CN108253084B - 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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- CN108253084B CN108253084B CN201810087846.1A CN201810087846A CN108253084B CN 108253084 B CN108253084 B CN 108253084B CN 201810087846 A CN201810087846 A CN 201810087846A CN 108253084 B CN108253084 B CN 108253084B
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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
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 of upper connecting rod connects support platform, and the lower end of upper connecting rod connection component between the upper end cover and spring of cylindrical shell connects, and the upper end of lower link and the lower 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, makes to be in suspended state every object in conjunction with gravity environment adaptive control system.It realizes that low frequency, ultralow frequency or even the full frequency band down to zero-frequency vibrate immune anti-vibration performance, solves multiple degrees of freedom superlow frequency vibrating, vibration resonance and the multiple coupled technical problem 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 surely take 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 technique
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 adverse effect to personnel or equipment in most cases, causes
Different damages.For example, spacecraft micro-vibration will seriously affect the multidimensional of the image quality of optical sensor, 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, machining
At the damage etc. of product.Multi-dimensional vibration isolator has obtained widely in fields such as space flight, aviation, navigation, medical treatment, machinings
Using, but in traditional multi-degree-of-freedom vibration isolation technology it is generally existing it is at high cost, structure is complicated, isolation frequency is high and the problems such as resonance,
Such system can not still solve the problems, such as 1Hz superlow frequency vibration isolating below, 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, and consolidating for system can be effectively reduced
There is frequency, effectively reduces or be isolated to reach and will act on all kinds of vibrational perturbations excitation of equipment in special frequency channel
Effect.Such system can be improved vibration isolation precision and realize compared with low frequency vibration isolation, but it still has the problems such as ultralow frequency, resonance.
There are many design schemes of single-degree-of-freedom zero stiffness system at present, and for multiple degrees of freedom, especially six degree of freedom zero stiffness
Systematic research is seldom.Therefore, from aerospace, Weapon Development demand, there is an urgent need to design with zero just at present
Spend feature six degree of freedom ultralow frequency vibration isolator, promoted China superlow frequency vibration isolating field technical level and technical maturity,
Promote the raising of the quality and quality such as China's aerospace, weaponry.
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 weaponry is sent out
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.
Summary of the invention
Vibration isolation target is placed on ultralow frequency (lower than 1Hz), in wide frequency domain by the present invention, with the research of 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 constructed, solution is related to navigating
It is more existing for the fields such as its high-resolution earth observation, spaceborne precision optical instrument, weaponry surely take aim at, ultraprecise instrument processing
Freedom degree superlow frequency vibrating, vibration resonance and the technical problems such as nonlinear kinetics is multiple coupled.
The technical solution adopted by the present invention to solve the above technical problem is:
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, the system with continuous equilibrium, constant potential energy and indifferent equilibrium, 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, energy
Enough realize that low frequency, ultralow frequency or even the full frequency band down to zero-frequency vibrate immune anti-vibration performance；
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 is located at the intracorporal uprighting spring of cylindrical shell, water
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
Support platform is connect, the lower end of upper connecting rod connection component between the upper end cover and spring of cylindrical shell connects, the upper end of lower link
Affixed with the lower 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 the support force equal in magnitude, contrary every object gravity, is 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 that the support platform connected by six zero stiffness vibration isolation rates and basis are put down
Platform, the coordinate system of support platform are T-xyz, and the coordinate system of basic platform is B-XYZ,
The coordinate of the coordinate system of the coordinate system and basic platform of support platform is in the center point 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 respectively indicate rotational angle of the support platform relative to respective coordinates axis；
Zero stiffness vibration isolation rate former a length of h, coordinate system si-qi, i=1,2 ..., 6 indicate six zero stiffness vibration isolation rates；
qiIt is the reference axis along uprighting spring direction, siIt is the reference axis along horizontal spring；
The mass matrix and kinetic energy expression of the isolation mounting are as follows: when that places in support platform is in flat every object
When 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 are as follows:
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 are as follows:
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, " ^ " indicate the displacement relative variation of support platform and basic platform；The increment of δ expression variable；
When meeting zero stiffness condition, power that i-th of vibration isolation rate undertakes are as follows:
Ji(δi)=kvδi-F2=εi, εi>=0,
F2Indicate that each vibration isolation rate undertaken by the component every object total force；
Gravity and system suffered by support platform offset each other just to its holding power provided or difference is small quantity；
According to Hamilton principle, then the kinetics equation of the six-degree-of-freedom vibration isolation device based on zero stiffness characteristic are as follows:
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 with multidimensional low frequency, ultralow frequency or even the full frequency band down to zero-frequency
Vibrate immune anti-vibration performance.
It is a kind of for controlling the gravity environment adaptive control system of above-mentioned isolation mounting, the control system includes measurement
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 to control unit, control amount needed for control unit is calculated according to current calculated result, and driving executes
Unit reaches zero stiffness characteristic to adjust the relevant geometric parameter of isolation mounting, and then controls isolation mounting and 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 following advantages:
Six degree of freedom superlow frequency vibration isolating device proposed by the present invention, all has zero stiffness feature on six degree of freedom, thus
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 six degree of freedom superlow frequency vibration isolating device of the invention meets the condition of zero stiffness, has
The features such as structure is simple, at low cost.Using the negative stiffness feature and the adjustable property of geometric parameter of geometrical non-linearity, by vertical
Spring, crossed strip and the configuration of bindiny mechanism provide and by the support forces equal in magnitude, contrary every object gravity, with reality
Now acting within a preset range by the resultant force every object is zero, 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, with multidimensional low frequency, ultralow frequency (down to zero-frequency) anti-vibration performance, be fully able to realize low frequency, ultralow frequency or even
Full frequency band down to zero-frequency vibrates immune anti-vibration performance.
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, realizing single vibration isolation rate within a preset range has zero stiffness feature, by zero stiffness every
Vibration module is connected with vibration-isolating platform.
Compared with existing vibration isolation technique, the present invention has as follows a little:
1, 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 may be implemented low frequency, ultralow frequency or even vibrate immune anti-vibration performance down to the full frequency band of zero-frequency；
2, zero stiffness vibration isolation rate of the present invention has that structure is simple, load adjustable, easy to process, high reliability；
3, 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；
4, 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, can be presented near equipoise more
Zero stiffness feature is tieed up, realizes that six degree-of-freedom low-frequency, ultralow frequency or even the full frequency band down to zero-frequency vibrate immune anti-vibration performance.
Fig. 8 and Fig. 9 can be seen that isolation mounting of the present invention and can realize in preset range on six-freedom degree
Zero restoring force section, the isolation mounting does not have the ability of resistance flexible deformation to get six degree of freedom has been arrived in the section
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, low frequency, ultralow frequency or even the full frequency band down to zero-frequency are realized
Vibrate immune anti-vibration performance.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of six degree of freedom superlow frequency vibration isolating device of the present invention；
Fig. 2 is the structural schematic diagram of zero stiffness vibration isolation rate described in a specific embodiment of the invention one；
Fig. 3 is the structural schematic diagram of zero stiffness vibration isolation rate described in a specific embodiment of the invention two；
Fig. 4 is the structural schematic diagram of zero stiffness vibration isolation rate described in a specific embodiment of the invention three；
Fig. 5 is the structural schematic diagram of zero stiffness vibration isolation rate described in a specific embodiment of the invention four；
Fig. 6 is the structural schematic diagram of zero stiffness vibration isolation rate described in a specific embodiment of the invention five；
Fig. 7 is stress analysis schematic diagram when six degree of freedom superlow frequency vibration isolating device of the present invention carries, wherein F=
3F1,
In figure: (a) indicating the stress analysis schematic diagram of support platform (upper mounting plate), (b) indicate that support platform and basis are flat
The overall stress 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 be meet under zero stiffness vibration isolation rate supporting condition (system) of the invention six-freedom degree (x, y, z, α, β,
γ six direction) on transmissibility curve graph；
Figure 10 is the structural block diagram of the adaptive semi-active control aystem of gravity environment.
Specific embodiment
Specific embodiment 1: as shown in Figure 1, Figure 2 and Figure 7, carrying out detailed retouch to the solution of the present invention in conjunction with 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, the system with continuous equilibrium, constant potential energy and indifferent equilibrium, 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, energy
Enough realize that low frequency, ultralow frequency or even the full frequency band down to zero-frequency vibrate immune anti-vibration performance；
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 of bar connects support platform, and the lower end of upper connecting rod connection component between the upper end cover and spring of cylindrical shell connects, under
The upper end of connecting rod and the lower 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 the support force equal in magnitude, contrary every object gravity, to realize pre-
If being acted in range by the resultant force every object is zero, so that by " suspension " state is in every object.
Vibration isolation rate meets zero stiffness feature, makes to be in " outstanding every object in conjunction with 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 full frequency band of frequency vibrates immune anti-vibration performance, solves multiple degrees of freedom superlow frequency vibrating, vibration resonance and nonlinear kinetics
The technical problems such as multiple coupled.
The isolation mounting includes by the support platform and basic platform of six zero stiffness vibration isolation rate connections, 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 the coordinate system and basic platform of support platform is in the center point 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 respectively indicate rotational angle of the support platform relative to respective coordinates axis；
Zero stiffness vibration isolation rate former a length of h, coordinate system si-qi, i=1,2 ..., 6 indicate six zero stiffness vibration isolation rates；
qiIt is the reference axis along uprighting spring direction, siIt is the reference axis along horizontal spring；
The mass matrix and kinetic energy expression of the isolation mounting are as follows: when that places in support platform is in flat every object
When 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 are as follows:
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 are as follows:
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, " ^ " indicate the displacement relative variation of support platform and basic platform；The increment of δ expression variable；
When meeting zero stiffness condition, power that i-th of vibration isolation rate undertakes are as follows:
Ji(δi)=kvδi-F2=εi, εi>=0,
F2Indicate that each vibration isolation rate undertaken by the component every object total force；
Gravity and system suffered by support platform offset each other just to its holding power provided or difference is small quantity；
According to Hamilton principle, then the kinetics equation of the six-degree-of-freedom vibration isolation device based on zero stiffness characteristic are as follows:
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 with multidimensional low frequency, ultralow frequency or even the full frequency band down to zero-frequency
Vibrate immune anti-vibration performance.
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 sets 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
The fricton-tight rolling of the semi arch of roller 1 and respective end that diameter is r, effect of the intermediate mass block 4 in the idler wheel 1 for being located at its two sides
It is lower along qiDirection movement；The lower end of uprighting spring 5 and the lower 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；
When 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 2: as shown in figures 1 and 3, providing other specific embodiments of single vibration isolation rate:
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 pressure 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, between each idler wheel 1 and corresponding 10 inner wall of cylindrical shell be equipped with a horizontal pressure spring 2, breast wheel 4
Between two idler wheels 1, the top of breast wheel 4 and the lower end of upper connecting rod 11 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 being located at idler wheel 1 of its two sides along qiDirection movement；The lower end of uprighting spring 5 and cylindricality
The lower cover of shell is affixed；
The fricton-tight rolling of the breast wheel 4 that the radius of idler wheel 1 and respective end that each radius is r is R,
The rigidity of uprighting spring 5 is kv, pre compressed magnitude δi, horizontal 2 rigidity of pressure 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 3: as shown in Figure 1 and Figure 4, providing other specific embodiments of single vibration isolation rate:
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 pressure 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, a horizontal pressure spring 2, each connecting rod 4 are equipped between each sliding block 1 and corresponding 10 inner wall of cylindrical shell
One end and the center of corresponding sliding block 1 it is hinged, 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 section of two connecting rods 4 also with uprighting spring 5
Upper end connection, the articulated section is along q under the action of being located at sliding block 1 of 4 two sides of connecting rodiDirection movement；Under uprighting spring 5
It holds affixed with the lower 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 pressure 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 4: as shown in Figure 1 and Figure 5, providing other specific embodiments of single vibration isolation rate:
Connection component includes under the vertical upper connecting rod of the waling stripe 2, two of sliding block 1, two 3, two vertical between the spring
4, two, the connecting rod fixing piece 14 of supporting element 13, two；The horizontal spring includes two horizontal pressure 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 supporting elements 13 are installed in the middle part of 10 inner wall of cylindrical shell respectively,
And the two is symmetrical；Each supporting element 13 is located at the junction of vertical upper connecting rod 3 and vertical lower link 4；Two it is vertical on connect
3, two, bar vertical 4, two supporting elements 13 of lower link are correspondingly formed two symmetrical lever mechanisms；Each vertical lower link 4
Lower end and one end of corresponding horizontal pressure spring 5 are hinged, and the other end of horizontal pressure spring 5 is connected with corresponding fixing piece 14；Two solid
Determine part 14 to be fixed on the lower cover of cylindrical shell 10；The lower end of uprighting spring 6 and the lower cover of cylindrical shell 10 are affixed；
Sliding block 1 is under the action of two waling stripe 2 along qiDirection movement；
The rigidity of uprighting spring 6 is kv, pre compressed magnitude δi, each horizontal 5 rigidity of pressure spring is kh, each length of waling stripe 2
Degree 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 pressure 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 5: as shown in figures 1 to 6, providing other specific embodiments of single vibration isolation rate:
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, support frame 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 hinged shape
At 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 support frame 9,
Support frame 9 and the lower cover of cylindrical shell 10 are affixed；The hinge joint of one end of horizontal tension spring 7 and first connecting rod 1, second connecting rod 2
Hingedly, 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 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 of upper connecting rod 11 and the top of six-bar linkage 6 are affixed；
Uprighting spring 8 is under the action of the first connecting rod 1 of its two sides and the 5th connecting rod 5 along qiDirection movement；
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；
When original state, compression uprighting spring 9 to a certain distance δ0, so that six-bar linkage 6 is with third connecting rod 3 positioned at same
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 6: 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 between support platform and basic platform in three V-shaped, and on adjacent two vibration isolation rate end concurrent.
It is other one with specific embodiment, two, three, four or five identical.
Specific embodiment 7: as shown in Figure 10, present embodiment is provided for controlling the six degree of freedom ultralow frequency
The gravity environment adaptive control system of isolation mounting, the control system include measuring unit, control unit and execute 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
It is defeated by control unit, control amount needed for control unit is calculated according to current calculated result drives execution unit to adjust vibration isolation
The relevant geometric parameter of device reaches zero stiffness characteristic, and then controls isolation mounting and 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 low frequency, superlow frequency vibrating ring based on zero stiffness system
The vibration isolation mechanism in border and Study on Active Control Strategy and traditional vibration isolation are entirely different, and classical structure is simple, are suitable for middle height
Frequency range vibration suppression, but cannot achieve the demand of low frequency or ultralow frequency.For zero stiffness system realize low frequency, ultralow frequency, be
Vibration isolation proposition gravity environment adaptive control system is immunized to the full frequency band vibration down to zero-frequency, aims at realization vibration
Gravity suffered by the support platform of front and back and vibrating isolation system offset each other just to its holding power provided, have both realized vibration front and back gravity
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 amount needed for control unit is calculated according to current calculated result, drive executing agency with adjust every
The relevant geometric parameter of device shake to realize control target.On the basis of this control technology scheme, do not need to add biography again
The variation rigidity and variable damper control of system, can be realized control target, meet or exceed technical indicator.
When 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 physical parameter having the same and geometric parameter；When considering carrying, it is only necessary to the pre compressed magnitude of adjustment spring
?.
The content that above-described embodiment illustrates should be understood as 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 various equivalent forms of the 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 surely take aim at, ultraprecise instrument processing
Domain is adapted to fit six degree-of-freedom low-frequency, ultralow frequency or even the full frequency band down to zero-frequency of the present invention and vibrates immune vibration isolation dress
It sets.
The key point of the application and point to be protected
1. the key point that full frequency band vibrates immune isolation mounting design: inside configuration is rubbed there are factors such as frictional force, dampings
Wipe and damp it is excessive and too small all improper, need to carry out according to actual needs exact numerical calculate rear can determine that；
2. point to be protected of the invention: being able to achieve multidimensional low frequency, super using above-mentioned five kinds of zero stiffness vibration isolation rates as representative
Low frequency or even this kind of device that immune vibration isolation is vibrated down to the full frequency band of zero-frequency.
Claims (8)
1. a kind of six degree of freedom superlow frequency vibration isolating device based on zero stiffness system,
The zero stiffness system refers to the ability for not having and 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 full frequency band down to zero-frequency vibrate immune anti-vibration performance；
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 is located at the intracorporal uprighting spring of cylindrical shell, horizontal bullet
Connection component between 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 branch
Platform is supportted, the lower end of upper connecting rod connection component between the upper end cover and spring of cylindrical shell connects, the upper end of lower link and column
The lower cover of shape shell 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 the support force equal in magnitude, contrary every object gravity, is 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；
It is characterized by: the isolation mounting includes that the support platform connected by six zero stiffness vibration isolation rates and basis are put down
Platform, the coordinate system of support platform are T-xyz, and the coordinate system of basic platform is B-XYZ,
The coordinate of the coordinate system of the coordinate system and basic platform of support platform is in the center point 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 respectively indicates rotational angle of the support platform relative to respective coordinates axis；
Zero stiffness vibration isolation rate former a length of h, coordinate system si-qi, i=1,2,6 indicate six zero stiffness vibration isolation rates；
qiIt is the reference axis along uprighting spring direction, siIt is the reference axis along horizontal spring；
The mass matrix and kinetic energy expression of the isolation mounting are as follows: when that places in support platform is in balance position every object
When setting, 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 are as follows:
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 are as follows:
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,
The displacement relative variation of " ^ " expression support platform and basic platform；The increment of δ expression variable；
When meeting zero stiffness condition, power that i-th of vibration isolation rate undertakes are as follows:
Ji(δi)=kvδi-F2=εi, εi>=0,
F2Indicate that each vibration isolation rate undertaken by the component every object total force；
Gravity and system suffered by support platform offset each other just to its holding power provided or difference is small quantity；
According to Hamilton principle, then the kinetics equation of the six-degree-of-freedom vibration isolation device based on zero stiffness characteristic are as follows:
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.
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 connection component includes two idler wheels (1), two guide rails (3) and intermediate mass block (4), the horizontal spring between the spring
For horizontal tension spring (2)；Two guide rails (3) are installed in the middle part of cylindrical shell (10) inner wall respectively, and the two is symmetrical, 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 upper connecting rod
(11) lower end is affixed, and intermediate mass block (4) edges at two ends is the semi arch that radius is R, and the circle center distance of two semi arches is
L′；The fricton-tight rolling of the semi arch of roller (1) and respective end that each radius is r, intermediate mass block (4) are being located at its two sides
Idler wheel (1) under the action of along qiDirection movement；The lower end of uprighting spring (5) and the lower cover of cylindrical shell are affixed；
The rigidity of uprighting spring (5) is kv, horizontal tension spring (2) rigidity is kh, the former a length of L of horizontal tension spring (2)；
When 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。
3. 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 connection component includes two idler wheels (1), two guide rails (3), breast wheel (4) between the spring, and the horizontal spring includes two
A horizontal pressure spring (2)；
Two guide rails (3) are installed in the middle part of cylindrical shell (10) inner wall respectively, and the two is symmetrical, and each idler wheel (1) is put
It sets in corresponding guide rail (3), a horizontal pressure spring (2) is equipped between each idler wheel (1) and corresponding cylindrical shell (10) inner wall,
Breast wheel (4) is located between two idler wheels (1), and the top of breast wheel (4) and the lower end of upper connecting rod (11) are affixed, breast wheel (4)
Lower part and uprighting spring (5) upper end be connected, breast wheel (4) be located at its two sides idler wheel (1) under the action of along qiDirection
Movement；The lower end of uprighting spring (5) and the lower cover of cylindrical shell are affixed；
The fricton-tight rolling of the breast wheel (4) that the radius of idler wheel (1) and respective end that each radius is r is R,
The rigidity of uprighting spring (5) is kv, pre compressed magnitude δi, horizontal pressure spring (2) rigidity 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。
4. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1,
It is characterized in that, connection component includes two sliding blocks (1), two guide rails (3), two connecting rods (4) between the spring, it is described
Horizontal spring includes two horizontal pressure springs (2)；
Two guide rails (3) are installed in the middle part of cylindrical shell (10) inner wall respectively, and the two is symmetrical, and each sliding block (1) is put
It sets in corresponding guide rail (3), a horizontal pressure spring (2) is equipped between each sliding block (1) and corresponding cylindrical shell (10) inner wall,
One end and the center of corresponding sliding block (1) of each connecting rod (4) are hinged, and the other end of two connecting rods (4) is hinged, two connecting rods (4)
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 section of two connecting rods (4) also with uprighting spring
(5) upper end connection, the articulated section is along q under the action of being located at sliding block (1) of connecting rod (4) two sidesiDirection movement；Vertical bullet
The lower end of spring 5 and the lower cover of cylindrical shell are affixed；
The length of connecting rod (4) is l, and the rigidity of uprighting spring (5) is kv, pre compressed magnitude δ0, horizontal pressure spring (2) rigidity is kh；When
When horizontal pressure spring (2) is in former long, distance of the free end away from uprighting spring (5) center 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。
5. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1,
It is characterized in that, connection component includes sliding block (1), two waling stripes (2), two vertical upper connecting rods between the spring
(3), two vertical lower links (4), two supporting elements (13), two fixing pieces (14)；The horizontal spring includes two levels
Pressure spring (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 cut with scissors by sliding block (1)
It connecing, the lower end of upper 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) it is affixed, two supporting elements (13) are installed in respectively in cylindrical shell (10)
The middle part of wall, and the two is symmetrical；Each supporting element (13) is located at the connection of vertical upper connecting rod (3) and vertical lower link (4)
Place；Two vertical upper connecting rods (3), two vertical lower links (4), two supporting elements (13) are correspondingly formed two symmetrical Lever machines
Structure；The lower end of each vertical lower link (4) is hinged with one end of corresponding horizontal pressure spring (5), the other end of horizontal pressure spring (5) and
Corresponding fixing piece (14) connection；Two fixing pieces (14) are fixed on the lower cover of cylindrical shell (10)；Uprighting spring (6)
The lower cover of lower end and cylindrical shell (10) is affixed；
Sliding block (1) is under the action of two waling stripe (2) along qiDirection movement；
The rigidity of uprighting spring (6) is kv, pre compressed magnitude δi, each horizontal pressure spring (5) rigidity is kh, each waling stripe (2)
Length is lc, each vertical upper connecting rod (3) length be la, each vertical lower link (4) length be lb, each horizontal pressure spring (5) it is pre-
Decrement is 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,
6. six degree of freedom superlow frequency vibration isolating device of the one kind based on zero stiffness system according to claim 1,
It is characterized in that, connection component includes first connecting rod (1), second connecting rod (2), third connecting rod (3), the 4th between the spring
Connecting rod (4), the 5th connecting rod (5), six-bar linkage (6), support frame (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 suitable
Secondary hinged formation hexagon, six-bar linkage (6) is located at the top of third connecting rod (3) and the two is horizontally disposed, third connecting rod (3)
It is fixed in support frame (9), support frame (9) and the lower cover of cylindrical shell (10) are affixed；One end of horizontal tension spring (7) connects with first
Hinged point articulated, the other end of horizontal tension spring (7) and fourth link (4), the 5th connecting rod (5) of bar (1), second connecting rod (2)
It is hinged point articulated；The upper end of uprighting spring (8) connects six-bar linkage (6), and third connecting rod is fixed in the lower end of uprighting spring (8)
(3) on；The lower end of upper connecting rod (11) and the top of six-bar linkage (6) are affixed；
Uprighting spring (8) is under the action of the first connecting rod (1) of its two sides and the 5th connecting rod (5) along qiDirection movement；
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), the length of six-bar linkage (6) is L ', and horizontal tension spring (7) rigidity is kh, the former a length of L of horizontal tension spring；Uprighting spring (8)
Rigidity is kv；
When original state, compression uprighting spring (8) to a certain distance δ0, so that six-bar linkage (6) and third connecting rod (3) are located at together
One 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。
7. according to claim 1, one kind described in 2,3,4,5 or 6 is filled based on the six degree of freedom superlow frequency vibration isolating of zero stiffness system
It sets, which is characterized in that six vibration isolation rates are laid between support platform and basic platform in three V-shaped, and on adjacent two
The end concurrent of vibration isolation rate.
8. a kind of for controlling the gravity environment self adaptive control system of isolation mounting described in claim 1 to 7 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 working as
Control amount needed for preceding calculated result calculates drives execution unit to reach zero stiffness to adjust the relevant geometric parameter of isolation mounting
Characteristic, and then control isolation mounting and 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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| CN109595283B (en) * | 2019-01-25 | 2020-02-11 | 哈尔滨工业大学 | Passive suspension vibration isolation method and device with zero stiffness characteristic |
| CN112081863B (en) * | 2020-08-12 | 2022-05-31 | 上海宇航系统工程研究所 | Cantilever beam type active-passive integrated orthogonal six-degree-of-freedom vibration isolation device |
| CN113074204B (en) * | 2021-03-24 | 2022-02-25 | 常州大学 | Anti-impact ultralow frequency vibration isolator |
| CN113309784B (en) * | 2021-06-16 | 2022-04-05 | 西北工业大学 | Geometric nonlinear adjustable multi-stable-state device |
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| EP2152181A1 (en) * | 2007-04-28 | 2010-02-17 | John Peter Karidis | An improved orthopedic fixation device with zero backlash and adjustable compliance, and process for adjusting same |
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