CN109630612B - Self-powered active and passive composite moment of inertia driving control system - Google Patents
Self-powered active and passive composite moment of inertia driving control system Download PDFInfo
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- CN109630612B CN109630612B CN201910103424.3A CN201910103424A CN109630612B CN 109630612 B CN109630612 B CN 109630612B CN 201910103424 A CN201910103424 A CN 201910103424A CN 109630612 B CN109630612 B CN 109630612B
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- 239000002131 composite material Substances 0.000 title claims abstract description 12
- 238000013016 damping Methods 0.000 claims abstract description 27
- 238000004146 energy storage Methods 0.000 claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 239000007788 liquid Substances 0.000 claims description 17
- 150000001875 compounds Chemical class 0.000 claims description 6
- 238000002347 injection Methods 0.000 claims description 4
- 239000007924 injection Substances 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 239000012530 fluid Substances 0.000 claims 2
- 238000005516 engineering process Methods 0.000 abstract description 7
- 230000001629 suppression Effects 0.000 abstract description 2
- 230000002195 synergetic effect Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005484 gravity 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
- 230000010355 oscillation Effects 0.000 description 2
- 230000001133 acceleration Effects 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
- 238000004134 energy conservation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000725 suspension Substances 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention relates to the field of vibration suppression in a system, and discloses a self-powered active and passive composite moment of inertia driving control device which comprises an active output module and a passive output module, wherein the active output module comprises a driver, an encoder, a transmission and an active moment of inertia disc; the passive output module comprises a torsion damping box, a generator, an energy storage unit and a passive moment of inertia disc; a system cavity is arranged between the active rotary inertia disc and the passive rotary inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system cavity. The control system adopts a self-power supply technology, can realize the synergistic effect of the active module and the passive module, and does not need to rely on external energy; the control system can realize active and passive composite control, can realize vibration control under complex conditions, and has better stability by combining a passive control technology compared with active control.
Description
Technical Field
The invention relates to the field of vibration suppression in a system, in particular to a self-powered active and passive composite moment of inertia driving control system.
Background
Vibration is a common phenomenon in life, and engineering facilities and structures often vibrate due to the action of external load in the use process, so that the vibration is seriously generated, and even the vibration is destroyed. 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 properly safe vibration control system can effectively lighten the dynamic response of the structure and lighten the damage or fatigue damage of the structure.
The movement of the structure is typically a combination of translational and torsional oscillations. Studies have shown that the translational tuned mass damper (english name Tuned Mass Damper, TMD), active mass damper/active torque output device (english name Active Mass Damper/Driver, AMD) are very ineffective for gyratory pendulum control because of the need to provide centripetal force resulting in a greatly reduced or even complete loss of control effect in torsional oscillations. 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.
The active control technology has the advantages of good control effect, good robustness and the like, and has been developed rapidly in recent years. However, during research and practice of the technology, it has been found that because the active control device requires an external energy source to drive the operation, when the engineering structure is destroyed, the accidental shut-off of the energy source can lead to complete failure of the active control device.
In summary, the structural vibration control system has indispensable functions, but the existing structural vibration control system has the following disadvantages: firstly, the translational TMD control device can only control the translational motion of the structure and is ineffective in controlling the gyratory pendulum, and the translational AMD control device can control the gyratory pendulum, but has extremely low control efficiency and cannot meet the use requirement; secondly, 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; thirdly, the application range of the control system is small, the control force output is limited, the control effect is limited, the energy utilization rate of the control system cannot be ensured, and the requirement of economy cannot be met; fourth, while the active (rotational) control device can solve the three problems described above, there is a risk of complete failure of the unexpected energy shut-off control system.
The present invention has been made in such a background.
Disclosure of Invention
The invention aims to provide a self-powered active-passive composite rotational inertia driving control system.
In order to achieve the above purpose, the self-powered active and passive composite moment of inertia drive control system of the invention comprises an active output module and a passive output module, wherein the active output module comprises a driver, an encoder, a speed changer and an active moment of inertia disc; the passive output module comprises a torsion damping box, a generator, an energy storage unit and a passive moment of inertia disc;
a system cavity is arranged between the active moment of inertia disc and the passive moment of inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system cavity;
the drive is fixed at one side in the system pipe cavity, one end of the drive is provided with an encoder, the other end of the drive is connected with the speed changer, and a driving shaft of the drive passes through the speed changer and is vertically fixed at the center of the driving moment of inertia disk;
the torsion change damping box comprises an outer connecting plate, an inner connecting plate, an outer sleeve, an inner sleeve and a torsion spring, wherein the outer connecting plate is fixed at the center of a passive moment of inertia disc, the inner connecting plate is fixed at the end part of a system pipe cavity, the inner sleeve is fixedly connected with the inner connecting plate, the outer sleeve is fixedly connected with the outer connecting plate, the inner sleeve is coaxial with the outer sleeve, the outer sleeve is sleeved outside the inner sleeve, the two ends of the outer sleeve are sealed through oil seal bearings, a sealed damping liquid bin is formed between the two sleeves, and damping liquid is filled in the damping liquid bin; the torsion spring is arranged in the damping liquid bin, is wound along the inner sleeve, one end of the torsion spring is fixed with the outer connecting plate, and the other end of the torsion spring is fixed on the inner sleeve;
the generator is fixed on the other side in the system pipe cavity and is coaxial with the driver, and a rotating shaft of the generator sequentially penetrates through the system pipe cavity, the inner connecting plate and the inner sleeve and then is fixedly connected with the outer connecting plate;
the generator is also provided with an energy storage unit which is also connected with the driver.
Further, the driver is fixed in the system lumen by a driver fixing frame.
Further, the generator is fixed in the system lumen through the generator fixing frame.
Further, the invention also comprises a controller which is respectively connected with the energy storage unit, the generator, the driver and the encoder.
Further, a liquid injection hole is formed in the outer sleeve and used for filling damping liquid.
Further, neither the inner sleeve nor the inner connecting plate is in contact with the generator shaft.
Further, the active moment of inertia disc and the passive moment of inertia disc are parallel to the controlled structure rotation surface.
Further, the active moment of inertia disc and the passive moment of inertia disc coaxially rotate, and when the rotation directions are opposite, control forces in the same direction are generated.
Further, the driver is a servo motor or a stepping motor.
The invention has the following beneficial effects:
(1) The control system adopts a self-power supply technology, can realize the synergistic effect of the active module and the passive module, and does not need to rely on external energy;
(2) The passive output module has adjustable damping, can adjust frequency according to a controlled structure, and has the characteristic of wide application range;
(3) The control system can realize active and passive compound control, can realize vibration control under complex conditions, and has greater stability and energy conservation by combining a passive control technology compared with active control;
(4) The control system is suitable for the condition that the structure generates rotation, torsion or rotation shimmy movement, and has wide application range.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic view of a torsional variable damping tank;
FIG. 4 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 driver; 2. an encoder; 3. a transmission; 4. an active moment of inertia disk; 5. a torsion variable damping box; 6. a generator; 7. an energy storage unit; 8. a passive moment of inertia disk; 9. a system lumen; 10. a driver fixing frame; 11. an outer connecting plate; 12. an inner connection plate; 13. an outer sleeve; 14. an inner sleeve; 15. a torsion spring; 16. a liquid injection hole; 17. a generator fixing frame; 18. a controller; 19. and a controlled structure.
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. 1-4, the self-powered active-passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module, the active output module includes a driver 1, an encoder 2, a transmission 3 and an active moment of inertia disk 4; the passive output module comprises a torsion damping box 5, a generator 6, an energy storage unit 7 and a passive moment of inertia disc 8;
a system cavity 9 is arranged between the active moment of inertia disc and the passive moment of inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system cavity; the controlled structure 19 is fixed at the center of the system lumen, and the active moment of inertia disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
The driver is fixed on one side in the system lumen through a driver fixing frame 10, one end of the driver is provided with an encoder, the other end of the driver is connected with a speed changer, and a driving shaft of the driver passes through the speed changer and is vertically fixed at the center of the driving rotary inertia disc; the driver is a servo motor or a stepping motor.
The torsion change damping box comprises an outer connecting plate 11, an inner connecting plate 12, an outer sleeve 13, an inner sleeve 14 and a torsion spring 15, wherein the outer connecting plate is fixed at the center of a passive moment of inertia disc through bolts, the inner connecting plate is fixed at the end part of a system pipe cavity through bolts, the inner sleeve is fixedly connected with the inner connecting plate, the outer sleeve is fixedly connected with the outer connecting plate, the inner sleeve is coaxial with the outer sleeve, the outer sleeve is sleeved outside the inner sleeve, the two ends of the outer sleeve are sealed through oil seal bearings, a sealed damping liquid bin is formed between the two sleeves, and a liquid injection hole 16 is formed in the outer sleeve and used for filling damping liquid into the damping liquid bin; the torsion spring is arranged in the damping liquid bin, is wound along the inner sleeve, one end of the torsion spring is fixed with the outer connecting plate, and the other end of the torsion spring is fixed on the inner sleeve; the damping can be changed for frequency modulation by changing the viscosity of the damping liquid in the torsion variable damping box and the rigidity of the torsion spring.
The generator is fixed on the other side in the system pipe cavity through a generator fixing frame 17 and is coaxial with the driver, and a generator rotating shaft sequentially passes through the system pipe cavity, the inner connecting plate and the inner sleeve and then is fixedly connected with the outer connecting plate;
the inner sleeve and the inner connecting plate are not contacted with the rotating shaft of the generator and are separated from the rotating shaft of the generator, namely the generator only drives the outer connecting plate, the outer sleeve and the passive moment of inertia disc to rotate, and the inner connecting plate and the inner sleeve are fixed and do not rotate;
the generator is also provided with an energy storage unit 7 which is also connected with the driver, the energy storage unit is a storage battery, and when the passive output module works, the passive moment of inertia disc rotates to generate control force and drive the generator to rotate to generate electric energy, and the electric energy is input into the storage battery through a lead to be stored for the active output module.
The self-powered active and passive composite moment of inertia drive control system of the present invention further includes a controller 18, which is connected to the energy storage unit, the generator, the driver and the encoder, respectively.
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.
Under normal conditions, only the passive output module works independently to meet the vibration control requirement, generated electric energy is stored in the storage battery to store energy for the active output module while working, when complex conditions are met, the sensor feeds back the response of the monitored structure to the controller, the controller judges whether the active output module needs to be started, when the controller judges that the passive output module cannot meet the response requirement of the structure, the active output module starts to work, the active output module can control the rotary inertia disc to rotate according to the structure motion state measured in real time, the control moment acted on the controlled structure is adjusted, the driving energy output is adjusted, the vibration of the structure is controlled, and high control efficiency is guaranteed. At this time, the active moment of inertia disc and the passive moment of inertia disc coaxially rotate, the rotation directions are opposite, control force in the same direction is generated, the active and passive force output modules simultaneously play a control role, a good effect of compound control is generated, and the purpose of vibration control is achieved. With the active output module being started and functioning, the structural response is reduced, the sensor is fed back to the controller in real time in a range where the passive output module can function gradually, the active output module stops working, and the passive output module keeps working until the control effect is achieved.
The control system of the present invention can be applied to the following, but not limited to, basic prototype motion models of mechanical problems: 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 (7)
1. The self-powered active and passive composite moment of inertia driving control system is characterized by comprising an active output module and a passive output module, wherein the active output module comprises a driver (1), an encoder (2), a transmission (3) and an active moment of inertia disc (4); the passive output module comprises a torsion damping box (5), a generator (6), an energy storage unit (7) and a passive moment of inertia disc (8);
a system pipe cavity (9) is arranged between the active rotary inertia disc (4) and the passive rotary inertia disc (8), and the active output module and the passive output module are symmetrically distributed along the center of the system pipe cavity (9);
the driver (1) is fixed at one side in a system pipe cavity (9), one end of the driver (1) is provided with the encoder (2), the other end of the driver is connected with the transmission (3), and a driving shaft of the driver (1) penetrates through the transmission (3) and is vertically fixed at the center of the driving moment of inertia disc (4);
the torsion change damping box (5) comprises an outer connecting plate (11), an inner connecting plate (12), an outer sleeve (13), an inner sleeve (14) and a torsion spring (15), wherein the outer connecting plate (11) is fixed at the center of a passive moment of inertia disc (8), the inner connecting plate (12) is fixed at the end part of a system pipe cavity (9), the inner sleeve (14) is fixedly connected with the inner connecting plate (12), the outer sleeve (13) is fixedly connected with the outer connecting plate (11), the inner sleeve (14) is coaxial with the outer sleeve (13), the outer sleeve (13) is sleeved outside the inner sleeve (14), two ends of the outer sleeve are sealed through oil seal bearings, a closed damping liquid bin is formed between the two sleeves, and damping liquid is filled in the damping liquid bin; the torsion spring (15) is arranged in the damping liquid bin, is wound along the inner sleeve (14), one end of the torsion spring is fixed with the outer connecting plate (11), and the other end of the torsion spring is fixed on the inner sleeve (14);
the generator (6) is fixed on the other side in the system pipe cavity (9) and is coaxial with the driver (1), and a rotating shaft of the generator (6) sequentially penetrates through the system pipe cavity (9), the inner connecting plate (12) and the inner sleeve (14) and is fixedly connected with the outer connecting plate (11);
the generator (6) is also provided with an energy storage unit (7), and the energy storage unit (7) is connected with the driver (1);
the driving moment of inertia disc (4) and the driven moment of inertia disc (8) coaxially rotate, the rotation directions are opposite, and control force in the same direction is generated;
the device also comprises a controller (18), wherein the controller (18) is respectively connected with the energy storage unit (7), the generator (6), the driver (1) and the encoder (2).
2. A self-powered active and passive compound moment of inertia drive control system according to claim 1, wherein the driver (1) is secured within the system lumen (9) by a driver mount (10).
3. A self-powered active and passive compound moment of inertia drive control system according to claim 1, wherein the generator (6) is fixed in the system lumen (9) by a generator mount (17).
4. The self-powered active and passive composite moment of inertia drive control system of claim 1, wherein the outer sleeve (13) is provided with a fluid injection hole (16) for filling damping fluid.
5. A self-powered active and passive compound moment of inertia drive control system according to claim 1, wherein neither the inner sleeve (14) nor the inner connecting plate (12) is in contact with the generator (6) shaft.
6. A self-powered active and passive compound moment of inertia drive control system according to claim 1, wherein the active moment of inertia disc (4) and the passive moment of inertia disc (8) are parallel to the plane of rotation of the controlled structure (19).
7. A self-powered active-passive composite moment of inertia drive control system according to claim 1, wherein the driver (1) is a servo motor or a 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 |
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| CN109630612A CN109630612A (en) | 2019-04-16 |
| CN109630612B true 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) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109630612B (en) * | 2019-02-01 | 2023-11-24 | 青岛理工大学 | Self-powered active and passive composite moment of inertia driving control system |
| CN110654412B (en) * | 2019-10-31 | 2021-04-09 | 青岛理工大学 | Active and passive composite control system for inhibiting side rolling, nodding and shaking behaviors of high-speed train |
| CN110745156B (en) * | 2019-10-31 | 2021-07-16 | 青岛理工大学 | Active and passive hybrid control system for dynamic behavior of high-speed train |
| 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 |
| CN115366927B (en) * | 2022-08-15 | 2024-06-11 | 沈阳工业大学 | Control system for unfavorable swing behavior of high-altitude suspended object |
| CN115387593B (en) * | 2022-08-15 | 2024-04-02 | 沈阳工业大学 | Active and passive composite control system for swing and vibration stop of suspended object |
| CN115387201A (en) * | 2022-08-15 | 2022-11-25 | 沈阳工业大学 | Active control system for stabilizing and stopping swing of engineering structure or mechanical system |
| CN115233540B (en) * | 2022-08-15 | 2024-09-24 | 沈阳工业大学 | Active and passive hybrid control system for inhibiting bridge multi-mode coupling vibration |
| CN115404758B (en) * | 2022-08-15 | 2024-07-16 | 沈阳工业大学 | Active and passive compound control system for rotation moment |
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| CN109630612A (en) | 2019-04-16 |
| WO2020155643A1 (en) | 2020-08-06 |
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