CN106907362A - Subtracting based on magnetic flow liquid shakes gyroscopic procession control system - Google Patents
Subtracting based on magnetic flow liquid shakes gyroscopic procession control system Download PDFInfo
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- CN106907362A CN106907362A CN201710243964.2A CN201710243964A CN106907362A CN 106907362 A CN106907362 A CN 106907362A CN 201710243964 A CN201710243964 A CN 201710243964A CN 106907362 A CN106907362 A CN 106907362A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/04—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using gyroscopes directly
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
- F15B19/005—Fault detection or monitoring
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B20/00—Safety arrangements for fluid actuator systems; Applications of safety devices in fluid actuator systems; Emergency measures for fluid actuator systems
- F15B20/005—Leakage; Spillage; Hose burst
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/40—Flow control
- F15B2211/405—Flow control characterised by the type of flow control means or valve
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
- F15B2211/78—Control of multiple output members
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/87—Detection of failures
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/80—Other types of control related to particular problems or conditions
- F15B2211/875—Control measures for coping with failures
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Analytical Chemistry (AREA)
- Magnetically Actuated Valves (AREA)
- Fluid-Damping Devices (AREA)
Abstract
Gyroscopic procession control system is shaken the present invention relates to a kind of subtracting based on magnetic flow liquid, subtract and shake the both sides of gyroscopic procession axle and be respectively arranged two pairs of oil cylinders, constitute two-way oil circuit, two-way oil circuit is exported and connected with corresponding solenoid directional control valve, two-way oil circuit is connected on the two ends of magnetic current variable throttle valve by two solenoid directional control valves respectively, by controlling the input current of magnetic current variable throttle valve, the control to flow system flow and pressure is realized.It is driving medium to use magnetic flow liquid, and magnetic current variable throttle valve is crucial control element, realizes the control that gyroscopic procession campaign is shaken to subtracting, and effectively controls it to subtract and shakes torque, so as to realize the control to Ship Swaying.The autocontrol system that enters based on magnetic flow liquid has controllability good, and response is fast, simple structure, high reliability.Simultaneously as crucial, control element --- choke valve is, without opposed moving members, to realize longtime running without abrasion, and system reliability, stain resistance are greatly improved.
Description
Technical field
The present invention relates to a kind of ship balance control technology, more particularly to a kind of subtracting based on magnetic flow liquid shakes gyroscopic procession
Control system.
Background technology
Ship stabilization gyro is the moment of momentum and its precession physical effect having using the gyro of revolution at a high speed, is produced
It is raw to shake torque with reverse the subtracting of wave torque, make mooring stability.Subtract and shake mould and rotor itself that subtracting produced by gyro shakes torque
The moment of momentum（The product of rotor moment of inertia and spin velocity）And the mould of angular velocity of precession is directly proportional.So in rotor and
In the case that its spin velocity is certain, the angular velocity of precession of gyro is that influence gyro subtracts the principal element for shaking torque size.Institute
In order to ensure to subtract the anti-rolling effect for shaking gyro, need to preferably be controlled the angular velocity of precession of gyro.
The traditional control method of gyroscopic procession control system is passive type throttling control, and it is right to be realized by mechanical throttle damper
The control of gyroscopic procession angular speed.But mechanical throttle damper complex structure, processing request is high, to oil cleanliness requirement compared with
Height, valve port produces the problems such as abrasion and corrosion after a period of time that works, and causes the problems such as device lifetime is low, motion is unreliable.
With the development of electromechanical integration technology, people start to direct attention to the intelligent material with controllable characteristics
Material --- magnetic flow liquid.Magnetic flow liquid is to be dissolved in the non-colloid property formed in insulation carrier fluid by tiny magnetic-particle dispersion
Suspension.Because magnetic-particle can be magnetized to form chain structure under additional magnetic fields, change the viscosity of suspension, because
And cause that magnetic flow liquid has controllable rheological behavior.Magnetic flow liquid can bear certain along magnetic field Vertical Square under magnetic fields
To shearing force, only when apply shearing force exceed its yield stress when, magnetized particles formed chain structure just understand be broken
Badly produce flowing.The yield stress of magnetic flow liquid changes with the change in magnetic field, with controllability.While magnetic rheology effect
Response time is very short, is a millisecond order of magnitude.
Have under magnetic fields that yield stress is big, response is fast, operating voltage is low and unwise to polluting due to magnetic flow liquid
The advantages of sense, gradually obtain the application in hydraulic system.Gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid transmission,
It has the mechanical part without relative motion, simple structure, high, the good, anti-pollution of controllability of reliability etc. in crucial control element
Outstanding advantages.
The content of the invention
The present invention be directed to the problem that existing gyroscopic procession control system is present, it is proposed that a kind of subtracting based on magnetic flow liquid
Gyroscopic procession control system is shaken, it is driving medium to use magnetic flow liquid, and magnetic current variable throttle valve is crucial control element, is effectively realized
Control to gyroscopic procession control system, the system controllability and measurability is good, response is fast, simple structure, reliability are high.
The technical scheme is that：A kind of subtracting based on magnetic flow liquid shakes gyroscopic procession control system, subtracts and shakes gyro and enter
The both sides of moving axis are respectively arranged two pairs of oil cylinders, the oil cylinder wherein the first oil cylinder and the second oil cylinder partner, and are arranged symmetrically in side,
3rd oil cylinder and the 4th oil cylinder partner, and are arranged symmetrically in other side；
Each oil cylinder is divided into rodless cavity and rod chamber, and the rodless cavity of four oil cylinders is respectively A, B, C, D chamber, corresponding rod chamber point
Not Wei A1, B1, C1, D1 chamber, the A chambers of the first oil cylinder, the B1 chambers of the second oil cylinder, the C chambers of the 3rd oil cylinder, oil cylinder D1 chambers by oil
Road is connected and constitutes the first oil circuit, and the first oil circuit of link is connected with the first solenoid directional control valve；The A1 chambers of the first oil cylinder, the second oil
The B chambers of cylinder, the C1 chambers of the 3rd oil cylinder, the D chambers of the 4th oil cylinder are connected by oil circuit and constitute the second oil circuit, the second oil circuit of link
It is connected with the second solenoid directional control valve, two-way oil circuit is connected on the two ends of magnetic current variable throttle valve by two solenoid directional control valves respectively, is led to
The input current of control magnetic current variable throttle valve is crossed, the control to flow system flow and pressure is realized.
It is described enter autocontrol system in oil cylinder the precession moment size that controls as needed of quantity and the overall cloth of gyro
Office determines.
It is described to connect the first safety valve in the first oil circuit and the first solenoid directional control valve junction, the first safety valve outlet termination the
Two oil circuits are connected to the second one-way throttle valve and second accumulation of energy of series connection by the output end after the second solenoid directional control valve, this output
Device front end；The second safety valve, another oil of termination first of the second safety valve are connect in the second oil circuit and the second solenoid directional control valve junction
By the output end after the first solenoid directional control valve, this is exported before being connected to the first one-way throttle valve of series connection and the first accumulator on road
End, plays the safeguard protection to system.
The magnetic current variable throttle valve two ends respectively connect the one-way throttle valve and accumulator of series connection respectively.
One end series connection pressure measuring tie-in and pressure meter switch of the magnetic current variable throttle valve, real-time monitoring system operation pressure
Power, and realize the closing of pressure measxurement and open.
The magnetic current variable throttle valve two ends are valve end cap, and valve cap material uses diamagnetic material；Centre is valve pocket, valve pocket
Material uses soft magnetic materials, and valve pocket is outer to be wrapped up by magnetic shield, and magnetic shield uses diamagnetic material；Valve element, valve element are installed in valve pocket
Material uses soft magnetic materials；Two groups of coils, respectively the first magnet exciting coil and the second magnet exciting coil symmetrically are wound with valve element, are powered
The magnetic direction contrast of generation；Valve end cap has sealing ring to seal with valve pocket pressing position, and the P1 on end cap mouthfuls is with P2 mouthfuls
The import and export of fluid, fluid is imported and exported P1 mouthfuls and is connected with the valve element duct in valve body by the duct in end cap with P2 mouthfuls.
The valve element is generally cylindrical, two Central Symmetry recess coiling on the face of cylinder, cylindrical both sides rounded ends
There is the centrosymmetric duct of diverging, duct communicates with the cylindrical channel of valve element interlude.
The beneficial effects of the present invention are：The present invention shakes gyroscopic procession control system based on subtracting for magnetic flow liquid, realizes
The control of gyroscopic procession campaign is shaken to subtracting, is effectively controlled it to subtract and is shaken torque, so as to realize the control to Ship Swaying.Based on magnetic current
Become liquid the autocontrol system that enters have controllability good, respond it is fast the advantages of.Crucial control unit is realized in the system simultaneously
Part --- without opposed moving members in choke valve, longtime running is greatly improved without abrasion, system reliability, stain resistance.
Brief description of the drawings
Fig. 1 is that the present invention shakes gyroscopic procession control system schematic diagram based on subtracting for magnetic flow liquid；
Fig. 2 is the basic role schematic diagram of magnetic current variable throttle valve of the present invention；
Fig. 3 is magnetorheological throttle-valve structure figure of the invention；
Fig. 4 is magnetic current variable throttle valve sectional view of the present invention.
Specific embodiment
Gyroscopic procession control system schematic diagram is shaken based on subtracting for magnetic flow liquid as shown in Figure 1, system includes valve group, two
To oil cylinder and accordingly connect flexible pipe.
Two pairs of oil cylinders are respectively arranged the both sides of shaking gyroscopic procession axle are subtracted.9.2 groups of wherein the first oil cylinder 9.1 and the second oil cylinder
In a pair, it is arranged symmetrically in side；3rd oil cylinder 9.3 and the 4th oil cylinder 9.4 partner, and are arranged symmetrically in other side.When
When needing the precession moment of control smaller, the scheme of precession axis side can be arranged in using a pair of oil cylinders.When entering for needs control
When kinetic moment is larger, the scheme of both sides can be arranged in using two pairs of oil cylinders.When gyroscopic procession, piston movement in oil cylinder is promoted,
The magnetic flow liquid of closed system is flowed, certain flow is formed.Enter the quantity of control cylinder in autocontrol system according to
The precession moment size of control and the integral layout of gyro is needed to determine.
Each oil cylinder is divided into rodless cavity and rod chamber, and the rodless cavity of four oil cylinders is respectively A, B, C, D chamber, corresponding to have bar
Chamber is respectively A1, B1, C1, D1 chamber.The A chambers of the first oil cylinder 9.1, the B1 chambers of the second oil cylinder 9.2, C chambers, the oil of the 3rd oil cylinder 9.3
The D1 chambers of cylinder 9.4 are connected by oil circuit and constitute the first oil circuit, and the first oil circuit of link is connected with solenoid directional control valve 5.1.First
The A1 chambers of oil cylinder 9.1, the B chambers of the second oil cylinder 9.2, the C1 chambers of the 3rd oil cylinder 9.3, the D chambers of the 4th oil cylinder 9.4 are connected by oil circuit
Logical to constitute the second oil circuit, the second oil circuit of link is connected with solenoid directional control valve 5.2, and two-way oil circuit passes through solenoid directional control valve respectively
5.1 and 5.2 two ends for being connected on magnetic current variable throttle valve 1.
When gyro be in it is non-subtract shake working condition when, solenoid directional control valve（2/2-way type）5.1 and 5.2, dead electricity is by oil circuit
Cut-out, oil cylinder is locked in zero-bit, and gyro will not be produced to subtract and shake torque.
When gyro be in subtract shake state when, solenoid directional control valve（2/2-way type）5.1 obtain electric, oil communication with 5.2.Work as top
During spiral shell precession, the magnetic flow liquid in system starts flowing.When it passes through magnetic current variable throttle valve 1, by controlling the defeated of choke valve
Enter electric current, realize the control to flow system flow and pressure.So as to realize the control to gyroscopic procession angular speed.Gyro is shaken according to subtracting
Principle, by the control to angular velocity of precession, you can realize being shaken to subtracting the control of torque.
The safety valve 8.1 and 8.2 set in system, safety valve is connect in the first oil circuit and the junction of solenoid directional control valve 5.1
8.1, the outlet of safety valve 8.1 the second oil circuit of termination is connected to the list of series connection by the output end after solenoid directional control valve 5.2, this output
To choke valve 2.2 and the front end of accumulator 3.2；Safety valve 8.2, safety valve are connect in the second oil circuit and the junction of solenoid directional control valve 5.2
By the output end after solenoid directional control valve 5.1, this output is connected to the one-way throttle valve of series connection to 8.2 output the first oil circuits of termination
2.1 with the front end of accumulator 3.1, play the safeguard protection to system.When precession system pressure is too high, fluid is from high-pressure side overflow
To low-pressure side.
The two ends of magnetic current variable throttle valve 1 connect accumulator 3.1 and 3.2 by one-way throttle valve 2.1 and 2.2 respectively.Accumulator 3.1
Major function with 3.2：One is pressure oscillation when absorption system runs；Two be in the closed system medium due to the change of temperature
When change causes its expansion or shrinkage, the liquid in supplement or absorption system plays a part of ballast system pressure.Before accumulator
Set one-way throttle valve, its major function be fluid into accumulator when play throttling action, prevent compression shock；When need store
When fluid supplement in energy device enters system, fluid can quickly be supplemented by the valve.
The pressure measuring tie-in 7 that one end of magnetic current variable throttle valve 1 is set, facilitates real-time monitoring system operating pressure.Set in system
The pressure meter switch 6 put, it is possible to achieve the closing of pressure measxurement and unlatching.The pressure switch 4.1 and 4.2 set in system, when
System will cause system pressure too low when there are the failures such as oil leak, so that alarm is triggered, the safety of protection system.
In order to reduce the temperature of gyroscopic procession control system, coolant flow channel E-F is provided with valve group, by cooling medium
Realize the cooling to entering autocontrol system valve group.
The magnetic current variable throttle valve main operational principle entered in autocontrol system, as shown in Fig. 2 by coil in runner
Magnetic flow liquid applies magnetic fields, and the viscosity and yield stress of magnetic flow liquid are changed by changing magnetic field intensity.At runner two ends
Pressure difference it is certain in the case of, by adjusting magnetic field intensity, realize the control to the flow by runner.Certain by flow
In the case of, by adjusting magnetic field intensity, realize the control of the pressure difference that magnetic current variable throttle valve is imported and exported.
The structure of magnetic current variable throttle valve is as shown in figure 3, the valve is board-like installation.Both end of which is valve end cap 11, valve end cap
11 materials use diamagnetic material；Centre is valve pocket 12, and the material of valve pocket 12 uses soft magnetic materials, and valve pocket 12 is outer to be wrapped by magnetic shield 16
Wrap up in, magnetic shield 16 uses diamagnetic material；Valve element 15 is installed, the material of valve element 15 uses soft magnetic materials in valve pocket 12；On valve element 15
Symmetrically it is wound with two groups of coils, respectively the first magnet exciting coil 13 and the second magnet exciting coil 17；14 is magnet exciting coil extraction wire hole；
Valve end cap 11 has sealing ring 18 to seal with the pressing of valve pocket 12 position.P1 mouthfuls on end cap is the import and export of fluid with P2 mouthfuls.Fluid
P1 mouthfuls is imported and exported to be connected with the duct of valve element 15 in valve body by the duct in end cap with P2 mouthfuls.
Symmetrically two groups of coils are wound with valve element 15, it is ensured that Distribution of Magnetic Field is uniform, and can produce bigger liquid flowing resistance, it is ensured that
The control range of valve is wider.It is passed through electric current latter two magnet exciting coil generation magnetic field, both magnetic direction contrasts.According to valve
Structure design, Distribution of Magnetic Field in valve as shown in the band arrow magnetic line of force in Fig. 3, can useful effect on magnetic flow liquid.
Such as the magnetic current variable throttle valve sectional view of Fig. 4, circular cross-section, outmost turns are magnetic shield 16, followed by valve pocket 12 is middle
It is valve element 15.It is generally cylindrical in valve element 15, two Central Symmetry recess coiling on the face of cylinder, cylindrical both sides rounded ends
There is the centrosymmetric duct of diverging, duct communicates with the cylindrical channel of valve element interlude.Designed according to valve arrangement, the magnetic of generation
Field direction is just acted perpendicularly on the flow direction of magnetic flow liquid, magnetic flow liquid is produced the chain vertical with pressure action direction
Shape structure, resists external action pressure.Therefore, before the magnetic field that magnet exciting coil 13 and 17 is produced reaches saturation, during increase electric current,
The yield stress of magnetic flow liquid will increase, that is, increased the pressure that liquid stream passes through, and can reach the purpose of regulation liquid flow.
Claims (7)
1. a kind of subtracting based on magnetic flow liquid shakes gyroscopic procession control system, it is characterised in that subtract the both sides for shaking gyroscopic procession axle
Be respectively arranged two pairs of oil cylinders, the oil cylinder wherein the first oil cylinder and the second oil cylinder partner is arranged symmetrically in side, the 3rd oil cylinder and
4th oil cylinder partners, and is arranged symmetrically in other side；
Each oil cylinder is divided into rodless cavity and rod chamber, and the rodless cavity of four oil cylinders is respectively A, B, C, D chamber, corresponding rod chamber point
Not Wei A1, B1, C1, D1 chamber, the A chambers of the first oil cylinder, the B1 chambers of the second oil cylinder, the C chambers of the 3rd oil cylinder, oil cylinder D1 chambers by oil
Road is connected and constitutes the first oil circuit, and the first oil circuit of link is connected with the first solenoid directional control valve；The A1 chambers of the first oil cylinder, the second oil
The B chambers of cylinder, the C1 chambers of the 3rd oil cylinder, the D chambers of the 4th oil cylinder are connected by oil circuit and constitute the second oil circuit, the second oil circuit of link
It is connected with the second solenoid directional control valve, two-way oil circuit is connected on the two ends of magnetic current variable throttle valve by two solenoid directional control valves respectively, is led to
The input current of control magnetic current variable throttle valve is crossed, the control to flow system flow and pressure is realized.
2. gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid according to claim 1, it is characterised in that the precession
The precession moment size and the integral layout of gyro that the quantity of oil cylinder is controlled as needed in control system determine.
3. gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid according to claim 1, it is characterised in that described
One oil circuit and the first solenoid directional control valve junction connect the first safety valve, and the first safety valve outlet the second oil circuit of termination is by the second electricity
Output end after magnetic reversal valve, this output is connected to the second one-way throttle valve and the second accumulator front end of series connection；In the second oil
Road connects the second safety valve with the second solenoid directional control valve junction, and the second safety valve the first oil circuit of another termination is changed by the first electromagnetism
To the output end after valve, this output is connected to the first one-way throttle valve and the first accumulator front end of series connection, plays to system
Safeguard protection.
4. gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid according to claim 3, it is characterised in that the magnetic current
Variable throttle valve two ends respectively connect the one-way throttle valve and accumulator of series connection respectively.
5. gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid according to claim 3 or 4, it is characterised in that described
One end series connection pressure measuring tie-in and pressure meter switch of magnetic current variable throttle valve, real-time monitoring system operating pressure, and realize pressure
The closing of measurement and unlatching.
6. gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid according to any one in Claims 1-4, its feature
It is that the magnetic current variable throttle valve two ends are valve end cap（11）, valve end cap（11）Material uses diamagnetic material；Centre is valve pocket
（12）, valve pocket（12）Material uses soft magnetic materials, valve pocket（12）Outward by magnetic shield（16）Parcel, magnetic shield（16）Using diamagnetism
Material；Valve pocket（12）Interior installation valve element（15）, valve element（15）Material uses soft magnetic materials；Valve element（15）On be symmetrically wound with two groups of lines
Circle, respectively the first magnet exciting coil（13）With the second magnet exciting coil（17）, be powered the magnetic direction contrast for producing；Valve end cap
（11）With valve pocket（12）There is sealing ring at pressing position（18）Sealing, P1 mouthfuls on end cap is the import and export of fluid, fluid with P2 mouthfuls
P1 mouthfuls is imported and exported with P2 mouthfuls by the duct in end cap and the valve element in valve body（15）Duct is connected.
7. gyroscopic procession control system is shaken based on subtracting for magnetic flow liquid according to claim 6, it is characterised in that the valve element
（15）Generally cylindrical, two Central Symmetry recess coiling on the face of cylinder, cylindrical both sides rounded ends have diverging center
Symmetrical duct, duct communicates with the cylindrical channel of valve element interlude.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710243964.2A CN106907362B (en) | 2017-04-14 | 2017-04-14 | Subtracting based on magnetorheological fluid shakes gyroscopic procession control system |
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|---|---|---|---|
| CN201710243964.2A CN106907362B (en) | 2017-04-14 | 2017-04-14 | Subtracting based on magnetorheological fluid shakes gyroscopic procession control system |
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| CN106907362B CN106907362B (en) | 2018-08-21 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107906067A (en) * | 2017-11-15 | 2018-04-13 | 安徽瑞铁轨道装备有限公司 | A kind of control system for Full automatic penumatic turntable |
| CN114263642A (en) * | 2021-12-23 | 2022-04-01 | 上海新跃联汇电子科技有限公司 | Anti-rolling gyroscope precession speed control device and control method |
| CN114703806A (en) * | 2022-04-13 | 2022-07-05 | 广东海洋大学 | Intelligent wharf mooring system for ship |
| CN116484974A (en) * | 2023-04-25 | 2023-07-25 | 大连祥瑞阀门制造有限公司 | Flow control system of jetting valve based on magneto-rheological technology |
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