CN106594169B - A kind of quasi- zero stiffness inertia actuator - Google Patents
A kind of quasi- zero stiffness inertia actuator Download PDFInfo
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- CN106594169B CN106594169B CN201611203638.0A CN201611203638A CN106594169B CN 106594169 B CN106594169 B CN 106594169B CN 201611203638 A CN201611203638 A CN 201611203638A CN 106594169 B CN106594169 B CN 106594169B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/08—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with rubber springs ; with springs made of rubber and metal
- F16F15/085—Use of both rubber and metal springs
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- Aviation & Aerospace Engineering (AREA)
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- Electromagnetism (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
Abstract
The invention discloses a kind of quasi- zero stiffness inertia actuator, including shell, movable part and driving part, movable part is respectively equipped with the first support member and the second support member, first support member flexibly supports movable part along the vertical direction, movable part passes through in the first support member power transmission to pedestal, in driving part power transmission to pedestal, the at least two second support members elastic connection movable part and circumferential direction along movable part is uniformly arranged in the horizontal direction, first support member is that static compress state or dynamic compression stretch alternating state along the vertical direction, second support member is static compress state or dynamic compression state in the horizontal direction.First, support member forms the support component of one high static low dynamic rate, it can reduce by movable part and first, the intrinsic frequency for the component that two support members are constituted, perfect condition can be close to zero-frequency, in the case where not needing to increase volume and input current, increase the low frequency even ultralow frequency power output of actuator.
Description
Technical field
The present invention relates to active damping fields, and in particular to a kind of non-linear support for increasing actuator low frequency power output is used to
Property actuator.
Background technique
With the development of industry, requirement of the people to vibration control is higher and higher.Although and traditional passive vibration isolation technology
It has the advantages of simple structure and easy realization, but also there is it to be difficult to the shortcomings that overcoming, after vibrating isolation system structure determination, subtract
Effect of shaking determines, can not adapt to the variation of outer scrambling rate, while only when driving frequency is greater thanTimes vibrating isolation system it is intrinsic
Damping effect could be played when frequency, but too low system frequency will lead to excessive the asking with unstability of quiet deformation when realizing
Topic, causes low frequency vibration isolation problem.
Active vibration control technology can overcome the above problem, be developed rapidly.Actuator is the weight of active control
Want part comprising driving part, movable part and resilient support, driving part use driving coil, and movable part is constituted
One closed magnetic circuit system, on the one hand, the power output size of actuator meets left hand rule, power output size and magnetic field strength, electric current
Intensity and conductor length are directly proportional, in order to meet use and installation requirement, the volume and current strength one of existing actuator
As should not be too large, and volume again limits magnetic field strength and conductor length, and therefore, the power output of existing actuator is typically small；
On the other hand, the power output frequency of actuator is related with resilient support, and power output frequency should be greater than movable part and resilient support structure
At component intrinsic frequency, it is a kind of double-deck main passive that Authorization Notice No. is that the Chinese invention patent of CN104500647B discloses
Electromechanical integrated form isolation mounting uses spring as resilient support, and since the rigidity of existing spring is low, intrinsic frequency is general
It is unable to reach low frequency even ultralow frequency, therefore, the power output frequency of existing actuator is also unable to reach low frequency even ultralow frequency.It is comprehensive
On, the low frequency power output of existing actuator is smaller, thus researches and develops a kind of increase actuator the low frequency even inertia of ultralow frequency power output
Actuator is of great significance.
Summary of the invention
In order to solve the above technical problems, goal of the invention of the invention is to provide a kind of quasi- zero stiffness inertia actuator,
It does not need in the case where increasing volume and input current, increases the low frequency even ultralow frequency power output of actuator.
For achieving the above object, the present invention provides a kind of technical solution below: quasi- zero stiffness inertia actuator, packet
Shell, movable part and driving part are included, the shell includes pedestal, upper end cover and side wall, the movable part difference
Equipped with the first support member and guiding parts, first support member flexibly supports the movable part, institute along the vertical direction
It states guiding parts and is oriented to the movable part along the vertical direction, the movable part passes through the first support member power transmission to institute
It states on pedestal, in the driving part power transmission to the pedestal, the movable part constitutes a closed magnetic circuit system, is produced with synchronous
The raw active force for driving the driving part vibration and the reaction force for driving its own vibration, the movable part are additionally provided with the
Two support members, at least two second support members movable part described in elastic connection and along the activity in the horizontal direction
The circumferential direction of component is uniformly arranged, and first support member is that static compress state or dynamic compression stretch alternating along the vertical direction
State, second support member are static compress state or dynamic compression state in the horizontal direction.
The intrinsic frequency for the component that the movable part, first support member and second support member are constituted
Less than the vibration frequency of the movable part.
Further, first support member use board-like complex spring, the board-like complex spring include connecting plate,
Connecting bushing and rubber slab, the connecting plate and the connecting bushing are metal material, and the connecting plate is equipped with middle through-hole,
The connecting bushing is co-axially located in the middle through-hole, the rubber slab sulfidization molding in the connecting plate inner side edge and
Between the outer wall of the connecting bushing, the connecting plate and the pedestal are relatively fixed, the connecting bushing and the movable part
Part is relatively fixed and is vacantly arranged.
Further, the base portion upwardly extends to form annular convex platform, the annular convex platform and the connecting plate phase
To fixation.
Further, second support member uses pillar complex spring, and the pillar complex spring connects including inside
Connector, outside connector and rubber bar, the inside connector and the outside connector are metal material, and the inside connects
Connector and outside connector coaxial arrangement, the rubber bar sulfidization molding are connected in the inside connector with the outside
Between head, the inside connector and the movable part are relatively fixed, and the outside connector and the side wall are relatively fixed.
Further, the decrement of the rubber bar in the horizontal direction is adjustable, and the outside connector passes through the side wall
Through-hole, the outside connector is also threaded with the adjusting nut for being located at the two sides of the through-hole.
Further, the movable part includes magnetic cylinder, the permanent magnet being arranged in the magnetic cylinder and is arranged in the magnetic
The fixed plate of cylinder and the permanent magnet upper side position, the fixed plate is relatively fixed with the magnetic cylinder and the permanent magnet respectively,
The driving part includes coil rack and driving coil, and the coil rack is arranged between the magnetic cylinder and the permanent magnet
Air gap in and the pedestal that is sequentially connected, the driving coil be wrapped on the coil rack.
Further, the base portion upwardly extends to form cylindrical stent, and the cylindrical stent is as the coil bone
Frame.
Further, the permanent magnet is upper, and lower position is also respectively provided with, lower yoke, it is described on, lower yoke point
Not between the magnetic cylinder formed on, lower air gap, it is described on, the driving part is respectively set in lower air gap, described in two
Driving part is cured as an entirety by epoxy resin set.
Further, the guiding parts includes guiding axis, and the lower end of the guiding axis is connect with the pedestal, described to lead
It is connect to the upper end of axis with the upper end cover, is arranged on the guiding axis and linear bearing is installed, the inner ring of the linear bearing
Relatively fixed with the guiding axis, the outer ring of the linear bearing and the movable part are relatively fixed, second support portion
Part is connected between the side wall and the outer ring of the linear bearing.
Further, the space between the movable part and the upper end cover is slightly larger than the vibration row of the movable part
Journey.
Due to the above technical solutions, the present invention has the following advantages over the prior art:
(1) work in the present invention is the first support member and Yan Shui that the present invention passes through that setting flexibly supports along the vertical direction
Square to elastic connection the second support member, the first support and the second support form the support of one high static low dynamic rate
Component, when movable part is static, the second support member is in horizontality and does not play a supportive role, and the first support member is negative
Duty support movable part, at this moment the Static Correction of movable part is small, and when movable part movement, the second support member plays negative stiffness and makees
With being equivalent to makes the dynamic rate of the first support become smaller, to realize movable part, the first support member and the second support
The resilient support assemblies that component is constituted have the characteristics that high static low dynamic rate, can reduce the intrinsic frequency of movable component,
Perfect condition can be close to zero-frequency, therefore, increase the low frequency even ultralow frequency output of actuator；
(2) the power output size f of the actuator in the present invention is synthesized by two power of Ampere force and rigidity power, i.e.,Wherein f=BIL is Ampere force, and k is rigidity, and x is displacement of the movable part about static center,
W is Ampere force frequency, wnFor intrinsic frequency, it can be seen that when the frequency of driving force is much smaller than 1 relative to intrinsic frequency, rigidity
The denominator of power can be approximated to be -1 therefore rigidity power is approximately equal to-f, and total power output is close to 0, but the frequency for working as driving force is greater than admittedly
When having frequency, both rigidity power and Ampere force direction are identical, and total power output is equal to the sum of the two.Made not by reducing intrinsic frequency
The range for increasing only power area in the same direction, also increases frequency ratio, increases the power output of low frequency range.And general linear support is when logical
Quiet deformation excessive, bad stability can be made by crossing when reduction rigidity reduces intrinsic frequency, and pass through the first support and the second support shape
At there is high static low dynamic non-linear support, not only there is high Static stiffness but also with low dynamic stiffness, thus
In the case that guarantee system is stablized, reduce intrinsic frequency and be even up to zero intrinsic frequency, increases actuator low frequency power output.
Detailed description of the invention
Fig. 1 is the main view of quasi- zero stiffness inertia actuator disclosed by the invention；
Fig. 2 is the bottom view of quasi- zero stiffness inertia actuator disclosed by the invention；
Fig. 3 is the rear cross sectional view of Section A-A in Fig. 2；
Fig. 4 is the bottom view of section B-B in Fig. 3；
Fig. 5 is the main view of the first support member disclosed by the invention；
Fig. 6 is the top view of the first support member disclosed by the invention；
Fig. 7 is the initial power curve of actuator and the power curve after movable component intrinsic frequency reduction after improvement before improving
Comparison diagram.
Wherein, 110, pedestal；111, connecting hole；120, upper end cover；130, side wall；131, first interface；132, it second connects
Mouthful；211, magnetic cylinder；212, permanent magnet；213, upper yoke；214, lower yoke；215, fixed plate；220, rubber slab；221, connection lining
Set；222, connecting plate；230, stay bolt；240, rubber bar；251, guiding axis；252, linear bearing；253, bolt；310, it drives
Coil；320, coil rack.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiments of the present invention will be described in further detail.The following are with
In illustrating a preferred embodiment of the invention, but it is not intended to limit the scope of the invention.
Referring to Fig. 1 to Fig. 6, as shown in legend therein:
A kind of quasi- zero stiffness inertia actuator, comprising:
Shell comprising pedestal 110, upper end cover 120 and side wall 130, pedestal 110 are equipped with and connect with controlled device
Connecting hole 111, offer first interface 131 and second interface 132 respectively on side wall 130；
Movable component comprising movable part, the first support member, the second support member and guiding parts,
-- above-mentioned movable part includes magnetic cylinder 211, the permanent magnet being arranged in magnetic cylinder 211 212, is separately positioned on permanent magnet
212 upper, upper, lower yoke 213,214 and the fixed plate that 213 upper side position of magnetic cylinder 211 and upper yoke is set of lower position
215, fixation is worn by bolt between fixed plate 215 and magnetic cylinder 211；
-- above-mentioned first support member uses board-like complex spring, which includes connecting plate 222, connection lining
Set 221 and rubber slab 220, connecting plate 222 and connecting bushing 221 are metal material, and connecting plate 222 is equipped with middle through-hole, even
It connects bushing 221 to be co-axially located in middle through-hole, 220 sulfidization molding of rubber slab is in the inner side edge and connecting bushing of connecting plate 222
Between 221 outer wall, connecting plate 222 is connected to pedestal 110 and upwardly extends on the annular convex platform to be formed, fixed plate 215, upper yoke
213, permanent magnet 212, lower yoke 214 are worn by a stay bolt 230 and are connected together, and it is short to wear one in the unthreaded hole of connecting bushing 221
Bolt, the unthreaded hole which passes through above-mentioned connecting bushing 221 are threadedly coupled with stay bolt 230, and rubber slab 220 is along the vertical direction
Movable part is flexibly supported, rubber slab 220 stretches alternating state along the vertical direction for static compress state or dynamic compression；
-- above-mentioned second support member uses at least two two compound bullets of pillar being circumferentially uniformly arranged along movable part
Spring, the pillar complex spring include inside connector, outside connector and rubber bar 240, and inside connector is connected with outside
Head is metal material, inside connector and the coaxial arrangement of outside connector, and 240 sulfidization molding of rubber bar is in inside connector and outside
Between the connector of side, inside connector is threadedly coupled with movable part, and outside connector is threadedly coupled with side wall 130, rubber bar
240 elastic connection movable parts in the horizontal direction, rubber bar 240 are static compress state or dynamic compression shape in the horizontal direction
State；
-- above-mentioned guiding parts includes guiding axis 251 and linear bearing 252, the lower end of guiding axis 251 by bolt 253 with
Pedestal 110 connects, and the upper end of guiding axis 251 is connect by bolt with upper end cover 120, and linear bearing 252, which is arranged, is mounted on guiding
On axis 251, the inner ring and guiding axis 251 of linear bearing 252 are relatively fixed, the outer ring of linear bearing 252 and magnetic cylinder 211 and/or
Fixed plate 215 is relatively fixed, and the other end of rubber torsional spring 240 is threaded on the outer ring of linear bearing 252；
Driving part is separately positioned on two annulars that magnetic cylinder 211 is formed with upper yoke 213 and lower yoke 214 respectively
In air gap, including driving coil 310 and coil rack 320, coil rack 320 are arranged in what magnetic cylinder 211 was formed with permanent magnet 212
In air gap and relatively fixed with pedestal 110, driving coil 310 is wrapped on coil rack 320, and two driving parts pass through epoxy
Resin set is cured as an entirety.
Wherein, movable part constitutes a closed magnetic circuit system, with the synchronous active force for generating driving driving part vibration and
The reaction force for driving its own to vibrate, the intrinsic frequency of above-mentioned movable component are less than the vibration frequency of movable part, movable part
Space between part and upper end cover 120 is slightly larger than the vibratility adjustment of above-mentioned movable part.It is not required between movable part and upper end cover
Resilient support is added again, saves the invalid distance between movable part and upper end cover, and the whole height of actuator can reduce
20% or so.
Referring to Fig. 7, to improve going out after the preceding initial power curve of actuator reduces with movable component intrinsic frequency after improvement
Force curve comparison diagram, (because Figure of description is unable to chromatic colour, I is modified as dotted line red) actuator go out
Power size f is synthesized by two power of Ampere force and rigidity power, i.e.,Wherein f=BIL is Ampere force, k
For rigidity, x is displacement of the movable part about static center, and w is Ampere force frequency, wnFor intrinsic frequency, it can be seen that work as drive
When the frequency of power is much smaller than 1 relative to intrinsic frequency, the denominator of rigidity power can be approximated to be -1 therefore rigidity power is approximately equal to-f,
Total power output is close to 0, but when the frequency of driving force is greater than intrinsic frequency, and both rigidity power and Ampere force direction are identical, always
Power output be equal to both sum.Diagram dotted line is that reduce intrinsic frequency be the curve after original 1/10th, can by figure
To find out, makes the range for not only increasing power area in the same direction by reducing intrinsic frequency, also increase frequency ratio, increase low frequency
The power output in area.And general linear support can make excessive, the bad stability of quiet deformation when reducing intrinsic frequency by reducing rigidity,
And there is high static low dynamic non-linear support by what the first support and the second support were formed, not only there is high Static stiffness
And there is low dynamic stiffness, to make intrinsic frequency reduce even up to zero intrinsic frequency in the case where guaranteeing that system is stablized
Rate increases actuator low frequency power output.
In a kind of embodiment, integral structure that coil rack 320 and pedestal 110 are integrally formed.
In a kind of embodiment, the decrement of rubber bar 240 in the horizontal direction is adjustable, and outside connector passes through side wall 130
Through-hole, outside connector is also threaded with the adjusting nut for being located at the two sides of through-hole.
By adjusting the decrement of rubber bar 240, decrement adjustment makes horizontal rubber bar 240 be in compressive state to produce
Raw negative stiffness, the decrement of rubber bar 240 is related with the stiffness ratio of horizontal rubber bar 240 and vertical rubber slab 220, decrement
Value be to be obtained by theoretical calculation, rubber bar 240 must be horizontal and compresses and could generate negative stiffness, ability reduction activity group
The intrinsic frequency of part makes rubber slab 220 and rubber bar 240 that high static rigidity and low static rigidity, the number of rubber bar 240 may be implemented
There is no limit for amount, can be multiple, makes rubber slab 220 and rubber bar 240 that can play a supporting role, and moves back and forth in movable part
When can also reach lower dynamic stiffness, reduce the intrinsic frequency of movable component, increase the output of actuator low frequency；Guidance set is one
Kind kinematic constraint mechanism, is accurately positioned to movable part using linear bearing 252 and is limited unnecessary transverse movement, from
And guarantees movable part and move reciprocatingly in the axial direction of guiding axis 251.
Actuator is installed to control mechanically by the connecting hole 111 on pedestal 110, using nut.The magnetic circuit of actuator
Principle are as follows: permanent magnet 212 → upper 213 → air gap of yoke → 211 → air gap of magnetic cylinder → 214 → permanent magnet of lower yoke 212, thus
Constitute a closed magnetic circuit.The driving coil 310 of actuator draws positive and negative anodes by first interface 131, and passes through second
The extraction of interface 132 is connected to external power amplifier (not regarding out in figure), and power amplifier exports electric current to driving coil 310, when driving coil 310
In when being connected with alternating current, electromagnetic action generates electromagnetic force to driving coil 310, because driving coil 310 is fixed on stainless steel
Coil rack 320, therefore electromagnetic force is transmitted to pedestal 110, while 310 alternation of driving coil by stainless steel wire ring framework 320
Cutting magnetic line makes movable part generate reciprocating motion, and reciprocating motion can make rubber generation restoring force be transmitted to pedestal 110,
The resultant force of two power is power output.
The above are the descriptions to the embodiment of the present invention to keep this field special by the foregoing description of the disclosed embodiments
Industry technical staff can be realized or using the present invention.Various modifications to these embodiments carry out those skilled in the art
Saying will be apparent, and the general principles defined herein can be the case where not departing from the spirit or scope of the present invention
Under, it realizes in other embodiments.Therefore, the present invention will not be limited to the embodiments shown herein, but to accord with
Close the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. a kind of quasi- zero stiffness inertia actuator, including shell, movable part and driving part, the shell include pedestal,
Upper end cover and side wall, the movable part are respectively equipped with the first support member and guiding parts, first support member edge
Vertical direction flexibly supports the movable part, and the guiding parts is oriented to the movable part, the activity along the vertical direction
Component is by the first support member power transmission to the pedestal, in the driving part power transmission to the pedestal, the work
Dynamic component constitutes a closed magnetic circuit system, with the synchronous active force for generating the driving driving part vibration and drives its own vibration
Dynamic reaction force, which is characterized in that the movable part is additionally provided with the second support member, at least two second support portions
Part movable part described in elastic connection and is uniformly arranged, first support portion in the horizontal direction along the circumferential direction of the movable part
Part is that static compress state or dynamic compression stretch alternating state along the vertical direction, and second support member is in the horizontal direction
Static compress state or dynamic compression state, the movable part include magnetic cylinder, the permanent magnet being arranged in the magnetic cylinder and set
Set the fixed plate in the magnetic cylinder and the permanent magnet upper side position, the fixed plate respectively with the magnetic cylinder and the permanent magnet
Relatively fixed, the driving part includes coil rack and driving coil, and the coil rack setting is in the magnetic cylinder and described
In air gap between permanent magnet, first support member uses board-like complex spring, and the board-like complex spring includes connection
Plate, connecting bushing and rubber slab, the connecting plate and the connecting bushing are metal material, and the connecting plate is logical equipped with middle part
Hole, the connecting bushing are co-axially located in the middle through-hole, and the rubber slab sulfidization molding is in the inside of the connecting plate
Between side and the outer wall of the connecting bushing, the connecting plate and the pedestal are relatively fixed, the connecting bushing and the work
Dynamic component is relatively fixed and is vacantly arranged.
2. quasi- zero stiffness inertia actuator according to claim 1, which is characterized in that the base portion upwardly extends shape
Boss is circularized, the annular convex platform and the connecting plate are relatively fixed.
3. quasi- zero stiffness inertia actuator according to claim 1, which is characterized in that second support member uses column
Formula complex spring, the pillar complex spring include inside connector, outside connector and rubber bar, the inside connector
It is metal material, the inside connector and outside connector coaxial arrangement, the rubber bar with the outside connector
For sulfidization molding between the inside connector and the outside connector, the inside connector is opposite with the movable part
Fixed, the outside connector and the side wall are relatively fixed.
4. quasi- zero stiffness inertia actuator according to claim 3, which is characterized in that the rubber bar is in the horizontal direction
Decrement is adjustable, and the outside connector passes through the through-hole of the side wall, and the outside connector is also threaded with position respectively
Adjusting nut in the two sides of the through-hole.
5. quasi- zero stiffness inertia actuator according to claim 4, which is characterized in that the coil rack is fixedly connected with institute
Pedestal is stated, the driving coil is wrapped on the coil rack.
6. quasi- zero stiffness inertia actuator according to claim 5, which is characterized in that the base portion upwardly extends shape
At cylindrical stent, the cylindrical stent is as the coil rack.
7. quasi- zero stiffness inertia actuator according to claim 5, which is characterized in that upper, the downside position of the permanent magnet
Set and be also respectively provided with, lower yoke, it is described on, lower yoke respectively between the magnetic cylinder formed on, lower air gap is described
On, the driving part is respectively set in lower air gap, two driving parts are cured as an entirety by epoxy resin set.
8. quasi- zero stiffness inertia actuator according to claim 1, which is characterized in that the guiding parts includes guiding
Axis, the lower end of the guiding axis are connect with the pedestal, and the upper end of the guiding axis is connect with the upper end cover, the guiding axis
On be arranged linear bearing be installed, the inner ring of the linear bearing and the guiding axis are relatively fixed, the linear bearing it is outer
Enclose it is relatively fixed with the movable part, second support member be connected to the side wall and the linear bearing outer ring it
Between.
9. quasi- zero stiffness inertia actuator according to claim 1, which is characterized in that the movable part and the upper end
Space between lid is slightly larger than the vibratility adjustment of the movable part.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611203638.0A CN106594169B (en) | 2016-12-23 | 2016-12-23 | A kind of quasi- zero stiffness inertia actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611203638.0A CN106594169B (en) | 2016-12-23 | 2016-12-23 | A kind of quasi- zero stiffness inertia actuator |
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| CN106594169A CN106594169A (en) | 2017-04-26 |
| CN106594169B true CN106594169B (en) | 2019-03-15 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107654552B (en) * | 2017-08-31 | 2019-07-16 | 哈尔滨工程大学 | A kind of quasi-zero stiffness vibration isolators for carrying out adjusting neutrality using piezoelectric patches |
| CN109681572B (en) * | 2018-11-30 | 2020-06-30 | 上海交通大学 | Active and passive vibration isolator and power equipment |
| CN109667868B (en) * | 2018-12-25 | 2020-04-28 | 西安交通大学 | Resonant line spectrum inertial actuator, active control system and control method |
| CN112413044A (en) * | 2020-11-18 | 2021-02-26 | 中国核动力研究设计院 | Ultralow frequency inertial type actuator |
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| CN104989776A (en) * | 2015-07-08 | 2015-10-21 | 中国船舶重工集团公司第七一九研究所 | Electromagnetic type active and passive composite vibration isolator |
| CN206468742U (en) * | 2016-12-23 | 2017-09-05 | 苏州东菱智能减振降噪技术有限公司 | A kind of quasi- zero stiffness inertia actuator |
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