CN106151363A - A kind of intelligent negative stiffness method and apparatus not carrying static load - Google Patents
A kind of intelligent negative stiffness method and apparatus not carrying static load Download PDFInfo
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- CN106151363A CN106151363A CN201610185973.6A CN201610185973A CN106151363A CN 106151363 A CN106151363 A CN 106151363A CN 201610185973 A CN201610185973 A CN 201610185973A CN 106151363 A CN106151363 A CN 106151363A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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Abstract
nullThe present invention provides a kind of intelligent negative stiffness method and apparatus not carrying static load，This method and device are based on the passive negative stiffness element with power transmission shaft、For controlling enabling element and disabling element of passive negative stiffness element keying，For changing passive negative stiffness position of components or the motor of propeller shaft length，The sensor of born static load in element is born on static load structure or spring for measuring outside，Element is enabled for receiving sensor signal control、Disable element、The controller that motor opens and closes，Use passive negative stiffness technology and dead load isolation technology，Directly or indirectly connect outside by passive negative stiffness element and bear element on static load structure or spring、Element under ground or spring，Change passive negative stiffness position of components or propeller shaft length，Reach to offset and outside bear element on static load structure or spring and fall the purpose of static load on passive negative stiffness element，Passive negative stiffness element is made not carry static load.
Description
Technical field
The present invention relates to vibration control field, a kind of intelligent negative stiffness method not carrying static load and
Device.
Background technology
Dynamic loads can cause a lot of harm, the little comfort level to vehicle, caves in the structural failure that earthquake causes greatly.
For the strong vibration how protected caused by agent structure opposing dynamic loads, various vibration control technologies arise at the historic moment.Vibration
Control technology can be roughly divided into Passive Mode, half aggressive mode and aggressive mode three major types.Vibration control according to this three major types
Technology processed, people have invented the various antivibrator for alleviating agent structure vibration, such as viscous damping fluid device, viscoelastic
Property antivibrator, metallic damper, frcition damper, tuned mass damper, magnetorheological (magnetorheology, MR)
Antivibrator, variable orifice antivibrator, variable friction dampers and active mass dampor etc..
Various antivibrator has been widely used in building, machinery and aerospace field.Compared to passively controlling technology,
Half actively often can obtain more preferable vibration control effect with active control technology.In active control technology, linear quadratic
Actuator (LQR) algorithm, as a kind of commonly used theory of optimal control, can produce one and have notable negative stiffness characteristic
Damping force-deformation relationship.This conclusion excites research worker and seeks one and can produce identical as active damper
Hysteretic characteristic and reach identical control performance passive type negative stiffness device (negative-stiffness device,
NSD)。
At present, the advantage of negative stiffness device is verified in practical application area, such as field of civil engineering
In, by building and the bridge of ground motion effect, the seat in mechanical engineering field, suspension, and sensitive equipment
Vibration-free tables etc..Although the superiority that negative stiffness device is in vibration control field has been obtained for checking, but does not obtains yet extensively should
With, its reason is as follows:
1, the negative stiffness device of half aggressive mode needs according to its protection structure specialized designs control algolithm and rule, typically
Do not possesses generalization；
2, the installation of the negative stiffness of passive form can cause the decline of system stiffness (including static and dynamic), at static charge
When load changes, the response that this change causes can be amplified, reduce the stability of system.
For above-mentioned reason, passive negative stiffness technology and dead load isolation technology, design one is used not to carry static load
The intelligent negative stiffness method and apparatus of lotus.
Summary of the invention
The technical assignment of the present invention is to solve the deficiencies in the prior art, it is provided that a kind of intelligence not carrying static load is born
Stiffness method.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of intelligent negative stiffness method not carrying static load, the method is based on the passive negative stiffness unit with power transmission shaft
Part, for controlling enabling element and disabling element of passive negative stiffness element keying, is used for changing passive negative stiffness position of components
Or the motor of propeller shaft length, bear on static load structure or spring the biography of born static load in element for measuring outside
Sensor, for receiving sensor signal and controlling the controller that motor opens and closes, wherein, passive negative stiffness element has negative spring system
Number, and the negative spring constant absolute value of passive negative stiffness element is not more than, and support is outside bears element on static load structure or spring
Positive spring constant；
And on the installing frame in passive negative stiffness element, setting disables element, bears static load structure or spring in outside
In upper element, both motors, any structure enables element, to control passive negative stiffness element with the junction point setting of power transmission shaft
Open and close；
Above-mentioned passive negative stiffness element and motor are arranged at outside bear on static load structure or spring below element,
Under face or spring above element, controller is for receiving sensor signal and controlling the operating of motor, to bear static load in outside
When carrying static load on element in lotus structure or spring, received from the signal of sensor by controller and control motor and change
Become passive negative stiffness position of components or propeller shaft length, it is achieved counteracting outside is born element on static load structure or spring and fallen at quilt
The purpose of static load on dynamic negative stiffness element；
Controller noted above is by enabling element and disabling the keying of the element passive negative stiffness element of control: open when enabling element
Opening, when disabling element closedown, it is direct that element in static load structure or spring is born in the power transmission shaft of passive negative stiffness element and outside
Connect, or the power transmission shaft of passive negative stiffness element and outside bear on static load structure or spring element by between motor in succession
Connecing, passive negative stiffness element enables；When enable element close, disable element open time, the power transmission shaft of passive negative stiffness element with
Outside is born element on static load structure or spring and is unclamped, or unclamps between the power transmission shaft of passive negative stiffness element and motor.
On the basis of the above, described passive negative stiffness element includes installing frame and passive negative stiffness component body, described peace
Being provided with on framing up and disable element, described passive negative stiffness component body is fixedly connected on inside installing frame, and passive negative stiffness
Having power transmission shaft on component body, this power transmission shaft is upward through the element that disables of installing frame and is directly connected in outside and bears static load
Element in lotus structure or spring, and enable element and be arranged on power transmission shaft and bear the connection of element on static load structure or spring with outside
Point, is indirectly coupled to element under ground or spring by motor bottom installing frame.Unit in static load structure or spring is born in outside
When carrying static load on part, receive the signal from sensor by controller, control enable element and disable opening of element
Close and motor rotation, make motor action to change passive negative stiffness position of components, it is achieved offset the outside static load that bears and tie
On structure or spring, element falls the purpose of static load on passive negative stiffness element.
On the basis of the above, described passive negative stiffness element includes installing frame and passive negative stiffness component body, described peace
Being provided with on framing up and disable element, described passive negative stiffness component body is fixedly connected on inside installing frame, and passive negative stiffness
Having power transmission shaft on component body, this power transmission shaft is upward through the element that disables of installing frame and is indirectly coupled to outside by motor and holds
By element on static load structure or spring, and enable element and be arranged on the junction point of power transmission shaft and motor, bottom installing frame directly
It is connected to element under ground or spring.Bear in static load structure or spring when carrying static load on element in outside, by control
Device processed receives the signal from sensor, controls enable element and disable keying and the motor rotation of element, makes motor action
Change passive negative stiffness position of components, it is achieved counteracting outside is born element on static load structure or spring and fallen at passive negative stiffness
The purpose of static load on element.
Based on said method, the present invention also provides for a kind of intelligent negative stiffness device not carrying static load.
A kind of intelligent negative stiffness device not carrying static load, its structure includes passive negative stiffness element, motor, sensing
Device and controller, passive negative stiffness element has negative spring constant, and the negative spring constant absolute value of passive negative stiffness element is not
The positive spring constant of element on static load structure or spring is born more than supporting outside；
Passive negative stiffness element has on the power transmission shaft set up, and the installing frame of passive negative stiffness element to be provided with and stops
Use element；The power transmission shaft of passive negative stiffness element is directly connected to or is indirectly connected with outside by motor bear static load structure
Or element on spring, and outside bears element on static load structure or spring, the connection of any structure and power transmission shaft in both motors
Point setting enables element；Described passive negative stiffness component base is indirectly connected with by motor or is directly connected under ground or spring unit
Part；
Sensor bears, for measuring outside, the static load born in element on static load structure or spring；
Controller is used for receiving sensor signal and controlling motor rotation, bears unit in static load structure or spring in outside
On part carry static load time, by controller receive from sensor signal and control motor change passive negative stiffness unit
Part position or propeller shaft length, it is achieved counteracting outside is born element on static load structure or spring and fallen on passive negative stiffness element
The purpose of static load；
Controller noted above by enabling element and can disable the keying of the element passive negative stiffness element of control: when enabling unit
Part is opened, and when disabling element closedown, element on static load structure or spring is born in the power transmission shaft of passive negative stiffness element and outside
It is directly connected to, or the power transmission shaft of passive negative stiffness element and outside are born element on static load structure or spring and passed through between motor
Connecing in succession, passive negative stiffness element enables；Close when enabling element, when disabling element unlatching, the transmission of passive negative stiffness element
Axle and outside are born element on static load structure or spring and are unclamped, or pine between the power transmission shaft of passive negative stiffness element and motor
Open.
On the basis of said structure, passive negative stiffness element includes installing frame and passive negative stiffness component body.Install
It is provided with on frame and disables element.Passive negative stiffness component body is fixedly connected on inside installing frame, and passive negative stiffness element is originally
Having power transmission shaft on body, this power transmission shaft is upward through disabling element and being directly connected to outside and bear static load structure of installing frame
Or element on spring, and enable element and be arranged on power transmission shaft and bear the junction point of element on static load structure or spring with outside, peace
It is indirectly coupled to element under ground or spring by motor bottom framing up.Bear in static load structure or spring on element in outside
During carrying static load, the signal the control that are received from sensor by controller are enabled element, disable element and motor
Open and close, change passive negative stiffness position of components, it is achieved counteracting outside is born element on static load structure or spring and fallen passively
The purpose of static load on negative stiffness element.
On the basis of said structure, passive negative stiffness element includes installing frame and passive negative stiffness component body.Install
It is provided with on frame and disables element.Passive negative stiffness component body is fixedly connected on inside installing frame, and passive negative stiffness element is originally
Having power transmission shaft on body, this power transmission shaft is upward through the element that disables of installing frame and is indirectly coupled to outside by motor and bears static state
Element in load structure or spring, and enable element and be arranged on the junction point of power transmission shaft and motor, it is directly connected in bottom installing frame
Element under ground or spring.Bear in outside in static load structure or spring when carrying static load on element, connect by controller
Receive signal control from sensor to enable element, disable the keying of element and motor, change propeller shaft length, it is achieved support
The outside that disappears is born element on static load structure or spring and is fallen the purpose of static load on passive negative stiffness element.
On the basis of said structure, concrete, passive negative stiffness component body is to utilize repulsion between Magnet, prebuckling beam
The negative stiffness element of catastrophe characteristics or prestressed spring.
On the basis of said structure, preferably motor is linear electric motors, and the attachment rail of linear electric motors is connected to ground downwards
Element under face or spring, and the motor shaft of linear electric motors connects up bottom installing frame, or, the attachment rail of linear electric motors to
On be connected to outside and bear element on static load structure or spring, and the motor shaft of linear electric motors is connected to downwards power transmission shaft.
On the basis of said structure, preferably motor is rotary electric machine, and rotary electric machine is arranged at element under ground or spring, and
The axle head of rotary electric machine is connected up in the installing frame of passive negative stiffness element by rack-and-pinion, or, rotary electric machine is arranged
Bearing element in static load structure or spring in outside, the axle head of rotary electric machine connects downwards power transmission shaft by rack-and-pinion.
A kind of intelligent negative stiffness method and apparatus not carrying static load of the present invention is compared with prior art produced
Provide the benefit that:
1) a kind of intelligent negative stiffness method not carrying static load of the present invention uses passive negative stiffness technology and static load
Lotus isolation technology, by passive negative stiffness element directly or indirectly connect outside bear element on static load structure or spring,
Element under ground or spring, by changing passive negative stiffness position of components or propeller shaft length, offsets the quilt that static load causes
Dynamic negative stiffness Position displacement of component or propeller shaft length skew, and provide according to the change of dynamic loads outside is born static load
In lotus structure or spring, element vibration isolation protection, bears static rigidity and the dynamic rate of element on static load structure or spring by outside
Separate, it is achieved the method for the present invention has high static rigidity, low dynamic rate in shock isolation system is applied；
2) a kind of intelligent negative stiffness device not carrying static load of the present invention, by arranging passive negative stiffness element,
And measure static load sensor, receive sensor signal and according to receive signal control motor action controller, with
And change passive negative stiffness position of components or the motor of propeller shaft length according to controller instruction, by changing passive negative stiffness unit
Part position or propeller shaft length, offset passive negative stiffness Position displacement of component or propeller shaft length skew, makes passive negative firm
Degree element does not carry above-mentioned static load, makes the static rigidity of intelligent negative stiffness device of the present invention unaffected, and only reduces
Or offset the dynamic rate of the intelligent negative stiffness device of the present invention.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of embodiment one in the present invention；
Accompanying drawing 2 is the schematic diagram of embodiment one in the present invention；
Accompanying drawing 3 is the structural representation of embodiment two in the present invention；
Accompanying drawing 4 is the schematic diagram of embodiment two in the present invention；
Accompanying drawing 5 be the present invention intelligent negative stiffness device in the variation relation schematic diagram of rigidity and load frequency；
Accompanying drawing 6 be the negative spring constant of passive negative stiffness element be linear structural representation；
Accompanying drawing 7 be the negative spring constant of passive negative stiffness element be nonlinear structural representation；
Accompanying drawing 8 is the structure chart that passive negative stiffness component body selects Magnet；
Accompanying drawing 9 is the structure chart that passive negative stiffness component body selects prebuckling beam；
Accompanying drawing 10 is the structure chart that passive negative stiffness component body selects prestressed spring；
Accompanying drawing 11 be the present invention intelligent negative stiffness device in motor be the structural representation of linear electric motors；
Accompanying drawing 12 be the present invention intelligent negative stiffness device in motor be the structural representation of rotary electric machine；
Accompanying drawing 13 is the structural representation of embodiment three in the present invention；
Accompanying drawing 14 represents in embodiment three deformations of tyre time-histories data under different control methods；
Accompanying drawing 15 represents different control method under body vibration velocity time-histories data in embodiment three；
Accompanying drawing 16 represents different control method under body dead load responses in embodiment three；
Accompanying drawing 17 is the structural representation of embodiment four in the present invention；
Accompanying drawing 18 represents in embodiment four deformations of tyre time-histories data under different control methods；
Accompanying drawing 19 represents different control method under body vibration velocity time-histories data in embodiment four；
Accompanying drawing 20 represents different control method under body dead load responses in embodiment four；
Accompanying drawing 21 is the structural representation of embodiment five in the present invention；
Accompanying drawing 22 represents the time-histories data in embodiment five under different control methods.
In figure, each label represents:
1, passive negative stiffness element, 2, enable element, 3, disable element, 4, sensor,
5, controller, 6, motor, 7, outer shaft junction point, 8, interior junction point, 9, housing junction point,
10, power transmission shaft, 11, outside bear element on static load structure or spring, 12, support spring,
13, vehicle chassis, 14, vehicle tyre, 15, vehicle body, 16, passive damping device,
17, semi-active damper device, 18, installing frame, element under 19, ground or spring；
101, moving magnet, 102, static magnet, 111, prebuckling beam, 121, prestressed spring；
610, linear electric motors, 611, attachment rail；
620, rotary electric machine, 621, gear, 622, tooth bar；
31, single-mode system quality, 32, the stiffness elements of single-mode system, 33, for antivibrator.
Detailed description of the invention
Below in conjunction with the accompanying drawings, below a kind of intelligent negative stiffness method and apparatus not carrying static load to the present invention is made
Describe in detail.
Embodiment one:
In conjunction with accompanying drawing 1, a kind of intelligent negative stiffness device not carrying static load, its structure includes passive negative stiffness element
1, motor 6, sensor 4 and controller 5, passive negative stiffness element 1 has a negative spring constant, and passive negative stiffness element 1 is negative
Spring constant absolute value is not more than support outside and bears the positive spring constant of element 11 on static load structure or spring.
Passive negative stiffness element 1 includes installing frame 18 and passive negative stiffness component body.It is provided with on installing frame 18 and disables
Element 3.It is internal that passive negative stiffness component body is fixedly connected on installing frame 18, and has transmission on passive negative stiffness component body
Axle 10, power transmission shaft 10 is referred to as interior junction point 8 with the junction point of passive negative stiffness component body, and this power transmission shaft 10 is upward through installation
The disabling element 3 and be directly connected to outside and bear element 11 on static load structure or spring of frame 18, and power transmission shaft 10 holds with outside
Being referred to as outer shaft junction point 7 by the junction point of element 11 on static load structure or spring, this outer shaft junction point 7 is provided with and enables element
2, it is indirectly coupled under ground or spring bottom element 19, and installing frame 18 connection with motor 6 by motor 6 bottom installing frame 18
Point is referred to as housing junction point 9.
Sensor 4 bears, for measuring outside, the static load born in element 11 on static load structure or spring.
Controller 5 is used for receiving sensor 4 signal and controlling motor 6 operating, and bears static load structure or spring in outside
When carrying static load on upper element 11, received from the signal of sensor 4 by controller 5 and control motor 6 and change quilt
Dynamic negative stiffness element 1 position, it is achieved counteracting outside is born element 11 on static load structure or spring and fallen at passive negative stiffness element 1
The purpose of upper static load.
Controller noted above 5 by enabling element 2 and can disable element 3 and controls the keying of passive negative stiffness element 1: when opening
Open with element 2, disable element 3 when closing, power transmission shaft 10 and the outside of passive negative stiffness element 1 bear static load structure or
On spring, element 11 is directly connected to, and passive negative stiffness element 1 enables；Close when enabling element 2, disable element 3 when opening, passively bear
Power transmission shaft 10 and the outside of stiffness elements 1 is born element 11 on static load structure or spring and is unclamped.
Bear in static load structure or spring element 19 under element 11, ground or spring based on outside to have connected
It is connected to support on the premise of spring 12, when passive negative stiffness element 1 works and unit on static load structure or spring is born in outside
When carrying static load on part 11, sensor 4 detects that outside is born element 11 on static load structure or spring and born static load
The signal of lotus, and further the signal detected is transferred to controller 5, it is passive negative to change that controller 5 controls motor 6 action
Installing frame 18 position of stiffness elements 1, bears element 11 on static load structure or spring with counteracting outside and falls at passive negative stiffness
Static load on element 1.
In conjunction with Fig. 2, bear element 11 in static load structure or spring with outside and carry the change of static load and carry out principle
Illustrate: outside is born the static load 701,702 of element 11 carrying on static load structure or spring and measured by sensor 4, including
Being become static load 702 in the t1 moment from static load 701, metrical information is passed to controller 5 by sensor 4；Controller 5
The information provided according to sensor 4 and performance of modeling parameter have calculated and have born not having passive negative stiffness element 1 to act on lower outer portion
In static load structure or spring, the response caused by dead load change of element 11 represents with 001, and provides instructions to motor 6；
Motor 6 performs the instruction of controller 5, the distance that the installing frame 18 of passive negative stiffness element 1 moves is represented with 002.Due to
Do not have passive negative stiffness element 1 act on lower outer portion bear element 11 on static load structure or spring dead load change caused by
Response 001 is equal to passive negative stiffness element 1 installing frame 18 distance 002 of movement under motor 6 acts on, so static load is at t1
The change in moment does not cause the two ends of passive negative stiffness element 1 to produce relative displacement, and namely passive negative stiffness element 1 does not has
Have for static load the t1 moment change produce power.So the control power of passive negative stiffness element 1 generation and static charge
Carry 701,702 unrelated.So passive negative stiffness element 1 does not interferes with outside and bears the quiet of element 11 on static load structure or spring
Load response, being does not affects outside and bears the static rigidity of element 11 on static load structure or spring.
Embodiment two:
In conjunction with Fig. 3, a kind of intelligent negative stiffness device not carrying static load, its structure include passive negative stiffness element 1,
Motor 6, sensor 4 and controller 5, passive negative stiffness element 1 has negative spring constant, and the negative bullet of passive negative stiffness element 1
Spring absolute coefficient is not more than outside and bears the positive spring constant of element 11 on static load structure or spring.
Passive negative stiffness element 1 includes installing frame 18 and passive negative stiffness component body.It is provided with on installing frame 18 and disables
Element 3.It is internal that passive negative stiffness component body is fixedly connected on installing frame 18, and has transmission on passive negative stiffness component body
Axle 10, power transmission shaft 10 is referred to as interior junction point 8 with the junction point of passive negative stiffness component body, and this power transmission shaft 10 is upward through installation
The element 3 of disabling of frame 18 is indirectly coupled to outside by motor 6 and bears element 11 on static load structure or spring, and power transmission shaft 10
Being referred to as outer shaft junction point 7 with the junction point with motor 6, this outer shaft junction point 7 is provided with and enables element 2, straight bottom installing frame 18
It is connected to be referred to as housing with the junction point of element 19 under ground or spring bottom element 19, and installing frame 18 under ground or spring in succession be connected
Point 9.
Sensor 4 bears, for measuring outside, the static load born in element 11 on static load structure or spring.
Controller 5 is used for receiving sensor 4 signal and controlling motor 6 opening and closing, and bears static load structure or spring in outside
When carrying static load on upper element 11, received from the signal of sensor 4 by controller 5 and control motor 6 and change biography
Moving axis 10 length, it is achieved counteracting outside is born element 11 on static load structure or spring and fallen static on passive negative stiffness element 1
The purpose of load.
Controller noted above 5 by enabling element 2 and can disable element 3 and controls the keying of passive negative stiffness element 1: when opening
Open with element 2, disable element 3 when closing, power transmission shaft 10 and the outside of passive negative stiffness element bear static load structure or
On spring, element 11 is indirectly connected with by motor 6, and passive negative stiffness element 1 enables；Close when enabling element 2, disable element 3 and open
Time, unclamp between the power transmission shaft 10 of passive negative stiffness element 1 and motor 6.
Bear in static load structure or spring element 19 under element 11, ground or spring based on outside to have connected
On the premise of having support spring 12, when passive negative stiffness element 1 works and element on static load structure or spring is born in outside
When carrying static load on 11, sensor 4 detects that outside is born element 11 on static load structure or spring and born static load
Signal, and further the signal detected is transferred to controller 5, controller 5 controls motor 6 action, to change power transmission shaft
The length of 10, outside bear element 11 on static load structure or spring to offset and falls static load on passive negative stiffness element 1.
In conjunction with Fig. 4, bear element 11 in static load structure or spring with outside and carry the change of static load and carry out principle
Illustrate: outside is born the static load 701,702 of element 11 carrying on static load structure or spring and measured by sensor 4, including
Static load 702 is become from static load 701 in the t1 moment.Metrical information is passed to controller 5 by sensor 4；Controller 5
The information provided according to sensor 4 and performance of modeling parameter have calculated and have born not having passive negative stiffness element 1 to act on lower outer portion
In static load structure or spring, the response caused by dead load change of element 11 represents with 003, and provides instructions to motor 6；
Motor 6 performs the instruction of controller 5, is represented with 004 by the shortening amount that power transmission shaft 10 stretches out installing frame 18.Due to the most passive
Negative stiffness element 1 acts on lower outer portion and bears the response 003 caused by dead load change of element 11 on static load structure or spring
Equal to the shortening amount 004 of power transmission shaft, so the change that static load is in the t1 moment does not cause the two of passive negative stiffness element 1
End produces relative displacement, and namely passive negative stiffness element 1 does not produce power for the static load change in the t1 moment.So
The control power that passive negative stiffness element 1 produces is unrelated with static load 701,702.So passive negative stiffness element 1 will not shadow
Ringing the outside dead load response bearing element 11 on static load structure or spring, being does not affects outside and bears static load structure
Or the static rigidity of element 11 on spring.
Embodiment three:
On the architecture basics of above-described embodiment two, with reference to Figure 13, vehicle is modeled into a 1/4 conventional vehicle
Double dimension system, is arranged on assembly of the invention in vehicle suspension so that it is with the suspension system of vehicle in being arranged in parallel, then
It is vehicle body 15 that element 11 on static load structure or spring is born in outside, and under spring, element is vehicle chassis 13, below vehicle chassis 13
Vehicle tyre 14 is installed, is installed with between vehicle chassis 13 and vehicle body 15 and reduces the support spring 12 of vibrating effect and passive resistance
Buddhist nun's device 16.
Having related parameter is that vehicle body 15 mass 504.5kg, vehicle chassis 13 and vehicle tyre 15 mass are 62kg, and suspension holds
The rigidity carrying spring is 13.1kN/m, and the stiffness coefficient between vehicle chassis 13 and ground is 252kN/m, and input stimulus is speed
White noise.When passive damping device 16 individually controls, damped coefficient 6000Nm/s；The intelligent negative stiffness device of the present invention and passive resistance
During Buddhist nun's device co-controlling, negative stiffness coefficient is-11kN/m, damped coefficient 2500Nm/s.
With reference to Figure 14, can clearly know vehicle and control and negative just in the intelligence of the present invention at passive damping device 16
Degree device and passive damping device 16 control jointly to act on the time-histories data of lower deformations of tyre, and in figure, deformations of tyre is the least, represents car
Handling the best.With reference to Figure 15, can clearly know vehicle and control and in the intelligence of the present invention at passive damping device 16
Negative stiffness device and passive damping device 16 act on the time-histories data of under body 15 vibration velocity, vehicle body 15 vibration velocity in figure jointly
The least, represent vehicle comfort level the best；By Figure 15 it can also be seen that the intelligent negative stiffness device of the present invention can promote greatly
The control effect of passive damping device 16.
During the use of vehicle, although vehicle body 15 mass conservation and can be undertaken by the bearing spring of suspension, vehicle
The static load carried not is constant, such as in vehicle, the quality of passenger is it may happen that change.When passenger mass is
70kg, when suspension bearing spring is 13.1kN/m, at dead load response reference Figure 16 of different vibration control method under bodies.Root
According to Figure 16 it will be seen that when vibration control method be passive damping device 16 individually control time, passive damping device 16 does not provide rigidity,
So passenger mass is all undertaken by suspension bearing spring, dead load response is 5cm；When vibration control method is passive negative stiffness
During control, owing to negative stiffness coefficient is-11kN/m, so counteracting the rigidity of part suspension bearing spring, thus can amplify by
The dead load response that passenger mass is caused, for 35cm；When the intelligent negative stiffness device that vibration control method is the present invention and quilt
During fluctuation dampers 16 co-controlling, owing to passive negative stiffness element 1 does not carry static load, the dead load of passenger mass is the most complete
Portion is born by suspension bearing spring, so the dead load response of vehicle body 15 is 5cm.
Embodiment four:
Based on above-described embodiment three, it is main that the intelligent negative stiffness device of the present invention is also applied in automotive suspension promote half
The control effect of fluctuation dampers 17.With reference to Figure 17, in the case of constant with mounting means in embodiment three, only change relevant ginseng
Number: vehicle body 15 mass 504.5kg, vehicle chassis 13 and vehicle tyre 15 mass are 62kg, and suspension bearing spring 12 rigidity is
13.1kN/m, the stiffness coefficient between vehicle chassis 13 and ground is 252kN/m, and input stimulus is speed white noise.Half actively
When antivibrator 17 individually controls, damped coefficient is 9400Nm/s, minimum 4000Nm/s to the maximum；The intelligent negative stiffness dress of the present invention
When putting with semi-active damper device 17 co-controlling, negative stiffness coefficient is-11kN/m, and damped coefficient is 4400Nm/s to the maximum, minimum
For 1500Nm/s.
With reference to Figure 18, can be clearly to know vehicle in semi-active control mode and at the intelligent negative stiffness of the present invention
Device and semi-active control mode act on the time-histories data of lower deformations of tyre jointly, and in figure, deformations of tyre is the least, represent vehicle behaviour
Control property is the best.With reference to Figure 19, can be clearly to know vehicle in semi-active control mode and at the intelligent negative stiffness of the present invention
Device and semi-active control mode act on the time-histories data of under body vibration velocity jointly, and in figure, body vibrations speed is the least, generation
Table vehicle comfort level is the best；By Figure 15 it can also be seen that the intelligent negative stiffness device of the present invention can promote half actively greatly
The control effect of antivibrator 17.
During the use of vehicle, although vehicle body 15 mass conservation and can be undertaken by the bearing spring of suspension, vehicle
The static load carried not is constant, such as in vehicle, the quality of passenger is it may happen that change.When passenger mass is
70kg, when suspension bearing spring is 13.1kN/m, at dead load response reference Figure 20 of different vibration control method under bodies.Root
According to Figure 20 it is recognised that when vibration control method be semi-active damper device 17 individually control time, semi-active damper device 17 does not provides
Rigidity, so passenger mass is all undertaken by suspension bearing spring, dead load response is 5cm；When vibration control method is passive
When negative stiffness and semi-active damper device 17 co-controlling, its negative stiffness coefficient is-11kN/m, so counteracting the carrying of part suspension
The rigidity of spring, so the dead load response caused by passenger mass can be amplified, for 35cm；When method for oscillating is the present invention's
When intelligence negative stiffness device and semi-active damper device 17 co-controlling, owing to passive negative stiffness element 1 does not carry static load, take advantage of
The dead load of visitor's quality is the most all born by suspension bearing spring, so the dead load response of vehicle body 15 is 5cm.
Embodiment five:
Architecture basics based on embodiment one, with reference to Figure 21, the intelligent negative stiffness device of the present invention is also applied to list
In system with one degree of freedom, such as seat, vibration isolation table, engine bracket etc., assembly of the invention is installed to single-mode system so that it is with
The stiffness elements 32 of single-mode system, antivibrator 33 are in being arranged in parallel.Due to single-mode system quality 31 it may happen that become
Change, such as, the mass change that on seat, different people is caused, the mass change etc. that in vibration isolation table, distinct device is caused, this
In bright intelligent negative stiffness device, the signal received can be sent to controller 5 by sensor 4, and is controlled motor by controller 5
6, starting element 2, disable element 3, to protect single-mode system, make in single-mode system dynamic load response little, quiet lotus
Carry response also will not amplify.
Based on above-mentioned five embodiments, it should be understood that
1) for passive negative stiffness element 1, with reference to Fig. 6,7, its negative spring constant can be linear, it is also possible to is non-linear
's.
2) for the structure of passive negative stiffness element 1, with reference to Fig. 8, passive negative stiffness component body can be to utilize Magnet
Between the negative stiffness element of repulsion, then static magnet 102 is installed in the opposite sides face of installing frame 18, quiet two be oppositely arranged
Moving magnet 101 is set in the middle part of Magnet 102, and moving magnet 101 has the power transmission shaft 10 set up；With reference to Fig. 9, passive negative stiffness
Component body can also be the negative stiffness element utilizing prebuckling beam 111 catastrophe characteristics, and the middle part of prebuckling beam 111 has upwards
The power transmission shaft 10 arranged, the two ends of prebuckling beam 111 stretch out and are fixed on two opposite flanks of installing frame 18；With reference to figure
10, passive negative stiffness component body can also is that the negative stiffness element utilizing prestressed spring 121, in prestressed spring 121
Portion has the power transmission shaft 10 set up, and the two ends of prestressed spring 121 stretch out and are fixed on two phases of installing frame 18
To side；In actual application, power transmission shaft 10, installing frame 18 are manufactured by nonferromagnetic material, on passive negative stiffness component body is
When stating any one structure in three kinds of structures, enable element 2 and disable original paper and 3 can control whether passive negative stiffness element 1 is made
With, starting element 2 is with when disabling one of them unlatching of element 3, and another one is closed.Enable element 2 to open, disable element 3 and close
When closing, power transmission shaft 10 unclamps with installing frame 18, and passive negative stiffness component body works；Enable element 2 to close, disable element 3
During unlatching, power transmission shaft 10 is connected with installing frame 18, and passive negative stiffness component body is inoperative.
3) for motor 6, with reference to Figure 11, motor 6 can select linear electric motors 610, now, the installation of linear electric motors 610
Track 611 is connected to downwards element 19 under ground or spring, and the axle head of linear electric motors 611 connects up bottom installing frame 18,
Or, the attachment rail 611 of linear electric motors 610 is connected to downwards power transmission shaft 10, and the axle head of linear electric motors 610 connect up in
Element 11 on static load structure or spring is born in outside；With reference to Figure 12, motor 6 can also select rotary electric machine 620, rotary electric machine
620 are arranged at element 19 under ground or spring, and the axle head of rotary electric machine 620 is connected up by gear 321 tooth bar 322 external toothing
In the installing frame 18 of passive negative stiffness element 1, or, the axle head of rotary electric machine 620 is by gear 321 tooth bar 322 external toothing even
Connect power transmission shaft 10 and element 11 on static load structure or spring is born in outside.
Last it should be noted that above example is only in order to illustrate technical scheme, rather than the present invention is protected
Protect the restriction of scope, although the present invention has been made to explain by this detailed description of the invention part, the ordinary skill people of this area
Member should be appreciated that and can modify technical scheme or equivalent, without deviating from technical solution of the present invention
Spirit and scope.
Claims (9)
1. the intelligent negative stiffness method not carrying static load, it is characterised in that the method is based on the quilt with power transmission shaft
Move negative stiffness element, for controlling enabling element and disabling element of passive negative stiffness element keying, be used for changing passive bearing just
Degree position of components or the motor of propeller shaft length, be used for measuring outside bear on static load structure or spring, element is born quiet
The sensor of state load, enables element for receiving sensor signal control, disables element and the controller of motor keying, its
In, passive negative stiffness element has negative spring constant, and the negative spring constant absolute value of passive negative stiffness element is not more than support
The positive spring constant of element on static load structure or spring is born in outside；
Above-mentioned passive negative stiffness element and motor are arranged at outside bear on static load structure or spring below element, ground or
Under spring above element, and control motor rotation by controller, hold on element in static load structure or spring to bear in outside
When carrying static load, received from the signal of sensor by controller and control motor and change passive negative stiffness position of components
Or propeller shaft length, it is achieved offset and outside bear element on static load structure or spring and fall static on passive negative stiffness element load
The purpose of lotus；
Described controller is by enabling element and disabling the keying of the element passive negative stiffness element of control: open when enabling element,
When disabling element closedown, the power transmission shaft of passive negative stiffness element and outside are born element in static load structure or spring and are directly connected
Connect, or the power transmission shaft of passive negative stiffness element and outside are born element on static load structure or spring and passed through chain link between motor
Connecing, passive negative stiffness element enables；When enable element close, disable element open time, the power transmission shaft of passive negative stiffness element with
Outside is born element on static load structure or spring and is unclamped, or unclamps between the power transmission shaft of passive negative stiffness element and motor.
A kind of intelligent negative stiffness method not carrying static load the most according to claim 1, it is characterised in that described quilt
Dynamic negative stiffness element includes installing frame and passive negative stiffness component body, described installing frame is provided with and disables element, described quilt
Dynamic negative stiffness component body is fixedly connected on inside installing frame, and has power transmission shaft on passive negative stiffness component body, this transmission
Axle is upward through the element that disables of installing frame and is directly connected in outside and bears element on static load structure or spring, and enables element
Be arranged on power transmission shaft and bear the junction point of element on static load structure or spring with outside, bottom installing frame by between motor in succession
It is connected to element under ground or spring.
A kind of intelligent negative stiffness method not carrying static load the most according to claim 1, it is characterised in that described quilt
Dynamic negative stiffness element includes installing frame and passive negative stiffness component body, described installing frame is provided with and disables element, described quilt
Dynamic negative stiffness component body is fixedly connected on inside installing frame, and has power transmission shaft on passive negative stiffness component body, this transmission
Axle is upward through the element that disables of installing frame and is indirectly coupled to outside by motor and bears element on static load structure or spring, and
Enable element and be arranged on the junction point of power transmission shaft and motor, bottom installing frame, be directly connected in element under ground or spring.
4. do not carry an intelligent negative stiffness device for static load, including passive negative stiffness element, motor, sensor and control
Device, it is characterised in that described passive negative stiffness element has negative spring constant, and the negative spring constant of passive negative stiffness element is exhausted
Value is not more than support outside and bears the positive spring constant of element on static load structure or spring；
Described passive negative stiffness element has the power transmission shaft set up, and the power transmission shaft of described passive negative stiffness element is directly connected to
Or it is indirectly connected with outside by motor and bears element on static load structure or spring, and static load structure or spring are born in outside
In upper element, both motors, any structure enables element with the junction point setting of power transmission shaft；Described passive negative stiffness component base
It is indirectly connected with or is directly connected to element under ground or spring by motor；
Described sensor bears, for measuring outside, the static load born in element on static load structure or spring；
Described controller, for receiving sensor signal and controlling the operating of motor, bears in static load structure or spring in outside
When carrying static load on element, received from the signal of sensor by controller and control motor and change passive negative stiffness
Position of components or propeller shaft length, it is achieved counteracting outside is born element on static load structure or spring and fallen at passive negative stiffness element
The purpose of upper static load；
Described controller is by enabling element and disabling the keying of the element passive negative stiffness element of control: open when enabling element,
When disabling element closedown, the power transmission shaft of passive negative stiffness element and outside are born element in static load structure or spring and are directly connected
Connect, or the power transmission shaft of passive negative stiffness element and outside are born element on static load structure or spring and passed through chain link between motor
Connecing, passive negative stiffness element enables；When enable element close, disable element open time, the power transmission shaft of passive negative stiffness element with
Outside is born element on static load structure or spring and is unclamped, or unclamps between the power transmission shaft of passive negative stiffness element and motor.
A kind of intelligent negative stiffness device not carrying static load the most according to claim 4, it is characterised in that described quilt
Dynamic negative stiffness element includes installing frame and passive negative stiffness component body, described installing frame is provided with and disables element, described quilt
Dynamic negative stiffness component body is fixedly connected on inside installing frame, and has power transmission shaft on passive negative stiffness component body, this transmission
Axle is upward through disabling element and being directly connected to outside and bear element on static load structure or spring of installing frame, and enables element
Be arranged on power transmission shaft and bear the junction point of element on static load structure or spring with outside, bottom installing frame by between motor in succession
It is connected to element under ground or spring.
A kind of intelligent negative stiffness device not carrying static load the most according to claim 4, it is characterised in that described quilt
Dynamic negative stiffness element includes installing frame and passive negative stiffness component body, described installing frame is provided with and disables element, described quilt
Dynamic negative stiffness component body is fixedly connected on inside installing frame, and has power transmission shaft on passive negative stiffness component body, this transmission
Axle is upward through the element that disables of installing frame and is indirectly coupled to outside by motor and bears element on static load structure or spring, and
Enable element and be arranged on the junction point of power transmission shaft and motor, bottom installing frame, be directly connected in element under ground or spring.
7. according to a kind of intelligent negative stiffness device not carrying static load described in claim 5 or 6, it is characterised in that institute
Stating passive negative stiffness component body is the negative stiffness unit utilizing repulsion between Magnet, prebuckling beam catastrophe characteristics or prestressed spring
Part.
8. according to a kind of intelligent negative stiffness device not carrying static load described in claim 5 or 6, it is characterised in that institute
Stating motor is linear electric motors, and the attachment rail of linear electric motors is connected to downwards element under ground or spring, and the motor of linear electric motors
It is connected to bottom installing frame on Zhou Xiang, or, the attachment rail of linear electric motors connects up and bears static load structure in outside
Or element on spring, and the motor shaft of linear electric motors is connected to downwards the power transmission shaft of passive negative stiffness element.
9. according to a kind of intelligent negative stiffness device not carrying static load described in claim 5 or 6, it is characterised in that institute
Stating motor is rotary electric machine, and rotary electric machine is arranged at element under ground or spring, and the axle head of rotary electric machine is by rack-and-pinion upwards
It is connected to the installing frame of passive negative stiffness element, or, rotary electric machine is arranged at outside and bears unit on static load structure or spring
Part, the axle head of rotary electric machine connects downwards power transmission shaft by rack-and-pinion.
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| CN106836543A (en) * | 2017-03-03 | 2017-06-13 | 哈尔滨工业大学 | The adjustable passive negative stiffness damper of series mechanism |
| CN111336210A (en) * | 2018-12-19 | 2020-06-26 | 中国石油大学(华东) | Hybrid vibration control device and method based on negative stiffness and variable damping and application |
| KR20230002472A (en) * | 2020-05-06 | 2023-01-05 | 하쎄 앤드 브레데 게엠베하 | Spring system with broadband isolation effect |
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| US20150204413A1 (en) * | 2013-12-06 | 2015-07-23 | Hrl Laboratories, Llc | Negative stiffness hydraulic system |
| US20150165852A1 (en) * | 2013-12-16 | 2015-06-18 | GM Global Technology Operations LLC | Method and apparatus for suspension damping including negative stiffness |
| US20150165858A1 (en) * | 2013-12-16 | 2015-06-18 | GM Global Technology Operations LLC | Method and apparatus for active suspension damping including negative stiffness |
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| CN106836543A (en) * | 2017-03-03 | 2017-06-13 | 哈尔滨工业大学 | The adjustable passive negative stiffness damper of series mechanism |
| CN111336210A (en) * | 2018-12-19 | 2020-06-26 | 中国石油大学(华东) | Hybrid vibration control device and method based on negative stiffness and variable damping and application |
| KR20230002472A (en) * | 2020-05-06 | 2023-01-05 | 하쎄 앤드 브레데 게엠베하 | Spring system with broadband isolation effect |
| KR102665591B1 (en) | 2020-05-06 | 2024-05-10 | 하쎄 앤드 브레데 게엠베하 | Spring system with broadband isolation effect |
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Application publication date: 20161123 |