CN117268672A - Unmanned platform gravity meter limited space low-frequency vibration reduction method - Google Patents
Unmanned platform gravity meter limited space low-frequency vibration reduction method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M7/00—Vibration-testing of structures; Shock-testing of structures
- G01M7/02—Vibration-testing by means of a shake table
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
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- G01V7/00—Measuring gravitational fields or waves; Gravimetric prospecting or detecting
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Abstract
The invention relates to the technical field of electric digital processing, in particular to a limited space low-frequency vibration reduction method of an unmanned platform gravity meter, which comprises the following steps: collecting vibration received by the unmanned platform gravity meter and transmitting vibration information to the data processing module; the data processing module determines the magnitude and frequency band distribution of the vibration of the unmanned platform according to the received vibration information, and draws a vibration frequency spectrum; determining the spatial layout of the vibration damper and the type of the vibration damper according to the vibration magnitude and the frequency band distribution of the unmanned platform gravity meter; parameters of the spring rubber damper are determined. The method provided by the invention can be used for efficiently damping the vibration of the unmanned platform, has small volume and light weight, does not influence the carrier suitability, and perfectly solves the problem of low-frequency vibration damping of the unmanned platform gravimeter in a limited space.
Description
Technical Field
The invention relates to the technical field of electric digital processing, in particular to a limited space low-frequency vibration reduction method of an unmanned platform gravity meter.
Background
Conventional marine gravimeters often require special measurement cabins for measuring vessels on the surface, require quiet cabin conditions, are remote from obvious vibration sources of power equipment and the like, and are as close to the carrier center of oscillation as possible. The gravity measurement is carried out on the unmanned ship small-sized measurement carrier, the unmanned platform gravity meter is arranged on the unmanned ship, the unmanned ship is shallow in draft, quick, economical and safe, multiple operation modes such as cooperation of multiple ships and synchronization with a mother ship can be developed, the area where a conventional water surface ship is difficult to reach is covered, and the operation efficiency is greatly improved. The unmanned plane gravity measurement is that an unmanned plane gravity meter is arranged on an unmanned plane, an innovative operation mode is adopted, hovering and continuous flight are skillfully combined, and quick and high-precision measurement can be realized in areas such as island reefs, glaciers, and Melin, where manual operation is difficult to develop. However, no matter the unmanned ship or the unmanned aerial vehicle is used as a carrier, the load cabin space of the carrier is limited, the installation area of the unmanned platform gravity meter is often close to the engine, the vibration is strong, if vibration reduction treatment is not carried out, the gravity measurement accuracy of the unmanned platform gravity meter can be seriously affected, and the service life of the unmanned platform gravity meter can be reduced. The vibration damping scheme of the traditional double-shaft stable platform can only isolate angular movement of the carrier, but cannot isolate linear vibration, can only inhibit the linear vibration through external vibration damping, cannot efficiently damp carrier vibration on the basis of guaranteeing that the vibration damping device body is small in weight and light in weight, and ensures that the gravity sensor of the unmanned platform gravity meter is not affected by vibration, so that the vibration damping scheme is an important research content of the project.
Disclosure of Invention
The invention aims to solve the technical problem of providing a limited space low-frequency vibration reduction method of an unmanned platform gravity meter, wherein a spring rubber vibration absorber is adopted as the vibration absorber, so that not only can elastic support be provided through a spring, but also enough damping can be provided through externally coated damping rubber materials, the proportion of rigidity and sizing materials is designed according to different dynamic characteristics of the unmanned platform gravity meter and specific distribution of vibration frequency spectrums, the vibration reduction frequency and damping characteristics of the vibration absorber are selected to be matched with vibration input, external vibration is attenuated to the greatest extent, meanwhile, the spring rubber vibration absorber is small in size and flexible in layout, and carrier cabin space can be utilized to the greatest extent.
The invention is realized by the following technical scheme:
a limited space low-frequency vibration reduction method of an unmanned platform gravity meter comprises the following steps:
s1: the vibration sensor collects vibration received by the unmanned platform gravity meter and transmits vibration information to the data processing module;
s2: the data processing module determines the magnitude and frequency band distribution of the vibration of the unmanned platform according to the received vibration information, and draws a vibration frequency spectrum;
s3: determining the spatial layout of the vibration damper and the type of the vibration damper according to the vibration magnitude and the frequency band distribution of the unmanned platform gravity meter: the vibration damper is arranged at the waist of the unmanned platform gravity meter and consists of a supporting unit and four vibration dampers, the four vibration dampers are respectively arranged at the top points of the supporting unit, and the vibration dampers are spring rubber vibration dampers;
s4: the method for determining the parameters of the spring rubber shock absorber specifically comprises the following steps:
s41: determining the motion equation of the unmanned platform gravity meter and solvingDisplacement of the unmanned platform gravity meter at any moment;
s42: determining a vibration isolation transfer function, and drawing a vibration isolation transfer rate amplitude-phase frequency characteristic curve according to the vibration isolation transfer function;
s43: determining the moment when the vibration amplitude begins to increase in the vibration spectrum as the frequency of external vibration when the vibration damping device begins to act, and determining the natural frequency of the vibration damping device according to the vibration isolation transmissibility amplitude-phase frequency characteristic curve;
s44: determining the spring stiffness coefficient of the shock absorber according to the natural frequency of the shock absorber;
s45: determining the damping ratio of the rubber material of the shock absorber under the requirement of the resonance magnification according to the vibration isolation transmissibility amplitude-phase frequency characteristic curve;
s46: and determining the spring stiffness coefficient of the shock absorber and the damping ratio of the rubber material of the shock absorber according to the designed space layout and the type of the shock absorber, and manufacturing the shock absorber and assembling the shock absorber device.
Preferably, the spring rubber shock absorber determined in step S3 comprises a shell, a connecting piece, a buffer rubber pad, a rubber guide sleeve, a sliding sleeve, a conical spring, a guide rod, a damping rubber sheath, an upper screw rod and a lower screw rod, wherein the buffer rubber pad sleeve is arranged in the shell, the rubber guide sleeve is sleeved in the buffer rubber pad sleeve, the lower screw rod is fixedly arranged at the bottom of the shell, the sliding sleeve is slidably arranged on the upper part of the shell, the damping rubber sheath is arranged between the sliding sleeve and the connecting piece, the upper end of the guide rod is connected with the connecting piece, the lower end of the guide rod extends into the rubber guide sleeve, and the conical spring is arranged between the buffer rubber pad and the connecting piece.
Further, in step S41, the motion equation of the unmanned platform gravity meter is equation (1), and the solution is performedThe displacement of the unmanned platform gravity meter at the moment is (2):
（1）；
（2）；
wherein:representing the mass of an unmanned platform gravimeter, +.>Representation->Displacement of unmanned platform gravity meter at moment +.>Representation->Displacement of the gravity meter carrier of the unmanned platform at moment, < >>Represents the damping coefficient of the vibration damping device, < >>Indicating the stiffness of the damping device->Representation->Maximum displacement amplitude of unmanned platform gravity meter at moment, < ->Representation->Maximum amplitude of displacement of the unmanned platform gravity meter carrier at any moment,/->Representing the imaginary number->Indicating the frequency of the external vibration.
Further, in step S42, the isolation transfer function is (3):
（3）；
wherein:representing the vibration isolation transfer function>Indicating the natural frequency of the damping device, < >>Representing the resistance of the rubber material of the damperNibi (r)/(r)>Indicating the frequency of the external vibration.
The invention has the beneficial effects that:
the spring rubber vibration absorber is adopted, elastic support can be provided through the spring, enough damping can be provided through the externally coated damping rubber material, the proportion of rigidity and sizing materials is designed according to different dynamic characteristics of the unmanned platform gravity meter and specific distribution of vibration frequency spectrums, the vibration reduction frequency and the damping characteristics of the vibration absorber are selected to be matched with vibration input, external vibration is damped to the greatest extent, meanwhile, the spring rubber vibration absorber is small in size and flexible in layout, and carrier cabin space can be utilized to the greatest extent.
Drawings
FIG. 1 is a schematic flow chart of the present invention.
Fig. 2 is a schematic view of the spatial layout of the vibration damping device of the present invention.
FIG. 3 is a schematic view of the structure of the spring rubber damper of the present invention.
Fig. 4 is a schematic diagram of the vibration isolation transmissibility amplitude-phase frequency characteristic of the present invention.
In the figure: 1. the hydraulic damper comprises a supporting unit, a damper, a lower screw rod, a shell, a sliding sleeve, a damping rubber sheath, a connecting piece, an upper screw rod, a conical spring, a guide rod, a rubber guide sleeve and a buffer rubber pad.
Detailed Description
A limited space low frequency vibration reduction method of an unmanned platform gravity meter is shown in fig. 1, and comprises the following steps:
s1: the vibration sensor collects vibration received by the unmanned platform gravity meter and transmits vibration information to the data processing module;
s2: the data processing module determines the magnitude and frequency band distribution of the vibration of the unmanned platform according to the received vibration information, and draws a vibration frequency spectrum;
in order to meet the requirements of gravity measurement of unmanned carriers of different types, among three carriers of unmanned aerial vehicles, unmanned boats and unmanned submarines, the unmanned aerial vehicle with the worst vibration can be taken as a carrier to serve as an analysis object, two typical unmanned aerial vehicles are selected, vertical vibration in the flight state of the unmanned aerial vehicles is collected and analyzed, and the vibration spectrum of the unmanned aerial vehicles is analyzed. The analysis of the vibration spectrum shows that the vibration frequency band of the unmanned aerial vehicle is wider, the unmanned aerial vehicle belongs to broadband random vibration, the vibration energy is mainly distributed above 15Hz, and the carrier vibration below 15Hz is smaller, so that the following requirements can be set for a vibration damper of the unmanned platform gravity meter: firstly, the vibration reduction frequency is required to be less than or equal to 15Hz, and the resonance magnification is required to be less than or equal to 3 times, so that the vibration reduction device can effectively attenuate most of vibration of the carrier. Because the vibration absorber is used as an equivalent second-order system, the vibration absorber cannot avoid the resonance phenomenon of the vibration absorber in a frequency band lower than the vibration reduction frequency, and the vibration absorber cannot resonate by itself and excessively amplifies the original vibration of the carrier by combining the vibration magnitude of the unmanned carrier below 15Hz, so that the resonance amplification factor is required to be less than or equal to 3 times.
S3: determining the spatial layout of the vibration damper and the type of the vibration damper according to the vibration magnitude and the frequency band distribution of the unmanned platform gravity meter: the vibration damper is arranged at the waist of the unmanned platform gravity meter and consists of a supporting unit 1 and four vibration dampers 2, wherein the four vibration dampers are respectively arranged at the top points of the supporting unit and are of spring rubber vibration dampers; the space layout schematic diagram of the vibration damper is shown in fig. 2, the specific structure of the spring rubber vibration damper is shown in fig. 3, the vibration damper of the unmanned platform gravity meter is composed of four vibration dampers and a supporting unit, the size is small, the weight is light, the vibration damper is arranged at the waist of the unmanned platform gravity meter, the vibration damper supporting center is close to the mass center of the structure, on one hand, the stability of the main structure of the miniaturized unmanned platform gravity meter can be ensured, on the other hand, the vibration coupling effect can be effectively restrained, and the phenomenon of additional angular vibration caused by linear vibration is avoided.
The spring rubber shock absorber includes casing 22, connecting piece 25, buffering rubber pad 30, rubber uide bushing 29, sliding sleeve 23, conical spring 27, guide bar 28, damping rubber crust 24, go up screw rod 26 and lower screw rod 21, buffering rubber pad cover installs in the casing, rubber uide bushing suit is in buffering rubber pad cover, lower screw rod fixed mounting is in the casing bottom, the sliding sleeve is slidingly installed in casing upper portion, damping rubber crust is installed between sliding sleeve and connecting piece, the guide bar upper end is connected with the connecting piece, and the guide bar lower extreme stretches into in the rubber uide bushing, conical spring installs between buffering rubber pad and connecting piece. The guide rod, the shell, the sliding sleeve, the connecting piece, the upper screw rod and the lower screw rod are all made of metal materials, when in installation, the upper screw rod is in threaded connection with the unmanned platform gravity meter, the lower screw rod is in threaded connection with the supporting unit, and the supporting unit is fixedly installed on the transition plate of the installation base of the unmanned platform gravity meter. The spring rubber damper adopts the structure, the manufacture and the assembly are very convenient, the structure of the guide post and the rubber guide sleeve is designed in the spring rubber damper, so that the horizontal torsion of the damper can be limited, the spring rubber damper is only enabled to have the motion freedom degree in the vertical direction, the phenomenon that additional angular vibration is caused by linear vibration is prevented from occurring, the guide post externally surrounds the conical metal spring, the elastic support of the damping unit is ensured, the damping rubber skin is coated outside, enough damping is provided, the vibration kinetic energy can be quickly converted into heat energy, and the heat energy is dissipated, meanwhile, the damper is designed with the rubber buffer cushion, and the conical spring is prevented from being greatly compressed under the moment heavy load and is damaged by exceeding the compression limit of the spring. Compared with the traditional metal structure vibration damper, the metal rubber vibration damper has single and pure self-mode and no structural high-order vibration mode, and has more obvious high-frequency vibration damping effect.
S4: the method for determining the parameters of the spring rubber shock absorber specifically comprises the following steps:
s41: determining the motion equation of the unmanned platform gravity meter and solvingDisplacement of the unmanned platform gravity meter at any moment;
the vibration-damped body can be simplified into a massIs defined by a damping coefficient of +.>Rigidity is->Is associated with the foundation so that the vibration source, i.e. the disturbance of the foundation +.>The vibration is not completely transmitted to the vibration-damped body, and the motion equation of the vibration-damped body is shown as formula (1), namely the motion equation of the unmanned platform gravity meter is shown as formula (1), and the vibration-damped body is damped by the vibration-damped bodyBy substituting the formula (1), the formula (2) is obtained, and the +.>Displacement of unmanned platform gravity meter at moment:
（1）；
（2）；
wherein:representing the mass of an unmanned platform gravimeter, +.>Representation->Displacement of unmanned platform gravity meter at moment +.>Representation->Displacement of the gravity meter carrier of the unmanned platform at moment, < >>Representing the damping coefficient of the vibration-absorbing device,/>indicating the stiffness of the damping device->Representation->Maximum displacement amplitude of unmanned platform gravity meter at moment, < ->Representation->Maximum amplitude of displacement of the unmanned platform gravity meter carrier at any moment,/->Representing the imaginary number->Indicating the frequency of the external vibration.
The formula (2) can be converted into the form of formula (4):
（4）；
wherein:representing the vibration isolation transfer function>Representing a phase-frequency response function, the expression of which is formula (5);
（5）；
here, theIndicating the natural frequency of the damping device, < >>，/>Represents the damping ratio of the rubber material of the shock absorber;
s42: determining a vibration isolation transfer function, drawing a vibration isolation transfer rate amplitude-phase frequency characteristic curve according to the vibration isolation transfer function, wherein the drawn vibration isolation transfer rate amplitude-phase frequency characteristic curve is shown in fig. 4;
by combining the above formula (4) and formula (5), it is possible to determine that the vibration isolation transfer function is formula (3):
（3）；
wherein:representing the vibration isolation transfer function>Indicating the natural frequency of the damping device, < >>Represents the damping ratio of the rubber material of the shock absorber, +.>Indicating the frequency of the external vibration.
For passive vibration isolation transmissibility +.>It is shown that it characterizes the effect of passive vibration isolation, < >>Smaller indicates better vibration isolation.
S43: determining the moment when the vibration amplitude begins to increase in the vibration spectrum as the frequency of external vibration when the vibration damping device begins to act, and determining the natural frequency of the vibration damping device according to the vibration isolation transmissibility amplitude-phase frequency characteristic curve;
s44: determining the spring stiffness coefficient of the shock absorber according to the natural frequency of the shock absorber;
s45: determining the damping ratio of the rubber material of the shock absorber under the requirement of the resonance magnification according to the vibration isolation transmissibility amplitude-phase frequency characteristic curve;
s46: and determining the spring stiffness coefficient of the shock absorber and the damping ratio of the rubber material of the shock absorber according to the designed space layout and the type of the shock absorber, and manufacturing the shock absorber and assembling the shock absorber device.
The specific method for determining the stiffness coefficient of the shock absorber spring and the damping ratio of the shock absorber rubber material is as follows:
as can be seen from the formula (3),is->And->FIG. 4 is a graph of formula (3) showing the damping ratio of various shock absorber rubber materials>Along with->A curve of variation. As can be seen from the figure, if 15Hz (determined from the measured spectrum in the early stage, the vibration amplitude starts to increase at 15 Hz) is desired to be damped, i.e., at +.>=15 Hz>The vibration isolation device starts to work and is smaller than 1, so the vibration isolation device is added with +.>=10 Hz, unmanned platform gravity meter mass/>=20kg, according to +.>Can obtain +.>= 78.96N/mm, whereby design work of the spring in the shock absorber can be performed. As can be seen from FIG. 4, when +.>In the event that the damping device is active, < +.>The larger the>Instead, the larger this indicates that the damping has an adverse effect on the vibration isolation system under such conditions. Therefore, choose +.>=0.25. When the vibration damping device resonates, i.e. +.>When (I)>The design requirement of < 2.5 times of the 'resonance magnification of the shock absorber less than or equal to 3 times' determined in the earlier stage is met. According to->The preparation work of the rubber part in the vibration damping unit can be performed.
The vibration damper of the unmanned platform gravity meter is designed by adopting the method, the defects of the traditional vibration damping scheme are overcome, the vibration of the unmanned platform can be efficiently damped, the self volume is small, the weight is light, the carrier adaptability is not affected, the problem of low-frequency vibration damping of the limited space of the unmanned platform gravity meter is perfectly solved, the spring rubber damper is adopted, the spring support can be provided through the spring, the sufficient damping can be provided through the externally coated damping rubber material, the proportion of rigidity and sizing materials is designed according to different dynamic characteristics and specific distribution of vibration frequency spectrums of the unmanned platform gravity meter, the vibration damping frequency and the damping characteristic of the damper are selected to be matched with vibration input, the external vibration is damped to the greatest extent, meanwhile, the spring rubber damper is small in volume and flexible in layout, and the carrier cabin space can be furthest utilized.
In summary, the invention provides the limited space low frequency vibration damping method for the unmanned platform gravity meter, which avoids the defects of the traditional vibration damping scheme, can efficiently damp the vibration of the unmanned platform, has small volume and light weight, does not influence the carrier suitability, and perfectly solves the difficult problem of limited space low frequency vibration damping of the unmanned platform gravity meter.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The limited space low-frequency vibration reduction method for the unmanned platform gravity meter is characterized by comprising the following steps of:
s1: the vibration sensor collects vibration received by the unmanned platform gravity meter and transmits vibration information to the data processing module;
s2: the data processing module determines the magnitude and frequency band distribution of the vibration of the unmanned platform according to the received vibration information, and draws a vibration frequency spectrum;
s3: determining the spatial layout of the vibration damper and the type of the vibration damper according to the vibration magnitude and the frequency band distribution of the unmanned platform gravity meter: the vibration damper is arranged at the waist of the unmanned platform gravity meter and consists of a supporting unit and four vibration dampers, the four vibration dampers are respectively arranged at the top points of the supporting unit, and the vibration dampers are spring rubber vibration dampers;
s4: the method for determining the parameters of the spring rubber shock absorber specifically comprises the following steps:
s41: determining the motion equation of the unmanned platform gravity meter and solvingDisplacement of the unmanned platform gravity meter at any moment;
s42: determining a vibration isolation transfer function, and drawing a vibration isolation transfer rate amplitude-phase frequency characteristic curve according to the vibration isolation transfer function;
s43: determining the moment when the vibration amplitude begins to increase in the vibration spectrum as the frequency of external vibration when the vibration damping device begins to act, and determining the natural frequency of the vibration damping device according to the vibration isolation transmissibility amplitude-phase frequency characteristic curve;
s44: determining the spring stiffness coefficient of the shock absorber according to the natural frequency of the shock absorber;
s45: determining the damping ratio of the rubber material of the shock absorber under the requirement of the resonance magnification according to the vibration isolation transmissibility amplitude-phase frequency characteristic curve;
s46: and determining the spring stiffness coefficient of the shock absorber and the damping ratio of the rubber material of the shock absorber according to the designed space layout and the type of the shock absorber, and manufacturing the shock absorber and assembling the shock absorber device.
2. The limited space low frequency vibration reduction method of the unmanned platform gravity meter according to claim 1, wherein the spring rubber vibration damper determined in the step S3 comprises a shell, a connecting piece, a buffer rubber pad, a rubber guide sleeve, a sliding sleeve, a conical spring, a guide rod, a damping rubber sheath, an upper screw rod and a lower screw rod, wherein the buffer rubber pad sleeve is arranged in the shell, the rubber guide sleeve is sleeved in the buffer rubber pad sleeve, the lower screw rod is fixedly arranged at the bottom of the shell, the sliding sleeve is slidably arranged at the upper part of the shell, the damping rubber sheath is arranged between the sliding sleeve and the connecting piece, the upper end of the guide rod is connected with the connecting piece, the lower end of the guide rod extends into the rubber guide sleeve, and the conical spring is arranged between the buffer rubber pad and the connecting piece.
3. According to claimThe limited space low frequency vibration reduction method of the unmanned platform gravity meter according to claim 1, wherein the motion equation of the unmanned platform gravity meter in the step S41 is formula (1), and the method is characterized in thatThe displacement of the unmanned platform gravity meter at the moment is (2):
（1）；
（2）；
wherein:representing the mass of an unmanned platform gravimeter, +.>Representation->Displacement of unmanned platform gravity meter at moment +.>Representation ofDisplacement of the gravity meter carrier of the unmanned platform at moment, < >>Represents the damping coefficient of the vibration damping device, < >>Indicating the stiffness of the damping device->Representation->Maximum displacement amplitude of unmanned platform gravity meter at moment, < ->Representation->Maximum amplitude of displacement of the unmanned platform gravity meter carrier at any moment,/->Representing the imaginary number->Indicating the frequency of the external vibration.
4. The method of low frequency vibration reduction in limited space for unmanned platform gravity according to claim 1, wherein the isolation transfer function in step S42 is (3):
（3）；
wherein:representing the vibration isolation transfer function>Indicating the natural frequency of the damping device, < >>Represents the damping ratio of the rubber material of the shock absorber, +.>Indicating the frequency of the external vibration.
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Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101900177A (en) * | 2010-08-04 | 2010-12-01 | 中国船舶重工集团公司第七二二研究所 | Vibration isolator |
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