CN109610676B - Electromagnetic variable damping rotation control system - Google Patents
Electromagnetic variable damping rotation control system Download PDFInfo
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- CN109610676B CN109610676B CN201910103432.8A CN201910103432A CN109610676B CN 109610676 B CN109610676 B CN 109610676B CN 201910103432 A CN201910103432 A CN 201910103432A CN 109610676 B CN109610676 B CN 109610676B
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- electromagnetic
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- inertia wheel
- magnetic field
- control system
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- 238000013016 damping Methods 0.000 title claims abstract description 22
- 230000005540 biological transmission Effects 0.000 claims description 9
- 230000006698 induction Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 4
- 230000001629 suppression Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000010355 oscillation Effects 0.000 description 3
- 230000001808 coupling effect Effects 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000001788 irregular Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
- E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
- E04H9/0215—Bearing, supporting or connecting constructions specially adapted for such buildings involving active or passive dynamic mass damping systems
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
- E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
Abstract
The invention relates to the field of vibration suppression in a system, and discloses an electromagnetic variable damping rotation control system which comprises an active output module and an electromagnetic variable damping module, wherein the active output module comprises a driver, an encoder and a speed changer which are fixed in a device pipe cavity, and the electromagnetic variable damping module comprises a permanent magnet and an electromagnetic rotary inertia wheel; two permanent magnetic field arms are symmetrically fixed on the tube cavity of the device, high-strength permanent magnets are arranged at the end parts of the permanent magnetic field arms, a high-strength permanent magnetic field is formed between the two high-strength permanent magnets, and an electromagnetic rotary inertia wheel is arranged in the high-strength permanent magnetic field. The electromagnetic rotary inertia wheel has the advantages of automatic adjustment of rotary damping, high adjustment precision, wide adjustment range and wide system application range, has higher robustness, and can not be greatly influenced by structural form change and external load effect change.
Description
Technical Field
The invention relates to the field of vibration suppression in a system, in particular to an electromagnetic variable damping rotation control system.
Background
In recent years, highways, railways, bridges, high-rise buildings, large-span space structures and the like are continuously built, and structures such as ocean platforms, space stations and the like are rapidly developed. The engineering facilities and structures often vibrate under the action of external load in the use process, and serious swing and even damage occur. In order to solve various problems caused by vibration of a structure, vibration control techniques have been developed.
The structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control, and hybrid control. For various engineering structures, the vibration control system is properly installed, so that the dynamic response of the structure can be effectively reduced, and the damage or fatigue damage of the structure can be reduced.
The movement of the structure is typically a combination of translational and torsional oscillations. Studies have shown that translational tuned mass dampers (english name Tuned Mass Damper, TMD), active mass dampers/active torque output devices (english name Active Mass Damper/Driver, AMD) are almost ineffective for gyratory pendulum control because of the need to provide centripetal force in torsional oscillations that greatly weakens the control effect or even completely fails. However, the structural movement forms with gyratory pendulum movement characteristics are very common, such as: swing of a suspended structure (hook, crane, etc.); torsional shimmy of irregular buildings under the action of wind load; torsional shimmy of the ocean platform under the coupling action of sea waves, wind, ice and the like; during the running process of the spacecraft and the space structure, the space structure can cause torsion and shimmy movement due to the self posture adjustment and the opening of the solar sailboard; a high-speed railway locomotive, a torsion shimmy motion of a car body caused by tiny excitation, and the like. Therefore, a special control system is needed, so that the influence (centrifugal force effect) of the gravity field on the control system can be automatically overcome (or eliminated), or the working/movement rule of the control system is decoupled from the gravity field, and the self-vibration of the system is not influenced by the gravity, so that the control system can effectively control.
Generally, existing structural vibration control systems have mainly the following disadvantages: firstly, the translational TMD control device can only control the translational motion of the structure and is ineffective in controlling the swing oscillation; secondly, although the translational AMD control device can control the rotary shimmy, the control efficiency is extremely low, and the use requirement cannot be met; thirdly, the passive moment of inertia tuning damper is effective in controlling the swing and lag motion, but the passive moment of inertia tuning damper needs to carry out complex frequency modulation aiming at the structure, has low control efficiency on some complex structures, has poor effect, and has the defects of low robustness, low controllability, small application range and the like; fourth, the active invariable damping control system has small application scope, limited control force output and limited control effect; fifth, the energy utilization rate of the control system with invariable active damping cannot be guaranteed, and the requirement of economy cannot be met.
The present invention has been made in such a background.
Disclosure of Invention
The main object of the present invention is to provide an electromagnetic variable damping rotation control system which aims at the above problems.
In order to achieve the above purpose, the electromagnetic variable damping rotation control system of the invention comprises an active output module and an electromagnetic variable damping module, wherein the active output module comprises a driver, an encoder and a speed changer which are fixed in a device pipe cavity, and the electromagnetic variable damping module comprises a permanent magnet and an electromagnetic rotary inertia wheel;
the driver is fixed on the inner wall of the pipe cavity of the device, one end of the driver is provided with the encoder, the other end of the driver is connected with the speed changer, and the rotating shaft of the driver passes through the speed changer and is vertically fixed at the center of the electromagnetic rotary inertia wheel;
two permanent magnetic field arms are symmetrically fixed on the outer wall of a tube cavity of the device, a high-strength permanent magnet is arranged at the end part of each permanent magnetic field arm, a high-strength permanent magnetic field is formed between the two high-strength permanent magnets, an electromagnetic rotary inertia wheel is arranged in the high-strength permanent magnetic field, the electromagnetic rotary inertia wheel is provided with a round cake-shaped shell with the middle concave inwards, electromagnetic wire nets are uniformly distributed in the shell and provided with electromagnetic wire segments tangential to magnetic induction lines, a fixed disc is arranged at the center of each electromagnetic rotary inertia wheel, a rotating shaft is fixedly connected with the fixed disc, a rotating ring which rotates synchronously with the rotating shaft is sleeved on the rotating shaft, and positive and negative wiring lines of the electromagnetic wire nets are connected with the rotating ring along the rotating shaft.
Further, the electromagnetic wire net comprises an electric brush, the rotating ring is kept in contact with the electric brush, and the electric brush is connected with the power transmission wire to supply power to the electromagnetic wire net.
Further, the device also comprises a driver support, wherein the driver support is fixed in the device lumen, and the driver is fixed on the driver support.
Further, the device also comprises a controller, and the controller is connected with the driver, the encoder and the electromagnetic wire network through wires.
Furthermore, the controlled structure is arranged on the pipe cavity of the device, and the electromagnetic rotary inertia wheel is parallel to the rotary surface of the controlled structure.
Further, the driver, the transmission and the encoder are coaxial.
Further, the transmission is a decelerator.
Further, the driver is a servo motor or a stepping motor.
The invention has the following beneficial effects:
(1) The rotation damping of the electromagnetic rotary inertia wheel can be automatically adjusted, the adjustment precision is high, the adjustment range is wide, and the application range of the system is wide;
(2) The invention has greater robustness, and the control effect is not greatly influenced by the change of the structural form and the change of the external load effect;
(3) The invention is suitable for the condition that the structure generates rotation, torsion or rotary shimmy movement, and has wide application range.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic view of the structure of the electromagnetic moment of inertia wheel of the present invention;
FIG. 3 is a schematic view of the present invention installed in a simple pendulum construction;
wherein the above figures include the following reference numerals: 1. a device lumen; 2. a driver; 3. an encoder; 4. a transmission; 5. a high-strength permanent magnet; 6. an electromagnetic moment of inertia wheel; 7. a driver support; 8. a permanent magnetic field arm; 9. an electromagnetic wire mesh; 10. a fixed plate; 11. a swivel; 12. a brush; 13. a controlled structure; 14. and a controller.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Taking a simple pendulum structure model as a basic mechanical model prototype structure as an example;
as shown in fig. 1-3, the electromagnetic variable damping rotation control system of the invention comprises an active output module and an electromagnetic variable damping module, wherein the active output module comprises a driver 2, an encoder 3 and a speed changer 4 which are fixed in a device pipe cavity 1, the electromagnetic variable damping module comprises a high-strength permanent magnet 5 and an electromagnetic rotary inertia wheel 6, and a controlled structure 13 is fixed on the device pipe cavity.
The driver is fixed on the inner wall of the pipe cavity of the device through a driver bracket 7, one end of the driver is provided with an encoder, the other end of the driver is connected with a speed changer, the driver, the speed changer and the encoder are coaxial, and a rotating shaft of the driver passes through the speed changer and is vertically fixed at the center of the electromagnetic rotary inertia wheel;
two permanent magnetic field arms 8 are symmetrically fixed on the outer wall of the pipe cavity of the device, high-strength permanent magnets are installed at the ends of the permanent magnetic field arms, a high-strength permanent magnetic field is formed between the two high-strength permanent magnets, an electromagnetic rotary inertia wheel is arranged in the high-strength permanent magnetic field, the electromagnetic rotary inertia wheel is provided with a round cake-shaped shell with the middle being concave inwards, electromagnetic wire nets 9 are uniformly distributed in the shell and provided with electromagnetic wire segments tangential to magnetic induction lines, a fixed disk 10 is installed at the center of the electromagnetic rotary inertia wheel, a rotating shaft is fixedly connected with the fixed disk, a rotating ring 11 which rotates synchronously with the rotating shaft is sleeved on the rotating shaft, positive and negative wiring of the electromagnetic wire nets are connected with the rotating ring along the rotating shaft, and the rotating ring is in contact with the electric brushes 12 which are connected with power transmission wires for supplying power to the electromagnetic wire nets.
In this embodiment, in addition to the encoder disposed at the tail end of the driver for collecting rotational inertia rotational data, a sensor is also disposed at the suspension point for collecting rotational data of the controlled structure, where the sensor may be, but is not limited to, a photoelectric shaft encoder, an angular acceleration sensor, or a gyroscope. The sensor transmits the acquired data to the controller 14, the controller is connected with the active output module and the electromagnetic damping-changing module through lines to control the rotation of the driver and the current of an electromagnetic wire net, the driver drives the electromagnetic rotary inertia wheel to rotate through the rotating shaft, acting force is generated in the acceleration and deceleration processes, and the acting force acts on a controlled structure through a device pipe cavity.
The action principle of the invention is as follows:
the method comprises the steps that a sensor arranged at a lifting point of a controlled structure collects swing motion state, namely swing angle and swing angle acceleration data, of the controlled structure, the state data of the controlled structure are transmitted to a controller, the controller judges whether active control is needed, and when the swing motion data of the controlled structure exceeds a preset threshold value, the controller controls a driver to act; the encoder coaxially arranged at the tail end of the driver acquires the rotation condition of the driver in real time and feeds the rotation condition back to the controller to realize the closed-loop control of the controller, the controlled structure and the driver; the driver can control the electromagnetic rotary inertia wheel to rotate in a rotary mode according to the structure motion state measured in real time, the damping of the electromagnetic rotary inertia wheel is changed by changing the current, the damping-changing effect is achieved, the output efficiency of control force is changed, and the higher control efficiency is guaranteed while the structure vibration control is achieved.
The invention can be applied to the following but not limited to the following mechanical problem basic prototype motion models: free swing of the simple pendulum structure; vibration of the constrained inverted pendulum structure; fixed axis rotation of the rigid body around any axis in space, etc., in actual engineering, for example: swing of a suspended structure (hook, crane, etc.); torsional shimmy of irregular buildings under the action of wind load; torsional swing vibration of the ocean platform under the coupling action of sea waves, wind, ice and the like; during the running process of the spacecraft and the space structure, the space structure can cause torsion and shimmy movement due to the self posture adjustment and the opening of the solar sailboard; in the high-speed running process, the high-speed railway locomotive is subjected to torsional swinging vibration motion of a car body and the like caused by micro excitation.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. The electromagnetic damping-variable rotation control system is characterized by comprising an active output module and an electromagnetic damping-variable module, wherein the active output module comprises a driver (2), an encoder (3) and a transmission (4) which are fixed in a device pipe cavity (1), and the electromagnetic damping-variable module comprises a high-strength permanent magnet (5) and an electromagnetic moment of inertia wheel (6);
the driver (2) is fixed on the inner wall of the device lumen (1), one end of the driver (2) is provided with the encoder (3), the other end of the driver is connected with the speed changer (4), and the rotating shaft of the driver (2) passes through the speed changer (4) and is vertically fixed at the center of the electromagnetic rotary inertia wheel (6);
two permanent magnetic field arms (8) are symmetrically fixed on the outer wall of the pipe cavity (1), a high-strength permanent magnet (5) is arranged at the end part of each permanent magnetic field arm (8), a high-strength permanent magnetic field is formed between the two high-strength permanent magnets (5), an electromagnetic moment of inertia wheel (6) is arranged in each high-strength permanent magnetic field, each electromagnetic moment of inertia wheel (6) is provided with a round cake-shaped shell with a middle concave inwards, electromagnetic wire nets (9) are uniformly distributed in the shell, each electromagnetic wire net (9) is provided with an electromagnetic line segment tangent to a magnetic induction line, a fixed disc (10) is arranged at the center of each electromagnetic moment of inertia wheel (6), and a rotating shaft is fixedly connected with the fixed disc (10), the rotating shaft is sleeved with a rotating ring (11) which rotates synchronously with the rotating shaft, positive and negative wiring of an electromagnetic wire net (9) is connected with the rotating ring (11) along the rotating shaft, the rotating ring (11) is kept in contact with the electric brush (12), the electric brush (12) is connected with a power transmission wire and supplies power to the electromagnetic wire net (9), the rotating ring further comprises a controller (14), the controller (14) is connected with a driver (2), an encoder (3) and the electromagnetic wire net (9) through wires, a controlled structure (13) is installed on a device pipe cavity (1), an electromagnetic moment of inertia wheel (6) is parallel to a rotating surface of the controlled structure (13), and a sensor is arranged at a hanging point of the controlled structure.
2. The electromagnetic variable damping rotation control system of claim 1, further comprising a driver support (7), the driver support (7) being secured within the device lumen (1), the driver (2) being secured to the driver support (7).
3. The electromagnetic variable damping rotation control system according to claim 1, characterized in that the driver (2), the transmission (4) and the encoder (3) are coaxial.
4. The electromagnetic variable damping rotation control system according to claim 1, characterized in that the transmission (4) is a decelerator.
5. The electromagnetic variable damping rotation control system according to claim 1, characterized in that the driver (2) is a servo motor or a stepper motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103432.8A CN109610676B (en) | 2019-02-01 | 2019-02-01 | Electromagnetic variable damping rotation control system |
| PCT/CN2019/105651 WO2020155640A1 (en) | 2019-02-01 | 2019-09-12 | Rotation control system employing variable electromagnetic damping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103432.8A CN109610676B (en) | 2019-02-01 | 2019-02-01 | Electromagnetic variable damping rotation control system |
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| Publication Number | Publication Date |
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| CN109610676A CN109610676A (en) | 2019-04-12 |
| CN109610676B true CN109610676B (en) | 2023-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910103432.8A Active CN109610676B (en) | 2019-02-01 | 2019-02-01 | Electromagnetic variable damping rotation control system |
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| CN (1) | CN109610676B (en) |
| WO (1) | WO2020155640A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109610676B (en) * | 2019-02-01 | 2023-11-24 | 青岛理工大学 | Electromagnetic variable damping rotation control system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103696909A (en) * | 2013-12-24 | 2014-04-02 | 常州容大结构减振设备有限公司 | Wind-resistant TMD system with power generation function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE2402748C2 (en) * | 1974-01-21 | 1986-07-03 | Artur 7060 Schorndorf Föhl | Device for initiating the reel shaft blocking of an automatic seat belt retractor |
| CN104671009A (en) * | 2013-11-28 | 2015-06-03 | 海洋王（东莞）照明科技有限公司 | Wire spool and electromagnetic damping structure thereof |
| US9624998B2 (en) * | 2014-07-30 | 2017-04-18 | Tenneco Automotive Operating Company Inc. | Electromagnetic flywheel damper and method therefor |
| CN107401112A (en) * | 2017-09-07 | 2017-11-28 | 湖南科技大学 | A kind of electromagnetic rotating inertia mass damper |
| CN109610676B (en) * | 2019-02-01 | 2023-11-24 | 青岛理工大学 | Electromagnetic variable damping rotation control system |
| CN209568567U (en) * | 2019-02-01 | 2019-11-01 | 青岛理工大学 | Electromagnetism variable damping Rotable Control System |
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2019
- 2019-02-01 CN CN201910103432.8A patent/CN109610676B/en active Active
- 2019-09-12 WO PCT/CN2019/105651 patent/WO2020155640A1/en active Application Filing
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103696909A (en) * | 2013-12-24 | 2014-04-02 | 常州容大结构减振设备有限公司 | Wind-resistant TMD system with power generation function |
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| Publication number | Publication date |
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| CN109610676A (en) | 2019-04-12 |
| WO2020155640A1 (en) | 2020-08-06 |
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