CN113309812B - Centroid control method, device and equipment of vibration isolation system - Google Patents
Centroid control method, device and equipment of vibration isolation system Download PDFInfo
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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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/0232—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means with at least one gas spring
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
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- 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
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/023—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means
- F16F15/027—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using fluid means comprising control arrangements
- F16F15/0275—Control of stiffness
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- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
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Abstract
The invention provides a mass center control method, a device and equipment of a vibration isolation system, wherein the vibration isolation system comprises a vibration isolation platform, an air spring and a control element, and the method comprises the following steps: when detecting the load change of the vibration isolation platform, acquiring the current load of the vibration isolation platform; determining a first air spring with the stress degree not greater than a preset value according to the current load; according to the current load, determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value; the sum of the bearing forces of the first air spring and the second air spring is adjusted to be the same as the current load through the control element, and the rigidity of the first air spring is consistent with that of the second air spring; and closing a third air spring except the first air spring and the second air spring through the control element. By utilizing the method provided by the invention, the used air spring is adjusted in real time according to the change of the load, the consistency of the rigidity of the air spring is ensured, and the vibration isolation effect is improved.
Description
Technical Field
The invention relates to the field of vibration isolation, in particular to a method, a device and equipment for controlling the mass center of a vibration isolation system.
Background
Most fields requiring high precision or environmental stability, such as optical technology, electronic circuit technology, aerospace, military industry, military engineering and the like, have high requirements on the stability of instruments and equipment during experiments or industrial production, and vibration caused by various factors can cause instability and inaccuracy of measurement results of the instruments and seriously interfere with the experiment or industrial production, so that a vibration isolation system is required to isolate the instruments. The vibration isolation system comprises a vibration isolation platform, a vibration isolator, a height valve and other components, wherein the vibration isolation platform is a rigid platform without relative deformation and is used for bearing an instrument; the vibration isolator is an air spring, and one vibration isolation system comprises a plurality of air springs, wherein each air spring is arranged below the vibration isolation platform and corresponds to each position of the vibration isolation platform respectively for bearing the vibration isolation platform; the height valve is connected with the air spring, and under the control of the controller, the air spring is inflated/deflated, and the internal pressure of the air spring is adjusted, so that the levelness of the vibration isolation platform is kept unchanged, and the vibration isolation platform is prevented from inclining.
The existing vibration isolation system is designed according to the maximum load which can be borne by the vibration isolation platform so as to meet the requirement of limit load. However, in the use process of the vibration isolation system, the actual load is often smaller than the maximum load, the position where the load changes is not fixed, and the load at a certain position on the vibration isolation platform changes, which can cause the mass center of the vibration isolation platform to deviate, so that the vibration isolation system needs to adjust the mass center in real time according to the actual load to maintain the stable state of the vibration isolation platform. In the existing centroid control method, when a vibration isolation system detects load change, air springs at the load change position are inflated and deflated through a height valve, and the internal pressure of the air springs is changed to control the centroid position. However, the air spring with the load changing position adjusted by the height valve causes the stiffness of the adjusted air spring to be inconsistent with that of the air spring which is not adjusted, and the vibration isolation effect of the vibration isolation system is affected.
Disclosure of Invention
The invention provides a method, a device and equipment for controlling the mass center of a vibration isolation system, and solves the problem that the vibration isolation effect of the vibration isolation system is influenced by inconsistent rigidity of air springs in the vibration isolation system when the vibration isolation control is carried out by the conventional mass center control method.
In a first aspect, the present invention provides a method of controlling the center of mass of a vibration isolation system comprising a vibration isolation platform, an air spring, and a control element, the method comprising:
when detecting the load change of the vibration isolation platform, acquiring the current load of the vibration isolation platform;
determining a first air spring with the stress degree not greater than a preset value according to the current load, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
according to the current load, determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value;
the sum of the bearing forces of the first air spring and the second air spring is adjusted to be the same as the current load through the control element, and the rigidity of the first air spring and the rigidity of the second air spring are consistent;
closing a third air spring other than the first and second air springs by the control member.
Optionally, before determining, according to the current load, the first air spring with the force degree not greater than the preset value, the method further includes:
respectively calculating the bearing capacity of each air spring according to the current load;
the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity is respectively used as the stress degree of each air spring;
the maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
Optionally, calculating the bearing capacity of each air spring according to the current load respectively includes:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
Optionally, the finite element model is pre-established, comprising:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
Optionally, the ideal average air pressure is determined by the following method including:
determining the ideal using number of the air springs corresponding to the current load;
calculating an ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
Optionally, adjusting, by the control element, that the sum of the bearing forces of the first and second air springs is the same as the current load, and the stiffness of the first and second air springs is the same, includes:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
In a second aspect, the present invention provides a vibration isolation system comprising:
the vibration isolation platform is used for bearing equipment and generating load;
a plurality of air springs connected below the vibration isolation platform for carrying the vibration isolation platform;
the control element is respectively connected with the controller and the air spring and is used for opening/closing the air spring under the control of the controller and regulating the air pressure of the opened air spring;
a controller for implementing the method for controlling the center of mass of the vibration isolation system according to any one of the above first aspects.
In a third aspect, the present invention provides a center of mass control apparatus of a vibration isolation system, comprising a memory and a processor, wherein:
the memory is used for storing a computer program;
the processor is used for reading the program in the memory and executing the following steps:
when detecting the load change of the vibration isolation platform, acquiring the current load of the vibration isolation platform;
determining a first air spring with the stress degree not greater than a preset value according to the current load, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
according to the current load, determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value;
the sum of the bearing forces of the first air spring and the second air spring is adjusted to be the same as the current load through the control element, and the rigidity of the first air spring and the rigidity of the second air spring are consistent;
closing a third air spring other than the first and second air springs by the control member.
Optionally, before determining, according to the current load, that the first air spring is not stressed to a greater degree than a preset value, the processor is further configured to:
respectively calculating the bearing capacity of each air spring according to the current load;
the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity is respectively used as the stress degree of each air spring;
the maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
Optionally, the processor calculates the bearing capacity of each air spring according to the current load, respectively, and includes:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
Optionally, the processor pre-builds a finite element model, including:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
Optionally, the processor determines the ideal average air pressure by:
determining the ideal using number of the air springs corresponding to the current load;
calculating an ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
Optionally, the processor adjusts, through the control element, the sum of the bearing capacities of the first and second air springs to be the same as the current load, and the rigidities of the first and second air springs are the same, including:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
In a fourth aspect, the present invention provides a center-of-mass control device for a vibration isolation system, comprising:
the load obtaining unit is used for obtaining the current load of the vibration isolation platform when detecting the load change of the vibration isolation platform;
the first determining unit is used for determining a first air spring with the stress degree not greater than a preset value according to the current load, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
the second determining unit is used for determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value according to the current load;
the air spring adjusting unit is used for adjusting the sum of the bearing forces of the first air spring and the second air spring to be the same as the current load through the control element, and the rigidity of the first air spring and the rigidity of the second air spring are consistent;
and the air spring closing unit is used for closing a third air spring except the first air spring and the second air spring through the control element.
Optionally, before determining, according to the current load, the first air spring with the force degree not greater than the preset value, the first determining unit is further configured to:
respectively calculating the bearing capacity of each air spring according to the current load;
the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity is respectively used as the stress degree of each air spring;
the maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
Optionally, the first determining unit calculates the bearing capacity of each air spring according to the current load, and includes:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
Optionally, the first determining unit pre-establishes a finite element model, including:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
Optionally, the second determining unit determines the ideal average air pressure by using the following method, including:
determining the ideal using number of the air springs corresponding to the current load;
calculating an ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
Optionally, the air spring adjusting unit adjusts, through the control element, the sum of the bearing forces of the first and second air springs to be the same as the current load, and the stiffness of the first and second air springs is the same, including:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
In a fifth aspect, the present invention provides a computer program medium having a computer program stored thereon, which when executed by a processor, implements the steps of a method for controlling the center of mass of a vibration isolation system as provided in the first aspect above.
The method, the device and the equipment for controlling the mass center of the vibration isolation system have the following beneficial effects:
when the load change of the vibration isolation platform is detected, the sensitivity and the air pressure of each air spring are calculated according to the current load condition, and the use/closing state of each air spring is determined so as to adjust the mass center of the vibration isolation platform, maintain the stable state of the vibration isolation platform and ensure that the vibration isolation system can adapt to various load conditions; and the consistency of the rigidity of the used air spring is ensured under various load conditions by adjusting the air spring, and the vibration isolation effect of the vibration isolation system is improved.
Drawings
Fig. 1 is a flowchart of a method for controlling a center of mass of a vibration isolation system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for calculating the load capacity of any air spring according to an embodiment of the present invention;
FIG. 3 is a schematic view of a vibration isolation system according to an embodiment of the present invention;
fig. 4 is a schematic view of a centroid controlling device of a vibration isolation system according to an embodiment of the present invention;
fig. 5 is a schematic view of a centroid control device of a vibration isolation system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein.
The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the description of the embodiments of the present application, "/" means "or" unless otherwise specified, for example, a/B may mean a or B; "and/or" in the text is only an association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: in the description of the embodiments of the present application, "a" or "a" refers to two or more, and other terms and the like should be understood similarly, the preferred embodiments described herein are only used for explaining and explaining the present application, and are not used for limiting the present application, and features in the embodiments and examples of the present application may be combined with each other without conflict.
Hereinafter, some terms in the embodiments of the present invention are explained to facilitate understanding by those skilled in the art.
(1) The term "finite element model" in the embodiments of the present invention is a model created by using a finite element analysis method, and is a group of element combinations connected only at nodes, transmitting force only by the nodes, and constrained only at the nodes. Finite Element Analysis (FEA) refers to an Analysis method for simulating a real physical system by using a mathematical approximation method, and approximating the real system with infinite unknown quantities by using a Finite number of unknown quantities by using simple and interactive elements.
The invention provides a method, a device and equipment for controlling the mass center of a vibration isolation system, and aims to solve the problem that the vibration isolation effect of the vibration isolation system is influenced by inconsistent rigidity of air springs in the vibration isolation system when the vibration isolation control is carried out by the existing mass center control method.
The following describes a method, an apparatus and a device for controlling the center of mass of a vibration isolation system according to an embodiment of the present invention in detail with reference to the accompanying drawings.
Example 1
The embodiment of the invention provides a flow chart of a centroid control method of a vibration isolation system, as shown in fig. 1, comprising the following steps:
step S101, when detecting the load change of a vibration isolation platform, acquiring the current load of the vibration isolation platform;
it should be noted that the vibration isolation system includes solid portions such as a vibration isolation platform, an air spring, and a control element, a specific structure of the vibration isolation system is not a key point of the embodiment of the present invention, and any vibration isolation system having a vibration isolation function may be applied to the embodiment of the present invention.
The load change may be any one or more of the following: (1) the mass of the load changes; (2) the volume of the load changes; (3) The position of the load relative to the vibration isolation platform changes; (4) the amount of load is varied.
The current load may be one or more, and the current load includes a magnitude of the current load and a position of the current load relative to the vibration isolation platform.
Step S102, according to the current load, determining a first air spring with the stress degree not larger than a preset value, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
the stress degree refers to the ratio of the bearing capacity of any air spring under the current load to the bearing capacity of any air spring under the preset maximum load.
The stress degree of the air spring represents the influence degree of the load change of the bearing capacity of the air spring.
It should be noted that, specific values of the preset values may be specifically set according to specific implementation situations, and the embodiment of the present invention does not limit this.
Step S103, according to the current load, determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value;
the preset value is the same as the preset value used when determining the first air spring.
The ideal average air pressure refers to the amount of air pressure ideally required to carry the current load on average to the average load on each air spring used.
The ideal average air pressure corresponds to the current load, and the corresponding ideal average air pressure is determined according to the current load.
It should be noted that specific values of the preset threshold may be specifically set according to specific implementation situations, and this is not limited in this embodiment of the present invention.
And in the air springs with the stress degree larger than the preset value, taking the air spring with the difference value between the air pressure and the ideal average air pressure corresponding to the current load smaller than a preset threshold value as a second air spring.
As an alternative embodiment, in the air springs with the force degree greater than the preset value, the air spring within the preset range of the ideal average air pressure is determined to be the second air spring.
For example, the preset range is set to ± 10% of the ideal average air pressure.
Step S104, adjusting the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring to be the same as the current load through the control element, wherein the rigidity of the first air spring is consistent with that of the second air spring;
the stress degree of the first air spring is not more than a preset value, the influence of load change is small, the function in the vibration isolation system can be the self weight of the support vibration isolation platform, and the first air spring is determined to be used;
and determining the air spring with smaller difference from the ideal average air pressure in the air springs with higher sensitivity, and determining to use the second air spring.
Opening the first air spring and the second air spring, and adjusting the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring to be the same as the current load so as to ensure the stable state of the vibration isolation platform; and adjusting the first air spring and the second air spring to have the same rigidity so as to improve the vibration isolation performance of the vibration isolation platform.
And step S105, closing a third air spring except the first air spring and the second air spring through the control element.
And only using the first air spring and the second air spring, and closing a third air spring except the first air spring and the second air spring so as to ensure that the rigidity of all used air springs is consistent.
Compared with the existing method for controlling the mass center of the air spring only adjusting the load change position, the method for controlling the mass center of the vibration isolation system provided by the embodiment of the invention uses more air springs to bear the current load, ensures the rigidity of all used air springs to be consistent, reduces the air pressure required to be changed on each used air spring on average, can reduce the air adjusting time, and improves the mass center control efficiency of the vibration isolation system.
As an optional embodiment, before determining, according to the current load, the first air spring with a force degree not greater than a preset value, the method further includes:
respectively calculating the bearing capacity of each air spring according to the current load; the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity is respectively used as the stress degree of each air spring;
the function of calculating the stress degree of each air spring is to adjust the rigidity of each air spring and optimize the working state of each air spring.
The maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
The stress degree of each air spring is respectively calculated by the following formula: the stress degree of the kth air spring in the vibration isolation system is the ratio of the bearing capacity of the kth air spring under the current load to the bearing capacity of the kth air spring under the preset maximum load:
wherein Zk is the stress degree of the kth air spring, f kn For the load-bearing capacity of the k-th air spring under the current load, f k1 The bearing capacity of the kth air spring under the preset maximum load is obtained.
As an optional implementation manner, separately calculating the bearing capacity of each air spring according to the current load includes:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
It should be noted that, the bearing capacity of each air spring in the vibration isolation platform under different loads may be calculated in advance, and when the load changes, the bearing capacity of each air spring under the current load is determined respectively.
As shown in fig. 2, the embodiment of the present invention provides a schematic diagram for calculating the bearing capacity of any air spring.
And inputting the finite element model by taking the load size and the load position on the vibration isolation platform as an input load, wherein the finite element model performs stress calculation according to the input load, the structure of the vibration isolation system and the properties of any one air spring, and outputs the bearing capacity of the certain air spring under different input loads.
The input load 1 in fig. 2 is a preset maximum load.
As an alternative embodiment, the finite element model is pre-established, which includes:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
And setting the parameters, and pre-establishing a finite element model of the vibration isolation system in finite element analysis software.
It should be noted that, the specific manner of establishing the above finite element model and the specific structure of the established finite element model may be specifically set according to specific implementation conditions, and the embodiment of the present invention is not limited in this respect.
As an alternative embodiment, the ideal average air pressure is determined by the following method, including:
determining the ideal using number of the air springs corresponding to the current load;
calculating an ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
The ideal usage amount has a mapping relation with the load, and can be determined empirically or experimentally.
As an optional embodiment, adjusting, by the control element, the sum of the bearing forces of the first and second air springs to be the same as the current load, and the stiffness of the first and second air springs to be the same includes:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
Adjusting the air pressure of all air springs used in the vibration isolation system to ensure that the sum of the bearing capacity of all the used air springs is the same as the current load; and the rigidity of all the air springs is ensured to be the same.
The air springs are independently controlled to be opened and closed through the sensitivity of the air springs, different air springs are selected to bear the load according to different load conditions, and the overall vibration isolation performance of the vibration isolation system is improved.
It should be noted that the centroid control method of the vibration isolation system in the embodiment of the present invention can be applied to the vibration isolation system, and can ensure that the vibration isolation system adapts to various load conditions or uneven load distribution conditions in response to the requirements of complicated use functions and diversified use environments of instruments and devices, thereby improving the vibration isolation effect of the vibration isolation system under different load conditions.
Example 2
An embodiment of the present invention provides a schematic diagram of a vibration isolation system, as shown in fig. 3, including:
the vibration isolation platform 301 is used for bearing equipment and generating load;
a plurality of air springs 302 connected below the vibration isolation platform for carrying the vibration isolation platform;
a control element 303, connected to the controller and the air spring, respectively, for opening/closing the air spring under the control of the controller, and adjusting the air pressure of the opened air spring;
the control element can be a control sensor, the control sensor is arranged at the position of the air spring, the opening and closing of the air spring under different load conditions and the air pressure of the air spring are automatically controlled through a controller, and the consistency of the internal pressure and the vibration isolation performance of the opened air spring under various load conditions is ensured.
The control element is different from a height valve in the prior art, and not only can the air spring be charged and discharged for air conditioning, but also the air spring can be opened and closed.
And opening any air spring means using any air spring and adjusting the air pressure in any air spring according to the specific bearing capacity requirement.
Closing any air spring means that the air in the air spring is evacuated without using any air spring, and the air pressure of any air spring is adjusted to 0.
The controller 304 is configured to implement the method for controlling the center of mass of the vibration isolation system according to any one of the embodiments 1.
The controller may be a Central Processing Unit (CPU), an integrated circuit chip, or other device having operation and control functions, and the specific form of the controller is not limited in any way in the embodiments of the present invention.
An embodiment of the present invention provides a schematic diagram of a centroid controlling apparatus 400 of a vibration isolation system, which includes a memory 401 and a processor 402, as shown in fig. 4, wherein:
the memory is used for storing a computer program;
the processor is used for reading the program in the memory and executing the following steps:
when detecting the load change of the vibration isolation platform, acquiring the current load of the vibration isolation platform;
determining a first air spring with the stress degree not greater than a preset value according to the current load, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
according to the current load, determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value;
the sum of the bearing forces of the first air spring and the second air spring is adjusted to be the same as the current load through the control element, and the rigidity of the first air spring and the rigidity of the second air spring are consistent;
closing a third air spring other than the first and second air springs by the control member.
Optionally, before determining, according to the current load, that the first air spring with the force degree not greater than the preset value is, the processor is further configured to:
respectively calculating the bearing capacity of each air spring according to the current load;
respectively taking the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity as the stress degree of each air spring;
the maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
Optionally, the processor calculates the bearing capacity of each air spring according to the current load, respectively, and includes:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
Optionally, the processor pre-builds a finite element model, including:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
Optionally, the processor determines the ideal average air pressure by:
determining the ideal using number of the air springs corresponding to the current load;
calculating ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
Optionally, the processor adjusts, through the control element, the sum of the bearing capacities of the first and second air springs to be the same as the current load, and the rigidities of the first and second air springs are the same, including:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
An embodiment of the present invention provides a schematic diagram of a centroid control device of a vibration isolation system, as shown in fig. 5, including:
the load obtaining unit 501 is configured to obtain a current load of the vibration isolation platform when detecting a load change of the vibration isolation platform;
a first determining unit 502, configured to determine, according to the current load, a first air spring with a stress degree that is not greater than a preset value, where the stress degree is a ratio of a bearing capacity of the air spring under the current load to a corresponding maximum bearing capacity;
a second determining unit 503, configured to determine, according to the current load, a second air spring of which the stress degree is greater than the preset value and a difference between the air pressure and an ideal average air pressure corresponding to the current load is smaller than a preset threshold;
the air spring adjusting unit 504 is configured to adjust, by using the control element, that the sum of the bearing capacities of the first air spring and the second air spring is the same as the current load, and the rigidities of the first air spring and the second air spring are the same;
and an air spring closing unit 505 for closing a third air spring other than the first and second air springs by the control member.
Optionally, before determining, according to the current load, the first air spring with the force degree not greater than the preset value, the first determining unit is further configured to:
respectively calculating the bearing capacity of each air spring according to the current load;
the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity is respectively used as the stress degree of each air spring;
the maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
Optionally, the first determining unit calculates the bearing capacity of each air spring according to the current load, and includes:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
Optionally, the first determining unit pre-establishes a finite element model, including:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
Optionally, the second determining unit determines the ideal average air pressure by using the following method, including:
determining the ideal using number of the air springs corresponding to the current load;
calculating an ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
Optionally, the air spring adjusting unit adjusts, through the control element, the sum of the bearing forces of the first and second air springs to be the same as the current load, and the stiffness of the first and second air springs is the same, including:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
The present invention also provides a computer program medium having a computer program stored thereon, which when executed by a processor, implements the steps of a method of controlling the center of mass of a vibration isolation system provided in embodiment 1 above.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed coupling or direct coupling or communication connection between each other may be through some interfaces, indirect coupling or communication connection between devices or modules, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a separate product, may be stored in a computer-readable storage medium.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product.
The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the application to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
The technical solutions provided by the present application are introduced in detail, and the present application applies specific examples to explain the principles and embodiments of the present application, and the descriptions of the above examples are only used to help understand the method and the core ideas of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific implementation manner and the application scope may be changed, and in summary, the content of the present specification should not be construed as a limitation to the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Claims (9)
1. A method of center of mass control for a vibration isolation system including a vibration isolation platform, an air spring, and a control element, comprising:
when detecting the load change of the vibration isolation platform, acquiring the current load of the vibration isolation platform;
determining a first air spring with the stress degree not greater than a preset value according to the current load, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
according to the current load, determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value;
the sum of the bearing forces of the first air spring and the second air spring is adjusted to be the same as the current load through the control element, and the rigidity of the first air spring and the rigidity of the second air spring are consistent;
closing a third air spring other than the first and second air springs by the control element;
the ideal average air pressure refers to the air pressure required for bearing the average load from the current load to the average load on each used air spring;
the ideal average air pressure is determined by the following method comprising the following steps:
determining the ideal using number of the air springs corresponding to the current load;
calculating ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
2. The method of claim 1, wherein prior to determining the first air spring having a force level not greater than the predetermined value based on the current load, further comprising:
respectively calculating the bearing capacity of each air spring according to the current load;
the ratio of the bearing capacity of each air spring under the current load to the corresponding maximum bearing capacity is respectively used as the stress degree of each air spring;
the maximum bearing capacity corresponding to each air spring is the bearing capacity of the air spring under the preset maximum load.
3. The method of claim 2, wherein separately calculating the load capacity of each air spring based on the current load comprises:
inputting the size of the current load and the position of the current load on the vibration isolation platform into a pre-established finite element model;
and respectively carrying out stress calculation on each air spring through the finite element model to obtain the bearing capacity of each air spring output by the finite element model.
4. The method of claim 3, wherein pre-establishing a finite element model comprises:
and establishing a finite element model of the vibration isolation system according to the size of the vibration isolation platform, the position of each air spring relative to the vibration isolation platform and the rigidity under different air pressures.
5. The method of claim 1, wherein adjusting, by the control element, the sum of the load capacities of the first and second air springs to be the same as the current load and the stiffness of the first and second air springs to be consistent comprises:
the air pressure of the first air spring and the air pressure of the second air spring are adjusted through the control element, the sum of the bearing capacity of the first air spring and the bearing capacity of the second air spring is adjusted to be the same as the current load, and the rigidity of the first air spring is consistent with that of the second air spring.
6. A vibration isolation system, comprising:
the vibration isolation platform is used for bearing equipment and generating load;
a plurality of air springs connected below the vibration isolation platform for carrying the vibration isolation platform;
the control element is respectively connected with the controller and the air spring and is used for opening/closing the air spring under the control of the controller and adjusting the air pressure of the opened air spring;
a controller for implementing a method of controlling the center of mass of a vibration isolation system as claimed in any one of claims 1 to 5.
7. A center of mass control apparatus of a vibration isolation system, comprising a memory and a processor, wherein:
the memory is used for storing a computer program;
the processor is used for reading the program in the memory and executing the mass center control method of the vibration isolation system as claimed in any one of claims 1 to 5.
8. A center of mass control apparatus for a vibration isolation system, comprising:
the load obtaining unit is used for obtaining the current load of the vibration isolation platform when the load change of the vibration isolation platform is detected;
the first determining unit is used for determining a first air spring with the stress degree not greater than a preset value according to the current load, wherein the stress degree is the ratio of the bearing capacity of the air spring under the current load to the corresponding maximum bearing capacity;
the second determining unit is used for determining a second air spring of which the stress degree is greater than the preset value and the difference value between the air pressure and the ideal average air pressure corresponding to the current load is smaller than a preset threshold value according to the current load;
the air spring adjusting unit is used for adjusting the sum of the bearing forces of the first air spring and the second air spring to be the same as the current load through a control element, and the rigidity of the first air spring and the rigidity of the second air spring are consistent;
an air spring closing unit for closing a third air spring other than the first and second air springs by the control member;
wherein the ideal average air pressure refers to the air pressure required for carrying the average load of the current load on each used air spring;
the ideal average air pressure is determined by the following method comprising the following steps:
determining the ideal using number of the air springs corresponding to the current load;
calculating ideal average load according to the current load and the ideal using quantity;
and calculating ideal average air pressure according to the ideal average load.
9. A computer program medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, carries out the steps of a method of center of mass control of a vibration isolation system according to any one of claims 1 to 5.
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Address after: No. 160, West Fourth Ring North Road, Haidian District, Beijing Patentee after: China Electronics Engineering Design Institute Co.,Ltd. Country or region after: China Address before: No. 160, West Fourth Ring North Road, Haidian District, Beijing Patentee before: CHINA ELECTRONICS ENGINEERING DESIGN INSTITUTE Co.,Ltd. Country or region before: China |