CN115681391A - Self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system - Google Patents
Self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system Download PDFInfo
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- 238000002955 isolation Methods 0.000 title claims abstract description 19
- 238000004146 energy storage Methods 0.000 claims abstract description 22
- 238000011217 control strategy Methods 0.000 claims abstract description 7
- 230000026058 directional locomotion Effects 0.000 claims abstract description 4
- 238000009413 insulation Methods 0.000 claims description 7
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 claims 1
- 230000010354 integration Effects 0.000 abstract description 3
- 238000010248 power generation Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
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- 238000005265 energy consumption Methods 0.000 description 1
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Abstract
The invention belongs to the technical field of semi-active vibration control, and relates to a self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system, which comprises a magnetorheological elastomer, an electrode plate, an electromagnetic coil, an electrometer, a data acquisition device, an upper computer, a controller and an energy storage device; the electrode plate and the magnetorheological elastomer are rubbed to generate vibration charges; the electrometer is used for detecting vibration current formed by directional movement of vibration charges and transmitting a current signal to the upper computer; the upper computer calculates the average current and determines the vibration characteristics of the vibration load according to the average current; the energy storage device is used for converting the vibration current into electric energy for storage; the upper computer adopts a self-adaptive control strategy, and controls the energy storage device to supply current to the electromagnetic coil through the controller to be converted into a magnetic field, so that the output force of the magnetorheological elastomer vibration isolator is adjusted in real time. The scheme realizes self-sensing self-energy supply self-adaptive control of magnetorheological elastomer vibration isolation, and has the advantages of high integration level, small volume and low cost.
Description
Technical Field
The invention belongs to the technical field of semi-active vibration control, and relates to a self-sensing self-energy-supply self-adaptive control magnetorheological elastomer vibration isolation system.
Background
The magneto-rheological elastomer vibration isolator serving as an intelligent vibration damper has the advantages of simple structure, small volume, low energy consumption, continuously adjustable damping and the like. In foreign countries, blom designs a vibration isolator based on a magnetorheological elastomer, and the vibration isolator shows good vibration damping performance under various external excitations; farshad et al designs a noise reduction window based on a magnetorheological elastomer material, has strong wind and noise resistance, and effectively improves the living experience of users. In China, yu Miao and Mao Linzhang of Chongqing university design variable stiffness buffers adopting magnetorheological elastomers, and design corresponding controllers, so that the impact resistance level of the lunar climbing robot is effectively improved.
The current magneto-rheological damper system needs a large number of sensing systems to realize the sensing of external excitation, so that the cost of the system can be increased, the complexity of the system can be obviously increased, and the difficulty of system control can be increased. In addition, the magnetorheological vibration isolator regulates and controls the mechanical property of the magnetorheological vibration isolator by regulating the magnitude of the input current, and the vibration damping performance of the magnetorheological vibration isolator system can be seriously restricted when the continuous and stable power supply is difficult to ensure due to the limitation of some power supply or uncontrollable factors such as natural disasters and unstable signals.
Therefore, the research on the self-sensing self-powered self-adaptive control magnetorheological elastomer vibration isolator system is of great significance.
Disclosure of Invention
In view of this, the invention aims to provide a self-sensing self-powered self-adaptive control magnetorheological elastomer vibration isolation system, which solves the problems of low vibration damping efficiency, poor adaptability and the like caused by the lack of self-sensing and self-powered capabilities of the existing magnetorheological elastomer vibration isolator on the premise of reducing the complexity of the system and reducing the cost of the system.
In order to achieve the purpose, the invention provides the following technical scheme:
the magnetorheological elastomer vibration isolator comprises a magnetorheological elastomer and an electromagnetic coil, wherein the electromagnetic coil surrounds the outer side of the magnetorheological elastomer; the device also comprises an electrometer, a data acquisition device, an upper computer, a controller and an energy storage device; the upper surface and the lower surface of the magnetorheological elastomer are respectively attached with an electrode plate; the energy storage device and the electrometer are respectively connected with the electrode plates on the upper surface and the lower surface, the electrometer is connected with an upper computer through a data acquisition device, and the upper computer is connected with the electromagnetic coil through a controller and the energy storage device;
the electrode plate rubs with the magnetorheological elastomer to generate vibration charges when the vibration load is applied to the magnetorheological elastomer vibration isolator; the electrometer is used for detecting vibration current formed by directional movement of vibration charges and transmitting a current signal to the upper computer through the data acquisition device; the upper computer calculates the average current and determines the vibration characteristics of the vibration load according to the average current; the energy storage device is used for converting the vibration current into electric energy for storage; the upper computer adopts a self-adaptive control strategy, and controls the energy storage device to supply current to the electromagnetic coil through the controller to be converted into a magnetic field, so that the output force of the magnetorheological elastomer vibration isolator is adjusted in real time.
Further, the adaptive control strategy is as follows: and the current supplied to the electromagnetic coil is subjected to stepless regulation according to the magnitude of the vibration load, so that the continuous regulation and control of the output force of the magnetorheological elastomer vibration isolator are realized. The scheme can ensure that the output force resisting the vibration is infinitely variable along with the strength of the vibration, the vibration reduction force of the system is more accurately promoted, the system stability is better, and the vibration reduction effect is stable.
Furthermore, the magnetorheological elastomer and the electrode plates are provided with a plurality of groups, and the same polarity electrodes of each group of electrode plates are connected in parallel. The electrode plates have no polarity, and generate moving charges after being rubbed with the magnetorheological elastomer, so that the electrode plates have polarity, the electrode plates attached to the upper surface and the lower surface of the magnetorheological elastomer have different polarities, namely, a group of magnetorheological elastomers, the electrode plates and the energy storage device form a power generation unit, and the current formed by the moving charges is stored, so that the multiple groups of power generation units are arranged in the scheme, the self-generated electric energy can be improved, the follow-up sufficient electric energy is provided for providing the current to be converted into a magnetic field, and the output force of the vibration isolator is better controlled.
Furthermore, the magnetorheological elastomers further comprise an electric insulation magnetic conduction layer, and the electric insulation magnetic conduction layer is arranged between every two adjacent magnetorheological elastomers. When using multiunit power generation unit, probably lead to the electrode slice contact of different polarities because of the vibration between the power generation unit to produce the short circuit, this scheme is kept apart different power generation units through the electrically insulating magnetic conduction layer, can prevent adjacent electrode slice contact short circuit.
Further, the magnetorheological elastomer vibration isolator sequentially comprises a lower connecting bottom plate, a lower bottom plate, a central shaft, an upper cover plate and an upper connecting plate from bottom to top; the central shaft is sleeved with a coil support, and the electromagnetic coil is arranged on the coil support.
Further, the magnetorheological elastomer vibration isolator also comprises a sleeve; the sleeve is sleeved on the central shaft and surrounds the electromagnetic coil and the coil support. The sleeve can play the effect of isolation and protection to the solenoid.
The invention has the beneficial effects that:
1. the magneto-rheological vibration isolator has the advantages that charges are generated by mutual friction of the magneto-rheological elastomer and the electrode plates, qualitative movement is carried out to form currents, the size of the currents is detected by the electrometer, the main characteristics of vibration loads, such as displacement, speed, acceleration and frequency, can be determined, the self-sensing of the working state of the magneto-rheological elastomer vibration isolator is realized, the problem that the complexity of a system is seriously improved due to the fact that a large number of sensors are adopted in a traditional magneto-rheological vibration isolator system is solved, the integration and the structural simplification of the whole system are improved, the system cost is reduced, the space volume occupied by the whole system is reduced, and the practical application and development of the magneto-rheological vibration isolation system are promoted.
2. The energy storage device is used for storing electric energy generated by frictional electrification and supplying power to the electromagnetic coil in a self-adaptive manner, so that the self-sufficiency of the energy of the vibration isolation system is realized, the vibration isolation system is not easily influenced by uncontrollable factors such as natural disasters and unstable signals, the power supply stability is high, and the application field of the magnetorheological elastomer vibration isolator can be greatly expanded.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.
Drawings
For the purposes of promoting a better understanding of the objects, aspects and advantages of the invention, reference will now be made to the following detailed description taken in conjunction with the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a self-powered self-sensing adaptively controlled magnetorheological elastomer vibration isolation system.
Reference numerals: 1-lower connecting bottom plate, 2-lower bottom plate, 3-sleeve, 4-coil support, 5-electromagnetic coil, 6-upper cover plate, 7-upper connecting plate, 8-electric insulation magnetic conduction layer, 9-magnetorheological elastomer, 10-electrode slice, 11-energy storage device, 12-electrometer, 13-data acquisition device, 14-controller, 15-upper computer.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention in a schematic way, and the features in the following embodiments and examples may be combined with each other without conflict.
Wherein the showings are for the purpose of illustrating the invention only and not for the purpose of limiting the same, and in which there is shown by way of illustration only and not in the drawings in which there is no intention to limit the invention thereto; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", "front", "rear", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not an indication or suggestion that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes, and are not to be construed as limiting the present invention, and the specific meaning of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1, a magnetorheological elastomer 9 vibration isolation system with self-sensing, self-energizing and self-adaptive control is disclosed, wherein the magnetorheological elastomer 9 vibration isolator is composed of a lower connecting bottom plate 1, a lower bottom plate 2, a central shaft, a sleeve 3, a coil support 4, an electromagnetic coil 5, an upper cover plate 6, an upper connecting plate 7, an electrically insulating and magnetically conductive layer 8 and a magnetorheological elastomer 9; the central shaft is of a hollow structure, the magnetorheological elastomer 9 is arranged inside the central shaft, the coil support 4 is tightly sleeved outside the central shaft and is coaxial with the central shaft, the electromagnetic coil 5 is wound on the coil support 4, the sleeve 3 is also sleeved on the central shaft and surrounds the coil support 4 and the electromagnetic coil 5, and the inner surface of the sleeve 3 is in close contact with the coil support 4. The key of the vibration isolation system is that the core element of the vibration isolator based on the magnetorheological elastomer 9 is the magnetorheological elastomer 9, the self-sensing module, the vibration energy acquisition module and the self-adaptive control module are integrally designed, units among the modules are mutually crossed and overlapped, the integration level is high, and the overall occupied space of the system is small.
The self-sensing module is composed of a magnetorheological elastomer 9, an electrode plate 10, an electric insulation magnetic conduction layer 8, an electrometer 12, a data acquisition device 13 and an upper computer 15. The electrode plates 10 are attached to the upper surface and the lower surface of the magnetorheological elastomer 9 and can generate friction with each other. The electrode plate 10 is connected with an electrometer 12, a data acquisition device 13 and an upper computer 15 in sequence. The electric insulation magnetic conduction layer 8 is positioned between two adjacent self-sensing modules to prevent the adjacent electrode plates 10 from contacting and being short-circuited. The magnetorheological elastomer 9 vibration isolator comprises a plurality of groups of self-sensing modules, and the like-polarity electrodes of the modules are connected in parallel and then connected to an electrometer 12. When the vibration isolator of the magnetorheological elastomer 9 is subjected to vibration load, the magnetorheological elastomer 9 and the electrode plate 10 form a friction nano generator, the two generate mutual friction to generate charges, and form current through directional movement of the charges, the electrometer 12 detects the magnitude of the current in real time and transmits a current signal to the upper computer 15 through the data acquisition device 13, the upper computer 15 firstly solves the average current of the self-sensing module, and then the characteristics of the vibration load, such as vibration displacement, speed, acceleration and frequency, can be determined according to the magnitude of the average current, so that the self-sensing of the working state of the vibration isolator of the magnetorheological elastomer 9 is realized.
The vibration energy acquisition module is composed of the magnetorheological elastomer 9, the electrode plate 10 and the energy storage device 11, wherein the energy storage device 11 is directly connected with the electrode plate 10 and can store electric energy generated by mutual friction of the magnetorheological elastomer 9 and the electrode plate 10. In addition, the energy storage device 11 can supply power to the electromagnetic coil 5 of the magnetorheological elastomer 9 vibration isolator according to an external control signal, and output a current with a specified magnitude according to the control signal. The energy storage device 11 collects electric energy generated by friction between the elastic body and the electrode plate 10 so as to supply power to the electromagnetic coil 5 of the magnetorheological elastic body 9 vibration isolator; when the energy storage device 11 is short of power, it can be charged by an external power supply or the electromagnetic coil 5 can be directly powered.
When the vibration isolator of the magnetorheological elastomer 9 is subjected to vibration load, the upper computer 15 reversely calculates the required exciting current at the moment according to the vibration load characteristics determined by the self-sensing module, and outputs a control signal to the controller 14, the controller 14 controls the energy storage module to output current with specified size according to an adjusting signal, magnetic fields with different sizes are generated by adjusting, and then the mechanical characteristics of the magnetorheological elastomer 9 are changed, so that the self-adaptive control of the vibration isolator of the magnetorheological elastomer 9 is realized, and the vibration load is reduced or even inhibited. The self-adaptive control module adopts a self-adaptive control strategy to adjust the output force of the magnetorheological elastomer 9 vibration isolator in real time, and the self-adaptive control strategy is to perform stepless adjustment on the current supplied to the electromagnetic coil 5 according to the magnitude of the vibration load so as to realize continuous adjustment and control on the output force of the magnetorheological elastomer 9 vibration isolator.
Finally, the above embodiments are only intended to illustrate the technical solutions of the present invention and not to limit the present invention, and although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all of them should be covered by the claims of the present invention.
Claims (6)
1. A magneto-rheological elastomer vibration isolation system with self-sensing, self-energizing and self-adaptive control comprises a magneto-rheological elastomer vibration isolator, wherein the magneto-rheological elastomer vibration isolator comprises a magneto-rheological elastomer and an electromagnetic coil, and the electromagnetic coil surrounds the outer side of the magneto-rheological elastomer; the method is characterized in that: the system also comprises an electrometer, a data acquisition device, an upper computer, a controller and an energy storage device; the upper surface and the lower surface of the magnetorheological elastomer are respectively attached with an electrode plate; the energy storage device and the electrometer are respectively connected with the electrode plates on the upper surface and the lower surface, the electrometer is connected with an upper computer through a data acquisition device, and the upper computer is connected with the electromagnetic coil through a controller and the energy storage device;
the electrode plate is rubbed with the magnetorheological elastomer to generate vibration charges when the vibration isolator of the magnetorheological elastomer is subjected to vibration loads; the electrometer is used for detecting vibration current formed by directional movement of vibration charges and transmitting a current signal to the upper computer through the data acquisition device; the upper computer calculates the average current and determines the vibration characteristics of the vibration load according to the average current; the energy storage device is used for converting the vibration current into electric energy for storage; the upper computer adopts a self-adaptive control strategy, and controls the energy storage device to supply current to the electromagnetic coil through the controller to be converted into a magnetic field, so that the output force of the magnetorheological elastomer vibration isolator is adjusted in real time.
2. The self-sensing self-powered adaptively controlled magnetorheological elastomer vibration isolation system according to claim 1, wherein the adaptive control strategy is: and the current supplied to the electromagnetic coil is subjected to stepless regulation according to the magnitude of the vibration load, so that the continuous regulation and control of the output force of the magnetorheological elastomer vibration isolator are realized.
3. The self-sensing, self-powered, adaptively controlled magnetorheological elastomer vibration isolation system of claim 1, wherein: the magnetorheological elastomer and the electrode plates are provided with a plurality of groups, and the electrodes with the same polarity of each group of electrode plates are connected in parallel.
4. The self-sensing, self-powered, adaptively controlled magnetorheological elastomer vibration isolation system of claim 3, wherein: the magnetorheological elastomers further comprise an electric insulation magnetic conduction layer, and the electric insulation magnetic conduction layer is arranged between every two adjacent magnetorheological elastomers.
5. The self-sensing, self-powered, adaptively controlled magnetorheological elastomer vibration isolation system of claim 1, wherein: the magnetorheological elastomer vibration isolator is sequentially provided with a lower connecting bottom plate, a lower bottom plate, a central shaft, an upper cover plate and an upper connecting plate from bottom to top; the central shaft is sleeved with a coil support, and the electromagnetic coil is arranged on the coil support.
6. The self-sensing, self-powered, adaptively controlled magnetorheological elastomer vibration isolation system of claim 5, wherein: the magnetorheological elastomer vibration isolator further comprises a sleeve; the sleeve is sleeved on the central shaft and surrounds the electromagnetic coil and the coil support.
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