CN105526306B - A kind of broadband flexibility buoyant raft shock-resistant system and its design method - Google Patents
A kind of broadband flexibility buoyant raft shock-resistant system and its design method Download PDFInfo
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- CN105526306B CN105526306B CN201510824424.4A CN201510824424A CN105526306B CN 105526306 B CN105526306 B CN 105526306B CN 201510824424 A CN201510824424 A CN 201510824424A CN 105526306 B CN105526306 B CN 105526306B
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Abstract
The present invention provides a kind of broadband flexibility buoyant raft shock-resistant system and its design methods, the components that upper and lower two sides are connected among them by the raft frame and the fixed bottom plate, by the clamped quadrangle spring of the quadrangle mandril and side mandril and side spring, centre is removable support spring, its move mechanism is that the upper end of the removable support spring is embedded in top sliding slot by top sliding block, the lower end connection motor reducer assembly and bottom end sliding block of the removable support spring, the lead screw pass through the circular hole of the bottom end sliding block and are connected to stepper motor.Vibrational excitation response is applied to the raft frame when test, the design of optimization buoyant raft shock-resistant system is obtained by adjusting spring assembly and arragement construction, structure is simple, dimension is low, is suitable for broadband exciting.
Description
Technical field
The present invention relates to a kind of vibration isolation technique fields, and in particular to a kind of broadband flexibility buoyant raft shock-resistant system and its design
Method.
Background technique
The Sound stealth ability of submarine is one of an important factor for being related to its vitality and fighting capacity, therefore reduces the vibration of submarine
Moving noise level is a very important job.Buoyant raft is to be now widely used for a kind of vibration and noise reducing of various countries' submarine to set
Standby, the high band that it can reduce equipment in ship significantly vibrates the transmitting to hull, but in the effectiveness in vibration suppression and intelligence of low-frequency range
It is not satisfactory in terms of energyization, generalization.Currently, mainly having in the dynamic modeling method of well known buoyant raft shock-resistant system mostly just
Body dynamics modeling method, finite element dynamic modeling method, impedance synthesis modeling and analysis methods, mode impedance synthesis modeling point
Analysis method, matrix modeling and analysis methods based on substitution network etc., the basic thought of multi-rigid body modeling method are by equipment, raft body
And based process is vibration isolator to be handled the elastic damping element for massless, due to its object without the rigid body of elasticity and damping
Clear concept is managed, modeling analysis is convenient, and calculation scale is relatively small, and more importantly it reflects the main spy of system
Sign has very strong engineering practical value.Finite element modeling method is stereoscopic for elasticity by raft based on the elasticity effect for considering raft body
Body carries out finite element division, and equipment is still used as rigid body to handle, compared with multi-rigid body mechanical modeling method, has broadened band system band,
Provide richer high-frequency information.Impedance synthesis modeling method is the impedance and external force based on two subsystems at tie point
Relationship meets principle of stacking this basic thought and carrys out problem analysis, and basic skills is each component part list that will constitute system
Solely consider, describe its respective characteristic with mechanical impedance, then by the connection relationship at each section tie point it is comprehensive obtain it is whole
The impedance equation of a system, to obtain the solution of the dynamics problem of system.Mode impedance synthesis modeling method is in previous impedance
On the basis of analysis method, physical coordinates are replaced using modal coordinate, each physical quantity are indicated with mode amount, by being sat by mode
Mark indicate component impedance matrix be superimposed to obtain sytem matrix, can be convenient in this way according to the system mode coordinate solution acquired come
The dynamic response of computing system arbitrary point.The Structural Dynamics that vibrating isolation system is analyzed based on structure substitution network is actually one
Kind transfer matrix analysis method, describes its characteristic with admittance matrix to each minor structure, then passes through the characteristic of each minor structure
Matrix operation obtains the solution of whole system.
Simultaneously the design of intelligent general type broadband is not implemented in existing buoyant raft shock-resistant system, and buoyant raft shock-resistant system includes configuration
Three design, Dynamic Modeling, Control System Design parts, existing modeling method easily to produce in vibration isolation active control system
Raw Control strain, observed focal point and is not easy to realize the problems such as Design of intelligent controller is complicated, therefore limits active vibration isolation skill
The application of art in practical projects.
Summary of the invention
The application is by providing a kind of broadband flexibility buoyant raft shock-resistant system and its design method, and upper and lower two sides are by the raft
The components that frame and the fixed bottom plate are connected among them, by the clamped quadrangle spring of the quadrangle mandril and side mandril
And side spring, centre are removable support spring, move mechanism is that the upper end of the removable support spring passes through top
Sliding block is embedded in top sliding slot, and the lower end connection motor reducer assembly and bottom end sliding block of the removable support spring are described
Lead screw passes through the circular hole of the bottom end sliding block and is connected to stepper motor.Vibrational excitation response is applied to the raft frame when test,
The design of optimization buoyant raft shock-resistant system is obtained by adjusting spring assembly and arragement construction, structure is simple, and dimension is low, is applicable in
In broadband exciting, solves and be also easy to produce Control strain, observed focal point and intelligent controller design complexity in the prior art
The problem of.
In order to solve the above technical problems, the application is achieved using following technical scheme:
A kind of broadband flexibility buoyant raft shock-resistant system, including raft frame, fixed bottom plate, spring guide, removable support spring,
Quadrangle mandril, side mandril, quadrangle isolation spring, side spring, top sliding slot, bottom end sliding slot, top sliding block, bottom end sliding block,
Decelerating through motor assembly, screw rod, stepper motor, sleeve, be provided in top raft frame and be set to lower section fixation bottom plate
Components for being connected among them, are provided with removable support spring between the raft frame and the fixed bottom plate, described
Spring guide is embedded in the removable support spring, is respectively arranged with four on four sides of the raft frame and the fixed bottom plate
Angle mandril, side mandril, the quadrangle isolation spring are embedded in the quadrangle mandril, and the side spring is embedded in side top
In bar, the bottom surface of the raft frame is provided with top sliding slot, while being provided with bottom on the upper surface of fixed bottom plate corresponding position
Sliding slot is held, the upper end of the removable support spring is provided with spill top sliding block, which is embedded in the top of spill
In sliding slot, the lower end of the removable support spring connects the motor reducer assembly, the motor reducer assembly
Lower end is provided with convex bottom end sliding block, which is embedded in the bottom end sliding slot, is provided with confession among the bottom end sliding block
The circular hole of the wire rod thread connection, described screw rod one end is connected with the stepper motor.
The raft frame and the fixed bottom plate are used to be connected the components between them, to keep integrally-built stabilization
Property, the raft frame and the fixed bottom plate are rectangular slab made of rigid material.
The removable support spring, quadrangle isolation spring, the core component that side spring is this buoyant raft shock-resistant system, are adopted
With the big spring of rigidity, wherein the removable support spring is the spring at entire buoyant raft shock-resistant system center, in the raft frame
It is moved between fixed bottom plate, hammer vibration energy is absorbed with carrying to achieve the purpose that damping, the quadrangle isolation spring is embedded
In the quadrangle mandril, the side spring is embedded in the side mandril, absorbs hammer vibration energy for carrying to reach
To the purpose of damping, the quadrangle mandril and side mandril are the cylindrical rigid body of rod, to limit the quadrangle isolation spring
With the work shift of side spring, to keep the stability of system entirety.
The top sliding slot and the bottom end sliding slot are " recessed " shape sliding slot, and the top sliding slot is the removable support
The top sliding block of spring upper end provides linear sliding trajectory, and the bottom end sliding slot accommodates bottom end sliding block and screw rod, and is the bottom
Sliding block is held to provide sliding trajectory.
The bottom end sliding block is moveable rigid body, drives the decelerating through motor assembly and removable support bullet of the upper end
Spring linear movement in the bottom end sliding slot, wherein the center of wire rod thread connection bottom end sliding block, so that the bottom end is sliding
Block is slided along screw rod, and the stepper motor connects the screw rod, is the powered rotation of screw rod, the decelerating through motor assembly
To control the movement speed of the removable support spring.
Further, which further includes that bearing spider, shaft coupling and fixed bracket, the bearing spider are arranged described
The lower end of the spring guide is arranged in the end of screw rod, the shaft coupling, for connecting the screw rod and the spring guide,
It is allowed to rotate jointly to transmit torque, the bottom end sliding slot, stepper motor, bearing spider are fixed on described by the fixed bracket
On fixed bottom plate, its stability is kept.
Further, which further includes right angle rack, and the right angle rack and sleeve are for fixing and connecting described four
Angle mandril and side mandril.
As a kind of perferred technical scheme, the top sliding block and the top sliding slot clearance fit, the bottom end are sliding
Block and the bottom end sliding slot clearance fit, the spring guide and the mobile support spring clearance fit, the spring guide
With the shaft coupling using being threadedly coupled, the fixed bracket and the bottom end sliding slot are interference fitted, the quadrangle mandril and institute
State quadrangle isolation spring clearance fit, the quadrangle isolation spring, side spring respectively with the sleeve clearance fit.
As a kind of perferred technical scheme, further include gasket, gasket setting the decelerating through motor assembly with
Between the spring guide, to increase the stability of system.
A kind of design method of broadband flexibility buoyant raft shock-resistant system, comprising the following steps:
S1: it is selected according to the magnitude of load of broadband flexibility buoyant raft shock-resistant system, load position floating range and spring public
Formula: n3·k3cosθ·x+(4k1+n2·k2) x=G selection quadrangle isolation spring, side spring, the rigidity for moving support spring
And number, in formula: k1For quadrangle isolation spring rigidity, k2For side spring rate, k3For mobile support spring rigidity, n2For side
Diaphragm flexures number, n3To move support spring number, and enableL is the stroke range of bottom end sliding block, and x is fair
Perhaps spring deflection, G are broadband flexibility buoyant raft shock-resistant system raft frame and gross laden weight amount；
S2: carrying out discretization to the raft frame structure of broadband flexibility buoyant raft shock-resistant system, it is risen in conjunction with support node
Come, is connected with the n lumped mass matrixes with spring and damper to indicate that Buoyant Raft Shock-resistant System structural system, n are greater than 1
Integer；
S3: kinetics equation is establishedIn formula: [M] is inertial matrix, [M]
=diag [m1 m2 … mn-1 mn], [M] is n rank square matrix, and m is the quality size of lumped mass after raft frame discretization, each
Lumped mass is the 1/n of buoyant raft raft frame and load general construction quality, and [P] is damping matrix, [C]=diag [C1 C2 … Cn-1
Cn] be damping matrix coefficient matrix, [K] be stiffness matrix, enableFor rigidity square
Battle array coefficient, [Y] are transposed matrix,For rate matrices,For acceleration matrix, [Y]=[y00 y01 y02 y03 y04 y10
y11 y12 y13 y14 y20 y21 y22 y23 y24 y30 y31 y32 y33 y34 y40 y41 y42 y43 y44]T, wherein yijIt indicates
The displacement that each lumped mass matrix with spring and damper generates during vibration, i, j respectively represent raft frame from
The number of each lumped mass after dispersion, 0≤i≤4,0≤j≤4, [F] are the stress matrix of direction of displacement, [F]=diag [F1
F2 … Fn-1 Fn], wherein F1, F2…FnIndicate each lumped mass matrix with spring and damper on direction of displacement
The power being subject to, [L] are input influence matrix；
S4: the coefficient and transposed matrix [Y] of stiffness matrix [K] are determined, and according to formula [L]=[K] [Y] [F]-1It solves
It inputs influence matrix [L]；
S5: the discrete kinetic model for n point of broadband flexibility buoyant raft raft frame is established；
S6: design of feedback control law[Λ] is pair in formula
Angle constant matrices, [KD] be diagonal constant matrices, dY=Y-0,
Further, the coefficient that stiffness matrix [K] is determined in step S4, specifically comprises the following steps:
S41: quadrangle isolation spring, side spring, the rigidity of removable support spring and number relative parameters setting are arrived
In broadband flexibility buoyant raft shock-resistant system；
S42: finite element analysis computation is carried out to broadband flexibility buoyant raft shock-resistant system structure or mode experiment is tested, is obtained
Intrinsic frequency R；
S43: equation is solved | K-MR2|=0, obtain the coefficient of stiffness matrix [K].
Further, the specific steps of step S5 include:
S51: respectively to each lumped mass matrix carry out force analysis, obtain stiffness matrix [K], damping matrix [P] and
The citation form of mass matrix；
S52: the parameter of damping matrix [P] is directly invested；
S53: input influence matrix [L], stiffness matrix [K], damping matrix [P] are brought into establish in step S1 dynamics
Equation, the kinetics equation after improving.
Compared with prior art, technical solution provided by the present application, the technical effect or advantage having are: structure is simple,
Dimension is low, is suitable for broadband exciting.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of broadband flexibility buoyant raft shock-resistant system of the invention；
Fig. 2 is the structural schematic diagram of broadband flexibility buoyant raft shock-resistant system of the invention；
Fig. 3 is the Structure explosion diagram of broadband flexibility buoyant raft shock-resistant system of the invention；
Fig. 4 is the Structure explosion diagram of broadband flexibility buoyant raft shock-resistant system of the invention；
Fig. 5 is the flow chart of broadband flexibility buoyant raft vibration isolation design method of the invention；
Fig. 6 is the control principle block diagram of broadband flexibility buoyant raft vibration isolation design method and step S6 of the invention.
Specific embodiment
The embodiment of the present application by providing a kind of broadband flexibility buoyant raft shock-resistant system and its design method, upper and lower two sides by
The components that the raft frame and the fixed bottom plate are connected among them, by the quadrangle mandril and side mandril clamped described four
Angle spring and side spring, centre are removable support spring, and move mechanism is that the upper end of the removable support spring is logical
Top sliding block insertion top sliding slot is crossed, the lower end connection motor reducer assembly of the removable support spring and bottom end are sliding
Block, the lead screw pass through the circular hole of the bottom end sliding block and are connected to stepper motor.Apply vibration to the raft frame when test to swash
Response is encouraged, the design of optimization buoyant raft shock-resistant system is obtained by adjusting spring assembly and arragement construction, solves structure letter
List, dimension are low, are suitable for broadband exciting, solve and are also easy to produce Control strain, observed focal point and intelligence in the prior art
The problem of controller design complexity.
In order to better understand the above technical scheme, in conjunction with appended figures and specific embodiments, it is right
Above-mentioned technical proposal is described in detail.
Embodiment
Shown in a kind of broadband flexibility buoyant raft shock-resistant system, as shown in Figure 1, Figure 2, Fig. 3 and Fig. 4, including raft frame 1, fixed bottom
Plate 2, spring guide 3, removable support spring 4, quadrangle mandril 5, side mandril 6, quadrangle isolation spring 7, side spring 8, top
Sliding slot 9, bottom end sliding slot 10, top sliding block 11, bottom end sliding block 12, decelerating through motor assembly 13, screw rod 14, stepper motor 15 are held,
It is provided with the raft frame 1 in top and is used for connected components among them with the fixed bottom plate 2 in lower section is set to, in the raft frame
Removable support spring 4 is provided between 1 and the fixed bottom plate 2, the spring guide 3 is embedded in the removable support spring
In 4, be respectively arranged with quadrangle mandril 5, side mandril 6 on four sides of the raft frame 1 and the fixed bottom plate 2, the quadrangle every
Vibration spring 7 is embedded in the quadrangle mandril 5, and the side spring 8 is embedded in the side mandril 6, and the bottom surface of the raft frame 1 is set
It is equipped with top sliding slot 9, while being provided with bottom end sliding slot 10 on the upper surface of the fixed bottom plate 2 corresponding position, it is described removable
The upper end of support spring 4 is provided with spill top sliding block 11, which is embedded in the top sliding slot 9 of spill, described
The lower end of removable support spring 4 connects the motor reducer assembly 13, and 13 lower end of motor reducer assembly is set
It is equipped with convex bottom end sliding block 12, which is embedded in the bottom end sliding slot 10, is provided among the bottom end sliding block 12
For the circular hole that the screw rod 14 is threadedly coupled, described 14 one end of screw rod is connected with the stepper motor 15.
The raft frame 1 and the fixed bottom plate 2 are used to be connected the components between them, to keep integrally-built stabilization
Property, the raft frame 1 is rectangular slab made of rigid material with the fixed bottom plate 2.
The removable support spring 4, quadrangle isolation spring 7, the core that side spring 8 is this buoyant raft shock-resistant system
Part, using the big spring of rigidity, wherein the removable support spring 4 is the spring at entire buoyant raft shock-resistant system center, in institute
It states and is moved between raft frame 1 and fixed bottom plate 2, hammer vibration energy is absorbed to achieve the purpose that damping, the quadrangle vibration isolation with carrying
Spring 7 is embedded in the quadrangle mandril 5, and the side spring 8 is embedded in the side mandril 6, is swashed for carrying to absorb
Vibration energy is to achieve the purpose that damping, and the quadrangle mandril 5 and side mandril 6 are the cylindrical rigid body of rod, to limit
The work shift of quadrangle isolation spring 7 and side spring 8 is stated, to keep the stability of system entirety.
The top sliding slot 9 is " recessed " shape sliding slot with the bottom end sliding slot 10, and the top sliding slot 9 is described removable
The top sliding block 11 of 4 upper end of support spring provides linear sliding trajectory, and the bottom end sliding slot 10 accommodates bottom end sliding block 12 and screw rod
14, and sliding trajectory is provided for the bottom end sliding block 12.
The bottom end sliding block 12 is moveable rigid body, drives the decelerating through motor assembly 13 of the upper end and moves branch
The linear movement in the bottom end sliding slot 10 of spring 4 is supportted, wherein the screw rod 14 is threadedly coupled the center of bottom end sliding block 12, so that
The bottom end sliding block 12 is slided along screw rod 14, and the stepper motor 15 connects the screw rod 14, for screw rod 14 rotation provide it is dynamic
Power, movement speed of the decelerating through motor assembly 13 to control the removable support spring 4.
Further, which further includes that bearing spider 16, shaft coupling 17 and fixed bracket 18, the bearing spider 16 are set
It sets in the end of the screw rod 14, the lower end of the spring guide 3 is arranged in the shaft coupling 17, for connecting the screw rod 14
With the spring guide 3, it is allowed to rotate jointly to transmit torque, the fixed bracket 18 is electric by the bottom end sliding slot 10, stepping
Machine 15, bearing spider 16 are fixed on the fixed bottom plate 2, keep its stability.
Further, which further includes right angle rack 19, sleeve 20, and the right angle rack 19 and sleeve 20 are for fixing
And connect the quadrangle mandril 5 and side mandril 6.
As a kind of perferred technical scheme, the top sliding block 11 and 9 clearance fit of top sliding slot, the bottom end
Sliding block 12 and 10 clearance fit of bottom end sliding slot, the spring guide 3 and removable 4 clearance fit of support spring, institute
Spring guide 3 is stated with the shaft coupling 17 using being threadedly coupled, the fixed bracket 18 is interference fitted with the bottom end sliding slot 10,
The quadrangle mandril 5 and 7 clearance fit of quadrangle isolation spring, the quadrangle isolation spring 7, side spring 8 respectively with institute
State 20 clearance fit of sleeve.
It as a kind of perferred technical scheme, further include gasket 21, the setting of gasket 21 is combined in the decelerating through motor
Between body 13 and the spring guide 3, to increase the stability of system.
A kind of design method of broadband flexibility buoyant raft shock-resistant system, as shown in Figure 5, comprising the following steps:
S1: it is selected according to the magnitude of load of broadband flexibility buoyant raft shock-resistant system, load position floating range and spring public
Formula: n3·k3cosθ·x+(4k1+n2·k2) x=G selection quadrangle isolation spring, side spring, the rigidity for moving support spring
And number, in formula: k1For quadrangle isolation spring rigidity, k2For side spring rate, k3For mobile support spring rigidity, n2For side
Diaphragm flexures number, n3To move support spring number, and enableL is the stroke range of bottom end sliding block, and x is fair
Perhaps spring deflection, G are broadband flexibility buoyant raft shock-resistant system raft frame and gross laden weight amount；
S2: carrying out discretization to the raft frame structure of broadband flexibility buoyant raft shock-resistant system, it is risen in conjunction with support node
Come, is connected with the n lumped mass matrixes with spring and damper to indicate that Buoyant Raft Shock-resistant System structural system, n are greater than 1
Integer；
S3: kinetics equation is establishedIn formula: [M] is inertial matrix, [M]
=diag [m1 m2 … mn-1 mn], [M] is n rank square matrix, and m is the quality size of lumped mass after raft frame discretization, each
Lumped mass is the 1/n of buoyant raft raft frame and load general construction quality, and [P] is damping matrix, [C]=diag [C1 C2 … Cn-1
Cn] be damping matrix coefficient matrix, [K] be stiffness matrix, enableFor rigidity square
Battle array coefficient, [Y] are transposed matrix,For rate matrices,For acceleration matrix,
[Y]=[y00 y01 y02 y03 y04 y10 y11 y12 y13 y14 y20 y21 y22 y23 y24 y30 y31 y32 y33
y34 y40 y41 y42 y43 y44]T,
Wherein, yijIndicate the position that each lumped mass matrix with spring and damper generates during vibration
It moves, i, j respectively represent the number of each lumped mass after raft frame discretization, and 0≤i≤4,0≤j≤4, [F] is direction of displacement
Stress matrix, [F]=diag [F1 F2 … Fn-1 Fn], wherein F1, F2…FnIndicate each with spring and damper
The power that lumped mass matrix is subject on direction of displacement, [L] are input influence matrix；
S4: the coefficient and transposed matrix [Y] of stiffness matrix [K] are determined, and according to formula [L]=[K] [Y] [F]-1It solves
It inputs influence matrix [L]；
S5: the discrete kinetic model for n point of broadband flexibility buoyant raft raft frame is established；
S6: design of feedback control law[Λ] is pair in formula
Angle constant matrices, [KD] it is diagonal constant matrices, [Λ]=diag [5 5 ... 5 5], [KD]=diag [100 100 ... 100
100], dY=Y-0, dY=Y-0,
Further, the coefficient that stiffness matrix [K] is determined in step S4, specifically comprises the following steps:
S41: quadrangle isolation spring, side spring, the rigidity of removable support spring and number relative parameters setting are arrived
In broadband flexibility buoyant raft shock-resistant system；
S42: finite element analysis computation is carried out to broadband flexibility buoyant raft shock-resistant system structure or mode experiment is tested, is obtained
Intrinsic frequency R；
S43: equation is solved | K-MR2|=0, obtain the coefficient of stiffness matrix [K].
Further, the specific steps of step S5 include:
S51: respectively to each lumped mass matrix carry out force analysis, obtain stiffness matrix [K], damping matrix [P] and
The citation form of mass matrix；
S52: the parameter of damping matrix [P] is directly invested；
S53: input influence matrix [L], stiffness matrix [K], damping matrix [P] are brought into establish in step S1 dynamics
Equation, the kinetics equation after improving.
In above-described embodiment of the application, by providing a kind of broadband flexibility buoyant raft shock-resistant system and its design method,
The components that upper and lower two sides are connected among them by the raft frame and the fixed bottom plate, by the quadrangle mandril and side mandril
The clamped quadrangle spring and side spring, centre are removable support spring, and move mechanism is the removable support bullet
The upper end of spring is embedded in top sliding slot by top sliding block, and the lower end of the removable support spring connects motor reducer assembly
And bottom end sliding block, the lead screw pass through the circular hole of the bottom end sliding block and are connected to stepper motor.The raft frame is applied when test
Add vibrational excitation to respond, the design of optimization buoyant raft shock-resistant system, structure are obtained by adjusting spring assembly and arragement construction
Simply, dimension is low, is suitable for broadband exciting.
It should be pointed out that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
Variation, modification, addition or the replacement that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (7)
1. a kind of broadband flexibility buoyant raft shock-resistant system, which is characterized in that including raft frame (1), fixed bottom plate (2), spring guide
(3), support spring (4), quadrangle mandril (5), side mandril (6), quadrangle isolation spring (7), side spring (8), top are moved
Hold sliding slot (9), bottom end sliding slot (10), top sliding block (11), bottom end sliding block (12), motor reducer assembly (13), screw rod
(14), stepper motor (15), sleeve (20), shaft coupling (17) and fixed bracket (18), be provided in top raft frame (1) and
Components of the fixation bottom plate (2) of lower section for being connected among them are set to, in the raft frame (1) and the fixed bottom plate
(2) it is provided between spring guide (3), the spring guide (3) is embedded in the removable support spring (4), in the raft
Four sides of frame (1) and the fixed bottom plate (2) are respectively arranged with quadrangle mandril (5), side mandril (6), the quadrangle vibration isolation bullet
Spring (7) is embedded in the quadrangle mandril (5), and the side spring (8) is embedded in the side mandril (6), the raft frame (1)
Bottom surface is provided with top sliding slot (9), while being provided with bottom end sliding slot on the upper surface of the fixed bottom plate (2) corresponding position
(10), the upper end of the removable support spring (4) is provided with spill top sliding block (11), which is embedded in recessed
In the top sliding slot (9) of shape, the lower end of the removable support spring (4) connects the motor reducer assembly (13), institute
It states motor reducer assembly (13) lower end and is provided with convex bottom end sliding block (12), which is embedded in the bottom end
In sliding slot (10), the circular hole being threadedly coupled for the screw rod (14), the screw rod (14) are provided among the bottom end sliding block (12)
One end is connected with the stepper motor (15)；Top sliding block (11) and top sliding slot (9) clearance fit, bottom end sliding block (12)
With bottom end sliding slot (10) clearance fit, spring guide (3) and removable support spring (4) clearance fit, spring are led
Bar (3) is with shaft coupling (17) using being threadedly coupled, and fixed bracket (18) and bottom end sliding slot (10) are interference fitted, quadrangle mandril (5)
With quadrangle isolation spring (7) clearance fit, quadrangle isolation spring (7), side spring (8) are matched with the sleeve (20) gap respectively
It closes.
2. broadband flexibility buoyant raft shock-resistant system according to claim 1, which is characterized in that further include bearing spider
(16), bearing spider (16) setting is led in the end of the screw rod (14), shaft coupling (17) setting in the spring
The lower end of bar (3) is allowed to rotate jointly to transmit torque for connecting the screw rod (14) and the spring guide (3), described
The bottom end sliding slot (10), stepper motor (15), bearing spider (16) are fixed on the fixed bottom plate (2) by fixed bracket (18)
On, keep its stability.
3. broadband flexibility buoyant raft shock-resistant system according to claim 1, which is characterized in that further include right angle rack
(19), the right angle rack (19) and sleeve (20) are for fixing and connecting the quadrangle mandril (5) and side mandril (6).
4. broadband flexibility buoyant raft shock-resistant system according to claim 1, which is characterized in that further include gasket (21), institute
It states gasket (21) to be arranged between the motor reducer assembly (13) and the spring guide (3), to increase the steady of system
It is qualitative.
5. the design method of broadband flexibility buoyant raft shock-resistant system as described in claim 1, which is characterized in that including following step
It is rapid:
S1: formula is selected according to the magnitude of load of broadband flexibility buoyant raft shock-resistant system, load position floating range and spring:
n3·k3cosθ·x+(4k1+n2·k2) x=G selection quadrangle isolation spring, side spring, removable support spring rigidity and
Number, in formula: k1For quadrangle isolation spring rigidity, k2For side spring rate, k3To move support spring rigidity, n2For side
Diaphragm flexures number, n3To move support spring number, and enableL is the stroke range of bottom end sliding block, and x is fair
Perhaps spring deflection, G are broadband flexibility buoyant raft shock-resistant system raft frame and gross laden weight amount；
S2: discretization is carried out to the raft frame structure of broadband flexibility buoyant raft shock-resistant system, it is combined with support node, is used
The n lumped mass matrixes with spring and damper are connected to indicate that Buoyant Raft Shock-resistant System structural system, n are the integer greater than 1；
S3: kinetics equation is establishedIn formula: [M] is inertial matrix, [M]=diag
[m1 m2…mn-1 mn], [M] is n rank square matrix, mi(i=1,2 ..., n) is big for the quality of each lumped mass after raft frame discretization
Small, each lumped mass is the 1/n of buoyant raft raft frame and load general construction quality, and [P] is damping matrix, [C]=diag [C1
C2…Cn-1 Cn] be damping matrix coefficient matrix, [K] be stiffness matrix, enable
For stiffness matrix coefficient, [Y] is transposed matrix,For rate matrices,For acceleration matrix,
[Y]=[y00 y01 y02 y03 y04 y10 y11 y12 y13 y14 y20 y21 y22 y23 y24 y30 y31 y32 y33 y34
y40 y41 y42 y43 y44]T, wherein yijIndicate each lumped mass matrix with spring and damper in the process of vibration
The displacement of middle generation, i, j respectively represent the number of each lumped mass after raft frame discretization, and 0≤i≤4,0≤j≤4, [F] is
The stress matrix of direction of displacement, [F]=diag [F1 F2…Fn-1 Fn], wherein F1, F2…FnIndicate each with spring and
The power that the lumped mass matrix of damper is subject on direction of displacement, [L] are input influence matrix；
S4: the coefficient and transposed matrix [Y] of stiffness matrix [K] are determined, and according to formula
[L]=[K] [Y] [F]-1Solve input influence matrix [L]；
S5: the discrete kinetic model for n point of broadband flexibility buoyant raft raft frame is established；
S6: design of feedback control law[Λ] is diagonal normal in formula
Matrix number, [KD] be diagonal constant matrices, dY=Y-0,
6. the design method of broadband flexibility buoyant raft shock-resistant system according to claim 5, which is characterized in that in step S4
The coefficient for determining stiffness matrix [K], specifically comprises the following steps:
S41: by quadrangle isolation spring, side spring, the rigidity of removable support spring and number relative parameters setting to wideband
In the flexible buoyant raft shock-resistant system of band；
S42: carrying out finite element analysis computation to broadband flexibility buoyant raft shock-resistant system structure or mode experiment tested, and obtains intrinsic
Frequency R；
S43: equation is solved | K-MR2|=0, obtain the coefficient of stiffness matrix [K].
7. the design method of broadband flexibility buoyant raft shock-resistant system according to claim 6, which is characterized in that step S5's
Specific steps include:
S51: force analysis is carried out to each lumped mass matrix respectively, obtains stiffness matrix [K], damping matrix [P] and quality
The citation form of matrix；
S52: the parameter of damping matrix [P] is directly invested；
S53: input influence matrix [L], stiffness matrix [K], damping matrix [P] are brought into establish in step S1 dynamics side
Journey, the kinetics equation after improving.
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| CN203395081U (en) * | 2013-07-16 | 2014-01-15 | 浙江海洋学院 | Adjustable buoyant raft vibration isolation device for ocean platform |
| JP2014126072A (en) * | 2012-12-25 | 2014-07-07 | Toyo Glass Logistics Co Ltd | Movable body |
| JP2014141825A (en) * | 2013-01-24 | 2014-08-07 | Starts Cam Kk | Vibration control building and design method for the same |
| CN204226542U (en) * | 2014-09-18 | 2015-03-25 | 中国地震局工程力学研究所 | Comprise the three-dimensional shock isolation pedestal of spring damping guide rod device |
| CN104791412A (en) * | 2015-04-08 | 2015-07-22 | 江苏数字鹰科技发展有限公司 | Unmanned aerial vehicle sensor and equipment damping platform |
| CN205423676U (en) * | 2015-11-24 | 2016-08-03 | 沈阳航空航天大学 | Flexible buoyant raft vibration isolation system of broadband |
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| JP2014126072A (en) * | 2012-12-25 | 2014-07-07 | Toyo Glass Logistics Co Ltd | Movable body |
| JP2014141825A (en) * | 2013-01-24 | 2014-08-07 | Starts Cam Kk | Vibration control building and design method for the same |
| CN203395081U (en) * | 2013-07-16 | 2014-01-15 | 浙江海洋学院 | Adjustable buoyant raft vibration isolation device for ocean platform |
| CN204226542U (en) * | 2014-09-18 | 2015-03-25 | 中国地震局工程力学研究所 | Comprise the three-dimensional shock isolation pedestal of spring damping guide rod device |
| CN104791412A (en) * | 2015-04-08 | 2015-07-22 | 江苏数字鹰科技发展有限公司 | Unmanned aerial vehicle sensor and equipment damping platform |
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