CN103644244B - Controllable damper with virtual composite function - Google Patents

Abstract

The invention discloses a virtual composite controllable damper capable of suppressing both vibration acceleration and velocity while suppressing displacement. The virtual composite controllable damper measures the vibration acceleration of the mechanical structure system through the acceleration sensor, and processes the vibration acceleration signal through the signal acquisition and processing module to obtain a signal that the embedded control module can recognize, and then processes it through the algorithm of the embedded control module The optimal damping value is obtained, and the optimal damping value signal is sent to the controllable damper module. The controllable damping module adjusts the damping parameters of the mechanical structure system to change the damping of the system, so that the vibration becomes smaller and smaller, regardless of the system No matter how the operating environment changes, it will not affect the efficiency, accuracy, stability and comfort of mechanical structural systems such as machine tools. In addition, the virtual compound controllable damper can well realize the effect of controllable automatic adjustment. It is suitable for popularization and application in the field of dampers.

Description

virtual compound controllable damper

technical field

The invention belongs to the field of dampers, and in particular relates to the proposal and realization of a virtual composite controllable damper.

Background technique

In recent years, with the rapid development of science and technology and the unprecedented increase in productivity, people have put forward higher requirements for the dynamic performance of structures and mechanical systems. More and more mechanical systems are closely related to people's lives. For example, vehicles such as automobiles and high-speed trains make people travel faster and more conveniently; various lathes, milling machines, planers and other machine tools produce various workpieces for military and civilian use, etc. However, while the mechanical system brings convenience to life, it inevitably generates vibrations, which are harmful to a large extent, and the vibration acceleration will affect the comfort of passengers; the vibration speed will cause wear and tear on the machinery and affect the safety of the system ; The offset error caused by vibration displacement will affect the precision of workpiece processing.

For a long time, many scholars have devoted themselves to reducing the vibration displacement, velocity and acceleration of the mechanical system, and have made great progress. The traditional passive suspension method will be difficult to meet the requirements of high precision, safety and comfort of the mechanical system, because after its parameters are determined, its frequency is also uniquely determined, and it does not have an automatic adjustment function. However, the active suspension method requires energy from the outside, and additional force needs to be applied to the mechanical system. The implementation process is complicated and the cost is high. On the basis of active suspension, semi-active suspension has developed rapidly and has become a hot spot in international research in recent years. Semi-active suspension is to adjust the damping parameters of the control system in time according to the response information of the system or the change of external load, so as to improve The dynamic performance of the suspension system realizes the adjustable control of the system structure, aiming to approach the cost and complexity of the passive suspension system to provide the performance close to the active suspension control. High precision, safety and comfort.

In recent years, with the continuous improvement of the requirements for the mechanical system, its control method must intelligently and dynamically match the state of the mechanical system. the key of. Controllable damping shock absorber refers to the shock absorber whose damping coefficient can be adjusted by external control signal, which can be directly realized by physical components. At present, with the continuous improvement of the manufacturing technology of hydraulic damping shock absorbers and the improvement of various testing and inspection technologies, the application of hydraulic damping shock absorbers is becoming more and more extensive. The most widely used are electrorheological fluids and magnetorheological fluids. controllable damping shock absorber. The working principle of the hydraulic damping shock absorber is to use a hydraulic cylinder filled with hydraulic oil to generate a pressure difference in the two chambers of the hydraulic cylinder through the action of the damping control valve, thereby generating a damping force on the load, which is proportional to the movement speed. In contrast to the direction of velocity, it is expressed as:

f＝-C _c v

In the formula, C _c is the damping coefficient in the traditional sense, and its unit is N·s/m. The damping mainly suppresses the vibration velocity in the system. At present, with the continuous maturity of controllable damping technology, research on controllable damping is emerging in an endless stream. According to the above, these traditional controllable damping shock absorbers are mainly to suppress vibration speed. However, as people put forward higher requirements for mechanical systems such as automobiles, high-speed trains, and machine tools, high precision, safety, and comfort have gradually become their main performance indicators. At present, in the process of pursuing high precision, safety and comfort in mechanical systems, complex mechanical vibrations will inevitably be generated, and these complex mechanical vibrations are difficult to control. In order to solve this problem, the present invention proposes to use sensors, traditional controllable controllers and embedded controllers to realize or approach a kind of virtual compound controllable damping with both traditional dampers and elastic dampers and elastic dampers. Because the damper cannot be directly realized by physical components, it needs sensors and embedded controllers, so it is called a virtual controllable damper. The damper has the mechanical properties of traditional dampers, elastic dampers and inertial dampers. characteristics, capable of suppressing the vibration velocity, displacement and acceleration of the system.

At present, these controllable damping shock absorbers in the traditional sense mainly suppress the vibration speed, but in the mass-spring-damper vibration reduction system, the mass and spring are energy storage elements, and only the shock absorber is the only energy dissipation element , can convert vibration energy into heat energy and consume it. The physical quantities that characterize the strength of vibration include vibration displacement, vibration velocity and vibration acceleration. Different vibration reduction systems need to suppress different physical quantities of vibration. The damping force of the damper is proportional to the relative vibration velocity. , which is in the opposite direction to the relative vibration velocity. Since the vibration velocity is the integral of the vibration acceleration and the differential of the vibration displacement, the phase of the vibration velocity lags behind the phase of the vibration acceleration and leads the phase of the displacement. When the acceleration and vibration displacement are large, the vibration velocity is small. It can be seen that the damper is suppressing the vibration When the vibration acceleration and vibration displacement are large, the vibration displacement and acceleration are not well suppressed due to the small vibration speed. As people put forward higher requirements for automobiles, high-speed trains and mechanical dynamic systems, comfort and stability have gradually become their main performance indicators, especially for high-speed trains. my country's railways have entered the world's high-speed railway industry after seven speed increases. In the advanced ranks, vibration acceleration is the main reason for the deterioration of comfort. Therefore, how to suppress vibration acceleration is an urgent problem to be solved. At present, there is a corresponding control system that can suppress vibration acceleration. Moreover, it is efficient and accurate as a machine tool, etc. The main performance indicators of the mechanical system, especially the processing of precision workpieces, small vibration displacements may lead to the scrapping of workpieces, so reducing vibration displacement is also very important in machining.

Contents of the invention

The technical problem to be solved by the present invention is to provide a virtual composite controllable damper that can suppress both vibration acceleration and speed while also suppressing displacement.

The technical solution adopted by the present invention to solve the technical problem is: the virtual composite controllable damper includes a sensor module, a signal acquisition and processing module, an embedded control module and a controllable damper module; the sensor module includes an acceleration sensor and a controllable damper module. The measurement circuit is used to measure the vibration acceleration of the mechanical structure system and transmit the measured vibration acceleration signal to the signal acquisition and processing module; the signal acquisition and processing module includes an integrator, a multi-way switch, a sample holder and an A/D , the integrator converts the vibration acceleration signal into a vibration velocity signal and a vibration displacement signal, the multi-way switch and the sample holder sample the vibration acceleration signal, the vibration velocity signal, and the vibration displacement signal, and convert the sampled obtained The analog signal is converted into a vibration acceleration signal that the embedded control module can recognize vibration velocity signal And the vibration displacement signal y will get the vibration acceleration signal vibration velocity signal and the vibration displacement signal y are delivered to the embedded control module; the embedded control module is to the vibration acceleration signal vibration velocity signal And the vibration displacement signal y is processed by the following algorithm to obtain the best damping value C:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ \frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cup;</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}\end{array}\right.\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>\frac{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ \frac{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>\frac{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cup;</span>\frac{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}\end{array}\right.\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\end{array}\right.$

Among them, C _k is the elastic damping coefficient, which has stiffness, and its unit is N/m; C _c is the damping coefficient in the traditional sense, and has damping stiffness, and its unit is N s/m; C _m is mass Damping coefficient, the quantity with mass, the unit is N·s ² /m, C _min is the minimum damping value that the damper can provide, C _max is the maximum damping value that the damper can provide, the embedded control module will optimize the damping The value C is output to a controllable damper module that adjusts the damping parameters of the mechanical structural system.

Further, the control chip of the embedded control module is a single-chip microcomputer.

Further, the controllable damper module is realized by an actuator, and the actuator is a hydraulic actuator.

Further, the actuator is a magneto-rheological fluid shock absorber.

The beneficial effect of the present invention is that: the virtual composite controllable damper of the present invention measures the vibration acceleration of the mechanical structure system in real time through the acceleration sensor, and processes the vibration acceleration signal through the signal acquisition and processing module to obtain an embedded control module that can identify The vibration acceleration signal vibration velocity signal and the vibration displacement signal y, and then the optimal damping value is obtained through the algorithm processing of the embedded control module, and the signal of the optimal damping value is transmitted to the controllable damper module, and the controllable damper module adjusts the damping parameters of the mechanical structure system. Change the damping of the system so that the vibration becomes smaller and smaller. No matter how the system operating environment changes, it will not affect the efficiency, accuracy, stability and comfort of the machine tool and other mechanical structural systems. In addition, the virtual composite damper of the present invention can well realize the effect of controllable automatic adjustment, has strong practicability, does not increase the structural complexity of the system, and controls the cost to a certain extent.

Description of drawings

Fig. 1 is the principle structural block diagram of virtual compound controllable damper of the present invention;

Detailed ways

The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figure 1, the virtual composite controllable damper includes a sensor module, a signal acquisition and processing module, an embedded control module and a controllable damper module; the sensor module includes an acceleration sensor and a measurement circuit for measuring mechanical The vibration acceleration of the structural system and the measured vibration acceleration signal are transmitted to the signal acquisition and processing module; The acceleration signal is converted into a vibration velocity signal and a vibration displacement signal. The multi-way switch and the sample holder sample the vibration acceleration signal, vibration velocity signal, and vibration displacement signal, and convert the sampled analog signal into an embedded control through A/D conversion. The vibration acceleration signal that the module can identify vibration velocity signal And the vibration displacement signal y will get the vibration acceleration signal vibration velocity signal and the vibration displacement signal y are delivered to the embedded control module; the embedded control module is to the vibration acceleration signal vibration velocity signal and the vibration displacement signal y are processed by the following algorithm to obtain the optimal damping value C:

$\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ \frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; ,</span>\mathrm{<span\; class="notranslate">\; the\; y</span>}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cup;</span>\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}\end{array}\right.\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; =</span>\left\{\begin{array}{c}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>\frac{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ></span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ \frac{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; t</span>}<span\; class="notranslate">\; )</span>}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; ></span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cap;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>\frac{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; ,</span>\stackrel{<span\; class="notranslate">\; \&Center\; Dot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; \&times;</span>\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}<span\; class="notranslate">\; <</span>\mathrm{<span\; class="notranslate">\; 0</span>}<span\; class="notranslate">\; \&cup;</span>\frac{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span><span\; class="notranslate">\; \&Center\; Dot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\stackrel{<span\; class="notranslate">\; \&CenterDot;</span>}{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; <</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}\end{array}\right.\\ {\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; min</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 1</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; c</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; \&le;</span>{\mathrm{<span\; class="notranslate">\; C</span>}}_{\mathrm{<span\; class="notranslate">\; max</span>}}\end{array}\right.$

Among them, C _k is the elastic damping coefficient, which has the rigidity of stiffness, and its unit is N/m, and the selection of C _k value depends on different situations; C _c is the damping coefficient in the traditional sense, which has the rigidity of damping, ^The unit is N _· s/m, the selection of C _c value depends on different _situations ; Depending on the situation, C _min is the minimum damping value that the damper can provide, and C _max is the maximum damping value that the damper can provide. The embedded control module outputs the optimal damping value C to the controllable damper module, and the controllable The Damper module adjusts the damping parameters of the mechanical structural system. The virtual composite controllable damper of the present invention is used to measure the vibration acceleration of the mechanical structure system through the acceleration sensor, which can be collected in real time; the measurement circuit is an indispensable link for sensor measurement, and the tiny vibration variable is converted into a voltage or Current signal, to obtain higher precision, the signal acquisition and processing module is connected to the sensor module, the signal acquisition and processing module includes an integrator, a multi-way switch, a sample holder and A/D, because the speed is the integral of the acceleration, and the displacement is the acceleration The function of the integrator is to obtain the vibration velocity signal and the vibration displacement signal of the mechanical structure system. The multi-way switch and the sample holder are to sample the analog signal on the basis of satisfying the sampling theorem, and the sample is obtained by A/D conversion. The analog signal is converted into a useful digital signal that the embedded control module can recognize, that is, the vibration acceleration signal that the embedded control module can recognize vibration velocity signal and the vibration displacement signal y, and then the optimal damping value is obtained through the algorithm processing of the embedded control module, and the signal of the optimal damping value is transmitted to the controllable damper module, and the controllable damper module adjusts the damping parameters of the mechanical structure system. Change the damping of the system so that the vibration becomes smaller and smaller. No matter how the system operating environment changes, it will not affect the efficiency, accuracy, stability and comfort of the machine tool and other mechanical structural systems. In addition, the virtual composite controllable damper of the present invention can well realize the effect of controllable automatic adjustment, has strong practicability, does not increase the structural complexity of the system, and controls the cost to a certain extent.

In the above implementation manner, the embedded control module may use various existing controllers, and a preferred manner is: the control chip of the embedded control module is a single-chip microcomputer.

The main function of the controllable damper module is to adjust the damping parameters of the mechanical structure system. The controllable damper module is realized by an actuator, and the actuator can be an electric actuator, a pneumatic actuator, a hydraulic actuator, etc. Actuator, the actuator changes the flow or energy of the regulated medium according to the input signal adjustment mechanism, thereby changing the damping of the system to meet the predetermined requirements. In order to accurately adjust the damping parameters of the mechanical structure system to meet the predetermined requirements, as Preferably, the actuator is a hydraulic actuator, and further, the hydraulic actuator can select electrorheological fluid or magnetorheological fluid shock absorber as the actuator to change the damping value. Preferably, the actuator is a magneto-rheological fluid shock absorber.

Claims (4)

1. controllable damper with virtual composite function, is characterized in that: comprise sensor assembly, Signal acquiring and processing module, embedded type control module and controllable damper module; Described sensor assembly comprises acceleration transducer and measuring circuit, for measurement mechanical structural system vibration acceleration and the vibration acceleration signal recorded is passed to Signal acquiring and processing module; Described Signal acquiring and processing module comprises integrator, variable connector, sampling holder and A/D, vibration acceleration signal is converted into vibration velocity signal and vibration displacement signal by described integrator, variable connector and sampling holder are sampled to vibration acceleration signal, vibration velocity signal, vibration displacement signal, and the analogue signal obtained sampling by A/D conversion is converted into the vibration acceleration signal that embedded type control module can identify vibration velocity signal also vibration acceleration signal will be obtained with vibration displacement signal y vibration velocity signal embedded type control module is passed to vibration displacement signal y; Described embedded type control module is to vibration acceleration signal vibration velocity signal carry out algorithm process as described below with vibration displacement signal y and obtain optimal damping value C:

$C=\left\{\begin{array}{c}{C}_1=\left\{\begin{array}{c}{C}_{\max },y\&times;\stackrel{.}{y}>0\&cap;\frac{y}{\stackrel{.}{y}}{C}_k>C_{\max }\\ \frac{y\left(t\right)}{\stackrel{.}{y}\left(t\right)}{C}_k,y\&times;\stackrel{.}{y}>0\&cap;C_{\min }\&le;\frac{y}{\stackrel{.}{y}}{C}_k\&le;C_{\max }\\ C_{\min },y\&times;\stackrel{.}{y}<0\&cup;\frac{y}{\stackrel{.}{y}}{C}_k<C_{\min }\end{array}\right.\\ C_2=\left\{\begin{array}{c}{C}_{\max },\stackrel{..}{y}\&times;\stackrel{.}{y}>0\&cap;\frac{\stackrel{..}{y}}{\stackrel{.}{y}}{C}_m>C_{\max }\\ \frac{\stackrel{..}{y}\left(t\right)}{\stackrel{.}{y}\left(t\right)}{C}_m,\stackrel{..}{y}\&times;\stackrel{.}{y}>0\&cap;C_{\min }\&le;\frac{\stackrel{..}{y}}{\stackrel{.}{y}}{C}_m\&le;C_{\max }\\ C_{\min },\stackrel{..}{y}\&times;\stackrel{.}{y}<0\&cup;\frac{\stackrel{..}{y}}{\stackrel{.}{y}}{C}_m<C_{\min }\end{array}\right.\\ C_{\min }\&le;C_1+C_c+C_2\&le;C_{\max }\end{array}\right.$

Wherein, C _kfor elastic damping coefficient, the amount with rigidity is firm, and its unit is N/m; C _cfor traditional damping constant, the amount with damping is firm, and unit is Ns/m; C _mfor Tuned mass damper coefficient, the amount with quality is firm, and unit is Ns ²/ m, C _minfor the minimum damping value that damper can provide, C _maxfor the maximum damping value that damper can provide, optimal damping value C is exported to controllable damper module by embedded type control module, and the damping parameter of described controllable damper module to mechanical structure system adjusts.

2. controllable damper with virtual composite function as claimed in claim 1, is characterized in that: the control chip of described embedded type control module is single-chip microcomputer.

3. controllable damper with virtual composite function as claimed in claim 1 or 2, is characterized in that: described controllable damper module adopts final controlling element to realize, and described final controlling element is hydraulic actuator.

4. controllable damper with virtual composite function as claimed in claim 3, is characterized in that: described final controlling element is MR fluid shock absorber.