplifier (10), power amplifier (12) and data acquisition and processing (DAP) system (13), it is characterized in that: described power unit comprises pedestal (2), pedestal (2) end face is provided with pair of base (6), pedestal (6) is gone up the ring-type guide rod (4) that is provided with a side opening by bearing (24), the opening end of ring-type guide rod (4) is positioned at pedestal (6), opening end is a T word shape, connect by coupling (26) between the opening end, T word shape opening end both sides are connecting magnetic rheology elastic body (5) respectively, magnetic rheology elastic body (5) outside is connecting outer ring magnetic guiding loop (25), outer ring magnetic guiding loop (25) is positioned on the pedestal, and ring-type guide rod (4) is connecting the kinoplaszm gauge block, and kinoplaszm gauge block bottom is provided with power mechanism;
Described power mechanism is connecting the parts (17) that link to each other with the kinoplaszm gauge block that are used to provide active force, and corresponding pedestal is connecting the parts (18) that link to each other with the vibration damping object that are used to provide active force;
Be respectively equipped with sensor (14) on kinoplaszm gauge block and the vibration damping object, sensor (14) is connecting charge amplifier (10) by lead, and data acquisition and processing (DAP) system (13) is connecting charge amplifier (10) and power amplifier (12) respectively by lead;
The sensor (14) that is installed in the sensor (14) on the kinoplaszm gauge block (3) and is installed on the vibration damping object (1) is transferred to data acquisition and processing (DAP) system (13) with signal through charge amplifier (10), data acquisition and processing (DAP) system (13) obtains the frequency of external load through signal processing, data acquisition and processing (DAP) system (13) output control signal is given power amplifier (12), and the field current of setting suitable size by power amplifier (12) makes the natural frequency of bump leveller equate with the frequency of external load.
2, rigidity-variable full-automatic power vibration-absorber according to claim 1 is characterized in that: described coupling material is a NULL.
3, rigidity-variable full-automatic power vibration-absorber according to claim 1, it is characterized in that: described kinoplaszm gauge block bottom connects is used to the parts (17) that link to each other with the kinoplaszm gauge block of active force are provided is a lateral capacitance pole plate, and corresponding pedestal is connecting and is being used to the parts (18) that link to each other with the vibration damping object of active force are provided is the opposite side capacitor plate.
4, rigidity-variable full-automatic power vibration-absorber according to claim 1, it is characterized in that: described kinoplaszm gauge block bottom connects is used to the parts (17) that link to each other with the kinoplaszm gauge block of active force are provided is hot-wire coil, and corresponding pedestal is connecting and is being used to the parts (18) that link to each other with the vibration damping object of active force are provided is the vibration damping hot-wire coil.
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| CNB2007100224958A CN100564932C (en) | 2007-05-17 | 2007-05-17 | Rigidity-variable full-automatic power vibration-absorber |
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| CNB2007100224958A CN100564932C (en) | 2007-05-17 | 2007-05-17 | Rigidity-variable full-automatic power vibration-absorber |
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| CN100564932C true CN100564932C (en) | 2009-12-02 |
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| CN102619923A (en) * | 2012-03-29 | 2012-08-01 | 谭晓婧 | Vibration damping device for magnetorheological elastomeric bearing |
| CN103062375A (en) * | 2013-01-21 | 2013-04-24 | 北京理工大学 | Active control device for torsional vibration of gear pair |
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| CN104141723B (en) * | 2014-06-27 | 2016-03-23 | 长安大学 | The compound dynamic vibration absorber that a kind of natural frequency is adjustable and controlling method thereof |
| CN104500644B (en) * | 2014-12-09 | 2016-06-22 | 中国电子科技集团公司第三十八研究所 | A kind of multi-functional pendulum-type bump leveller |
| CN105526294B (en) * | 2016-01-20 | 2018-05-29 | 上海交通大学 | Motion Particles absorbing unit and combination unit and method based on magnetic pumping |
| JP6294364B2 (en) * | 2016-01-29 | 2018-03-14 | 本田技研工業株式会社 | Eigenvalue variable dynamic vibration absorber and eigenvalue variable vibration isolator |
| CN107690376B (en) * | 2016-12-26 | 2021-05-07 | 深圳配天智能技术研究院有限公司 | Vibration adjusting method, system and device and industrial robot |
| CN108843719B (en) * | 2018-08-26 | 2020-01-03 | 华东交通大学 | Frequency-adjustable damping intelligent control dynamic vibration absorber |
| CN112576668B (en) * | 2020-12-03 | 2022-10-14 | 上汽大众汽车有限公司 | Dynamic vibration absorber of transmission shaft |
| CN113048183B (en) * | 2021-05-10 | 2022-03-08 | 西南交通大学 | Variable-frequency vibration self-learning quick tuning vibration absorption system |
| CN113432825B (en) * | 2021-07-29 | 2023-11-10 | 重庆大学 | Wind tunnel aircraft tail boom model semi-active vibration damper based on magnetorheological elastomer |
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| CN1275448A (en) * | 1999-05-26 | 2000-12-06 | 神钢电机株式会社 | Vibration-damper for steel sheet |
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| CN2842078Y (en) * | 2005-10-15 | 2006-11-29 | 中国科学技术大学 | Magnetic rheological elastomer frequency shift attenuator |
| CN201129395Y (en) * | 2007-05-17 | 2008-10-08 | 中国科学技术大学 | Changeable rigidity full active dynamic vibration absorber |
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| CN1275448A (en) * | 1999-05-26 | 2000-12-06 | 神钢电机株式会社 | Vibration-damper for steel sheet |
| JP2002115742A (en) * | 2000-10-05 | 2002-04-19 | Toshiba Corp | Variable spring type damper |
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