CN116511016A - Electrohydraulic composite vibration device and vibration control method thereof - Google Patents
Electrohydraulic composite vibration device and vibration control method thereof Download PDFInfo
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- CN116511016A CN116511016A CN202310081258.8A CN202310081258A CN116511016A CN 116511016 A CN116511016 A CN 116511016A CN 202310081258 A CN202310081258 A CN 202310081258A CN 116511016 A CN116511016 A CN 116511016A
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- 238000000034 method Methods 0.000 title claims abstract description 48
- 239000002131 composite material Substances 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 230000000149 penetrating effect Effects 0.000 claims abstract 2
- 150000001875 compounds Chemical class 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 9
- 230000005284 excitation Effects 0.000 claims description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 230000003139 buffering effect Effects 0.000 claims description 3
- 238000013016 damping Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 2
- 238000012271 agricultural production Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/18—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency wherein the vibrator is actuated by pressure fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/04—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with electromagnetism
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Abstract
The invention discloses an electrohydraulic composite vibration device and a vibration control method thereof, wherein the vibration device comprises a vibration table, an upper end cover and a lower end cover; the upper end cover is fixed on the bottom surface of the vibrating table, and a guide buffer mechanism and a vibrating mechanism are arranged between the upper end cover and the lower end cover; the vibration mechanism comprises a permanent magnet annular base, an annular permanent magnet, a permanent magnet jacket, an exciting coil base, an exciting coil jacket and a vibration hydraulic cylinder, wherein the exciting coil base, the exciting coil jacket and the vibration hydraulic cylinder are arranged opposite to the annular permanent magnet; the cylinder barrel of the vibration hydraulic cylinder is fixed in the central hole of the lower end cover, and the cylinder barrel is inserted in the central hole of the permanent magnet outer sleeve, the annular permanent magnet central hole and the annular permanent magnet base central hole in a vertically sliding way after penetrating through the central hole of the exciting coil base upwards, and the cylinder rod of the vibration hydraulic cylinder is fixedly connected with the upper end cover. The vibration test device is used for vibration technology in industrial and agricultural production and vibration test in equipment manufacturing process.
Description
Technical Field
The invention relates to the technical field of vibration, in particular to an electrohydraulic composite vibration device and a vibration control method thereof.
Background
The existing vibration equipment has single vibration source and vibration mode, cannot adapt to the vibration requirement of complex working conditions, and meanwhile, the vibration algorithm lacks innovation and theoretical support, so that the vibration effect is poor. The invention provides an electrohydraulic composite vibration device and a control method thereof, which can adapt to different working conditions, adopt different types of vibration control modes, and apply an advanced control algorithm to ensure the stability and the accuracy in the vibration process.
Disclosure of Invention
The invention aims to solve the technical problem of providing an electrohydraulic composite vibration device and a vibration control method thereof aiming at the defects of the prior art.
In order to achieve the above purpose, the invention is realized by adopting the following technical scheme:
an electrohydraulic composite vibration device comprises a vibration table, an upper end cover and a lower end cover which are arranged up and down oppositely; the upper end cover is fixed on the bottom surface of the vibrating table, and the lower end cover is fixed on the fixed base or the foundation; a guide buffer mechanism and a vibration mechanism are arranged between the upper end cover and the lower end cover; the guide buffer mechanism comprises a guide column base fixed on the bottom surface of the upper end cover and a guide sleeve fixed on the top surface of the lower end cover, wherein the guide column base is fixedly provided with a guide column, a buffer spring is arranged in the guide sleeve, and the bottom end of the guide column is arranged in the guide sleeve in a vertically sliding manner and is in contact with the buffer spring; the vibration mechanism comprises a permanent magnet annular base fixed on the bottom surface of the upper end cover, an annular permanent magnet adsorbed on the bottom surface of the permanent magnet annular base, a permanent magnet jacket coated on the outer sides of the permanent magnet annular base and the annular permanent magnet, an exciting coil base fixed on the top surface of the lower end cover and arranged opposite to the annular permanent magnet, an exciting coil wound on the exciting coil base, an exciting coil jacket coated on the outer side of the exciting coil and a vibration hydraulic cylinder, wherein the permanent magnet jacket is fixed on the bottom surface of the upper end cover, and the exciting coil jacket is fixed on the top surface of the lower end cover; the cylinder barrel of the vibration hydraulic cylinder is fixedly inserted into the central hole of the lower end cover, the cylinder barrel penetrates through the central hole of the exciting coil base upwards and then can slide up and down, the cylinder barrel is inserted into the central hole of the permanent magnet jacket, the central hole of the annular permanent magnet and the central hole of the permanent magnet annular base, and the cylinder rod of the vibration hydraulic cylinder is fixedly connected with the upper end cover.
Further, the guide buffer mechanism is uniformly provided with a plurality of sets around the vibration mechanism.
Furthermore, the annular permanent magnet adopts an exciting coil, the permanent magnet annular base adopts an exciting coil annular base, the exciting coil is wound on the bottom end of the exciting coil annular base, and the permanent magnet jacket coats the exciting coil and the exciting coil annular base.
Further, the permanent magnet annular base is made of iron materials.
The vibration control method of the electro-hydraulic compound vibration device comprises the step that when the electro-hydraulic compound vibration device vertically vibrates, a constant pressure control method is adopted by the vibration hydraulic cylinder; or the electro-hydraulic compound vibration device adopts an electromagnetic force constant control method when vibrating vertically.
Further, the constant pressure control method specifically comprises the following steps: the rod cavity and the rodless cavity of the vibration hydraulic cylinder are communicated with a constant pressure source through a one-way valve, the pressure of the rod cavity and the rodless cavity of the vibration hydraulic cylinder is P, the cross section area of the rod cavity is a, the cross section area of the rodless cavity is A, the vibration table and the load mass are M, P x (A-a) =M x g is met, the output force of the hydraulic system of the hydraulic cylinder is balanced with the gravity of the vibration table and the load, and meanwhile, the vibration hydraulic cylinder can balance the gravity of the vibration table and the load, and can serve as a damper to buffer the vibration due to the fact that the rod cavity and the rodless cavity are connected; the vibration amplitude and the vibration frequency of the electro-hydraulic composite vibration device are determined by the current magnitude and the current reversing frequency of the exciting coil.
Further, the constant pressure source adopts a hydraulic pump or an accumulator.
Further, the electromagnetic force constant control method specifically comprises the following steps: keeping the electromagnetic force always equal to the gravity of the vibrating table and the load; the vibration hydraulic cylinder is driven by the electromagnetic control valve group, a rod cavity and a rodless cavity of the vibration hydraulic cylinder are respectively connected with an oil inlet and an oil outlet of the electromagnetic control valve group, and the pressure and the flow of a hydraulic system of the hydraulic cylinder and the reversing time of an electromagnetic reversing valve of the hydraulic system are independently set so as to determine the vibration amplitude and the vibration frequency of the electro-hydraulic composite vibration device.
Further, the electromagnetic control valve group comprises a reversing valve, a one-way valve, a throttle valve and an overflow valve.
Further, the driving force F required by the electro-hydraulic composite vibration device is as follows:
wherein m represents the mass of the vibrating table and the load,represents the control rate coefficient, k represents the control rate coefficient, s represents the sliding mode function, e represents the tracking error, c represents the sliding mode coefficient, +.>Representing the vibration desired trajectory function, x representing the vibration displacement, k 1 Representing the system stiffness, k, of the vibrating device 2 Representing the damping coefficient of the vibration device;
the sliding mode function s is:
vibration desired trajectory functionThe method comprises the following steps:
wherein L and f respectively represent the amplitude and the vibration frequency of the electrohydraulic composite vibration device.
The beneficial effects of the invention are as follows:
the vibration test device is used for vibration technology in industrial and agricultural production and vibration test in equipment manufacturing process. The electro-hydraulic composite vibration device designed by the invention can realize the composite driving mode of electromagnetic and hydraulic cylinders: the electromagnetic force (hydraulic force) is adopted to balance the mass of the vibrating table and the load, the hydraulic force (electromagnetic force) is used as the driving force to realize reciprocating vibration, the vibration control process is greatly simplified, the control algorithm is convenient to realize, and the vibration process is stable and accurate. Based on the vibration mode, a vibration expected track function and an expected speed function are designed, a sliding mode cosine position tracking algorithm is provided, the vibration expected track function can be accurately tracked, meanwhile, the speed at the lowest point and the highest point of vibration is 0, the speed at the position of the center of the amplitude is the largest, and the stability and the accuracy in the vibration process are ensured.
Drawings
FIG. 1 is a perspective view of an electrohydraulic compound vibration device of the invention;
FIG. 2 is a side view of the electro-hydraulic compound vibration device of the present invention;
FIG. 3 is a cross-sectional view of an electro-hydraulic compound vibration device (permanent magnet) of the present invention;
FIG. 4 is a cross-sectional view of the electro-hydraulic compound vibration device (exciting coil) of the present invention;
FIG. 5 is a hydraulic schematic diagram of a hydraulic cylinder constant pressure control method of the electrohydraulic composite vibration device of the invention;
FIG. 6 is a hydraulic schematic diagram of an electromagnetic force constant control method of the electro-hydraulic composite vibration device of the invention;
in the figure: 1. an electrohydraulic composite vibration table, 2, an electrohydraulic composite vibration device, 3, an upper end cover, 4, a guide sleeve, 5, a permanent magnet jacket, 6 and an excitation coil jacket; 7. the device comprises a guide column base, 8, a guide column, 9, a lower end cover, 10, a permanent magnet annular base, 11, a vibration hydraulic cylinder, 12, an annular permanent magnet, 13, an exciting coil, 14, an exciting coil base, 15, a buffer spring, 16 and an exciting coil annular base.
Detailed Description
The invention will be described in further detail below with reference to the drawings and the detailed description. It will be apparent to those skilled in the art that the examples are merely to aid in understanding the invention and are not to be construed as a specific limitation thereof.
As shown in fig. 1 to 4, the invention provides an electrohydraulic composite vibration device, which comprises a vibration table 1, an upper end cover 3 and a lower end cover 9 which are arranged oppositely up and down; the upper end cover 3 is fixed on the bottom surface of the vibrating table 1, and the lower end cover 9 is fixed on a fixed base or foundation; a guiding buffer mechanism and a vibrating mechanism are arranged between the upper end cover 3 and the lower end cover 9; the vibration mechanism is used for generating vertical vibration to the vibration table 1, the guide buffer mechanism plays a role in guiding and buffering the vertical vibration of the vibration table 1, and the guide buffer mechanisms are uniformly arranged in a plurality of sets around the vibration mechanism.
The guide buffer mechanism comprises a guide column base 7 fixed on the bottom surface of the upper end cover 3 and a guide sleeve 4 fixed on the top surface of the lower end cover 9, a guide column 8 is fixedly arranged on the guide column base 7, a buffer spring 15 is arranged in the guide sleeve 4, and the bottom end of the guide column 8 is arranged in the guide sleeve 4 in a vertical sliding manner and is in contact with the buffer spring 15; in the vibration process, the buffer springs 15 with different rigidities can be selected for replacement according to the vibration working conditions.
The vibration mechanism comprises a permanent magnet annular base 10 fixed on the bottom surface of the upper end cover 3, an annular permanent magnet 12 adsorbed on the bottom surface of the permanent magnet annular base 10, a permanent magnet jacket 5 coated on the outer sides of the permanent magnet annular base 10 and the annular permanent magnet 12, an exciting coil base 14 fixed on the top surface of the lower end cover 9 and arranged opposite to the annular permanent magnet 12, an exciting coil 13 wound on the exciting coil base 14, an exciting coil jacket 6 coated on the outer side of the exciting coil 13 and a vibration hydraulic cylinder 11, wherein the permanent magnet annular base 10 is made of iron, the permanent magnet jacket 5 is fixed on the bottom surface of the upper end cover 3, and the exciting coil jacket 6 is fixed on the top surface of the lower end cover 9; the cylinder barrel of the vibration hydraulic cylinder 11 is fixedly inserted into the central hole of the lower end cover 9, and the cylinder barrel is inserted into the central hole of the permanent magnet outer sleeve 5, the central hole of the annular permanent magnet 12 and the central hole of the permanent magnet annular base 10 in a manner that the cylinder barrel can slide up and down after passing through the central hole of the exciting coil base 14 upwards, and the cylinder rod of the vibration hydraulic cylinder 11 is fixedly connected with the upper end cover 3.
As shown in fig. 4, the ring-shaped permanent magnet 12 may also be an exciting coil 13, the permanent magnet ring-shaped base 10 adopts an exciting coil ring-shaped base 16, the exciting coil 13 is wound on the bottom end of the exciting coil ring-shaped base 16, and the permanent magnet jacket 5 covers the exciting coil 13 and the exciting coil ring-shaped base 16. And exciting current is introduced, and the upper exciting coil and the lower exciting coil interact to realize the up-and-down vibration of the vibrating table.
The upper end cover 3, the guide post 4, the spring sleeve 7, the permanent magnet annular base 10, the permanent magnet outer sleeve 5 and the like are fixed by bolts.
The invention also provides a vibration control method of the electro-hydraulic compound vibration device, wherein the vibration hydraulic cylinder 11 adopts a constant pressure control method when the electro-hydraulic compound vibration device vertically vibrates; or an electromagnetic force constant control method is adopted when the electro-hydraulic composite vibration device vertically vibrates.
As shown in fig. 5, the vibration cylinder 11 is driven by a constant pressure source. The constant pressure source may employ a hydraulic pump or an accumulator. The constant pressure control method specifically comprises the following steps: the rod cavity and the rodless cavity of the vibration hydraulic cylinder 11 are communicated with a constant pressure source through a one-way valve, the rod cavity and the rodless cavity of the vibration hydraulic cylinder 11 are both pressurized at the moment and are pressurized at P, the cross section area of the rod cavity is a, the cross section area of the rodless cavity is A, the vibration table 1 and the load mass are counted as M, the condition that P x (A-a) =M x g is met, the hydraulic system output force of the hydraulic cylinder is balanced with the gravity of the vibration table 11 and the load at the moment, meanwhile, the vibration hydraulic cylinder 11 not only can balance the gravity of the vibration table 1 and the load, but also can serve as a damper for buffering the vibration because the rod cavity and the rodless cavity are connected; the vibration amplitude and the vibration frequency of the electrohydraulic composite vibration device are determined by the current magnitude and the current reversing frequency of the exciting coil 13. In the vibration process, the electromagnetic driving force is not influenced by the mass of the vibrating table and the load, the control process and the algorithm are simplified, and the vibration is stable.
As shown in fig. 6, the vibration hydraulic cylinder 11 may be driven by a solenoid-operated valve group. The electromagnetic control valve group comprises a reversing valve, a one-way valve, a throttle valve, an overflow valve and the like. The electromagnetic force constant control method specifically comprises the following steps: keeping the electromagnetic driving force always equal to the gravity of the vibrating table 1 and the load; the rod cavity and the rodless cavity of the vibration hydraulic cylinder 11 are respectively connected with an oil inlet and an oil outlet of the electromagnetic control valve group, namely, when the rod cavity is filled with oil, the rodless cavity is used for discharging oil, and when the rodless cavity is filled with oil, the rod cavity is used for discharging oil; at the moment, the vibration amplitude and the vibration frequency of the electro-hydraulic composite vibration device can be determined by only independently adjusting the pressure and the flow of the hydraulic system of the hydraulic cylinder and the reversing time of the electromagnetic reversing valve of the hydraulic system. In the vibration process, the hydraulic driving force is not influenced by the vibration table and the load mass any more, the control process and the algorithm are simplified, and the vibration is stable.
In order to determine the driving force F required by stable vibration of the electrohydraulic composite vibration device, the invention designs a sliding mode cosine position tracking algorithm.
The state equation in the vibration process of the electro-hydraulic composite vibration device is as follows:
wherein x represents vibration displacement, v represents vibration velocity, and k 1 Representing the system stiffness, k, of the vibrating device 2 Representing the damping coefficient of the vibration device.
Designing vibration desired trajectory functionThe method comprises the following steps:
wherein L and f respectively represent the vibration amplitude and the vibration frequency of the electrohydraulic composite vibration device; the lowest vibration point of the expected vibration track is-L/2, the highest vibration point is L/2, the half-cycle travel is just the amplitude L, and according to the designed expected track function, the expected speed function is:
wherein A represents a velocity coefficient; according to the expected speed function, the speed at the lowest point and the highest point of vibration is 0, the speed at the central position of the amplitude is the largest, and the stability in the vibration process is ensured.
The tracking error e is:
the sliding mode function s is designed as follows:
in the formula, c represents a sliding mode coefficient.
The Lyapunov function is defined as follows:
then
Due to
Order the
In the formula, m represents the mass of the vibrating table 1 and the load,represents a control rate coefficient, k represents a control rate coefficient;
so that
Satisfy the following requirements
Therefore, the designed sliding mode cosine position tracking algorithm is stable, and the driving force F of the electro-hydraulic composite vibration device is as follows:
the electrohydraulic composite vibration control system can effectively track the designed expected track according to a sliding mode cosine position tracking algorithm no matter a hydraulic cylinder constant pressure control method or an electromagnetic force constant control method is adopted, and the vibration process is ensured to be stable and accurate as long as the driving system (hydraulic cylinder or electromagnetic force) outputs force F.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. An electrohydraulic composite vibration device is characterized in that: comprises a vibrating table (1), an upper end cover (3) and a lower end cover (9) which are arranged oppositely up and down; the upper end cover (3) is fixed on the bottom surface of the vibrating table (1), and the lower end cover (9) is fixed on the fixed base or the foundation; a guide buffer mechanism and a vibration mechanism are arranged between the upper end cover (3) and the lower end cover (9);
the guide buffer mechanism comprises a guide column base (7) fixed on the bottom surface of the upper end cover (3) and a guide sleeve (4) fixed on the top surface of the lower end cover (9), a guide column (8) is fixedly arranged on the guide column base (7), a buffer spring (15) is arranged in the guide sleeve (4), and the bottom end of the guide column (8) is arranged in the guide sleeve (4) in a vertically sliding manner and is in contact with the buffer spring (15);
the vibration mechanism comprises a permanent magnet annular base (10) fixed on the bottom surface of the upper end cover (3), an annular permanent magnet (12) adsorbed on the bottom surface of the permanent magnet annular base (10), a permanent magnet jacket (5) coated on the outer sides of the permanent magnet annular base (10) and the annular permanent magnet (12), an exciting coil base (14) fixed on the top surface of the lower end cover (9) and arranged opposite to the annular permanent magnet (12), an exciting coil (13) wound on the exciting coil base (14), an exciting coil jacket (6) coated on the outer side of the exciting coil (13) and a vibration hydraulic cylinder (11), wherein the permanent magnet jacket (5) is fixed on the bottom surface of the upper end cover (3), and the exciting coil jacket (6) is fixed on the top surface of the lower end cover (9); the cylinder barrel of the vibration hydraulic cylinder (11) is fixedly inserted into the central hole of the lower end cover (9), and can vertically slide after penetrating through the central hole of the exciting coil base (14), and is inserted into the central hole of the permanent magnet jacket (5), the central hole of the annular permanent magnet (12) and the central hole of the permanent magnet annular base (10), and the cylinder rod of the vibration hydraulic cylinder (11) is fixedly connected with the upper end cover (3).
2. The electrohydraulic composite vibration unit of claim 1, wherein: the guide buffer mechanism is uniformly provided with a plurality of sets around the vibration mechanism.
3. The electrohydraulic composite vibration unit of claim 1, wherein: the annular permanent magnet (12) adopts an excitation coil (13), the permanent magnet annular base (10) adopts an excitation coil annular base (16), the excitation coil (13) is wound on the bottom end of the excitation coil annular base (16), and the permanent magnet jacket (5) coats the excitation coil (13) and the excitation coil annular base (16).
4. The electrohydraulic composite vibration unit of claim 1, wherein: the permanent magnet annular base (10) is made of iron materials.
5. A vibration control method of the electro-hydraulic compound vibration device according to any one of claims 1 to 4, characterized in that: the vibration hydraulic cylinder (11) adopts a constant pressure control method when the electro-hydraulic composite vibration device vertically vibrates; or the electro-hydraulic compound vibration device adopts an electromagnetic force constant control method when vibrating vertically.
6. The vibration control method according to claim 5, characterized in that: the constant pressure control method specifically comprises the following steps: the rod cavity and the rodless cavity of the vibration hydraulic cylinder (11) are communicated with a constant pressure source through a one-way valve, the rod cavity and the rodless cavity of the vibration hydraulic cylinder (11) are both P, the cross section area of the rod cavity is a, the cross section area of the rodless cavity is A, the vibration table (1) and the load mass are M, the requirements of P x (A-a) =M x g are met, the output force of the hydraulic system of the hydraulic cylinder and the gravity balance of the vibration table (11) and the load are met, meanwhile, the vibration hydraulic cylinder (11) not only can balance the gravity of the vibration table (1) and the load, but also can serve as a damper for buffering the vibration due to the connection of the rod cavity and the rodless cavity; the vibration amplitude and the vibration frequency of the electrohydraulic composite vibration device are determined by the current magnitude and the current reversing frequency of the exciting coil (13).
7. The vibration control method according to claim 6, characterized in that: the constant pressure source adopts a hydraulic pump or an energy accumulator.
8. The vibration control method according to claim 5, characterized in that: the electromagnetic force constant control method specifically comprises the following steps: keeping the electromagnetic force always equal to the gravity of the vibrating table (1) and the load; the vibration hydraulic cylinder (11) is driven by an electromagnetic control valve group, and a rod cavity and a rodless cavity of the vibration hydraulic cylinder (11) are respectively connected with an oil inlet and an oil outlet of the electromagnetic control valve group; and independently setting the pressure and flow of a hydraulic system of the hydraulic cylinder and the reversing time of an electromagnetic reversing valve of the hydraulic system so as to determine the vibration amplitude and the vibration frequency of the electrohydraulic composite vibration device.
9. The vibration control method according to claim 7, characterized in that: the electromagnetic control valve group comprises a reversing valve, a one-way valve, a throttle valve and an overflow valve.
10. The vibration control method according to claim 5, characterized in that: the driving force F required by the electrohydraulic composite vibration device is as follows:the method comprises the steps of carrying out a first treatment on the surface of the Wherein m represents the mass of the vibrating table (1) and the load, < >>Represents the control rate coefficient, k represents the control rate coefficient, s represents the sliding mode function, e represents the tracking error, c represents the sliding mode coefficient, +.>Representing the vibration desired trajectory function, x representing the vibration displacement, k 1 Representing system stiffness, k 2 Representing the damping coefficient; the sliding mode function s is: />；/>The method comprises the steps of carrying out a first treatment on the surface of the Vibration desired trajectory function->The method comprises the following steps: />The method comprises the steps of carrying out a first treatment on the surface of the Wherein L and f respectively represent the amplitude and the vibration frequency of the electrohydraulic composite vibration device.
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| CN202310081258.8A CN116511016B (en) | 2023-02-08 | 2023-02-08 | Electrohydraulic composite vibration device and vibration control method thereof |
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| CN202310081258.8A CN116511016B (en) | 2023-02-08 | 2023-02-08 | Electrohydraulic composite vibration device and vibration control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202296179U (en) * | 2011-04-13 | 2012-07-04 | 德诺福电子私人有限公司 | Driving device for acquiring vibration output |
| CN104218731A (en) * | 2013-06-03 | 2014-12-17 | 张新朋 | Hydraulic linear electromagnetic vibration energy absorption converter |
| KR20170064768A (en) * | 2015-12-02 | 2017-06-12 | 한국항공우주연구원 | Apparatus for vibrating sound |
| CN208407563U (en) * | 2018-06-13 | 2019-01-22 | 广西电网有限责任公司电力科学研究院 | A kind of electric vibration table |
| CN115059729A (en) * | 2022-07-13 | 2022-09-16 | 杭州电子科技大学 | Hierarchical vibration damper based on electromagnetism and hydraulic damping |
| CN115296503A (en) * | 2022-08-21 | 2022-11-04 | 哈尔滨工业大学 | Guiding and driving combined permanent magnet centripetal excitation cylindrical electromagnetic actuator |
-
2023
- 2023-02-08 CN CN202310081258.8A patent/CN116511016B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202296179U (en) * | 2011-04-13 | 2012-07-04 | 德诺福电子私人有限公司 | Driving device for acquiring vibration output |
| CN104218731A (en) * | 2013-06-03 | 2014-12-17 | 张新朋 | Hydraulic linear electromagnetic vibration energy absorption converter |
| KR20170064768A (en) * | 2015-12-02 | 2017-06-12 | 한국항공우주연구원 | Apparatus for vibrating sound |
| CN208407563U (en) * | 2018-06-13 | 2019-01-22 | 广西电网有限责任公司电力科学研究院 | A kind of electric vibration table |
| CN115059729A (en) * | 2022-07-13 | 2022-09-16 | 杭州电子科技大学 | Hierarchical vibration damper based on electromagnetism and hydraulic damping |
| CN115296503A (en) * | 2022-08-21 | 2022-11-04 | 哈尔滨工业大学 | Guiding and driving combined permanent magnet centripetal excitation cylindrical electromagnetic actuator |
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| CN116511016B (en) | 2023-10-31 |
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