CN102777527B - Intelligent vibration isolation device for precision machine tool - Google Patents
Intelligent vibration isolation device for precision machine tool Download PDFInfo
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- CN102777527B CN102777527B CN201210293767.9A CN201210293767A CN102777527B CN 102777527 B CN102777527 B CN 102777527B CN 201210293767 A CN201210293767 A CN 201210293767A CN 102777527 B CN102777527 B CN 102777527B
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Abstract
The invention relates to an intelligent vibration isolation device for a precision machine tool. At present, no intelligent vibration isolation device which is reasonable in structural design and is remarkable in vibration damping effect is available for the precision machine tool. The intelligent vibration isolation device is characterized by comprising a detection unit, a control unit and an executing unit, wherein the detection unit is used for detecting the vibration direction, frequency and amplitude of external vibration through a PVDF (Polyvinylidene Fluoride) piezoelectric slice, converting the external vibration into an electric signal through a signal processing system, and correcting and amplifying the electric signal to provide an executing parameter; the control unit is used for receiving the signal from the detection unit, working out data which is opposite to the external vibration in phase but identical in amplitude, and converting the data into an electric signal; the executing unit is used for receiving the electric signal from the control unit, converting the electric signal into a motion signal by using an inverse piezoelectric effect and counteracting and weakening the external vibration through self deformation for realizing vibration damping and vibration isolating functions; and the executing unit, the control unit and the detection unit are sequentially connected. The intelligent vibration isolation device is reasonable in structure design, remarkable in vibration damping effect, and reliable in performance.
Description
Technical field
The present invention relates to a kind of isolation mounting, especially relate to a kind of intelligent vibration isolation device for precision machine tool, the influence of vibration of outer bound pair lathe can be reduced.
Background technique
In the working procedure of precision machine tool, the vibration of external environment can affect the machining accuracy of equipment, and equipment even can be caused time serious normally to run.Therefore, effectively isolating seems is necessary very much to carrying out from the vibration in the external world and the disturbance of apparatus of load to adopt vibration isolation measure.The damping material that general conventional isolation mounting adopts is mostly the macromolecular material such as rubber, resin, and it mainly utilizes viscoelasticity effect and friction effect in macromolecular material, and mechanical vibrational energy is converted to heat energy, thus reaches vibration damping object.But the maximum effectiveness in vibration suppression of this kind of material is generally near such material glass temperature (Tg), therefore application is subject to certain restrictions, if when serviceability temperature is not near the vitrification point of this material, then effectiveness in vibration suppression is just had a greatly reduced quality.In addition, such material itself does not possess intelligent and initiative, and the damping characteristic of system can not adapt to the change of external environment condition.
Active vibration isolation is exactly utilize outside resources to produce the active force controlled needed for vibration in vibration isolation process, and the actuator producing active force can be piezoelectric constant, hydraulic element, pneumatic element and electric element etc.For low-frequency vibration, active vibration insulator realizes minimizing of low-frequency resonance peak value by servocontrol actuator.
The crystal material of voltage can be there is in piezoelectric material between both ends of the surface when referring to and be under pressure effect, piezoelectric material can produce electric field because of mechanically deformation, also can produce mechanically deformation because of electric field action, this intrinsic electro-mechanical coupling effect makes piezoelectric material be widely used in engineering.The research utilizing piezoelectric effect to carry out structural vibration control starts from early 1980s, and people utilize the direct piezoelectric effect of piezoelectric element to detect vibration parameters, utilizes the inverse piezoelectric effect of piezoelectric element to suppress vibration.The structure type of vibration control has thin plate class, beam class, truss etc., and piezoelectric material used has piezoelectric constant and piezopolymer, and piezoelectric constant is as lead zirconate titanate, and piezopolymer is as polyvinylidene fluoride.
Polyvinylidene fluoride (PVDF) is one of piezoelectric material of current piezoelectric property optimum, as the membranaceous transductive material of a kind of Novel thin, has the features such as quality is light and soft, reelability is good, piezoelectric property is good.Compared with inorganic matter piezoelectric material (as quartz, piezoelectric constant class) conventional at present, it also has, and acoustic impedance is little, frequency response is wide, permittivity is little, impact resistance is strong and be convenient to be processed into the advantages such as arbitrary shape.
Piezo-electricity composite material is formed by two-phase or multiphase Material cladding, usually the two-phase composite material be made up of piezoelectric constant and piezopolymer seen, this material has the advantage of piezoelectric constant and polymeric material concurrently, with traditional piezoelectric constant or compared with piezoelectric monocrystal, it has better flexibility and mechanical processing characteristic, overcome shortcoming that is frangible and that not easily shape, and density is little, the velocity of sound is low, easily realizes acoustic impedance with air, water and biological tissue and mates.Compared with polymeric piezoelectric material, it has higher piezoelectric crystal and electromechanical coupling factor, and therefore sensitivity is very high.
Also the vibration-proof structure of some other structures is had at present, if publication date is on November 17th, 2010, publication number is in the Chinese patent of CN101887741A, disclose a kind of vibration-proof structure, this vibration-proof structure is in order to make a storage device vibrationproof, it includes a housing, a supporting frame and at least one first padded coaming, its middle shell has a base plate and a top board, and the base plate of housing and top board are mutually combined and are coated on outside storage device, the structural design of this vibration-proof structure is reasonable not, poor to the vibration-isolating effect of precision equipment.And for example publication date is on November 24th, 2010, publication number is in the Chinese patent of CN201656656U, disclose a kind of vibration-proof structure of cooler of electric motor, this vibration-proof structure comprises the support of motor, cooler and rubber ring, cooler is arranged on the upper-end surface of support by link, rubber ring is located between the bottom surface of cooler and the upper-end surface of support, and the upper-end surface of support is provided with some spacing block sets in uniform way; Breach is offered in the relevant position of the spacing block set of rubber ring on support, and the thickness of rubber ring is greater than the height of spacing block set; When installing cooler, by consistent with the height of spacing block set by the thickness of the rubber ring after compressing, contact with the upper-end surface of the bottom surface with spacing block set that make cooler, this vibration-proof structure is exclusively used in be eliminated the motor cooler that is in operation and can produce the phenomenon of rocking, and applicable surface is narrower.
In sum, also do not have a kind of structure simple, reasonable in design at present, reliable performance, damping effect is obvious, belongs to the intelligent vibration isolation device for precision machine tool of intelligent vibration damping equipment.
Summary of the invention
The object of the invention is to overcome above shortcomings in prior art, and provide a kind of reasonable in design, damping effect is obvious, the intelligent vibration isolation device for precision machine tool of reliable performance.
The present invention's adopted technological scheme that solves the problem is: this structural feature being used for the intelligent vibration isolation device of precision machine tool is: comprise
Detect the direction of vibration of external vibration, vibration frequency and amplitude by PVDF piezoelectric sheet, and by signal processing system, external vibration is converted into electrical signal, and electrical signal is carried out correcting and amplifying, to provide the detection unit of execution parameter accurately;
After receiving the signal from detection unit, by self adaption computing, calculating with amplitude equal data contrary to the phase place of external vibration, is then the control unit of electrical signal by data transformations;
Employing piezo-electricity composite material is made, after receiving the electrical signal from control unit, utilize inverse piezoelectric effect to convert electrical signals to motor message, offset by self-deformation and weaken external vibration, thus realize the vibration damping of intelligent vibration isolation device and the performance element of vibration isolation function;
Described control unit is connected with detection unit, and described performance element is connected with control unit.
Make reliable performance of the present invention thus, damping effect is obvious, can reach the object of intelligent control.
As preferably, the control procedure of control unit of the present invention is: the piezoelectricity crystallographic axis of the PVDF piezoelectric material that PVDF piezoelectric sheet is chosen is oriented to: polarised direction is defined as direction 3, namely perpendicular to the direction of material plane, two other direction perpendicular to direction 3 is defined as direction 1 and direction 2 respectively, for the PVDF piezoelectric sheet after processing that polarizes along direction 3, have specific polymer sheet constructs, only produce electric charge in direction 3, its piezoelectric equations is:
d 3 =
d 31
t 1 +
d 32 t 2 +
d 33 t 31 formula (1)
Wherein:
d 3 for direction 3 electric displacement (
c/m 2 );
dijfor piezoelectric modulus, represent
jthe stress of direction effect exists
idirection detects;
t i for
ithe stress in direction (
n/m 2 );
The control procedure of control unit adopts adaptive control algorithm to realize the intelligent vibration damping of system, the control system of control unit is divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm, wherein, x (k) is reference signal, and it requires to have coherence with oscillating signal; P (k) is desired signal, is that extraneous vibration acts on the corresponding of executive system,
w i (
k) be coefficient vector; ?
kin the moment, the output of N rank finite impulse response filter is:
Y (
k)=∑
w i (
k) x (
k-
i)=W
t(
k) X (
k) formula (2)
In feedforward control, control signal s (k) is also not equal to output y (k) of wave filter, because there is distance between performance element and error pick-up, so define a path transfer function from outputting between error pick-up of controller:
C=[c
0, c
1..., c
m-1]
tformula (3)
S (
k)=∑ y (
k-
i) c
i=Y
t(
k)
cformula (4)
Wherein, Y (
k)=X
t(
k)
w, substitute into formula (4):
S (
k)=[X
t(
k) W]
t c=W
tx
f(
k) formula (5)
Wherein, X
f(
k)=X (
k)
c, be filtered reference signal sequence;
The object of algorithm be seek optimum W (
k), make error signal minimum, that is:
J=min
ee
2(
k)=min [p (
k)+s (
k)]
2=min [p (
k)+W
tx
f (
k)]
2formula (6)
For gradient descent algorithm, the renewal of weight coefficient adopts following form:
W (
k+ 1)=W (
k)-μ △ W (
k) formula (7)
Wherein: μ is the part negative gradient that the performance of raising system joins Weighting factor, i.e. convergence coefficient;
Formula (6) to weight coefficient w (
k) carry out differentiate:
△ W (
k) ≈ З e
2(
k)/З
w=2e (
k) x
f (
k) formula (8)
Formula (8) is substituted into formula (7):
w(
k+ 1)=
w(
k)-2 μ
e(
k) x
f (
k) formula (9)
According to formula (9), the signal e utilizing detection unit to collect (
k) x
f (
k) constantly upgrade weight coefficient w (
k), make the output signal of performance element contrary with oscillating signal phase place, amplitude is equal, thus realizes the vibration-damping function of intelligent vibration isolation device.
Make the control effects of control unit of the present invention better thus, more effectively can reach the object of intelligent control, the vibration damping of more effective implement device and vibration isolation function.
As preferably, the present invention also comprises support, and described performance element is positioned at the upper surface of support, and described detection unit is positioned at the lower surface of support.
As preferably, the present invention also comprises auxiliary unit, and described auxiliary unit is connected between detection unit and performance element.
The present invention compared with prior art, has the following advantages and effect: structure is simple, reasonable in design, and applicability is wide, and damping effect is obvious, belongs to intelligent vibration damping equipment, has good vibration isolation and antivibration function.The present invention utilizes the PVDF thin slice in detection unit to detect extraneous vibration, by the signal processing system in detection unit, external vibration is converted into electrical signal, then control unit is supplied to, control unit adopts self adaption computing to draw intelligent signal, and pass to performance element, the performance element utilizing piezo-electricity composite material to make carries out signal inverse conversion, by vibration damping and the vibration isolation function of the distortion implement device of performance element.
Accompanying drawing explanation
Fig. 1 is the structural representation for the intelligent vibration isolation device of precision machine tool in the embodiment of the present invention.
Fig. 2 is the adaptive control system principle schematic of control section in the embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing, also by embodiment, the present invention is described in further detail, and following examples are explanation of the invention and the present invention is not limited to following examples.
Embodiment.
See Fig. 1 to Fig. 2, in the present embodiment, comprise support, detection unit 1, control unit 2, performance element 3 and auxiliary unit 4 for the intelligent vibration isolation device of precision machine tool.
Detection unit 1 in the present embodiment, control unit 2, performance element 3 and auxiliary unit 4 are all connected on support, and performance element 3 is positioned at the upper surface of support, and detection unit 1 is positioned at the lower surface of support.Control unit 2 in the present embodiment is connected with detection unit 1, and performance element 3 is connected with control unit 2, and auxiliary unit 4 is connected between detection unit 1 and performance element 3.
Detection unit 1 in the present embodiment comprises PVDF piezoelectric sheet and signal processing system, wherein, PVDF piezoelectric sheet is for detecting the direction of vibration of external vibration, vibration frequency and amplitude, signal processing system is used for external vibration to be converted into electrical signal, and electrical signal is carried out correcting and amplifying, to reach the object that can provide execution parameter accurately.
After control unit 2 in the present embodiment receives the signal from detection unit 1, by self adaption computing, calculating with amplitude equal data contrary to the phase place of external vibration, is then electrical signal by data transformations.
Performance element 3 in the present embodiment adopts piezo-electricity composite material to make, after this performance element 3 receives the electrical signal from control unit 2, inverse piezoelectric effect is utilized to convert electrical signals to motor message, then offset by self-deformation and weaken external vibration, thus realizing vibration damping and the vibration isolation function of intelligent vibration isolation device.
Adopt PVDF piezoelectric film as the detection unit 1 for testing signal in isolation mounting in the present embodiment, utilize piezo-electricity composite material as the performance element 3 of isolation mounting, this performance element 3 and detection unit 1 lay respectively at rack upper surface and the lower surface of isolation mounting, and performance element 3 and detection unit 1 are connected as one by middle control unit 2 and auxiliary unit 4.
The present embodiment chooses the PVDF piezoelectric sheet form in PVDF piezoelectric material, the piezoelectric sheet being made into different size and specification can be required according to difference, for detecting direction of vibration, the parameter such as frequency and amplitude of external vibration signal, polarised direction is defined as the direction perpendicular to material plane.
The oscillating signal of outside is converted into electrical signal by the signal processing system in detection unit 1 by the present embodiment, is corrected and amplifies, be then supplied to control unit 2 by signal processing system to the electrical signal after conversion.After control unit 2 receives the signal from detection unit 1, by self adaption computing, calculate contrary with extraneous vibration phase place, that amplitude is equal data, provide it to performance element 3.Control unit 2 adopts adaptive control algorithm, and control system can be divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm.
After performance element 3 in the present embodiment receives the control signal from control unit 2, the distortion of the performance element 3 made by adopting piezo-electricity composite material realizes offsetting and weakening external vibration, performance element 3 performs the control signal from control unit 2, is to utilize its inverse piezoelectric effect.Make the composite material of performance element 3, different profiles and specification can be made according to different usage requirements.
Detection unit 1 in the present embodiment comprises PVDF piezoelectric sheet and signal processing system, PVDF piezoelectric sheet is for detecting direction of vibration, the parameter such as frequency and amplitude of external vibration, and be converted into electrical signal by signal processing system, provide execution parameter accurately to performance element 2.
The piezoelectricity crystallographic axis of the PVDF piezoelectric material that the PVDF piezoelectric sheet of the present embodiment is chosen is oriented to: polarised direction is defined as direction 3, and namely perpendicular to the direction of material plane, two other direction perpendicular to direction 3 is defined as direction 1 and direction 2 respectively.For the PVDF piezoelectric sheet after processing that polarizes along direction 3, have specific polymer sheet constructs, only produce electric charge in direction 3, its piezoelectric equations is:
d 3 =
d 31
t 1 +
d 32 t 2 +
d 33 t 31 formula (1)
Wherein:
d 3 for direction 3 electric displacement (
c/m 2 );
dijfor piezoelectric modulus, represent
jthe stress of direction effect exists
idirection detects;
t i for
ithe stress in direction (
n/m 2 ).
The control procedure of the control unit 2 of the present embodiment adopts adaptive control algorithm, and realize the intelligent vibration damping of system, the control system of control unit 2 is divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm, schematic diagram as shown in Figure 2.Wherein, x (k) is reference signal, and it requires to have coherence with oscillating signal; P (k) is desired signal, is that extraneous vibration acts on the corresponding of executive system.In the k moment, the output of N rank finite impulse response filter is:
Y (
k)=∑
w i (
k) x (
k-
i)=W
t(
k) X (
k) formula (2)
In feedforward control, control signal s (k) is also not equal to output y (k) of wave filter.Because there is distance between performance element (or being called controller) and error pick-up, so define a path transfer function from outputting between error pick-up of controller:
C=[c
0, c
1..., c
m-1]
tformula (3)
S (
k)=∑ y (
k-
i) c
i=Y
t(
k)
cformula (4)
Wherein, Y (
k)=X
t(
k)
w.
Substitution formula (4):
S (
k)=[X
t(
k) W]
t c=W
tx
f(
k) formula (5)
Wherein, X
f(
k)=X (
k)
c, be filtered reference signal sequence.
The object of algorithm be seek optimum W (
k), make error signal minimum, that is:
J=min
ee
2(
k)=min [p (
k)+s (
k)]
2=min [p (
k)+W
tx
f (
k)]
2formula (6)
For gradient descent algorithm, the renewal of weight coefficient adopts following form:
W (
k+ 1)=W (
k)-μ △ W (
k) formula (7)
Wherein: μ is the part negative gradient that the performance of raising system joins Weighting factor, i.e. convergence coefficient.
Formula (6) to weight coefficient w (
k) carry out differentiate:
△ W (
k) ≈ З e
2(
k)/З
w=2e (
k) x
f (
k) formula (8)
Formula (8) is substituted into formula (7):
w(
k+ 1)=
w(
k)-2 μ
e(
k) x
f (
k) formula (9)
The essence that algorithm performs is according to formula (9), the signal e utilizing detection unit 1 to collect (
k) x
f (
k) constantly upgrade weight coefficient w (
k), make the output signal of performance element contrary with oscillating signal phase place, amplitude is equal, thus realizes the vibration damping of system.
The present embodiment utilizes piezo-electricity composite material as performance element 3, utilizes its inverse piezoelectric effect to offset or reduces the vibration from the external world.Utilize the better mechanical processing characteristic of piezo-electricity composite material, make the performance element 3 of sizeable isolation mounting for different use occasions.The piezoelectric crystal utilizing piezo-electricity composite material higher and electromechanical coupling factor, thus larger driving force and output displacement can be produced, and then more effective execution is from the signal of detecting signal unit 1.
Detection unit 1 is positioned at the bottom of device, and earth surface.Adopt PVDF flake structure, utilize the feature that its frequency response is wide and permittivity is little, detect the vibration of the different frequency from ground, various amplitude.And after recording the corresponding data from different measuring points, by signal processing system it corrected and amplify, after conversion, being supplied to control unit 2.
After control unit 2 receives the signal from detection unit 1, by self adaption computing, calculate contrary with extraneous vibration phase place, that amplitude is equal data, provide it to performance element 3.Performance element 3 adopts piezo-electricity composite material to make.After performance element 3 receives the control signal from control unit, its inverse piezoelectric effect is utilized to convert electrical signals to the motor message of performance element 3, thus the vibration damping of implement device and vibration isolation.
In addition, it should be noted that, the specific embodiment described in this specification, the shape, institute's title of being named etc. of its parts and components can be different, and the above content described in this specification is only to structure example of the present invention explanation.The equivalence change that structure, feature and the principle of all foundations described in inventional idea of the present invention are done or simple change, be included in the protection domain of patent of the present invention.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment; only otherwise depart from structure of the present invention or surmount this scope as defined in the claims, protection scope of the present invention all should be belonged to.
Claims (3)
1. for an intelligent vibration isolation device for precision machine tool, it is characterized in that: comprise
Detect the direction of vibration of external vibration, vibration frequency and amplitude by PVDF piezoelectric sheet, and by signal processing system, external vibration is converted into electrical signal, and electrical signal is carried out correcting and amplifying, to provide the detection unit of execution parameter accurately;
After receiving the signal from detection unit, by self adaption computing, calculating with amplitude equal data contrary to the phase place of external vibration, is then the control unit of electrical signal by data transformations;
Employing piezo-electricity composite material is made, after receiving the electrical signal from control unit, utilize inverse piezoelectric effect to convert electrical signals to motor message, offset by self-deformation and weaken external vibration, thus realize the vibration damping of intelligent vibration isolation device and the performance element of vibration isolation function;
Described control unit is connected with detection unit, and described performance element is connected with control unit;
The control procedure of described control unit is: the piezoelectricity crystallographic axis of the PVDF piezoelectric material that PVDF piezoelectric sheet is chosen is oriented to: polarised direction is defined as direction 3, namely perpendicular to the direction of material plane, two other direction perpendicular to direction 3 is defined as direction 1 and direction 2 respectively, for the PVDF piezoelectric sheet after processing that polarizes along direction 3, there is specific polymer sheet constructs, only produce electric charge in direction 3, its piezoelectric equations is:
d 3 =
d 31
t 1 +
d 32 t 2 +
d 33 t 3 formula (1)
Wherein:
d 3 for direction 3 electric displacement (
c/m 2 );
dijfor piezoelectric modulus, represent
jthe stress of direction effect exists
idirection detects;
t i for
ithe stress in direction (
n/m 2 );
The control procedure of control unit adopts adaptive control algorithm to realize the intelligent vibration damping of system, the control system of control unit is divided into two-part: the generation of control signal and the Weighted adaptive of control algorithm, wherein, x (k) is reference signal, and it requires to have coherence with oscillating signal; P (k) is desired signal, is that extraneous vibration acts on the corresponding of executive system,
w i (
k) be coefficient vector; ?
kin the moment, the output of N rank finite impulse response filter is:
Y (
k)=∑
w i (
k) x (
k-
i)=W
t(
k) X (
k) formula (2)
In feedforward control, control signal s (k) is also not equal to output y (k) of wave filter, because there is distance between performance element and error pick-up, so define a path transfer function from outputting between error pick-up of controller:
C=[c
0, c
1..., c
m-1]
tformula (3)
S (
k)=∑ y (
k-
i) c
i=Y
t(
k)
cformula (4)
Wherein, Y (
k)=X
t(
k)
w, substitute into formula (4):
S (
k)=[X
t(
k) W]
t c=W
tx
f(
k) formula (5)
Wherein, X
f(
k)=X (
k)
c, be filtered reference signal sequence;
The object of algorithm be seek optimum W (
k), make error signal minimum, that is:
J=min
ee
2(
k)=min [p (
k)+s (
k)]
2=min [p (
k)+W
tx
f (
k)]
2formula (6)
For gradient descent algorithm, the renewal of weight coefficient adopts following form:
W (
k+ 1)=W (
k)-μ △ W (
k) formula (7)
Wherein: μ is the part negative gradient that the performance of raising system joins Weighting factor, i.e. convergence coefficient;
Formula (6) to weight coefficient w (
k) carry out differentiate:
△ W (
k) ≈ З e
2(
k)/З
w=2e (
k) x
f (
k) formula (8)
Formula (8) is substituted into formula (7):
w(
k+ 1)=
w(
k)-2 μ
e(
k) x
f (
k) formula (9)
According to formula (9), the signal e utilizing detection unit to collect (
k) x
f (
k) constantly upgrade weight coefficient w (
k), make the output signal of performance element contrary with oscillating signal phase place, amplitude is equal, thus realizes the vibration-damping function of intelligent vibration isolation device.
2. the intelligent vibration isolation device for precision machine tool according to claim 1, is characterized in that: also comprise support, and described performance element is positioned at the upper surface of support, and described detection unit is positioned at the lower surface of support.
3. the intelligent vibration isolation device for precision machine tool according to claim 1, is characterized in that: also comprise auxiliary unit, and described auxiliary unit is connected between detection unit and performance element.
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| CN103323098B (en) * | 2013-05-23 | 2015-06-17 | 北京航空航天大学 | Small-sized micro-vibration measurement and control system |
| CN103647018B (en) * | 2013-11-28 | 2016-08-17 | 南京航空航天大学 | A kind of Laminated PVDF actuator and main passive hybrid isolator |
| CN103867633A (en) * | 2014-04-02 | 2014-06-18 | 苏州泰斯特测控科技有限公司 | Novel dynamic vibration absorbing method and system |
| JP6231457B2 (en) * | 2014-10-23 | 2017-11-15 | ファナック株式会社 | Vibration isolator and positioning device equipped with robot |
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| CN107436647A (en) * | 2017-07-19 | 2017-12-05 | 山东超越数控电子有限公司 | The vibration insulating system and oscillation damping method of a kind of computer hardware |
| CN107801343B (en) * | 2017-09-29 | 2020-03-27 | 复旦大学 | Board level assembled device |
| CN110107647B (en) * | 2019-05-29 | 2021-12-14 | 杭州电子科技大学 | Tower type vibration attenuation and conversion device |
| CN112855516B (en) * | 2019-11-12 | 2022-04-19 | 宁波方太厨具有限公司 | Booster pump subassembly |
| CN111458013A (en) * | 2020-04-08 | 2020-07-28 | 武汉理工大学 | Piezoelectric fiber composite material sensing device for vibration isolation of platform |
| CN113531022A (en) * | 2021-07-26 | 2021-10-22 | 天津大学 | Active control local resonance metamaterial device for low-frequency vibration isolation |
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