CN106594170B - It is a kind of to lead the passive floating control method for being laid flat platform of mixing damping historical relic damping - Google Patents
It is a kind of to lead the passive floating control method for being laid flat platform of mixing damping historical relic damping Download PDFInfo
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- 238000013016 damping Methods 0.000 title claims abstract description 62
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- 230000007246 mechanism Effects 0.000 claims description 26
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The passive floating control method for being laid flat platform of mixing damping historical relic damping is led the invention discloses a kind of, main passive mixing shock-dampening method is applied in the earthquake-proof research of historical relic's protection by this method for the first time.This method combines active vibration damping technology and passive energy dissipation technology, can possess the control effect any better than both active vibration damping and passive energy dissipation, while can overcome the disadvantages that the deficiency for relying solely on active vibration damping or passive energy dissipation again.It may be implemented in unexpectedly earthquake centre and weaken influence of the seismic wave to historical relic, accomplish that historical relic is not toppled, does not slide, do not collided, to protect the integrality of historical relic.The vibration in the main suppression level direction of this method is transmitted, i.e. shear wave in seismic wave.Shear wave propagation speed in seismic wave is less than longitudinal wave, but execution is far longer than longitudinal wave.The device be arranged orthogonal X in horizontal direction, Y-direction active control, effectively inhibit shear wave to pass to the horizontal acceleration component of historical relic, velocity component and displacement component by Vibration Active Control, weaken historical relic vibrations, protection historical relic safety.
Description
Technical field
The invention belongs to cushion technique field, it is related to the floating cushion technique more particularly to one for being laid flat platform of historical relic in museum
The main passive floating control method for being laid flat platform of mixing damping historical relic damping of kind.
Background technology
It is the precious legacy that ancestor leaves us for the floating Movable Cultural Relics put based on historical relic of collection, has extremely important
Science, culture and historical value, Protection significance are great.However under geological process, the floating historical relic of putting for lacking precautions against earthquakes holds very much
It is also easy to produce destruction.Only by taking China's 8.0 grades of Wenchuan special violent earthquake in 2008 as an example, according to incompletely statistics, only Sichuan Province just has 216
3169 Movable Cultural Relics of relic collection unit are destroyed in various degree, cause huge Value Loss.It follows that
Effective glissando is taken to historical relic, is the important prerequisite for mitigating its earthquake.
Conventional method is mostly reinforcing or hang, and majority has the size, shape and weight etc. of historical relic itself more
It is required that while need to carry out certain transformation to historical relic itself to meet placement restrictive condition, such in addition is mostly empirical means, just
For control effect, the vibration output effect that conventional method obtains not is very ideal.The floating old historical relic vibration abatement fortune of the exhibition of putting
Improve earthquake prevention ability with advanced technological means, the cabinet inner mold vibration abatement fixed placement of design in museum's showcase,
Display historical relic is floating to be put on the table top of product.When there is burst earthquake, which can effectively reduce influence of the earthquake to table top,
It maintains the stabilization of historical relic is floating to put, prevents to occur because historical relic topples, historical relic damages caused by historical relic sliding or table top collision showcase inner wall
Bad thing event.Using cabinet inner mold vibration abatement, varies without historical relic original and open up old mode, without transformation museum place and display
Cabinet, therefore cabinet inner mold vibration abatement is that museum implements anti-vibration protected first choice to the floating old rare cultural relics of the exhibition of putting.It is existing at present
The floating platform cushion technique that is laid flat mainly uses passive energy dissipation technology, control program predominantly to pass through elastic material deformation or sliding damping
Vibrational energy is consumed, therefore it requires to put the needs for there are enough spaces to slide when meeting earthquake around pedestal floating.Such as
Patent No. CN201320448519.7 describes a kind of bilateral limited space from trigger-type vibration isolation pedestal.Earthquake keeps its difference flat
By the energy by Damping work seismic wave when face generates relative motion, reduce the energy being transmitted on historical relic.It can be seen that
There are certain defect, first passive energy dissipation are higher to dissipation energy material requirements, the characteristic of material directly influences passive energy dissipation
Final control effect；Secondly, passive energy dissipation requires have sufficiently long Admissible displacement in floating put around pedestal, i.e., maximum sliding
Displacement, to meet the needs of sliding or deformation；Finally near Faults, long period, vibration at high speed can lead to passive energy dissipation control
The displacement stroke of isolated layer increases in system, makes control effect decline that can also be limited by installation position, or even amplification occurs and add
The phenomenon that speed.Therefore, it is necessary to find it is a kind of not only can be to avoid subject to the above restrictions, but also good damping can be played in earthquake
The control method of control effect.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of lead and passively mixes the floating control for being laid flat platform of damping historical relic damping
Main passive mixing shock-dampening method is applied in the earthquake-proof research of historical relic's protection by method, this method for the first time.This method combines
Active vibration damping technology and passive energy dissipation technology can possess the control effect any better than both active vibration damping and passive energy dissipation,
It can overcome the disadvantages that the deficiency for relying solely on active vibration damping or passive energy dissipation again simultaneously.It may be implemented in unexpectedly earthquake centre and weaken seismic wave to text
The influence of object accomplishes that historical relic is not toppled, does not slide, do not collided, to protect the integrality of historical relic.The main suppression level of this method
The vibration in direction is transmitted, i.e. shear wave in seismic wave.Shear wave propagation speed in seismic wave is less than longitudinal wave, but execution is remote
Much larger than longitudinal wave.The device be arranged orthogonal X in horizontal direction, Y-direction active control, effectively pass through Vibration Active Control
Inhibit shear wave to pass to the horizontal acceleration component of historical relic, velocity component and displacement component, weakens historical relic vibrations, protect historical relic
Safety.
In order to achieve the above object, the technical solution adopted in the present invention is as follows：A kind of master passively mixes damping historical relic and subtracts
The floating control method for being laid flat platform of shake, the master passively mixes damping historical relic damping, and floating to be laid flat platform include being sequentially stacked from the bottom to top
Pedestal, first slide and second slide, the first slide have X to degree of freedom, and the second slide has Y-direction degree of freedom,
The X is to being that horizontal direction and floor projection are crossed as 90 degree with Y-direction；First slide and pedestal and first slide and second slide
Between be equipped with active vibration damping mechanism and passive energy dissipation mechanism；The first slide and pedestal and the active vibration damping between them
Mechanism and passive energy dissipation mechanism constitute the first damped platform, and the first slide and second slide and the active between them subtract
It shakes mechanism and passive energy dissipation mechanism constitutes the second damped platform；
The active vibration damping mechanism includes：Along X to or Y-direction arrangement and by motor-driven lead screw, slided with described first
The sliding sleeve that seat or second slide move synchronously and coordinate with wire rod thread detects pedestal or the gyro of first slide acceleration of motion
Instrument, the gyroscope is for exporting the signal for controlling the motor；The active vibration damping mechanism further includes detection first slide
With the first straight line displacement sensor of the slide displacement of sliding sleeve, the linear displacement transducer is used to export the control motor
Signal；
The pedestal, which is equipped with, adapts to X direction guiding rails of the first slide X to movement, and the first slide, which is equipped with, adapts to second slide
The Y-direction guide rail of Y-direction movement；The passive energy dissipation mechanism is spring, and the company in the first, second slide and sliding sleeve is arranged in the spring
Meet place；
Further include capture card, second straight line displacement sensor and computer, the second straight line displacement sensor is for examining
Survey the slide displacement of first slide or second slide, the first straight line displacement sensor and second straight line displacement sensor with
Capture card is connected, and the capture card and gyroscope are connected with computer；
The control method includes the following steps：
(1) foundation of model：
Spring-quality-damper model of the first damped platform and the second damped platform is established respectively, two models are identical,
Below by taking the first damped platform as an example；
The acceleration ω (t) of pedestal is enabled to be：
Wherein, x1(t) it is the displacement of pedestal, t is the time；
Enable the acceleration of sliding sleeveFor：
Wherein x3(t) it is the displacement of sliding sleeve；U (t) is acceleration of the sliding sleeve with respect to pedestal；
The output of the acceleration of the first damped platform is enabled to beThen have：
In formula, ksFor the stiffness coefficient of spring, m2For the gross mass of the second damped platform, B is the first damped platform and pedestal
The damped coefficient of opposite sliding；
The state-space model of the first damped platform can be obtained by formula (1)-formula (3)：
Wherein, Z is the state space variable of the first damped platform；
The output Y of the state-space model of first damped platform is：
(2) structure of control program：
For control method using method output feedback and feedovered, controller uses PID controller, controller to export result G
(s) it is：
In formula, s is complex variable, and Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient, and N is filter factor；
The maximum output acceleration of the first damped platform of permission is set as aset, by asetWith the first damping in step (1)
The output Y of the state-space model of platform does difference, obtains deviation e=aset-Y；Deviation e is multiplied by the time domain side of G (s)
Journey obtains the controlled quentity controlled variable v1 of motor；
The pedestal acceleration that gyroscope measurement obtains is filtered by Kalman filter, obtains the speed of pedestal
V2 is spent, the speed v2 of the pedestal is passed to by motor by feedforward path, final motor controlled quentity controlled variable is v=v1+v2；
(3) control flow：
(3.1) linear displacement transducer obtains the relative shift of the first damped platform and pedestal, by defeated after AD conversion
Go out to capture card, computer reads the collected displacement of capture card, if displacement threshold of the displacement read beyond setting
When value, computer makes motor rotate, and sliding sleeve is made to reset；
(3.2) if the displacement read without departing from setting displacement threshold value when, computer is collected by gyroscope
Acceleration is compared with the acceleration rate threshold of setting；
(3.2.1) if the collected acceleration of gyroscope beyond setting acceleration rate threshold, by the acceleration of pedestal
With asetDifference is done, then using the difference as the input quantity of G (s), obtains the rate control instruction of motor, and be issued to motor, is controlled
Motor processed carries out damping campaign, and instruction repeats step (3.1) and step (3.2) after being sent；
(3.2.2) if the collected acceleration of gyroscope without departing from setting acceleration rate threshold, and when earthquake has stopped,
Then control motor and execute resetting movement, if in zero-bit if do not move, repeat step (3.1) and step (3.2)；
(3.2.3) if the collected acceleration of gyroscope is without departing from the threshold value of the acceleration of setting, and earthquake does not stop
When, directly repeatedly step (3.1) and step (3.2)；
(3.2.4) if the collected acceleration of gyroscope without departing from setting acceleration rate threshold, and when earthquake does not occur,
Computer makes control motor that sliding sleeve be made to reset, and repeats step (3.1) and step (3.2).
Beneficial effects of the present invention：This programme is first design using mixing damping scheme, is surveyed by vibration input
Examination, which can effective vibration isolation.When the peak acceleration of the vibration of input is about 2.5m/s2When (about 8 grades of ground
Shake), the acceleration of top layer's output is less than 1m/s2.The acceleration peak value inputted when object test is in 2.5m/s2When, it falls on platform
The water bottle set can keep standing upside down the long period, not topple.It can be seen that the anti-vibration protected method of the historical relic can get excellent control effect,
And due to the damping effect of any control program before.
Description of the drawings
Fig. 1 is the structural schematic diagram for mixing damping historical relic's protection platform；
Fig. 2 is schematic diagram of base structure；
Fig. 3 is leading screw partial structural diagram；
Fig. 4 is electric elements connection figure；
Fig. 5 is the control block diagram that present invention feedback combines feedforward；
Fig. 6 is that the master of the present invention passively mixes the floating control block diagram for being laid flat platform of damping historical relic damping.
Specific implementation mode
As shown in Figs 1-4, a kind of lead of the invention passively mixes the floating control method for being laid flat platform of damping historical relic damping, described
Main passive mixing damping historical relic damping is floating to be laid flat platform such as Fig. 1, including be sequentially stacked from the bottom to top pedestal 3, first slide 2 and the
Two slides 1, the first slide 2 have X to degree of freedom, and the second slide 1 has a Y-direction degree of freedom, the X to and Y-direction
It is crossed as 90 degree for horizontal direction and floor projection；It is all provided between first slide 2 and pedestal 3 and first slide 2 and second slide 1
There are active vibration damping mechanism and passive energy dissipation mechanism；The first slide 2 and pedestal 3 and active vibration damping mechanism between them and
Passive energy dissipation mechanism constitutes the first damped platform, the first slide 2 and second slide 1 and the active vibration damping machine between them
Structure and passive energy dissipation mechanism constitute the second damped platform；
By taking 3 one layers of pedestal as an example, such as Fig. 2.The active vibration damping mechanism includes：Along X to or Y-direction arrangement and by motor
331, reduction box 336 and driver 38, the mounting plate 334 of motor, motor-driven lead screw 332, the fixing sleeve 335 of lead screw, with
The first slide 2 or second slide 1 move synchronously and with the sliding sleeve 333 of 332 screw-thread fit of lead screw, detect pedestal 3 or the first
The gyroscope 37 of 2 acceleration of motion of slide, the gyroscope 37 are used to export the signal for controlling the motor 331；The master
Dynamic damping further includes the first straight line displacement sensor 36 and straight line for detecting first slide 2 and the slide displacement of sliding sleeve 333
Displacement sensor connecting plate 343, the first straight line displacement sensor 36 are used to export the signal for controlling the motor 331；Institute
It is as shown in Figures 2 and 3 to state passive energy dissipation device, including sliding sleeve 333, the first limiting plate 341 and the second limiting plate 342 of sliding sleeve 333,
And two spring 35 between limiting plate and sliding sleeve.
The pedestal 3, which is equipped with, adapts to X direction guiding rail 31 and sliding block 32 of the first slide X to movement, and corresponding described first
Slide 2 is equipped with the Y-direction guide rail for adapting to the movement of second slide Y-direction；The passive energy dissipation mechanism is arranged in the first, second slide and cunning
The junction of set 333；
Further include capture card, second straight line displacement sensor 39 and its connecting plate 344 and computer, the second straight line position
Displacement sensor is used to detect the slide displacement of first slide or second slide, the first straight line displacement sensor and second straight line
Displacement sensor is connected with capture card, and the capture card and gyroscope are connected with computer；
As shown in fig. 6, the control method includes the following steps：
(1) foundation of model：
Coupled relation is but not present because the first, second damped platform structure is similar, therefore it is separately modeled.By the first damping
After platform and the second damped platform mechanical structure simplify, spring-matter of the first damped platform and the second damped platform is established respectively
The model form of amount-damper model, the first damped platform and the second damped platform is identical.Below first to the first damped platform into
Row simplifies and modeling.The motion state of pedestal 3 is influenced by the acceleration of Seismic input, below by taking the first damped platform as an example；
The acceleration ω (t) of pedestal 3 is enabled to be：
Wherein, x1(t) it is the displacement of pedestal 3, t is the time；
Since the displacement of sliding sleeve 333 is the sum of displacement and opposite pedestal displacement of sliding sleeve 333 of pedestal 3, twice to it
Differential can obtain the acceleration of sliding sleeve 333For：
Wherein x3(t) it is the displacement of sliding sleeve 333；U (t) is acceleration of the sliding sleeve 333 with respect to pedestal；
The output power under spring action of the acceleration of first damped platform and the influence of damping force, enable the first damping
The output of the acceleration of platform isThen have：
In formula, ksFor the stiffness coefficient of spring, m2For the gross mass of the second damped platform, B is the first damped platform and pedestal
The damped coefficient of opposite sliding；
The state-space model of the first damped platform can be obtained by formula (1)-formula (3)：
Wherein, Z is the state space variable of the first damped platform；
The output Y of the state-space model of first damped platform is：
(2) structure of control program：
According to the state of constructed model and quantity of state, selection combines the control program of feedforward with output feedback, such as
Shown in Fig. 5；Feedback fraction selects controlled variable for the output valve of acceleration, i.e. the acceleration value with the first damped platform；Add
The setting value of speed is the maximum permissible acceleration value a for ensuring historical relic and not occurring damagingset；Feedback quantity is the first damped platform
The acceleration a of outputout, obtained by spring 35 and the measurement of first straight line displacement sensor 36, the actual numerical value is same to use theoretical value
There is some difference for the numerical value being calculated, and needs to acquire straight-line displacement pass related to acceleration with linear least squares method herein
System.Acceleration ω (t) of the acceleration as pedestal caused by earthquake, directly acts in mechanical structure.Control method uses
The method of output feedback and feedforward, controller use PID controller, controller to export result G (s) and be：
In formula, s is complex variable, and Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient, and N is filter factor；It should
Equation is PID controller formula under complex frequency domain, in use, carrying out inverse Laplace transformation to the formula (6).
The maximum output acceleration of the first damped platform of permission is set as aset, by asetWith the first damping in step (1)
The output Y of the state-space model of platform does difference, obtains deviation e=aset-Y；Deviation e is multiplied by the time domain side of G (s)
Journey obtains the controlled quentity controlled variable v1 of motor；
The acceleration that gyroscope 37 is measured to obtained pedestal 3 is filtered by Kalman filter, is obtained on earth
The speed v2 of the pedestal is passed to motor 331 by the speed v2 of seat 3 by feedforward path, and final motor controlled quentity controlled variable is v=v1+
v2；
The process that the Kalman filter is filtered is as follows：
Feedforward part, gyroscope 37 measure obtained pedestal acceleration value and are filtered place by Kalman filter
Reason, the speed V to pedestalf.Kalman equations stepping type such as formula (6)：
In formulaFor the optimal estimation of state x (k+1), A is parameter matrix,For state x's (k)
Optimal estimation, K are filtering gain matrix, and y (k+1) is output of the system at the k+1 moment, and C is observing matrix.Kalman filter increases
Beneficial battle array K (k+1) meets：
R in formula1With R2For noise covariance matrix, P is system covariance matrix, and ∑ (k | k) is evaluated error covariance
Matrix.Evaluated error covariance matrix ∑ (k+1 | k+1) meet：
The Kalman filter input vector be [acc*T 0], wherein acc be input acceleration, parameter matrix A,
Input matrix B, observing matrix C, output matrix D, plant noise covariance matrix R, observation noise covariance matrix Q, system association
The setting of variance matrix P is as follows：
C=[1 0]
D=[1]
Q=[1]
In formula, T is the sampling period to pedestal acceleration.
Feedforward path function is set as constant -0.99 to realize counter motion.VfBy obtaining motor after feedforward path function
Feedforward control amount V2.The feedforward control amount of motor 331 is added with feedback control amount, obtains final motor controlled quentity controlled variable V=V1
+V2, and pass to motor driver.
(3) control flow：
(3.1) second straight line displacement sensor obtains the relative shift of the first damped platform and pedestal, passes through AD conversion
After export to capture card, computer reads the collected displacement of capture card, if position of the displacement read beyond setting
When moving threshold value, computer makes motor rotate, and sliding sleeve is made to reset；
(3.2) if the displacement read without departing from setting displacement threshold value when, computer is collected by gyroscope
Acceleration is compared with the acceleration rate threshold of setting；
(3.2.1) if the collected acceleration of gyroscope beyond setting acceleration rate threshold, by the acceleration of pedestal
With asetDifference is done, then using the difference as the input quantity of G (s), obtains the rate control instruction of motor, and be issued to motor, is controlled
Motor processed carries out damping campaign, and instruction repeats step (3.1) and step (3.2) after being sent；
(3.2.2) if the collected acceleration of gyroscope without departing from setting acceleration rate threshold, and when earthquake has stopped,
Then control motor and execute resetting movement, if in zero-bit if do not move, repeat step (3.1) and step (3.2)；
(3.2.3) if the collected acceleration of gyroscope is without departing from the threshold value of the acceleration of setting, and earthquake does not stop
When, directly repeatedly step (3.1) and step (3.2)；
(3.2.4) if the collected acceleration of gyroscope without departing from setting acceleration rate threshold, and when earthquake does not occur,
Computer makes control motor that sliding sleeve be made to reset, and repeats step (3.1) and step (3.2).
Following points need to be arranged in a program：
(1) setting of zero-bit：Based on current mechanical mechanism, zero position is the intermediate point of mechanical trip, at this time pedestal, the
The projection of the shape of one slide and second slide in the vertical direction overlaps, and takes the AD conversion of this second straight line displacement sensor
The fluctuation range of this numerical value is multiplied by the dead zone being set as after 1.5 near zero-bit by the average value of numerical value as zero-bit.
(2) acceleration rate threshold is set：The X of gyroscope acquisition, the mean value of Y-direction acceleration are taken under stationary state respectively, if
It is set to zero-bit, while the fluctuation range of numerical value is multiplied by the dead zone being set as after 1.5 near zero-bit.
(3) judge earthquake state：When the acceleration of gyroscope acquisition exceeds acceleration zero-bit and the dead zone of setting, recognize
It is fixed that earthquake is occurring；When collected acceleration exceeds acceleration rate threshold and dead zone, to what whether earthquake stopped sentencing
Not, if acceleration is more than or equal to 30 seconds without departing from the time of threshold value, assert that earthquake does not occur or stopped；If acceleration
Time beyond threshold value is less than 30 seconds, then assert that earthquake is still underway.
(4) setting control program circulating period is 2ms.
The present invention is for the first time using the shockproof control side for the mixing damping scheme for combining active control damping and passive energy dissipation
Method, the advantages of in combination with active vibration damping and passive energy dissipation scheme, the shockproof control scheme before being better than.Compared to existing
Conventional base and passive energy dissipation scheme, have good damping effect, can cope with earthquake energy level is high, it is long to cope with duration of earthquake,
The advantages that wide, the opposite slide displacement of seismic frequency is small can be coped with.Tested by vibration input, the mixing damped platform can effectively every
Shake.When the peak acceleration of the vibrations of input is about 2.5m/s2When (about 8 grades of earthquakes), the acceleration of top layer's output is less than
1m/s2, input acceleration peak value is in 2.5m/s when object test2The upper inverted water bottles (NongFuShanQuan east leaf) of Shi Pingtai can
Long period is kept upright, and does not topple, it is seen that the anti-vibration protected platform of the historical relic can efficiently accomplish damping work.
Claims (1)
1. a kind of leading the passive floating control method for being laid flat platform of mixing damping historical relic damping, the master passively mixes damping historical relic damping
The floating platform that is laid flat includes the pedestal being sequentially stacked from the bottom to top, first slide and second slide, and the first slide has X to freedom
Degree, the second slide have a Y-direction degree of freedom, and the X is to being that horizontal direction and floor projection are crossed as 90 degree with Y-direction；First slides
It is equipped with active vibration damping mechanism and passive energy dissipation mechanism between seat and pedestal and first slide and second slide；Described first slides
Seat and pedestal and the active vibration damping mechanism between them and passive energy dissipation mechanism the first damped platform of composition, the first slide
And second slide and active vibration damping mechanism between them and passive energy dissipation mechanism constitute the second damped platform；
The active vibration damping mechanism includes：Along X to or Y-direction arrangement and by motor-driven lead screw, with the first slide or
The sliding sleeve that second slide moves synchronously and coordinates with wire rod thread detects pedestal or the gyroscope of first slide acceleration of motion,
The gyroscope is for exporting the signal for controlling the motor；The active vibration damping mechanism further includes detection first slide and cunning
The first straight line displacement sensor of the slide displacement of set, the linear displacement transducer is for exporting the letter for controlling the motor
Number；
The pedestal, which is equipped with, adapts to X direction guiding rails of the first slide X to movement, and the first slide, which is equipped with, adapts to second slide Y-direction
The Y-direction guide rail of movement；The passive energy dissipation mechanism is spring, and the connection in the first, second slide and sliding sleeve is arranged in the spring
Place；
Further include capture card, second straight line displacement sensor and computer, the second straight line displacement sensor is for detecting the
The slide displacement of one slide or second slide, the first straight line displacement sensor and second straight line displacement sensor with acquisition
Card is connected, and the capture card and gyroscope are connected with computer；
It is characterized in that, the control method includes the following steps：
(1) foundation of model：
Spring-quality-damper model of the first damped platform and the second damped platform is established respectively, two models are identical, below
By taking the first damped platform as an example；
The acceleration ω (t) of pedestal is enabled to be：
Wherein, x1(t) it is the displacement of pedestal, t is the time；
Enable the acceleration of sliding sleeveFor：
Wherein x3(t) it is the displacement of sliding sleeve；U (t) is acceleration of the sliding sleeve with respect to pedestal；
The output of the acceleration of the first damped platform is enabled to beThen have：
In formula, ksFor the stiffness coefficient of spring, m2For the gross mass of the second damped platform, B is that the first damped platform and pedestal are opposite
The damped coefficient of sliding；
The state-space model of the first damped platform can be obtained by formula (1)-formula (3)：
Wherein, Z is the state space variable of the first damped platform；
The output Y of the state-space model of first damped platform is：
(2) structure of control program：
For control method using method output feedback and feedovered, controller uses PID controller, controller to export result G (s)
For：
In formula, s is complex variable, and Kp is proportionality coefficient, and Ki is integral coefficient, and Kd is differential coefficient, and N is filter factor；
The maximum output acceleration of the first damped platform of permission is set as aset, by asetWith the first damped platform in step (1)
The output Y of state-space model do difference, obtain deviation e=aset-Y；Deviation e is multiplied by the when domain equation of G (s), is obtained
To the controlled quentity controlled variable v1 of motor；
The pedestal acceleration that gyroscope measurement obtains is filtered by Kalman filter, obtains the speed of pedestal
The speed v2 of the pedestal is passed to motor by v2 by feedforward path, and final motor controlled quentity controlled variable is v=v1+v2；
(3) control flow：
(3.1) linear displacement transducer obtains the relative shift of the first damped platform and pedestal, is given by being exported after AD conversion
Capture card, computer read the collected displacement of capture card, if when displacement threshold value of the displacement read beyond setting,
Computer makes motor rotate, and sliding sleeve is made to reset；
(3.2) if the displacement read without departing from setting displacement threshold value when, computer is by the collected acceleration of gyroscope
It spends and is compared with the acceleration rate threshold of setting；
(3.2.1) if the collected acceleration of gyroscope beyond setting acceleration rate threshold, by the acceleration and a of pedestalset
Difference is done, then using the difference as the input quantity of G (s), obtains the rate control instruction of motor, and be issued to motor, control electricity
Machine carries out damping campaign, and instruction repeats step (3.1) and step (3.2) after being sent；
(3.2.2) is if the collected acceleration of gyroscope and when earthquake has stopped, is then controlled without departing from the acceleration rate threshold of setting
Motor processed executes resetting movement, if in zero-bit if do not move, repeat step (3.1) and step (3.2)；
(3.2.3) if the collected acceleration of gyroscope without departing from the acceleration of setting threshold value, and when earthquake does not stop, directly
Connect repetition step (3.1) and step (3.2)；
(3.2.4) is if the collected acceleration of gyroscope and when earthquake does not occur, is calculated without departing from the acceleration rate threshold of setting
Machine makes control motor that sliding sleeve be made to reset, and repeats step (3.1) and step (3.2).
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| CN108345031B (en) * | 2018-01-11 | 2020-01-17 | 吉林大学 | Full waveform inversion method for elastic medium active source and passive source mixed mining seismic data |
| CN109521468B (en) * | 2018-10-24 | 2021-02-02 | 西南石油大学 | PP-PS joint inversion system based on Kalman filtering |
| CN113191056B (en) * | 2021-05-07 | 2024-01-19 | 北京交通大学 | Earthquake slippage and swing risk assessment method for showcase display floating cultural relics in museum |
| CN116517328A (en) * | 2023-04-13 | 2023-08-01 | 中国长江三峡集团有限公司 | Supporting and resetting device for floating object |
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