CN115169112A - Electromagnetic linear-angular vibration exciter and kinetic parameter identification method thereof - Google Patents

Abstract

The invention discloses an electromagnetic linear-angular vibration exciter and a dynamic parameter identification method thereof. The magnetic circuit component comprises an outer yoke, a coil, an inner yoke and a permanent magnet; the permanent magnets are embedded into the grooves to form Halbach permanent magnet arrays in the circumferential direction of the cylinder; the moving element is inserted between the outer yoke and the inner yoke; and a sine alternating current is respectively introduced into each coil, so that each independent linear-angular vibration closed magnetic loop outputs sinusoidal variable linear-angular vibration. The kinetic parameter identification method comprises the following steps: step 1, selecting parameters to be identified of a research object as variables to establish electromechanical analog models of linear vibration, angular vibration and linear-angular vibration synchronous output in different frequency modes; step 2, carrying out an experiment by adopting any one of the electromagnetic linear-angular vibration exciters; and 3, substituting the experimental data into the model established in the step 1 to calculate each parameter.

Description

Electromagnetic linear-angular vibration exciter and kinetic parameter identification method thereof

Technical Field

The invention relates to the field of vibration exciters, in particular to an electromagnetic linear-angular vibration exciter and a kinetic parameter identification method thereof.

Background

The automobile sensor can be influenced by vibration in the actual use process, and a vibration fatigue test is necessary to ensure the working reliability of the automobile sensor. Under the influence of actual vibration, the vehicle sensor not only has linear vibration in three translational directions, but also has change of a corner to generate angular vibration, so that the vehicle sensor needs to be tested by using a vibration table capable of accurately reproducing the vibration environment of the sensor, and the traditional vibration excitation device still has some defects, for example, the vehicle sensor is excited by using an electromagnetic vibration table in patent numbers of 'CN 201821560591.8' and a name of 'sensor vibration fatigue test device', so that the high-frequency high-acceleration sensor vibration fatigue test is realized, but only the vibration excitation in the vertical direction can be realized, and the line-angle coupling vibration cannot be output. In patent No. CN202121011772.7, which is named as "multi-degree-of-freedom vibration exciter", a plurality of single-axis vibration exciters are connected by hinges, and through the cooperation between the hinges, the exciting forces in multiple directions are generated, but the mechanical coupling method results in the problems of complicated structure, low output precision, and the like.

Most of the traditional vibration fatigue test devices are excited by a single shaft, and the space motion of linear-angular vibration coupling cannot be reproduced; in addition, the prior multi-degree-of-freedom vibration excitation device mostly adopts a plurality of vibration exciters to output coupled motion in parallel, and has the problems of low output precision, large control difficulty, high cost and the like.

In addition, higher requirements are provided for the working frequency band, the measuring range and the measuring precision of the sensor, the sensor needs to be calibrated in order to ensure the accuracy and the uniformity of the measuring result of the sensor, the traditional single-axial vibration calibration technology can only reproduce one-dimensional linear vibration or angular vibration in an ideal environment and cannot reproduce line-angular vibration coupled spatial motion, and in order to meet the requirements of people on the calibration technology, the electromagnetic type combined vibration exciter is provided by Tang wave and the like, and a kinetic model is utilized to carry out parameter identification on the exciter. However, the conventional mechanical parameter identification method has some disadvantages: for example, in the patent number "CN105424160B," the name "blade synchronous vibration parameter identification method object structure is simple", the analysis process is complex, and the parameter estimation is easy to be unstable when the least square method is adopted to identify the parameter, and the recursion process diverges, so that an accurate identification result cannot be obtained. For example, the method disclosed in patent No. CN112903271A and entitled "non-contact asynchronous vibration parameter identification method for rotor blade" is only suitable for rotor blades with single frequency, and has complex data processing, error accumulation is easily caused, and data authenticity is not high.

Disclosure of Invention

The present invention aims to provide an electromagnetic linear-angular vibration exciter that solves one or more of the above mentioned technical problems.

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

an electromagnetic linear-angular vibration exciter comprises a first base, a second base, a moving part, a magnetic circuit assembly, a resetting assembly and a supporting assembly;

the second base is arranged at the central position of the first base;

the moving part comprises a permanent magnet framework and a workbench, the permanent magnet framework is a cylinder body with a cover and without a bottom, the workbench is arranged at the top of the cylinder body, the workbench is glued with the top of the cylinder body, the sensor is arranged on the workbench, and a groove is formed in the annular surface of the cylinder body;

the magnetic circuit component comprises an outer yoke, a coil, an inner yoke and a permanent magnet;

the outer yokes are four in number, each outer yoke is an arc-shaped block, and the outer yokes are fixed in the four halves of the circle center of the first base in an overlapped mode;

the coil is wound on each outer yoke, the coil on each outer yoke is independently controlled, and the winding directions of the coils on two adjacent outer yokes are vertical to each other; the current directions of the coils on the two outer yokes are opposite and the amplitudes of the currents are the same;

the inner yoke is fixed on the second base, and the inner yoke and the outer yoke are concentric;

the permanent magnet is embedded into the groove, and a Halbach permanent magnet array is formed in the circumferential direction of the cylinder;

the moving element is inserted between the outer yoke and the inner yoke and is provided with an air gap with the outer yoke and the inner yoke respectively;

the permanent magnet, the outer yoke, the inner yoke and the air gap form a plurality of independent linear-angular vibration closed magnetic loops;

a sinusoidal alternating current is respectively introduced into each coil, so that the moving part outputs sinusoidal line-angle vibration under the action of a plurality of independent line-angle vibration closed magnetic loops;

the reset assembly balances the moving part.

Preferably: the reset assembly comprises a vertical shaft, a transverse shaft, an elastic rope and a bolt. The lower end of the vertical shaft is fixed on the upper end surface of the outer yoke, and the transverse shaft and the vertical shaft are connected through a cross fixing clamp. One end of the elastic rope is fixed on the transverse shaft, and the other end of the elastic rope is fixed on the moving component through a bolt. The reset components are arranged in at least two groups and are equally distributed on the circumference of the moving part.

Preferably: the permanent magnet comprises 2 pieces of a first permanent magnet, a second permanent magnet, a third permanent magnet and a fourth permanent magnet.

2 said first permanent magnets are magnetized radially, 180 ° apart.

And the magnetization direction of the 2 second permanent magnets is opposite to that of the first permanent magnet and is separated by 180 degrees.

And 2 third permanent magnets are magnetized in the anticlockwise circumferential direction and are separated by 180 degrees.

And 2 fourth permanent magnets are magnetized in the clockwise circumferential direction and are separated by 180 degrees.

The first permanent magnet, the third permanent magnet and the fourth permanent magnet are adjacent; the second permanent magnet, the third permanent magnet and the fourth permanent magnet are adjacent.

Preferably, the following components: the coil comprises a first coil and a second coil; the first coil includes a first circumferential coil and a second circumferential coil wound circumferentially on the outer yoke; the second coil includes a first axial coil and a second axial coil axially wound on the outer yoke.

Preferably: the air floatation support assembly comprises a radial throttling hole, a first local ring surface and a second local ring surface; the first local annular surface is the outer wall of the moving part; the second local ring surface is the inner wall of the outer yoke; the radial throttling hole is formed in the outer yoke and is opposite to the first local annular surface; the radial throttling hole is connected with an external high-pressure air source through a blind hole in the outer yoke, so that an air film is formed between the first local ring surface and the second local ring surface.

Another object of the present invention is to provide a method for identifying dynamic parameters of an electromagnetic linear-angular vibration exciter, which can solve one or more of the above technical problems.

The method for identifying the dynamic parameters of the electromagnetic linear-angular vibration exciter comprises the following steps:

step 1, establishing a differential equation of motion of uniaxial vibration and coupled vibration according to the working principle of a vibration exciter. At low frequency, the workbench and the permanent magnet framework in the moving part are regarded as a rigid body to move together, wherein the permanent magnet framework comprises a permanent magnet; when in high frequency, because the workbench and the permanent magnet framework are glued, the workbench and the permanent magnet framework can generate relative displacement, so that the workbench and the permanent magnet framework can be analyzed separately.

Step 2, establishing an electromechanical analog model according to a vibration differential equation of the electromagnetic linear-angular vibration exciter; according to the electric analogy principle of admittance machine, the mechanical parameter quality corresponds to the electric parameter capacitance, the force is corresponding to the inductance, and the force is corresponding to the resistance; the method specifically comprises the following corresponding relations:

wherein M is ₁ Mass M of corresponding permanent magnet framework (containing permanent magnet) _x Permanent magnet framework (containing permanent magnet) equivalent moment of inertia J _t ；

M ₂ Corresponding to the mass M of the working table _e Equivalent moment of inertia J of the working table _s ；

R ₁ Corresponding permanent magnet framework (containing permanent magnet) force is 1/k _x Permanent magnetTorsional vibration force of 1/k of body skeleton (containing permanent magnet) _t (ii) a The compliance is the reciprocal of the stiffness;

R ₂ corresponding to the force of the working table to be 1/k _e The torsional vibration force of the working table is smooth 1/k _s (ii) a The force is reciprocal of the rigidity;

G ₁ corresponding permanent magnet framework (containing permanent magnet) force guide 1/c _x Permanent magnet skeleton (containing permanent magnet) torsional vibration force guide 1/c _t (ii) a The force conductance is the reciprocal of the damping;

G ₂ corresponding to the force guide 1/c of the working table _e 1/c of torsional vibration force of the workbench _s (ii) a The force conductance is the reciprocal of the damping;

n corresponds to a linear vibration force factor BL and an angular vibration force factor BL;

f corresponds to a linear vibration exciting force F and an angular vibration exciting torque T;

then, establishing a parameter identification model of the working mechanism according to the corresponding line vibration or angular vibration state of the electromechanical analog model;

wherein, the parameter identification model of mass or moment of inertia:

where M is an additional standard block parameter, where M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, ω ₁ Is the no-load resonance frequency, omega, in the low-frequency mode ₂ Is the load resonance frequency, omega, in the low frequency mode ₃ Is the frequency, omega, at which the maximum impedance occurs at no load in the high-frequency mode ₄ The frequency of the occurrence of the maximum impedance when the load is in the high-frequency mode;

parameter identification model of stiffness:

where M is an additional standard block parameter, M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, R ₁ Is a permanent magnet framework (containing permanent magnets) with smooth force, omega ₁ Low frequency modeA lower no-load resonance frequency; r ₂ Smooth force, omega, of the table ₄ The frequency of the occurrence of the maximum impedance when the load is in the high-frequency mode;

a damped parameter identification model:

G ₁ is a permanent magnet framework (containing a permanent magnet) force guide; n is the force factor, re is the resistance, R (Z) ₁ ) Is the real part of the low frequency impedance formula;

G ₂ for the force guidance of the table, M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, R ₂ Smooth force, omega, of the table ₃ The frequency of the maximum impedance when the load is no load in the high-frequency mode;

establishing a resonance motion model according to an electromechanical analog model, establishing a parameter identification model of a working mechanism corresponding to a linear-angular vibration state as follows:

J _i for equivalent moment of inertia of moving parts, M _i For moving part mass, θ is the angular change, x is the displacement change, k _t Is the equivalent torsional vibration stiffness, k, of a permanent magnet skeleton (containing permanent magnets) _x Equivalent stiffness of a permanent magnet framework (containing a permanent magnet), delta (theta) is a coupling stiffness symbol definition function, k is coupling stiffness, T is angular vibration exciting torque, f is linear vibration exciting force, and omega _x At linear vibration excitation frequency, ω _θ Is angular vibration excitation frequency, t is time;

the parameter identification model of the coupling stiffness is as follows:

whereink _t Is the equivalent torsional vibration stiffness, k, of a permanent magnet framework (containing permanent magnets) _x Is the equivalent stiffness of the permanent magnet skeleton (containing the permanent magnet), J _i For equivalent moment of inertia of moving parts, M _i As mass of moving part, omega ₆ The linear vibration resonance frequency is the linear-angular synchronous output time;

step 2, carrying out an experiment by adopting any one of the electromagnetic linear-angular vibration exciters, and sequentially setting the electromagnetic linear-angular vibration exciters into a linear vibration mode, an angular vibration mode and a linear-angular vibration synchronous output mode; respectively carrying out no-load and load experiments on each mode;

and 3, acquiring voltage U and current I in the coil and an acceleration signal of a vibration exciter workbench, calculating total impedance Z = U/I of the coil, performing FFT analysis on the signal, acquiring impedance-frequency graphs under no-load and load conditions in different vibration modes, acquiring no-load and load resonance frequencies, and substituting experimental data into the model established in the step 1 to calculate each parameter.

The electromagnetic linear-angular vibration exciter has the following technical effects:

1. according to the invention, the Halbach permanent magnet array is applied to the annular permanent magnet structure, and a plurality of independent linear-angular vibration closed magnetic circuits are formed with the magnet yoke, so that the magnetic induction intensity at a working air gap can be effectively enhanced.

2. The invention winds the coil on the outer yoke independently, the electrified coil is coupled with the air gap magnetic field, the permanent magnet is subject to electromagnetic force and Z-axis axial force and torque with sine change, and drives the moving part to synchronously output line-angle vibration.

3. The 4 coils are wound independently, and the output axial force and torque can be controlled independently.

4. The coil is externally arranged, so that more turns and heat dissipation can be facilitated, larger current can be introduced, and larger acceleration and angular acceleration can be output.

The kinetic parameter identification method has the following technical effects:

the method is based on an electromechanical analogy principle, adopts an equivalent circuit diagram to express the vibration characteristics of the electromagnetic linear-angular vibration exciter, greatly simplifies the analysis process of a complex mechanical vibration system, and can intuitively reflect the vibration characteristics of the exciter under different vibration modes by a model. Meanwhile, an electromechanical analogy model is analyzed and improved on the basis of a coupled vibration equation, so that the model is suitable for linear vibration, angular vibration and linear-angular coupled vibration of a linear-angular vibration exciter. According to the electromechanical analog model, a vibration exciter key parameter identification model is established. The experimental parameters required by model identification are less, and the experimental parameters can be directly substituted into an identification formula to quickly and accurately calculate the experimental parameters; and performing response analysis simulation on each vibration mode by setting relevant vibration parameter values and establishing a transfer function of linear vibration acceleration and force and a transfer function of angular vibration acceleration and torque. And calculating parameters by utilizing the corresponding resonance frequency obtained by simulation, and verifying the accuracy of the model and the relation between part of parameters in the model and the resonance frequency of the line-angle vibration exciter.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and not to limit the invention.

In the drawings:

fig. 1 is a schematic view of the general structure of the present invention.

Fig. 2 is a schematic view of the moving part structure of the present invention.

Fig. 3 is a schematic view of the structure of the permanent magnet of the present invention.

Fig. 4 is a schematic structural view of the magnetic circuit assembly of the present invention.

Fig. 5 is a schematic diagram of the corresponding positions of the permanent magnet and the outer yoke of the invention.

Fig. 6 is a schematic view of the coil structure of the present invention (arrows indicate the coil winding direction).

Fig. 7 is a schematic diagram of the coil winding position of the present invention.

Fig. 8 is a schematic view of the structure of the closed magnetic circuit by linear vibration according to the present invention ("·," × "indicates the direction of coil current).

Fig. 9 is a schematic view of the structure of the angular vibration closed magnetic circuit of the present invention (arrows indicate the direction of coil current).

Fig. 10 is a schematic view of the connection of the outer yoke and the base of the present invention.

FIG. 11 is a schematic view of the connection of the inner yoke to the base of the present invention.

Fig. 12 is a schematic view of the reset assembly of the present invention.

FIG. 13 is a schematic view of the mechanism of the radial air bearing support assembly of the present invention.

Fig. 14 is a partially enlarged schematic view of fig. 13 (air flotation).

Wherein the figures include the following reference numerals:

the sensor 1, a moving part, a workbench 21, a permanent magnet framework 22, a moving part upper ring surface 221 and a moving part lower ring surface 222;

a permanent magnet 23, a first radially magnetized permanent magnet 2311, a second radially magnetized permanent magnet 2312;

a third radially magnetized permanent magnet 2321, a fourth radially magnetized permanent magnet 2322;

a first permanent magnet 2331 magnetized counterclockwise circumferentially, a second permanent magnet 2332 magnetized counterclockwise circumferentially;

the first clockwise circumferentially magnetized permanent magnet 2341 and the second clockwise circumferentially magnetized permanent magnet 2342;

a groove 24;

a vertical shaft 31, a horizontal shaft 32, an elastic rope 33 and a bolt 34;

an outer yoke 41, a first line vibrating magnetic circuit outer yoke 4111, a second line vibrating magnetic circuit outer yoke 4112, a first angular vibrating magnetic circuit outer yoke 4121, a second angular vibrating magnetic circuit outer yoke 4122,

the coil 42, the first circumferential coil 4211, the second circumferential coil 4212,

a first axial coil 4221, a second axial coil 4222;

an inner yoke 43;

a first base 51, a second base 52;

an orifice 61, a first partial annulus 62, and a second partial annulus 63.

FIG. 15 is a flowchart illustrating a parameter identification method according to the present invention.

Fig. 16 is a lumped parameter model of linear vibration built according to the working principle of the electromagnetic linear-angular vibration exciter of the present invention.

Fig. 17 is a lumped parameter model of angular vibration, which is established according to the working principle of the electromagnetic linear-angular vibration exciter of the invention.

Fig. 18 is a first diagram of an electromechanical analog model established according to the working principle of the electromagnetic linear-angular vibration exciter of the present invention.

Fig. 19 is a diagram of a second electromechanical analog model established according to the working principle of the electromagnetic linear-angular vibration exciter of the present invention.

Fig. 20 is a diagram of an equivalent electromechanical analog model established under a low-frequency vibration mode of the electromagnetic linear-angular vibration exciter according to the present invention.

Fig. 21 is a diagram of an equivalent electromechanical analog model established in a low frequency vibration mode in the electromagnetic linear-angular vibration exciter according to the present invention.

Fig. 22 is a diagram of an equivalent electromechanical analog model established in a high frequency vibration mode in the electromagnetic linear-angular vibration exciter according to the present invention.

Fig. 23 is a diagram of an equivalent electromechanical analog model established in a coupled vibration mode in an electromagnetic linear-angular vibration exciter according to the present invention.

Fig. 24 is a frequency response diagram of vibration idling of a vibration exciter line under low frequency obtained according to a transfer function in the embodiment.

Fig. 25 is a frequency response diagram of the vibration load of the exciter line at low frequency according to the transfer function in the example.

Fig. 26 is a frequency response diagram of the vibration idler of the exciter wire at a high frequency obtained according to the transfer function in the embodiment.

Fig. 27 is a schematic frequency response of the vibration load of the exciter line at high frequencies obtained from the transfer function in the example.

FIG. 28 is a frequency response diagram of the vibration exciter angular vibration no-load at low frequency according to the transfer function in the embodiment.

Fig. 29 is a frequency response diagram of the angular vibration load of the exciter at low frequency according to the transfer function in the embodiment.

Fig. 30 is a frequency response diagram of vibration idling of a coupled line of an exciter in a coupled vibration mode obtained according to a transfer function in the embodiment.

Fig. 31 is a frequency response diagram of the vibration load of the exciter coupled line in the coupled vibration mode according to the transfer function in the embodiment.

Detailed Description

The present invention will now be described in detail with reference to the drawings and specific embodiments, wherein the exemplary embodiments and descriptions are provided only for the purpose of illustrating the present invention and are not to be construed as unduly limiting the invention.

It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above 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 may be interchanged under appropriate circumstances such that, for example, embodiments of the application described herein may be implemented in sequences other than those illustrated or described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

For ease of description, spatially relative terms such as "over 8230 \ 8230;,"' over 8230;, \8230; upper surface "," above ", etc. may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 to 14, a moving-magnet type linear-angular vibration excitation device includes a moving part, a reset component, a magnetic circuit component, a base 5, and a support component.

As shown in fig. 1-2, the moving part comprises a permanent magnet framework 22 and a workbench 21, the permanent magnet framework 22 is in a cylinder shape with a cover and without a bottom, the workbench 21 is arranged at the top of the moving part, the workbench is glued with the top of the cylinder, the sensor 1 is arranged on the workbench surface 21, a permanent magnet 23 is arranged in a groove 24 of the moving part, and the permanent magnet 23 is flush with the outer wall of the moving part. The moving element is inserted into the outer yoke 41, one end of the reset assembly is mounted on the upper end face of the outer yoke 41, and the other end of the reset assembly is mounted on the worktable 21.

As shown in fig. 3, the permanent magnet 23 includes a first permanent magnet, a second permanent magnet, a third permanent magnet, and a fourth permanent magnet; the first permanent magnet is positively magnetized in a radial direction (the small diameter part is an S pole, and the large diameter part is an N pole), the second permanent magnet is inversely magnetized in a radial direction (the small diameter part is an N pole, and the large diameter part is an S pole), the third permanent magnet is circumferentially magnetized in an anticlockwise direction, and the fourth permanent magnet is circumferentially magnetized in a clockwise direction;

the first permanent magnet comprises a first radial magnetized permanent magnet 2311 and a second radial magnetized permanent magnet 2312, and the first radial magnetized permanent magnet 2311 and the second radial magnetized permanent magnet 2312 are separated by 180 degrees;

the second permanent magnet comprises a third radial magnetized permanent magnet 2321 and a fourth radial magnetized permanent magnet 2322, and the third radial magnetized permanent magnet 2321 and the fourth radial magnetized permanent magnet 2322 are separated by 180 degrees;

the third permanent magnet comprises a first counterclockwise circumferential magnetized permanent magnet 2331 and a second counterclockwise circumferential magnetized permanent magnet 2332, and the first counterclockwise circumferential magnetized permanent magnet 2331 is 180 degrees apart from the second counterclockwise circumferential magnetized permanent magnet 2332;

the fourth permanent magnet comprises a first clockwise circumferentially magnetized permanent magnet 2341 and a second clockwise circumferentially magnetized permanent magnet 2342, and the first clockwise circumferentially magnetized permanent magnet 2341 and the second clockwise circumferentially magnetized permanent magnet 2342 are separated by 180 degrees;

the permanent magnets 23 are arranged in sequence along the circumferential direction according to a first radially magnetized permanent magnet 2311, a first clockwise circumferentially magnetized permanent magnet 2341, a fourth radially magnetized permanent magnet 2322, a second counterclockwise circumferentially magnetized permanent magnet 2332, a second radially magnetized permanent magnet 2312, a second clockwise circumferentially magnetized permanent magnet 2342, a third radially magnetized permanent magnet 2321 and a first counterclockwise circumferentially magnetized permanent magnet 2331.

As shown in fig. 4, the magnetic circuit assembly includes an outer yoke 41, a coil 42, an inner yoke 43, a permanent magnet 23; the outer yoke is fixed on the first base 51, the inner yoke 43 is inserted into the outer yoke 41 and fixed on the second base 52, and the inner yoke 43 is concentric with the outer yoke 41; the outer yoke 41 is divided into 4 parts in the circumferential direction of the first base in a quartering manner, each part is not connected with each other, and the permanent magnet 23, the outer yoke 41, the inner yoke 43 and an air gap form a linear-angular vibration closed magnetic loop; the outer yoke 41 of each portion is wound with a coil 42.

As shown in fig. 5, the outer yoke 41 includes a first outer yoke and a second outer yoke; the first outer yoke comprises a first linear vibration magnetic circuit outer yoke 4111 and a second linear vibration magnetic circuit outer yoke 4112, and the first and second linear vibration magnetic circuit outer yokes 4111 and 4112 are radially symmetrical; the second outer yoke comprises a first angular vibration magnetic circuit outer yoke 4121 and a second angular vibration magnetic circuit outer yoke 4122, and is radially symmetrical. The first outer yoke, the second permanent magnet and the inner yoke 43 form a linear vibration closed magnetic loop; the second outer magnetic yoke, the first permanent magnet and the inner magnetic yoke 43 form an angular vibration closed magnetic loop;

the position relation of the magnetic yoke and the permanent magnet is as follows: the first line vibration outer yoke 4111 is directly opposite to the third radially magnetized permanent magnet 2321; the second line vibration magnetic circuit outer yoke 4112 is opposite to the fourth radial magnetization permanent magnet 2322; the first angular vibration magnetic circuit outer yoke 4121 is opposite to the first radial magnetization permanent magnet 2311; the second angular vibration magnetic circuit outer yoke 4122 faces the second radially magnetized permanent magnet 2312.

As shown in fig. 6, the coil 42 includes a first coil, a second coil; the first coil includes a first circumferential coil 4211, a second circumferential coil 4212; the second coils include a first axial coil 4221 and a second axial coil 4222.

As shown in the positional relationship of the coil 42 and the permanent magnet 23 in fig. 7, the first circumferential coil 4211 is circumferentially wound around the outer surface of the first line vibration outer yoke 4111; the second circumferential coil 4212 is wound circumferentially around the outer surface of the second wire vibrating outer yoke 4112; the first axial coil 4221 is axially wound on the outer surface of the first angular vibration outer yoke 4121; the second axial coil 4222 is axially wound around the outer surface of the second angular vibration outer yoke 4122. The first circumferential coil 4211, the second circumferential coil 4212, the first axial coil 4221 and the second axial coil 4222 are controlled individually; the first circumferential coil 4211 and the second circumferential coil 4212 have opposite current directions and same amplitude; the first axial coil 4221 and the second axial coil 4222 have the same current direction and the same amplitude.

Mover and stator positional relationship: the moving element is inserted between the outer yoke 41 and the inner yoke 43, and the coil 42 is fed with sine alternating current to enable the moving element to output sine-changing linear-angular vibration; the reset assembly balances the moving part relative to the magnetic circuit assembly.

The permanent magnet 23 is placed between the small air gaps of the outer yoke 41 and the inner yoke 43, 8 permanent magnets are magnetized according to the direction described above; based on ampere's law, in combination with the need for the moving part to produce linear and angular vibrations, to form a linear vibrating air-gap magnetic field and an angular vibrating air-gap magnetic field.

Coil energization mode: when the first circumferential coil 4211 and the second circumferential coil 4212 are electrified with sinusoidal alternating currents with opposite phases and the same amplitude, and the third radial magnetized permanent magnet 2321 and the fourth radial magnetized permanent magnet 2322 are in the linear vibration air gap magnetic field, the moving component can output sinusoidal line vibration.

When the first axial coil 4221 and the second axial coil 4222 are supplied with sinusoidal alternating currents with the same phase and the same amplitude, and the first radial magnetized permanent magnet 2311 and the second radial magnetized permanent magnet 2312 are in the angular vibration air gap magnetic field, the moving component can output sinusoidal angular vibration.

As shown in fig. 8-9, the first coil is located in a linear vibrating closed magnetic circuit formed by the second permanent magnet, the first outer yoke, the inner yoke 43 and the air gap.

Here, the coil current is in the circumferential direction (the current direction is represented by "·" and "×"), and the left first circumferential coil 4211 and the right second circumferential coil 4212 are opposite in current direction; the small diameter of the second permanent magnet is an N pole, the large diameter of the second permanent magnet is an S pole, and the second permanent magnet is located in the middle of the axial part of the coil. When the first circumferential coil 4211 and the second circumferential coil 4212 are simultaneously electrified with sinusoidal alternating current, the direction of magnetic induction lines of a line vibration air gap magnetic field is vertical to the current direction, and according to left-hand rules, the left and right 2 second permanent magnets are simultaneously subjected to axial ampere force with the same magnitude and the same direction, so that line vibration of the moving part is realized.

As shown in fig. 10, the second coil is located in the closed magnetic circuit of angular vibration, which is composed of the first permanent magnet, the second outer yoke, the inner yoke 43 and the air gap.

The coil current is axial (current direction is indicated by arrow), and the left first axial coil 4221 and the right second axial coil 4222 have opposite current directions; the first permanent magnet is N-pole at the large diameter part and S-pole at the small diameter part, and is positioned in the middle of the circumferential part of the coil. When the first axial coil 4221 and the second axial coil 4222 are simultaneously introduced with sinusoidal alternating current, the direction of magnetic induction lines of an angular vibration air gap magnetic field is vertical to the direction of the current, and according to left-hand rules, the left and right 2 first permanent magnets are simultaneously subjected to tangential ampere forces with the same magnitude and opposite directions, so that angular vibration of the moving part is realized.

As shown in fig. 11 to 12, the base includes a first base 51 and a second base 52, and the second base 52 is mounted on the first base 51; the outer yoke 41 is mounted on the first base 51 and the inner yoke 43 is mounted on the second base 52.

(reset assembly) as shown in fig. 13, the reset assembly comprises a vertical shaft 31, a horizontal shaft 32, an elastic rope 33 and bolts 34, which are circumferentially arranged on the working table surface 21 and are radially symmetrical; the lower end of the vertical shaft 31 is fixed on the upper end surface of the first outer yoke through threads, and the transverse shaft 32 and the vertical shaft 31 are connected through a cross fixing clamp; one end of an elastic rope 33 is fixed on the transverse shaft 32, the other end of the elastic rope 33 is fixed on the working table surface 21 through a bolt 34, and the direction and the height of the transverse rod 32 are adjusted through a cross fixing frame, so that the direction and the length of the elastic rope 33 are adjusted; the newly added deformation of the elastic cord 33 in tension overcomes the weight of the moving parts and provides a restoring force for line and angular vibrations to regain an equilibrium position.

As shown in fig. 14 to 15, in the air supporting assembly, radial throttle holes 61 are respectively opened on the inner side surface of the upper end and the inner side surface of the lower end of the outer yoke 41, the throttle holes 61 are uniformly distributed on the first outer yoke in the circumferential direction, the throttle holes are arranged on the second outer yoke at both ends of the coil 42, and the throttle holes 61 are opposite to the outer wall of the moving member. The orifice 61 is externally connected with compressed air flow, and is connected with an externally connected high-pressure air source through a blind hole on the outer yoke 41, so that an air film is formed between a local ring surface 62 of the moving part and a local ring surface 63 of the outer yoke 41 and serves as a guide device to play a role in radial support, the friction force of the moving part is greatly reduced, and the distortion degree of output waveforms is reduced.

The lossless parameter identification method is performed for the above apparatus, as shown in fig. 15.

Fig. 16 and 17 show lumped parameter models of linear vibration and angular vibration, which are established according to the operating principle of the vibration exciter. Wherein, at low frequency, the working table and the permanent magnet framework (including the permanent magnet) in the moving part are regarded as rigid bodies to move together; when in high frequency, because the workbench and the permanent magnet are glued, the workbench and the permanent magnet framework can generate relative displacement, so that the workbench and the permanent magnet framework can be analyzed separately.

M in FIG. 16 _b For the mass of the exciter stage, k _b Is table body stiffness, c _b The damping coefficient of the table body is; m _x Mass of the permanent magnet skeleton (including permanent magnet), k _x Is the equivalent stiffness of the permanent magnet skeleton (containing the permanent magnet), c _x Damping coefficient of permanent magnet skeleton (containing permanent magnet); m _e As the table mass, k _e As stiffness of the table, c _e Is the damping coefficient of the worktable, and f is the linear vibration exciting force.

J in FIG. 17 _r Equivalent moment of inertia k for the exciter platform _r Torsional stiffness of the table body, c _r The damping coefficient of the torsional vibration of the platform body is taken as the damping coefficient; j. the design is a square _t Is the equivalent moment of inertia, k, of the permanent magnet skeleton (containing the permanent magnet) _t Is the torsional vibration rigidity of the permanent magnet skeleton (containing the permanent magnet), c _t The torsional vibration damping coefficient of a permanent magnet framework (containing a permanent magnet); j. the design is a square _s Is the equivalent moment of inertia of the table, k _s For torsional stiffness of the working table, c _s T is the torsional vibration damping coefficient of the workbench, and T is the angular vibration exciting torque.

Fig. 18 and 19 show an electromechanical analogy model established according to the vibration exciter working principle based on the admittance electromechanical analogy principle, wherein according to the admittance electromechanical analogy principle, the mechanical parameter mass M corresponds to the electrical parameter capacitance C, the mechanical compliance R (inverse 1/k of the stiffness) corresponds to the inductance Le, and the mechanical conductance G (inverse 1/C of the damping) corresponds to the resistance Re.

In view of the fact that the linear vibration and the angular vibration of the vibration exciter have the same structural vibration differential equation, the two vibration modes share the same electromechanical analog model,

wherein M is ₁ Mass M of corresponding permanent magnet framework (containing permanent magnet) _x Permanent magnet skeleton (including permanent magnet) equivalent moment of inertia J _t ；

M ₂ Corresponding to the mass Me of the workbench and the equivalent moment of inertia J of the workbench _s ；

R ₁ Corresponding permanent magnet framework (containing permanent magnet) force is 1/k _x Permanent magnet framework (containing permanent magnet) torsional vibration force is 1/k _t (ii) a The force is reciprocal of the rigidity;

R ₂ corresponding to the force of the working table to be 1/k _e The torsional vibration force of the working table is smooth 1/k _s (ii) a The compliance is the reciprocal of the stiffness;

G ₁ corresponding permanent magnetForce guide 1/c of body skeleton (containing permanent magnet) _x Permanent magnet skeleton (containing permanent magnet) torsional vibration force guide 1/c _t (ii) a The force conductance is the reciprocal of the damping;

G ₂ corresponding to the force guide 1/c of the working table _e 1/c is led to the torsional vibration force of the working platform _s (ii) a The force conductance is the reciprocal of the damping;

n corresponds to a linear vibration force factor BL and an angular vibration force factor BL;

f corresponds to a linear vibration exciting force F and an angular vibration exciting torque T;

the relationship between the parameters and the variables of the parameters to be identified is as follows:

the specific establishment process of each model is as follows:

as shown in fig. 20, in an equivalent electromechanical model in which a vibration exciter works at a low frequency, a table and a permanent magnet skeleton (including a permanent magnet) in a moving part act as a rigid body, where the impedance provided by Le (inductance) at the low frequency is very small and negligible through experiments, so that an impedance formula for the vibration exciter to work at the low frequency is established according to the model as follows:

where Re is the resistance, G ₁ Is a permanent magnet skeleton (containing permanent magnets) force guide, N is a force factor, j is an imaginary number, omega is an angular frequency, R ₁ The permanent magnet framework (containing the permanent magnet) is smooth, and M represents the mass of a moving part or the equivalent moment of inertia of the moving part;

from the above impedance formula, when

When, i.e. the frequency is the resonance frequency, the impedance Z ₁ Has an imaginary part of 0 and the mode of the admittance is minimal.

According to the additional mass method, no-load and load experiments are carried out on the vibration exciter to obtain no-load resonance in a low-frequency modeFrequency of

And the load resonance frequency in the low frequency mode

Therefore, the mass or rotational inertia, the rigidity, the damping and other parameters can be calculated, and the mass or rotational inertia calculation formula is as follows:

where m is an additional standard block parameter, ω ₁ No-load resonance frequency, omega, in low frequency mode ₂ The low frequency mode loads the resonant frequency.

Obtaining the rigidity k of a permanent magnet framework (containing a permanent magnet) by utilizing the reciprocal relation between the rigidity and the force compliance _x Permanent magnet skeleton (including permanent magnet) torsional vibration rigidity k _t The calculation formula is as follows:

wherein: r is ₁ Is the force compliance of the permanent magnet skeleton (containing the permanent magnet), M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, ω ₁ No-load resonance frequency in low frequency mode.

Obtaining the damping c of the permanent magnet framework (containing the permanent magnet) by utilizing the reciprocal relation between the damping and the force guide _x Permanent magnet skeleton (including permanent magnet) torsional vibration damping c _t The calculation formula is as follows:

wherein: g ₁ Is a permanent magnet skeleton (containing permanent magnets) force guide, N is a force factor, R (Z) ₁ ) Is the real part of the low frequency impedance equation and Re is the coil resistance.

When the frequency of the vibration exciter is increased, the impedance value of the inductor Le in the coil is increased and cannot be ignored,at this time, the total impedance Z ₂ The impedance Zmech of the mechanical part and the imaginary part of the impedance are Im (Zmech):

wherein: re is resistance, j is imaginary, ω is angular frequency, le is inductance, G ₁ Is a permanent magnet skeleton (containing permanent magnets) force guide, N is a force factor, R ₁ The permanent magnet framework (containing the permanent magnet) has smooth force, and M is the total mass.

From the impedance equation, the denominator is positive, but only when

When the voltage is positive, the imaginary part of the impedance is positive, and the circuit is inductive. For

The imaginary part of the impedance is negative, which means that the circuit is capacitive in nature, at the electromechanical resonant frequency ω _em The capacitive impedance provided by the mass and the impedance provided by the inductance are in series resonance, i.e., j ω Le + jIm (Z) _mech )＝0。

From the electromechanical resonance frequency omega _em The calculation formula of the available inductance Le is as follows:

after obtaining the inductance value, the real part of the impedance at this time can be obtained as:

wherein: re is resistance, ω _em Is the electromechanical resonance frequency, R ₁ Is the force of the permanent magnet skeleton (including the permanent magnet), le is the inductance, G ₁ The permanent magnet framework (containing permanent magnets) force guide, M represents the mass of a moving part or the equivalent moment of inertia of the moving part, and N is a force factor; is measured by experiments

The resistance value of (2) is very small at the electromechanical resonance frequency point, so that the resistance Re ≈ Re (Z) can be obtained.

Fig. 21 shows an equivalent electromechanical model when the operating frequency of the vibration exciter is increased, and it can be known from the model that the capacitance impedance is very low at this time, which is equivalent to a short circuit, and almost all the current flows into the capacitance, so the force factor calculation formula is:

wherein: f denotes the force, M here denotes the moving part mass or the moving part equivalent moment of inertia, a denotes the acceleration, N denotes the force factor and I denotes the coil current.

Fig. 22 shows an equivalent electromechanical model of a vibration exciter working at high frequency, in which the worktable and the permanent magnet frame (including the permanent magnet) are relatively displaced due to the adhesive joint between the worktable and the permanent magnet frame at high frequency, and cannot be regarded as rigid bodies to move together.

Establishing an impedance formula according to the model and the real part of the impedance formula is as follows:

where Re is resistance, j is an imaginary number, ω is angular frequency, le is inductance, N is force factor, G ₁ Is a permanent magnet skeleton (containing permanent magnet) force guide, M ₂ Corresponding here to the mass of the table or the equivalent moment of inertia of the table, R ₁ Is the force of the permanent magnet skeleton (including the permanent magnet), R ₂ Is the smooth force of the working table G ₂ Is a force guide of the working table, M ₁ The corresponding is the mass of the permanent magnet framework (containing the permanent magnet) or the equivalent moment of inertia of the permanent magnet framework (containing the permanent magnet).

When in use

The real part of the impedance is maximum. According to the additional mass method, the vibration exciter is fedThe frequency of the maximum impedance in no-load can be obtained in a high-frequency mode through no-load and load experiments

And the frequency of occurrence of the maximum impedance under load in the high-frequency mode

Thus, the mass M of the permanent magnet skeleton (including the permanent magnet) can be calculated ₁ (M _x ) Table mass M ₂ (M _e ) Or moment of inertia J (equivalent moment of inertia J of permanent magnet framework (containing permanent magnet) _t Equivalent moment of inertia J of the working table _s ) Stiffness, damping and the like, and the calculation formula is as follows:

wherein: m is an additional mass parameter, M here representing the mass of the moving part or the equivalent moment of inertia of the moving part, ω ₄ Is the frequency, ω, at which the maximum impedance occurs under load in the high frequency mode ₃ Is the frequency at which the maximum impedance occurs at idle in the high frequency mode.

The rigidity k of the workbench is obtained by utilizing the reciprocal relation between the rigidity and the force compliance _e Table torsional stiffness k _s The calculation formula is as follows:

wherein: r ₂ Is the force compliance of the table, M is an additional mass parameter, M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, ω ₄ Is the frequency of occurrence of the maximum impedance, M, of the load in the high-frequency mode ₁ The corresponding is the mass of the permanent magnet framework (containing the permanent magnet) or the equivalent moment of inertia of the permanent magnet framework (containing the permanent magnet).

Obtaining the damping coefficient c of the workbench by using the reciprocal relation between the damping and the force conductance _e Work, workDamping coefficient of table torsional vibration c _s The calculation formula is as follows:

wherein: g ₂ Is a force guide of the working table, M ₂ Corresponding here is the stage mass or stage equivalent moment of inertia, ω ₃ Is the frequency of occurrence of the maximum impedance at no load, R ₂ Is the table compliance, M here represents the moving part mass or the moving part equivalent moment of inertia, N is the force factor, re is the coil resistance,

for the real part of the high-frequency impedance equation (meaning at angular frequency ω) ₃ Real part of impedance in time).

So far, key parameters of linear vibration and angular vibration of the vibration exciter are all solved, wherein the nonlinearity of current and displacement exists in a vibration system of the vibration exciter, the nonlinearity influences an experimentally measured value, and further deviation exists between the damping value and the rigidity value obtained by identification.

When the vibration exciter synchronously outputs line vibration and angular vibration, the line vibration can generate torsional response and the angular vibration can generate axial response due to the coupling rigidity k. The matrix form of the resulting coupled vibration equation is:

wherein:

J _i for equivalent moment of inertia of moving parts, M _i Here, the mass of the moving part is represented, theta is the change in angle, x is the change in displacement, k _t Is the torsional vibration stiffness, k, of the permanent magnet skeleton (containing the permanent magnet) _x The rigidity of a permanent magnet framework (containing a permanent magnet), delta (theta) is a coupling rigidity symbol definition function, k is coupling rigidity, T is angular vibration excitation torque, and f is linear vibration excitationForce, omega _x At linear vibration excitation frequency, ω _θ Is the angular vibration excitation frequency, and t is time.

After the coupled vibration equation is obtained, decoupling the equation based on the vibration basic principle to obtain a coupled vibration decoupling equation as follows:

where F is ₁ 、F ₂ Is a coupled excitation.

As shown in fig. 24 and 25, the model is an electromechanical analog model of the electromagnetic linear-angular vibration exciter when the electromagnetic linear-angular vibration exciter synchronously outputs linear vibration and angular vibration, the model is divided into an upper block and a lower block, which are a coupling angular vibration part and a coupling linear vibration part of the synchronous output vibration, and an impedance formula is established according to the model as follows:

wherein: re is the resistance, G ₃ Is angular vibration force derivative in coupled vibration, BL is angular vibration force factor, j is imaginary number, omega is angular frequency, R ₃ Is angular vibration force, omega, in coupled vibration ₅ Is the no-load resonance frequency of angular vibration in coupled vibration, M ₃ Is the coupling moment of inertia coefficient in the coupling vibration, bl is the linear vibration force factor, R ₄ Is coupled vibration center line vibration force, omega ₆ Is the no-load resonance frequency (obtained by experiment) of coupled vibration neutral line vibration, M ₄ Is the coupling mass coefficient, G, in the coupled vibration ₄ Is coupled vibration neutral line vibration force.

The coupled vibration synchronously output by the linear-angular vibration is caused by a coupling stiffness delta (theta) k (the product represents the coupling stiffness with the direction sign, the two are equal in magnitude, and the difference is in the sign direction), and the coupled torsional vibration displacement under the action of the axial excitation depends on the initial state of torsion, namely delta (theta) =0 when theta (t = 0). It is stated that the effect of the axial excitation is only to produce an axial vibrational response, and no coupled vibrational response is produced. It can be seen that under ideal conditions, torsional vibrations will produce an axial vibrational response, while axial vibrations will not produce a torsional vibrational response. Therefore, the following conditions are satisfied:

wherein: j. the design is a square _i For equivalent moment of inertia of moving parts, M _i Here it is meant the mass of the moving part,

k is the coupling stiffness; k is a radical of formula _t Is the torsional vibration rigidity, k, of the permanent magnet skeleton (containing the permanent magnet) _x For the rigidity of the permanent magnet skeleton (including the permanent magnet), c _t The torsional vibration damping coefficient of a permanent magnet framework (containing a permanent magnet).

Because the axial movement can not generate torsional vibration response, only the linear vibration part needs to be analyzed for the coupled vibration of the electromagnetic linear-angular vibration exciter. According to the impedance formula, when

The imaginary part of the impedance is 0. Under the condition that the coefficient term value and part of parameters in the coefficient term are known, the coupling rigidity k can be obtained, and the calculation formula is as follows:

fig. 15 is a schematic flow chart of a parameter identification method for an electromagnetic linear-angular vibration exciter according to the present invention. According to an electromechanical analogy model of linear-angular vibration exciter with different frequency modes for linear-angular vibration output synchronously, after the electromechanical analogy model and a key parameter calculation formula are established for each vibration mode of the vibration exciter, an experimental device is established, firstly, no-load and load experiments are carried out on uniaxial vibration, namely linear vibration and angular vibration, the vibration exciter is excited under the acceleration of 0.5g and 1g by using a sinusoidal signal of 15-3600Hz, the acceleration signal is subjected to FFT analysis by measuring the voltage, the current and the acceleration signal of a moving part coil, an impedance-frequency diagram is obtained, impedance parameters and the resonant frequency under the corresponding mode are obtained, and the parameters are calculated. And finally, performing experiments of synchronous output line vibration and angular vibration, obtaining the impedance parameter and the coefficient term value in the coupled vibration equation in the same way, and solving the coupled vibration parameter according to the obtained parameter values of the line vibration and the angular vibration.

In order to verify the relationship between the parameter identification model and the resonant frequency, the embodiment of the invention performs frequency response analysis on the line vibration differential equation and the line vibration part in the coupled vibration equation according to the line vibration lumped parameter model, and establishes the transfer function of the acceleration and the force by giving the vibration parameters to obtain a frequency response graph and a resonant frequency value as shown in fig. 26-29. And combining the obtained resonant frequency value with the parameter identification formula in the invention, identifying and calculating part of parameters, comparing the part of parameters with a given value, and verifying the accuracy. The parameter values given and the verification results are as follows:

the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (5)

1. An electromagnetic linear-angular vibration exciter is characterized in that: comprises a first base (51), a second base (52), a moving part, a magnetic circuit component, a resetting component and a supporting component;

the second base (52) is arranged at the central position of the first base (51);

the moving part comprises a permanent magnet framework (22) and a workbench (21), the permanent magnet framework (22) is a cylinder body with a cover and without a bottom, the top of the cylinder body is provided with the workbench (21), the workbench (21) is glued with the top of the cylinder body, the sensor (1) is arranged on the workbench (21), and the annular surface of the cylinder body is provided with a groove (24);

the magnetic circuit assembly comprises an outer yoke (41), a coil (42), an inner yoke (43) and a permanent magnet (23);

the outer yokes (41) are four, each outer yoke (41) is an arc-shaped block, and the outer yokes (41) are fixed in the four equal parts with overlapped circle centers on the first base (51);

winding the coil (42) on each outer yoke (41), wherein the coil (42) on each outer yoke (41) is controlled independently, and the winding directions of the coils (42) on two adjacent outer yokes (41) are vertical to each other; the current directions of the coils (42) on the two opposite outer yokes (41) are opposite, and the amplitudes are the same;

the inner yoke (43) is fixed on the second base (51), and the inner yoke (43) is concentric with the outer yoke (41);

the permanent magnet (23) is embedded into the groove (24), and a Halbach permanent magnet array is formed in the circumferential direction of the cylinder;

the moving element is inserted between the outer yoke (41) and the inner yoke (43) and has air gaps with the outer yoke (41) and the inner yoke (43), respectively;

the permanent magnet (23), the outer yoke (41), the inner yoke (43) and the air gap form a plurality of independent linear-angular vibration closed magnetic loops;

a sine alternating current is respectively led into each coil (42) to ensure that the moving part outputs sine-changed line-angle vibration under the action of a plurality of independent line-angle vibration closed magnetic loops;

the reset assembly balances the moving part.

2. The electromagnetic linear-angular vibration exciter of claim 1, wherein: the reset assembly comprises a vertical shaft (31), a horizontal shaft (32), an elastic rope (33) and a bolt (34);

the lower end of the vertical shaft (31) is fixed on the upper end surface of the outer yoke (41), and the transverse shaft (32) is connected with the vertical shaft (31) through a cross fixing clamp;

one end of an elastic rope (33) is fixed on the transverse shaft (32), and the other end of the elastic rope is fixed on the moving component through a bolt (34);

the reset components are arranged in at least two groups and are equally distributed on the circumference of the moving part.

3. The electromagnetic linear-angular vibration exciter of claim 1, wherein: the permanent magnet (23) comprises 2 pieces of a first permanent magnet, a second permanent magnet, a third permanent magnet and a fourth permanent magnet;

2 first permanent magnets are magnetized in the radial direction, and the first permanent magnets are separated by 180 degrees;

2 second permanent magnets are magnetized in the reverse radial direction and are separated by 180 degrees;

the 2 third permanent magnets are magnetized in the anticlockwise circumferential direction and are separated by 180 degrees;

2 fourth permanent magnets are magnetized in the clockwise circumferential direction and are separated by 180 degrees;

the first permanent magnet, the third permanent magnet and the fourth permanent magnet are adjacent; the second permanent magnet, the third permanent magnet and the fourth permanent magnet are adjacent;

the first coil comprises a first circumferential coil (4211) and a second circumferential coil (4212) wound circumferentially on an outer yoke (41);

the second coil includes a first axial coil (4221) and a second axial coil (4222) axially wound on an outer yoke (41).

4. The electromagnetic linear-angular vibration exciter of claim 1, wherein: also comprises an air-float supporting component which is arranged on the upper part of the air-float supporting component,

the air floatation support assembly comprises a radial throttling hole (61), a first partial annular surface (62) and a second partial annular surface (63);

the first partial ring surface (62) is an outer wall of the moving part; the second partial ring surface (63) is the inner wall of the outer yoke (41);

a radial throttle hole (61) is formed in the outer yoke (41) so as to face the first local ring surface (62);

the radial throttling hole (61) is connected with an external high-pressure air source through a blind hole in the outer yoke (41) so that an air film is formed between the first partial annular surface (62) and the second partial annular surface (63).

5. The method for identifying the kinetic parameters of an electromagnetic linear-angular vibration exciter according to any of the claims from 1 to 5, characterized in that it comprises the following steps:

step 1, establishing a differential equation of motion of uniaxial vibration and coupled vibration according to the working principle of a vibration exciter, wherein at low frequency, a working table and a permanent magnet framework in a moving part are regarded as rigid bodies to move together, and the permanent magnet framework comprises permanent magnets; in high frequency, because the workbench and the permanent magnet framework are glued, the workbench and the permanent magnet framework can generate relative displacement, so that the workbench and the permanent magnet framework can be analyzed separately;

step 2, establishing an electromechanical analog model according to the working mechanism of the electromagnetic linear-angular vibration exciter; according to the electric analogy principle of admittance machine, the mechanical parameter quality corresponds to the electric parameter capacitance, the force is corresponding to the inductance, and the force is corresponding to the resistance; the following correspondence relationship is specifically provided:

wherein M is ₁ Mass M of corresponding permanent magnet framework _x Permanent magnet skeleton equivalent moment of inertia J _t ；

M ₂ Corresponding to the mass M of the working table _e And equivalent rotary inertia J of the working table _s ；

R ₁ Corresponding permanent magnet framework force is 1/k _x Permanent magnet framework torsional vibration force is 1/k _t (ii) a The compliance is the reciprocal of the stiffness;

R ₂ corresponding to the force of the working table 1/k _e The torsional vibration force of the working table is 1/k _s (ii) a The force is reciprocal of the rigidity;

G ₁ corresponding permanent magnetForce guidance 1/c of skeleton _x Permanent magnet frame torsional vibration force guide 1/c _t (ii) a The force conductance is the reciprocal of the damping;

G ₂ corresponding to the force guide 1/c of the working table _e 1/c is led to the torsional vibration force of the working platform _s (ii) a The force conductance is the reciprocal of the damping;

n corresponds to a linear vibration force factor BL and an angular vibration force factor BL;

f corresponds to a linear vibration exciting force F and an angular vibration exciting torque T;

then, establishing a parameter identification model of the working mechanism according to the corresponding line vibration or angular vibration state of the electromechanical analog model; wherein, the parameter identification model of mass or moment of inertia:

where M is an additional standard block parameter, where M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, ω ₁ Is the no-load resonance frequency, omega, in the low-frequency mode ₂ Is the load resonance frequency, omega, in the low frequency mode ₃ Is the frequency, omega, at which the maximum impedance occurs at no load in the high-frequency mode ₄ The frequency of the occurrence of the maximum impedance when the load is in the high-frequency mode;

parameter identification model of stiffness:

wherein: m is an additional standard block parameter, M here representing the mass of the moving part or the equivalent moment of inertia of the moving part, R ₁ For a permanent magnet skeleton ₁ No-load resonance frequency in low frequency mode; r ₂ Smooth force, omega, of the table ₄ The frequency of the occurrence of the maximum impedance when the load is in the high-frequency mode;

a damped parameter identification model:

wherein: g ₁ Is a permanent magnet framework force guide; n is the force factor, re is the resistance, R (Z) ₁ ) Is the real part of the low-frequency impedance formula;

G ₂ for the force guidance of the table, M here denotes the mass of the moving part or the equivalent moment of inertia of the moving part, R ₂ Smooth force, omega, of the table ₃ The frequency of the maximum impedance in no load under the high-frequency mode;

establishing a resonance motion model according to an electromechanical analog model, establishing a parameter identification model of a working mechanism corresponding to a linear-angular vibration state as follows:

J _i being moment of inertia of moving parts, M _i For moving part mass, θ is the angular change, x is the displacement change, k _t Is the torsional vibration stiffness, k, of the permanent magnet skeleton _x The method is characterized in that the permanent magnet framework stiffness is defined by delta (theta) as a coupling stiffness symbol, k is the coupling stiffness, T is angular vibration exciting torque, f is linear vibration exciting force, and omega _x For line vibration excitation frequency, omega _θ Is angular vibration excitation frequency, t is time;

step 2, carrying out an experiment by using the electromagnetic linear-angular vibration exciter according to any one of claims 1 to 5, and sequentially setting the electromagnetic linear-angular vibration exciter to be in a linear vibration mode, an angular vibration mode and a linear-angular vibration synchronous output mode; respectively carrying out no-load and load experiments on each mode;

and 3, acquiring voltage U and current I in the coil and an acceleration signal of a vibration exciter workbench, calculating total impedance Z = U/I of the coil, performing FFT analysis on the signal, acquiring impedance-frequency graphs under no-load and load conditions in different vibration modes, acquiring no-load and load resonance frequencies, and substituting experimental data into the model established in the step 1 to calculate each parameter.

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