CN115233540A - Active and passive hybrid control system for inhibiting multi-mode coupling vibration of bridge - Google Patents

Abstract

The invention discloses an active-passive hybrid control system for suppressing multi-mode coupling vibration of a bridge. A first sliding member moves in the opposite direction of the running direction of the to-be-controlled object under the action of the to-be-controlled object, so that the first sliding member can offset The vertical vibration force of the object to be controlled is transmitted to the object to be controlled, thereby offsetting the vertical vibration generated by the object to be controlled. Under the action of the object to be controlled, the second sliding piece moves in the opposite direction of the running direction of the object to be controlled, so that the second sliding piece generates a force that counteracts the lateral vibration of the object to be controlled, and transmits the force to the object to be controlled, thereby Can offset the lateral vibration generated by the object to be controlled. Under the action of the object to be controlled, the rotating piece will rotate in the opposite direction of the torsional direction of the object to be controlled, so that the rotating piece can generate a torque that counteracts the torsional vibration of the object to be controlled, and transmit the torque to the object to be controlled, thereby offsetting the torsional vibration of the object to be controlled. Torsional vibrations produced by the object.

Description

Active-Passive Hybrid Control System for Suppressing Multi-modal Coupled Vibration of Bridges

technical field

The invention relates to the technical field of bridge engineering, in particular to an active-passive hybrid control system for suppressing multi-mode coupling vibration of bridges.

Background technique

In the prior art, when the train is running on the bridge, once the train encounters the unevenness of the bridge deck track, the train will vibrate, and the vibrating train will react on the track, which will cause the track to deform for a long time. . The greater the deformation of the track, the greater the vibration of the train to the track will be, which will indirectly increase the vibration of the train to the bridge, which will lead to the collapse of the bridge in severe cases.

In order to solve the above problems, the vibration control of bridges is usually controlled by passive control methods such as dampers, but the dampers can only output a linear control force, which is equivalent to the dampers can only control the horizontal and vertical vibrations generated by the bridge. Control the torsional vibration generated by the bridge. The damper also has the following defects: 1. The tensile strength of the damper is limited, and it is easy to break when the train and bridge resonate. 2. When the damper controls the bridge vibration, the damping fluid inside is easily emulsified at high temperature under the action of high-frequency reciprocation, resulting in unstable control performance, and due to the coupling effect between the displacement and the swing angle of the tuned mass damper, and It cannot be used for vibration forms with rotational characteristics, so it is often ineffective in controlling torsional vibration of bridges. 3. When the damper controls the torsional vibration of the bridge, the characteristics of its linear control force are prone to chaotic phenomenon, and it has different control effects under different excitation frequencies. However, at a certain excitation frequency, the tuned damper can control the vibration of the bridge. Instead of having a control effect, it will intensify the vibration of the bridge, making it impossible to produce the desired effect.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide an active-passive hybrid control system for suppressing multi-modal coupling vibration of bridges, aiming to solve the problem that the dampers in the prior art cannot effectively solve the complex vibration behavior of bridges, resulting in poor stability of bridges. technical problem.

In order to solve the above-mentioned technical problems, the technical scheme provided by the present invention is:

An active and passive hybrid control system for suppressing multi-modal coupling vibration of a bridge, including a vertical force output module, including a first guide member, a first elastic member and a first sliding member, the first guide member is used to be arranged in the waiting On the object to be controlled, the first sliding member can move back and forth along the first guide member in the vertical direction, one end of the first elastic member is connected with the object to be controlled, and the other end is connected with the first sliding member The first sliding member moves towards the opposite direction of the running direction of the to-be-controlled object under the action of the to-be-controlled object; the lateral force output module includes a second guide member, a second elastic member and a second sliding member The second guide member is arranged on the first sliding member, the second sliding member can move back and forth along the second guide member in the horizontal direction, and one end of the second elastic member is connected to the a first sliding member is connected, the other end is connected with the second sliding member, and the second sliding member moves towards the opposite direction of the running direction of the to-be-controlled object under the action of the to-be-controlled object; and a torsion torque output module , including a rotating shaft, a third elastic member, a rotating member, a motor, a turntable, a sensor and a controller, the rotating shaft is rotatably arranged on the second sliding member, and the third elastic member is sleeved on the rotating shaft , the rotating member is arranged on the rotating shaft, one end of the third elastic member is connected with the second sliding member, and the other end is connected with the rotating member, and the motor is arranged on the rotating member facing away from the On one side of the rotating shaft, the turntable is arranged on the motor, the controller is connected to the sensor and the motor respectively, and the rotating member faces the object to be controlled under the action of the object to be controlled Rotating in the opposite direction of the twist direction, the sensor is used to detect the twist angle of the object to be controlled, and send the twist angle to the controller, and the controller is used to process the received twist angle, And output corresponding control instructions to the motor according to the processing result, so as to control the motor to drive the turntable to rotate, so that the turntable accelerates the rotation of the rotating member.

Preferably, the first elastic member is sleeved on the first guide member.

Preferably, the second elastic member is sleeved on the second guide member.

Preferably, the vertical force output module further comprises a base, the base is connected with the first sliding member, the second guide member is arranged on the base, and one end of the second elastic member is connected to the base.

Preferably, the base comprises a base and a fixing seat arranged on the base, the base is connected with the first sliding member, the second guide member is arranged on the fixing seat, the second One end of the elastic piece is connected with the fixing base.

Preferably, the rotating member includes a rotating plate and a flange, the rotating plate is disposed on the rotating shaft, the other end of the third elastic member is connected to the rotating plate, and the flange is disposed on the rotating plate On the side facing away from the rotating shaft, the flange is in the shape of a ring, the motor is arranged on the side of the rotating plate facing away from the rotating shaft and is located in the cavity enclosed by the flange, the rotating plate It is arranged on the motor, and the turntable and the flange are connected in a transmission; the motor is used to drive the turntable to rotate, so that the turntable drives the flange to rotate, so that the flange drives the flange to rotate. The rotating plate rotates.

Preferably, the torsional torque output module further includes a transmission assembly, and the turntable and the flange are connected in a transmission through the transmission assembly; the turntable drives the transmission assembly to rotate, so that the transmission assembly drives the protrusion Edge rotation.

Preferably, the transmission assembly includes rolling bodies, the rolling bodies are arranged between the turntable and the flange, the outer wall of the turntable is provided with a first raceway, and the inner wall of the flange is provided with a first raceway Corresponding to the second raceway of the first raceway, the rolling body can be placed between the first raceway and the second raceway.

rolling in the cavity formed by the second raceways; the turntable drives the rolling body to rotate, so that the rolling body drives the flange to rotate.

Preferably, the transmission assembly further includes a cage, the number of the rolling bodies is multiple, the plurality of the rolling bodies are arranged on the cage at intervals and can rotate along the cage, and the turntable drives the The rolling body rotates, so that the rolling body drives the cage to rotate.

Preferably, the torque output device further includes a vibration isolation seat, the vibration isolation seat is arranged in the object to be controlled, the first guide member is arranged on the vibration isolation seat, and the first elastic member is One end is connected with the vibration isolation seat.

Compared with the prior art, the present invention has the following beneficial effects:

The first sliding member of the present application can move back and forth along the first guide member in the vertical direction, and the first sliding member moves in the opposite direction of the running direction of the object to be controlled under the action of the object to be controlled, so that the first sliding member can A force is generated to offset the vertical vibration of the object to be controlled, and the force is transmitted to the object to be controlled through the first elastic member to offset the vertical vibration of the object to be controlled, thereby improving the stability of the object to be controlled. The second sliding member of the present application can move back and forth along the second guiding member in the horizontal direction, and the second sliding member moves in the opposite direction of the running direction of the object to be controlled under the action of the object to be controlled, so that the second sliding member can generate The force of the lateral vibration of the object to be controlled is counteracted, and the force is transmitted to the object to be controlled through the second elastic member to offset the lateral vibration generated by the object to be controlled, thereby improving the stability of the object to be controlled. The rotating member of the present application can be rotated relative to the object to be controlled through the rotating shaft, and the rotating member will rotate in the opposite direction of the torsional direction of the object to be controlled under the action of the object to be controlled, so that the rotating member can generate a torque that cancels the torsional vibration of the object to be controlled, The torque is transmitted to the object to be controlled through the third elastic member, so as to offset the torsional vibration generated by the object to be controlled, thereby improving the stability of the object to be controlled. In this application, the sensor detects the twist angle of the object to be controlled, and sends the twist angle to the controller. The controller processes the received twist angle, and outputs corresponding control commands to the motor according to the processing result, so as to control the motor to drive the turntable to rotate, In order to make the turntable accelerate the rotation of the rotating member, the rotating member can quickly generate a torque that can offset the torsional vibration of the object to be controlled, thereby improving the precision and real-time performance of the torque generated by the torque output device. Active-passive composite control design, the motor drives the turntable with smaller radius and mass to rotate, so that the turntable drives the rotating parts with larger radius and mass to rotate, which further saves the external input energy.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

FIG. 1 is a perspective view of a torque output device and an object to be controlled according to an embodiment of the present invention.

2 is a perspective view of a torque output device according to an embodiment of the present invention.

3 is a top view of a torque output device according to an embodiment of the present invention.

FIG. 4 is a schematic diagram of a torsional torque output module according to an embodiment of the present invention.

100. Active and passive hybrid control system for suppressing multi-modal coupling vibration of bridges; 1. Vertical force output module; 11. First guiding member; 12. First elastic member; 13. First sliding member; 14. Base; 141, the base; 142, the fixed seat; 2, the lateral force output module; 21, the second guide member; 22, the second elastic member; 23, the second sliding member; 3, the torque output module; 31, the rotating shaft; 32, 33, rotating part; 331, rotating plate; 332, flange; 34, motor; 35, turntable; 36, sensor; 37, controller; 38, bearing; 39, first connecting piece; 40, Transmission assembly; 401, rolling body; 41, second connecting piece; 42, first fixing piece; 43, second fixing piece; 4, object to be controlled; 5, vibration isolation seat; 51, support piece; 52, first Buffer member; 53, the second buffer member; 54, the third fixing member.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relationship between various components under a certain posture (as shown in the accompanying drawings). The relative positional relationship, the movement situation, etc., if the specific posture changes, the directional indication also changes accordingly.

In addition, the descriptions involving "first", "second", etc. in the present invention are only for descriptive purposes, and should not be understood as indicating or implying their relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, "and/or" in the full text includes three solutions, taking A and/or B as an example, including the technical solution of A, the technical solution of B, and the technical solution that A and B satisfy at the same time; in addition, between the various embodiments The technical solutions can be combined with each other, but must be based on those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be achieved, it should be considered that the combination of technical solutions does not exist, nor is it required by the present invention. within the scope of protection.

As shown in FIGS. 1-4 , this embodiment provides an active-passive hybrid control system 100 for suppressing multi-modal coupling vibration of a bridge, including a vertical force output module 1 , a lateral force output module 2 and a torsional torque output module 3 , The vertical force output module 1 includes a first guide member 11 , a first elastic member 12 and a first sliding member 13 . The first guide member 11 is used to be arranged on the object to be controlled 4 , and the first sliding member 13 is in the vertical direction. It can move back and forth along the first guide member 11 . One end of the first elastic member 12 is connected to the object to be controlled 4 , and the other end is connected to the first sliding member 13 . The first sliding member 13 faces the object to be controlled under the action of the object to be controlled 4 . The object 4 moves in the opposite direction of the running direction; the lateral force output module 2 includes a second guide member 21, a second elastic member 22 and a second sliding member 23, the second guide member 21 is arranged on the first sliding member 13, and the second sliding member The member 23 can move back and forth along the second guide member 21 in the horizontal direction. One end of the second elastic member 22 is connected with the first sliding member 13, and the other end is connected with the second sliding member 23. The second sliding member 23 is in the object to be controlled. Under the action of 4, it moves in the opposite direction of the running direction of the object to be controlled 4; the torsional torque output module 3 includes a rotating shaft 31, a third elastic member 32, a rotating member 33, a motor 34, a turntable 35, a sensor 36 and a controller 37, the rotating shaft 31 It is rotatably arranged on the second sliding member 23, the third elastic member 32 is sleeved on the rotating shaft 31, the rotating member 33 is arranged on the rotating shaft 31, one end of the third elastic member 32 is connected with the second sliding member 23, and the other end is connected to the second sliding member 23. Connected with the rotating member 33, the motor 34 is arranged on the side of the rotating member 33 facing away from the rotating shaft 31, the turntable 35 is arranged on the motor 34, the controller 37 is respectively connected with the sensor 36 and the motor 34, and the rotating member 33 is on the object 4 to be controlled. The sensor 36 is used to detect the twist angle of the object to be controlled 4 and send the twist angle to the controller 37, and the controller 37 is used to process the received twist angle, And output corresponding control commands to the motor 34 according to the processing result, so as to control the motor 34 to drive the turntable 35 to rotate, so that the turntable 35 accelerates the rotation of the rotating member 33 .

The first sliding member 13 of the present application can move back and forth along the first guiding member 11 in the vertical direction. The first sliding member 13 can generate a force to counteract the vertical vibration of the object to be controlled 4, and transmit the force to the object to be controlled 4 through the first elastic member 12 to offset the vertical vibration generated by the object to be controlled 4, thereby improving Stationarity of object 4 to be controlled. The second sliding member 23 of the present application can move back and forth along the second guiding member 21 in the horizontal direction. The second sliding member 23 can generate a force to counteract the lateral vibration of the object to be controlled 4, and transmit the force to the object to be controlled 4 through the second elastic member 22, so as to offset the lateral vibration generated by the object to be controlled 4, thereby improving the object to be controlled. 4 stability. The rotating member 33 of the present application can be rotated relative to the object to be controlled 4 through the rotating shaft 31 , and the rotating member 33 will rotate toward the opposite direction of the twisting direction of the object to be controlled 4 under the action of the object to be controlled 4 , so that the rotating member 33 can generate a counteracting effect to the object to be controlled 4 . The torque of the torsional vibration of the controlled object 4 is transmitted to the controlled object 4 through the third elastic member 32 to offset the torsional vibration generated by the controlled object 4 , thereby improving the stability of the controlled object 4 . In the present application, the sensor 36 detects the twist angle of the object to be controlled 4, and sends the twist angle to the controller 37. The controller 37 processes the received twist angle, and outputs corresponding control commands to the motor 34 according to the processing result to control the The motor 34 drives the turntable 35 to rotate, so that the turntable 35 accelerates the rotation of the rotating member 33, so that the rotating member 33 can quickly generate a torque that cancels the torsional vibration of the object to be controlled 4, thereby improving the precision and real-time performance of the torque generated by the torque output device 100. Active-passive composite control design, the motor 34 drives the turntable 35 with smaller radius and mass to rotate, so that the turntable 35 drives the rotating member 33 with larger radius and mass to rotate, which further saves the external input energy.

In this embodiment, the object to be controlled 4 is a bridge.

The first elastic member 12 is sleeved on the first guide member 11 , and such arrangement can improve the space utilization rate of the vertical force output module 1 , thereby reducing the volume of the vertical force output module 1 .

The first sliding member 13 is provided with a first through hole, and the first sliding member 13 is sleeved on the first guide member 11 through the first through hole, so that the first sliding member 13 can be guided along the first guide in the vertical direction. Piece 11 moves back and forth.

The number of the first guide member 11 , the first elastic member 12 and the first sliding member 13 is multiple, the multiple first guide members 11 are respectively disposed on the object to be controlled 4 , and the multiple first elastic members 12 are respectively sleeved On the corresponding first guide member 11, a plurality of first sliding members 13 are sequentially sleeved on the first guide member 11 correspondingly, and the plurality of first sliding members 13 can be respectively along the corresponding first guide member in the vertical direction. 11 Reciprocating movement, one end of the plurality of first elastic members 12 is respectively connected with the corresponding object to be controlled 4 , and the other end is respectively connected with the corresponding first sliding member 13 .

In this embodiment, the number of the first guide members 11 is two, the number of the first elastic members 12 is four, the number of the first sliding members 13 is two, and the two first guide members 11 are respectively disposed in the waiting In the control object 4, the two ends of the two first guide members 11 are respectively connected with the bottom and the top of the to-be-controlled object 4, wherein the two first elastic members 12 are respectively sleeved on one of the first guide members 11, and one of them The first sliding member 13 is sleeved on one of the first guide members 11 through the first through hole and is located between the two first elastic members 12, and the other two first elastic members 12 are sleeved on the other first elastic member 12 respectively. On the guide member 11 , the other first sliding member 13 is sleeved on the other first guide member 11 through the first through hole and is located between the other two first elastic members 12 .

In this embodiment, the first guide member 11 is a guide post.

In this embodiment, the first elastic member 12 is a spring.

The second elastic member 22 is sleeved on the second guide member 21 , and such arrangement can improve the space utilization rate of the lateral force output module 2 , thereby reducing the volume of the lateral force output module 2 .

The second sliding member 23 is provided with a second through hole, and the second sliding member 23 is sleeved on the second guide member 21 through the second through hole, so that the second sliding member 23 can be vertically guided along the second guide member 21. Piece 21 moves back and forth.

The number of the second guide members 21 and the second elastic members 22 is multiple. The multiple second guide members 21 are respectively disposed on the first sliding member 13, and the multiple second elastic members 22 are respectively sleeved on the corresponding second guide members 21. On the guide member 21 , one end of the plurality of second elastic members 22 is respectively connected with the corresponding first sliding member 13 , and the other ends are respectively connected with the second sliding member 23 .

In this embodiment, the number of the second guide members 21 is two, the number of the second elastic members 22 is four, the number of the second sliding member 23 is one, the number of the second through holes is two, and the number of the second through holes is two. The second guide members 21 are respectively disposed on the first sliding member 13, wherein the two second elastic members 22 are respectively sleeved on one of the second guide members 21, and the other two second elastic members 22 are respectively sleeved on the other one On the second guide member 21, the second sliding member 23 is sleeved on the corresponding second guide member 21 through the two second through holes, and the second sliding member 23 is not only located between the two second elastic members 22, but also between the other two second elastic members 22 .

In this embodiment, the second guide member 21 is a guide post.

In this embodiment, the second elastic member 22 is a spring.

The vertical force output module 1 further includes a base 14 , the base 14 is connected with the first sliding member 13 , the second guide member 21 is arranged on the base 14 , and one end of the second elastic member 22 is connected with the base 14 .

The base 14 includes a base 141 and a fixing base 142 arranged on the base 141 . The base 141 is connected to the first sliding member 13 , the second guide member 21 is arranged on the fixing base 142 , and one end of the second elastic member 22 is connected to the fixing base 142 connect.

In this embodiment, the third elastic member 32 is a torsion spring.

In this embodiment, the motor 34 is a torque motor 34, and the torque motor 34 can generate a relatively large torque.

In this embodiment, the sensor 36 is arranged on the object to be controlled 4 , and the controller 37 is arranged on the second sliding member 23 .

The torsional torque output module 3 further includes a bearing 38 , the bearing 38 is arranged on the second sliding member 23 , and the rotating shaft 31 is connected with the bearing 38 , so that the rotating shaft 31 is rotatably arranged on the second sliding member 23 .

The torsional torque output module 3 further includes a first connecting member 39 , and the rotating shaft 31 and the rotating member 33 are connected through the first connecting member 39 .

The rotating member 33 includes a rotating plate 331 and a flange 332. The rotating plate 331 is arranged on the rotating shaft 31. The other end of the third elastic member 32 is connected to the rotating plate 331. side, the flange 332 is in the shape of a ring, the motor 34 is arranged on the side of the rotating plate 331 facing away from the rotating shaft 31 and is located in the cavity enclosed by the flange 332, the turntable 35 is arranged on the motor 34, and the turntable 35 and the flange 332 drive Connection; the motor 34 is used to drive the turntable 35 to rotate, so that the turntable 35 drives the flange 332 to rotate, so that the flange 332 drives the rotating plate 331 to rotate. In this way, the motor 34 drives the turntable 35 with a smaller radius and mass to rotate, so that the turntable 35 drives the rotary member 33 with a larger radius and mass to rotate, forming a composite control of active and passive, and further saving external input energy. In this embodiment, the flange 332 is made of rubber material.

The torsional torque output module 3 further includes a transmission assembly 40 , and the turntable 35 and the flange 332 are connected by transmission through the transmission assembly 40 ; the turntable 35 drives the transmission assembly 40 to rotate, so that the transmission assembly 40 drives the flange 332 to rotate.

The transmission assembly 40 includes a rolling body 401. The rolling body 401 is arranged between the turntable 35 and the flange 332. The outer wall of the turntable 35 is provided with a first raceway, and the inner wall of the flange 332 is provided with a second raceway corresponding to the first raceway. The rolling elements 401 can roll in the cavity formed by the first and second raceways; the turntable 35 drives the rolling elements 401 to rotate, so that the rolling elements 401 drive the flanges 332 to rotate. By setting the first raceway and the second raceway, the rolling elements 401 can be prevented from falling out between the turntable 35 and the flange 332 during the rolling process, so that the rolling elements 401 can reliably move between the first raceway and the second raceway. Roll in the cavity formed together, thereby improving the reliability of rolling of the rolling element 401 .

In this embodiment, the rolling elements 401 are steel balls, and the steel balls have the advantages of high hardness, low wear rate, less deformation, and long service life.

The transmission assembly 40 also includes a cage. The number of rolling bodies 401 is multiple. The plurality of rolling bodies 401 are arranged on the cage at intervals and can rotate along the cage. rack rotation. The plurality of rolling bodies 401 can be evenly spaced from each other by the cage, so that each rolling body 401 can roll normally between the turntable 35 and the flange 332 .

In this embodiment, the cage is made of phenolic tape tube, and the cage made of phenolic tape tube has high wear resistance and self-lubricating performance, and has certain elasticity, plasticity, hardness, impact toughness, fatigue strength and Fracture toughness, etc.

The torsional torque output module 3 further includes a second connecting piece 41 through which the rotating plate 331 and the flange 332 are connected.

The torque output module 3 further includes a first fixing member 42 , the first fixing member 42 is arranged on the side of the rotating plate 331 facing away from the rotating shaft 31 , and the flange 332 is arranged on the side of the first fixing member 42 facing away from the rotating plate 331 . , the motor 34 is disposed on the side of the first fixing member 42 facing away from the rotating plate 331 and in the cavity enclosed by the flange 332 .

The torque output module 3 further includes a second fixing member 43 . The second fixing member 43 is arranged on the side of the first fixing member 42 facing away from the rotating plate 331 , and the motor 34 is arranged on the second fixing member 43 facing away from the first fixing member 42 . side.

The torque output device 100 includes a vibration isolation base 5 , the vibration isolation base 5 is disposed on the object to be controlled 4 , the first guide member 11 is disposed on the vibration isolation base 5 , and one end of the first elastic member 12 is connected to the vibration isolation base 5 .

The number of the vibration isolation seat 5 , the first guide member 11 and the first elastic member 12 is multiple, the multiple vibration isolation bases 5 are respectively arranged in the object to be controlled 4 , and the multiple first guide members 11 are respectively arranged in the corresponding On the vibration isolation base 5 , one end of the plurality of first elastic members 12 is respectively connected with the corresponding vibration isolation base 5 .

In this embodiment, the number of the vibration isolators 5 is four, the number of the first guide members 11 is two, and the number of the first elastic members 12 is four, of which there are two vibration isolators 5 and one vibration isolator 5 The other vibration isolation seat 5 is arranged at the bottom of the object to be controlled 4 , and the other vibration isolation seat 5 is arranged at the top of the object to be controlled 4 , and one of the first guide members 11 is respectively arranged on two of the vibration isolation seats 5 , and two of the first elastic members 12 They are respectively sleeved on one of the first guide members 11 , and one of the other two vibration isolation seats 5 is arranged at the bottom of the object to be controlled 4 , and the other vibration isolation seat 5 is arranged at the top of the object to be controlled 4 . One first guide member 11 is respectively disposed on the other two vibration isolation seats 5 , and the other two first elastic members 12 are respectively sleeved on the other first guide member 11 .

The vibration isolation seat 5 includes a support member 51 and a first buffer member 52. The first buffer member 52 is arranged on the object to be controlled 4, and the support member 51 is arranged on the side of the first buffer member 52 away from the object to be controlled 4. The first guide The member 11 is disposed on the side of the support member 51 facing away from the first buffer member 52 , and one end of the first elastic member 12 is connected to the support member 51 . The first buffer member 52 can buffer the support member 51 , thereby preventing damage to the support member 51 during rigid contact between the support member 51 and the object to be controlled 4 , thereby improving the service life of the support member 51 .

The number of the first buffer members 52 is plural, the plurality of first buffer members 52 are respectively disposed on the object to be controlled 4 , and the support member 51 is disposed on the side of the plurality of first buffer members 52 away from the object to be controlled 4 . The plurality of first buffer members 52 can further buffer the support member 51 , thereby further improving the service life of the support member 51 .

In this embodiment, the number of the first buffer members 52 is four.

In this embodiment, the first buffer member 52 is a spring.

The vibration isolation base 5 further includes a second buffer member 53 , the second buffer member 53 is disposed on the object to be controlled 4 , and the support member 51 is disposed on the side of the second buffer member 53 away from the object to be controlled 4 . The support member 51 can be further buffered by the second buffer member 53 , thereby further improving the service life of the support member 51 .

In this embodiment, damping fluid is provided in the second buffer member 53 .

The four first buffer members 52 are evenly distributed around the second buffer member 53 .

The vibration isolation seat 5 also includes a third fixing member 54 , the third fixing member 54 is arranged on the object to be controlled 4 , and the first buffer member 52 and the second buffer member 53 are respectively arranged on the third fixing member 54 away from the object to be controlled 4 . side.

The third fixing member 54 is fixed on the object to be controlled 4 by means of fasteners.

work process:

When the object to be controlled 4 vibrates vertically, the first sliding member 13 moves in the opposite direction of the running direction of the object to be controlled 4 under the action of the object to be controlled 4 , so that the first sliding member 13 can offset the object to be controlled 4 The vertical vibration force is transmitted to the object to be controlled 4 through the first elastic member 12 , thereby offsetting the vertical vibration generated by the object to be controlled 4 . When the object to be controlled 4 vibrates laterally, the second sliding member 23 moves in the opposite direction of the running direction of the object to be controlled 4 under the action of the object to be controlled 4 , so that the second sliding member 23 can offset the lateral movement of the object to be controlled 4 The vibration force is transmitted to the object to be controlled 4 through the second elastic member 22 , the first sliding member 13 and the first guide member 11 in turn, thereby offsetting the lateral vibration generated by the object to be controlled 4 . When the torsional vibration of the object to be controlled 4 occurs, the rotating member 33 will rotate in the opposite direction of the torsional direction of the object to be controlled 4 under the action of the object to be controlled 4 , so that the rotating member 33 can generate a moment that cancels the torsional vibration of the object to be controlled 4 , and the torque is transmitted to the object to be controlled 4 through the third elastic member 32 , thereby offsetting the torsional vibration generated by the object to be controlled 4 . Specifically, during the rotation of the rotating member 33, the end connected with the third elastic member 32 and the rotating member 33 will generate a torque in the same twisting direction as the object to be controlled 4, because the forces at both ends of the third elastic member 32 are opposite. Therefore, the end of the third elastic member 32 connected to the object to be controlled 4 will generate a restoring moment opposite to the torsion direction of the object to be controlled 4 (that is, the end of the third elastic member 32 connected to the object to be controlled 4 will generate a torque that The three elastic members 32 and the rotating member 33 are connected with opposite moments), so as to offset the torsional vibration generated by the object to be controlled 4 . Then, the sensor 36 detects the twist angle of the object to be controlled 4, and sends the twist angle to the controller 37. The controller 37 processes the received twist angle, and outputs corresponding control commands to the motor 34 according to the processing result to control the motor. 34 drives the turntable 35 to rotate, so that the turntable 35 accelerates the rotation of the rotating member 33 , so that the rotating member 33 can quickly generate a moment that cancels the torsional vibration of the object to be controlled 4 . The moment generated by the first rotating member 33 is transmitted to the object to be controlled 4 through the third elastic member 32 , the second sliding member 23 , the first sliding member 13 and the first guiding member 11 to quickly offset the torsion generated by the object to be controlled 4 vibration, thereby improving the precision and real-time performance of the torque generated by the torque output device 100 .

The above descriptions are only the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformations made by the contents of the description and drawings of the present invention, or the direct/indirect application Other related technical fields are included in the scope of patent protection of the present invention.

Claims (10)

1. An active-passive hybrid control system for suppressing multi-modal coupled vibration of a bridge, comprising:

the vertical force output module comprises a first guide piece, a first elastic piece and a first sliding piece, the first guide piece is used for being arranged on an object to be controlled, the first sliding piece can move back and forth along the first guide piece in the vertical direction, one end of the first elastic piece is connected with the object to be controlled, the other end of the first elastic piece is connected with the first sliding piece, and the first sliding piece moves towards the direction opposite to the running direction of the object to be controlled under the action of the object to be controlled;

the transverse force output module comprises a second guide piece, a second elastic piece and a second sliding piece, the second guide piece is arranged on the first sliding piece, the second sliding piece can move back and forth along the second guide piece in the horizontal direction, one end of the second elastic piece is connected with the first sliding piece, the other end of the second elastic piece is connected with the second sliding piece, and the second sliding piece moves towards the direction opposite to the running direction of the object to be controlled under the action of the object to be controlled; and

torsion moment output module, including pivot, third elastic component, rotating member, motor, carousel, sensor and controller, the pivot rotationally sets up on the second slider, the third elastic component cover is established in the pivot, the rotating member sets up in the pivot, the one end of third elastic component with the second slider is connected, the other end with the rotating member is connected, the motor sets up the rotating member is back to one side of pivot, the carousel sets up on the motor, the controller respectively with the sensor with the motor is connected, the rotating member is in treat control object's effect orientation treat control object reverse direction rotation, the sensor is used for detecting treat control object's torsion angle, and will torsion angle send for the controller, the controller is used for handling the receipt torsion angle to give according to the corresponding control command of handling result output the motor, with control motor drive the carousel is rotatory, thereby makes the carousel accelerates the rotating member is rotatory.

2. The active-passive hybrid control system for suppressing multi-modal coupled vibration of a bridge according to claim 1, wherein the first elastic member is sleeved on the first guide member.

3. The active-passive hybrid control system for suppressing multi-modal coupled vibration of a bridge according to claim 1, wherein the second elastic member is sleeved on the second guide member.

4. The active-passive hybrid control system for restraining multi-modal coupled vibration of a bridge according to claim 1, wherein the vertical force output module further comprises a base, the base is connected with the first sliding member, the second guiding member is disposed on the base, and one end of the second elastic member is connected with the base.

5. The active-passive hybrid control system for restraining multi-mode coupled vibration of a bridge according to claim 4, wherein the base comprises a base and a fixed seat arranged on the base, the base is connected with the first sliding member, the second guiding member is arranged on the fixed seat, and one end of the second elastic member is connected with the fixed seat.

6. The active-passive hybrid control system for restraining multi-modal coupled vibration of a bridge according to claim 1, wherein the rotating member comprises a rotating plate and a flange, the rotating plate is disposed on the rotating shaft, the other end of the third elastic member is connected to the rotating plate, the flange is disposed on a side of the rotating plate facing away from the rotating shaft, the flange is in a ring shape, the motor is disposed on a side of the rotating plate facing away from the rotating shaft and located in a cavity defined by the flange, the turntable is disposed on the motor, and the turntable is in transmission connection with the flange; the motor is used for driving the turntable to rotate so that the turntable drives the flange to rotate, and the flange drives the rotating plate to rotate.

7. The active-passive hybrid control system for inhibiting multi-modal bridge coupled vibration of claim 6, wherein the torsional torque output module further comprises a transmission assembly, and the turntable and the flange are in transmission connection through the transmission assembly; the turntable drives the transmission assembly to rotate, so that the transmission assembly drives the flange to rotate.

8. The active-passive hybrid control system for restraining multi-modal coupled vibration of a bridge according to claim 7, wherein the transmission assembly comprises a rolling element, the rolling element is disposed between the turntable and the flange, a first raceway is disposed on an outer wall of the turntable, a second raceway corresponding to the first raceway is disposed on an inner wall of the flange, and the rolling element can roll in a cavity formed by the first raceway and the second raceway; the turntable drives the rolling body to rotate, so that the rolling body drives the flange to rotate.

9. The active-passive hybrid control system for restraining multi-modal coupled vibration of a bridge according to claim 8, wherein the transmission assembly further comprises a retainer, the number of the rolling elements is plural, the plural rolling elements are disposed on the retainer at intervals and can rotate along the retainer, and the turntable drives the rolling elements to rotate, so that the rolling elements drive the retainer to rotate.

10. The active-passive hybrid control system for restraining multi-modal coupled vibration of a bridge according to claim 1, wherein the torque output device further comprises a vibration isolation seat, the vibration isolation seat is disposed in the object to be controlled, the first guide member is disposed on the vibration isolation seat, and one end of the first elastic member is connected to the vibration isolation seat.

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