CN109610678A - Hydraulic regulation rotary inertia active control device - Google Patents
Hydraulic regulation rotary inertia active control device Download PDFInfo
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- CN109610678A CN109610678A CN201910103558.5A CN201910103558A CN109610678A CN 109610678 A CN109610678 A CN 109610678A CN 201910103558 A CN201910103558 A CN 201910103558A CN 109610678 A CN109610678 A CN 109610678A
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- rotary inertia
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- control device
- active control
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- 230000033228 biological regulation Effects 0.000 title claims abstract description 18
- 239000007788 liquid Substances 0.000 claims abstract description 30
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000008859 change Effects 0.000 claims abstract description 14
- 230000010412 perfusion Effects 0.000 claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 11
- 239000010959 steel Substances 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 238000005461 lubrication Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 7
- 230000005764 inhibitory process Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 13
- 239000012530 fluid Substances 0.000 description 9
- 238000002347 injection Methods 0.000 description 9
- 239000007924 injection Substances 0.000 description 9
- 230000009471 action Effects 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 230000004044 response Effects 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
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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
- E04H9/023—Bearing, supporting or connecting constructions specially adapted for such buildings and comprising rolling elements, e.g. balls, pins
-
- 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
- E04H9/0235—Anti-seismic devices with hydraulic or pneumatic damping
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Earth Drilling (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to the inhibition fields vibrated in system, disclose a kind of hydraulic regulation rotary inertia active control device comprising actively go out power module and hydraulic change rotary inertia module；Actively go out power module to include device lumen and be fixed on the intraluminal driver of device, encoder and speed changer, hydraulic change rotary inertia module includes rotary inertia disk shell and is set to the intracorporal propulsion submodule of rotary inertia disk shell and hydraulic submodule；Hydraulic submodule includes liquid storage chamber, water pump, annular hydraulic pipe network, hydraulic hose and perfusion tube, and submodule is promoted to include driving motor, gear, promote straight tube and outlet tube.Rotary inertia of the invention can be by hydraulic auto adjusting, and degree of regulation is high, and adjustable range is wide, and system application range is big, and the present invention has bigger robustness, and control effect will not be a greater impact because of the change that structure type changes and external loads act on.
Description
Technical field
The present invention relates to the inhibition fields vibrated in system, actively in particular to a kind of hydraulic regulation rotary inertia
Control device.
Background technique
In recent years, highway, railway, bridge, skyscraper, large-span space structure etc. are constantly built, ocean platform,
The structures such as space station also rapidly develop.These job facilities, structure are in use often in the work of external loads
It is vibrated with lower generation, serious can generate is waved, or even is destroyed.In order to solve various caused by being vibrated by works ask
Topic, vibration control technology come into being.
In terms of structural vibration control technology is broadly divided into following four: active control, passive control, semi- active control and
Mixing control.For various engineering structures, the dynamic response of structure can effectively be mitigated by properly installing vibration control system,
Mitigate structural damage or fatigue damage.
The movement of structure is usually composed of translation and torsionoscillation.Research shows that translation tuned mass damper
(English name Tuned Mass Damper, TMD), active mass damper/active torque output device (English name Active
Mass Damper/Driver, AMD) due to need to provide centripetal force in torsionoscillation and weaken significantly control effect even it is complete
It is complete ineffective therefore nearly unavailable to shimmy control is turned round.However there is the structure motion form for turning round shimmy kinetic characteristic
It is extremely common, such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；Sea
Torsion of the foreign platform under the couplings such as wave, wind, ice is shimmy；Spaceship, space structure in the process of running, due to from
Body stance adjustment and solar energy sailboard reverse lagging motion caused by opening；High-speed railway locomotive, since small excitation causes
The torsion lagging motion of vehicle body etc..Therefore a kind of special control system is needed, allows to overcome (or getting rid of) weight automatically
Influence (centrifugal force effect) of the field of force to control system itself, or make the work/characteristics of motion and gravity of control system itself
Field decoupling, system self-vibration is not influenced by gravitation, to play the effective control action of control system.
Generally speaking, existing Structural Vibration Control Systems mainly have the following deficiencies: first, be translatable TMD control device
Can only the translational motion of control structure and it is invalid to shimmy control is turned round；Second, although translation AMD control device can control back
Switch vibration, but control efficiency is extremely low, is unable to satisfy requirement；Third, passive rotation inertia tuned damper is to gyroscopic pendulum
Motion control of shaking is effective, but it needs to carry out complicated frequency modulation for structure itself, to certain labyrinth control efficiencies compared with
It is low, ineffective, the disadvantages of it is low that there are robustness, and controllability is low, and the scope of application is small；4th, the control system scope of application is small, control
Power output processed is limited, and control effect is limited；5th, control system energy utilization rate not can guarantee, and be unable to satisfy the need of economy
It asks.
The present invention is exactly to generate in this context.
Summary of the invention
It is a primary object of the present invention to provide a kind of hydraulic regulation rotary inertia active control device in view of the above problems.
To achieve the goals above, hydraulic regulation rotary inertia active control device of the invention includes actively going out power module
With hydraulic change rotary inertia module；
Actively go out power module to include device lumen and be fixed on the intraluminal driver of device, encoder and speed changer, liquid
Buckling rotary inertia module includes rotary inertia disk shell and is set to the intracorporal propulsion submodule of rotary inertia disk shell and hydraulic
Submodule；
Driver is fixed on device lumen wall, and one end of driver is equipped with encoder, and the other end and speed changer connect
It connects, the shaft of driver passes through that speed changer is vertical at the center of rotary inertia disk shell to be fixed；
Hydraulic submodule includes liquid storage chamber, water pump, annular hydraulic pipe network, hydraulic hose and perfusion tube, promotes submodule packet
It includes driving motor, gear, promote straight tube and outlet tube, liquid storage chamber is closed cavity, and both ends are fixed on device lumen, is rotated
In the space that inertia disc shell is set to liquid storage chamber and device lumen surrounds；Annular hydraulic pipe network is fixed on rotary inertia disk shell
On, including several ring pipes being generally aligned in the same plane, several ring pipes are centered on the center of circle of rotary inertia disk shell by introversion
Outer distribution, for each ring pipe tool there are two opening, the opening of all ring pipes is concordant, and it is logical that a fluid injection is formed between both-side opening
Road promotes straight tube to be located in reservoir channel, and straight tube two sides is promoted to be respectively arranged with a gear, and two sides of straight tube is promoted to be all provided with
Teeth are equipped with, teeth are meshed with gear, and the rotation of driving motor sliding tooth wheel promotes straight tube to come along reservoir channel to drive
Backhaul it is dynamic, promote straight tube at the top of outlet tube is installed, connect by outlet tube with ring pipe, propulsion straight tube bottom pass through it is hydraulic soft
Pipe is connect with water pump, and perfusion tube is also connected on water pump, is connect by perfusion tube with liquid storage chamber,
Further, outlet tube uses piston structure, including ring apron, steel ball ring and the sealing of sealing rubber ring three-level
Ring, there are four steel ball, sealing while, can play the role of lubrication for distribution in steel ball ring.
It further, further include driver rack, driver rack is fixed in device lumen, and driver is fixed on driving
On device bracket.
It further, further include controller, controller is connect by route with driver, driving motor and water pump.
Further, controlled structure is installed on device lumen, and rotary inertia disk housing parallel is in the rotation of controlled structure
Face.
Further, driver shaft is connect by flange coupling with rotary inertia disk shell.
Further, driver, speed changer and encoder are coaxial.
Further, speed changer is retarder.
Further, driver is servo motor or stepper motor.
The invention has the following advantages:
(1) rotary inertia of the invention can be by hydraulic auto adjusting, and degree of regulation is high, and adjustable range is wide, and system is answered
It is big with range；
(2) present invention has bigger robustness, and control effect will not change because of structure type and external loads effect
Change and be a greater impact；
(3) present invention is suitable for the case where being suitble to structure to rotate, reverse or turn round lagging motion, applied widely.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is hydraulic change rotary inertia inside modules structural schematic diagram；
Fig. 3 is hydraulic change rotary inertia module side view；
Fig. 4 is outlet tube structural schematic diagram；
Fig. 5 is present invention scheme of installation in single pendulum structure；
Wherein, the above drawings include the following reference numerals: 1, device lumen；2, driver；3, encoder；4, speed changer；
5, rotary inertia disk shell；6, driver rack；7, liquid storage chamber；8, water pump；9, annular hydraulic pipe network；10, hydraulic hose；11,
Perfusion tube；12, driving motor；13, gear；14, straight tube is promoted；15, outlet tube；16, ring pipe；17, reservoir channel；18, tooth
Tooth；19, it is controlled structure；20, ring apron；21, steel ball ring；22, sealing rubber ring；23, steel ball.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The present embodiment is by taking single pendulum structural model is the structure of basic mechanical model prototype as an example；
As shown in Figs. 1-5, hydraulic regulation rotary inertia active control device of the invention includes actively going out power module and liquid
Buckling rotary inertia module.
Actively go out power module to include device lumen 1 and be fixed on the intraluminal driver 2 of device, encoder 3 and speed changer
4, hydraulic change rotary inertia module include rotary inertia disk shell 5 and be set to intracorporal the propulsions submodule of rotary inertia disk shell with
Hydraulic submodule, controlled structure 19 are mounted on device lumen.
Driver is fixed on device lumen wall by driver rack 6, and one end of driver is equipped with encoder, separately
One end is connect with speed changer, and the shaft of driver passes through that speed changer is vertical at the center of rotary inertia disk shell to be fixed.
In the present embodiment, in addition to being set to driver tail end for acquiring the sensor of rotary inertia rotation data, suspension centre
Place is also equipped with a sensor, and for acquiring the rotation data of controlled structure, sensor herein can be used but is not limited to
Optical electric axial angle encoder, angular acceleration transducer or gyroscope.
Rotary inertia disk shell is cylindrical ghost, hydraulic submodule include liquid storage chamber 7, water pump 8, annular hydraulic pipe network 9,
Hydraulic hose 10 and perfusion tube 11 promote submodule to include driving motor 12, gear 13, promote straight tube 14 and outlet tube 15, storage
Sap cavity is closed hollow cavity, and both ends are fixed on device lumen, and rotary inertia disk shell is set to liquid storage chamber and device pipe
In the space that chamber surrounds, rotary inertia disk shell is cylindrical ghost, is promoted in submodule and hydraulic submodule in addition to liquid storage chamber
Except other structures be respectively positioned in rotary inertia disk shell.
Annular hydraulic pipe network is fixed on rotary inertia disk shell, including several ring pipes 16 being generally aligned in the same plane, ring
Shape pipe is distributed from inside to outside centered on driver shaft (and center of circle of rotary inertia disk shell), between adjacent ring pipe
It is spaced a distance, for each ring pipe tool there are two opening, the opening of all ring pipes is concordant, and one is formed between both-side opening
A reservoir channel 17 promotes straight tube to be located in reservoir channel, the side of left and right two of straight tube is promoted to be provided with teeth 18, promotes
Straight tube two sides are respectively arranged with a gear, and teeth are meshed with gear, and the rotation of driving motor sliding tooth wheel is to drive propulsion
Straight tube is moved back and forth along reservoir channel, is promoted and is equipped with outlet tube at the top of straight tube, connect by outlet tube with ring pipe, is completed
Fluid injection and drawing liquid；It promotes straight tube bottom to connect by hydraulic hose with water pump, perfusion tube is also connected on water pump, passes through perfusion tube
It is connect with liquid storage chamber, perfusion tube tool is there are two branch pipe, and one is used to fluid injection, and one is used to drawing liquid.Outlet tube uses piston structure,
Including 22 three-level sealing ring of ring apron 20, steel ball ring 21 and sealing rubber ring, it is distributed in steel ball ring there are four steel ball 23,
It can play the role of lubrication while sealing.
When fluid injection, water pump is extracted liquid (such as water) by a branch pipe of perfusion tube out of liquid storage chamber, and liquid passes through liquid
Pressure hose enters propulsion straight tube, and driving motor is rotated with moving gear, promotes straight tube to advance to drive, head when promoting straight tube fluid injection
It is first connected to the ring pipe of outmost turns, then inwardly passes sequentially through outlet tube and liquid is input in corresponding ring pipe, annular
One is used to fluid injection in two openings of pipe, another is used to be vented；When drawing liquid, driving motor band moving gear is rotated, and drive pushes away
Equally it is to be connected to the ring pipe of outmost turns first into straight tube, then successively extracts liquid out in ring pipe, by hydraulic soft
Liquid is discharged into water pump by pipe, then the water of water pump is discharged into liquid storage chamber by another branch pipe of perfusion tube.
Action principle of the invention is as follows:
The sensor being arranged at controlled structure suspension centre acquires lagging motion state, that is, pivot angle of controlled structure and pivot angle adds
Speed data, and controller (not shown) is given configuration state data transmission, controller judges whether to need to carry out actively
Control, when controlled structure occurs to turn round threshold value set before shimmy exercise data exceeds, controller control driving
Device movement；The coaxial mounted encoder of driver tip acquires the rotation situation of driver in real time, feeds back to controller, realizes control
The closed-loop control of device processed and controlled structure and driver；Driver can be controlled according to the structure motion state of real-time measurement
Revolution rotation occurs for hydraulic change rotary inertia module, automatically adjusts the fluid injection ratio of hydraulic rotation inertia wheel, is gradually increased by fluid injection
The rotary inertia of liquid feeding buckling rotary inertia module is gradually reduced the hydraulic rotary inertia for becoming rotary inertia module by drawing liquid,
By changing the quantity of fluid injection ring pipe, change the hydraulic rotary inertia size for becoming rotary inertia module, adjustment effect is in quilt
The control moment in structure is controlled, realizes the purpose of vibration control.
The device can be applied in the basic prototype motion model of mechanics problem following but not limited to the following: single pendulum structure
Freely swing；The vibration of constrained inverted pendulum structure；Rigid body around any axis in space fixed-axis rotation etc., in practical projects
Such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；Ocean platform exists
Torsion rocking vibration under the couplings such as wave, wind, ice etc.；Spaceship, space structure in the process of running, due to itself
Stance adjustment and solar energy sailboard reverse lagging motion caused by opening；High-speed railway locomotive, during high-speed cruising, by
Torsion rocking vibration campaign of the vehicle body caused by small excitation etc..
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of hydraulic regulation rotary inertia active control device, which is characterized in that
Including actively going out power module and hydraulic change rotary inertia module；
Actively go out power module to include device lumen (1) and the driver (2) being fixed in device lumen (1), encoder (3) and become
Fast device (4), hydraulic change rotary inertia module include rotary inertia disk shell (5) and are set in rotary inertia disk shell (5)
Promote submodule and hydraulic submodule；
Driver (2) is fixed on device lumen (1) inner wall, and one end of driver (2) is equipped with encoder (3), the other end with
Speed changer (4) connection, it is vertical at the center of rotary inertia disk shell (5) solid that the shaft of driver (2) passes through speed changer (4)
It is fixed；
Hydraulic submodule includes liquid storage chamber (7), water pump (8), annular hydraulic pipe network (9), hydraulic hose (10) and perfusion tube (11),
Submodule is promoted to include driving motor (12), gear (13), promote straight tube (14) and outlet tube (15), liquid storage chamber (7) is closing
Cavity, both ends are fixed on device lumen (1), and rotary inertia disk shell (5) is set to liquid storage chamber (7) and device lumen (1)
In the space surrounded；Annular hydraulic pipe network (9) is fixed on rotary inertia disk shell (5), is generally aligned in the same plane including several
Ring pipe (16), ring pipe (16) are distributed from inside to outside centered on the center of circle of rotary inertia disk shell (5), each ring pipe
(16) for tool there are two opening, the opening of all ring pipes (16) is concordant, forms a reservoir channel (17) between both-side opening, pushes away
It is located in reservoir channel (17) into straight tube (14), straight tube (14) two sides is promoted to be respectively arranged with a gear (13), promotes straight tube
(14) two sides are provided with teeth (18), and teeth (18) are meshed with gear (13), and driving motor (12) drives gear
(13) rotation promotes straight tube (14) to move back and forth along reservoir channel (17) to drive, and promotes and is equipped with out at the top of straight tube (14)
Liquid pipe (15) is connect by outlet tube (15) with ring pipe (16), and straight tube (14) bottom is promoted to pass through hydraulic hose (10) and water
(8) connection is pumped, perfusion tube (11) is also connected on water pump (8), is connect by perfusion tube (11) with liquid storage chamber (7).
2. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that outlet tube (15) is adopted
With piston structure, including ring apron (20), steel ball (23) ring (21) and sealing rubber ring (22) three-level sealing ring, steel ball
(23) there are four steel ball (23), sealing while, can play the role of lubrication for distribution in ring (21).
3. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that further include driver
Bracket (6), driver rack (6) are fixed in device lumen (1), and driver (2) is fixed on driver rack (6).
4. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that further include control
Device, controller are connect with driver (2), driving motor (12) and water pump (8).
5. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that controlled structure (19)
It is installed on device lumen (1), rotary inertia disk shell (5) is parallel to the plane of rotation of controlled structure (19).
6. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that driver (2)
Shaft is connect by flange coupling with rotary inertia disk shell (5).
7. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that driver (2) becomes
Fast device (4) and encoder (3) are coaxial.
8. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that speed changer (4) is
Retarder.
9. hydraulic regulation rotary inertia active control device according to claim 1, which is characterized in that driver (2) is
Servo motor or stepper motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103558.5A CN109610678B (en) | 2019-02-01 | 2019-02-01 | Hydraulic adjusting rotary inertia active control device |
| PCT/CN2019/105656 WO2020155641A1 (en) | 2019-02-01 | 2019-09-12 | Hydraulically regulating rotational inertia active control apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103558.5A CN109610678B (en) | 2019-02-01 | 2019-02-01 | Hydraulic adjusting rotary inertia active control device |
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| Publication Number | Publication Date |
|---|---|
| CN109610678A true CN109610678A (en) | 2019-04-12 |
| CN109610678B CN109610678B (en) | 2023-11-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910103558.5A Active CN109610678B (en) | 2019-02-01 | 2019-02-01 | Hydraulic adjusting rotary inertia active control device |
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| Country | Link |
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| CN (1) | CN109610678B (en) |
| WO (1) | WO2020155641A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155641A1 (en) * | 2019-02-01 | 2020-08-06 | 青岛理工大学 | Hydraulically regulating rotational inertia active control apparatus |
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2019
- 2019-02-01 CN CN201910103558.5A patent/CN109610678B/en active Active
- 2019-09-12 WO PCT/CN2019/105656 patent/WO2020155641A1/en active Application Filing
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| CN109610678B (en) | 2023-11-24 |
| WO2020155641A1 (en) | 2020-08-06 |
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