CN101963815B - Vibration automatic control device - Google Patents

Vibration automatic control device Download PDF

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Publication number
CN101963815B
CN101963815B CN2010102759210A CN201010275921A CN101963815B CN 101963815 B CN101963815 B CN 101963815B CN 2010102759210 A CN2010102759210 A CN 2010102759210A CN 201010275921 A CN201010275921 A CN 201010275921A CN 101963815 B CN101963815 B CN 101963815B
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vibration
freedom
control
degree
motion mechanism
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CN2010102759210A
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CN101963815A (en
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高丙团
黄学良
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Southeast University
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Southeast University
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Abstract

The invention discloses a vibration automatic control device. The vibration automatic control device is characterized by comprising a fixed base, a vibration structure, a rotary motion mechanism, a driving unit of the rotary motion mechanism and a control system of the rotary motion mechanism, wherein the vibration structure is provided with two degrees of freedom; the rotary motion mechanism is provided with one degree of freedom; the rotary motion mechanism and the driving unit thereof are fixedly arranged on the vibration structure; in the vibration structure provided with two degrees of freedom, the straight-line vibration of the two degrees of freedom is parallel with the plane of the fixed base and the vibration directions of the two degrees of freedom are vertical to each other; and the rotary plane of the rotary motion mechanism provided with one degree of freedom is also parallel to the plane of the fixed base under the condition of no external excitation. The vibration automatic control device has the characteristics of simple structure, energy conservation, high efficiency and the like, can meet the requirements of practical application well and can be widely applied to the occasions such as strong breeze and earthquake resistance of high-rise buildings or high-rise tower structures, vibration inhibition of testing platforms and the like.

Description

A kind of vibration automaton
Technical field
The invention belongs to the vibration control field, be specifically related to a kind of vibration automaton.
Background technology
Vibration can be divided into nuisance vibration and useful vibration.The useful vibration of people's desired object can take place, and has therefore designed various vibration generating arrangement and has been used for making that object self produces vibration or causes that other object vibrates, as six degree of freedom vibration simulation platform; Vibration people for harmful object then avoid its generation as far as possible, and try every possible means to suppress and eliminate the nuisance vibration that may or take place, as prevent that buildings from the vibration or the phenomenon of collapsing taking place under the effect of wind load or earthquake.The vibration control that we discussed is meant, the dynamic response and the vibration instability of system are controlled, and makes the level of vibration of system be in the acceptable scope, promptly suppresses or the elimination nuisance vibration.
, can be divided into Passive Control (Passive Control), ACTIVE CONTROL (Active Control), mix four kinds of control (Hybrid Control) and half ACTIVE CONTROL (Semi-active Control) according to the signal that whether needs extra power and excitation and structural response for the control technology of nuisance vibration.Wherein Passive Control is the control of no external energy, and its control is that control device is with the structure vibration deformation, because of the passive generation of motion of control device itself.It is the more method of practice now, uses comparatively extensive.ACTIVE CONTROL is the control that external energy is arranged, its control be control device by certain control strategy, initiatively apply by external energy.Its device mainly is made up of sensor, controller, three parts of driver, and this method is used less at present in building structure.Half ACTIVE CONTROL is a kind of control that a small amount of external energy is arranged, its control also is because of the passive generation of motion of control device itself, but control gear can be by the external energy parameter of adjustment initiatively itself in control procedure, thereby plays the effect of regulating control.Mix control and be ACTIVE CONTROL and Passive Control in conjunction with the controlling schemes that forms, its development depends on the coordinated development degree of Passive Control and ACTIVE CONTROL, also need strengthen research at present on theory and practice.The research work of America and Japan two countries occupy rank first, and the theoretical research of the U.S. is comparatively outstanding comparatively speaking, and Japan then more pays attention to experiment and engineering is used.Though the vibration control of China is started late, obtained paying attention to widely at civil engineering field, now carried out a large amount of theories and experimental study with regard to various control devices, control gear, and more existing achievements are used for engineering practice.
ACTIVE CONTROL generally includes two class basic control modes: open loop control and closed-loop control.Open-loop control method is directly the system disturbance input to be measured, and the information summary of importing according to system disturbance goes out control law.The on-line calculation of open loop control is less, and higher to the accuracy requirement of system element, interference resistance is poor.Initiatively the closed-loop control method is by suitable system state feedback or output feedback, produces certain control action, thus the vibration of control structure.The on-line calculation of closed-loop control is bigger, but has higher anti-jamming capacity, and is also not high to the requirement of control element, and can keep continuously higher control effect being monitored.Research to ACTIVE CONTROL at present focuses mostly in theoretical field, has proposed considerable control algolithm.
Fig. 4 is existing typical active vibration control technology synoptic diagram, external excitation acts on structure, make structure respond, gather external excitation respectively and response flows to controller by sensor, controller control actuator is carried out structural vibrations control, this spends in actual implementation procedure greatly, is difficult to safeguard, exist simultaneously because thereby the collection of remote signal exists signal lag to influence problems such as control of quality, be necessary to invent a kind of automaton that the remote detection vibration signal just can realize that object vibration suppresses that do not need to carry out.
Summary of the invention
Goal of the invention: the objective of the invention is to overcome the deficiency in the existing active vibration control technology, a kind of automaton that the object vibration signal just can be realized object vibration that do not need to gather is provided.
Technical scheme: vibration automaton of the present invention comprises fixed pedestal, has the control system of the vibrational structure of two degree of freedom, the rotational motion mechanism with one degree of freedom and driver element and described rotational motion mechanism; Described rotational motion mechanism and driver element thereof are fixedly mounted on the described vibrational structure; Described fixed pedestal can refer to the earth, and for example the fixed pedestal of buildings is exactly greatly; Described fixed pedestal also can refer to other immobilization carrier static with respect to the earth, can be a solid desk as the fixed pedestal of testing platform; The vibrational structure of described two degree of freedom is meant an object in the surface level internal vibration generally speaking, and as the buildings of horizontal vibration, the vibration of this object can be shown as the straight-line oscillation campaign of two degree of freedom according to certain coordinates table; The vibrational structure of described two degree of freedom also can be special structure.
Described vibrational structure with two degree of freedom, the straight-line oscillation of two degree of freedom are parallel to described fixed pedestal plane, and the direction of vibration of two degree of freedom is vertical mutually; Described rotation rotating mechanism with one degree of freedom is under the situation of no external drive, and its Plane of rotation also is parallel to described fixed pedestal plane.
Described rotational motion mechanism and driver element thereof with one degree of freedom comprises rotation excitation output unit, connecting rod and configuration quality piece, described rotation excitation output unit is and drives the actuator of mass along circular motion, and its output shaft is connected with described configuration quality piece by described connecting rod; The control system of described rotational motion mechanism comprise detect described configuration quality piece on circumference the position and along circumference the rotate sensor (as rotary encoder) and the controller of speed, sensor can be used as unique feedback signal of control system to the real-time detection of the position of configuration quality piece, can calculate based on this detection signal and sample frequency along the speed of circular motion for mass and try to achieve.
Described rotation excitation output unit can be power-jdriven gear or fluid pressure drive device.
The course of work of apparatus of the present invention is: when object is in steady state (SS), the gyrating mass piece of vibration control apparatus is in free state, the main energy sources consumable unit actuator of control system is in energy isolation, when object produces horizontal vibration, at inertia effect, the horizontal vibration of object must cause the original position of gyrating mass piece skew, thereby the energy that triggers the driver element of control system is connected, controller is according to the power output of gyrating mass piece with respect to the position at rotation round center and rotational speed decision actuator, begin ACTIVE CONTROL is carried out in the vibration of object, when realizing, mass is controlled to the position that control system is set to object vibration inhibition and final the elimination, finish the work behind the certain hour and under the vibrationless situation of object, the energy resource supply of control system excision driver element.The principle of work of apparatus of the present invention can further specify in conjunction with Fig. 3, structure responds under the effect of external excitation, the present invention utilizes the dynamics coupling of actuator and structure, make response of structure can be embodied on the state variation of actuator, thereby the state that directly feeds back actuator by sensor is realized structural vibrations is controlled to controller composition closed-loop control system.
Because it is the utility appliance of vibration control apparatus that the vibration of object triggers the trigger of the energy connection of control system driver element, can adopt on described vibrational structure with two degree of freedom the vibration situation that two degrees of freedom of accelerometer come monitoring object self is set, and give control computer with the vibration information real-time Transmission, when the object vibration that monitors surpasses the set safe threshold values of system, send the instruction in connection system actuator energy resource supply loop and begin to carry out the automatic control of object vibration by control system, the object vibration information that trigger is monitored after control task is finished a period of time is in the threshold values that allows the time, and control system is sent the order of cutting off actuator energy resource supply loop.The object vibration information that this trigger is gathered is only used as the switch in control system opening and closing actuator energy resource supply loop, guarantee that (artificially set by this scope in allowed band for object vibration, be stored in the control computer, and can change in real time) time control system actuator consumes energy not, thereby make that whole vibration automaton is very energy-conservation; Because the active closed-loop control system of control system does not rely on the feedback of object vibration signal, can effectively improve the real-time of control system simultaneously.
The controller of control system can be an industrial control computer that is equipped with the multifunctional data acquiring control card in apparatus of the present invention, and the Single Chip Microcomputer (SCM) system that also can be based on the demand exploitation is as the controller with data acquisition and control output function based on the DSP exploitation.
Apparatus of the present invention have following principal character: 1) device (being the stationary state that system's friction and control device do not drive) mass under steady state (SS) rotates the plane parallel of motion in surface level (perpendicular to gravity direction); 2) mass moves on the circumference of a radii fixus around a center of circle in the device; 3) this vibration control apparatus can only suppress or eliminate the vibration that vibration that object is parallel to surface level can not suppress direction of vibration (or consistent with gravity direction); 4) being installed in the bigger height and position of object generation vibration amplitude control effect based on the vibration control apparatus that rotatablely moves is better than and is installed in the less height and position of object generation vibration amplitude; What 5) any object took place all can become two straight-line oscillations on the vertical direction according to the STRUCTURE DECOMPOSITION of object perpendicular to the vibration on the gravity direction, require the final movement position of weight mass piece in the control system can not be positioned on the direction of two straight-line oscillations of being decomposed, and the natural vibration period of object on two vertical line direction of vibration can not be identical; 6) the control system that adopts only need detect the motion state (position, speed) of mass on circumference.
Apparatus of the present invention can realize that the know-why of goal of the invention is: the rotatablely move straight-line oscillation campaign of two degree of freedom of decomposing on surface level with object of the mass that is used to vibrate automatic control constitutes a nonlinear control system, the control of system is input as the power output of the actuator of control of quality piece rotation, three configuration states (output) of control system rotatablely move for the directly actuated mass of actuator power output, the actuator power output is by the straight-line oscillation campaign on the both direction of system dynamics coupling realization control, can derive the feedback controller of being made up of gyrating mass piece position and rotational speed based on nonlinear control theory is to realize the stable control of whole nonlinear system, and condition is that the controlled target position of gyrating mass piece can not be positioned on two straight-line oscillation directions and object can not be identical in the vibration period of the direction of two vertical line vibrations.
Apparatus of the present invention must satisfy at the same time under the situation of following two conditions and could effectively move: one, the controlled target of gyrating mass piece point can not be positioned on two degree of freedom direction of vibration; Two, the free period of two freedom degree straight line vibrations can not be equal fully.
Beneficial effect: the present invention compared with prior art, its beneficial effect is: apparatus of the present invention reach the purpose of the vibration of effective inhibition or two degree of freedom of elimination object by the movement control technology of design rotating mechanism, the vibration automaton has characteristics such as simple in structure, efficient energy-saving, can better satisfy the needs of practical application, can be widely used in skyscraper or towering pylon structure opposing high wind and earthquake, and the occasions such as vibration suppression of experiment porch.
Description of drawings
Fig. 1 is the synoptic diagram of the automatic vibration control apparatus of embodiments of the invention;
Fig. 2 is the synoptic diagram that is used for the simulation system of embodiments of the invention;
Fig. 3 is the synoptic diagram of automatic control system of the present invention;
Fig. 4 is the tradition synoptic diagram of vibration control apparatus typical case automatic control system automatically.
Embodiment
Below in conjunction with accompanying drawing, most preferred embodiment is elaborated, but protection scope of the present invention is not limited to described embodiment.
Embodiment 1: as shown in Figure 1, a kind of vibration automaton that is installed on the skyscraper comprises:
Fixed pedestal, promptly big ground 11; Vibrational structure with two degree of freedom, the skyscraper 1 that promptly needs to carry out vibration control; Rotational motion mechanism with one degree of freedom, promptly mass 3; Mass is rotated the circumference guide rail 2 of motion; Be used to drive the motor 6 of mass motion; Motor reduction gearbox 5; Rotary encoder 7; The coupling shaft 4 that is used for quality of connection piece 7 and motor reduction gearbox 5 output shafts; Be used for motor-driven electrical control cabinet 8; System controller 9 based on industrial computer; Two axle acceleration sensors 10 that are used for the vibration monitoring of skyscraper 1.
Concrete install that the process implemented can be performed such: at first, the installation part of selected vibration automaton on skyscraper 1 is installed in certain layer or certain between which floor as decision; Second step is according to the circular support guide rail 2 of the situation installation quality piece of employing mass 3; In the 3rd step, the motor reduction gearbox 5, motor 6, the rotary encoder 7 that are used to drive mass 3 motions are installed; The 4th step was connected the output of mass 3 and motor reduction gearbox 5 with coupling shaft 4, adjust and the rotatablely moving of piece 2 of ensuring the quality of products occurs on the circular guideway 2; The 5th step, install and fix electrical control cabinet 8, based on the system controller 9 of industrial computer, be used to monitor two axis accelerometers 10 of vibration of building situation; At last, carry out electric wiring, and The whole control system is carried out on-line debugging.
Described circular guideway 2 will note guaranteeing mass 3 motion circumference and face of land plane parallel thereon under the natural stability state in the process of installing, promptly the face that determined of motion circumference is vertical with gravity direction g maintenance; If mass 3 adopts the spherical mass of meaning as shown in fig. 1, then guide rail can be designed to a circular trough, can adopt a Baltimore groove if mass 3 is designed to cylindrical then guide rail; Its principle is that the motion of piece on guide rail of ensuring the quality of products is to roll but not slide, and guarantee this point, and the relative motion of mass 3 and coupling shaft 4 is for rotating, as cooperating with coupling shaft 4 by an embedded rolling ball bearing in mass 3; Such design can reduce the power requirement to the driver element of mass 3 motions, also can reduce the consumption to the energy in the automatic vibration control process of reality.
Describe in conjunction with Fig. 1 and Fig. 3, when skyscraper 1 because external excitation at random when causing vibration, the mass position that must cause being installed in the automatic vibration control apparatus in the building 1 changes, then rotary encoder 7 changes signal with outgoing position, the data that controller 8 obtains scrambler 7 can calculate the variation of the position of mass 3 on guide rail 2, simultaneously can obtain the speed that mass 3 moves on guide rail 2 by differential calculation, controller 9 calculates the signal that needs output to electrical control cabinet 8 according to feedback information, and regulator cubicle 8 is according to the control of this signal drive motor 7 at the output terminal output needs of speed reduction unit 5.
Two axis accelerometers 10 that are used to monitor skyscraper 1 vibration situation are an auxiliary unit, and it does not constitute necessary the unit of automatic vibration control system, and this point is by the essence course of work embodiment of automatic vibration device; But the increase of two axis accelerometers 10 can help system be saved the energy, promptly the power supply of regulator cubicle 8 disconnects under the natural stability state, the vibration situation that two axle accelerations 10 will detect building 1 offers controller 9 in real time, controller 9 at first sends the order of connecting electrical control cabinet 8 power supplies according to the program decision of setting when being necessary to open automaton, and after automatic control task finished, 9 of controllers were given an order and are disconnected the power supply of electrical control cabinet 8; Because the energy resource consumption of system is mainly reflected on the electrical source of power, and signal is extremely low with the power supply energy resource consumption, can reach the purpose of energy savings like this; Can be in the signal of gathering in real time accelerometer 10 signal of capturing and coding device 7, offer controller 10 for judgement, thereby improve the reliability of this link.
Embodiment 2: as shown in Figure 2, a kind of simulation system of vibrating automaton, comprise pedestal 11, have the control system of the vibrational structure device of two degree of freedom, rotational motion mechanism and driver element and described rotational motion mechanism with one degree of freedom;
Described vibrational structure device with two degree of freedom comprises first straight-line oscillation mechanism that is connected with fixed pedestal 11 and the second straight-line oscillation mechanism that is based upon on the first straight-line oscillation mechanism; The first straight-line oscillation mechanism is made up of first vibrating carrier 14, the first vibration guide rail 12 and the first vibration elastic device 13; First vibrating carrier 14 can only carry out rectilinear motion along being fixed on the vibration of first on the fixed pedestal 11 guide rail 12, and the two ends of the first vibration elastic device 13 are separately fixed on first vibrating carrier 14 and the fixed pedestal 11; The second straight-line oscillation mechanism is made up of second vibrating carrier 17, the second vibration guide rail 15 and the second vibration elastic device 16, wherein second vibrating carrier 17 can only carry out rectilinear motion along being fixed on the vibration of second on first vibrating carrier 14 guide rail 15, and the two ends of the second vibration elastic device 16 are separately fixed on second vibrating carrier 17 and first vibrating carrier 14;
Described rotational motion mechanism and driver element thereof with one degree of freedom comprises mass 3, is used to drive the motor 6 of mass motion, motor reduction gearbox 5, and rotary encoder 7 is used for the coupling shaft 4 of quality of connection piece 3 and motor reduction gearbox 5 output shafts.
Be installed in carrier 14 and 17, guide rail 12 and 15, spring 13 and 16 on the pedestal in this example and can realize the straight-line oscillation of two mutual vertical degree of freedom, the vibration period of two degree of freedom can be regulated by selecting different springs; Mass 3, coupling shaft 4, motor reducer 5, motor 6, rotary encoder 7, motor driven systems 8, controller 9 and power supply 25 are formed automatic vibration control apparatus; The controller 9 of the whole simulation system in this example can adopt the Single Chip Microcomputer (SCM) system based on DSP to realize, be that power supply 25 can adopt direct-flow storage battery under the situation of a direct current motor at motor 6, and controller 9, motor driven systems 8 and power supply 25 be installed on the carrier 17, integrated to guarantee simulation system, be convenient to move.
The personage who knows this area will understand, though described specific embodiment for the ease of explaining here, can make various changes under the situation that does not deviate from spirit and scope of the invention.Therefore, except claims, can not be used to limit the present invention.

Claims (5)

1. a vibration automaton is characterized in that: comprise fixed pedestal, have the control system of the vibrational structure of two degree of freedom, the rotational motion mechanism with one degree of freedom and driver element and described rotational motion mechanism; Described rotational motion mechanism and driver element thereof are fixedly mounted on the described vibrational structure;
Described vibrational structure with two degree of freedom, the straight-line oscillation of two degree of freedom are parallel to described fixed pedestal plane, and the direction of vibration of two degree of freedom is vertical mutually;
Described rotational motion mechanism with one degree of freedom is under the situation of no external drive, and its Plane of rotation also is parallel to described fixed pedestal plane.
2. vibration automaton according to claim 1, it is characterized in that: described rotational motion mechanism and driver element thereof with one degree of freedom comprises rotation excitation output unit, connecting rod and configuration quality piece, and the output shaft of described rotation excitation output unit is connected with described configuration quality piece by described connecting rod.
3. vibration automaton according to claim 2 is characterized in that: the control system of described rotational motion mechanism comprise detect described configuration quality piece on circumference the position and along circumference the rotate sensor and the controller of speed.
4. vibration automaton according to claim 2 is characterized in that: described rotation excitation output unit is power-jdriven gear or fluid pressure drive device.
5. according to claim 1,2,3 or 4 described vibration automatons, it is characterized in that: also be provided with two degrees of freedom of accelerometer on the described vibrational structure with two degree of freedom, described two degrees of freedom of accelerometer are connected with the control system of described rotational motion mechanism.
CN2010102759210A 2010-09-07 2010-09-07 Vibration automatic control device Expired - Fee Related CN101963815B (en)

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CN103149583B (en) * 2013-02-05 2017-07-28 中国地震局工程力学研究所 A kind of rotation acceleration meter for earthquake
KR101702779B1 (en) * 2015-10-29 2017-02-03 세메스 주식회사 Hand unit of overhead hoist transport
CN109610674B (en) * 2019-02-01 2023-11-24 青岛理工大学 Screw drive active liquid tuning mass damper
CN109667358B (en) * 2019-02-01 2023-11-24 青岛理工大学 Self-adaptive mechanical driving adjusting rotary inertia type control system
CN109610677B (en) * 2019-02-01 2023-11-24 青岛理工大学 Self-propelled omnidirectional moment of inertia drive control system
CN114323549A (en) * 2021-12-14 2022-04-12 大连理工大学 Vibration inertia actuation suppression device for wind tunnel model

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Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
CN1253623A (en) * 1997-03-17 2000-05-17 株式会社日立制作所 Vibration exciting apparatus and vibration testing apparatus for structure using same
JP2000291723A (en) * 1999-04-08 2000-10-20 Ohbayashi Corp Vibration control device
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CN200962274Y (en) * 2006-10-20 2007-10-17 秦树人 Virtual test vibration and control integrated experimental device
CN101619971A (en) * 2009-07-31 2010-01-06 北京航空航天大学 Aerophotography gyrostabilized platform with three freedom degrees and large load

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