CN101504051B - Semi-active vibration-isolating platform employing magnetorheological damping technology - Google Patents

Semi-active vibration-isolating platform employing magnetorheological damping technology Download PDF

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Publication number
CN101504051B
CN101504051B CN2009100715342A CN200910071534A CN101504051B CN 101504051 B CN101504051 B CN 101504051B CN 2009100715342 A CN2009100715342 A CN 2009100715342A CN 200910071534 A CN200910071534 A CN 200910071534A CN 101504051 B CN101504051 B CN 101504051B
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China
Prior art keywords
semi
yielding support
support bar
platform
vibration isolation
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Expired - Fee Related
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CN2009100715342A
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CN101504051A (en
Inventor
陈照波
涂奉臣
方勃
徐毅坚
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Harbin Institute of Technology
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Harbin Institute of Technology
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Abstract

The invention discloses a semi-active vibration isolation platform adopting magneto-rheological damping technology, relates to a semi-active vibration isolation platform, and aims to solve the problems that the prior active-passive integrative complete vibration isolator has insufficient reliability and has large mass increment. At least three elastic supporting rods are arranged between an upper platform and a lower platform, an upper end head and a lower end head of each elastic supporting rod are fixedly connected with a lower end face of the upper platform and an upper end face of the lower platform respectively, and the middle part of each elastic supporting rod is bent into a circular arc shape protruding outwards; each magneto-rheological damper is arranged in the circular arc formed in the middle part of the corresponding elastic supporting rod, and an upper end head and a lower end head of the magneto-rheological damper are hinged with the elastic supporting rods through hinges; and a first web plate is arranged on the inner wall of the upper platform, a second web plate is arranged on the inner wall of the lower platform, an upper sleeve is sleeved with a lower sleeve, an upper end face of the upper sleeve is fixedly connected with the first web plate, and the lower end of the lower sleeve is fixedly connected with the second web plate. The semi-active vibration isolation platform reduces the quality of the vibration isolation platform, and improves the reliability.

Description

Adopt the semi-active vibration-isolating platform of magnetorheological damping technology
Technical field
The present invention relates to a kind of semi-active vibration-isolating platform.
Background technique
Rugged environment surely belongs to vibration environment in the emission process the most in the Life cycle of satellite, be subjected to multiple loading therebetween, the main cause that abominable vibration environment causes satellite to damage often, the vibration environment of improving in the satellites transmits process is the important measures that improve the satellites transmits safety reliability.Traditional vehicle and the linkage interface between the satellite are satellite and the rocket connection adaptor, this ABAP Adapter adopts the conical shell structure usually, its damping is low, rigidity is big, and this makes it almost can transmit all static state that comes from vehicle and dynamic loads, and the Performance And Reliability of satellite is descended.By in satellite and the rocket connection adaptor structure, merging vibration isolation and damping vibration attenuation function, can reduce the oscillating load that acts on satellite effectively, realize the whole star vibration damping and the vibration isolation of satellite.Whole star vibration isolation is to adopt vibration isolator to substitute traditional satellite and the rocket connection adaptor, thereby acts on the oscillating load of satellite during the reduction rocket launching.The research of whole star vibration isolation technique starts from the twentieth century initial stage nineties, and up to the present, passive whole star vibration isolation technique has been obtained certain achievement.Passive vibration isolation is fine to the high-frequency vibration isolation effect, and for low-frequency resonance response control ability deficiency.Active vibration isolation and semi-active vibration-isolating are remarkable to the low-frequency resonance effect that suppresses satellite, but active vibration isolation and semi-active vibration-isolating make that its reliability reduces, quality increases more because additional element is more.In a word, present whole star vibration isolation technique also is in developing stage, and active-passive integratedization vibration isolation technique comes into one's own gradually.But the shortcoming that the whole star vibration isolator ubiquity reliability of existing active-passive integratedization is not enough and the quality weightening finish is big.
Summary of the invention
The objective of the invention is to have the problem that reliability is not enough and the quality weightening finish is big, and then a kind of semi-active vibration-isolating platform that adopts magnetorheological damping technology is provided in order to solve the whole star vibration isolator of existing active-passive integratedization.
Technological scheme of the present invention is: the semi-active vibration-isolating platform that adopts magnetorheological damping technology is by passive vibration isolation device, semi-automatic control device and anti-roll device are formed, described passive vibration isolation device comprises upper mounting plate, lower bolster and at least three yielding support bars, described upper mounting plate and lower bolster are ring, at least three yielding support bars are installed between described upper mounting plate and the lower bolster, the upper tip of every yielding support bar and lower end are affixed with the upper-end surface of the lower end surface of upper mounting plate and lower bolster respectively, and the middle part of described every yielding support bar is bent into the circular arc to outer lug; Described semi-automatic control device is made up of a plurality of MR damper and a plurality of hinge, the quantity of MR damper is consistent with the quantity of yielding support bar, each MR damper is installed in the circular arc that corresponding yielding support bar middle part forms, and the upper tip of each MR damper and lower end are all hinged by hinge and yielding support bar; Described anti-roll device is made up of first disc, second disc, upper bush and lower sleeve, described first disc is installed on the inwall of upper mounting plate, second disc is installed on the inwall of lower bolster, upper bush and lower sleeve be suit mutually, and upper bush and lower sleeve Spielpassung, the upper-end surface of described upper bush and first disc are affixed, and the lower end of described lower sleeve and second disc are affixed.
The present invention compared with prior art has following beneficial effect: the present invention is in order to reduce the axial rigidity of vibration-isolating platform, middle part at every yielding support bar is bent into circular arc, because the yielding support bar adopts continuous material to bend and forms, the function that itself has spring, do not need to add separately again spring, so its internal stress changes continuously, not sudden change, reliability is higher; In addition, because axial, the horizontal and torsional displacement amount that satellite allows is all very little, so adopt affixed form between yielding support bar of the present invention and upper mounting plate and the lower bolster, this affixed form is not only made simply with respect to the paralleling mechanism that has Hooke hinge and ball pivot, and can reduce number of connecting pieces such as hinge, reduced the vibration-isolating platform quality, improved reliability, the gap error when this affixed form has also reduced to adopt hinge to connect has improved the vibration control precision; MR damper of the present invention is that the form with damping force provides control force, it can only provide the power opposite with structure motion, it promptly is the control force that stops structure motion, just because of the control of this reason MR damper has good stability, the Placement of MR damper and platform is more succinct, only is hinged on the yielding support bar, and add ons still less, reduce the vibration-isolating platform quality, improved reliability; Anti-roll device of the present invention has prevented the lateral wobble of vibration-isolating platform, has improved reliability of the present invention.
Description of drawings
The overall structure axonometric drawing of Fig. 1 passive vibration isolation device of the present invention, Fig. 2 is an overall structure axonometric drawing of the present invention, Fig. 3 is that the overall structure master of anti-roll device looks sectional view, Fig. 4 is the cross sectional representation after the visco-elastic damping material layer sticks on the outer surface of yielding support bar, Fig. 5 adopts the present invention and the random response curve contrast figure that does not adopt key point on the satellite of the present invention (wherein: dotted line--the random response curve of key point on the satellite of the present invention is not used in-expression, and solid line---this uses the random response curve of key point on the satellite of the present invention).
Embodiment
Embodiment one: (referring to the semi-active vibration-isolating platform of the present embodiment of Fig. 1~Fig. 3) by passive vibration isolation device, semi-automatic control device and anti-roll device 3 are formed, described passive vibration isolation device comprises upper mounting plate 1, lower bolster 6 and at least three yielding support bars 4, described upper mounting plate 1 and lower bolster 6 are ring, at least three yielding support bars 4 are installed between described upper mounting plate 1 and the lower bolster 6, the upper tip of every yielding support bar 4 and lower end are affixed with the upper-end surface of the lower end surface of upper mounting plate 1 and lower bolster 6 respectively, and the middle part of described every yielding support bar 4 is bent into the circular arc to outer lug; Described semi-automatic control device is made up of a plurality of MR damper 8 and a plurality of hinge 7, the quantity of MR damper 8 is consistent with the quantity of yielding support bar 4, each MR damper 8 is installed in the circular arc that corresponding yielding support bar 4 middle parts form, and the upper tip of each MR damper 8 and lower end are all hinged by hinge 7 and yielding support bar 4; Described anti-roll device 3 is made up of first disc 2, second disc 5, upper bush 10 and lower sleeve 11, described first disc 2 is installed on the inwall of upper mounting plate 1, second disc 5 is installed on the inwall of lower bolster 6, upper bush 10 and lower sleeve 11 be suit mutually, and upper bush 10 and lower sleeve 11 Spielpassung, the upper-end surface of described upper bush 10 and first disc 2 are affixed, and the lower end of described lower sleeve 11 and second disc 5 are affixed.
Embodiment two: yielding support bar 4 quantity of (referring to Fig. 1) present embodiment are three~six roots of sensation.So be provided with, reliability is higher.Other composition is identical with embodiment one with annexation.
Embodiment three: the yielding support bar 4 of (referring to Fig. 1) present embodiment strengthens aluminium composite material by carbon fiber and makes.The tensile strength that carbon fiber strengthens aluminium composite material reaches 665MPa, and density is 2400kg/m 3, Young's modulus reaches 210GPa.So be provided with, better met space structure intensity height, light weight and the low requirement of cost.Other composition is identical with embodiment one or two with annexation.
Embodiment four: the passive vibration isolation device of (referring to Fig. 4) present embodiment also increases a plurality of visco-elastic damping material layers 9, and each visco-elastic damping material layer 9 sticks on the outer surface of corresponding yielding support bar 4.So be provided with, further improved the high and low frequency vibration isolation ability of passive vibration isolation device.Other composition is identical with embodiment three with annexation.
Working procedure: be placed on the upper mounting plate 1 by the vibration isolation satellite, lower bolster 6 links to each other with rocket.During satellites transmits, the oscillating load of rocket acts on the lower bolster 6, is passed to satellite via whole vibration-isolating platform, makes satellite produce the vibration of all directions.According to theory of vibration isolation, the elastic characteristic of vibration-isolating platform yielding support bar 4 can be isolated dither load.In the low-frequency vibration zone, the vibratory response of satellite is bigger, and the size that controller responds according to the satellite that measures determines to be input to the electric current of MR damper 8, makes MR damper 8 produce required damping force, suppresses the response of satellite.The outer surface of yielding support bar 4 is pasted visco-elastic damping material layer 9, then can further improve high and low frequency vibration isolation ability.In the frequency band of 0~200Hz, adopt that the random response curve of satellite shangguan key point is starkly lower than the random response curve (referring to Fig. 5) that does not use key point on the satellite of the present invention behind the vibration-isolating platform of the present invention.

Claims (4)

1. semi-active vibration-isolating platform that adopts magnetorheological damping technology, it is by passive vibration isolation device, semi-automatic control device and anti-roll device (3) are formed, it is characterized in that: described passive vibration isolation device comprises upper mounting plate (1), lower bolster (6) and at least three yielding support bars (4), described upper mounting plate (1) and lower bolster (6) are ring, between described upper mounting plate (1) and the lower bolster (6) at least three yielding support bars (4) are installed, the upper tip of every yielding support bar (4) and lower end are affixed with the upper-end surface of the lower end surface of upper mounting plate (1) and lower bolster (6) respectively, and the middle part of described every yielding support bar (4) is bent into the circular arc to outer lug; Described semi-automatic control device is made up of a plurality of MR damper (8) and a plurality of hinge (7), the quantity of MR damper (8) is consistent with the quantity of yielding support bar (4), each MR damper (8) is installed in the circular arc that corresponding yielding support bar (4) middle part forms, and the upper tip of each MR damper (8) and lower end are all hinged by hinge (7) and yielding support bar (4); Described anti-roll device (3) is made up of first disc (2), second disc (5), upper bush (10) and lower sleeve (11), described first disc (2) is installed on the inwall of upper mounting plate (1), second disc (5) is installed on the inwall of lower bolster (6), upper bush (10) and lower sleeve (11) be suit mutually, and upper bush (10) and lower sleeve (11) Spielpassung, the upper-end surface of described upper bush (10) and first disc (2) are affixed, and the lower end of described lower sleeve (11) and second disc (5) are affixed.
2. according to the semi-active vibration-isolating platform of the described employing magnetorheological damping technology of claim 1, it is characterized in that: described yielding support bar (4) quantity is three~six roots of sensation.
3. according to the semi-active vibration-isolating platform of claim 1 or 2 described employing magnetorheological damping technologies, it is characterized in that: described yielding support bar (4) strengthens aluminium composite material by carbon fiber and makes.
4. according to the semi-active vibration-isolating platform of the described employing magnetorheological damping technology of claim 3, it is characterized in that: described passive vibration isolation device also comprises a plurality of visco-elastic damping material layers (9), and each visco-elastic damping material layer (9) sticks on the outer surface of corresponding yielding support bar (4).
CN2009100715342A 2009-03-13 2009-03-13 Semi-active vibration-isolating platform employing magnetorheological damping technology Expired - Fee Related CN101504051B (en)

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CN101559396B (en) * 2009-05-15 2012-08-29 江苏大学 Triaxial vibration-decreasing/vibration-isolating platform of hammer crusher
CN101929523A (en) * 2010-05-10 2010-12-29 哈尔滨工业大学 Round box-type passive vibration isolator for multiaxial vibration isolation of flexible body
CN102865328B (en) * 2012-09-04 2015-06-17 哈尔滨工业大学深圳研究生院 Hybrid mechanism-based five-dimensional vibration isolation platform
CN104443445A (en) * 2014-11-11 2015-03-25 上海宇航系统工程研究所 Damping pipe support type damping adapter
CN106594164A (en) * 2016-11-29 2017-04-26 中国直升机设计研究所 Helicopter cockpit vibration absorber assembly and helicopter cockpit with same
CN106704474B (en) * 2017-01-10 2019-01-15 哈尔滨工业大学 The six axial cone shape vibration isolator of self-induction type of Highgrade integration
CN107255131B (en) * 2017-05-31 2018-11-23 北京空间机电研究所 One kind being based on the improved remote sensor damping isolation device of bi-pod supporting way
CN107654567A (en) * 2017-10-25 2018-02-02 西安交通大学 A kind of airborne quasi- zero stiffness vibration-isolating platform
CN108278309B (en) * 2018-01-19 2019-09-06 北京控制工程研究所 A kind of four-footed convergence type vibration isolator of active-passive integratedization
CN108561686A (en) * 2018-05-16 2018-09-21 大连中远海运川崎船舶工程有限公司 A kind of snubber base for large scale equipment
CN109019440B (en) * 2018-08-28 2020-10-09 芜湖智久机器人有限公司 Automatic leveling device for forklift navigation component, forklift and leveling method
CN110645311B (en) * 2019-10-23 2020-12-29 长春工业大学 Formula of sweeping photoelectricity stabilising arrangement that takes photo by plane

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