CN106369101B - A kind of energy magnetorheological fluid acceptor of energy - Google Patents
A kind of energy magnetorheological fluid acceptor of energy Download PDFInfo
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- CN106369101B CN106369101B CN201610826847.4A CN201610826847A CN106369101B CN 106369101 B CN106369101 B CN 106369101B CN 201610826847 A CN201610826847 A CN 201610826847A CN 106369101 B CN106369101 B CN 106369101B
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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
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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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
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/3207—Constructional features
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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
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/50—Special 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
- F16F9/512—Means 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
- F16F9/5123—Means 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
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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
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/12—Fluid damping
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fluid Mechanics (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention discloses a kind of energy magnetorheological fluid acceptor of energies, it is characterized in that being made of controllable damping force mechanisms, energy regenerative mechanism and adaptation power supply circuit；Controllable damping force mechanisms are coaxially assemblied by excitation shell with movement conversion mechanism, and movement conversion mechanism includes switching mechanism sleeve, ball screw, excitation rotor and thrust bearing；Excitation shell connect with upper end cover, energy regenerative mechanism shell and forms the enclosure space full of magnetorheological fluid；Energy regenerative mechanism is coaxially to assemble generator using generator upper bush and generator lower sleeve in energy regenerative mechanism shell, realizes energy regenerative with the connection sleeve driven generator of rotation；Adaptation power supply circuit is arranged between the energy regenerative output end of energy regenerative mechanism and the energization input of controllable damping force mechanisms to be electrically connected.The present invention realizes the efficient utilization of magnetorheological fluid, realizes the adaptation power supply function of magnetorheological fluid acceptor of energy.
Description
Technical field
It is more specifically a kind of energy the present invention relates to collection of energy and vibration/shock control system actuator
Magnetorheological fluid acceptor of energy.
Background technique
Impact and vibration are present in every field and inevitable, such as: surface car traveling is in uneven road surface, flight
Drop impact, the building of device meet with the chatter etc. that seismic wave, mechanical equipment and work apparatus generate.These vibration/shocks pair
The work and life of people causes undesirable influence.Using acceptor of energy, that is, damper, have in absorb and buffering vibration and
Impact not only guarantees mechanical equipment, the stability and safety of instrument system at runtime, but also can also promote vehicle, flight
The apparatuss of transport such as device are supplied to load or the comfort of occupant.
Traditional acceptor of energy based on intellectual material magnetorheological fluid can provide thousands of newton in several milliseconds and arrive
The damping force of several hundred thousand newton realizes effective control of vibration/shock, in automobile engineering, civil engineering, aerospace, cannon
And certain research and application are obtained in the fields such as medical device.But traditional half active based on magnetorheological fluid is held
Row device must solve following stubborn problem at present can enter commercial market on a large scale.First, high magnetic
Rheology liquid price is tens times of normal hydraulic oil or more, and traditional magnetorheological fluid acceptor of energy majority is based on fluid pressure type energy
The structure of amount absorber is transformed, and magnetorheological fluid usage amount is suitable with hydraulic oil, the magnetorheological fluid energy absorption finally manufactured
The cost of device is tens times of fluid pressure type acceptor of energy or more.Such as the magnetorheological fluid energy absorption applied to bridge construction
Device is bulky and actual activity stroke is shorter, and the magnetorheological fluid filled in acceptor of energy is caused most to be in idle shape
State, usage amount is big and service efficiency is low (being less than 0.4vol%).Second, magnetorheological fluid semi-active system needs additional configuration to supply
Power supply also takes up additional installation space while increasing system complexity, this makes magnetorheological fluid acceptor of energy
It is difficult smoothly to be applied to the limited application environment of automotive suspension or other inner spaces.Third, system controller and state are anti-
Infeed sensor device is the module that most of traditional magnetorheological fluid semi-active systems must configure, and complicated control strategy has corresponded to complexity
Control module, complicated control module is bound to cause the cost of system, the complexity of system and installation space demand
It increase accordingly, the reliability of system also can be reduced accordingly.
Summary of the invention
The present invention is to provide a kind of energy magnetorheological fluid energy absorption to solve above-mentioned deficiency of the prior art
Device gets rid of the structure relied on additional power supply, is able to achieve magnetorheological fluid energy to realize the efficient utilization of magnetorheological fluid
The adaptation power supply function of absorber.
The present invention adopts the following technical scheme that in order to solve the technical problem
The energy magnetorheological fluid acceptor of energy of the present invention be structurally characterized in that by controllable damping force mechanisms, energy regenerative mechanism with
And adaptation power supply circuit is constituted；
The controllable damping force mechanisms are coaxially assemblied by tubular excitation shell with movement conversion mechanism, outside the excitation
The enclosure space full of magnetorheological fluid is collectively formed in shell and upper end cover, energy regenerative mechanism shell, in the barrel of the excitation shell
Embedding to have wound stator, the movement conversion mechanism is same by switching mechanism sleeve, ball screw, excitation rotor and thrust bearing
Axis is assembled, and the outer circumference surface of the excitation rotor and the inner surface of excitation shell are formed with the working clearance, and the excitation turns
Son can form relative rotary motion with excitation shell；One end of the excitation rotor is fixedly connected with the nut in ball screw,
The other end is fixedly connected with sleeve is connect, and the other end of the connection sleeve stretches to energy regenerative mechanism side；The ball wire
Bar is supported jointly by switching mechanism sleeve, connection sleeve and thrust bearing, and the excitation rotor and excitation shell are kept
It is coaxial；
The energy regenerative mechanism be in the energy regenerative mechanism shell, it is coaxial using generator upper bush and generator lower sleeve
Generator is assembled, energy regenerative is realized with the connection sleeve driven generator of rotation；
Adaptation power supply circuit is set in the energy regenerative output end of energy regenerative mechanism and the energization input of controllable damping force mechanisms
Between be electrically connected, realize the adaptation power supply function of energy magnetorheological fluid acceptor of energy.
The design feature of the energy magnetorheological fluid acceptor of energy of the present invention is lain also in: in the controllable damping force mechanisms
In: the both ends of the excitation shell are respectively set to internal thread segment, and the internal thread segment at both ends is respectively used to be fixedly connected with upper end cover
With energy regenerative mechanism shell；Several wound stators, institute are evenly distributed with along the circumferencial direction of excitation shell in the middle section of the excitation shell
It states wound stator to be structure as a whole with excitation shell, the stator coil on two neighboring wound stator is around on the contrary, described in utilization
Stator coil generates the magnetic field for acting on magnetorheological fluid, and the excitation shell uses high permeability material.
The design feature of the energy magnetorheological fluid acceptor of energy of the present invention is lain also in: pushing away in the movement conversion mechanism
Power bearing is two, wherein one is positioned only between upper end cover and switching mechanism sleeve, it is another to be positioned only at connection sleeve and feedback
Between energy mechanism shell.
The design feature of the energy magnetorheological fluid acceptor of energy of the present invention is lain also in: described in the energy regenerative mechanism
The stator of generator is formed by stacking by silicon steel sheet and is connected with energy regenerative mechanism shell；The rotor of the generator is by magnet steel and magnet steel
Set is made and is provided centrally with the through-hole current convenient for ball screw；It is fixedly connected on generator and covers in one end of generator amature
Cylinder, be fixedly connected with generator lower sleeve in the other end of generator amature, using generator upper bush, generator lower sleeve and
Radial positioning bearing coaxially assembles the generator and energy regenerative mechanism shell, and the generator upper bush is fixed with sleeve is connect
Connection.
The design feature of the energy magnetorheological fluid acceptor of energy of the present invention is lain also in: the adaptation power supply circuit packet
It includes:
Adjustable resistance is set between the energy regenerative output end of energy regenerative mechanism and the energization input of controllable damping force mechanisms, benefit
Change the amplitude range of the electric current of magnetorheological fluid acceptor of energy with adjustable resistance and realizes adaptation power supply function；
The energy regenerative output end of energy regenerative mechanism is provided with frequency pressure converter, the output end of frequency pressure converter be provided with displacement/
Speed observer, the frequency pressure converter be used for detect the energy regenerative mechanism energy regenerative voltage frequency and export to it is described displacement/
Speed observer, the displacement/speed observer is for obtaining ball screw in the energy magnetorheological fluid acceptor of energy
Axial relative movement displacement or relative velocity state.
The present invention can also adopt the following technical scheme that in order to solve the technical problem
Energy magnetorheological fluid acceptor of energy of the invention is structurally characterized in that: by controllable damping force mechanisms, mechanical whole
It flows mechanism, energy regenerative mechanism and external energy storage and power supply circuit is constituted；
The controllable damping force mechanisms are coaxially assemblied by tubular excitation shell with movement conversion mechanism, outside the excitation
The enclosure space full of magnetorheological fluid is collectively formed in shell and upper end cover, energy regenerative mechanism shell, in the barrel of the excitation shell
Embedding to have wound stator, the movement conversion mechanism is same by switching mechanism sleeve, ball screw, excitation rotor and thrust bearing
Axis is assembled, and the outer circumference surface of the excitation rotor and the inner surface of excitation shell are formed with the working clearance, and the excitation turns
Son can form relative rotary motion with excitation shell；One end of the excitation rotor is fixedly connected with the nut in ball screw,
The other end is fixedly connected with sleeve is connect, and the other end of the connection sleeve stretches to energy regenerative mechanism side；The ball wire
Bar is supported jointly by switching mechanism sleeve, connection sleeve and thrust bearing, and the excitation rotor and excitation shell are kept
It is coaxial；
The energy regenerative mechanism be in the energy regenerative mechanism shell, it is coaxial using generator upper bush and generator lower sleeve
Generator is assembled, energy regenerative is realized with the connection sleeve driven generator of rotation；
The mechanical rectification mechanism be from the superposition of two groups of planetary gear trains and with one-way clutch bearing constituted, setting
Between connection sleeve and generator, realize that the amplification of movement velocity and output voltage rectify using the mechanical rectification mechanism
Dual function；
External energy storage is set and power supply circuit is defeated in the energy regenerative output end of energy regenerative mechanism and the power supply of controllable damping force mechanisms
Enter and be electrically connected between end, realizes the self-powered function of energy magnetorheological fluid acceptor of energy.
The design feature of the energy magnetorheological fluid acceptor of energy of the present invention is lain also in:
Two groups of planetary gear trains in the mechanical rectification mechanism are the first planetary system and the second planetary system respectively, described
One-way clutch bearing is the first one-way clutch bearing and the second one-way clutch bearing respectively；The planet carrier of first planetary system with
The gear ring of second planetary system is fixedly connected, and the first one-way clutch bearing, which is arranged on the sun gear and generator of the first planetary system, to be covered
Between cylinder, the second one-way clutch bearing is arranged between the sun gear of the second planetary system and generator upper bush, the hair
Motor upper bush and generator amature rotate synchronously；The input sleeve being fixedly connected with the connection sleeve, the input are set
Sleeve is fixedly connected with the planet carrier of first planetary system, the input terminal as the mechanical rectification mechanism；
Be arranged two groups of planetary gear trains transmission ratio it is equal in magnitude and be greater than 1；
In formula:
i13For the first planetary system transmission ratio；For the transmission ratio of the second planetary system；
n1And z1The revolving speed and the number of teeth of sun gear in respectively the first planetary system；
n3And z3The revolving speed and the number of teeth of planet carrier in respectively the first planetary system；
WithThe revolving speed and the number of teeth of sun gear in respectively the second planetary system；
WithThe revolving speed and the number of teeth of gear ring in respectively the second planetary system；
The design feature of the energy magnetorheological fluid acceptor of energy of the present invention is lain also in: the energy storage and power supply circuit packet
It includes:
In the output end of the energy regenerative mechanism, power collecting device is set, for recycling and storing energy regenerative electric energy, while to
Controllable damping force mechanisms and other electricity consumption component feeding electric energy；
Current controller and current driver are set between the controllable damping force mechanisms and power collecting device, are used for
The driving current of supply controllable damping force mechanisms is adjusted, the current controller provides control algolithm, the control by control circuit
The information of circuit processed derives from voltage magnitude detection circuit and force snesor.
Compared with the prior art, the invention has the advantages that:
1. the present invention is able to solve the problem of traditional magnetorheological fluid acceptor of energy needs additional configuration power supply, collection resistance
Buddhist nun's power is controllable and energy regenerative function is in one, and complication system that is compact-sized and avoiding additional distribution has both saved application cost,
Reduce installation space again, while also avoiding the maintenance issues of attachment device.
2. structure of the invention is compact and is provided with movement conversion mechanism, the design of magnetorheological fluid acceptor of energy is made full use of
Linear movement can be converted to rotary motion while space, magnetorheological fluid usage amount is small (about 82ml), in the working clearance
Magnetorheological fluid utilization rate is high (10vol% or more), fundamentally reduces the cost of magnetorheological fluid acceptor of energy.
3. mechanical rectification mechanism is installed between connection sleeve and generator upper bush in the present invention, there is movement speedup
And the dual function of movement output rectification: (i) to can be realized generator defeated by setting the modulus ratio between planetary system gear
Enter the amplification of end motion speed；(ii) no matter how the input terminal of mechanical rectification mechanism rotates, and output end is always towards a side
To rotation, it can be achieved that the rectification of energy regenerative voltage.
4. controllable damping force mechanisms, mechanical rectification mechanism and energy regenerative mechanism are dexterously overlapped in structure in the present invention
Connection, avoid in acceptor of energy structure connect caused by stroke it is too long, can smoothly be applied to limited space field.
5. the energy regenerative output of energy regenerative mechanism can be supplied directly to controllable damping force mechanisms in the present invention, passed using connection sleeve
It passs and replaces complicated current driver and control strategy from the same or similar kinematic relation of controllable damping force mechanisms,
Realize adaptation power supply/damping force automatic adjusument function of magnetorheological fluid acceptor of energy.
Detailed description of the invention
Fig. 1 is one embodiment of the present invention structural schematic diagram；
Fig. 2 a is the A-A sectional view of excitation rotor in the present invention shown in Fig. 2 b；
Fig. 2 b is the B-B sectional view 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 magnetorheological fluid acceptor of energy schematic diagram of Fig. 1 illustrated embodiment；
Another embodiment structure schematic diagram of Fig. 5 present invention；
Fig. 6 a is mechanical rectification mechanism structural schematic diagram in Fig. 5 illustrated embodiment；
Fig. 6 b is movement relation figure of the mechanical rectification mechanism when input terminal rotates forward shown in Fig. 6；
Fig. 6 c is movement relation figure of the mechanical rectification mechanism when input terminal inverts shown in Fig. 6；
Fig. 7 a is the energy magnetorheological fluid acceptor of energy schematic diagram of another embodiment shown in Fig. 5；
Fig. 7 b is the electric part of the energy magnetorheological fluid 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 another embodiment shown in Fig. 5；
Fig. 8 b is that the vibration/shock control system based on another embodiment shown in Fig. 5 shows in Pendant Structure Of Vehicle
It is intended to.
Figure label: 1 controllable damping force mechanisms, 2 upper end covers, 3 switching mechanism sleeves, 4 excitation shells, 5 ball screws, 6
Energy regenerative mechanism shell, 7 connection sleeves, 8 generator upper bushes, 9 generator lower sleeves, 10 lower covers, 11 shaft end transverse bearings, 12
Shaft end rotatory sealing, the sealing of 13 sleeve rotatings, 14 stator coils, 15 excitation rotors, 16 thrust bearings, 17 positioning transverse bearings,
18 mechanical rectification mechanisms, 19 generators, 20 energy regenerative mechanisms, 21 energy storage and power supply circuit, 22 adaptation power supply circuits, 41 magnetic force
Line, 181 input sleeves, 182 first planetary systems, 183 second planetary systems, 184 first one-way clutch bearings, 185 second unidirectionally from
Sympodium is held, 211 power collecting devices, 212 current controllers, 213 current drivers, 214 force snesors, 215 control circuits,
216 Backstepping modules, 217 voltage magnitude detection circuits, 221 adjustable resistances, 222 frequency pressure converters, 223 displacements/speed are seen
Survey device, 500 energy magnetorheological fluid acceptor of energies, 501 vehicle bodies, 502 vehicle bridge, 503 wheels.
Specific embodiment
Fig. 1, Fig. 2 a, Fig. 2 b, Fig. 3 a, Fig. 3 b and Fig. 4 show one embodiment of the present invention, form are as follows:
As shown in Figure 1, the mechanical structure of energy magnetorheological fluid 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 by tubular excitation shell 4 with movement conversion mechanism, excitation shell 4
The enclosure space full of magnetorheological fluid is collectively formed with upper end cover 2, energy regenerative mechanism shell 6, closes and is full of magnetorheological fluid in sap cavity,
About 82ml；Movement conversion mechanism is coaxially filled by switching mechanism sleeve 3, ball screw 5, excitation rotor 15 and thrust bearing 16
With forming, the outer circumference surface of excitation rotor 15 and the inner surface of excitation shell 4 are formed with working clearance, excitation rotor 15 and excitation
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
Connection sleeve 7 is fixedly connected, and the other end of connection sleeve 7 stretches to 20 side of energy regenerative mechanism；Ball screw 5 is by interpreter
Structure sleeve 3, connection sleeve 7, shaft end transverse bearing 11 and positioning transverse bearing 17 support jointly, make excitation rotor 15 and encourage
Magnetic shell 4 remains coaxially, and shaft end rotatory sealing 12 is provided between switching mechanism sleeve 3 and upper end cover 2 and sleeve rotating is close
Envelope 13 connects and is provided with shaft end rotatory sealing 12 between sleeve 7 and energy regenerative mechanism shell 6, the rotation for conversion of motion mechanism
It seals, the thrust bearing 16 in movement conversion mechanism is set as two, wherein one is positioned only at upper end cover 2 and switching mechanism sleeve
It is another to be positioned only between connection sleeve 7 and energy regenerative mechanism shell 6 between 3；Energy regenerative mechanism 20 be in energy regenerative mechanism shell 6,
Generator 19 is coaxially assembled using generator upper bush 8 and generator lower sleeve 9, with 7 driven generator of connection sleeve of rotation
19 realize energy regenerative, and in energy regenerative mechanism 20, the stator of generator 19 is formed by stacking by silicon steel sheet and is consolidated with energy regenerative mechanism shell 6
Even；The rotor of generator 19 is made of magnet steel and magnetic steel sleeve and is provided centrally with the through-hole current convenient for ball screw；It is generating electricity
One end of machine rotor is fixedly connected with generator upper bush 8, is fixedly connected with generator lower sleeve 9 in the other end of generator amature,
It is arranged with radial positioning bearing 17 on generator lower sleeve 8 and generator lower sleeve 9, makes generator 19 and energy regenerative mechanism shell
6 and lower cover 10 keep coaxial；The generator upper bush 8 is fixedly connected with sleeve 7 is connect.
As shown in figures 2 a and 2b, in controllable damping force mechanisms 1, the both ends of excitation shell 4 are respectively set to internal thread segment,
The internal thread segment at both ends is respectively used to be fixedly connected with upper end cover 2 and energy regenerative mechanism shell 6；It is 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, is encouraged
Magnetic shell 4 is made of high permeability material, be can be and is made of No. 20 Steel materials；Stator coil is provided on wound stator
14, generated using stator coil 14 and act on the magnetic field of magnetorheological fluid, the stator coil 14 on two neighboring wound stator around to
On the contrary, row is at three magnetic loops.
As best shown in figures 3 a and 3b, Fig. 3 a provides theoretical magnetic circuit distribution map of the controllable damping force mechanisms 1 in energization, by
In the stator coil 14 on each adjacent two wound stator around on the contrary, generate the magnetic line of force it is contrary so that it is two neighboring around
Series connection forms magnetic loop between line stator, is conducive to the distribution of magnetic circuit；Fig. 3 b is shown to be obtained based on finite element analysis software
The distribution map of the magnetic line of force 41, it is consistent with the theoretical magnetic circuit distribution map result that Fig. 3 a is provided.
As shown in figure 4, setting adaptation power supply circuit 22 includes: the energy regenerative output end and controllable damping in 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, utilizes generator 19 and controllable damping force mechanisms 1
The identical characteristics of motion can realize the damping force automatic adjusument function of energy magnetorheological fluid acceptor of energy.In energy regenerative mechanism
Frequency pressure converter 222 is arranged in 20 energy regenerative output end, and the output end of frequency pressure converter 222 is provided with displacement/speed observer
223, frequency pressure converter 222 is used to detect the frequency of 20 energy regenerative voltage of energy regenerative mechanism and exports to displacement/speed observer 223,
Displacement/speed observer 223 is by calculating and demarcating, for obtaining ball screw in energy magnetorheological fluid acceptor of energy
Axial relative movement displacement or relative velocity state.Frequency pressure converter 222 and displacement/speed observer 223 can also be by other sides
Formula substitution.
Fig. 5, Fig. 6 a, Fig. 6 b, Fig. 6 c and Fig. 7 show another embodiment of the present invention, form are as follows:
As shown in figure 5, the mechanical structure of energy magnetorheological fluid 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
Axis assemblies, and the enclosure space full of magnetorheological fluid is collectively formed in excitation shell 4 and upper end cover 2, energy regenerative mechanism shell 6, seals
It closes full of magnetorheological fluid in sap cavity, about 82ml, movement conversion mechanism is by switching mechanism sleeve 3, ball screw 5, excitation rotor
15 and thrust bearing 16 be coaxially assembled, the outer circumference surface of excitation rotor 15 and the inner surface of excitation shell 4 are 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 sleeve 7 is connect, and the other end of connection sleeve 7 stretches to where energy regenerative mechanism 20
Side；Ball screw 5 is total to by switching mechanism sleeve 3, connection sleeve 7, shaft end transverse bearing 11 and positioning transverse bearing 17
With bearing, remains excitation rotor 15 with excitation shell 4 coaxial, be provided with shaft end between switching mechanism sleeve 3 and upper end cover 2
Rotatory sealing 12 and sleeve rotating sealing 13, connect and are provided with shaft end rotatory sealing 12 between 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 as two, wherein a setting
It is another to be positioned only between connection sleeve 7 and energy regenerative mechanism shell 6 between upper end cover 2 and switching mechanism sleeve 3；Mechanically
Rectification mechanism 18 is connected between controllable damping force mechanisms 1 and energy regenerative mechanism 20, energy regenerative mechanism 20 and mechanical rectification mechanism 18
Connection is coaxially to assemble generator 19 using generator upper bush 8 and generator lower sleeve 9 in energy regenerative mechanism shell 6, to turn
Dynamic 7 driven generator 19 of connection sleeve realizes energy regenerative.
As shown in Fig. 6 a, Fig. 6 b and Fig. 6 c, mechanical rectification mechanism 18 be from the superposition of two groups of planetary gear trains and with
One-way clutch bearing is constituted, two group planets of the setting between connection sleeve 7 and generator 19, in mechanical rectification mechanism 18
Gear train is the first planetary system 182 and the second planetary system 183 respectively, and one-way clutch bearing is the first one-way clutch bearing respectively
184 and the second one-way clutch bearing 185；The planet carrier of first planetary system 182 is fixedly connected with the gear ring of the second planetary system 183,
First one-way clutch bearing 184 is arranged between the sun gear and generator upper bush 8 of the first planetary system 182, second unidirectionally from
Sympodium holds 185 and is arranged between the sun gear and generator upper bush 8 of the second planetary system 183, generator upper bush 8 and generator
Rotor rotates synchronously；The input sleeve 181 for being arranged and connecting sleeve 7 and being fixedly connected inputs sleeve 181 and the first planetary system 182
Planet carrier be fixedly connected, the input terminal as mechanical rectification mechanism 18；The transmission ratio size of two groups of planetary gear trains is set
It is equal and be greater than 1, relational expression is as follows:
In formula:
i13For 182 transmission ratio of the first planetary system；For the transmission ratio of the second planetary system 183；
n1And z1The revolving speed and the number of teeth of sun gear in respectively the first planetary system 182；
n3And z3The revolving speed and the number of teeth of planet carrier in respectively the first planetary system 182；
WithThe revolving speed and the number of teeth of sun gear in respectively the second planetary system 183；
WithThe revolving speed and the number of teeth of gear ring in respectively the second planetary system 183；
The case where rotating forward as shown in Figure 6 b for 18 input terminal of tool fairing, defining input terminal arrow direction in Fig. 6 b is
Just, the output end of the first planetary system 182 is effective at this time, and generator upper bush 8 is driven to rotate forward；It is as fig. 6 c tool fairing
18 input terminal Reversions, 183 output end of the second planetary system is effective at this time, and generator upper bush 8 is driven to rotate forward, in Fig. 6 b and 6c
It is effectively output with oval dotted line institute's frame portion position.
As shown in Figure 7a, the energy regenerative output end and controllable damping force mechanisms 1 of energy storage and power supply circuit 21 in energy regenerative mechanism 20
Energization input between be electrically connected, realize the self-powered function of energy magnetorheological fluid acceptor of energy.Referring to Fig. 7 b, presenting
Power collecting device 211 is arranged in the output end of energy mechanism 20, for storing energy regenerative electric energy and passing to controllable damping force mechanisms 1, power
Sensor 214 and other related electronic devices supply of electrical energy；It is set between controllable damping force mechanisms 1 and power collecting device 211
Current controller 212 and current driver 213 are set, for adjusting the driving current of supply controllable damping force mechanisms 1；For electric current control
Control circuit 215 is arranged in device 212 processed, input terminal setting force sensor 214, voltage magnitude detection electricity in control circuit 215
Road 217 and Backstepping module 216 obtain the state of magnetorheological fluid acceptor of energy direction of vibration by force snesor 214
Information can obtain the vibration of magnetorheological fluid acceptor of energy by the combination of voltage magnitude detection circuit 217 and Backstepping module 216
The absolute value of dynamic speed is achieved in control of the control circuit 215 to the power supply adjustment process of current driver 213, meanwhile, voltage
The state that the combination of amplitude detection circuit 217 and Backstepping module 216 is also able to achieve magnetorheological fluid acceptor of energy senses certainly
Function.
Fig. 8 a show the vibration/shock control system principle based on another embodiment of the present invention shown in fig. 5, this vibration
Dynamic/impulsive control system substitutes traditional " magnetorheological acceptor of energy (actuator)+confession with energy magnetorheological acceptor of energy
The combination of electric installation+damping force control module (controller) ", passes through the energy regenerative mechanism 20 in energy magnetorheological acceptor of energy
" discarded " mechanical energy of magnetorheological fluid acceptor of energy is converted into electric energy to itself and the power supply of other power circuits；Pass through feedback
Can the same movement rule of mechanism and the inter-agency formation of controllable damping force realize the adaptive output and controllably of energy regenerative electric energy
The automatic adjusument of damping force.
It is outstanding in vehicle that Fig. 8 b show the vibration/shock control system based on energy magnetorheological fluid acceptor of energy
The structural schematic diagram of frame；Energy magnetorheological fluid acceptor of energy 500 is arranged between vehicle body 501 and vehicle bridge 502, effect of vibration
In on wheel 503, it is input in energy magnetorheological fluid acceptor of energy 500 and is attenuated by vehicle bridge 502；Compared to based on tradition
For the semi-active suspension of magnetorheological fluid shock absorber, damping force automatic adjusument is may be implemented in semi- active control suspension shown in Fig. 8 b
And additional power supply is saved, the installation space of vehicle suspension is also obviously reduced while simplifying system complexity, it is right
The research and development of Vehicle Semi-active Suspension System have particularly important progradation with application.
Energy magnetorheological fluid acceptor of energy principle of the invention can also be applied to other any vibration/shock controls
System.
Claims (8)
1. a kind of energy magnetorheological fluid acceptor of energy, it is characterized in that: by controllable damping force mechanisms (1), energy regenerative mechanism (20)
And adaptation power supply circuit (22) is constituted；
The controllable damping force mechanisms (1) are coaxially assemblied by tubular excitation shell (4) with movement conversion mechanism, the excitation
The enclosure space full of magnetorheological fluid is collectively formed in shell (4) and upper end cover (2), energy regenerative mechanism shell (6), outside the excitation
It is embedding in the barrel of shell (4) to have a wound stator, the movement conversion mechanism by switching mechanism sleeve (3), ball screw (5), encourage
Magnet rotor (15) and thrust bearing (16) are coaxially assembled, the outer circumference surface and excitation shell of the excitation rotor (15)
(4) inner surface is formed with the working clearance, and the excitation rotor (15) and excitation shell (4) can form relative rotary motion；Institute
The one end for stating excitation rotor (15) is fixedly connected with the nut in ball screw (5), and the other end fixes company with sleeve (7) are connect
It connects, the other end of connection sleeve (7) stretches to energy regenerative mechanism (20) side；The ball screw (5) is by interpreter
Structure sleeve (3), connection sleeve (7) and thrust bearing (16) support jointly, make the excitation rotor (15) and excitation shell (4)
It remains coaxial；
The energy regenerative mechanism (20) is to be trapped in the energy regenerative mechanism shell (6) using generator upper bush (8) and generator
Cylinder (9) coaxially assembles generator (19), realizes energy regenerative with connection sleeve (7) driven generator (19) of rotation；
Adaptation power supply circuit (22) is set in the energy regenerative output end of energy regenerative mechanism (20) and the power supply of controllable damping force mechanisms (1)
It is electrically connected between input terminal, realizes the adaptation power supply function of energy magnetorheological fluid acceptor of energy.
2. energy magnetorheological fluid acceptor of energy according to claim 1, it is characterized in that: in the controllable damping force machine
In structure (1): the both ends of the excitation shell (4) are respectively set to internal thread segment, and the internal thread segment at both ends is respectively used to fixed company
Connect end cap (2) and energy regenerative mechanism shell (6)；It is equal along the circumferencial direction of excitation shell (4) in the middle section of the excitation shell (4)
Several wound stators of cloth, the wound stator are structure as a whole with excitation shell (4), the stator on two neighboring wound stator
Coil (14) is around on the contrary, generate the magnetic field for acting on magnetorheological fluid, the excitation shell (4) using the stator coil (14)
Using high permeability material.
3. energy magnetorheological fluid acceptor of energy according to claim 1 or 2, it is characterized in that: the movement interpreter
Thrust bearing (16) in structure is two, wherein one is positioned only between upper end cover (2) and switching mechanism sleeve (3), another
Setting is between connection sleeve (7) and energy regenerative mechanism shell (6).
4. energy magnetorheological fluid acceptor of energy according to claim 1, it is characterized in that: in the energy regenerative mechanism (20)
In, the stator of the generator (19) is formed by stacking by silicon steel sheet and is connected with energy regenerative mechanism shell (6)；The generator (19)
Rotor the through-hole current convenient for ball screw is made and is provided centrally with of magnet steel and magnetic steel sleeve；In one end of generator amature
Generator upper bush (8) are fixedly connected with, generator lower sleeve (9) is fixedly connected in the other end of generator amature, utilizes power generation
Machine upper bush (8), generator lower sleeve (9) and radial positioning bearing (17) are by the generator (19) and energy regenerative mechanism shell
(6) coaxial assembly, the generator upper bush (8) are fixedly connected with sleeve (7) is connect.
5. energy magnetorheological fluid acceptor of energy according to claim 1, it is characterized in that: the adaptation power supply circuit
(22) include:
Adjustable resistance is set between the energy regenerative output end of energy regenerative mechanism (20) and the energization input of controllable damping force mechanisms (1)
(221), change the amplitude range of the electric current of magnetorheological fluid acceptor of energy using adjustable resistance (221) and realize adaptation power supply
Function；
It is provided with frequency pressure converter (222) in the energy regenerative output end of energy regenerative mechanism (20), the output end of frequency pressure converter (222) is set
It is equipped with displacement/speed observer (223), the frequency pressure converter (222) is for detecting energy regenerative mechanism (20) the energy regenerative voltage
Frequency and export to the displacement/speed observer (223), the displacement/speed observer (223) is for obtaining the feedback
The axial relative movement displacement of ball screw or relative velocity state in energy formula magnetorheological fluid acceptor of energy.
6. a kind of energy magnetorheological fluid acceptor of energy, it is characterized in that: by controllable damping force mechanisms (1), mechanical motor-generator set
Structure (18), energy regenerative mechanism (20) and external energy storage and power supply circuit (21) are constituted；
The controllable damping force mechanisms (1) are coaxially assemblied by tubular excitation shell (4) with movement conversion mechanism, the excitation
The enclosure space full of magnetorheological fluid is collectively formed in shell (4) and upper end cover (2), energy regenerative mechanism shell (6), outside the excitation
It is embedding in the barrel of shell (4) to have a wound stator, the movement conversion mechanism by switching mechanism sleeve (3), ball screw (5), encourage
Magnet rotor (15) and thrust bearing (16) are coaxially assembled, the outer circumference surface and excitation shell of the excitation rotor (15)
(4) inner surface is formed with the working clearance, and the excitation rotor (15) and excitation shell (4) can form relative rotary motion；Institute
The one end for stating excitation rotor (15) is fixedly connected with the nut in ball screw (5), and the other end fixes company with sleeve (7) are connect
It connects, the other end of connection sleeve (7) stretches to energy regenerative mechanism (20) side；The ball screw (5) is by interpreter
Structure sleeve (3), connection sleeve (7) and thrust bearing (16) support jointly, make the excitation rotor (15) and excitation shell (4)
It remains coaxial；
The energy regenerative mechanism (20) is to be trapped in the energy regenerative mechanism shell (6) using generator upper bush (8) and generator
Cylinder (9) coaxially assembles generator (19), realizes energy regenerative with connection sleeve (7) driven generator (19) of rotation；
The mechanical rectification mechanism (18) be from the superposition of two groups of planetary gear trains and with one-way clutch bearing constituted, setting
Between connection sleeve (7) and generator (19), using the mechanical rectification mechanism (18) realize the amplification of movement velocity with
The dual function of output voltage rectification；
The energy regenerative output end and controllable damping force mechanisms (1) of external energy storage and power supply circuit (21) in energy regenerative mechanism (20) are set
It is electrically connected between energization input, realizes the self-powered function of energy magnetorheological fluid acceptor of energy.
7. energy magnetorheological fluid acceptor of energy according to claim 6, it is characterized in that:
Two groups of planetary gear trains in the mechanical rectification mechanism (18) are the first planetary system (182) and the second planetary system respectively
(183), the one-way clutch bearing is the first one-way clutch bearing (184) and the second one-way clutch bearing (185) respectively；It is described
The planet carrier of first planetary system (182) is fixedly connected with the gear ring of the second planetary system (183), the first one-way clutch bearing (184)
It is arranged between the sun gear and generator upper bush (8) of the first planetary system (182), the second one-way clutch bearing (185)
It is arranged between the sun gear and generator upper bush (8) of the second planetary system (183), the generator upper bush (8) and power generation
Machine rotor rotates synchronously；The input sleeve (181) being fixedly connected with connection sleeve (7), the input sleeve (181) are set
It is fixedly connected with the planet carrier of first planetary system (182), the input terminal as the mechanical rectification mechanism (18)；
Be arranged two groups of planetary gear trains transmission ratio it is equal in magnitude and be greater than 1；
In formula:
i13For the first planetary system (182) transmission ratio；For the transmission ratio of the second planetary system (183)；
n1And z1The revolving speed and the number of teeth of sun gear in respectively the first planetary system (182)；
n3And z3The revolving speed and the number of teeth of planet carrier in respectively the first planetary system (182)；
WithThe revolving speed and the number of teeth of sun gear in respectively the second planetary system (183)；
WithThe revolving speed and the number of teeth of gear ring in respectively the second planetary system (183).
8. energy magnetorheological fluid acceptor of energy according to claim 6, it is characterized in that the energy storage and power supply circuit
(21) include:
Power collecting device (211) are set in the output end of the energy regenerative mechanism (20), for recycling and storing energy regenerative electric energy, together
When to controllable damping force mechanisms (1) and other electricity consumption component feeding electric energy；
Current controller (212) are set between the controllable damping force mechanisms (1) and power collecting device (211) and electric current drives
Dynamic device (213), for adjusting the driving current of supply controllable damping force mechanisms (1), the current controller (212) is by control electricity
Road (215) provides control algolithm, and the information of the control circuit (215) derives from voltage magnitude detection circuit (217) He Lichuan
Sensor (214).
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