CN106369101A - Energy feedback type magnetorheological fluid energy absorber - Google Patents

Energy feedback type magnetorheological fluid energy absorber Download PDF

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Publication number
CN106369101A
CN106369101A CN201610826847.4A CN201610826847A CN106369101A CN 106369101 A CN106369101 A CN 106369101A CN 201610826847 A CN201610826847 A CN 201610826847A CN 106369101 A CN106369101 A CN 106369101A
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China
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energy
described
shell
mechanism
excitation
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CN201610826847.4A
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Chinese (zh)
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CN106369101B (en
Inventor
白先旭
邹棋
钱立军
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合肥工业大学
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Publication of CN106369101B publication Critical patent/CN106369101B/en

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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/53Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
    • F16F9/535Magnetorheological [MR] fluid dampers
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/3207Constructional features
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32Details
    • F16F9/50Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F16F9/512Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity
    • F16F9/5123Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity responsive to the static or steady-state load on the damper
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2222/00Special physical effects, e.g. nature of damping effects
    • F16F2222/12Fluid damping

Abstract

The invention discloses an energy feedback type magnetorheological fluid energy absorber. The energy feedback type magnetorheological fluid energy absorber is characterized in that the energy feedback type magnetorheological fluid energy absorber is composed of a controllable damping force mechanism, an energy feedback mechanism and a self-adaption power supply circuit; the controllable damping force mechanism is formed by coaxially assembling an excitation shell and a movement conversion mechanism, wherein the movement conversion mechanism comprises a conversion mechanism sleeve, a ball screw, an excitation rotor and a thrust bearing; the excitation shell is connected with an upper end cover and an energy feedback mechanism shell to form a closed space full filled with magnetorheological fluid; according to the energy feedback mechanism, in the energy feedback mechanism shell, an engine is formed by coaxially assembling an engine upper sleeve and an engine lower sleeve, and an engine is driven through a rotating connection sleeve so that energy feedback can be achieved; and electric connection of the self-adaption power supply circuit is achieved between the energy feedback output end of the energy feedback mechanism and the power supply input end of the controllable damping force mechanism. By means of the energy feedback type magnetorheological fluid energy absorber, efficient utilization of the magnetorheological fluid is achieved, and the self-adaption power supply function of the magnetorheological fluid energy absorber is achieved.

Description

A kind of energy magnetic flow liquid acceptor of energy

Technical field

The present invention relates to collection of energy and vibration/shock control system are with executor, more specifically a kind of energy Magnetic flow liquid acceptor of energy.

Background technology

Impact and vibration are present in every field and inevitable, for example: surface car travels in uneven road surface, flight The drop impact of device, building meet with chatter that seismic wave, plant equipment and work apparatus produce etc..These vibration/shock pair The work of people and life cause bad impact.The use of acceptor of energy is vibroshock, have in absorb and buffering vibration and Impact, not only ensures plant equipment, instrument system stability operationally and safety, and can also lift vehicle, flight The apparatuss of transport such as device are supplied to load or the comfortableness of occupant.

Traditional acceptor of energy based on intellectual material magnetic flow liquid, can provide thousand of newton to arrive in several milliseconds The damping force of hundreds of thousand newton, realizes the effective control of vibration/shock, in automobile engineering, civil engineering, Aero-Space, cannon And obtained certain research and application in the field such as medical device.But, traditional is held based on half active of magnetic flow liquid Row device must solve following stubborn problem at present and can enter commercial market on a large scale.First, high magnetic Rheology liquid price is more than tens times of normal hydraulic oil, and traditional magnetic flow liquid acceptor of energy majority is based on fluid pressure type energy The structure of amount absorber is transformed, and magnetic flow liquid usage amount is suitable with hydraulic oil, the final magnetic flow liquid energy absorption manufacturing The cost of device is but more than tens times of fluid pressure type acceptor of energy.For example it is applied to the magnetic flow liquid energy absorption of bridge construction Device is bulky and actual activity stroke is shorter, leads to the magnetic flow liquid of filling in acceptor of energy to be most in idle shape State, usage amount is big and service efficiency is low (less than 0.4vol%).Second, magnetic flow liquid semi-active system needs additional configuration to supply Power supply, also takes up extra installing space while increasing system complexity, this makes magnetic flow liquid acceptor of energy It is difficult to smoothly be applied to the limited applied environment of automotive suspension or other inner spaces.3rd, system controller and state anti- Infeed sensor device is the module that most of tradition magnetic flow liquid semi-active system must configure, and complicated control strategy has corresponded to complexity Control module, complicated control module certainly will cause the cost of system, the complexity of system and installing space demand Corresponding increase, the reliability of system also can accordingly reduce.

Content of the invention

The present invention is for solving the deficiency existing for above-mentioned prior art, providing a kind of energy magnetic flow liquid energy absorption Device, to realizing the efficient utilization of magnetic flow liquid, breaks away from the structure that extra power supply is relied on, enables magnetic flow liquid energy The adaptation power supply function of absorber.

The present invention is to solve technical problem to adopt the following technical scheme that

The present invention energy magnetic flow liquid acceptor of energy be structurally characterized in that by controllable damping force mechanisms, energy regenerative mechanism with And adaptation power supply circuit is constituted;

Described controllable damping force mechanisms are coaxially assemblied with movement conversion mechanism by tubular excitation shell, outside described excitation Shell and upper end cover, energy regenerative mechanism shell are collectively forming the closing space full of magnetic flow liquid, in the barrel of described excitation shell Embedding have wound stator, and described movement conversion mechanism is same by shifter sleeve, ball screw, excitation rotor and thrust bearing Axle is assembled, and the outer circumference surface of described excitation rotor is formed with the working clearance with the inner surface of excitation shell, and described excitation turns Son and excitation shell can form relative rotary motion;One end of described excitation rotor is fixedly connected with the nut in ball screw, The other end is fixedly connected with branch sleeve, and the other end of described branch sleeve stretches to energy regenerative mechanism side;Described ball wire Bar is jointly to be supported by shifter sleeve, branch sleeve and thrust bearing, so that described excitation rotor is kept with excitation shell For coaxial;

Described energy regenerative mechanism is in described energy regenerative mechanism shell, coaxial using electromotor upper bush and electromotor lower sleeve Assembling electromotor, drives electromotor to realize energy regenerative with the branch sleeve rotating;

The setting energy regenerative outfan in energy regenerative mechanism for the adaptation power supply circuit and the energization input of controllable damping force mechanisms Between electrically connect, realize the adaptation power supply function of energy magnetic flow liquid acceptor of energy.

The construction featuress of the present invention energy magnetic flow liquid acceptor of energy lie also in: in described controllable damping force mechanisms In: the two ends of described excitation shell are respectively set to internal thread segment, and the internal thread segment at two ends is respectively used to be fixedly connected upper end cover With energy regenerative mechanism shell;The stage casing of described excitation shell along excitation shell circumferencial direction several wound stators uniform, institute State wound stator to be structure as a whole with excitation shell, the stator coil on two neighboring wound stator around to contrary, using described Stator coil produces the magnetic field acting on magnetic flow liquid, and described excitation shell adopts high permeability material.

The construction featuress of the present invention energy magnetic flow liquid acceptor of energy lie also in: pushing away in described movement conversion mechanism Power bearing is two, and wherein one is positioned only between upper end cover and shifter sleeve, another is positioned only at branch sleeve and feedback Between energy mechanism shell.

The construction featuress of the present invention energy magnetic flow liquid acceptor of energy lie also in: in described energy regenerative mechanism, described The stator of electromotor is formed by stacking and is connected with energy regenerative mechanism shell by stalloy;The rotor of described electromotor is by magnet steel and magnet steel Set is made and is provided centrally with being easy to the through hole that ball screw passes through;It is fixedly connected set on electromotor in one end of generator amature Cylinder, be fixedly connected electromotor lower sleeve in the other end of generator amature, using electromotor upper bush, electromotor lower sleeve and Described electromotor is coaxially assembled by radial positioning bearing with energy regenerative mechanism shell, and described electromotor upper bush is fixed with branch sleeve Connect.

The construction featuress of the present invention energy magnetic flow liquid acceptor of energy lie also in: described adaptation power supply circuit bag Include:

Adjustable resistance, profit are set between the energy regenerative outfan and the energization input of controllable damping force mechanisms of energy regenerative mechanism Change the amplitude range of the electric current of magnetic flow liquid acceptor of energy with adjustable resistance and realize adaptation power supply function;

The energy regenerative outfan of energy regenerative mechanism is provided with frequency pressure converter, the outfan of frequency pressure converter be provided with displacement/ Speed observer, described frequency pressure converter be used for detecting the frequency of described energy regenerative mechanism energy regenerative voltage and export to described displacement/ Speed observer, described displacement/speed observer is used for obtaining ball screw in described energy magnetic flow liquid acceptor of energy Moving axially relative displacement or relative velocity state.

The present invention is to solve technical problem can also adopt the following technical scheme that

Being structurally characterized in that of the present invention energy magnetic flow liquid acceptor of energy: whole by controllable damping force mechanisms, mechanical type Stream mechanism, energy regenerative mechanism and outside energy storage and power supply circuits are constituted;

Described controllable damping force mechanisms are coaxially assemblied with movement conversion mechanism by tubular excitation shell, outside described excitation Shell and upper end cover, energy regenerative mechanism shell are collectively forming the closing space full of magnetic flow liquid, in the barrel of described excitation shell Embedding have wound stator, and described movement conversion mechanism is same by shifter sleeve, ball screw, excitation rotor and thrust bearing Axle is assembled, and the outer circumference surface of described excitation rotor is formed with the working clearance with the inner surface of excitation shell, and described excitation turns Son and excitation shell can form relative rotary motion;One end of described excitation rotor is fixedly connected with the nut in ball screw, The other end is fixedly connected with branch sleeve, and the other end of described branch sleeve stretches to energy regenerative mechanism side;Described ball wire Bar is jointly to be supported by shifter sleeve, branch sleeve and thrust bearing, so that described excitation rotor is kept with excitation shell For coaxial;

Described energy regenerative mechanism is in described energy regenerative mechanism shell, coaxial using electromotor upper bush and electromotor lower sleeve Assembling electromotor, drives electromotor to realize energy regenerative with the branch sleeve rotating;

Described mechanical type rectification mechanism be from two groups of epicyclic trains be superimposed and with one-way clutch bearing constituted, setting Amplification and the output voltage rectification of movement velocity between branch sleeve and electromotor, is realized using described mechanical type rectification mechanism Dual-use function;

The outside energy storage of setting and power supply circuits are defeated with the power supply of controllable damping force mechanisms in the energy regenerative outfan of energy regenerative mechanism Enter and electrically connect between end, realize the self-powered function of energy magnetic flow liquid acceptor of energy.

The construction featuress of the present invention energy magnetic flow liquid acceptor of energy lie also in:

Two groups of epicyclic trains in described mechanical type rectification mechanism are the first row galaxy and the second planetary system respectively, described One-way clutch bearing the first one-way clutch bearing and the second one-way clutch bearing respectively;The planet carrier of described the first row galaxy and The gear ring of two planetary systems is fixedly connected, and the first one-way clutch bearing is arranged on sun gear and the electromotor upper bush of the first row galaxy Between, described second one-way clutch bearing is arranged between the sun gear of the second planetary system and electromotor upper bush, described generating Machine upper bush and generator amature synchronous axial system;The input sleeve being fixedly connected with described branch sleeve, described input set are set Cylinder is fixedly connected with the planet carrier of described the first row galaxy, as the input of described mechanical type rectification mechanism;

Arrange two groups of epicyclic trains gear ratio equal in magnitude and be more than 1;

i 13 = n 1 n 3 = 1 + z 2 z 1 - - - ( 1 )

i 12 , = n 1 , n 2 , = - z 2 , z 1 , - - - ( 2 )

In formula:

i13For the first row galaxy gear ratio;Gear ratio for the second planetary system;

n1And z1It is respectively the rotating speed of sun gear and the number of teeth in the first row galaxy;

n3And z3It is respectively the rotating speed of planet carrier and the number of teeth in the first row galaxy;

WithIt is respectively the rotating speed of sun gear and the number of teeth in the second planetary system;

WithIt is respectively the rotating speed of gear ring and the number of teeth in the second planetary system;

The construction featuress of the present invention energy magnetic flow liquid acceptor of energy lie also in: described energy storage and power supply circuits bag Include:

Described energy regenerative mechanism outfan arrange power collecting device, for reclaiming and storing energy regenerative electric energy, simultaneously to Controllable damping force mechanisms and other electricity consumption component feeding electric energy;

Between described controllable damping force mechanisms and power collecting device, setting current controller and current driver, are used for Adjust the driving current of supply controllable damping force mechanisms, described current controller provides control algolithm by control circuit, described control The information source of circuit processed is in voltage magnitude testing circuit and force transducer.

Compared with the prior art, the present invention has the beneficial effect that:

1. the present invention can solve the problem that traditional magnetic flow liquid acceptor of energy needs the problem of additional configuration power supply, collection resistance Buddhist nun's power is controlled and energy regenerative function is in one, and compact conformation simultaneously avoids the complication system of extra distribution, has both saved application cost, Reduce installing space again, also avoid the maintenance issues of attachment device simultaneously.

2. present configuration is compact and is provided with movement conversion mechanism, makes full use of the design of magnetic flow liquid acceptor of energy Linear movement can be converted into rotary motion while space, magnetic flow liquid usage amount little (about 82ml), in the working clearance Magnetic flow liquid utilization rate height (more than 10vol%), fundamentally reduces the cost of magnetic flow liquid acceptor of energy.

3. in the present invention, mechanical type rectification mechanism is installed between branch sleeve and electromotor upper bush, has motion speedup And the dual-use function of movement output rectification: it is defeated that (i) is capable of electromotor by the modulus ratio between setting planetary system gear Enter the amplification of end motion speed;(ii) no matter how the input of mechanical type rectification mechanism rotates, and outfan is all the time towards a side To rotation, the rectification of achievable energy regenerative voltage.

4. in the present invention, controllable damping force mechanisms, mechanical type rectification mechanism and energy regenerative mechanism are dexterously overlapping in structure Connect, it is to avoid the stroke leading to of connecting in acceptor of energy structure is long, can smoothly be applied to the field of limited space.

5. in the present invention, the energy regenerative output of energy regenerative mechanism can be supplied directly to controllable damping force mechanisms, is passed using branch sleeve Pass and come from current driver and the control strategy that the same or like kinematic relation of controllable damping force mechanisms replaces complexity, Realize the function of the adaptation power supply/damping force Automatic adjusument of magnetic flow liquid acceptor of energy.

Brief description

Fig. 1 is one embodiment of the present invention structural representation;

Fig. 2 a is the a-a profile of excitation rotor in the present invention shown in Fig. 2 b;

Fig. 2 b is the b-b profile of Fig. 2 a;

Fig. 3 a is controllable damping force mechanisms magnetic circuit schematic diagram in the present invention;

Fig. 3 b is controllable damping force mechanisms magnetic circuit simulation figure in the present invention;

Fig. 4 is the energy magnetic flow liquid acceptor of energy schematic diagram of Fig. 1 illustrated embodiment;

Fig. 5 present invention another embodiment structural representation;

Fig. 6 a is mechanical type rectification mechanism structural representation in Fig. 5 illustrated embodiment;

Fig. 6 b is the movement relation figure when input rotates forward for the mechanical type rectification mechanism shown in Fig. 6;

Fig. 6 c is the movement relation figure when input inverts for the mechanical type rectification mechanism shown in Fig. 6;

Fig. 7 a is the energy magnetic flow liquid acceptor of energy schematic diagram of another embodiment shown in Fig. 5;

Fig. 7 b is the electric part of the energy magnetic flow liquid acceptor of energy of another embodiment shown in Fig. 5;

Fig. 8 a is the schematic diagram of the vibration/shock control system based on embodiment another shown in Fig. 5;

Fig. 8 b is to be shown in Pendant Structure Of Vehicle based on the vibration/shock control system of embodiment another shown in Fig. 5 It is intended to.

In figure label: 1 controllable damping force mechanisms, 2 upper end covers, 3 shifter sleeves, 4 excitation shells, 5 ball screws, 6 Energy regenerative mechanism shell, 7 branch sleeves, 8 electromotor upper bushes, 9 electromotor lower sleeves, 10 bottom end covers, 11 axle head journal bearings, 12 Axle head rotatory sealing, 13 sleeve rotating sealings, 14 stator coils, 15 excitation rotors, 16 thrust bearings, 17 positioning journal bearings, 18 mechanical type rectification mechanisms, 19 electromotors, 20 energy regenerative mechanisms, 21 energy storage and power supply circuits, 22 adaptation power supply circuit, 41 magnetic force Line, 181 input sleeves, 182 the first row galaxies, 183 second planetary systems, 184 first one-way clutch bearings, 185 second unidirectional from Sympodium holds, 211 power collecting devices, 212 current controllers, 213 current drivers, 214 force transducers, 215 control circuits, 216 Backstepping modules, 217 voltage magnitude testing circuits, 221 adjustable resistances, 222 frequency pressure converters, 223 displacements/speed is seen Survey device, 500 energy magnetic flow liquid acceptor of energies, 501 vehicle bodies, 502 vehicle bridge, 503 wheels.

Specific embodiments

Fig. 1, Fig. 2 a, Fig. 2 b, Fig. 3 a, Fig. 3 b and Fig. 4 shows one embodiment of the present invention, and its form is:

As shown in figure 1, the frame for movement of energy magnetic flow liquid acceptor of energy is by controllable damping force mechanisms 1 and energy regenerative Mechanism 20 is constituted;Controllable damping force mechanisms 1 are coaxially assemblied with movement conversion mechanism by tubular excitation shell 4, excitation shell 4 It is collectively forming the closing space full of magnetic flow liquid with upper end cover 2, energy regenerative mechanism shell 6, in closing sap cavity, be full of magnetic flow liquid, It is about 82ml;Movement conversion mechanism is coaxially filled by shifter sleeve 3, ball screw 5, excitation rotor 15 and thrust bearing 16 Join and form, the outer circumference surface of excitation rotor 15 is formed with working clearance, excitation rotor 15 and excitation with the inner surface of excitation shell 4 Shell 4 can form relative rotary motion;One end of excitation rotor 15 is fixedly connected with the nut in ball screw 5, the other end with Branch sleeve 7 is fixedly connected, and the other end of branch sleeve 7 stretches to energy regenerative mechanism 20 side;Ball screw 5 is by interpreter Structure sleeve 3, branch sleeve 7, axle head journal bearing 11 and positioning journal bearing 17 support jointly, make excitation rotor 15 and encourage Magnetic shell 4 remains coaxially, is provided with axle head rotatory sealing 12 and sleeve rotating is close between shifter sleeve 3 and upper end cover 2 Envelope 13, is provided with axle head rotatory sealing 12, for the rotation of conversion of motion mechanism between branch sleeve 7 and energy regenerative mechanism shell 6 Sealing, the thrust bearing 16 in movement conversion mechanism is set to two, and wherein one is positioned only at upper end cover 2 and shifter sleeve Between 3, another it is positioned only between branch sleeve 7 and energy regenerative mechanism shell 6;Energy regenerative mechanism 20 is in energy regenerative mechanism shell 6, Coaxially assemble electromotor 19 using electromotor upper bush 8 and electromotor lower sleeve 9, electromotor is driven with the branch sleeve 7 rotating 19 realize energy regenerative, and in energy regenerative mechanism 20, the stator of electromotor 19 is formed by stacking by stalloy and solid with energy regenerative mechanism shell 6 Even;The rotor of electromotor 19 is made up of magnet steel and magnetic steel sleeve and is provided centrally with being easy to the through hole that ball screw passes through;Generating electricity One end of machine rotor is fixedly connected electromotor upper bush 8, is fixedly connected electromotor lower sleeve 9 in the other end of generator amature, It is arranged with radial positioning bearing 17 on electromotor lower sleeve 8 and electromotor lower sleeve 9, make electromotor 19 and energy regenerative mechanism shell 6 and bottom end cover 10 keep coaxial;Described electromotor upper bush 8 is fixedly connected with branch sleeve 7.

As shown in figures 2 a and 2b, in controllable damping force mechanisms 1, the two ends of excitation shell 4 are respectively set to internal thread segment, The internal thread segment at two ends is respectively used to be fixedly connected upper end cover 2 and energy regenerative mechanism shell 6;Embedding in the barrel of excitation shell 4 There are 6 wound stators, the circumferencial direction along excitation shell 4 is uniformly arranged, and wound stator is structure as a whole with excitation shell 4, encourages Magnetic shell 4 is made using high permeability material, can be made of using No. 20 Steel materials;Stator coil is provided with wound stator 14, produced using stator coil 14 and act on the magnetic field of magnetic flow liquid, the stator coil 14 on two neighboring wound stator around to On the contrary, three magnetic loop are gone into.

As best shown in figures 3 a and 3b, Fig. 3 a provides theoretical magnetic circuit scattergram in the case of energising for the controllable damping force mechanisms 1, by Stator coil 14 on often two neighboring wound stator around to contrary, produce the magnetic line of force in opposite direction so that two neighboring around Between line stator, series connection forms magnetic loop, is conducive to the distribution of magnetic circuit;Fig. 3 b is shown and is drawn based on finite element analysis software The scattergram of the magnetic line of force 41, consistent with the theoretical magnetic circuit scattergram result that Fig. 3 a is given.

As shown in figure 4, setting adaptation power supply circuit 22 includes: in energy regenerative outfan and the controllable damping of energy regenerative mechanism 20 Adjustable resistance 221 is set between the energization input of force mechanisms 1, changes the setting value of adjustable resistance 221, thus it is possible to vary magnetorheological The amplitude range of the electric current of liquid energy absorber, realizes adaptation power supply function, using electromotor 19 and controllable damping force mechanisms 1 The identical characteristics of motion can achieve the damping force Automatic adjusument function of energy magnetic flow liquid acceptor of energy.In energy regenerative mechanism 20 energy regenerative outfan setting frequency pressure converter 222, the outfan of frequency pressure converter 222 is provided with displacement/speed observer 223, frequency pressure converter 222 is used for detecting the frequency of energy regenerative mechanism 20 energy regenerative voltage and exporting to displacement/speed observer 223, Displacement/speed observer 223 passes through to calculate and demarcates, for obtaining ball screw in energy magnetic flow liquid acceptor of energy Moving axially relative displacement or relative velocity state.Frequency pressure converter 222 and displacement/speed observer 223 also can be by other sides Formula substitutes.

Fig. 5, Fig. 6 a, Fig. 6 b, Fig. 6 c and Fig. 7 shows another embodiment of the present invention, and its form is:

As shown in figure 5, the frame for movement of energy magnetic flow liquid acceptor of energy is by controllable damping force mechanisms 1, machinery Formula rectification mechanism 18 and energy regenerative mechanism 20 are constituted;Controllable damping force mechanisms 1 are same with movement conversion mechanism by tubular excitation shell 4 Axle assemblies, and excitation shell 4 and upper end cover 2, energy regenerative mechanism shell 6 are collectively forming the closing space full of magnetic flow liquid, envelope Close in sap cavity and be full of magnetic flow liquid, about 82ml, movement conversion mechanism is by shifter sleeve 3, ball screw 5, excitation rotor 15 and thrust bearing 16 be coaxially assembled, the inner surface of the outer circumference surface of excitation rotor 15 and excitation shell 4 is formed with work Make gap, excitation rotor 15 and excitation shell 4 can form relative rotary motion;In one end of excitation rotor 15 and ball screw 5 Nut be fixedly connected, the other end is fixedly connected with branch sleeve 7, and the other end of branch sleeve 7 stretches to energy regenerative mechanism 20 and is located Side;Ball screw 5 is by shifter sleeve 3, branch sleeve 7, axle head journal bearing 11 and positioning journal bearing 17 altogether With supporting, so that excitation rotor 15 and excitation shell 4 is remained coaxial, between shifter sleeve 3 and upper end cover 2, be provided with axle head Rotatory sealing 12 and sleeve rotating sealing 13, are provided with axle head rotatory sealing 12 between branch sleeve 7 and energy regenerative mechanism shell 6, For the rotatory sealing of conversion of motion mechanism, the thrust bearing 16 in movement conversion mechanism is set to two, wherein one setting Between upper end cover 2 and shifter sleeve 3, another it is positioned only between branch sleeve 7 and energy regenerative mechanism shell 6;Mechanical type Rectification mechanism 18 is connected between controllable damping force mechanisms 1 and energy regenerative mechanism 20, energy regenerative mechanism 20 and mechanical type rectification mechanism 18 Connection is in energy regenerative mechanism shell 6, coaxially assembles electromotor 19 using electromotor upper bush 8 and electromotor lower sleeve 9, to turn Dynamic branch sleeve 7 drives electromotor 19 to realize energy regenerative.

As shown in Fig. 6 a, Fig. 6 b and Fig. 6 c, mechanical type rectification mechanism 18 be from two groups of epicyclic trains be superimposed and with One-way clutch bearing is constituted, and is arranged between branch sleeve 7 and electromotor 19, two groups of planets in mechanical type rectification mechanism 18 Gear train is the first row galaxy 182 and the second planetary system 183 respectively, one-way clutch bearing the first one-way clutch bearing 184 respectively With the second one-way clutch bearing 185;The planet carrier of the first row galaxy 182 is fixedly connected with the gear ring of the second planetary system 183, and first One-way clutch bearing 184 is arranged between the sun gear of the first row galaxy 182 and electromotor upper bush 8, the second one-way clutch axle Hold between 185 sun gears being arranged on the second planetary system 183 and electromotor upper bush 8, electromotor upper bush 8 and generator amature Synchronous axial system;The input sleeve 181 being fixedly connected with branch sleeve 7, the row of input sleeve 181 and the first row galaxy 182 are set Carrier is fixedly connected, as the input of mechanical type rectification mechanism 18;The gear ratio arranging two groups of epicyclic trains is equal in magnitude And it is more than 1, relational expression is as follows:

i 13 = n 1 n 3 = 1 + z 2 z 1 - - - ( 1 )

i 12 , = n 1 , n 2 , = - z 2 , z 1 , - - - ( 2 )

In formula:

i13For the first row galaxy 182 gear ratio;Gear ratio for the second planetary system 183;

n1And z1It is respectively the rotating speed of sun gear and the number of teeth in the first row galaxy 182;

n3And z3It is respectively the rotating speed of planet carrier and the number of teeth in the first row galaxy 183;

WithIt is respectively the rotating speed of sun gear and the number of teeth in the second planetary system 183;

WithIt is respectively the rotating speed of gear ring and the number of teeth in the second planetary system 183;

It is the situation that tool fairing 18 input rotates forward as shown in Figure 6 b, defining the input direction of arrow in Fig. 6 b is Just, now the outfan of the first row galaxy 182 effectively, drives electromotor upper bush 8 to rotate forward;It is tool fairing as fig. 6 c 18 input Reversions, now effectively, drive electromotor upper bush 8 rotates forward, in Fig. 6 b and 6c the second planetary system 183 outfan It is effective output with oval dotted line institute's frame portion position.

As shown in Figure 7a, energy storage and power supply circuits 21 are in the energy regenerative outfan of energy regenerative mechanism 20 and controllable damping force mechanisms 1 Energization input between electrically connect, realize the self-powered function of energy magnetic flow liquid acceptor of energy.Referring to Fig. 7 b, in feedback Can mechanism 20 outfan setting power collecting device 211, for store energy regenerative electric energy and give controllable damping force mechanisms 1, power biography Sensor 214 and other related electronic devices supply of electrical energy;Set between controllable damping force mechanisms 1 and power collecting device 211 Put current controller 212 and current driver 213, for adjusting the driving current of supply controllable damping force mechanisms 1;For electric current control Device 212 processed arranges control circuit 215, arranges force sensor 214, voltage magnitude detection electricity in the input of control circuit 215 Road 217 and Backstepping module 216, obtain the state of magnetic flow liquid acceptor of energy direction of vibration by force transducer 214 Information, can be obtained magnetic flow liquid acceptor of energy and shaken by combining of voltage magnitude testing circuit 217 and Backstepping module 216 The absolute value of dynamic speed, is achieved in the control to current driver 213 power supply regulation process for the control circuit 215, meanwhile, voltage The combination of amplitude detection circuit 217 and Backstepping module 216 also enables the state of magnetic flow liquid acceptor of energy from sensing Function.

Fig. 8 a show the vibration/shock control system principle based on another embodiment of the present invention shown in Fig. 5, and this shakes Dynamic/impulsive control system substitutes traditional " magnetorheological acceptor of energy (executor)+confession with energy magnetorheological acceptor of energy The combination of electric installation+damping force control module (controller) ", by the energy regenerative mechanism 20 in energy magnetorheological acceptor of energy " discarding " mechanical energy of magnetic flow liquid acceptor of energy is converted to electric energy power to itself and other power circuits;By feedback The same movement rule of mechanism and the inter-agency formation of controllable damping force can realize the self adaptation of energy regenerative electric energy and export and controlled The Automatic adjusument of damping force.

The vibration/shock control system that Fig. 8 b show based on energy magnetic flow liquid acceptor of energy hangs in vehicle The structural representation of frame;Energy magnetic flow liquid acceptor of energy 500 is arranged between vehicle body 501 and vehicle bridge 502, effect of vibration On wheel 503, it is attenuated in vehicle bridge 502 inputs to energy magnetic flow liquid acceptor of energy 500;Compare based on tradition For the semi-active suspension of magnetorheological fluid shock absorber, shown in Fig. 8 b, semi- active control suspension can realize damping force Automatic adjusument And save extra power supply, while simplified system complexity, also substantially reduce the installing space of vehicle suspension, right The research and development of Vehicle Semi-active Suspension System have particularly important progradations with application.

The energy magnetic flow liquid acceptor of energy principle of the present invention can also be applied to other any vibration/shock and control System.

Claims (8)

1. a kind of energy magnetic flow liquid acceptor of energy, is characterized in that: by controllable damping force mechanisms (1), energy regenerative mechanism (20) And adaptation power supply circuit (22) is constituted;
Described controllable damping force mechanisms (1) are coaxially assemblied with movement conversion mechanism by tubular excitation shell (4), described excitation Shell (4) and upper end cover (2), energy regenerative mechanism shell (6) are collectively forming the closing space full of magnetic flow liquid, outside described excitation Embedding in the barrel of shell (4) have wound stator, described movement conversion mechanism by shifter sleeve (3), ball screw (5), encourage Magnet rotor (15) and thrust bearing (16) are coaxially assembled, the outer circumference surface of described excitation rotor (15) and excitation shell (4) inner surface is formed with the working clearance, and described excitation rotor (15) and excitation shell (4) can form relative rotary motion;Institute The one end stating excitation rotor (15) is fixedly connected with the nut in ball screw (5), and the other end is fixing with branch sleeve (7) even Connect, the other end of described branch sleeve (7) stretches to energy regenerative mechanism (20) side;Described ball screw (5) is by interpreter Structure sleeve (3), branch sleeve (7) and thrust bearing (16) are common to be supported, and makes described excitation rotor (15) and excitation shell (4) Remain coaxial;
Described energy regenerative mechanism (20) is in described energy regenerative mechanism shell (6), is trapped using electromotor upper bush (8) and electromotor Cylinder (9) coaxially assembles electromotor (19), drives electromotor (19) to realize energy regenerative with the branch sleeve (7) rotating;
The power supply of the energy regenerative outfan in energy regenerative mechanism (20) for the adaptation power supply circuit (22) and controllable damping force mechanisms (1) is set Electrically connect between input, realize the adaptation power supply function of energy magnetic flow liquid acceptor of energy.
2. energy magnetic flow liquid acceptor of energy according to claim 1, is characterized in that: in described controllable damping force machine In structure (1): the two ends of described excitation shell (4) are respectively set to internal thread segment, the internal thread segment at two ends is respectively used to fixing company Connect end cap (2) and energy regenerative mechanism shell (6);Equal along the circumferencial direction of excitation shell (4) in the stage casing of described excitation shell (4) Several wound stators of cloth, described wound stator is structure as a whole with excitation shell (4), the stator on two neighboring wound stator Coil (14), around to contrary, produces the magnetic field acting on magnetic flow liquid, described excitation shell (4) using described stator coil (14) Using high permeability material.
3. energy magnetic flow liquid acceptor of energy according to claim 1 and 2, is characterized in that: described motion interpreter Thrust bearing (16) in structure is two, and wherein one is positioned only between upper end cover (2) and shifter sleeve (3), another It is arranged between branch sleeve (7) and energy regenerative mechanism shell (6).
4. energy magnetic flow liquid acceptor of energy according to claim 1, is characterized in that: in described energy regenerative mechanism (20) In, the stator of described electromotor (19) is formed by stacking and is connected with energy regenerative mechanism shell (6) by stalloy;Described electromotor (19) Rotor be made up and be provided centrally with being easy to the through hole that ball screw passes through of magnet steel and magnetic steel sleeve;One end in generator amature It is fixedly connected electromotor upper bush (8), be fixedly connected electromotor lower sleeve (9) in the other end of generator amature, using generating Machine upper bush (8), electromotor lower sleeve (9) and radial positioning bearing (17) are by described electromotor (19) and energy regenerative mechanism shell (6) coaxial assembling, described electromotor upper bush (8) is fixedly connected with branch sleeve (7).
5. energy magnetic flow liquid acceptor of energy according to claim 1, is characterized in that: described adaptation power supply circuit (22) include:
Adjustable resistance is set between the energy regenerative outfan and the energization input of controllable damping force mechanisms (1) of energy regenerative mechanism (20) (221), change the amplitude range of the electric current of magnetic flow liquid acceptor of energy using adjustable resistance (221) and realize adaptation power supply Function;
The energy regenerative outfan of energy regenerative mechanism (20) is provided with frequency pressure converter (222), the outfan of frequency pressure converter (222) sets It is equipped with displacement/speed observer (223), described frequency pressure converter (222) is used for detecting described energy regenerative mechanism (20) energy regenerative voltage Frequency and export to described displacement/speed observer (223), described displacement/speed observer (223) is used for obtaining described feedback The moving axially relative displacement of ball screw or relative velocity state in energy formula magnetic flow liquid acceptor of energy.
6. a kind of energy magnetic flow liquid acceptor of energy, is characterized in that: by controllable damping force mechanisms (1), mechanical type motor-generator set Structure (18), energy regenerative mechanism (20) and outside energy storage and power supply circuits (21) are constituted;
Described controllable damping force mechanisms (1) are coaxially assemblied with movement conversion mechanism by tubular excitation shell (4), described excitation Shell (4) and upper end cover (2), energy regenerative mechanism shell (6) are collectively forming the closing space full of magnetic flow liquid, outside described excitation Embedding in the barrel of shell (4) have wound stator, described movement conversion mechanism by shifter sleeve (3), ball screw (5), encourage Magnet rotor (15) and thrust bearing (16) are coaxially assembled, the outer circumference surface of described excitation rotor (15) and excitation shell (4) inner surface is formed with the working clearance, and described excitation rotor (15) and excitation shell (4) can form relative rotary motion;Institute The one end stating excitation rotor (15) is fixedly connected with the nut in ball screw (5), and the other end is fixing with branch sleeve (7) even Connect, the other end of described branch sleeve (7) stretches to energy regenerative mechanism (20) side;Described ball screw (5) is by interpreter Structure sleeve (3), branch sleeve (7) and thrust bearing (16) are common to be supported, and makes described excitation rotor (15) and excitation shell (4) Remain coaxial;
Described energy regenerative mechanism (20) is in described energy regenerative mechanism shell (6), is trapped using electromotor upper bush (8) and electromotor Cylinder (9) coaxially assembles electromotor (19), drives electromotor (19) to realize energy regenerative with the branch sleeve (7) rotating;
Described mechanical type rectification mechanism (18) be from two groups of epicyclic trains be superimposed and with one-way clutch bearing constituted, setting Between branch sleeve (7) and electromotor (19), using described mechanical type rectification mechanism (18) realize movement velocity amplification and The dual-use function of output voltage rectification;
The outside energy storage of setting and power supply circuits (21) are in the energy regenerative outfan of energy regenerative mechanism (20) and controllable damping force mechanisms (1) Electrically connect between energization input, realize the self-powered function of energy magnetic flow liquid acceptor of energy.
7. energy magnetic flow liquid acceptor of energy according to claim 6, is characterized in that:
Two groups of epicyclic trains in described mechanical type rectification mechanism (18) are the first row galaxy (182) and the second planetary system respectively (183), described one-way clutch bearing the first one-way clutch bearing (184) and the second one-way clutch bearing (185) respectively;Described The planet carrier of one planetary system (182) is fixedly connected with the gear ring of the second planetary system (183), and the first one-way clutch bearing (184) sets Put between the sun gear and electromotor upper bush (8) of the first row galaxy (182), described second one-way clutch bearing (185) sets Put between the sun gear and electromotor upper bush (8) of the second planetary system (183), described electromotor upper bush (8) and electromotor Rotor synchronous axial system;The input sleeve (181) that is fixedly connected with described branch sleeve (7) is set, described input sleeve (181) and The planet carrier of described the first row galaxy (182) is fixedly connected, as the input of described mechanical type rectification mechanism (18);
Arrange two groups of epicyclic trains gear ratio equal in magnitude and be more than 1;
i 13 = n 1 n 3 = 1 + z 2 z 1 - - - ( 1 )
i 12 , = n 1 , n 2 , = - z 2 , z 1 , - - - ( 2 )
In formula:
i13For the first row galaxy (182) gear ratio;i′12Gear ratio for the second planetary system (183);
n1And z1It is respectively the rotating speed of sun gear and the number of teeth in the first row galaxy (182);
n3And z3It is respectively the rotating speed of planet carrier and the number of teeth in the first row galaxy (183);
n′1With z '1It is respectively the rotating speed of sun gear and the number of teeth in the second planetary system (183);
n′2With z '2It is respectively the rotating speed of gear ring and the number of teeth in the second planetary system (183).
8. energy magnetic flow liquid acceptor of energy according to claim 6, is characterized in that described energy storage and power supply circuits (21) include:
In outfan setting power collecting device (211) of described energy regenerative mechanism (20), for reclaiming and storing energy regenerative electric energy, with When to controllable damping force mechanisms (1) and other electricity consumption component feeding electric energy;
Between described controllable damping force mechanisms (1) and power collecting device (211), setting current controller (212) and electric current drive Dynamic device (213), for adjusting the driving current of supply controllable damping force mechanisms (1), described current controller (212) is electric by controlling Road (215) provides control algolithm, and the information source of described control circuit (212) passes in voltage magnitude testing circuit (217) and power Sensor (214).
CN201610826847.4A 2016-09-14 2016-09-14 A kind of energy magnetorheological fluid acceptor of energy CN106369101B (en)

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CN107120378A (en) * 2017-07-05 2017-09-01 南京林业大学 A kind of new-type magneto-rheological vibration damper
CN107687493A (en) * 2017-03-20 2018-02-13 河南科技大学 A kind of pure electric automobile self-induction energy regenerative MR fluid shock absorber
CN108131420A (en) * 2017-12-25 2018-06-08 重庆大学 A kind of buffer unit for having effective energy-absorbing characteristic
CN108394446A (en) * 2018-03-05 2018-08-14 宝鸡文理学院 Shock reducing type instrument handling device
CN108426369A (en) * 2018-03-28 2018-08-21 重庆工程职业技术学院 Air energy thermal water system for building
CN108443404A (en) * 2018-04-08 2018-08-24 重庆市铜梁区人民医院 Medical noise-reduction type MRI
CN108528961A (en) * 2018-04-10 2018-09-14 唐静 Fragile article handling device
CN108560699A (en) * 2018-04-28 2018-09-21 重庆工程职业技术学院 Noise reducing type builds house equipment balcony
CN108584152A (en) * 2018-04-10 2018-09-28 重庆医药高等专科学校 Accurate medical instrument movement system based on magnetic rheology effect
CN108759505A (en) * 2018-04-27 2018-11-06 重庆工程职业技术学院 Vibrating isolation system used for cooling tower
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CN107687493A (en) * 2017-03-20 2018-02-13 河南科技大学 A kind of pure electric automobile self-induction energy regenerative MR fluid shock absorber
CN107120378A (en) * 2017-07-05 2017-09-01 南京林业大学 A kind of new-type magneto-rheological vibration damper
CN108131420A (en) * 2017-12-25 2018-06-08 重庆大学 A kind of buffer unit for having effective energy-absorbing characteristic
CN108394446A (en) * 2018-03-05 2018-08-14 宝鸡文理学院 Shock reducing type instrument handling device
CN108426369A (en) * 2018-03-28 2018-08-21 重庆工程职业技术学院 Air energy thermal water system for building
CN108443404A (en) * 2018-04-08 2018-08-24 重庆市铜梁区人民医院 Medical noise-reduction type MRI
CN108443404B (en) * 2018-04-08 2019-08-02 重庆市铜梁区人民医院 Medical noise-reduction type MRI
CN108528961A (en) * 2018-04-10 2018-09-14 唐静 Fragile article handling device
CN108584152A (en) * 2018-04-10 2018-09-28 重庆医药高等专科学校 Accurate medical instrument movement system based on magnetic rheology effect
CN108759505A (en) * 2018-04-27 2018-11-06 重庆工程职业技术学院 Vibrating isolation system used for cooling tower
CN108560699A (en) * 2018-04-28 2018-09-21 重庆工程职业技术学院 Noise reducing type builds house equipment balcony
CN108560699B (en) * 2018-04-28 2019-11-15 重庆工程职业技术学院 Noise reducing type builds house equipment balcony
CN110380538A (en) * 2019-07-29 2019-10-25 郑州铁路职业技术学院 A kind of vibrating electricity generator

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