CN114251410B - Semi-active vibration reduction platform structure of inertial actuating mechanism based on magneto-rheological damper - Google Patents
Semi-active vibration reduction platform structure of inertial actuating mechanism based on magneto-rheological damper Download PDFInfo
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- CN114251410B CN114251410B CN202111368635.3A CN202111368635A CN114251410B CN 114251410 B CN114251410 B CN 114251410B CN 202111368635 A CN202111368635 A CN 202111368635A CN 114251410 B CN114251410 B CN 114251410B
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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
- F16F13/00—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs
- F16F13/04—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper
- F16F13/26—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions
- F16F13/30—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions comprising means for varying fluid viscosity, e.g. of magnetic or electrorheological fluids
- F16F13/305—Units comprising springs of the non-fluid type as well as vibration-dampers, shock-absorbers, or fluid springs comprising both a plastics spring and a damper, e.g. a friction damper characterised by adjusting or regulating devices responsive to exterior conditions comprising means for varying fluid viscosity, e.g. of magnetic or electrorheological fluids magnetorheological
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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
- F16F15/03—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 magnetic or electromagnetic means
- F16F15/035—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 magnetic or electromagnetic means by use of eddy or induced-current damping
Abstract
The invention relates to an inertial actuator semi-active vibration reduction platform based on a magneto-rheological damper, which comprises an adapter plate, a connecting plate, three springs, three semi-active magneto-rheological dampers, a plurality of acceleration sensors, a control system and a direct current power supply, wherein the adapter plate is connected with the connecting plate; the adapter plate is connected with the inertial execution mechanism, the connecting plate is connected with the satellite, the adapter plate is arranged opposite to the connecting plate, and the adapter plate and the connecting plate are connected through a spring and the semi-active magneto-rheological damper; each acceleration sensor is fixedly arranged on each semi-active magneto-rheological damper and used for collecting motion information of the vibration reduction platform; the control system is connected with all the semi-active magnetorheological dampers, all the acceleration sensors and all the direct current power supply through circuits and is used for controlling the current input quantity of all the semi-active magnetorheological dampers. The semi-active vibration reduction platform can obviously reduce the influence of the vibration of the inertial actuating mechanism on the effective sensitive load performance of each satellite, and improves the whole satellite performance.
Description
Technical Field
The invention relates to the technical field of vibration reduction platforms, in particular to a magneto-rheological damper-based semi-active vibration reduction platform structure of an inertial actuator.
Background
During high speed operation of the inertial actuator, random excitation generated internally or externally interacts with structural modes of the inertial actuator, and high-frequency vibration is generated, so that performance of an external mechanism connected with the inertial actuator (mainly referred to as a satellite connected with the inertial actuator) is affected.
In recent years, with the gradual increase of satellite precision requirements and the increasingly severe requirements of sensitive measuring mechanisms and ultra-precise sensors installed on satellites on working environments, the external micro-vibration disturbance state directly influences the precision of effective loads when an inertial actuator works, and further influences the precision of the whole satellite, so that effective control over the micro-vibration characteristics of the inertial actuator product is imperative.
In related products, the passive vibration reduction and isolation platform has the defect of poor effect in the aspect of medium-low frequency control, and the active vibration reduction and isolation platform has the defects of relatively low reliability and large weight.
Disclosure of Invention
In order to solve the problems and achieve the aim of reliable vibration reduction, the invention provides a semi-active vibration reduction platform based on a semi-active magneto-rheological damper, which comprises an adapter plate, a connecting plate, at least three springs, at least three semi-active magneto-rheological dampers, a plurality of acceleration sensors, a control system and a direct current power supply, wherein the adapter plate is connected with the connecting plate;
the adapter plate is connected with the inertial executing mechanism, the connecting plate is connected with the satellite, the adapter plate is arranged opposite to the connecting plate, and the adapter plate is connected with the connecting plate through the spring and the semi-active magneto-rheological damper; one end of each semi-active magneto-rheological damper connected with the adapter plate is provided with an acceleration sensor which is used for collecting motion information of the vibration reduction platform; the direct current power supply and the control system are fixedly arranged on the satellite; each semi-active magnetorheological damper, each acceleration sensor and the direct current power supply are connected with a control system through circuits, and the control system is used for controlling the current input quantity of each semi-active magnetorheological damper.
Preferably, the first end of each spring is fixedly connected with the center of the adapter plate, the second end is inclined outwards by an angle and is fixedly connected with the edge of the connecting plate, and the springs are uniformly distributed around the center shaft of the adapter plate and the center shaft of the connecting plate.
Preferably, the first end of each semi-active magnetorheological damper is rotationally connected with the edge position of the adapter plate, the second end of each semi-active magnetorheological damper is inclined inwards by an angle and is rotationally connected with the central position of the connecting plate, and the plurality of semi-active magnetorheological dampers are uniformly distributed around the central shaft of the connecting plate and the central shaft of the connecting plate.
Preferably, the center position of the adapter plate is provided with bosses which are uniformly distributed around the central shaft of the adapter plate and are equal to the springs in number, each boss is connected with the first end of the corresponding spring, and the table top connected with the springs is an inclined plane.
Preferably, the edge of the connecting plate is provided with switching blocks which are uniformly distributed around the central shaft of the connecting plate and have the same number as the springs, each switching block is provided with a spring switching plate, each spring switching plate is connected with the second end of the corresponding spring, and the surface of each spring switching plate connected with the spring is an inclined surface and is consistent with the inclined angle of the table top of the boss.
Preferably, the adapter blocks and the spring adapter plates are all made of aluminum alloy materials.
Preferably, a plurality of the semi-active magnetorheological dampers and a plurality of the springs are arranged at intervals one by one.
Preferably, the number of the springs and the number of the semi-active magnetorheological dampers are 3.
Preferably, the spring is cut from carbon fiber reinforced aluminum composite tubing.
Preferably, the control system calculates real-time current required by each semi-active magneto-rheological damper according to real-time motion information acquired by each acceleration sensor, and the control system respectively provides current provided by a direct current power supply for each semi-active magneto-rheological damper according to the calculated real-time current, so that each semi-active magneto-rheological damper generates corresponding damping force and dissipates energy generated by vibration of an inertia executing mechanism.
The invention has the following beneficial effects:
the springs and the semi-active magneto-rheological damper are respectively arranged in a symmetrical inclined and uniformly distributed mode of gathering from the outer edge to the middle and radiating outwards from the middle, and the arrangement mode is changed to effectively inhibit vibration generated by the inertia executing mechanism in all directions;
the energy consumption element is a semi-active magneto-rheological damper, the magnitude of the magnetic field intensity in the internal structure can be changed by adjusting the externally applied current, so that the rheological property of the fluid medium in the damper can be changed rapidly, the effect of changing the damping force in real time according to the requirement can be realized, and the precision of vibration control is improved;
the semi-active magnetorheological damper is connected to the adapter plate and the connecting plate only through the hinge shaft, so that the connection mode is simpler, no redundant additional elements are needed, the mass of the vibration reduction platform is smaller, and the reliability is improved;
the high-frequency vibration signal generated by the inertial actuating mechanism can be converted into the low-frequency vibration signal, and the energy generated by vibration can be dissipated through the semi-active magneto-rheological damper, so that the influence of the vibration of the inertial actuating mechanism on the effective sensitive load performance of each satellite can be obviously reduced, and the whole satellite performance is improved.
Drawings
FIG. 1 is an isometric view of a semi-active vibration reduction platform of an inertial actuator based on a magnetorheological damper of the present invention;
FIG. 2 is a schematic diagram of a semi-active vibration damping platform of the present invention coupled to an inertial actuator.
Detailed Description
The invention provides an inertial actuator semi-active vibration damping platform based on a magneto-rheological damper, which is further described in detail below with reference to the accompanying drawings and detailed description. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the drawings are in a very simplified form and are all to a non-precise scale, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention. For a better understanding of the invention with objects, features and advantages, refer to the drawings. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that any modifications, changes in the proportions, or adjustments of the sizes of structures, proportions, or otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or essential characteristics thereof.
As shown in fig. 1 and fig. 2, the semi-active vibration damping platform of the inertial actuator based on the magnetorheological damper provided by the invention comprises an adapter plate 1, a connecting plate 6, three springs 3, three semi-active magnetorheological dampers 2, three acceleration sensors 4, a control system 7 and a direct current power supply.
Of course, in other preferred embodiments of the present invention, more than three springs, more than three semi-active magnetorheological dampers 2, and more than three acceleration sensors 4 may be provided, only to ensure that the number of the 3 devices is the same.
The adapter plate 1 is connected with the inertial executing mechanism 9, the connecting plate 6 is connected with a satellite (not shown in the figure), the adapter plate 1 and the connecting plate 6 are circular plates and are coaxially arranged relatively, and the adapter plate 1 and the connecting plate 6 are connected through the spring 3 and the semi-active magnetorheological damper 2. And each acceleration sensor 4 is fixedly arranged on each semi-active magneto-rheological damper 2 and used for collecting the motion information of the vibration reduction platform. The direct current power supply and the control system 7 are fixedly arranged on a satellite; the control system 7 is connected with each semi-active magneto-rheological damper 2, each acceleration sensor 4 and the direct current power supply through circuits, the control system 7 calculates real-time current required by each semi-active magneto-rheological damper 2 according to real-time motion information acquired by each acceleration sensor 4, and provides the current provided by the direct current power supply for each semi-active magneto-rheological damper 2 according to the calculated real-time current, so that each semi-active magneto-rheological damper 2 generates corresponding damping force, energy generated by an inertia executing mechanism 9 due to vibration is dissipated, and accordingly influence of vibration on satellites is reduced.
Specifically, three bosses 11 are disposed at the center of the adapter plate 1, each boss 11 is uniformly distributed around the central axis of the adapter plate 1, each boss 11 is connected with the first end of the corresponding spring 3, the table top of each boss 11 connected with the spring 3 is an inclined plane, and each spring 3 is vertically connected with the table top of the corresponding boss 11. Correspondingly, three adapter blocks 8 are arranged at the edge position of the connecting plate 6, the adapter blocks 8 are uniformly distributed around the central shaft of the connecting plate 6, each adapter block 8 is provided with a spring adapter plate 5, each spring adapter plate 5 is connected with the second end of the corresponding spring 3, the surface of each spring adapter plate 5 connected with the spring 3 is an inclined surface and is consistent with the inclined angle of the table surface of the boss 11, and further, each spring 3 is vertically connected with the corresponding spring adapter plate 5. Therefore, each spring 3 is disposed at an inclined angle between the connection plate 6 and the adapter plate 1 and uniformly distributed around the central axes of the connection plate and the adapter plate 1, and it can be seen from the figure that the direction from the adapter plate 1 to the connection plate 6 of each spring 3 is disposed obliquely outwards. Further, the three adapter blocks 8 and the three spring adapter plates 5 are made of aluminum alloy materials, the top surfaces of the three adapter blocks 8 are inclined planes, the normal direction of the top surface of each adapter block 8 points to the circle center of the adapter plate 1, and the spring adapter plates 5 are arranged on the top surfaces of the adapter blocks 8, so that the inclination angle of the spring adapter plates 5 is consistent with that of the top surfaces of the adapter blocks 8. Accordingly, the normal direction of the table surface of each boss 11 points to the corresponding spring adapter plate 5, i.e. the inclination angle of the table surface of the boss 11 and the spring adapter plate 5 is consistent.
The three springs 3 are all formed by cutting carbon fiber reinforced aluminum composite pipes, and each spring 3 weakly attenuates the vibration generated by the adapter plate 1 and converts a high-frequency vibration signal into a low-frequency vibration signal, so that the influence of the vibration of the inertia actuator 9 on satellites is reduced.
Further, each of the semi-active magnetorheological dampers 2 connected between the adapter plate 6 and the connecting plate 1 is provided with a piston rod along the central axis thereof, one end of the piston rod of each semi-active magnetorheological damper 2 is hinged with the edge of the adapter plate 6 through a first hinge shaft, the three first hinge shafts are evenly distributed around the central axis of the connecting plate 6, the other end of each semi-active magnetorheological damper 2 is hinged with the center of the connecting plate 1 through a second hinge shaft, and the three second hinge shafts are evenly distributed around the central axis of the adapter plate 1, so that each semi-active magnetorheological damper 2 is arranged at an inclined angle between the connecting plate 6 and the adapter plate 1 and evenly distributed around the central axes of the two, and the direction from the adapter plate 1 to the connecting plate 6 of each semi-active magnetorheological damper 2 can be seen from the figure to be inwards inclined. It should be further noted that the inclination angle of each semi-active magnetorheological damper 2 and each spring 3 is the same, but the inclination directions are opposite. The semi-active magnetorheological dampers 2 are arranged at intervals from the springs 3 and are approximately symmetrically distributed in space. The arrangement of the spring 3 and the semi-active magneto-rheological damper 2 in a spatially inclined symmetrical manner can effectively inhibit vibration generated by the inertial actuator 9 in all directions.
In this example, a speed sensor 4 is disposed at one end of a piston rod of each semi-active magnetorheological damper 2 connected to the adapter plate 1, in actual operation, the inertial actuator 9 works to generate vibration, so as to drive the adapter plate 1 to vibrate, the spring 3 performs weak attenuation on the vibration of the adapter plate 1, and the spring serves as a low-pass filter to convert a high-frequency vibration signal generated when the inertial actuator 9 works normally into a vibration signal with high amplitude and low frequency. The control system 7 calculates the real-time current required by the magneto-rheological damper 2 according to the mechanical model of the semi-active magneto-rheological damper 2 and the real-time motion information acquired by the acceleration sensor 4, and provides the current provided by the direct current power supply to the semi-active magneto-rheological damper 2 in real time, so that the semi-active magneto-rheological damper 2 generates the required damping force, dissipates the energy generated by the vibration of the inertia actuator 9, and ensures that only a small part of the vibration of the inertia actuator 9 is transmitted to the satellite, thereby reducing the influence of the vibration of the inertia actuator 9 on the satellite performance.
In summary, the inertial actuating mechanism semi-active vibration reduction platform based on the magneto-rheological damper provided by the invention not only can convert a high-frequency vibration signal generated by the inertial actuating mechanism into a low-frequency vibration signal, but also can dissipate energy generated by vibration through the semi-active magneto-rheological damper 2, so that the influence of the vibration of the inertial actuating mechanism 9 on the effective sensitive load performance of each satellite can be obviously reduced, and the whole satellite performance is improved; the spring 3 and the semi-active magneto-rheological damper 2 are respectively arranged in a symmetrical and inclined and uniformly distributed mode of gathering from the outer edge to the middle and radiating outwards from the middle, and the arrangement mode can effectively inhibit the vibration generated by the inertia executing mechanism 9 in all directions; the energy consumption element is a semi-active magneto-rheological damper 2, the magnitude of the magnetic field intensity in the internal structure can be changed by adjusting the externally applied current, so that the rheological property of the fluid medium in the damper can be changed rapidly, the effect of changing the damping force in real time according to the requirement can be realized, and the precision of vibration control is improved; the semi-active magneto-rheological damper 2 is connected to the adapter plate 6 and the connecting plate 1 only through the hinge shaft, so that the connection mode is simpler, no redundant additional elements exist, the mass of the vibration reduction platform is smaller, and the reliability is improved.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (4)
1. An inertial actuator semi-active vibration reduction platform based on a magnetorheological damper, comprising: the device comprises an adapter plate (1), a connecting plate (6), at least three springs (3), at least three semi-active magneto-rheological dampers (2), at least three acceleration sensors (4), a control system (7) and a direct current power supply;
the adapter plate (1) is connected with the inertial executing mechanism (9), the connecting plate (6) is connected with a satellite, the adapter plate (1) is arranged opposite to the connecting plate (6), and the adapter plate (1) is connected with the connecting plate (6) through the spring (3) and the semi-active magneto-rheological damper (2);
one end of each semi-active magneto-rheological damper (2) connected with the adapter plate (1) is provided with an acceleration sensor (4), and the acceleration sensors (4) are used for collecting motion information of the vibration reduction platform;
the direct current power supply and the control system (7) are fixedly arranged on a satellite;
the control system (7) is connected with each semi-active magneto-rheological damper (2), each acceleration sensor (4) and a direct current power supply through circuits, and controls the current input quantity of each semi-active magneto-rheological damper (2) according to motion information;
the first ends of the springs (3) are fixedly connected with the central position of the adapter plate (1), the second ends of the springs are inclined outwards by an angle and are fixedly connected with the edge position of the connecting plate (6), and the springs (3) are uniformly distributed around the central shaft of the adapter plate (1) and the central shaft of the connecting plate (6);
the first end of each semi-active magneto-rheological damper (2) is rotationally connected with the edge position of the adapter plate (1), the second end is inclined inwards by an angle and rotationally connected with the central position of the connecting plate (6), and the plurality of semi-active magneto-rheological dampers (2) are uniformly distributed around the central shaft of the adapter plate (1) and the central shaft of the connecting plate (6);
the center of the adapter plate (1) is provided with bosses (11) which are uniformly distributed around the central shaft of the adapter plate (1) and are equal to the springs (3), each boss (11) is connected with the first end of the corresponding spring (3), and the table surface of each boss (11) connected with the spring (3) is an inclined surface;
the edge position of the connecting plate (6) is provided with adapter blocks (8) which are uniformly distributed around the central shaft of the connecting plate (6) and are equal to the springs (3), each adapter block (8) is provided with a spring adapter plate (5), each spring adapter plate (5) is connected with the second end of the corresponding spring (3), and the surface, connected with the spring (3), of each spring adapter plate (5) is an inclined surface and is consistent with the inclined angle of the table top of the boss (11);
the control system (7) calculates real-time current required by each semi-active magneto-rheological damper (2) according to real-time motion information acquired by each acceleration sensor (4), and the control system (7) respectively provides current provided by a direct current power supply to each semi-active magneto-rheological damper (2) according to the calculated real-time current, so that each semi-active magneto-rheological damper (2) generates corresponding damping force, and energy generated by an inertia executing mechanism (9) due to vibration is dissipated;
the semi-active vibration reduction platform converts a high-frequency vibration signal generated by the inertia executing mechanism into a low-frequency vibration signal; the spring (3) and the semi-active magneto-rheological damper (2) are respectively arranged in a symmetrical inclined and uniformly distributed mode that the outer edge gathers towards the middle and radiates outwards from the middle; the semi-active magneto-rheological damper (2) can change the intensity of a magnetic field in an internal structure by adjusting externally applied current, so that the rheological property of a fluid medium in the damper is changed, and the effect of changing damping force in real time according to requirements is realized; the semi-active magneto-rheological damper (2) is connected to the adapter plate (1) and the connecting plate (6) through a hinge shaft;
the plurality of semi-active magneto-rheological dampers (2) and the plurality of springs (3) are arranged at intervals one by one.
2. Semi-active vibration damping platform according to claim 1, characterized in that the adapter block (8) and the spring adapter plate (5) are both made of aluminium alloy material.
3. Semi-active vibration damping platform according to claim 1 or 2, characterized in that the number of springs (3) and semi-active magnetorheological dampers (2) is 3.
4. Semi-active vibration damping platform according to claim 1 or 2, characterized in that the springs (3) are cut from carbon fibre reinforced aluminium composite tubing.
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| CN114607722B (en) * | 2022-03-31 | 2024-04-02 | 长光卫星技术股份有限公司 | Semi-active vibration isolation platform for micro-vibration of optical remote sensing satellite and assembly method |
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