CN104179868A - Active and passive integrated electromagnetic vibration isolation device - Google Patents
Active and passive integrated electromagnetic vibration isolation device Download PDFInfo
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- CN104179868A CN104179868A CN201410360150.3A CN201410360150A CN104179868A CN 104179868 A CN104179868 A CN 104179868A CN 201410360150 A CN201410360150 A CN 201410360150A CN 104179868 A CN104179868 A CN 104179868A
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Abstract
The invention relates to an electromagnetic vibration isolation device, particularly to an active and passive integrated electromagnetic vibration isolation device, and solves the problems that passive vibration isolators are larger in size and poor in isolation effect on low-frequency vibration and active vibration isolators are low in reliability. A linear bearing is vertically arranged on the upper end surface of a permanent magnet; an upper magnet yoke is located on the upper end surface of the permanent magnet, and the linear bearing is sleeved with the upper magnet yoke; a plate-shaped spring is arranged above an outer magnet yoke through an upper cylinder and a lower cylinder; an upper cover is arranged above the plate-shaped spring; a coil frame is in an inverted drum shape; the lower end of a stud penetrates through a central hole of the plate-shaped spring and is in threaded connection with the coil frame; the middle of the stud is in threaded connection through a nut; the nut is located on the upper end surface of the plate-shaped spring; the upper end surface of a cylindrical guide rail is fixedly mounted on the lower end surface of the stud, and the lower part of the cylindrical guide rail is located in the linear bearing; a coil winds round the lower part of the coil frame and is located in an annular gap. The device is used for isolating vibration transmission between an aircraft and an effective load at an in-orbit operation stage.
Description
Technical field
The present invention relates to a kind of electromagnetism isolation mounting, the stage is transmitted the electromagnetism isolation mounting of being isolated to the vibration between aircraft and useful load to be in orbit specifically related to a kind of spacecraft.
Background technique
Spacecraft is mounted with highi degree of accuracy remote sensing and the detecting devices very responsive to micro-vibration conventionally, requires support platform to have stable mechanical environment.And the power equipment that aircraft carries and the vibration acceleration of the vibration interference of useful load and instrument and equipment and the dynamic response of the spacecraft structure that various disturbance factor causes will cause the micro-vibration of aircraft, affect pointing accuracy, stability and the image quality of useful load.As the vibration of 10 microns in space is equivalent to the range error of 500km on ground.For avoiding the useful load of spacecraft carrying owing to being subject to the vibration that External Force Acting causes to cause normally working, conventionally between aircraft and useful load, add isolation mounting, isolate as far as possible the vibration of various moving elements on aircraft to the transmission of useful load.Vibration isolator has just had very great meaning in addition in this case.Traditional common volume of passive vibration isolation device is larger, not good enough to the isolation effect of low-frequency vibration; Active vibration insulator effect is better, but exists the problems such as reliability is low, once control system breaks down, vibration isolator will total failure.
To sum up, passive vibration isolation device is long-pending large, not good enough and active vibration insulator reliability is low to the isolation effect of low-frequency vibration.
Summary of the invention
The present invention for solve passive vibration isolation device exist long-pending large, to the isolation effect of low-frequency vibration there is the problem that reliability is low in not good enough and active vibration insulator, and then provides a kind of active-passive integrated formula electromagnetism isolation mounting.
The present invention solves the problems of the technologies described above the technological scheme of taking to be:
Active-passive integrated formula electromagnetism isolation mounting of the present invention comprises permanent magnet, lower yoke, outer yoke, upper magnet yoke, upper cover, lower cylinder, linear bearing, plate-shaped springs, coil, coil carrier, double-screw bolt, cylindrical guide and two upper cylinders, outer yoke is tubular, lower yoke is packed on the lower end surface of outer yoke, permanent magnet is positioned on the upper-end surface of lower yoke, linear bearing is vertically arranged on permanent magnet upper-end surface, upper magnet yoke is positioned on permanent magnet upper-end surface and is sleeved on linear bearing, plate-shaped springs is arranged between two upper cylinders, upper cylinder, lower cylinder is successively set on the upper-end surface of outer yoke, upper cover is arranged on the top of plate-shaped springs, it is barrel-shaped that coil carrier is inversion, the lower end of double-screw bolt is passed the center hole of plate-shaped springs and is threaded with coil carrier, the middle part of double-screw bolt connects by nut thread, described nut is positioned on the upper-end surface of plate-shaped springs, the upper-end surface of cylindrical guide is packed on the lower end surface of double-screw bolt, the bottom of cylindrical guide is positioned at linear bearing, between upper magnet yoke and outer yoke, form annular space, the bottom of coil carrier is wound with coil, coil is positioned at place, annular space.
The invention has the beneficial effects as follows:
The coil carrier of active-passive integrated formula electromagnetism isolation mounting of the present invention is cylindrical structure, coil carrier part as mover together with coil moves vertically, place, annular space radially direct uniform magnetic field, coil carrier is when doing cutting magnetic induction line motion, coil carrier is inner can produce inducing eddy-current, foucault current is subject to revolting the magnetic force of relative movement simultaneously, produces damping function; Coil carrier is also born the effect of winding around simultaneously, compares with passive vibration isolation device, has greatly reduced the volume of isolation mounting;
Active-passive integrated formula electromagnetism isolation mounting of the present invention is compared with active vibration insulator, the amplitude of the first natural frequency that passive damping of the present invention can be introduced its support stiffness when master control Actuators Failures is controlled at reduced levels, has greatly strengthened the reliability of system.
Accompanying drawing explanation
Fig. 1 is that the master of active-passive integrated formula electromagnetism isolation mounting of the present invention looks sectional view, Fig. 2 is the plan view of plate-shaped springs 9 in embodiment one, Fig. 3 is that the master of upper cover 22 in embodiment 7 looks sectional view, Fig. 4 is the hardware system pie graph of active-passive integrated formula electromagnetism isolation mounting of the present invention, and Fig. 5 is the state feedback control system flow chart based on state observer.
Embodiment
Embodiment one: as shown in Fig. 1～4, the active-passive integrated formula electromagnetism isolation mounting of present embodiment comprises permanent magnet 1, lower yoke 3, outer yoke 4, upper magnet yoke 5, upper cover 22, lower cylinder 8, linear bearing 2, plate-shaped springs 9, coil 21, coil carrier 6, double-screw bolt 11, cylindrical guide 16 and two upper cylinders 12, outer yoke 4 is tubular, lower yoke 3 is packed on the lower end surface of outer yoke 4, permanent magnet 1 is positioned on the upper-end surface of lower yoke 3, linear bearing 2 is vertically arranged on permanent magnet 1 upper-end surface, upper magnet yoke 5 is positioned on permanent magnet 1 upper-end surface and is sleeved on linear bearing 2, plate-shaped springs 9 is arranged between two upper cylinders 12, upper cylinder 12, lower cylinder 8 is successively set on the upper-end surface of outer yoke 4, upper cover 22 is arranged on the top of plate-shaped springs 9, it is barrel-shaped that coil carrier 6 is inversion, the lower end of double-screw bolt 11 is passed the center hole of plate-shaped springs 9 and is threaded with coil carrier 6, the middle part of double-screw bolt 11 is threaded by nut 19, described nut 19 is positioned on the upper-end surface of plate-shaped springs 9, the upper-end surface of cylindrical guide 16 is packed on the lower end surface of double-screw bolt 11, the bottom of cylindrical guide 16 is positioned at linear bearing 2, between upper magnet yoke 5 and outer yoke 4, form annular space, the bottom of coil carrier 6 is wound with coil 21, coil 21 is positioned at place, annular space.
Nut 19 is for fixed coil frame 6;
Permanent magnet 1 of the present invention, lower yoke 3, outer yoke 4, upper magnet yoke 5, coil 21 and coil carrier 6 form electromagnetic actuator, i.e. active actuators.Enameled wire loop uniform winding is on coil carrier 6, and in wire, sense of current is vertical between two with coil movement direction with magnetic induction line direction approx.While having electric current to pass through in coil, according to Ampere force principle, coil can be subject to the electromagnetic force being directly proportional with electric current, current direction is parallel with final controlling element medial axis, by controlling the size of electric current, can realize the real-time control to being used as power.
Permanent magnet 1 of the present invention, lower yoke 3, outer yoke 4, upper magnet yoke 5 and coil carrier 6 form inducing eddy-current damper, i.e. passive damping device.When double-screw bolt 11 drives the relative permanent magnet of coil carrier 6 and yoke motion, coil carrier is inner can produce inducing eddy-current, and foucault current is subject to revolting the Ampere force of relative movement simultaneously, produces damping function.
The present invention adopts acceleration transducer, current sensor, controller, power amplifier etc. to form unidirectional acceleration and currrent feedback with integrative vibration isolation device.During equipment work, acceleration and current sensor can convert via charge amplifier the AD input end that voltage signal is transferred to controller to by collection signal.This feedback signal obtains the estimated value of real system state and multiplies each other with compensation matrix through the state observation link in controller, controlled signal, by DA Out let, output to power amplifier, and finally output to the power interface of integral type vibration isolator, realize the real-time control to vibration isolation object vibrational state.Compensation matrix is to be calculated by control algorithm according to the dynamic response of whole system, for considering that passive damping is at interior optimal control algorithm, therefore the vibration isolating effect of integral body belongs to initiatively the result with passive part collaborative work during active actuators work.
Embodiment two: the radial rigidity of present embodiment plate-shaped springs 9 is far longer than the axial rigidity of plate-shaped springs 9.So design, can, to being provided support rigidity by isolation mounting, make to be moved in the scope of engine request by the resonant frequency of isolation mounting.Other composition and annexation are identical with embodiment one.
Embodiment three: the thickness range of present embodiment plate-shaped springs 9 is 0.2～1mm.So design, chooses suitable one-tenth-value thickness 1/10 according to Practical Project to the rigidity requirement of dynamic system.Other composition and annexation are identical with embodiment one or two.
Embodiment four: as shown in Figure 1, present embodiment permanent magnet 1 is cylindrical shape, and the diameter of permanent magnet 1 is greater than the height of permanent magnet 1.So design, magnetic induction line forms uniform radioactivity magnetic field via the place, Bing annular space, yoke closed-loop path of soft iron material.Other composition and annexation are identical with embodiment three.
Embodiment five: as shown in Figure 1, be along the circumferential direction processed with annular groove on present embodiment coil carrier 6 lower outside walls, coil 21 is wrapped on annular groove.So arrange, coil carrier 6 is passive eddy current damper, can also winding around when pumping in magnetic field.Other composition and annexation are identical with embodiment one, two or four.
Embodiment six: as shown in Figure 1, present embodiment permanent magnet 1 is Nd-Fe-B permanent magnet.Other composition and annexation are identical with embodiment five.
Embodiment seven: as shown in Figure 3, present embodiment upper cover 22 comprises limited ring 23, damping spring 13, two limit spring 14 and two limiting boards 15, limiting board 15 is disc-shape, on limiting board 15, be processed with central through bore, one end face of limiting board 15 is processed with circular arc concave surface, limited ring 23 is between two limiting boards 15, the circular arc concave surface of two limiting boards 15 is oppositely arranged on the top of electromagnetism vibration isolator, damping spring 13 and two limit spring 14 are positioned at the space that two limiting boards 15 form, damping spring 13 is arranged on the double-screw bolt 11 of electromagnetism vibration isolator by two limit spring 14, two limiting boards 15 are installed on double-screw bolt 11 and two limiting boards 15 do not contact with double-screw bolt 11.So design, two limiting boards are fixed on the top of electromagnetism vibration isolator, damping spring is arranged on the double-screw bolt of electromagnetism vibration isolator by two limit spring, damping spring is along with the mover of vibration isolator together moves, when electromagnetism vibration isolator is subject to compared with strong impact force, damping spring edge first touches the surface of contact of limiting board, along with the continuous increase of the relative displacement of vibration isolator mover, the contact face radius of damping spring and limiting board is more and more less, and rigidity is increasing; When the relative displacement of vibration isolator mover reaches design limit; limit spring contacts completely with the surface of contact of limiting board; great rigidity is provided; thereby stop mover to continue relative movement; while effectively protecting electromagnetism vibration isolator to be subject to greater impact load, displacement exceeds design runlength and causes electromagnetism vibration isolator permanent damages, and the present invention can provide by little and large stiffness variable impact and cushion and limit maximum displacement.Other composition and annexation are identical with embodiment one, two, four or six.
Claims (7)
1. an active-passive integrated formula electromagnetism isolation mounting, is characterized in that: described electromagnetism isolation mounting comprises permanent magnet (1), lower yoke (3), outer yoke (4), upper magnet yoke (5), upper cover (22), lower cylinder (8), linear bearing (2), plate-shaped springs (9), coil (21), coil carrier (6), double-screw bolt (11), cylindrical guide (16) and two upper cylinders (12), outer yoke (4) is tubular, lower yoke (3) is packed on the lower end surface of outer yoke (4), permanent magnet (1) is positioned on the upper-end surface of lower yoke (3), linear bearing (2) is vertically arranged on permanent magnet (1) upper-end surface, upper magnet yoke (5) is positioned on permanent magnet (1) upper-end surface and is sleeved on linear bearing (2), plate-shaped springs (9) is arranged between two upper cylinders (12), upper cylinder (12), lower cylinder (8) is successively set on the upper-end surface of outer yoke (4), upper cover (22) is arranged on the top of plate-shaped springs (9), it is barrel-shaped that coil carrier (6) is inversion, the lower end of double-screw bolt (11) is passed the center hole of plate-shaped springs (9) and is threaded with coil carrier (6), the middle part of double-screw bolt (11) connects by nut thread, described nut is positioned on the upper-end surface of plate-shaped springs (9), the upper-end surface of cylindrical guide (16) is packed on the lower end surface of double-screw bolt (11), the bottom of cylindrical guide (16) is positioned at linear bearing (2), between upper magnet yoke (5) and outer yoke (4), form annular space, the bottom of coil carrier (6) is wound with coil (21), coil (21) is positioned at place, annular space.
2. active-passive integrated formula electromagnetism isolation mounting according to claim 1, is characterized in that: the radial rigidity of plate-shaped springs (9) is far longer than the axial rigidity of plate-shaped springs (9).
3. active-passive integrated formula electromagnetism isolation mounting according to claim 1 and 2, is characterized in that: the thickness range of plate-shaped springs (9) is 0.2～1mm.
4. active-passive integrated formula electromagnetism isolation mounting according to claim 3, is characterized in that: permanent magnet (1) is cylindrical shape, and the diameter of permanent magnet (1) is greater than the height of permanent magnet (1).
5. according to the active-passive integrated formula electromagnetism isolation mounting described in claim 1,2 or 4, it is characterized in that: on coil carrier (6) lower outside wall, be along the circumferential direction processed with annular groove, coil (21) is wrapped on annular groove.
6. active-passive integrated formula electromagnetism isolation mounting according to claim 5, is characterized in that: permanent magnet (1) is Nd-Fe-B permanent magnet.
7. according to claim 1, 2, active-passive integrated formula electromagnetism isolation mounting described in 4 or 6, it is characterized in that: upper cover (22) comprises limited ring (23), damping spring (13), two limit spring (14) and two limiting boards (15), limiting board (15) is disc-shape, limiting board is processed with central through bore on (15), one end face of limiting board (15) is processed with circular arc concave surface, limited ring (23) is positioned between two limiting boards (15), the circular arc concave surface of two limiting boards (15) is oppositely arranged on the top of electromagnetism vibration isolator, damping spring (13) and two limit spring (14) are positioned at the space that two limiting boards (15) form, damping spring (13) is arranged on the double-screw bolt (11) of electromagnetism vibration isolator by two limit spring (14), two limiting boards (15) are installed on double-screw bolt (11) above and two limiting boards (15) do not contact with double-screw bolt (11).
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| CN201410360150.3A CN104179868B (en) | 2014-07-25 | 2014-07-25 | Active-passive integrated formula electromagnetism isolation mounting |
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| CN201410360150.3A CN104179868B (en) | 2014-07-25 | 2014-07-25 | Active-passive integrated formula electromagnetism isolation mounting |
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| CN104179868A true CN104179868A (en) | 2014-12-03 |
| CN104179868B CN104179868B (en) | 2016-04-06 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104976271A (en) * | 2015-07-15 | 2015-10-14 | 安徽工程大学 | Damping regulation device suitable for magnetorheological damper |
| CN106224421A (en) * | 2016-08-31 | 2016-12-14 | 西安交通大学 | The inertia-type actuator of a kind of low-frequency compensation and detection method thereof |
| CN106763474A (en) * | 2017-03-14 | 2017-05-31 | 北京控制工程研究所 | A kind of all-metal micro-vibration control device of active-passive integratedization |
| CN109322951A (en) * | 2018-11-12 | 2019-02-12 | 中国矿业大学 | A kind of semi-active vibration-isolating device |
| CN109737162A (en) * | 2018-12-27 | 2019-05-10 | 哈尔滨工业大学 | A kind of electric and magnetic oscillation recovers energy tuned mass damper |
| CN109737163A (en) * | 2019-02-25 | 2019-05-10 | 株洲时代新材料科技股份有限公司 | A kind of moving-coil type actuator for Active engine mount |
| CN110439961A (en) * | 2019-07-19 | 2019-11-12 | 中国船舶重工集团公司第七一九研究所 | A kind of reluctance type electromagnetism active-passive integratedization composite vibration isolator |
| CN114499095A (en) * | 2022-04-06 | 2022-05-13 | 哈尔滨工业大学（威海） | Electromagnetic actuator for spacecraft active vibration isolation platform |
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| CN102011822A (en) * | 2010-10-20 | 2011-04-13 | 哈尔滨工程大学 | Hybrid vibration isolator |
| CN202301687U (en) * | 2011-10-10 | 2012-07-04 | 陈先伟 | Low-frequency vibration isolation platform |
| CN102748425A (en) * | 2012-06-15 | 2012-10-24 | 中国人民解放军海军工程大学 | Driving-driven hybrid vibration isolator |
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| JP2006300263A (en) * | 2005-04-22 | 2006-11-02 | Sharp Corp | Vibration damper and stirling engine with the same |
| CN102011822A (en) * | 2010-10-20 | 2011-04-13 | 哈尔滨工程大学 | Hybrid vibration isolator |
| CN202301687U (en) * | 2011-10-10 | 2012-07-04 | 陈先伟 | Low-frequency vibration isolation platform |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104976271A (en) * | 2015-07-15 | 2015-10-14 | 安徽工程大学 | Damping regulation device suitable for magnetorheological damper |
| CN106224421A (en) * | 2016-08-31 | 2016-12-14 | 西安交通大学 | The inertia-type actuator of a kind of low-frequency compensation and detection method thereof |
| CN106224421B (en) * | 2016-08-31 | 2018-04-03 | 西安交通大学 | The inertia-type actuator and its detection method of a kind of low-frequency compensation |
| CN106763474A (en) * | 2017-03-14 | 2017-05-31 | 北京控制工程研究所 | A kind of all-metal micro-vibration control device of active-passive integratedization |
| CN106763474B (en) * | 2017-03-14 | 2018-12-21 | 北京控制工程研究所 | A kind of all-metal micro-vibration control device of active-passive integratedization |
| CN109322951B (en) * | 2018-11-12 | 2023-05-26 | 中国矿业大学 | Semi-active vibration isolation device |
| CN109322951A (en) * | 2018-11-12 | 2019-02-12 | 中国矿业大学 | A kind of semi-active vibration-isolating device |
| CN109737162A (en) * | 2018-12-27 | 2019-05-10 | 哈尔滨工业大学 | A kind of electric and magnetic oscillation recovers energy tuned mass damper |
| CN109737163B (en) * | 2019-02-25 | 2020-12-15 | 株洲时代新材料科技股份有限公司 | Moving coil type actuator for engine active suspension |
| CN109737163A (en) * | 2019-02-25 | 2019-05-10 | 株洲时代新材料科技股份有限公司 | A kind of moving-coil type actuator for Active engine mount |
| CN110439961A (en) * | 2019-07-19 | 2019-11-12 | 中国船舶重工集团公司第七一九研究所 | A kind of reluctance type electromagnetism active-passive integratedization composite vibration isolator |
| CN114499095A (en) * | 2022-04-06 | 2022-05-13 | 哈尔滨工业大学（威海） | Electromagnetic actuator for spacecraft active vibration isolation platform |
| CN114499095B (en) * | 2022-04-06 | 2023-05-09 | 哈尔滨工业大学（威海） | Electromagnetic actuator for active vibration isolation platform of spacecraft |
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| CN104179868B (en) | 2016-04-06 |
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