CN109630612A - Self energizing formula active-passive composite rotary inertia driving control system - Google Patents
Self energizing formula active-passive composite rotary inertia driving control system Download PDFInfo
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- CN109630612A CN109630612A CN201910103424.3A CN201910103424A CN109630612A CN 109630612 A CN109630612 A CN 109630612A CN 201910103424 A CN201910103424 A CN 201910103424A CN 109630612 A CN109630612 A CN 109630612A
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- rotary inertia
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- power module
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- 239000002131 composite material Substances 0.000 title claims abstract description 17
- 238000013016 damping Methods 0.000 claims abstract description 28
- 238000004146 energy storage Methods 0.000 claims abstract description 15
- 239000012530 fluid Substances 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 5
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000005764 inhibitory process Effects 0.000 abstract description 2
- 230000002195 synergetic effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 7
- 230000004044 response Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
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- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/16—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material
- F16F15/167—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring
- F16F15/173—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring provided within a closed housing
Abstract
The present invention relates to the inhibition fields vibrated in system, disclose a kind of self energizing formula active-passive composite rotary inertia drive dynamic control device, it includes actively going out power module and passively going out power module, and actively going out power module includes driver, encoder, speed changer and active rotary inertia disk；Passively going out power module includes torsion variable damping case, generator, energy-storage units and passive rotation inertia disk；It is provided with system lumen between active rotary inertia disk and passive rotation inertia disk, actively go out power module and passively goes out power module along the distribution of system lumen central symmetry.Control system of the invention uses self energizing technology, the synergistic effect of active module Yu passive module may be implemented, and need not rely on external energy；Active and passive complex controll may be implemented in control system of the invention, can be realized the vibration control of complex condition, and compared with active control, in conjunction with passive control technology, stability is more preferable.
Description
Technical field
The present invention relates to the inhibition fields vibrated in system, turn in particular to a kind of self energizing formula active-passive composite
Dynamic inertia driving control system.
Background technique
Vibration is a kind of phenomenon common in life, and job facilities, structure are in use often due to external lotus
The effect of load generates vibration, and serious generation is waved, or even destroys.It is various caused by being vibrated by works in order to solve the problems, such as,
Vibration control technology comes 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, properly safe vibration control system can effectively mitigate the dynamic response of structure,
Mitigate structural damage or fatigue damage.
The movement of structure is usually composed of translation and torsionoscillation.Research shows that due to translation tuning quality damping
Device (English name Tuned Mass Damper, TMD), active mass damper/active torque output device (English name Active
Mass Damper/Driver, AMD) cause control effect to weaken significantly even due to needing to provide centripetal force in torsionoscillation
Completely ineffective, to turning round, shimmy control is nearly unavailable.However there is the structure motion form pole for turning round shimmy kinetic characteristic
It is common, such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；Ocean
Torsion of the platform under the couplings such as wave, wind, ice is shimmy etc.；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.
Active control technology is quickly grown in recent years because it has the advantages that control effect is good, robustness is good.But
In the research and practice process of technology, it has been found that work is driven since active control device needs extra power, in engineering
When structure is by destroying, the supply of the energy will lead to the entirely ineffective of active control device by accidental amputation.
To sum up, Structural Vibration Control Systems have indispensable role, but existing Structural Vibration Control Systems have
Have a deficiency of following several respects: first, translation TMD control device can only control structure translational motion and to turning round shimmy control
In vain, although it is shimmy to can control revolution for translation AMD control device, but control efficiency is extremely low, is unable to satisfy requirement；The
Two, passive rotation inertia tuned damper is effective to shimmy motion control is turned round, but it needs to be answered for structure itself
Miscellaneous frequency modulation, lower to certain labyrinth control efficiencies, ineffective, it is low that there are robustness, and controllability is low, and the scope of application is small
The disadvantages of；Third, the control system scope of application is small, and control force output is limited, and control effect is limited, and control system using energy source
Rate not can guarantee, and be unable to satisfy the demand of economy；4th, actively although (rotation) control device can solve above-mentioned three aspect and ask
Topic, still, there are the entirely ineffective risks of unexpected energy cutting control system.
The present invention is exactly to generate in this context.
Summary of the invention
It is used it is a primary object of the present invention to provide a kind of rotation of the active-passive composite of self energizing formula regarding to the issue above
Measure driving control system.
To achieve the goals above, self energizing formula active-passive composite rotary inertia driving control system of the invention, including
Actively go out power module and passively go out power module, actively going out power module includes driver, encoder, speed changer and active rotary inertia
Disk；Passively going out power module includes torsion variable damping case, generator, energy-storage units and passive rotation inertia disk；
Be provided with system lumen between active rotary inertia disk and passive rotation inertia disk, actively go out power module and by
Dynamic power module out is distributed along system lumen central symmetry；
Driver is fixed on the intracavitary side of system pipes, and driver one end is equipped with encoder, and the other end is connect with speed changer,
The drive shaft of driver passes through that speed changer is vertical at the center of active rotary inertia disk fixes；
Reversing variable damping case includes that outside link plate, interior connecting plate, outer sleeve, inner sleeve and torsionspring, outside link plate are solid
It is scheduled at passive rotation inertia disc centre, interior connecting plate is fixed on system lumen end, inner sleeve and the fixed company of interior connecting plate
It connects, outer sleeve is fixedly connected with outside link plate, and inner sleeve is coaxial with outer sleeve, and outer sleeve covers on the outside of inner sleeve, and both ends pass through
Sealed-bearing is closed, and is formed closed damping fluid storehouse between two sleeves, is filled with damping fluid in damping fluid storehouse；Torsionspring is set
It is placed in damping fluid storehouse, is wound along inner sleeve, one end is fixed with outside link plate, and the other end is fixed on inner sleeve；
Generator is fixed on the intracavitary other side of system pipes, coaxial with driver, alternator shaft sequentially pass through system lumen,
It is fixedly connected after interior connecting plate and inner sleeve with outside link plate；
Energy-storage units are also equipped on generator, energy-storage units are also connect with driver.
Further, it is intracavitary by driver fixed frame to be fixed on system pipes for driver.
Further, it is intracavitary by generator fixed frame to be fixed on system pipes for generator.
Further, the invention also includes controller, controller respectively with energy-storage units, generator, driver and coding
Device connection.
Further, it is provided with liquid injection hole on outer sleeve, for filling damping fluid.
Further, inner sleeve and interior connecting plate are not in contact with alternator shaft.
Further, active rotary inertia disk and passive rotation inertia disk are parallel to controlled structure plane of rotation.
Further, active rotary inertia disk and passive rotation inertia disk rotate coaxially, and when rotation direction is opposite, produce
The control force of the raw same direction.
Further, driver is servo motor or stepper motor.
The invention has the following advantages:
(1) control system of the invention uses self energizing technology, and active module and passive module may be implemented cooperates with work
With, and need not rely on external energy；
(2) damping in power module that passively goes out of the invention is adjusted, and can carry out frequency modulation according to controlled structure, have and be applicable in model
Enclose wide feature；
(3) active and passive complex controll may be implemented in control system of the invention, can be realized the vibration control of complex condition
System, and compared with active control, in conjunction with passive control technology, there is bigger stability and energy saving；
(4) control system of the invention is suitable for the case where structure rotates, reverses or turn round lagging motion, is applicable in model
It encloses wide.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is front view of the present invention；
Fig. 3 is torsion variable damping box structure schematic diagram；
Fig. 4 is present invention scheme of installation in single pendulum structure；
Wherein, the above drawings include the following reference numerals: 1, driver；2, encoder；3, speed changer；4, it actively rotates used
Measure disk；5, variable damping case is reversed；6, generator；7, energy-storage units；8, passive rotation inertia disk；9, system lumen；10, it drives
Dynamic device fixed frame；11, outside link plate；12, interior connecting plate；13, outer sleeve；14, inner sleeve；15, torsionspring；16, liquid injection hole；
17, generator fixed frame；18, controller；19, it is controlled structure.
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 1-4, self energizing formula active-passive composite rotary inertia driving control system of the invention includes actively going out
Power module and passive power module out, actively going out power module includes driver 1, encoder 2, speed changer 3 and active rotary inertia circle
Disk 4；Passively going out power module includes torsion variable damping case 5, generator 6, energy-storage units 7 and passive rotation inertia disk 8；
Be provided with system lumen 9 between active rotary inertia disk and passive rotation inertia disk, actively go out power module and
Passively go out power module to be distributed along system lumen central symmetry；Controlled structure 19 is fixed on system lumen center, actively rotates
Inertia disk and passive rotation inertia disk are each parallel to controlled structure plane of rotation.
Driver is fixed on the intracavitary side of system pipes by driver fixed frame 10, and driver one end is equipped with encoder,
The other end is connect with speed changer, and the drive shaft of driver passes through that speed changer is vertical at the center of active rotary inertia disk to be fixed；
Driver is servo motor or stepper motor.
Torsion variable damping case includes outside link plate 11, interior connecting plate 12, outer sleeve 13, inner sleeve 14 and torsionspring 15,
Outside link plate is bolted at passive rotation inertia disc centre, and interior connecting plate is bolted on system lumen end
Portion, inner sleeve are fixedly connected with interior connecting plate, and outer sleeve is fixedly connected with outside link plate, and inner sleeve is coaxial with outer sleeve, housing
Cylinder covers on the outside of inner sleeve, and both ends form closed damping fluid storehouse between two sleeves by sealed-bearing closing, on outer sleeve
It is provided with liquid injection hole 16, for filling damping fluid into damping fluid storehouse；Torsionspring is set in damping fluid storehouse, is twined along inner sleeve
Around one end is fixed with outside link plate, and the other end is fixed on inner sleeve；By changing the viscous of the damping fluid in torsion variable damping case
The purpose that consistency and torsionspring rigidity may be implemented to change damping carries out frequency modulation.
Generator is fixed on the intracavitary other side of system pipes by generator fixed frame 17, coaxial with driver, and generator turns
Axis is fixedly connected after sequentially passing through system lumen, interior connecting plate and inner sleeve with outside link plate；
Inner sleeve and interior connecting plate are not in contact with alternator shaft, are detached from alternator shaft, i.e. generator
Drive outside link plate, outer sleeve and passive rotation inertia disk rotational, interior connecting plate and inner sleeve be it is fixed, do not occur to turn
It is dynamic；
Energy-storage units 7 are also equipped on generator, energy-storage units are also connect with driver, and energy-storage units are battery, quilt
When the dynamic work of power module out, rotary motion occurs for passive rotation inertia disk, generates control force, while driving generator rotation production
Raw electric energy is inputted in battery by conducting wire and is stored for actively going out power module use.
Self energizing formula active-passive composite rotary inertia driving control system of the invention further includes controller 18, controller point
It is not connect with energy-storage units, generator, driver and encoder.
In the present embodiment, in addition to being set to driver tail end for acquiring the encoder 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.
Only passively go out power module under normal conditions to work independently and can reach vibration control requirement, work while will generate
Electric energy be stored in battery actively to contribute module energy reserve, when encountering complex conditions, when structural response is larger, sense
The response for monitoring structure is fed back to controller by device, and controller judges whether to need to open actively to go out power module, works as controller
When the judgement response that power module can no longer meet structure passive out requires, actively go out power module start-up operation, mould of actively contributing
Block can control rotary inertia disk and revolution rotation occurs, adjustment effect is controlled according to the structure motion state of real-time measurement
Control moment in structure, adjusts drive energy output size, and the vibration of control structure guarantees higher control efficiency.At this point,
Active rotary inertia disk and passive rotation inertia disk rotate coaxially, rotation direction on the contrary, generate the same direction control force,
Active and passive power module out plays control action simultaneously, generates the good result of complex controll, realizes the purpose of vibration control.With
Actively go out power module and open and play a role, structural response reduces, progress into it is passive go out power module can play a role
In range, sensor Real-time Feedback is to controller, module from service of actively contributing, and passively goes out power module and keeps work, until
Reach control effect.
Control system of the invention can be applied to the basic prototype motion model of mechanics problem following but not limited to the following
In: single pendulum structure freely swings；The vibration of constrained inverted pendulum structure；Rigid body around any axis in space fixed-axis rotation etc.,
In Practical Project such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；
Torsion rocking vibration etc. of the ocean platform under the couplings such as wave, wind, ice；Spaceship, space structure are in operational process
In, due to reversing lagging motion caused by itself stance adjustment and solar energy sailboard opening；High-speed railway locomotive is transported in high speed
During row, torsion rocking vibration campaign of the vehicle body due to 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 self energizing formula active-passive composite rotary inertia driving control system, which is characterized in that including actively going out power module
With passive power module out, actively going out power module includes driver (1), encoder (2), speed changer (3) and active rotary inertia circle
Disk (4)；Passively going out power module includes torsion variable damping case (5), generator (6), energy-storage units (7) and passive rotation inertia disk
(8)；
System lumen (9), mould of actively contributing are provided between active rotary inertia disk (4) and passive rotation inertia disk (8)
Block and passive power module out are distributed along system lumen (9) central symmetry；
Driver (1) is fixed on system lumen (9) interior side, and driver (1) one end is equipped with encoder (2), the other end and change
Fast device (3) connection, it is vertical at the center of active rotary inertia disk (4) solid that the drive shaft of driver (1) passes through speed changer (3)
It is fixed；
Torsion variable damping case (5) includes outside link plate (11), interior connecting plate (12), outer sleeve (13), inner sleeve (14) and torsion
Spring (15), outside link plate (11) are fixed at passive rotation inertia disk (8) center, and interior connecting plate (12) is fixed on system pipes
Chamber (9) end, inner sleeve (14) are fixedly connected with interior connecting plate (12), and outer sleeve (13) is fixedly connected with outside link plate (11),
Coaxially, outer sleeve (13) covers on the outside of inner sleeve (14) for inner sleeve (14) and outer sleeve (13), and both ends are closed by sealed-bearing,
Closed damping fluid storehouse is formed between two sleeves, is filled with damping fluid in damping fluid storehouse；Torsionspring (15) is set to damping
It in liquid storehouse, is wound along inner sleeve (14), one end and outside link plate (11) are fixed, and the other end is fixed on inner sleeve (14)；
Generator (6) is fixed on system lumen (9) interior other side, and coaxially with driver (1), generator (6) shaft sequentially passes through
System lumen (9), interior connecting plate (12) and inner sleeve (14) are fixedly connected with outside link plate (11) afterwards；
It is also equipped on generator (6) energy-storage units (7), energy-storage units (7) are connect with driver (1).
2. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that drive
Dynamic device (1) is fixed in system lumen (9) by driver fixed frame (10).
3. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that hair
Motor (6) is fixed in system lumen (9) by generator fixed frame (17).
4. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that also
Including controller (18), controller (18) connects with energy-storage units (7), generator (6), driver (1) and encoder (2) respectively
It connects.
5. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that outer
Liquid injection hole (16) are provided on sleeve (13), for filling damping fluid.
6. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that interior
Sleeve (14) and interior connecting plate (12) are not in contact with generator (6) shaft.
7. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that main
Dynamic rotary inertia disk (4) and passive rotation inertia disk (8) are parallel to controlled structure (19) plane of rotation.
8. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that main
Dynamic rotary inertia disk (4) and passive rotation inertia disk (8) rotate coaxially, and rotation direction is on the contrary, generate the control of the same direction
Power processed.
9. self energizing formula active-passive composite rotary inertia driving control system according to claim 1, which is characterized in that drive
Dynamic device (1) is servo motor or stepper motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103424.3A CN109630612B (en) | 2019-02-01 | 2019-02-01 | Self-powered active and passive composite moment of inertia driving control system |
| PCT/CN2019/105659 WO2020155643A1 (en) | 2019-02-01 | 2019-09-12 | Self-powered active-passive compound rotating inertia drive control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103424.3A CN109630612B (en) | 2019-02-01 | 2019-02-01 | Self-powered active and passive composite moment of inertia driving control system |
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| Publication Number | Publication Date |
|---|---|
| CN109630612A true CN109630612A (en) | 2019-04-16 |
| CN109630612B CN109630612B (en) | 2023-11-24 |
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|---|---|---|---|
| CN201910103424.3A Active CN109630612B (en) | 2019-02-01 | 2019-02-01 | Self-powered active and passive composite moment of inertia driving control system |
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| CN (1) | CN109630612B (en) |
| WO (1) | WO2020155643A1 (en) |
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| CN110654412A (en) * | 2019-10-31 | 2020-01-07 | 青岛理工大学 | Active and passive composite control system for inhibiting side rolling, nodding and shaking behaviors of high-speed train |
| CN110745156A (en) * | 2019-10-31 | 2020-02-04 | 青岛理工大学 | Active and passive hybrid control system for dynamic behavior of high-speed train |
| WO2020155643A1 (en) * | 2019-02-01 | 2020-08-06 | 青岛理工大学 | Self-powered active-passive compound rotating inertia drive control system |
| CN115233540A (en) * | 2022-08-15 | 2022-10-25 | 沈阳工业大学 | Active and passive hybrid control system for inhibiting multi-mode coupling vibration of bridge |
| CN115387593A (en) * | 2022-08-15 | 2022-11-25 | 沈阳工业大学 | Active and passive composite control system for swinging and vibration stopping of suspended object |
| CN115404758A (en) * | 2022-08-15 | 2022-11-29 | 沈阳工业大学 | Active and passive composite control system for turning moment |
| WO2024036964A1 (en) * | 2022-08-15 | 2024-02-22 | 沈阳工业大学 | Control system for unfavorable swing behavior of object hanging from high altitude |
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| CN114414145B (en) * | 2021-12-21 | 2024-03-12 | 上海利正卫星应用技术有限公司 | Rotational inertia simulation device of sailboard driving mechanism |
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| WO2020155643A1 (en) | 2020-08-06 |
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