CN108443382B - A kind of active-passive composite vibration isolator and control method using electromagnetism negative stiffness - Google Patents
A kind of active-passive composite vibration isolator and control method using electromagnetism negative stiffness Download PDFInfo
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- CN108443382B CN108443382B CN201810299031.XA CN201810299031A CN108443382B CN 108443382 B CN108443382 B CN 108443382B CN 201810299031 A CN201810299031 A CN 201810299031A CN 108443382 B CN108443382 B CN 108443382B
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- vibration isolator
- transmission rod
- spring leaf
- beam spring
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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
- F16F6/00—Magnetic springs; Fluid magnetic springs, i.e. magnetic spring combined with a fluid
Abstract
A kind of active-passive composite vibration isolator and control method using electromagnetism negative stiffness, the vibration isolator include shell, transmission rod, rood beam spring leaf, annular mover, permanent magnet, stator, secured core, working gas gap, coil rack and magnet exciting coil；Permanent magnet generates quiescent biasing magnetic flux；Magnetic flux is generated to magnet exciting coil energization to be superimposed with biasing magnetic flux, the superposition magnetic flux generates electromagnetic stress and is applied on annular mover in the working gas gap between annular mover surface and stator surface, keep annular mover vertically moving, the transmission rod connecting with annular mover is also vertically moving；Transmission rod is connect by rood beam spring leaf by transmission rod and upper cage connection, rood beam spring leaf with lower casing；By detecting the output displacement of transmission rod and feeding back to vibration isolator, active closed-loop control is realized；The present invention can be realized the control of micro-vibration vibration isolation.
Description
Technical field
The present invention relates to vibration isolation technique fields, and in particular to a kind of active-passive composite vibration isolator using electromagnetism negative stiffness and
Control method.
Background technique
Vibration isolation mounting is widely used in space flight and aviation, ultraprecise machine-building, microcomputer electrical engineering, optical system etc.
Field.Traditional isolation mounting only works as forcing frequency greater than isolation mounting resonant frequencyTimes when could effectively inhibit
Vibration.Therefore in order to improve the anti-vibration performance of vibration isolator, expands vibration isolator working band range, must just reduce isolation mounting
Resonant frequency.The reduction of resonant frequency is generally realized by the system stiffness or increase mass of system of reduction isolation mounting.But
It is to reduce system stiffness the quiet deformation of system can be made to increase, increases mass of system and limited vulnerable to space environment, therefore can be used negative
Rigidity mechanism is connect with positive Stiffness realizes that resonant frequency reduces, to improve the working band range of isolation mounting.But
After the completion of the design of such negative rigidity mechanism, rigidity controllability is lower, can not flexible adaptation vibration isolation object shock wave.
Summary of the invention
In order to solve the above-mentioned problems of the prior art, electromagnetism negative stiffness is used the purpose of the present invention is to provide a kind of
Active-passive composite vibration isolator and control method realize the connection of positive and negative Stiffness by way of active control, reduce vibration isolation
Device resonant frequency, vibration isolation frequency range with higher and good rigidity controllability.
To achieve the above objectives, the present invention adopts the following technical scheme:
A kind of active-passive composite vibration isolator using electromagnetism negative stiffness, including upper shell 1, lower casing 2 and transmission rod 3, on
Transmission rod 3 is connect by rood beam spring leaf 4 with upper shell 1, and transmission rod 3 is connect by lower rood beam spring leaf 12 with lower casing 2；Institute
It states rood beam spring leaf 4 and lower rood beam spring leaf 12 is bolted respectively with upper shell 1 and lower casing 2；Transmission rod 3
Upper end passes through the through-hole among upper rood beam spring leaf 4, and 3 lower end of transmission rod passes through the through-hole among lower rood beam spring leaf 12,
It is fixed respectively with nut；The upper shell 1 excitation unit identical with difference mounting structure in lower casing 2, i.e. upper end excitation fill
It sets and lower end excitation unit；When 3 stress of transmission rod with 2 relative motion of upper shell 1 and lower casing.
The upper end excitation unit includes the upper end stator 8-1, upper end-coil 9-1 and upper end skeleton 10- of concentric arrangement
1；Upper end-coil 9-1 is wrapped on the skeleton 10-1 of upper end, and upper end skeleton 10-1 is mounted on the stator 8-1 of upper end；It encourages the lower end
Magnetic device includes the lower end stator 8-2, lower end-coil 9-2 and lower end skeleton 10-2 of concentric arrangement；Lower end-coil 9-2 is wrapped in
On the skeleton 10-2 of lower end, lower end skeleton 10-2 is mounted on lower end stator 8-2；Upper end stator 8-1 is installed respectively with lower end stator 8-2
In the two sides up and down of annular secured core 7；Annular permanent magnet 6 is divided into 8 pieces, is fixed on the recessed of annular 7 inside of secured core
In slot, and the outer ring surface of annular permanent magnet 6 is in contact with the inner ring surface of annular secured core 7, and it is fixed that annular mover 5 is mounted on upper end
Between sub- 8-1 and lower end stator 8-2, and it is fixedly connected by rubber sheet gasket 13 with 6 holding level of annular permanent magnet；Annular mover
Working gas gap 11-1 in upper end is formed between 5 upper surface and the lower surface of upper end stator 8-1, the lower surface of annular mover 5 is under
It holds and forms working gas gap 11-2 in lower end between the upper surface of stator 8-2；Upper end excitation unit and lower end excitation unit and annular are dynamic
Son 5, annular permanent magnet 6 and annular secured core 7 are all made of concentric arrangement.
The upper shell 1, lower casing 2, transmission rod 3, upper rood beam spring leaf 4 and lower rood beam spring leaf 12 are all made of firmly
Aluminum alloy materials.
The upper shell 1 is bolted and fixed with lower casing 2.
The annular permanent magnet 6 uses NdFeB material, and circumferentially medial surface is the pole N, and lateral surface is the pole S；The annular
Mover 5, secured core 7 and stator 8 use electrical pure iron material.
The transmission rod 3 is used with annular mover 5 and is threadedly coupled.
The control method of a kind of active-passive composite vibration isolator using electromagnetism negative stiffness, when transmission rod 3 is by perpendicular
Histogram to disturbance when, the relative motion with upper shell 1 and lower casing 2, upper rood beam spring leaf 4 and lower rood beam bullet can be generated
Reed 12 provides the positive rigidity of vibration isolator as resilient support members, and realizes passive vibration suppression function；To upper end-coil 9-1
Identical current signal is inputted with lower end-coil 9-2, hot-wire coil generates magnetic flux, and the magnetic flux direction is with current direction
Variation；Two groups of coils generate magnetic flux be added to annular permanent magnet 6 generation biasing magnetic flux, pass through upper end working gas gap
11-1 and lower end working gas gap 11-2 are applied on annular mover 5, and annular mover 5 generates electromagnetic stress；Due to annular mover 5
The direction of motion is consistent with electromagnetic stress direction, i.e., the output displacement of annular mover 5 is consistent with power output direction, can be equivalent to one
Electromagnetic spring with negative stiffness effects, the negative stiffness and upper rood beam spring leaf 4 and lower rood beam spring leaf 12 provide just
Stiffness connection realizes that the overall equivalent stiffness decline of vibration isolator improves vibration isolator to reduce the resonant frequency of vibration isolator
Operational frequency bandwidth；By detecting the output displacement of transmission rod 3 and feeding back to vibration isolator, active closed-loop control is realized；Due to
The output displacement that vibration isolator generates is micron dimension, therefore is able to achieve the micro-vibration vibration isolation control of micron dimension.
Compared to the prior art the present invention, has the advantages that
1) present invention realizes that system resonance frequency reduces using electromagnetism Negative stiffness spring, compares buckling beam type Negative stiffness spring
Or magnetic force Negative stiffness spring, realize the controllability of negative stiffness, the high frequency components of vibration isolator inhibit and low-frequency excitation rejection is excellent
More.
2) transmission rod of vibration isolator of the present invention provides initial positive rigidity by cross beam spring and cage connection for mechanism,
Passive vibration suppression can be achieved, while can use the displacement signal of transmission rod, realize the anti-of active closed-loop control raising system
Jamming performance.
Detailed description of the invention
Fig. 1 is active-passive composite vibration isolator schematic diagram of the present invention.
Fig. 2 is active-passive composite vibration isolator structure sectional view of the present invention.
The position Fig. 3 annular permanent magnet of the present invention and annular secured core structural schematic diagram.
Fig. 4 is Equivalent Mechanical Model figure of the present invention.
Specific embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
As shown in Figure 1, a kind of active-passive composite vibration isolator using electromagnetism negative stiffness of the present invention, including it is upper shell 1, lower outer
Transmission rod 3 is connect by shell 2 and transmission rod 3, upper rood beam spring leaf 4 with upper shell 1, and lower rood beam spring leaf 12 is by transmission rod 3
It is connect with lower casing 2.The upper rood beam spring leaf 4, lower rood beam spring leaf 12 and upper shell 1 and lower casing 2 pass through respectively
It is bolted.3 upper end of transmission rod passes through the through-hole among upper rood beam spring leaf 4, and 3 lower end of transmission rod passes through lower cross beam spring
Through-hole among piece 12, is fixed with nut respectively.Upper shell 1 is bolted and fixed with lower casing 2.When 3 stress of transmission rod
When with the relative motion of vibration isolator shell.
As shown in Figures 2 and 3, the identical excitation of two groups of structures is installed down inside the upper shell (1) and lower casing (2)
Device, i.e. upper end excitation unit and lower end excitation unit；Upper end excitation unit include concentric arrangement upper end stator 8-1, on
End-coil 9-1 and upper end skeleton 10-1；Upper end-coil 9-1 is wrapped on the skeleton 10-1 of upper end, and upper end skeleton 10-1 is mounted on
It holds on stator 8-1；Lower end excitation unit includes the lower end stator 8-2, lower end-coil 9-2 and lower end skeleton 10- of concentric arrangement
2, lower end-coil 9-2 is wrapped on the skeleton 10-2 of lower end, and lower end skeleton 10-2 is mounted on the stator 8-2 of lower end；Upper end stator 8-1
The two sides up and down of annular secured core 7 are separately mounted to lower end stator 8-2.Annular permanent magnet 6 is divided into 8 pieces, and annular is solid
There are grooves for the inside of fixed core 7, are used for stationary annular permanent magnet 6, and the outer ring surface of annular permanent magnet 6 and annular secured core
7 inner ring surface is in contact, and annular mover 5 is mounted between upper end stator 8-1 and lower end stator 8-2, and protects with annular permanent magnet 6
Water holding is flat.Working gas gap 11-1 in upper end is formed between the upper surface of annular mover 5 and the lower surface of upper end mover 7-1, annular is dynamic
Working gas gap 11-2 in lower end is formed between the lower surface of son 5 and the upper surface of lower end mover 7-1.Upper end excitation unit and lower end are encouraged
Magnetic device and annular mover 5, annular permanent magnet 6 and annular secured core 7 are all made of concentric arrangement.
As the preferred embodiment of the present invention, upper shell 1, lower casing 2, transmission rod 3, rood beam spring leaf 4 and cross
Beam spring piece 12 is all made of duralumin, hard alumin ium alloy material.
As the preferred embodiment of the present invention, permanent magnet 6 uses NdFeB material, is the pole N along radial direction medial surface,
Lateral surface is the pole S；The annular mover 5, secured core 7 and stator 8 are all made of electrical pure iron material.
As the preferred embodiment of the present invention, the transmission rod 3 is used with annular mover 5 and is threadedly coupled.
The present invention uses the control method of the active-passive composite vibration isolator of electromagnetism negative stiffness are as follows: when transmission rod 3 is by vertical
When the disturbance in direction, the relative motion with upper shell 1 and lower casing 2, upper rood beam spring leaf 4 and lower cross beam spring can be generated
Piece 12 provides the positive rigidity of vibration isolator as resilient support members, and realizes passive vibration suppression function.To upper end-coil 9-1 and
Lower end-coil 9-2 inputs identical current signal, and hot-wire coil generates magnetic flux, which becomes with current direction
Change；Two groups of coils generate magnetic flux be added to annular permanent magnet 6 generation biasing magnetic flux, pass through upper end working gas gap 11-1
It is applied on annular mover 5 with lower end working gas gap 11-2, generates electromagnetic stress in the upper and lower surface of annular mover 5.Due to ring
The direction of motion of shape mover 5 is consistent with electromagnetic stress direction, i.e., the output displacement of annular mover 5 is consistent with power output direction, can
It is equivalent to the electromagnetic spring with negative stiffness effects.The negative stiffness and upper rood beam spring leaf 4 and lower rood beam spring leaf
The 12 positive Stiffness connections provided, equivalent single-degree-of-freedom mechanical model is as shown in figure 4, m is annular mover and transmission rod etc.
Quality is imitated, k is rood beam spring leaf equivalent stiffness coefficients, and c is Equivalent damping coefficient inside vibration isolator, knFor the negative of electromagnetic spring
Stiffness coefficient, the overall equivalent stiffness of vibration isolator are kt=k-kn, it can be achieved that the overall equivalent stiffness k of vibration isolatortDecline, from
And the resonant frequency of vibration isolator is reduced, improve the operational frequency bandwidth of vibration isolator.By detecting the output displacement of transmission rod 3, and
Vibration isolator is fed back to, active closed-loop control is realized, improves the anti-vibration performance of vibration isolator；Since the output displacement that vibration isolator generates is
Micron dimension, therefore the micro-vibration vibration isolation of micron dimension can be achieved in the present invention.
Claims (6)
1. a kind of active-passive composite vibration isolator using electromagnetism negative stiffness, it is characterised in that: including upper shell (1), lower casing (2)
With transmission rod (3), transmission rod (3) is connect by upper rood beam spring leaf (4) with upper shell (1), and lower rood beam spring leaf (12) will
Transmission rod (3) is connect with lower casing (2)；The upper rood beam spring leaf (4) and lower rood beam spring leaf (12) and upper shell (1)
It is bolted respectively with lower casing (2)；Transmission rod (3) upper end passes through the intermediate through-hole of upper rood beam spring leaf (4), power transmission
Bar (3) lower end passes through the intermediate through-hole of lower rood beam spring leaf (12), is fixed respectively with nut；The upper shell (1) and lower outer
The identical excitation unit of difference mounting structure, i.e. upper end excitation unit and lower end excitation unit in shell (2)；When transmission rod (3) by
When power with upper shell (1) and lower casing (2) relative motion；
The upper end excitation unit includes the upper end stator (8-1), upper end-coil (9-1) and upper end skeleton (10- of concentric arrangement
1)；Upper end-coil (9-1) is wrapped on upper end skeleton (10-1), and upper end skeleton (10-1) is mounted on upper end stator (8-1)；Institute
State the lower end stator (8-2), lower end-coil (9-2) and lower end skeleton (10-2) that lower end excitation unit includes concentric arrangement；Under
End-coil (9-2) is wrapped on lower end skeleton (10-2), and lower end skeleton (10-2) is mounted on lower end stator (8-2)；Upper end stator
(8-1) and lower end stator (8-2) is separately mounted to the two sides up and down of annular secured core (7)；Annular permanent magnet (6) is divided into
It 8 pieces, is fixed in the groove on the inside of annular secured core (7), and the outer ring surface of annular permanent magnet (6) and annular secured core
(7) inner ring surface is in contact, and annular mover (5) is mounted between upper end stator (8-1) and lower end stator (8-2), and passes through rubber
Glue gasket (13) is fixedly connected with annular permanent magnet (6) holding level；The upper surface of annular mover (5) and upper end stator (8-1)
Lower surface between form upper end working gas gap (11-1), the upper surface of the lower surface of annular mover (5) and lower end stator (8-2)
Between formed lower end working gas gap (11-2)；Upper end excitation unit and lower end excitation unit and annular mover (5), annular permanent magnet
(6) and annular secured core (7) is all made of concentric arrangement.
2. a kind of active-passive composite vibration isolator using electromagnetism negative stiffness according to claim 1, it is characterised in that: described
Upper shell (1), lower casing (2), transmission rod (3), upper rood beam spring leaf (4) and lower rood beam spring leaf (12) are all made of duralumin
Alloy material.
3. a kind of active-passive composite vibration isolator using electromagnetism negative stiffness according to claim 1, it is characterised in that: described
Upper shell (1) is bolted and fixed with lower casing (2).
4. a kind of active-passive composite vibration isolator using electromagnetism negative stiffness according to claim 1, it is characterised in that: described
Annular permanent magnet (6) uses NdFeB material, and circumferentially medial surface is the pole N, and lateral surface is the pole S；The annular mover (5) is consolidated
Fixed core (7), upper end stator (8-1) and lower end stator (8-2) use electrical pure iron material.
5. a kind of active-passive composite vibration isolator using electromagnetism negative stiffness according to claim 1, it is characterised in that: described
Transmission rod (3) is used with annular mover (5) and is threadedly coupled.
6. a kind of control method of active-passive composite vibration isolator using electromagnetism negative stiffness described in any one of claim 1 to 5,
It is characterized by: when disturbance of the transmission rod (3) by vertical direction, can generate opposite with upper shell (1) and lower casing (2)
Movement, upper rood beam spring leaf (4) and lower rood beam spring leaf (12) provide the positive rigidity of vibration isolator as resilient support members,
And realize passive vibration suppression function；Identical current signal is inputted to upper end-coil (9-1) and lower end-coil (9-2), is powered
Coil generates magnetic flux, which changes with current direction；The magnetic flux that two groups of coils generate is added to ring
The biasing magnetic flux that shape permanent magnet (6) generates, is applied to ring by upper end working gas gap (11-1) and lower end working gas gap (11-2)
On shape mover (5), annular mover (5) generates electromagnetic stress；The direction of motion and electromagnetic stress direction one due to annular mover (5)
It causes, i.e., the output displacement of annular mover (5) is consistent with power output direction, can be equivalent to the electromagnetism bullet with negative stiffness effects
The positive Stiffness that spring, the negative stiffness and upper rood beam spring leaf (4) and lower rood beam spring leaf (12) provide connect, realization every
The overall equivalent stiffness decline of vibration device, to reduce the resonant frequency of vibration isolator, improves the operational frequency bandwidth of vibration isolator；Pass through
It detects the output displacement of transmission rod (3) and feeds back to vibration isolator, realize active closed-loop control；The output bit generated due to vibration isolator
Moving is micron dimension, therefore is able to achieve the micro-vibration vibration isolation control of micron dimension.
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109139760B (en) * | 2018-09-12 | 2020-08-14 | 西安交通大学 | Quasi-zero stiffness vibration isolator with positive stiffness and negative stiffness connected in parallel |
| CN109027124B (en) * | 2018-09-12 | 2020-02-11 | 西安交通大学 | Torsion quasi-zero stiffness vibration isolator with adjustable negative stiffness and control method |
| CN109085557B (en) * | 2018-09-20 | 2021-02-02 | 上海大学 | Laser radar stabilising arrangement |
| CN109322951B (en) * | 2018-11-12 | 2023-05-26 | 中国矿业大学 | Semi-active vibration isolation device |
| CN109505922B (en) * | 2018-11-26 | 2020-06-05 | 东北大学 | Multistable nonlinear energy trap with piecewise linear beam and permanent magnet negative stiffness |
| CN109707786B (en) * | 2019-01-17 | 2020-04-28 | 上海大学 | Electromagnetic type positive and negative rigidity parallel low-frequency vibration isolation device |
| CN110259862B (en) * | 2019-06-28 | 2021-03-19 | 长沙理工大学 | Ultralow frequency vibration isolator and design method thereof |
| CN110415972A (en) * | 2019-07-05 | 2019-11-05 | 全球能源互联网研究院有限公司 | A kind of power capacitor and its vibration and noise reducing device |
| CN111089133B (en) * | 2020-01-07 | 2021-04-20 | 长沙理工大学 | Ultralow frequency vibration isolator and design method thereof |
| CN111911638A (en) * | 2020-07-01 | 2020-11-10 | 深圳大学 | Pressure maintaining controller capable of drilling in any direction based on magnetic force triggering |
| CN111981085B (en) * | 2020-08-31 | 2022-03-15 | 合肥工业大学 | Elasticity-hysteresis low-frequency large-displacement vibration isolator based on electromagnetic negative stiffness |
| CN114183493B (en) * | 2021-12-20 | 2023-03-21 | 西安交通大学 | Active and passive vibration isolation rod and active control sensing method |
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| US6129185A (en) * | 1997-12-30 | 2000-10-10 | Honeywell International Inc. | Magnetically destiffened viscous fluid damper |
| DE102010029910A1 (en) * | 2010-06-10 | 2011-12-15 | Bayerische Motoren Werke Aktiengesellschaft | Active oscillation damper for motor car, has single spring element units implemented in shape memory alloy of upper and lower spring elements |
| CN103791013B (en) * | 2014-02-19 | 2015-12-02 | 哈尔滨工程大学 | Integrated form inertia electromagnetic actuator |
| CN107781339B (en) * | 2016-08-30 | 2020-03-31 | 株洲时代新材料科技股份有限公司 | Electromagnetic actuator |
| CN106884927B (en) * | 2017-03-13 | 2019-08-06 | 哈尔滨工程大学 | A kind of broadband rigidity and damp adjustable semi active vibration absorber |
| CN207093637U (en) * | 2017-07-10 | 2018-03-13 | 武汉源海博创科技有限公司 | A kind of electromagnetic type active vibration absorber |
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