CN108253084A - Six degree of freedom superlow frequency vibration isolating device and its control system of the one kind based on zero stiffness system - Google Patents
Six degree of freedom superlow frequency vibration isolating device and its control system of the one kind based on zero stiffness system Download PDFInfo
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- CN108253084A CN108253084A CN201810087846.1A CN201810087846A CN108253084A CN 108253084 A CN108253084 A CN 108253084A CN 201810087846 A CN201810087846 A CN 201810087846A CN 108253084 A CN108253084 A CN 108253084A
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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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Abstract
Six degree of freedom superlow frequency vibration isolating device and control system of the one kind based on zero stiffness system are related to multiple degrees of freedom low frequency, ultralow frequency or even down to the fields such as the vibration isolation of zero-frequency and micro-vibration simulated experiment.Isolation mounting is formed by connecting by support platform, basic platform and vibration isolation rate；Vibration isolation rate includes connection component between upper connecting rod, lower link, cylindrical shell and uprighting spring, horizontal spring and spring；The upper end connection support platform of upper connecting rod, lower end connection component connection across between the upper end cover and spring of cylindrical shell of upper connecting rod, the upper end of lower link and the bottom end cover of cylindrical shell are affixed, and the lower end of lower link is connect with basic platform；Vibration isolation rate meets zero stiffness feature, causes to be in suspended state every object with reference to gravity environment adaptive control system.It realizes low frequency, ultralow frequency or even the immune anti-vibration performance of full frequency band vibration down to zero-frequency, solves multiple degrees of freedom superlow frequency vibrating, vibration resonance and the multiple coupled technical barrier of nonlinear kinetics.
Description
Technical field
The present invention provides a kind of six-degree-of-freedom vibration isolation device and its control system based on zero stiffness system, is related to space flight height
Resolution ratio earth observation, spaceborne precision optical instrument, weaponry are surely taken aim at, including ultraprecise instrument processing etc. it is a series of mostly from
By degree low frequency, ultralow frequency or even down to the fields such as the vibration isolation of zero-frequency and micro-vibration simulated experiment.
Background technology
There are a large amount of multi-dimensional vibration phenomenons in Practical Project, such as space device micro-vibration, weaponry are surely taken aim at, traffic
The transporting, be machined of tool, earthquake etc..Multi-dimensional vibration generates harmful effect to personnel or equipment in most cases, causes
Different damages.For example, spacecraft micro-vibration will seriously affect the image quality of optical sensor, the multidimensional of trajectory emission system
Vibration can reduce targeting rate, the multi-dimensional vibration of ambulance will make the multi-dimensional vibration of the pain for aggravating patient, mechanical processing
Damage into product etc..Multi-dimensional vibration isolator has obtained widely in fields such as space flight, aviation, navigation, medical treatment, mechanical processings
Using, but the problems such as generally existing is of high cost in traditional multi-degree-of-freedom vibration isolation technology, complicated, isolation frequency is high and resonates,
Such system can not still solve the problems, such as the superlow frequency vibration isolating of below 1Hz, so as to constrain crowd for low frequency vibration isolation significant effect
The development of more modern times sophisticated technologies.
Quasi- zero stiffness vibrating isolation system has the good characteristics such as high static, low dynamic rate, can effectively reduce consolidating for system
There is frequency, will act on all kinds of vibrational perturbations excitation of equipment in special frequency channel so as to reach and effectively reduce or be isolated
Effect.Such system can improve vibration isolation precision and realize compared with low frequency vibration isolation, but it still has the problems such as ultralow frequency, resonance.
At present there are many designing scheme of single-degree-of-freedom zero stiffness system, and for multiple degrees of freedom, particularly six degree of freedom zero stiffness
Systematic research is seldom.Therefore, from aerospace, Weapon Development demand, there is an urgent need to design to have had zero just at present
The six degree of freedom ultralow frequency vibration isolator of feature is spent, promotes technical merit and technical maturity of the China in superlow frequency vibration isolating field,
Promote the raising of the quality such as China's aerospace, weaponry and quality.
The design of vibration isolator of low frequency, ultralow frequency field is not much and sees at present, and meets Space Science and Technology and sent out with weaponry
The design of the isolation mounting of exhibition is just more rare.The research of vibration isolator at this stage be mostly focused on classical linear vibration isolator with it is non-thread
Property quasi-zero stiffness vibration isolators, these equipment majorities be suitable for medium-high frequency section vibration suppression.
Invention content
Vibration isolation target is placed on ultralow frequency (less than 1Hz), in wide frequency domain by the present invention, is studied with geometrical non-linearity theory of vibration isolation
Based on, a kind of six degree of freedom superlow frequency vibration isolating device and its control system based on zero stiffness system are built, solution is related to navigating
It is more existing for the fields such as its high-resolution earth observation, spaceborne precision optical instrument, weaponry are surely taken aim at, ultraprecise instrument processing
Degree of freedom superlow frequency vibrating, vibration resonance and the technical barriers such as nonlinear kinetics is multiple coupled.
The present invention adopts the technical scheme that solve above-mentioned technical problem：
Six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system, the zero stiffness system refer to not have to
The ability of elastoresistance deformation, has the system of continuous equilibrium, constant potential energy and indifferent equilibrium, and kinetics equation is represented by
Wherein X is the motion vector of system, and ε is vector acceleration；Zero stiffness system has the feature of zero intrinsic frequency, energy
Enough realize low frequency, ultralow frequency or even the immune anti-vibration performance of full frequency band vibration down to zero-frequency；
The configuration of the six degree of freedom superlow frequency vibration isolating device based on zero stiffness system is by support platform, basic platform
And at least three vibration isolation rates between the two are formed by connecting, each vibration isolation rate design meets the condition of zero stiffness system；
Each vibration isolation rate includes upper connecting rod, lower link, cylindrical shell and uprighting spring, water in cylindrical shell
Connection component between coach spring and spring；Upper connecting rod, lower link are coaxial and are overlapped with cylindrical shell central axes；The upper end of upper connecting rod connects
Connect support platform, the lower end of upper connecting rod passes through connection component between the upper end cover and spring of cylindrical shell to connect, the upper end of lower link
Affixed with the bottom end cover of cylindrical shell, the lower end of lower link is connect with basic platform；Connect between uprighting spring, horizontal spring and spring
The configuration of connected components is provided with by every the support force that object gravity is equal in magnitude, direction is opposite, being made within a preset range with realizing
Used in being zero by the resultant force every object, so that by " suspension " state is in every object.
Further, the isolation mounting includes the support platform connected by six zero stiffness vibration isolation rates and basis is put down
Platform, the coordinate system of support platform is T-xyz, and the coordinate system of basic platform is B-XYZ,
The coordinate of the coordinate system of support platform and the coordinate system of basic platform is in the circle centre position of corresponding platform；Two platforms
Spacing is H, and support platform position vector is P=[Px,Py,Pz]T, support platform Rotation matrix is R=Ry(β)Rx(α)Rz(γ)；
α, β, γ represent rotational angle of the support platform relative to respective coordinates axis respectively；
Zero stiffness vibration isolation rate former a length of h, coordinate system si-qi, i=1,2 ..., 6 represent six zero stiffness vibration isolation rates；
qiIt is along the reference axis in uprighting spring direction, siIt is the reference axis along horizontal spring；
The mass matrix and kinetic energy expression of the isolation mounting be：It is in flat every object when being placed in support platform
During weighing apparatus position, if the horizontal spring rigidity of each vibration isolation rate is kh, uprighting spring rigidity is kv, the pre compressed magnitude of uprighting spring is
δi, it is m, I by the gross mass every objectx、Iy、IzFor by the rotary inertia every object relative to basic platform,
Iz=2I0, rTFor support platform radius；
The mass matrix of isolation mounting is：
Wherein, M44=Ixcos2γ+Iysin2γ, M55=cos2α(Ixsin2γ+Iycos2γ)+Izsin2α, M66=Iz,
M45=(Ix-Iy) cos α cos γ sin γ, M56=-Izsinα；
The kinetic energy expression of isolation mounting is：
According to the principle of virtual work, i-th of vibration isolation rate acting of the isolation mounting is
Wherein, cxi、cyi、czi、cαi、cβi、cγiIt is i-th of vibration isolation rate in x, y, z, the damping system of α, β, γ six direction
Number, " ^ " represent the displacement relative variation of support platform and basic platform；δ represents the increment of variable；
When meeting zero stiffness condition, the power that i-th of vibration isolation rate undertakes is：
Ji(δi)=kvδi-F2=εi, εi>=0,
F2Represent that each vibration isolation rate undertaken by the component every object total force；
Gravity suffered by support platform offsets each other just with the holding power that system is provided to it or difference is small quantity；
According to Hamilton principles, then the kinetics equation of the six-degree-of-freedom vibration isolation device based on zero stiffness characteristic is：
cx、cy、cz、cα、cβ、cγIt is isolation mounting in x, y, z, the damped coefficient of α, β, γ six direction；
Above-mentioned six formula, which embody the isolation mounting, has multidimensional low frequency, ultralow frequency or even the full frequency band down to zero-frequency
The immune anti-vibration performance of vibration.
A kind of gravity environment adaptive control system for being used to control above-mentioned isolation mounting, the control system include measuring
Unit, control unit and execution unit；Position and posture of the measuring unit for the real time measure isolation mounting, and by position and
Attitude data real-time Transmission is performed to control unit, control unit controlled quentity controlled variable according to needed for calculating current result of calculation, driving
Unit reaches zero stiffness characteristic to adjust the relevant geometric parameter of isolation mounting, and then isolation mounting is controlled to be in gravity environment etc.
The state of effect；Control process based on the control system forms closed loop feedback control.
The invention has the advantages that：
Six degree of freedom superlow frequency vibration isolating device proposed by the present invention, is respectively provided with zero stiffness feature on six degree of freedom, so as to
Solves the isolating problem of six degree-of-freedom low-frequency, the vibration of ultralow frequency (down to zero-frequency) and large impact.
The single vibration isolation rate design of the six degree of freedom superlow frequency vibration isolating device of the present invention meets the condition of zero stiffness, has
The features such as simple in structure, at low cost.Using the negative stiffness feature of geometrical non-linearity and the adjustable property of geometric parameter, by vertical
The configuration of spring, crossed strip and bindiny mechanism provide with by every the support force that object gravity is equal in magnitude, direction is opposite, with reality
It is zero now to act within a preset range by the resultant force every object, so that by " suspension " state is in every object.The present invention
Zero stiffness (not having the ability for the resisting flexible deformation) device being related to has continuous equilibrium, constant potential energy and indifferent equilibrium etc.
Essential characteristic, have multidimensional low frequency, ultralow frequency (down to zero-frequency) anti-vibration performance, be fully able to realize low frequency, ultralow frequency or even
Down to the immune anti-vibration performance of full frequency band vibration of zero-frequency.
Such six degree of freedom superlow frequency vibration isolating device with zero stiffness feature, utilizes the negative stiffness feature of geometrical non-linearity
With the adjustability of its geometric parameter, realize single vibration isolation rate within a preset range have zero stiffness feature, by zero stiffness every
Module of shaking is connected with vibration-isolating platform.
Compared with existing vibration isolation technique, the present invention has as follows a little：
1st, zero stiffness vibration isolation rate of the present invention is in parallel by the uprighting spring with positive rigidity and the mechanism with negative stiffness
Combination is so that it has zero intrinsic frequency, satisfaction(wherein X is the motion vector of system, and ε is vector acceleration)
Zero stiffness suspension system can realize low frequency, ultralow frequency or even the immune anti-vibration performance of full frequency band vibration down to zero-frequency；
2nd, zero stiffness vibration isolation rate of the present invention has simple in structure, load adjustable, easy to process, high reliability；
3rd, zero stiffness vibration isolation rate of the present invention realizes multiple degrees of freedom zero stiffness convenient for being combined into a variety of compound zero stiffness mechanisms
Functional character；
4th, the present invention is based on the six degree of freedom superlow frequency vibration isolating devices of zero stiffness system, are considering that gravity environment is self-adaptive controlled
It on the basis of system, does not need to add traditional variation rigidity and variable damper control again, you can present near equipoise more
Zero stiffness feature is tieed up, realizes six degree-of-freedom low-frequency, ultralow frequency or even the immune anti-vibration performance of full frequency band vibration down to zero-frequency.
Fig. 8 and Fig. 9 can be seen that isolation mounting of the present invention and can be realized in preset range on six-freedom degree
Zero restoring force section, the isolation mounting, which does not have, in the section resists the ability of flexible deformation to get six degree of freedom has been arrived
Zero stiffness suspension system；As shown in figure 9, the isolation mounting can be realized on six-freedom degree down to the vibration isolation of zero-frequency
Can, the limitation and technical bottleneck of traditional theory of vibration isolation are breached, realizes low frequency, ultralow frequency or even the full frequency band down to zero-frequency
The immune anti-vibration performance of vibration.
Description of the drawings
Fig. 1 is the structure diagram of six degree of freedom superlow frequency vibration isolating device of the present invention；
Fig. 2 is the structure diagram of zero stiffness vibration isolation rate described in the specific embodiment one of the present invention；
Fig. 3 is the structure diagram of zero stiffness vibration isolation rate described in the specific embodiment two of the present invention；
Fig. 4 is the structure diagram of zero stiffness vibration isolation rate described in the specific embodiment three of the present invention；
Fig. 5 is the structure diagram of zero stiffness vibration isolation rate described in the specific embodiment four of the present invention；
Fig. 6 is the structure diagram of zero stiffness vibration isolation rate described in the specific embodiment five of the present invention；
Force analysis schematic diagram when Fig. 7 is six degree of freedom superlow frequency vibration isolating device of the present invention carrying, wherein F=
3F1,
In figure:(a) the force analysis schematic diagram of support platform (upper mounting plate) is represented, (b) represents that support platform and basis are put down
The overall force analysis schematic diagram of platform (lower platform)；
Fig. 8 is linear (Linear), quasi- zero stiffness (SQZS), zero stiffness (Suspensor) vibration isolation rate support system exist
The hesteresis curve figure of (x, y, z, α, β, γ six direction) on six-freedom degree；
Fig. 9 for meet under zero stiffness vibration isolation rate supporting condition (system) of the invention six-freedom degree (x, y, z, α, β,
γ six directions) on transmissibility curve graph；
Figure 10 is the structure diagram of the adaptive semi-active control aystem of gravity environment.
Specific embodiment
Specific embodiment one：As shown in Figure 1, Figure 2 and Figure 7, detailed retouch is carried out to the solution of the present invention with reference to attached drawing
It states：
Six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system, the zero stiffness system refer to not have to
The ability of elastoresistance deformation, has the system of continuous equilibrium, constant potential energy and indifferent equilibrium, and kinetics equation is represented by
Wherein X is the motion vector of system, and ε is vector acceleration；Zero stiffness system has the feature of zero intrinsic frequency, energy
Enough realize low frequency, ultralow frequency or even the immune anti-vibration performance of full frequency band vibration down to zero-frequency；
The six degree of freedom superlow frequency vibration isolating device (six degree of freedom superlow frequency vibration isolating platform) based on zero stiffness system
Configuration is formed by connecting by support platform, basic platform and six vibration isolation rates between the two, each vibration isolation rate design
Meet the condition of zero stiffness system；
Each vibration isolation rate includes upper connecting rod 11, lower link 12, cylindrical shell 10 and erecting in cylindrical shell 10
Connection component between straight spring, horizontal spring and spring；Upper connecting rod, lower link are coaxial and are overlapped with cylindrical shell central axes；Upper company
The upper end connection support platform of bar, lower end connection component connection across between the upper end cover and spring of cylindrical shell of upper connecting rod, under
The upper end of connecting rod and the bottom end cover of cylindrical shell are affixed, and the lower end of lower link is connect with basic platform；Uprighting spring, horizontal spring
And between spring the configuration of connection component provide with by every the support force that object gravity is equal in magnitude, direction is opposite, with realization pre-
If it is zero to be acted in range by the resultant force every object, so that by " suspension " state is in every object.
Vibration isolation rate meets zero stiffness feature, causes to be in " outstanding every object with reference to gravity environment adaptive control system
It is floating " state.The present invention breaches the limitation and technical bottleneck of traditional theory of vibration isolation, realizes low frequency, ultralow frequency or even down to zero
The immune anti-vibration performance of full frequency band vibration of frequency, solves multiple degrees of freedom superlow frequency vibrating, vibration resonance and nonlinear kinetics
It is multiple coupled to wait technical barriers.
The isolation mounting includes the support platform connected by six zero stiffness vibration isolation rates and basic platform, and support is flat
The coordinate system of platform is T-xyz, and the coordinate system of basic platform is B-XYZ,
The coordinate of the coordinate system of support platform and the coordinate system of basic platform is in the circle centre position of corresponding platform；Two platforms
Spacing is H, and support platform position vector is P=[Px,Py,Pz]T, support platform Rotation matrix is R=Ry(β)Rx(α)Rz(γ)；
α, β, γ represent rotational angle of the support platform relative to respective coordinates axis respectively；
Zero stiffness vibration isolation rate former a length of h, coordinate system si-qi, i=1,2 ..., 6 represent six zero stiffness vibration isolation rates；
qiIt is along the reference axis in uprighting spring direction, siIt is the reference axis along horizontal spring；
The mass matrix and kinetic energy expression of the isolation mounting be：It is in flat every object when being placed in support platform
During weighing apparatus position, if the horizontal spring rigidity of each vibration isolation rate is kh, uprighting spring rigidity is kv, the pre compressed magnitude of uprighting spring is
δi, it is m, I by the gross mass every objectx、Iy、IzFor by the rotary inertia every object relative to basic platform,
Iz=2I0, rTFor support platform radius；
The mass matrix of isolation mounting is：
Wherein, M44=Ixcos2γ+Iysin2γ, M55=cos2α(Ixsin2γ+Iycos2γ)+Izsin2α, M66=Iz,
M45=(Ix-Iy) cos α cos γ sin γ, M56=-Izsinα；
The kinetic energy expression of isolation mounting is：
According to the principle of virtual work, i-th of vibration isolation rate acting of the isolation mounting is
Wherein, cxi、cyi、czi、cαi、cβi、cγiIt is i-th of vibration isolation rate in x, y, z, the damping system of α, β, γ six direction
Number, " ^ " represent the displacement relative variation of support platform and basic platform；δ represents the increment of variable；
When meeting zero stiffness condition, the power that i-th of vibration isolation rate undertakes is：
Ji(δi)=kvδi-F2=εi, εi>=0,
F2Represent that each vibration isolation rate undertaken by the component every object total force；
Gravity suffered by support platform offsets each other just with the holding power that system is provided to it or difference is small quantity；
According to Hamilton principles, then the kinetics equation of the six-degree-of-freedom vibration isolation device based on zero stiffness characteristic is：
cx、cy、cz、cα、cβ、cγIt is isolation mounting in x, y, z, the damped coefficient of α, β, γ six direction；
Above-mentioned six formula, which embody the isolation mounting, has multidimensional low frequency, ultralow frequency or even the full frequency band down to zero-frequency
The immune anti-vibration performance of vibration.
Connection component includes two idler wheels, 1, two guide rail 3 between the spring and intermediate mass block 4, the horizontal spring are
Horizontal tension spring 2；Two guide rails 3 are installed in the middle part of 10 inner wall of cylindrical shell respectively, and the two is symmetrical, and each idler wheel 1 is put
It puts in corresponding guide rail 3, and the center of two idler wheels 1 is connected with horizontal tension spring 2；
The lower end of intermediate mass block 4 and the upper end of uprighting spring 5 are affixed, upper end and the upper connecting rod 11 of intermediate mass block 4
Lower end is affixed, and 4 edges at two ends of intermediate mass block is the semi arch that radius is R, and the circle center distance of two semi arches is L ＇；Each half
Diameter is the fricton-tight rolling of the semi arch of roller 1 and the respective end of r, and intermediate mass block 4 is in the effect of the idler wheel 1 positioned at its both sides
It is lower along qiDirection moves；The lower end of uprighting spring 5 and the bottom end cover of cylindrical shell are affixed；
The rigidity of uprighting spring 5 is kv, horizontal 2 rigidity of tension spring is kh, the former a length of L of horizontal tension spring 2；
During original state, compression uprighting spring 5 to a certain distance δ0；The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：L '=L, kv=2kh；At this point, Ji(δi)=kv
δi-f2=εi, εi≥0。
Specific embodiment two：As shown in figures 1 and 3, other specific embodiments of single vibration isolation rate are provided：
Connection component includes two idler wheels 1, two guide rail 3, breast wheel 4 between the spring, and the horizontal spring includes two
A horizontal compression spring 2；
Two guide rails 3 are installed in the middle part of 10 inner wall of cylindrical shell respectively, and the two is symmetrical, and each idler wheel 1 is placed
In corresponding guide rail 3, set between each idler wheel 1 and corresponding 10 inner wall of cylindrical shell there are one horizontal compression spring 2, breast wheel 4
Between two idler wheels 1, the top and the lower end of upper connecting rod 11 of breast wheel 4 are affixed, lower part and the uprighting spring 5 of breast wheel 4
Upper end is connected, and breast wheel 4 is under the action of the idler wheel 1 positioned at its both sides along qiDirection moves；The lower end of uprighting spring 5 and cylindricality
The bottom end cover of housing is affixed；
The fricton-tight rolling of breast wheel 4 that the idler wheel 1 that each radius is r and the radius of respective end are R,
The rigidity of uprighting spring 5 is kv, pre compressed magnitude δi, horizontal 2 rigidity of compression spring is kh, pre compressed magnitude δ0；
The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：δ0=R+r, kv=2kh。
It is other same as the specific embodiment one.
Specific embodiment three：As shown in Figure 1 and Figure 4, other specific embodiments of single vibration isolation rate are provided：
Connection component includes two 3, two, guide rail connecting rods 4 of sliding block 1, two between the spring, and the horizontal spring includes
Two horizontal compression springs 2；
Two guide rails 3 are installed in the middle part of 10 inner wall of cylindrical shell respectively, and the two is symmetrical, and each sliding block 1 is placed
In corresponding guide rail 3, set between each sliding block 1 and corresponding 10 inner wall of cylindrical shell there are one horizontal compression spring 2, each connecting rod 4
One end be hinged with the center of corresponding sliding block 1, the other end of two connecting rods 4 is hinged, and two connecting rods 4 are located between two sliding blocks 1,
The articulated section of two connecting rods 4 is connect with the lower end of upper connecting rod 11, the articulated sections of two connecting rods 4 also with uprighting spring 5
Upper end connection, the articulated section is along q under the action of the sliding block 1 positioned at 4 both sides of connecting rodiDirection moves；Under uprighting spring 5
End is affixed with the bottom end cover of cylindrical shell；
The length of connecting rod 4 is l, and the rigidity of uprighting spring 5 is kv, pre compressed magnitude δ0, horizontal 2 rigidity of compression spring is kh；Work as water
When concora crush spring 2 is in former long, distance of the free end away from 5 center of uprighting spring is B；
The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：B=0, kv=2kh。
It is other same as the specific embodiment one.
Specific embodiment four：As shown in Figure 1 and Figure 5, other specific embodiments of single vibration isolation rate are provided：
Under connection component includes the vertical upper connecting rod of the waling stripe 2, two of sliding block 1, two 3, two vertically between the spring
4, two, the connecting rod fixing piece 14 of support element 13, two；The horizontal spring includes two horizontal compression springs 5；
The lower end of sliding block 1 and the upper end of uprighting spring 6 are affixed, and one end of two waling stripes 2 is hinged by sliding block 1, on
The lower end of connecting rod 11 and the upper end of sliding block 1 are affixed,
The other end of each waling stripe 2 and the upper end of corresponding vertical upper connecting rod 3 are affixed, each vertical upper connecting rod 3
Lower end and the upper end of corresponding vertical lower link 4 are affixed, and two support elements 13 are installed in the middle part of 10 inner wall of cylindrical shell respectively,
And the two is symmetrical；Each support element 13 is located at the junction of vertical upper connecting rod 3 and vertical lower link 4；Two it is vertical on connect
Vertical 4, two support elements 13 of lower link of 3, two, bar are correspondingly formed two symmetrical lever mechanisms；Each vertical lower link 4
Lower end is hinged with one end of corresponding horizontal compression spring 5, and the other end of horizontal compression spring 5 is connected with corresponding fixing piece 14；Two solid
Determine part 14 to be fixed on the bottom end cover of cylindrical shell 10；The lower end of uprighting spring 6 and the bottom end cover of cylindrical shell 10 are affixed；
Sliding block 1 is under the action of two waling stripes 2 along qiDirection moves；
The rigidity of uprighting spring 6 is kv, pre compressed magnitude δi, each horizontal 5 rigidity of compression spring is kh, each waling stripe 2 grows
It spends for lc, each vertical 3 length of upper connecting rod be la, each vertical 4 length of lower link be lb, each horizontal 5 pre compressed magnitude of compression spring be
δ0；
The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：δ0la=lblc,
It is other same as the specific embodiment one.
Specific embodiment five：As shown in figures 1 to 6, other specific embodiments of single vibration isolation rate are provided：
Connection component includes first connecting rod 1, second connecting rod 2, third connecting rod 3, the company of fourth link the 4, the 5th between the spring
Bar 5, six-bar linkage 6, supporting rack 9；The horizontal spring is horizontal tension spring 7；
First connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5, six-bar linkage 6 are sequentially hinged shape
Into hexagon, six-bar linkage 6 is located at the top of third connecting rod 3 and the two is horizontally disposed, and third connecting rod 3 is fixed in supporting rack 9,
Supporting rack 9 and the bottom end cover of cylindrical shell 10 are affixed；One end of horizontal tension spring 7 and first connecting rod 1, the hinge joint of second connecting rod 2
It is hinged, the other end of horizontal tension spring 7 and fourth link 4, the 5th connecting rod 5 it is hingedly point articulated；The upper end connection the of uprighting spring 8
Six-bar linkage 6, the lower end of uprighting spring 8 are fixed on third connecting rod 3；The lower end and the top of six-bar linkage 6 of upper connecting rod 11 are affixed；
Uprighting spring 8 is under the action of 1 and the 5th connecting rod 5 of first connecting rod of its both sides along qiDirection moves；
Wherein first connecting rod 1, second connecting rod 2, fourth link 4, the length of the 5th connecting rod 5 are a, third connecting rod the 3, the 6th
The length of connecting rod 6 is L ', and horizontal 7 rigidity of tension spring is kh, the former a length of L of horizontal tension spring；The rigidity of uprighting spring 8 is kv；
During original state, compression uprighting spring 9 to a certain distance δ0So that six-bar linkage 6 is located at same with third connecting rod 3
Horizontal plane；The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：L=L ', kv=kh。
It is other same as the specific embodiment one.
Specific embodiment six：As shown in Figure 1, six of six degree of freedom superlow frequency vibration isolating device described in present embodiment
Vibration isolation rate is laid in three V-shaped between support platform and basic platform, and on adjacent two vibration isolation rate end concurrent.
It is other identical with specific embodiment one, two, three, four or five.
Specific embodiment seven：As shown in Figure 10, present embodiment provides the six degree of freedom ultralow frequency for controlling described
The gravity environment adaptive control system of isolation mounting, the control system include measuring unit, control unit and perform list
Member；Position and posture of the measuring unit for the real time measure isolation mounting (vibration isolator), and position and attitude data are passed in real time
Control unit is defeated by, control unit controlled quentity controlled variable according to needed for calculating current result of calculation drives execution unit to adjust vibration isolation
The relevant geometric parameter of device reaches zero stiffness characteristic, and then isolation mounting is controlled to be in the equivalent state of gravity environment；It is based on
The control process of the control system forms closed loop feedback control.For the low frequency based on zero stiffness system, superlow frequency vibrating ring
The vibration isolation mechanism in border and Study on Active Control Strategy and traditional vibration isolation are entirely different, and classical structure is simple, suitable for middle height
Frequency range vibration suppression, but can not realize the demand of low frequency or ultralow frequency.For zero stiffness system realize low frequency, ultralow frequency, be
To the immune vibration isolation proposition gravity environment adaptive control system of the full frequency band vibration down to zero-frequency, realization vibration is aimed at
The holding power that gravity suffered by front and rear support platform is provided with vibrating isolation system to it offsets each other just, has both realized gravity before and after vibration
Environment is equivalent.In the controls, measuring unit the real time measure isolation mounting (vibration isolator) position and posture, and data are real-time
Be transferred to control unit, control unit controlled quentity controlled variable according to needed for calculating current result of calculation, driving executing agency with adjust every
The relevant geometric parameter of the device that shakes is to realize control targe.On the basis of this control technology scheme, do not need to add biography again
The variation rigidity and variable damper control of system, you can realize control targe, meet or exceed technical indicator.
During above-mentioned six degree of freedom zero stiffness levitation device Preliminary design, the carrying of levitation device can not be considered, it is single at this time
A vibration isolation rate has identical physical parameter and geometric parameter；When considering to carry, it is only necessary to the pre compressed magnitude of adjustment spring
.
The content that above-described embodiment illustrates should be understood to that these embodiments are only used for being illustrated more clearly that the present invention, without
For limiting the scope of the invention, after the present invention has been read, those skilled in the art are to the various equivalent forms of the present invention
Modification each fall within the application range as defined in the appended claims.
The most preferred embodiment of concrete application
The necks such as the earth observation of space flight high-resolution, spaceborne precision optical instrument, weaponry are surely taken aim at, ultraprecise instrument processing
Domain is adapted to fit six degree-of-freedom low-frequency of the present invention, ultralow frequency or even the immune vibration isolation dress of full frequency band vibration down to zero-frequency
It puts.
The key point of the application and point to be protected
1. the key point of the immune isolation mounting design of full frequency band vibration：Inside configuration is rubbed there are factors such as frictional force, dampings
Wipe and damp it is excessive and too small all improper, need according to actual demand carry out exact numerical calculate rear can determine that；
2. the point to be protected of the present invention：Multidimensional low frequency, super can be realized using above-mentioned five kinds of zero stiffness vibration isolation rates as representative
Low frequency or even this kind of device of the immune vibration isolation of full frequency band vibration down to zero-frequency.
Claims (9)
1. a kind of six degree of freedom superlow frequency vibration isolating device based on zero stiffness system, it is characterised in that：
The zero stiffness system refers to do not have the ability for resisting flexible deformation, has continuous equilibrium, constant potential energy and neutrality
Stable system, kinetics equation are represented by
Wherein X is the motion vector of system, and ε is vector acceleration；Zero stiffness system has the feature of zero intrinsic frequency, Neng Goushi
Existing low frequency, ultralow frequency or even the immune anti-vibration performance of full frequency band vibration down to zero-frequency；
The configuration of the six degree of freedom superlow frequency vibration isolating device based on zero stiffness system is by support platform, basic platform and position
At least three vibration isolation rates between the two are formed by connecting, and each vibration isolation rate design meets the condition of zero stiffness system；
Each vibration isolation rate includes upper connecting rod, lower link, cylindrical shell and uprighting spring, horizontal bullet in cylindrical shell
Connection component between spring and spring；Upper connecting rod, lower link are coaxial and are overlapped with cylindrical shell central axes；The upper end connection branch of upper connecting rod
Support platform, the lower end of upper connecting rod passes through connection component between the upper end cover and spring of cylindrical shell to connect, the upper end of lower link and column
The bottom end cover of shape housing is affixed, and the lower end of lower link is connect with basic platform；Connection group between uprighting spring, horizontal spring and spring
The configuration of part is provided with by every the support force that object gravity is equal in magnitude, direction is opposite, being acted within a preset range with realizing
It is zero by the resultant force every object, so that by " suspension " state is in every object.
2. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1, feature exist
In,
The isolation mounting includes the support platform connected by six zero stiffness vibration isolation rates and basic platform, support platform
Coordinate system is T-xyz, and the coordinate system of basic platform is B-XYZ,
The coordinate of the coordinate system of support platform and the coordinate system of basic platform is in the circle centre position of corresponding platform；Two platform spacing
For H, support platform position vector is P=[Px,Py,Pz]T, support platform Rotation matrix is R=Ry(β)Rx(α)Rz(γ)；α、β、
γ represents rotational angle of the support platform relative to respective coordinates axis respectively；
Zero stiffness vibration isolation rate former a length of h, coordinate system si-qi, i=1,2 ..., 6 represent six zero stiffness vibration isolation rates；qiIt is
Along the reference axis in uprighting spring direction, siIt is the reference axis along horizontal spring；
The mass matrix and kinetic energy expression of the isolation mounting be：When being placed in support platform balance position is in every object
When putting, if the horizontal spring rigidity of each vibration isolation rate is kh, uprighting spring rigidity is kv, the pre compressed magnitude of uprighting spring is δi, quilt
Every object gross mass be m, Ix、Iy、IzFor by the rotary inertia every object relative to basic platform,Iz=
2I0, rTFor support platform radius；
The mass matrix of isolation mounting is：
Wherein, M44=Ixcos2γ+Iysin2γ, M55=cos2α(Ixsin2γ+Iycos2γ)+Izsin2α, M66=Iz, M45=
(Ix-Iy) cos α cos γ sin γ, M56=-Izsinα；
The kinetic energy expression of isolation mounting is：
According to the principle of virtual work, i-th of vibration isolation rate acting of the isolation mounting is
Wherein, cxi、cyi、czi、cαi、cβi、cγiIt is i-th of vibration isolation rate in x, y, z, the damped coefficient of α, β, γ six direction,
" ^ " represents the displacement relative variation of support platform and basic platform；δ represents the increment of variable；
When meeting zero stiffness condition, the power that i-th of vibration isolation rate undertakes is：
Ji(δi)=kvδi-F2=εi, εi>=0,
F2Represent that each vibration isolation rate undertaken by the component every object total force；
Gravity suffered by support platform offsets each other just with the holding power that system is provided to it or difference is small quantity；
According to Hamilton principles, then the kinetics equation of the six-degree-of-freedom vibration isolation device based on zero stiffness characteristic is：
cx、cy、cz、cα、cβ、cγIt is isolation mounting in x, y, z, the damped coefficient of α, β, γ six direction；
Above-mentioned six formula embody the isolation mounting, and there is multidimensional low frequency, ultralow frequency or even the full frequency band down to zero-frequency to vibrate
Immune anti-vibration performance.
3. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1 or 2, feature
It is, connection component includes two idler wheels, 1, two guide rail 3 and intermediate mass block 4 between the spring, and the horizontal spring is water
Horizontal drawing spring 2；Two guide rails 3 are installed in the middle part of 10 inner wall of cylindrical shell respectively, and the two is symmetrical, and each idler wheel 1 is placed
In corresponding guide rail 3, and the center of two idler wheels 1 is connected with horizontal tension spring 2；
The lower end of intermediate mass block 4 and the upper end of uprighting spring 5 are affixed, the upper end of intermediate mass block 4 and the lower end of upper connecting rod 11
Affixed, 4 edges at two ends of intermediate mass block is the semi arch that radius is R, and the circle center distance of two semi arches is L '；Each radius is
The roller 1 of r and the fricton-tight rolling of the semi arch of respective end, the edge under the action of the idler wheel 1 positioned at its both sides of intermediate mass block 4
qiDirection moves；The lower end of uprighting spring 5 and the bottom end cover of cylindrical shell are affixed；
The rigidity of uprighting spring 5 is kv, horizontal 2 rigidity of tension spring is kh, the former a length of L of horizontal tension spring 2；
During original state, compression uprighting spring 5 to a certain distance δ0；The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：L '=L, kv=2kh；At this point, Ji(δi)=kvδi-F2=
εi, εi≥0。
4. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1 or 2, feature
It is, connection component includes two idler wheels 1, two guide rail 3, breast wheel 4 between the spring, and the horizontal spring includes two water
Concora crush spring 2；
Two guide rails 3 are installed in the middle part of 10 inner wall of cylindrical shell respectively, and the two is symmetrical, and each idler wheel 1 is placed on pair
In the guide rail 3 answered, set between each idler wheel 1 and corresponding 10 inner wall of cylindrical shell there are one horizontal compression spring 2, breast wheel 4 is located at two
Between a idler wheel 1, the top and the lower end of upper connecting rod 11 of breast wheel 4 are affixed, the lower part of breast wheel 4 and the upper end of uprighting spring 5
It is connected, breast wheel 4 is under the action of the idler wheel 1 positioned at its both sides along qiDirection moves；The lower end of uprighting spring 5 and cylindrical shell
Bottom end cover it is affixed；
The fricton-tight rolling of breast wheel 4 that the idler wheel 1 that each radius is r and the radius of respective end are R,
The rigidity of uprighting spring 5 is kv, pre compressed magnitude δi, horizontal 2 rigidity of compression spring is kh, pre compressed magnitude δ0；
The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：δ0=R+r, kv=2kh。
5. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1 or 2,
It is characterized in that, connection component includes two 3, two, guide rail connecting rods 4 of sliding block 1, two, the horizontal bullet between the spring
Spring includes two horizontal compression springs 2；
Two guide rails 3 are installed in the middle part of 10 inner wall of cylindrical shell respectively, and the two is symmetrical, and each sliding block 1 is placed on pair
In the guide rail 3 answered, set between each sliding block 1 and corresponding 10 inner wall of cylindrical shell there are one horizontal compression spring 2, the one of each connecting rod 4
End is hinged with the center of corresponding sliding block 1, and the other end of two connecting rods 4 is hinged, and two connecting rods 4 are located between two sliding blocks 1,
The articulated section of two connecting rods 4 is connect with the lower end of upper connecting rod 11, and the articulated section of two connecting rods 4 is also upper with uprighting spring 5
End connection, the articulated section is along q under the action of the sliding block 1 positioned at 4 both sides of connecting rodiDirection moves；The lower end of uprighting spring 5 with
The bottom end cover of cylindrical shell is affixed；
The length of connecting rod 4 is l, and the rigidity of uprighting spring 5 is kv, pre compressed magnitude δ0, horizontal 2 rigidity of compression spring is kh；When level is pressed
When spring 2 is in former long, distance of the free end away from 5 center of uprighting spring is B；
The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：B=0, kv=2kh。
6. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1 or 2,
It is characterized in that, connection component includes the vertical upper connecting rod 3, two of the waling stripe 2, two of sliding block 1, two between the spring
The vertical fixing piece 14 of support element 13, two of lower link 4, two；The horizontal spring includes two horizontal compression springs 5；
The lower end of sliding block 1 and the upper end of uprighting spring 6 are affixed, and one end of two waling stripes 2 is hinged by sliding block 1, upper connecting rod
11 lower end and the upper end of sliding block 1 are affixed,
The other end of each waling stripe 2 and the upper end of corresponding vertical upper connecting rod 3 are affixed, the lower end of each vertical upper connecting rod 3
Affixed with the upper end of corresponding vertical lower link 4, two support elements 13 are installed in the middle part of 10 inner wall of cylindrical shell, and two respectively
Person is symmetrical；Each support element 13 is located at the junction of vertical upper connecting rod 3 and vertical lower link 4；Two vertical upper connecting rods 3,
Two vertical 4, two support elements 13 of lower link are correspondingly formed two symmetrical lever mechanisms；The lower end of each vertical lower link 4
It is hinged with one end of corresponding horizontal compression spring 5, the other end of horizontal compression spring 5 is connected with corresponding fixing piece 14；Two fixing pieces
14 are fixed on the bottom end cover of cylindrical shell 10；The lower end of uprighting spring 6 and the bottom end cover of cylindrical shell 10 are affixed；
Sliding block 1 is under the action of two waling stripes 2 along qiDirection moves；
The rigidity of uprighting spring 6 is kv, pre compressed magnitude δi, each horizontal 5 rigidity of compression spring is kh, each 2 length of waling stripe is
lc, each vertical 3 length of upper connecting rod be la, each vertical 4 length of lower link be lb, each horizontal 5 pre compressed magnitude of compression spring be δ0；
The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：δ0la=lblc,
7. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1 or 2,
It is characterized in that, between the spring connection component include first connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4,
5th connecting rod 5, six-bar linkage 6, supporting rack 9；The horizontal spring is horizontal tension spring 7；
First connecting rod 1, second connecting rod 2, third connecting rod 3, fourth link 4, the 5th connecting rod 5, six-bar linkage 6 sequentially hingedly form six
Side shape, six-bar linkage 6 is located at the top of third connecting rod 3 and the two is horizontally disposed, and third connecting rod 3 is fixed in supporting rack 9, support
Frame 9 and the bottom end cover of cylindrical shell 10 are affixed；One end of horizontal tension spring 7 and first connecting rod 1, second connecting rod 2 it is hinged point articulated,
The other end of horizontal tension spring 7 and fourth link 4, the 5th connecting rod 5 it is hinged point articulated；The upper end connection the 6th of uprighting spring 8 connects
Bar 6, the lower end of uprighting spring 8 are fixed on third connecting rod 3；The lower end and the top of six-bar linkage 6 of upper connecting rod 11 are affixed；
Uprighting spring 8 is under the action of 1 and the 5th connecting rod 5 of first connecting rod of its both sides along qiDirection moves；
Wherein first connecting rod 1, second connecting rod 2, fourth link 4, the length of the 5th connecting rod 5 are a, third connecting rod 3, six-bar linkage
6 length is L ', and horizontal 7 rigidity of tension spring is kh, the former a length of L of horizontal tension spring；The rigidity of uprighting spring 8 is kv；
During original state, compression uprighting spring 9 to a certain distance δ0So that six-bar linkage 6 is located at same level with third connecting rod 3
Face；The power that i-th of vibration isolation rate undertakes
Reach zero stiffness characteristic, it is only necessary to meet two following conditions：L=L ', kv=kh。
8. a kind of six degree of freedom superlow frequency vibration isolating dress based on zero stiffness system according to claim 2,3,4,5,6 or 7
It puts, which is characterized in that six vibration isolation rates are laid between support platform and basic platform, and in three V-shaped on adjacent two
The end concurrent of vibration isolation rate.
9. a kind of gravity environment self adaptive control system for being used to control isolation mounting described in claim 1 to 8 any claim
System, it is characterised in that：The control system includes measuring unit, control unit and execution unit；Measuring unit is for real-time
Measure position and the posture of isolation mounting, and by position and attitude data real-time Transmission to control unit, control unit is according to ought
Controlled quentity controlled variable needed for preceding result of calculation calculating, driving execution unit reach zero stiffness to adjust the relevant geometric parameter of isolation mounting
Characteristic, and then isolation mounting is controlled to be in the equivalent state of gravity environment；Control process formation based on the control system is closed
Ring feedback control.
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