CN112460178B - Self-tuning low-power actuator, active control system and control method - Google Patents
Self-tuning low-power actuator, active control system and control method Download PDFInfo
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- CN112460178B CN112460178B CN202011337939.9A CN202011337939A CN112460178B CN 112460178 B CN112460178 B CN 112460178B CN 202011337939 A CN202011337939 A CN 202011337939A CN 112460178 B CN112460178 B CN 112460178B
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- 230000001105 regulatory effect Effects 0.000 claims abstract 4
- 238000002955 isolation Methods 0.000 claims description 19
- 238000001228 spectrum Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 6
- 238000013095 identification testing Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000009467 reduction Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000010485 coping Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
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- 238000007599 discharging Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
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- 230000005284 excitation Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000013535 sea water 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
- F16F7/00—Vibration-dampers; Shock-absorbers
- F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
- F16F7/1005—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass
- F16F7/1017—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass by fluid means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D19/00—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase
- G05D19/02—Control of mechanical oscillations, e.g. of amplitude, of frequency, of phase characterised by the use of electric means
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- Vibration Prevention Devices (AREA)
Abstract
The invention relates to a self-tuning low-power actuator, which comprises a cover body, a magnetizer, a coil, a mass block, a guide rod, an air bag vibration isolator group and an air source, wherein the guide rod is fixedly arranged in the cover body; the mass block comprises an annular permanent magnet, the annular permanent magnet comprises a permanent magnet inner section and a permanent magnet outer section which are coaxially arranged at intervals, the permanent magnet inner section is sleeved on the guide rod, and the permanent magnet outer section is sleeved outside the permanent magnet inner section; the magnetizer is arranged in a gap between the magnetizer and the cover body and is fixedly connected with the cover body, and a coil is wound on the magnetizer; the mass block is supported in the cover body through the air bag vibration isolator group to form a mass spring system; the air source is connected with each air bag vibration isolator through an inflation and deflation pipe, and the equivalent rigidity of the air bag vibration isolators is adjusted through inflation or deflation. According to the invention, the natural frequency of the actuator can be self-regulated through the inflation and deflation of the air bag, and the natural frequency of the actuator can be regulated according to different working conditions, so that the mass block of the actuator can reciprocate under the natural frequency, and the output force is larger.
Description
Technical Field
The invention relates to the technical field of ship sound stealth, in particular to active vibration control of variable frequency equipment for ships.
Background
The low frequency spectrum of the ship is an important risk of causing ship exposure, and in order to reduce the low frequency spectrum, active control technology is gradually being applied to the ship. In active control, the energy consumption is an actuator, which is responsible for the output of the secondary force and is the core mechanism of the whole control process.
The most widely used electromagnetic actuators are currently. When alternating current is applied to the coil, lorentz forces are generated between the coil and the permanent magnet, under the action of which the permanent magnet and the mass to which it is attached reciprocate. And according to vibration analysis, the magnitude of the secondary force of the active control output is equal to the inertial force of the mass body.
The problem with such actuators is that, since the inertial force is related to the mass of the mass body, it is difficult to achieve a large force with a small mass, which restricts the practical use. Because the excitation force of the large-scale equipment is large, the current needs to be increased to ensure the vibration reduction effect, and therefore the problem of high power consumption is brought. The actuator has the characteristic of aiming at a specific working frequency, and when the natural frequency of the actuator is close to the Lorentz force frequency, the output force is maximum, in other words, the electric power consumed under the condition of the same output force is minimum. And when the frequency matching is poor, the consumed electric power is increased more times.
This working feature contradicts the new situation we are faced with. In recent years, frequency conversion equipment is a design trend of current ships and warships, and comprises a sea water pump with double-speed grading, an equalizing pump for adjusting the lift, a ventilator unit with air quantity grading and the like, wherein the frequency conversion equipment is changed in different working conditions due to the change of rotating speed, and the frequency of vibration sources is also changed. In vibration active control, the Lorentz force is always the same as the frequency of the vibration source and opposite in phase, so that the natural frequency of the actuator is not matched with the Lorentz force frequency under the variable frequency working condition. In view of the above situation, the pain point is: the operating characteristics of the actuator are contradictory to the variable frequency working condition. After the frequency conversion of the vibration source, the natural frequency of the actuator is not matched with the working frequency, so that the unit power output of the actuator is small, even the dangers of overlarge current, power amplifier burnout and the like exist, and the adverse effect of vibration control is caused.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides a self-tuning low-power actuator, which is characterized in that a rubber vibration isolator is replaced by an air bag vibration isolator on the basis of a traditional electromagnetic actuator, an air source and an air inlet and outlet pipe are arranged at the same time for inflating and deflating an air bag, the natural frequency of the actuator can be self-adjusted structurally through inflating and deflating the air bag, the natural frequency of the actuator is kept consistent with the frequency of the highest line spectrum under different working conditions under the single-line spectrum control requirement, the high output force can be realized by consuming small power, and the self-tuning low-power actuator is suitable for the active vibration reduction requirement of ship frequency conversion equipment.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the self-tuning low-power actuator comprises a cover body, a magnetizer, a coil, a mass block and a guide rod, wherein the guide rod is fixedly arranged in the cover body; the mass block comprises an annular permanent magnet, the annular permanent magnet comprises a permanent magnet inner section and a permanent magnet outer section which are coaxially arranged at intervals, the permanent magnet inner section is sleeved on the guide rod and can axially move relative to the guide rod, and the permanent magnet outer section is sleeved outside the permanent magnet inner section; the magnetizer is arranged in a gap between the inner permanent magnet section and the outer permanent magnet section, is fixedly connected with the cover body, and is wound with the coil;
the self-tuning low-power actuator further comprises an air bag vibration isolator group and an air source, and the mass block is supported in the cover body through the air bag vibration isolator group to form a mass spring system; the air source is connected with each air bag vibration isolator through an inflation and deflation pipe, and the equivalent rigidity of the air bag vibration isolators is adjusted through inflation or deflation, so that the natural frequency of the actuator is adjusted.
In the scheme, the magnetizer comprises an upper magnetizer section, a middle magnetizer section and a lower magnetizer section; the coils wound on the middle section of the magnetizer are denser than the coils wound on the upper section and the lower section of the magnetizer; and the inner wall of the outer section of the permanent magnet is provided with a groove outwards.
In the above scheme, the air bag vibration isolator group comprises four air bag vibration isolators which are respectively an air bag vibration isolator at the left upper layer positioned at the left upper part of the mass block, an air bag vibration isolator at the right upper layer positioned at the right upper part of the mass block, an air bag vibration isolator at the left lower layer positioned at the left lower part of the mass block and an air bag vibration isolator at the right lower layer positioned at the right lower part of the mass block.
In the scheme, each air bag vibration isolator is provided with an independent air source, and the air source is positioned beside the corresponding air bag vibration isolator and is arranged in the cover body.
In the above scheme, the quality piece still includes the yoke, the yoke sets up in the bottom of annular permanent magnet, respectively through long bolt and permanent magnet inner segment and permanent magnet outer segment fixed connection.
In the scheme, the cover body comprises an upper end cover, a lower end cover and an outer cylinder, wherein the upper end cover and the lower end cover are respectively arranged at the top end and the bottom end of the outer cylinder; the upper end cover is provided with a connecting part extending downwards at the position corresponding to the magnetizer, and the magnetizer is fixed at the bottom end of the connecting part.
In the above scheme, the cover body is also provided with an electrical interface for connecting an external control system.
Correspondingly, the invention also provides an active control system, the self-tuning low-power actuator, the acceleration sensor, the control system and the power amplifier; the acceleration sensor is arranged on the shell of the self-tuning low-power actuator and the vibration isolation device of the vibration source, and the self-tuning low-power actuator receives a control signal of the control system for the execution unit.
In the above scheme, the active control system further comprises a power amplifier, wherein the power amplifier is connected with the control system and the self-tuning low-power actuator, and amplifies an output signal of the control system and then sends the amplified output signal to the self-tuning low-power actuator.
Correspondingly, the invention also provides a control method of the active control system, which comprises the following steps:
step 1, adjusting the natural frequency of a self-tuning low-power actuator to a target tuning frequency, wherein the natural frequency tuning method comprises the following steps: 1) For single spectrum control requirement, the line spectrum frequency is the fundamental frequency of a single vibration source and the frequency multiplication thereof, in this case, only the actuator is required to be matched with the fundamental frequency of the vibration source, so the actuator is directly tuned in application: a plurality of self-tuning low-power actuators are arranged on a vibration isolation device, an acceleration sensor monitors vibration signals of measuring points on the vibration isolation device before active control is started, meanwhile, an air bag vibration isolator is slowly inflated and deflated, the natural frequency of the self-tuning low-power actuators is continuously changed until the natural frequency is matched with the vibration source frequency of working conditions, the amplitude of a mass block is suddenly increased, the acceleration sensor on a shell of the self-tuning low-power actuators recognizes resonance, inflation and deflation are stopped at the moment, the natural frequency of the self-tuning low-power actuators is completed after frequency modulation, and the value of the inflation and deflation is stored in a control system; 2) For multi-spectrum control requirements, the tuning frequency is determined through an actuator identification test, a signal generator is used for outputting unit signals of frequency components of 5 maximum line spectrums of a controlled object to an actuator through a power amplifier, the natural frequencies of the actuator are synchronously adjusted through inflation and deflation of an air bag vibration isolator in the test, the natural frequencies are traversed, the frequency when the weighted sum of the amplitude of the force output by the actuator is maximum is the target tuning frequency, in the test and debugging process, the inflation and deflation amounts required by air bags corresponding to different working conditions are determined and stored in a control system, and then the tuned actuator is installed on an vibration isolation device;
step 2, analyzing the corresponding working condition by monitoring the signals of the vibration measuring points on the vibration isolation device in real time, correspondingly implementing the inflation and deflation amounts, and tuning the self-tuning low-power actuator to a target tuning frequency;
and step 3, after the tuning of the self-tuning low-power actuator is finished, opening an active control button to implement vibration active control, and at the moment, the self-tuning low-power actuator consumes small power to provide large vibration control force.
The invention has the beneficial effects that:
1. according to the self-tuning low-power actuator, the rubber vibration isolator of the traditional electromagnetic actuator is replaced by the air bag vibration isolator, and the air source and the air inlet and outlet pipes are arranged at the same time to charge and discharge air for the air bag, so that the natural frequency of the actuator can be self-adjusted through the charge and discharge air of the air bag. The natural frequency of the actuator can be adjusted according to different working conditions, so that the mass block of the actuator can reciprocate under the natural frequency, and the output force is larger, and the actuator can be used for coping with the vibration reduction new situation of the variable frequency equipment.
2. The self-tuning low-power actuator has three characteristics: (1) The small-mass resonance actuator realizes the general vibration reduction of large equipment, the mass of a single actuator is only 13.5kg, and compared with the power consumption of the single actuator under the working condition of the original non-matching working frequency, the power consumption of the single actuator can be reduced by 1-1.5 times; (2) The natural frequency adjustment target and the specific method are definitely operable; (3) The vibration control method is suitable for vibration active control of variable frequency equipment of ships (including surface ships, conventional power submarines and nuclear power submarines).
3. The invention provides a natural frequency tuning rule of the actuator for the first time, the tuning process is very simple, the resonance principle is used, when active control is not started, the actuator can be regarded as a spring-mass block system, the natural frequency is continuously changed by utilizing a slow inflation and deflation process until the natural frequency is matched with the vibration source frequency of working conditions, the amplitude of the mass body is suddenly increased, the sensor recognizes resonance, the inflation and deflation are stopped at the moment, and the natural frequency of the actuator is completed after frequency modulation.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic diagram of the structure of a self-tuning low power actuator of the present invention.
In the figure: in the figure: 10. a cover body; 11. an upper end cap; 12. a lower end cap; 13. an outer cylinder; 20. a magnetizer; 21. the upper section of the magnetizer; 22. a middle section of the magnetizer; 23. the lower section of the magnetizer; 30. a mass block; 31. an annular permanent magnet; 311. an inner permanent magnet section; 312. an outer permanent magnet section; 32. a yoke; 33. a long bolt; 41. left upper layer air bag vibration isolator; 42. an upper right layer air bag vibration isolator; 43. left lower layer air bag vibration isolator; 44. a right lower layer air bag vibration isolator; 50. a gas source; 51. a gas charging and discharging pipe; 60. a guide rod; 61. a fastening bolt; 70. an electrical interface; 80. a mounting plate; 81. and (5) a bolt.
Detailed Description
For a clearer understanding of technical features, objects and effects of the present invention, a detailed description of embodiments of the present invention will be made with reference to the accompanying drawings.
As shown in fig. 1, a self-tuning low-power actuator according to an embodiment of the present invention includes a housing 10, a magnetizer 20, a coil, a mass 30, an air bag vibration isolator set, an air source 50, and a guide rod 60.
The cover body 10 comprises an upper end cover 11, a lower end cover 12 and an outer cylinder 13, wherein the upper end cover 11 and the lower end cover 12 are respectively arranged at the top end and the bottom end of the outer cylinder 13. The guide rod 60 is installed in the cover body 10, and the upper end of the guide rod 60 is fixedly connected with the upper end cover 11 through a fastening bolt 61.
The mass 30 includes an annular permanent magnet 31, a yoke 32, and a long bolt 33. The annular permanent magnet 31 comprises a permanent magnet inner section 311 and a permanent magnet outer section 312 which are coaxially arranged at intervals, wherein the permanent magnet inner section 311 is sleeved on the guide rod 60, the magnetizer 20 is arranged in a gap between the permanent magnet inner section 311 and the permanent magnet outer section 312, a connecting part which extends downwards is arranged at the position of the upper end cover 11 corresponding to the magnetizer 20, and the top end of the magnetizer 20 is fixedly connected with the bottom end of the connecting part. The yoke 32 is provided at the bottom of the ring-shaped permanent magnet 31 and is connected to the permanent magnet inner section 311 and the permanent magnet outer section 312 by long bolts 33, respectively, to form a single body.
The magnetizer 20 comprises an upper magnetizer section 21, a middle magnetizer section 22 and a lower magnetizer section 23, wherein the middle magnetizer section 22 is arranged at the middle position of the mass block 30, and coils wound on the middle magnetizer section 22 are denser than coils wound on the upper magnetizer section 21 and the lower magnetizer section 23, so that the stability of the mass block 30 in vibration under stress can be improved. The inner wall of the outer permanent magnet section 312 is provided with a groove outwards corresponding to the position of the middle magnetizer section 22 so as to reduce the weight of the mass block 30, thereby being convenient for realizing miniaturization and light weight. When the actuator works, electromagnetic force is generated between the electrified coil and the mass block 30, and the mass block 30 reciprocates under the action of the electromagnetic force.
The mass 30 is supported within the housing 10 by an air bag isolator set, the mass 30 and air bag isolator set forming a mass spring system. The air bag vibration isolator group comprises four air bag vibration isolators, namely an air bag vibration isolator 41 at the left upper layer of the mass block 30, an air bag vibration isolator 42 at the right upper layer of the mass block 30, an air bag vibration isolator 43 at the left lower layer of the mass block 30 and an air bag vibration isolator 44 at the right lower layer of the mass block 30. Each air bag vibration isolator is provided with an independent air source 50, the air source 50 is arranged beside the corresponding air bag vibration isolator, the air source 50 is connected with each air bag vibration isolator through an inflation and deflation pipe 51, and the equivalent rigidity of the air bag vibration isolator is adjusted through inflation or deflation, so that the natural frequency of the actuator is adjusted. Specifically, the upper left layer air bag vibration isolator 41 and the upper right layer air bag vibration isolator 42 are mounted on the upper end cover 11, and the lower end is connected with the permanent magnet inner section 311; the left and right lower air bag isolators 43 and 44 are mounted to the lower end cap 12 with the upper end connected to the yoke 32.
Further optimized, the air bag vibration isolator is an air bag spring or a hydraulic spring, and is preferably an air bag spring which is not easy to fatigue.
Further preferably, an electrical interface 70 is also provided within the housing 10 for connecting the control valve of the air supply 50 to an external control system.
Further preferably, the tuning low-power actuator further comprises a mounting plate 80, the cover body 10 and the internal equipment thereof are integrally mounted on the mounting plate 80, and the mounting plate 80 is mounted on the vibration isolation device of the vibration source through bolts 81. The vibration source is arranged on the vibration isolation device, the vibration isolation device is an application object of the tuning low-power actuator, and the actuator is used for controlling forced vibration of the vibration isolation device under the action of the vibration source.
Correspondingly, the invention also provides an active control system which comprises the self-tuning low-power actuator, an acceleration sensor, a control system and a power amplifier. The acceleration sensor is arranged on a shell of the self-tuning low-power actuator and the vibration isolation device, the self-tuning low-power actuator is used as an execution unit to receive a control signal of the control system, the power amplifier is connected with the control system and the actuator, and the output signal of the control system is amplified and then is sent to the actuator.
Correspondingly, the invention also provides a control method of the active control system, which comprises the following steps:
step 1, adjusting the natural frequency of a self-tuning low-power actuator to a target tuning frequency, wherein the natural frequency tuning method comprises the following steps: 1) For single spectrum control requirement, the line spectrum frequency is the fundamental frequency of a single vibration source and the frequency multiplication thereof, in this case, only the actuator is required to be matched with the fundamental frequency of the vibration source, so the actuator is directly tuned in application: a plurality of self-tuning low-power actuators are arranged on a vibration isolation device, before active control is started, an acceleration sensor monitors vibration signals of measuring points on the vibration isolation device, meanwhile, an air bag vibration isolator is slowly inflated and deflated, the natural frequency of the self-tuning low-power actuators is continuously changed until the natural frequency is matched with the vibration source frequency of working conditions, the amplitude of a mass block 30 is suddenly increased, the acceleration sensor on a shell of the self-tuning low-power actuators recognizes resonance, at the moment, inflation and deflation are stopped, the natural frequency of the self-tuning low-power actuators is completed after frequency modulation, and the value of the inflation and deflation is stored in a control system; 2) For multi-spectrum control requirements, the tuning frequency is determined through an actuator identification test, a signal generator is used for outputting unit signals of frequency components of 5 maximum line spectrums of a controlled object to an actuator through a power amplifier, the natural frequencies of the actuator are synchronously adjusted through inflation and deflation of an air bag vibration isolator in the test, the natural frequencies are traversed, the frequency when the weighted sum of the amplitude of the force output by the actuator is maximum is the target tuning frequency, in the test and debugging process, the inflation and deflation amounts required by air bags corresponding to different working conditions are determined and stored in a control system, and then the tuned actuator is installed on an vibration isolation device;
step 2, analyzing the corresponding working condition by monitoring the signals of the vibration measuring points on the vibration isolation device in real time, correspondingly implementing the inflation and deflation amounts, and tuning the self-tuning low-power actuator to a target tuning frequency;
and step 3, after the tuning of the self-tuning low-power actuator is finished, opening an active control button to implement vibration active control, and at the moment, the self-tuning low-power actuator consumes small power to provide large vibration control force.
The advantages of the invention include:
1. according to the self-tuning low-power actuator, the rubber vibration isolator of the traditional electromagnetic actuator is replaced by the air bag vibration isolator, and the air source and the air inlet and outlet pipes are arranged at the same time to charge and discharge air for the air bag, so that the natural frequency of the actuator can be self-adjusted through the charge and discharge air of the air bag. The natural frequency of the actuator can be adjusted according to different working conditions, so that the mass block 30 of the actuator can reciprocate under the natural frequency, and the output is larger, and the actuator can be used for coping with the new vibration reduction situation of the variable frequency equipment.
2. The self-tuning low-power actuator has three characteristics: (1) The small-mass resonance actuator realizes the general vibration reduction of large equipment, the mass of a single actuator is only 13.5kg, and compared with the power consumption of the single actuator under the working condition of the original non-matching working frequency, the power consumption of the single actuator can be reduced by 1-1.5 times; (2) The natural frequency adjustment target and the specific method are definitely operable; (3) The vibration control method is suitable for vibration active control of variable frequency equipment of ships (including surface ships, conventional power submarines and nuclear power submarines).
3. The invention provides a natural frequency tuning rule of the actuator for the first time, the tuning process is very simple, the resonance principle is used, when active control is not started, the actuator can be regarded as a spring-mass block system, the natural frequency is continuously changed by utilizing a slow inflation and deflation process until the natural frequency is matched with the vibration source frequency of working conditions, the amplitude of the mass body is suddenly increased, the sensor recognizes resonance, the inflation and deflation are stopped at the moment, and the natural frequency of the actuator is completed after frequency modulation.
The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above-described embodiments, which are merely illustrative and not restrictive, and many forms may be made by those having ordinary skill in the art without departing from the spirit of the present invention and the scope of the claims, which are to be protected by the present invention.
Claims (8)
1. The control method of the active control system is characterized in that the active control system comprises a self-tuning low-power actuator, an acceleration sensor, a control system and a power amplifier; the self-tuning low-power actuator comprises a cover body (10), a magnetizer (20), a coil, a mass block (30) and a guide rod (60), wherein the guide rod (60) is fixedly arranged in the cover body (10); the mass block (30) comprises an annular permanent magnet (31), the annular permanent magnet (31) comprises a permanent magnet inner section (311) and a permanent magnet outer section (312) which are coaxially arranged at intervals, the permanent magnet inner section (311) is sleeved on the guide rod (60) and can axially move relative to the guide rod (60), and the permanent magnet outer section (312) is sleeved outside the permanent magnet inner section (311); the magnetizer (20) is arranged in a gap between the permanent magnet inner section (311) and the permanent magnet outer section (312) and is fixedly connected with the cover body (10), and the coil is wound on the magnetizer (20); the self-tuning low-power actuator further comprises an air bag vibration isolator group and an air source (50), and the mass block (30) is supported in the cover body (10) through the air bag vibration isolator group to form a mass spring system; the air source (50) is connected with each air bag vibration isolator through an inflation and deflation pipe, and the equivalent rigidity of the air bag vibration isolators is regulated through inflation or deflation, so that the natural frequency of the actuator is regulated; the acceleration sensor is arranged on the shell of the self-tuning low-power actuator and the vibration isolation device of the vibration source, and the self-tuning low-power actuator receives a control signal of the control system for the execution unit;
the control method comprises the following steps:
step 1, adjusting the natural frequency of a self-tuning low-power actuator to a target tuning frequency, wherein the natural frequency tuning method comprises the following steps: 1) For single spectrum control requirement, the line spectrum frequency is the fundamental frequency of a single vibration source and the frequency multiplication thereof, in this case, only the actuator is required to be matched with the fundamental frequency of the vibration source, so the actuator is directly tuned in application: a plurality of self-tuning low-power actuators are arranged on a vibration isolation device, before active control is started, an acceleration sensor monitors vibration signals of measuring points on the vibration isolation device, meanwhile, an air bag vibration isolator is slowly inflated and deflated, the natural frequency of the self-tuning low-power actuators is continuously changed until the natural frequency is matched with the vibration source frequency of working conditions, the amplitude of a mass block 30 is suddenly increased, the acceleration sensor on a shell of the self-tuning low-power actuators recognizes resonance, at the moment, inflation and deflation are stopped, the natural frequency of the self-tuning low-power actuators is completed after frequency modulation, and the value of the inflation and deflation is stored in a control system; 2) For multi-spectrum control requirements, the tuning frequency is determined through an actuator identification test, a signal generator is used for outputting unit signals of frequency components of 5 maximum line spectrums of a controlled object to an actuator through a power amplifier, the natural frequencies of the actuator are synchronously adjusted through inflation and deflation of an air bag vibration isolator in the test, the natural frequencies are traversed, the frequency when the weighted sum of the amplitude of the force output by the actuator is maximum is the target tuning frequency, in the test and debugging process, the inflation and deflation amounts required by air bags corresponding to different working conditions are determined and stored in a control system, and then the tuned actuator is installed on an vibration isolation device;
step 2, analyzing the corresponding working condition by monitoring the signals of the vibration measuring points on the vibration isolation device in real time, correspondingly implementing the inflation and deflation amounts, and tuning the self-tuning low-power actuator to a target tuning frequency;
and step 3, after the tuning of the self-tuning low-power actuator is finished, opening an active control button to implement vibration active control, and at the moment, the self-tuning low-power actuator consumes small power to provide large vibration control force.
2. The control method of an active control system according to claim 1, characterized in that the magnetizer (20) comprises an upper magnetizer section (21), a middle magnetizer section (22) and a lower magnetizer section (23); the coils wound on the middle section (22) of the magnetizer are denser than the coils wound on the upper section (21) and the lower section (23) of the magnetizer; the inner wall of the outer permanent magnet section (312) is provided with a groove outwards.
3. The control method of an active control system according to claim 1, wherein the air bag vibration isolator group includes four air bag vibration isolators, which are respectively an upper left air bag vibration isolator (41) located at an upper left side of the mass block (30), an upper right air bag vibration isolator (42) located at an upper right side of the mass block (30), a lower left air bag vibration isolator (43) located at a lower left side of the mass block (30), and a lower right air bag vibration isolator (44) located at a lower right side of the mass block (30).
4. A control method of an active control system according to claim 3, characterized in that each air bag vibration isolator is provided with a separate air supply (50), said air supply (50) being located beside the respective air bag vibration isolator and being mounted in the housing (10).
5. The control method of an active control system according to claim 1, wherein the mass (30) further comprises a yoke (32), the yoke (32) being arranged at the bottom of the annular permanent magnet (31) and being fixedly connected to the inner permanent magnet section (311) and the outer permanent magnet section (312) by means of long bolts (33), respectively.
6. The control method of the active control system according to claim 1, wherein the cover body (10) includes an upper end cover (11), a lower end cover (12) and an outer cylinder (13), and the upper end cover (11) and the lower end cover (12) are respectively mounted at the top end and the bottom end of the outer cylinder (13); the upper end cover (11) is provided with a connecting part extending downwards at a position corresponding to the magnetizer (20), and the magnetizer (20) is fixed at the bottom end of the connecting part.
7. The control method of an active control system according to claim 1, characterized in that an electrical interface (70) is also provided in the housing (10) for connecting to an external control system.
8. The method of claim 1, further comprising a power amplifier coupled to the control system and the self-tuning low power actuator, wherein the power amplifier amplifies an output signal from the control system and provides the amplified output signal to the self-tuning low power actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011337939.9A CN112460178B (en) | 2020-11-25 | 2020-11-25 | Self-tuning low-power actuator, active control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011337939.9A CN112460178B (en) | 2020-11-25 | 2020-11-25 | Self-tuning low-power actuator, active control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112460178A CN112460178A (en) | 2021-03-09 |
| CN112460178B true CN112460178B (en) | 2024-03-22 |
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| CN114355816A (en) * | 2022-01-04 | 2022-04-15 | 中国船舶重工集团公司第七0四研究所 | Self-adaptive wireless actuator |
| CN114658790A (en) * | 2022-03-18 | 2022-06-24 | 苏州东菱智能减振降噪技术有限公司 | Line spectrum frequency reduction device |
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