CN113147303A - Hydraulic motor type inertia energy feedback device and control method thereof - Google Patents
Hydraulic motor type inertia energy feedback device and control method thereof Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000011084 recovery Methods 0.000 claims abstract description 12
- 239000010720 hydraulic oil Substances 0.000 claims description 30
- 230000006698 induction Effects 0.000 claims description 11
- 238000002955 isolation Methods 0.000 claims description 11
- 238000013016 damping Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 8
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- 230000009466 transformation Effects 0.000 claims description 8
- 230000009471 action Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 4
- 241000232299 Ralstonia Species 0.000 claims description 3
- 238000011217 control strategy Methods 0.000 claims description 3
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000010248 power generation Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 2
- 230000001808 coupling effect Effects 0.000 abstract 1
- 239000000725 suspension Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004134 energy conservation Methods 0.000 description 2
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- 239000003990 capacitor Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/16—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase
- B60G13/18—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dynamic absorbers as main damping means, i.e. spring-mass system vibrating out of phase combined with energy-absorbing means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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Abstract
The invention discloses a hydraulic motor type inertia energy feedback device and a control method thereof, which can realize three different working modes of energy feedback, passive control and active control by utilizing the coupling effect of a hydraulic motor type inertia container, a linear motor and a rotary motor. The vibration energy recovery of the system can be effectively realized in the energy feedback mode, and the energy recovery efficiency is higher; in the passive control mode, a complex mechanical network can be realized by simulating through a linear motor and an external electric network of a rotating motor, so that the integrated design of the complex mechanical and electrical network is completed; in the active control mode, the hydraulic motor type inertia energy-feeding device can be used as a force generator to carry out tuning control on the vibration system. The hydraulic motor type inertia energy feedback device has excellent dynamic performance and multiple working modes, can realize complex system impedance output, effectively saves installation space and realizes recovery of vibration energy.
Description
Technical Field
The invention belongs to the field of engineering vibration isolation, and particularly relates to a hydraulic motor type inertia energy feedback device and a control method thereof.
Background
As an assembly device for bearing the weight of a vehicle body and buffering the impact of road surface unevenness, the quality of a suspension has an important influence on the running performance of the vehicle. The inertial container is produced in order to break through the bottleneck of improving the performance of a Mass-Spring-Damper (Mass-Spring-Damper) of a traditional mechanical vibration isolation system and solve the problem of single end point of a Mass block element. The novel mechanical vibration isolation network inertial container-Spring-Damper (Inerter-Spring-Damper) shows great vibration isolation potential and is proved in various vibration isolation fields.
In domestic and foreign research, various ISD network vibration isolation structures with excellent performance are proposed and verified to have effective vibration isolation advantages. According to a new electromechanical similarity theory, the inerter corresponds to a capacitor element in an electric network, and at present, the common implementations of the inerter are a ball screw type, a rack and pinion type and a hydraulic motor type. However, simple mechanical network elements are complex and difficult to apply in engineering practice. With the acceleration of automobile electromotion and energy conservation, a new technology of an electromotion chassis becomes a focus of attention in the fields of theoretical research and engineering.
Disclosure of Invention
The purpose of the invention is: the hydraulic motor type inertia energy feedback device can achieve vibration energy recovery in the running process of an automobile, meanwhile, the integrated design of a complex suspension structure is achieved, the vibration isolation performance of a suspension system can be effectively improved, energy conservation and emission reduction are achieved, and meanwhile, the riding comfort and the operation stability of a new energy automobile are improved.
The technical means adopted for realizing the aim of the invention are as follows:
a hydraulic motor type inertia energy feedback device comprises an upper lifting lug (1), a motor cylinder barrel (2), a hydraulic cylinder piston (3), a linear motor stator (4), a winding (5), a lower lifting lug (6), hydraulic oil (7), a hydraulic motor shell (8), a hydraulic motor central body (9), hydraulic motor blades (10), a hydraulic oil pipe (11), a linear motor rotor magnetic yoke (12), a linear motor rotor magnetic pole (13), a rotor shaft (14), an outer shell (15), a rotary motor shell (16), a rotary motor lower end cover bearing (17), a support (18), a rotary motor rotor shaft (19), a rotary motor central rotor (20), a rotary motor stator (21) and a rotary motor upper end cover bearing (22);
the upper lifting lug (1), the hydraulic cylinder piston (3), the rotor shaft (14) and the lower lifting lug (6) are welded into a whole, a linear motor stator (4) is fixed on the inner side wall of the motor cylinder barrel (2) along the radial direction in a circular matrix manner, windings (5) are uniformly distributed in the linear motor stator (4), and a linear motor rotor magnetic pole (13) and a linear motor rotor magnetic yoke (12) are fixed on the rotor shaft (14); incompressible hydraulic oil (7) is fully distributed in the motor cylinder barrel (2) and the hydraulic oil pipe (11), and the hydraulic oil (7) flows back and forth under the thrust action of the hydraulic cylinder piston (3) through the hydraulic oil pipe (11), the hydraulic motor shell (8) and the hydraulic motor blade (10) and is strictly sealed; the central body (9) of the hydraulic motor is connected with a rotor shaft (19) of the rotating motor and can coaxially rotate;
a rotary motor shell (16) is arranged in the outer shell (15), the rotary motor shell (16) is fixed on the inner wall of the outer shell (15), a rotary motor rotor shaft (19) is arranged in the rotary motor shell (16), a rotary motor central rotor (20) is arranged around the rotary motor rotor shaft (19), the rotary motor central rotor (20) is fixed on the rotary motor rotor shaft (19), and a rotary motor stator (21) is fixed on the rotary motor shell (16); an upper end cover bearing (22) and a lower end cover bearing (17) of the rotating motor are respectively matched with a rotor shaft (19) of the rotating motor and are arranged at the left end and the right end of a rotating motor shell (16); the outer shell (15) is welded with the motor cylinder barrel (2) into a whole through a support (18), and the position is relatively static.
Furthermore, the rotor shaft (14) is one end point, the motor cylinder (2) is the other end point, and relative linear motion is generated between the two end points.
Furthermore, a linear motor stator (4) on the motor cylinder barrel (2) makes radial relative linear motion relative to the rotor shaft (14), and a linear motor rotor magnetic pole (13) and a linear motor rotor magnetic yoke (12) make cutting magnetic induction line motion relative to the linear motor stator (4) to drive the linear motor to generate power and generate induction voltage at an outer end circuit.
Furthermore, the hydraulic oil (7) pushes the hydraulic motor blade (10) to rotate in the reciprocating flow process to form the action effect of the hydraulic motor type inerter.
Furthermore, the central body (9) of the hydraulic motor is matched and connected with a rotor shaft (19) of the rotating motor through a flat key (23) to rotate together, and the central rotor (20) of the rotating motor does cutting magnetic induction line rotating motion compared with a stator (21) of the rotating motor to drive the rotating motor to generate power and generate induction voltage at an outer end circuit.
The invention discloses a control method of a hydraulic motor type inertia energy feedback device, which can work in three modes:
1) when the linear motor and the rotary motor are in an energy feedback state, relative motion among the upper lifting lug, the lower lifting lug and the motor cylinder barrel and hydraulic oil push hydraulic motor blades to rotate in a flowing process to form a hydraulic motor type inerter acting effect, at the moment, the linear motor and the rotary motor are in a power generation state, generated terminal voltage can be connected through an external end energy recovery circuit to recover vibration energy of the system for energy input of other control systems, and compared with a traditional single rotary motor or linear motor form, the double-motor energy feedback device adopted by the invention has higher energy recovery efficiency, and at the moment, the hydraulic motor type inerter energy feedback device works in an energy feedback working mode;
2) when the linear motor and the rotating motor are in a passive control state, the electromagnetic thrust F generated by the linear motoraCan be expressed as:
wherein s is a Ralstonia complex variable, Fa(s) is the electromagnetic thrust F generated by the linear motoraV(s) is the Laplace transformation of the relative speed between the upper and lower lifting lugs and the motor cylinder, kaIs a linear motorCoefficient of electromotive force of (k)tIs the coefficient of thrust, RaIs the equivalent resistance of the linear motor, LaIs an equivalent inductance of a linear motor, Za(s) is the impedance of the external circuit of the linear motor;
conversion of electromagnetic torque generated by a rotating electrical machine into an axial force FbCan be expressed as:
in the formula, Fb(s) conversion of electromagnetic torque generated by a rotating electrical machine into an axial force FbThe Laplace transformation of (1) is that A is the sectional area of the piston, D is the ratio of the flow rate of the hydraulic motor to the angular velocity, etavFor volumetric efficiency of the hydraulic motor, ηmFor the mechanical efficiency of the hydraulic motor, I is the moment of inertia of the hydraulic motor blades and the rotor part of the rotating electrical machine, KeIs the electromotive force coefficient of the rotating electric machine, KtFor the torque coefficient of the rotating machine, ReIs the equivalent internal resistance of the rotating electric machine, LeIs an inductance of a rotating electric machine, Ze(s) is an impedance expression of an external end circuit of the rotating motor;
the expression of the electromagnetic damping force F generated by the hydraulic motor type inertia energy feedback device is as follows:
f(s) is the Laplace transformation of the electromagnetic damping force F generated by a hydraulic motor type inertia energy feedback device, and the impedance Z of the outer end of the linear motor is changeda(s) and outer end circuit impedance Z of rotating electric machinee(s) the change of the damping force of the device can be realized, the range of the realized complex network impedance is greatly widened, the vibration isolation performance of the device can be effectively improved, and the hydraulic motor type inertia energy feedback device works in a passive control mode;
3) when the linear motor and the rotating motor are in an active control state, the current is controlled through an external circuit of the linear motor or the rotating motor, active tuning control is carried out on the vibration system according to a designed control strategy, active control on the vibration system is achieved, and at the moment, the hydraulic motor type inertia energy feedback device works in an active control mode.
The beneficial implementation effect of the invention is: the invention utilizes the relative movement between the upper lifting lug and the lower lifting lug and the motor cylinder barrel and the effect of the hydraulic motor type inerter formed by pushing the hydraulic motor blade to rotate in the flowing process of hydraulic oil, and can realize three different working modes of 'energy feeding', 'passive control' and 'active control'. The vibration energy recovery of the system can be effectively realized in the energy feedback mode, and the energy recovery efficiency is higher; in the passive control mode, a complex mechanical network can be realized by simulating through external electric networks of the linear motor and the rotating motor, and meanwhile, the integrated design of the complex electromechanical network is realized; in the active control mode, the hydraulic motor type inertia energy-feeding device can be used as a force generator to carry out tuning control on the vibration system. The hydraulic motor type inertia energy feedback device can realize complex system impedance output, has excellent dynamic performance, can effectively save installation space and realize recovery of vibration energy.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic structural diagram of a hydraulic motor type inertia energy feedback device.
Fig. 2 is a schematic structural diagram of a rotating electrical machine of a hydraulic motor type inertia energy feedback device.
Description of reference numerals:
1-upper lifting lug, 2-motor cylinder barrel, 3-hydraulic cylinder piston, 4-linear motor stator, 5-winding, 6-lower lifting lug, 7-hydraulic oil, 8-hydraulic motor shell, 9-hydraulic motor central body, 10-hydraulic motor blade, 11-hydraulic oil pipe, 12-linear motor rotor magnetic yoke, 13-linear motor rotor magnetic pole, 14-rotor shaft, 15-outer shell, 16-rotary motor shell, 17-rotary motor lower end cover bearing, 18-bracket, 19-rotary motor rotor shaft, 20-rotary motor central rotor, 21-rotary motor stator, 22-rotary motor upper end cover bearing, and 23-flat key.
Detailed Description
The present invention will be further described with reference to fig. 1 and the specific embodiment, it should be noted that the technical solution and the design principle of the present invention are described in detail with reference to only one optimized technical solution, but the protection scope of the present invention is not limited thereto.
As shown in fig. 1 and 2, a hydraulic motor type inertia energy feedback device includes an upper lifting lug 1, a motor cylinder 2, a hydraulic cylinder piston 3, a linear motor stator 4, a winding 5, a lower lifting lug 6, hydraulic oil 7, a hydraulic motor housing 8, a hydraulic motor central body 9, hydraulic motor blades 10, a hydraulic oil pipe 11, a linear motor rotor yoke 12, a linear motor rotor magnetic pole 13, a rotor shaft 14, an outer housing 15, a rotary motor housing 16, a rotary motor lower end cover bearing 17, a bracket 18, a rotary motor rotor shaft 19, a rotary motor central rotor 20, a rotary motor stator 21, a rotary motor upper end cover bearing 22, and a flat key 23.
The upper lifting lug 1, the hydraulic cylinder piston 3, the rotor shaft 14 and the lower lifting lug 6 are welded into a whole, the inner side wall of the motor cylinder barrel 2 is radially fixed with a linear motor stator 4 in a circular matrix, windings 5 are uniformly distributed in the linear motor stator 4, and a linear motor rotor magnetic pole 13 and a linear motor rotor magnetic yoke 12 are both fixed on the rotor shaft 14.
The motor cylinder barrel 2 and the hydraulic oil pipe 11 are filled with incompressible hydraulic oil 7, and the hydraulic oil 7 is subjected to reciprocating flow under the thrust action of the hydraulic cylinder piston 3 through the hydraulic oil pipe 11, the hydraulic motor shell 8 and the hydraulic motor blade 10 and is strictly sealed.
The hydraulic motor central body 9 is connected with the rotor shaft 19 of the rotating electrical machine through a flat key 23 and can rotate coaxially.
As shown in fig. 2, a rotating electric machine housing 16 is provided inside the outer housing 15, the rotating electric machine housing 16 is fixed on the inner wall of the outer housing 15, a rotating electric machine rotor shaft 19 is provided inside the rotating electric machine housing 16, a rotating electric machine central rotor 20 is provided around the rotating electric machine rotor shaft 19, the rotating electric machine central rotor 20 is fixed on the rotating electric machine rotor shaft 19, and a rotating electric machine stator 21 is fixed on the rotating electric machine housing 16.
The rotating machine upper end cover bearing 22 and the rotating machine lower end cover bearing 17 are respectively matched with the rotating machine rotor shaft 19 and are arranged at the left end and the right end of the rotating machine shell 16.
The outer shell 15 is welded with the motor cylinder 2 into a whole through a bracket 18, and the position is relatively static.
The rotor shaft 14 can do radial linear reciprocating motion in the motor cylinder 2, and the rotary motor rotor shaft 19 and the fixed rotary motor central rotor 20 can do rotary motion in the rotary motor shell 16.
Taking the hydraulic motor type inertia energy feedback device shown in fig. 1 and 2 as an example, the rotor shaft 14 is one end point, the motor cylinder 2 is the other end point, and the working process is as follows:
when relative linear motion is generated between the two end points, the linear motor stator 4 fixed on the motor cylinder 2 makes radial relative linear motion relative to the rotor shaft 14, the linear motor rotor magnetic pole 13 and the linear motor rotor magnetic yoke 12 make cutting magnetic induction line motion relative to the linear motor stator 4, the linear motor is driven to generate electricity, and induction voltage is generated at the outer end circuit.
The incompressible hydraulic oil 7 fully distributed in the motor cylinder barrel 2 flows through the hydraulic oil pipe 11, the hydraulic motor shell 8 and the hydraulic motor blade 10 to flow back and forth under the pushing action of the hydraulic cylinder piston 3, the hydraulic oil is strictly sealed, and the hydraulic oil 7 pushes the hydraulic motor blade 10 to rotate in the flowing process to form the effect of a hydraulic motor type inerter.
Meanwhile, the hydraulic motor central body 9 is matched and connected with the rotating motor rotor shaft 19 through the flat key 23 to rotate together, the rotating motor central rotor 20 also performs cutting magnetic induction line rotating motion compared with the rotating motor stator 21, the rotating motor is driven to generate electricity, and induction voltage is generated at an outer end circuit.
The working principle of the linear motor and the rotating motor is briefly analyzed, and the following results are obtained:
electromagnetic thrust F generated by linear motoraCan be expressed as:
wherein s is a Ralstonia complex variable, Fa(s) is the electromagnetic thrust F generated by the linear motoraV(s) is the Laplace transformation of the relative speed between the upper and lower lifting lugs and the motor cylinder, kaIs the electromotive force coefficient, k, of the linear motortIs the coefficient of thrust, RaIs the equivalent resistance of the linear motor, LaIs an equivalent inductance of a linear motor, ZaAnd(s) is the impedance of the external circuit of the linear motor.
Conversion of electromagnetic torque generated by a rotating electrical machine into an axial force FbCan be expressed as:
in the formula, Fb(s) conversion of electromagnetic torque generated by a rotating electrical machine into an axial force FbThe Laplace transformation of (1) is that A is the sectional area of the piston, D is the ratio of the flow rate of the hydraulic motor to the angular velocity, etavFor volumetric efficiency of the hydraulic motor, ηmFor the mechanical efficiency of the hydraulic motor, I is the moment of inertia of the hydraulic motor blades and the rotor part of the rotating electrical machine, KeIs the electromotive force coefficient of the rotating electric machine, KtFor the torque coefficient of the rotating machine, ReIs the equivalent internal resistance of the rotating electric machine, LeIs an inductance of a rotating electric machine, ZeAnd(s) is an impedance expression of an external end circuit of the rotating motor.
The expression of the electromagnetic damping force F generated by the hydraulic motor type inertia energy feedback device is as follows:
f(s) is the Laplace transformation of the electromagnetic damping force F generated by the hydraulic motor type inertia energy feedback device.
The invention provides a hydraulic motor type inertia energy feedback device, which has the following working modes:
(1) when the linear motor and the rotary motor are in an energy feedback state, relative motion between the upper lifting lug and the lower lifting lug and the motor cylinder barrel and hydraulic oil push the hydraulic motor blade to rotate in the flowing process to form the action effect of the hydraulic motor type inertial container, at the moment, the linear motor and the rotary motor are in a power generation state, and the generated terminal voltage can be connected through an external end energy recovery circuit to recover the vibration energy of the system for energy input of other control systems.
(2) When the linear motor and the rotating motor are in a passive control state, the external end impedance Z of the linear motor is changeda(s) and outer end circuit impedance Z of rotating electric machineeThe damping force of the device can be changed, the range of the complex network impedance which can be realized is greatly widened, the vibration isolation performance of the device can be effectively improved, and the hydraulic motor type inertia energy feedback device works in a passive control mode at the moment.
(3) When the linear motor and the rotating motor are in an active control state, the current can be controlled through an external circuit of the linear motor or the rotating motor, active tuning control is carried out on the vibration system according to a designed control strategy, active control on the vibration system is achieved, and at the moment, the hydraulic motor type inertia energy feedback device works in an active control mode.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (6)
1. The hydraulic motor type inertia energy feedback device is characterized by comprising an upper lifting lug (1), a motor cylinder barrel (2), a hydraulic cylinder piston (3), a linear motor stator (4), a winding (5), a lower lifting lug (6), hydraulic oil (7), a hydraulic motor shell (8), a hydraulic motor central body (9), hydraulic motor blades (10), a hydraulic oil pipe (11), a linear motor rotor magnetic yoke (12), a linear motor rotor magnetic pole (13), a rotor shaft (14), an outer shell (15), a rotary motor shell (16), a rotary motor lower end cover bearing (17), a support (18), a rotary motor rotor shaft (19), a rotary motor central rotor (20), a rotary motor stator (21) and a rotary motor upper end cover bearing (22);
the upper lifting lug (1), the hydraulic cylinder piston (3), the rotor shaft (14) and the lower lifting lug (6) are welded into a whole, a linear motor stator (4) is fixed on the inner side wall of the motor cylinder barrel (2) along the radial direction in a circular matrix manner, windings (5) are uniformly distributed in the linear motor stator (4), and a linear motor rotor magnetic pole (13) and a linear motor rotor magnetic yoke (12) are fixed on the rotor shaft (14); incompressible hydraulic oil (7) is fully distributed in the motor cylinder barrel (2) and the hydraulic oil pipe (11), and the hydraulic oil (7) flows back and forth under the thrust action of the hydraulic cylinder piston (3) through the hydraulic oil pipe (11), the hydraulic motor shell (8) and the hydraulic motor blade (10) and is strictly sealed; the central body (9) of the hydraulic motor is connected with a rotor shaft (19) of the rotating motor and can coaxially rotate;
a rotary motor shell (16) is arranged in the outer shell (15), the rotary motor shell (16) is fixed on the inner wall of the outer shell (15), a rotary motor rotor shaft (19) is arranged in the rotary motor shell (16), a rotary motor central rotor (20) is arranged around the rotary motor rotor shaft (19), the rotary motor central rotor (20) is fixed on the rotary motor rotor shaft (19), and a rotary motor stator (21) is fixed on the rotary motor shell (16); an upper end cover bearing (22) and a lower end cover bearing (17) of the rotating motor are respectively matched with a rotor shaft (19) of the rotating motor and are arranged at the left end and the right end of a rotating motor shell (16); the outer shell (15) is welded with the motor cylinder barrel (2) into a whole through a support (18), and the position is relatively static.
2. A hydraulic motor type inertia energy feedback device according to claim 1, wherein the rotor shaft (14) is one end point, the motor cylinder (2) is the other end point, and a relative linear motion is generated between the two end points.
3. The hydraulic motor type inertia energy feedback device of claim 1, wherein the linear motor stator (4) on the motor cylinder (2) makes radial relative linear motion relative to the rotor shaft (14), and the linear motor rotor magnetic pole (13) and the linear motor rotor magnetic yoke (12) make cutting magnetic induction line motion relative to the linear motor stator (4) to drive the linear motor to generate electricity and generate induction voltage at the outer end circuit.
4. A hydromotor inertial energy feed device according to claim 1, characterized by the fact that the hydraulic oil (7) during the reciprocating flow pushes the hydromotor blades (10) to rotate creating hydromotor inertial container action effect.
5. The inertia energy feedback device of claim 1, wherein the hydraulic motor center body (9) is connected with the rotor shaft (19) of the rotating electrical machine through a flat key (23) to rotate together, and the rotating electrical machine center rotor (20) also rotates along with the stator (21) of the rotating electrical machine to cut magnetic induction lines, so as to drive the rotating electrical machine to generate electricity and generate induced voltage at the outer end.
6. A method of controlling a hydro-motor type inertial energy feed device according to claim 1, characterized in that the device can operate in three modes:
1) when the linear motor and the rotary motor are in an energy feedback state, relative motion among the upper lifting lug, the lower lifting lug and the motor cylinder barrel and hydraulic oil push hydraulic motor blades to rotate in a flowing process to form a hydraulic motor type inerter acting effect, at the moment, the linear motor and the rotary motor are in a power generation state, generated terminal voltage can be connected through an external end energy recovery circuit to recover vibration energy of the system for energy input of other control systems, and compared with a traditional single rotary motor or linear motor form, the double-motor energy feedback device adopted by the invention has higher energy recovery efficiency, and at the moment, the hydraulic motor type inerter energy feedback device works in an energy feedback working mode;
2) when the linear motor and the rotating motor are in a passive control state, the electromagnetic thrust F generated by the linear motoraCan be expressed as：
Wherein s is a Ralstonia complex variable, Fa(s) is the electromagnetic thrust F generated by the linear motoraV(s) is the Laplace transformation of the relative speed between the upper and lower lifting lugs and the motor cylinder, kaIs the electromotive force coefficient, k, of the linear motortIs the coefficient of thrust, RaIs the equivalent resistance of the linear motor, LaIs an equivalent inductance of a linear motor, Za(s) is the impedance of the external circuit of the linear motor;
conversion of electromagnetic torque generated by a rotating electrical machine into an axial force FbCan be expressed as:
in the formula, Fb(s) conversion of electromagnetic torque generated by a rotating electrical machine into an axial force FbThe Laplace transformation of (1) is that A is the sectional area of the piston, D is the ratio of the flow rate of the hydraulic motor to the angular velocity, etavFor volumetric efficiency of the hydraulic motor, ηmFor the mechanical efficiency of the hydraulic motor, I is the moment of inertia of the hydraulic motor blades and the rotor part of the rotating electrical machine, KeIs the electromotive force coefficient of the rotating electric machine, KtFor the torque coefficient of the rotating machine, ReIs the equivalent internal resistance of the rotating electric machine, LeIs an inductance of a rotating electric machine, Ze(s) is an impedance expression of an external end circuit of the rotating motor;
the expression of the electromagnetic damping force F generated by the hydraulic motor type inertia energy feedback device is as follows:
f(s) is the Laplace conversion of the electromagnetic damping force F generated by the hydraulic motor type inertia energy feedback device by changing the straight lineOuter end impedance Z of motora(s) and outer end circuit impedance Z of rotating electric machinee(s) the change of the damping force of the device can be realized, the range of the realized complex network impedance is greatly widened, the vibration isolation performance of the device can be effectively improved, and the hydraulic motor type inertia energy feedback device works in a passive control mode;
3) when the linear motor and the rotating motor are in an active control state, the current is controlled through an external circuit of the linear motor or the rotating motor, active tuning control is carried out on the vibration system according to a designed control strategy, active control on the vibration system is achieved, and at the moment, the hydraulic motor type inertia energy feedback device works in an active control mode.
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| CN113847380A (en) * | 2021-09-06 | 2021-12-28 | 上海跨悦信息技术有限公司 | Self-energy-feeding damping force adjustable electric control shock absorber system |
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| 沈钰杰: "基于HEI的车辆ISD悬架机电网络正实综合与被动控制研究", 工程科技Ⅱ辑, no. 2019, 28 February 2019 (2019-02-28), pages 035 - 4 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113847380A (en) * | 2021-09-06 | 2021-12-28 | 上海跨悦信息技术有限公司 | Self-energy-feeding damping force adjustable electric control shock absorber system |
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