CN108964342B

CN108964342B - Semi-active inertial volume capable of continuously controlling inertial volume on line

Info

Publication number: CN108964342B
Application number: CN201810648784.7A
Authority: CN
Inventors: 胡银龙; 王佳宁; 孙永辉; 李志华
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2020-07-14
Anticipated expiration: 2038-06-22
Also published as: CN108964342A

Abstract

The invention provides a semi-active inertia capacity capable of continuously controlling inertia capacity on line, which comprises a rotary flywheel and a ball screw, wherein the rotary flywheel and the ball screw are coaxially connected up and down; rotatory flywheel includes servo motor, vertical slide bar, the suit is on the slide bar and receives the atress push rod that servo motor promoted downwards, connect each slide arm on the slide bar is installed to the bottom of atress push rod and through the bearing, install each fixed arm in the slide bar bottom and with the slide arm through the bearing, the lever control arm that the fixed arm corresponds, the terminal spout along the lever control arm of every slide arm slides, the terminal and the just regulating arm rotatable coupling of every fixed arm, the bottom of lever control arm is fixed with the quality piece, ball's top rigid connection fixed arm's bearing frame. The rotating flywheel of the invention changes the distance between the mass block and the rotating shaft on line by adopting the labor-saving lever principle, thereby changing the rotational inertia of the flywheel, and changing the energy stored in the flywheel by controlling the rotational inertia of the rotating flywheel on line, thereby realizing the on-line control of the inertia capacity.

Description

Semi-active inertial volume capable of continuously controlling inertial volume on line

Technical Field

The invention relates to an inertial container, in particular to an inertial container for controlling the rotational inertia of a flywheel on line.

Background

Inerter is a novel two-port mechanical element proposed by professor Smith of cambridge university, and satisfies the characteristic that the force applied to two ports is proportional to the relative acceleration of the two ports, wherein the proportionality coefficient is called inerter, and the unit is kilogram. At present, different implementation methods such as a rack and pinion type, a ball screw type and a hydraulic type are available for the inerter, and the characteristics of the inerter are mostly implemented by adopting different transmission devices such as a rack and pinion type, a ball screw type and a hydraulic motor to drive a flywheel to rotate. However, the inertance obtained by such an implementation method is actually a passive element (also called passive element), i.e. the inertance cannot be adjusted online. This means that after the inerter is processed and applied, a closed-loop control system cannot be formed, and the inerter cannot be adaptively adjusted according to the change of the external environment, which greatly limits the performance of the inerter-based system.

In order to further improve the performance of the inertial volume system, a concept of semi-active inertial volume is proposed and defined as an inertial volume with online adjustable inertial volume. Referring to the implementation methods of passive inertia capacitors, the implementation methods of semi-active inertia capacitors can be mainly divided into two categories, namely, a mode of controlling the transmission ratio of a transmission device on line and a mode of controlling the rotational inertia of a flywheel on line. Although the mode of online control of the transmission ratio can be realized by adopting modes such as an automobile continuously variable transmission, a planetary gear box, a control hydraulic transmission pipeline and the like, the realization scheme is too complex and is not beneficial to practical engineering application. The online control of the flywheel rotational inertia can be realized by means of online control of the rotation radius of the slider at the radial position of the flywheel, but because the flywheel rotates at a high speed, the slider can bear a great centrifugal force, so that the online change of the radial position of the slider requires a great thrust, consumes a great deal of energy, and is not suitable for being applied to a semi-active control system.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a semi-active inertia capacity capable of continuously controlling inertia capacity on line, and the inertia capacity is controlled on line by changing the rotational inertia of a flywheel through controlling the distance between a sliding arm and a fixed arm of a lever mechanism on line. The labor-saving lever mechanism is introduced, so that the motor thrust required by inertia capacity adjustment in the process of inertia capacity high-speed rotation can be effectively reduced, and the aim of saving energy is fulfilled.

The technical scheme is as follows: the invention provides a semi-active inertia capacity capable of continuously controlling inertia capacity on line, which comprises a rotary flywheel and a ball screw, wherein the rotary flywheel and the ball screw are coaxially connected up and down;

rotatory flywheel includes servo motor, vertical slide bar, suit on the slide bar and receive the atress push rod that servo motor promoted downwards, connect each slide arm on the slide bar is installed to the bottom of atress push rod and through the bearing, install each fixed arm in the slide bar bottom and with the slide arm, the lever control arm that the fixed arm corresponds through the bearing, the terminal spout along the lever control arm of every slide arm slides, the terminal and just adjustment arm rotatable coupling of every fixed arm, the bottom of lever control arm is fixed with the quality piece, ball's top rigid connection fixed arm's bearing frame.

Furthermore, the length of the sliding arm is smaller than that of the fixed arm, and the distance between the sliding arm and the fixed arm on the lever adjusting arm is larger than that between the fixed arm and the mass block, so that the labor-saving lever with the variable arm of force is formed.

Furthermore, the lever adjusting arms are arranged at equal intervals in the circumferential direction by taking the sliding rod as the center, and the sliding arms and the fixed arms are arranged in the same way.

Further, the rotating flywheel further comprises a distance sensor for measuring the distance between the sliding arm and the fixed arm on line.

Furthermore, the rotating flywheel and the screw rod are respectively arranged in the flywheel end shell and the screw rod shell, and the top end of the screw rod penetrates through the bottom of the flywheel end shell through a bearing to be connected with the rotating flywheel.

Furthermore, a nut for driving the lead screw to rotate is mounted on the lead screw, and the top surface of the lead screw shell is rigidly connected with the nut.

Has the advantages that: the present invention converts linear motion into rotational motion of the flywheel through a ball screw drive, while storing energy in the rotating flywheel. The rotating flywheel adopts a labor-saving lever principle to change the distance between the mass block and the rotating shaft on line, so that the rotational inertia of the flywheel is changed, and the energy stored in the flywheel is changed by controlling the rotational inertia of the rotating flywheel on line, so that the on-line control of the inertia capacity is realized. The design of the labor-saving lever mechanism ensures that the motor thrust required for changing the distance between the mass block and the rotating shaft is greatly reduced compared with the existing device although the mass block bears larger centrifugal force when the flywheel rotates at high speed, thereby achieving the purpose of saving energy.

Drawings

FIG. 1 is a schematic diagram of an overall structure of the inerter of the present invention;

FIG. 2 is a schematic diagram of a rotating flywheel;

FIG. 3 is a schematic view of a rotating flywheel based on a labor-saving lever;

FIG. 4 is a block diagram of an inertial volume online control system.

Detailed Description

The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.

A semi-active inertia capacity capable of continuously controlling inertia capacity on line comprises a rotating flywheel arranged in a flywheel end shell 1 and a ball screw 13 arranged in a screw shell 15, wherein the top surface of the rotating flywheel and the bottom surface of the screw shell 15 are respectively provided with

terminals

2 and 17 which are ports connected with other mechanical elements, as shown in figure 1. The bottom surface of the flywheel end shell 1 is provided with a bearing, and the top end of the screw 13 penetrates through the bearing to be connected with the bearing, namely the screw 13 rotates around the axis of the screw 13 but cannot move up and down relative to the flywheel end shell 1.

The screw 13 is provided with a nut 14 for driving the screw to rotate, and the top surface of the screw shell 15 is rigidly connected with the nut 14, so that the nut 14 drives the screw 13 to rotate, the screw 13 cannot generate displacement, and the nut 14 and the screw shell 15 do up and down linear motion. The top end and the bottom end of the screw 13 are respectively provided with an upper termination section 12 and a lower termination section 16, and when the linear movement of the nut 14 is large, the upper termination section 12 and the lower termination section 16 can ensure that the screw 13 and the nut 14 cannot be separated.

As shown in fig. 2, the rotating flywheel includes a servo motor 3, a servo motor fixing beam 5, a distance sensor 4, a sliding rod 6, a stressed push rod 7, four sliding arms 8, four fixing arms 10, four lever adjusting arms 9, and a mass block 11. The servo motor fixing beam 5 is horizontally and rigidly fixed in the flywheel end shell 1, the servo motor 3 and the distance sensor 4 are installed on the fixing beam 5, and the distance between the sliding arm 8 and the fixing arm 10 is measured on line by the distance sensor 4. The slide bar 6 vertically passes through the servo motor fixing beam 5. The stressed push rod 7 is T-shaped and sleeved on the slide rod 6, and the servo motor 3 can penetrate through the fixed beam 5 to push the horizontal part of the stressed push rod 7 downwards, so that the stressed push rod 7 integrally slides downwards on the slide rod 6. At the bottom end of the stressed push rod 7, four sliding arms 8 are mutually perpendicular and horizontally extend towards four directions, and are fixed with the bottom end of the stressed push rod 7 through a bearing 21 and are arranged on the sliding rod 6. Correspondingly, under the four sliding arms 8, four fixed arms 10 extend horizontally in four directions perpendicularly to each other and are mounted on the sliding rod 6 through bearings 20. The sliding arm 8 and the fixed arm 10 can rotate around the sliding rod 6, the sliding arm 8 and the fixed arm 10 in the same direction correspond to one lever adjusting arm 9, and the tail end of each sliding arm 8 serves as a sliding point 19 and can slide along a sliding groove in the lever adjusting arm 9; the end of each fixed arm 10 is pivotally connected to the lever adjustment arm 9 as a fulcrum 18. The bottom of the lever adjusting arm 9 is fixed with a mass block 11. The top end of the lead screw 13 is rigidly connected with a bearing seat of the fixed arm 10, and the sliding arm 8, the lever adjusting arm 9, the fixed arm 10 and the mass block 11 rotate together with the lead screw 13 while rotating.

The servo motor 3 pushes the position of the stressed push rod 7 downwards, so that the position of the sliding arm 8 can move downwards, the distance between the sliding arm 8 and the fixed arm 10 is reduced, meanwhile, the sliding point 19 of the sliding arm 8 slides downwards in the sliding groove of the lever adjusting arm 9, and due to the fact that the fulcrum 18 is in a rotatable connection mode, the rotating radius of the mass block 11 can be enlarged by changing the force arm of the lever adjusting arm 9, and finally the purpose of adjusting the rotational inertia of the flywheel is achieved. In order to enable the lever adjusting arm 9 to form a labor-saving lever, the length of the sliding arm 8 is smaller than that of the fixed arm 10, and the distance between the sliding arm 8 and the fixed arm 10 on the lever adjusting arm 9 is larger than that between the fixed arm 10 and the mass block 11.

As shown in FIG. 3, if the distance from the central axis of the sliding rod 6 to the sliding point 19 of the sliding arm 8 is H2, the distance from the central axis of the sliding rod 6 to the fulcrum 18 of the fixed arm 10 is H1, the vertical distance from the sliding arm 8 to the fixed arm 10 is H, the length from the sliding point 19 to the fulcrum 18 along the direction of the lever adjusting arm 9 is L2, the distance from the mass block 11 to the fulcrum 18 is L1, the horizontal distance from the mass block 11 to the sliding rod 6 (i.e. the rotating shaft) is R, the mass block 11 is m, the number of the mass block 11 is n, the downward thrust generated by the servo motor 3 is F, the rotation angular velocity of the flywheel is w, and the relationship between the rotation radius R of the mass block 11 and the

If the moment of inertia of the lever adjusting arm 9, the sliding arm 8 and the fixing arm 10 is neglected, the moment of inertia J of the flywheel is related to the distance H

It can be seen that the larger the vertical distance H between the sliding arm 8 and the fixed arm 10, the smaller the moment of inertia, and the moment of inertia of the flywheel can be adjusted online by adjusting the distance H.

When the flywheel rotates at an angular velocity w, and is subjected to a force analysis, the downward thrust of the servo motor 3 in the equilibrium state can be expressed as

Because L2 is larger than L1, the flywheel designed by the labor-saving lever principle can effectively reduce the thrust of the servo motor 3, thereby achieving the purpose of saving energy.

The inertial volume of the semi-active inertial volume can be expressed as the on-line continuous control

Where p is the lead of the ball screw 13. According to the formula, the inertial volume b can be adjusted on line by controlling the distance H on line. Fig. 4 shows a control block diagram of a system for online inertia volume adjustment, where an expected inertia volume is subjected to algebraic operation by inversion of formula (4), so as to obtain an expected distance H between a sliding arm 8 and a fixed arm 10 corresponding to the expected inertia volume, and further obtain an expected push rod 7 position, and the push rod 7 position in a flywheel system is adjusted by a controller. The distance sensor 4 measures the distance between the sliding arm 8 and the fixed arm 10, calculates the actual position of the push rod 7 relative to the fixed arm 10 according to the geometric dimension of the mechanism, feeds the actual position back to the controller for online adjustment, and realizes real-time tracking of the actual inertia capacity by variable substitution so as to achieve the purpose of online control of the inertia capacity.

Claims

1. A semi-active inertial volume capable of continuously controlling inertial volume on line is characterized in that: comprises a rotary flywheel and a ball screw which are coaxially connected up and down;

2. The semi-active inerter capable of on-line continuous inerter control of claim 1, wherein: the length of the sliding arm is smaller than that of the fixed arm, and the distance between the sliding arm and the fixed arm on the lever adjusting arm is larger than that between the fixed arm and the mass block.

3. The semi-active inerter capable of on-line continuous inerter control of claim 1, wherein: the lever adjusting arm is arranged at equal intervals along the circumferential direction by taking the sliding rod as the center, and the sliding arm and the fixed arm are arranged in the same way.

4. The semi-active inerter capable of on-line continuous inerter control of claim 1, wherein: the rotating flywheel further comprises a distance sensor for measuring the distance between the sliding arm and the fixed arm on line.

5. The semi-active inerter capable of on-line continuous inerter control of claim 1, wherein: the rotary flywheel and the screw rod are respectively arranged in the flywheel end shell and the screw rod shell, and the top end of the screw rod penetrates through the bottom of the flywheel end shell through a bearing to be connected with the rotary flywheel.

6. The semi-active inerter capable of on-line continuous inerter control of claim 5, wherein: the lead screw is provided with a nut for driving the lead screw to rotate, and the top surface of the lead screw shell is rigidly connected with the nut.