CN1306171C - Passive fluid power control method and its control system - Google Patents
Passive fluid power control method and its control system Download PDFInfo
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- CN1306171C CN1306171C CNB2004100526564A CN200410052656A CN1306171C CN 1306171 C CN1306171 C CN 1306171C CN B2004100526564 A CNB2004100526564 A CN B2004100526564A CN 200410052656 A CN200410052656 A CN 200410052656A CN 1306171 C CN1306171 C CN 1306171C
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Abstract
The present invention discloses a power control method of passive fluid and a control system of passive fluid. The control system is provided with a fluid tank which has certain volume and is full of fluid media. The inner space surrounded by a shell body of the fluid tank changes under the action of the outer force, and the fluid media in the fluid tank are discharged, and are conveyed to a remote deformation cavity through a guide pipe. A shell body of the deformation cavity and a peripheral constraint layer elastically deform outwards under the action of the conveyed fluid media, the corresponding deformed positions can be effectively output in a displacement mode, and thereby, the work originally acting on the fluid tank by the outer force is transferred to the remote deformation cavity through the fluid media so as to drive outer loads to apply work. By controlling the acting mode of the outer force exerted on the fluid tank or changing system design parameters, the deformation amount of the constraint layer in the position of a deformation bulge point can be controlled, and thereby, the moving state of the outer loads which are connected is controlled. The present invention gets rid of fluid power sources (hydraulic pressure sources and air pressure sources) of the conventional fluid power control system. The system performance is unique.
Description
Technical field
The present invention relates to a kind of passive fluid dynamic controlling method and control system thereof.
Background technique
Conventional fluid power control system refers generally to hydraulic system or pneumatic system, can be corresponding transmission system or servo-system, and driving medium is respectively hydraulic oil or other liquid, pressurized air or other gas.The formation of these systems mainly is hydrodynamic source (oil pressure source, gas pressure source), control unit (Flow valve, directional control valve etc.), executive component (cylinder, motor), detection device (detection devices such as displacement transducer, pressure transducer, and corresponding secondary meter), auxiliary element (accumulator, oil sprayer, air-strainer, and other auxiliary elements such as pipeline, pipe joint, pressure gauge) is formed.The hydrodynamic source of conventional fluid power control system provides pressure oil, the pressurized air (or other high-pressure liquids) of high pressure, drive load movement by line transportation to executive component, come the Operational Limits of regulating system by other control units such as various control valves, thereby be controlled at the output such as displacement, power, speed of system under the various outer load effects.
The hydrodynamic source of conventional fluid power control system is the power plant in the system, provides required pressure oil, pressurized air or other high-pressure fluid medium to whole system, is indispensable important component part in system.
The hydrodynamic source of conventional fluid power control system is generally all driven by prime mover (motor, internal-combustion engine or other dynamic power machines), drive corresponding oil hydraulic pump or gas compressor by them, produce pressure oil, the pressurized air (or other high-pressure liquids) of high pressure, other form energies such as electric energy, chemical energy are transformed into the pressure energy of high-pressure liquid.Common hydrodynamic source---hydraulic power, gas pressure source are respectively by forming as lower member: hydraulic power---prime mover, oil hydraulic pump, filter, accumulator, fuel tank, cooler etc. also need be worn other auxiliary elements such as some relief valves, safety valve, stop valve, pipeline, pressure gauge simultaneously; Gas pressure source---prime mover, gas compressor, gas holder, oil sprayer, oil and water seperator, air-strainer, aftercooler, exsiccator etc. also need be worn other auxiliary elements such as some safety valves, reduction valve, stop valve, pipeline, pressure gauge simultaneously.
The hydrodynamic source of conventional fluid power control system generally all has huger fuel tank or gas holder to store hydraulic oil or pressurized air.
Conventional fluid power control system generally has transmission system and servo-system two big classes, and what correspondence was implemented is open loop control mode and close-loop control mode.
The major advantage of conventional hydraulic system is that transmission of movement is steady, and the transmission of flowing medium and control are convenient, and the power density ratio of system is big, but hydraulic system relies on the motion speed of throttling regulating and controlling load, and power loss is big, and system's heating is severe; Hydraulic system is kept the pressure of system by sealing, is easy to produce leak; Hydraulic oil source needs cooling device, hydraulic oil source bulky, noise is big.
The major advantage of conventional pressure system is that medium transmission is convenient and swift, medium is easily stored because the viscosity of gas medium is little, compressibility is big, and air dielectric exhaust emission commonly used is little.But the medium compressibility is big, and accurately control is difficult, locating stiffness is low, and throttling adjusting efficient is low; Working pressure is low, and noise is big, source of the gas bulky, noise is big.
No matter conventional fluid power system is hydraulic system or pressure system, no matter is transmission system or servo-system also, all needs hydrodynamic source separately---oil sources, source of the gas.Though the fluid dynamic control system of some short-term operations is also arranged, as: the pneumatic servo of the cold high pressure gas cylinder gas storage that Missile Actuation System is used, and the pressurized gas that produce with powder burning are as the combustion gas servo-system of power, do not need the hydrodynamic source of conventional fluid power system yet, but these special fluid power systems still need disposable fuel container or high-pressure gas cylinder, still the output by throttling control mode regulating system.
Because the existence of hydrodynamic source makes conventional fluid dynamic control (driving) system in use produce many problems unavoidably.Its subject matter has the following aspects:
1. leakage problem: the leakage of oil sources, source of the gas is difficult to avoid, and it is restricted to make that conventional fluid power system requires the occasion high, that environmental requirement is high to use in cleanings such as food, medicine, health, needs special processing (except the pressure system of no oil supply).
2. noise problem: the noise of oil sources, source of the gas is very big, the occasion that makes conventional fluid power system have relatively high expectations in " quiet " or quiet degree is used difficulty, even conventional use occasion also is that noise pollution is had certain requirements, and conventional fluid power system be difficult to comply with current to the strict day by day main trend of noise control.
3. weight issue: the weight of oil sources, source of the gas is big, makes conventional fluid power system seriously limited to the application of the demanding occasion of weight from traveling gear, spacecraft, anthropomorphic robot etc., and the power density ratio of whole system descends.
4. volume problem: the volume of oil sources, source of the gas is big, makes conventional fluid power system be difficult to use in the occasion of many spatial requirement compactnesses, and from a lot of occasions such as traveling gear, aircraft, robot, the volume problem of conventional fluid power system is difficult to solve.
5. heating problem: during the air compressor pressurized gas, during conventional fluid dynamic throttling control, the slippage of oil hydraulic pump, fluid valve overflow, line loss all make system's heating, hydraulic oil is aging to be accelerated, useless power loss is also very big, to energy utilization rate, the demanding applications difficulty of thermo-pollution.Even normal the use, energy-conservation also is eternal pursuit.
Simultaneously, because the existence of " hydrodynamic source " also makes system's link increase, reliability weakens, and increase in the internal contamination source of system, needs more the input to prevent and treat in the using process for this reason.
Summary of the invention
A series of problems of bringing at the hydrodynamic source of conventional fluid power system, particularly bigger volume and weight, bigger noise, bigger heating value, leakage pollution, more problems such as auxiliary element, the object of the present invention is to provide a kind of passive fluid dynamic controlling method and control system thereof, can solve above-mentioned many problems that the conventional fluid power control system brought owing to hydrodynamic source in use exists.
In order to achieve the above object, the technical solution used in the present invention is as follows:
1. passive fluid dynamic controlling method:
The fluid storehouse that is full of flowing medium with a constant volume, under external force, the inner space that its fluid storehouse housing is surrounded will change, and the flowing medium in the fluid storehouse will be discharged from the fluid storehouse; The flowing medium that these are discharged from is sent to by conduit in the deformable cavity in strange land.The deformable cavity housing and the peripheral restrain layer of deformable cavity, under the effect of the flowing medium that imports into, will produce outside resiliently deformable, the position of the distortion projecting point of the constraint weak area of the deformable cavity housing of deformable cavity is with regard to the output of strong and displacement, thereby will act on the external work on the fluid storehouse originally, the deformable cavity that is delivered to the strange land by flowing medium goes to drive the outer load acting that distortion projecting point place connects; Be applied to the binding mode of the external force on the fluid storehouse by control, or, control the amount of deformation of restraint layer at distortion projecting point place by changing system design parameters, and then the motion state of the outer load of control.
2. the control system of a passive fluid dynamic controlling method:
Native system comprises: power controller, power plant, filling fluid medium, the fluid storehouse that changes, inner space under external force, conduit, the deformable cavity of filling fluid medium, outsourcing restraint layer, outer load; Power controller connects power plant and contacts with the fluid storehouse through power plant, and the flowing medium in the fluid storehouse is communicated with deformable cavity with conduit, and the constraint projecting point of deformable cavity contacts with outer load.
Native system also comprises: displacement transducer, three pressure transducers, three data collections, treatment device, computer; Displacement transducer is contained on the direction of displacement of outer load, first pressure transducer is contained in the carrying bottom surface of outer load, second pressure transducer is contained in the side of deformable cavity, the 3rd pressure transducer is contained in the side in fluid storehouse, first data capture, treatment device connect displacement transducer and computer respectively, second data capture, treatment device connect first pressure transducer and computer respectively, the 3rd data capture, treatment device connect second pressure transducer, the 3rd pressure transducer and computer respectively, and computer connects power controller.
Above-mentioned said flowing medium is composition, the mixture of gas, liquid, colloid, electric liquid unsteady flow, magnetic flow liquid, magnetic fluid, powdery solid, liquid metal, high temperature fluid, semifluid or the above-mentioned fluid that can transmit fluid pressure energy.
Above-mentioned said power plant are put the power plant that flexible, electricity is put flexible, machinery type, power electronics for piezoelectric constant, the magnetic that can produce power.
In above-mentioned passive fluid power control system, and in the control procedure of this system, " power plant " of system produce external force provides " hydrodynamic source " such as the hydraulic power of the form of energy and conventional fluid power control system, gas pressure sourcies to provide the form of energy completely different, but being still by the flowing of " flowing medium ", the transmission of " energy " carries out, so system remains a kind of fluid power system.This kind of drive has casted off " hydrodynamic source " of conventional fluid power control system once and for all in the basic characteristic that keeps the fluid dynamic control system, the control of convection cell more is different from conventional fluid power control system.This " passive " fluid dynamic control system that is a kind of, no matter still be controlling method, mode from structure on, it has all constituted a kind of brand-new, novel kind of drive.
In passive fluid dynamic control system of the present invention, the size of parameters such as the power of system's output, displacement depends mainly on the binding mode that acts on the external force on " fluid storehouse ", and the structure and material characteristic of " fluid storehouse housing " and " deformable cavity housing ", also have the structure of " restraint layer ", material behavior to distribute.The direction of parameters such as the power of system, displacement output depends on position, structure and the mode of texturing of " constraint weak area " of " restraint layer " of " deformable cavity " that " flowing medium " flows into.
That the generation that acts on the external force on " fluid storehouse " can have is machinery, electronic, electromagnetism etc. multiple mode, just work provides power resources to whole system in the generation of this external force, and the structure of this " power source " and working method have been fundamentally different than " hydrodynamic source " of conventional fluid power control system.
Passive fluid dynamic control system can realize the strange land transmission of power and easily to the flexible control of power, in many advantages of having inherited conventional fluid power control system (hydraulic transmission, Pneumatic Transmission), their a series of shortcomings have also been overcome, also possess some special performances simultaneously, have bigger practical prospect.
The present invention compares with background technique, the useful effect that has is: the passive fluid dynamic control that the present invention proposes, be for the active fluid dynamic control of routine, make full use of advantages such as the media flow characteristic in traditional fluid dynamic control, easy remote transmission, isotropy, do not want the oil sources and the source of the gas of conventional fluid power control system again, the problem of making every effort to avoid in the using process of conventional fluid power control system the existence because of hydrodynamic source bring.
Passive fluid dynamic control system had both been abandoned hydraulic power, the gas pressure source of conventional fluid power control system, had made full use of the fluid characteristics of medium again, the systematic function uniqueness.This a series of special performance that is had can have unique application in industrial automation, military affairs, robot, from fields such as traveling gears, and this type systematic has wide actual application prospect.
Description of drawings
The present invention is further illustrated below in conjunction with drawings and Examples.
Fig. 1 is the fundamental diagram that has provided passive fluid dynamic control system;
Fig. 2 is the partial enlarged drawing of deformable cavity structure;
Fig. 3 has shown the fundamental diagram of being with the outside resiliently deformable of the deformable cavity housing that does not wait even restraint layer;
Fig. 4 is the enforcement illustration of passive fluid dynamic control system;
Fig. 5 is the passive fluid dynamic control system structural representation of a plurality of fluids storehouse, deformable cavity;
Fig. 6 is one time of a power graph of relation.
Embodiment
Be the fundamental diagram that has provided passive fluid dynamic control system as shown in Figure 1, be full of in the fluid storehouse 101 flowing medium (" flowing medium " in each figure with being full of each cavity and ducted fine dotted line filling part is represented, respectively scheme identical later on), the outer shell layer in fluid storehouse 101---fluid storehouse housing 102, can under external force 100 effects, produce corresponding distortion, make the inner space that it surrounded change, the flowing medium of the original space that the distortion part is occupied is discharged fluid storehouse 101 by all or part of extruding, the flowing medium that to discharge fluid storehouse 101 by conduit 103 is input in the deformable cavity 105 in strange land, and deformable cavity 105 will produce outside resiliently deformable under the flowing medium effect of this inflow.
The volume of discharging the flowing medium in fluid storehouse 101 distributes with the material behavior of fluid storehouse housing 102 with quality, structure is relevant, after structure and material is selected, and the topmost binding mode that will be decided by institute's externally applied forces 100.After external force 100 removes, fluid storehouse housing 102 can be under the elastic-restoring force effect of itself material, also the opposite direction active force effect of load end is outside oppressed down from the fluid that deformable cavity 105 refluences are returned down simultaneously, recovers external force 100 effect original all or part of distortion down.
The flowing medium that is full of in the fluid storehouse 101 among Fig. 1 mainly is meant composition, the mixture of other complex fluid such as gas, liquid, colloid, electric liquid unsteady flow, magnetic flow liquid, magnetic fluid, powdery solid, liquid metal, high temperature fluid, semifluid or above-mentioned fluid, and this " flowing medium " must possess the function of transmitting fluid pressure energy.
The mixture of above-mentioned flowing medium is meant the physical form that the mixed process of the above-mentioned flowing material of mentioning by chemically produces, and separately material property and mixed process is relevant before the performance of mixture and the mixing.The composition of above-mentioned " flowing medium " is meant that the above-mentioned flowing material of mentioning exists with certain absolute construction separately, forms unified integral body but combine mutually, and separately material property and the structure when making up is relevant before the performance of composition and the combination.The explanation of giving one example: such as the above-mentioned flowing material of mentioning " liquid " and " gas ", mixture is for there to be the liquid of " small bubble ", or the gas of " drop " is arranged, and can both realize transmitting the function of fluid pressure energy; Composition may gas-liquid two-phase fluidic structures, may a chamber be gas also, a chamber is a liquid, between separation structure is arranged, the function of fluid pressure energy also can be realized transmitting as the integral body that enclosed construction is arranged in the combination back.
The fluid storehouse can have only one or a plurality of (as shown in Figure 5 501,502,503) are arranged simultaneously in system.
The structural type of fluid storehouse housing 102 comprises its integral body and the shape part, mechanical structure, comprises the structure of its thickness, shape, details, designs according to system performance.
The structure of fluid storehouse housing 102 can be whole one, also can be local movable, finally can be implemented in external force 100 effect down the flowing medium in the fluid storehouse 101 can be squeezed and spill out, the opposite direction active force effect that can also be contained in outer load end simultaneously is the refluence flowing medium of returning down.
" whole one " structure of fluid storehouse housing 102 can be made flowing medium other structural types such as " capsule " formula structure into and out of interface; " local movable " structure of fluid storehouse housing 102 is meant the mechanical structure form that can produce relative movement between the partial shell of fluid storehouse housing 102.
The material behavior of fluid storehouse housing comprises its integral body and other material properties such as the material category part, Young's modulus.
Material selection, shape and the structural design of fluid storehouse housing will meet the coupling between the binding mode that fluid storehouse housing is subjected to the amount of deformation of external force and external force, and material selection, shape and the structural design of fluid storehouse housing have determined the output power of system.
" binding mode " of institute's externally applied forces 100 is meant the size and the time dependent rule of force direction of active force.Fig. 6 has also provided the binding mode (chapters and sections are seen below in specifying of Fig. 6) of several active forces.
External force is the power source of whole system work, external force 100 is provided by " power plant " that (formation of system is in conjunction with back embodiment, relevant detailed description is arranged), " power plant " produce external force can any mode that is suitable for system works, such as using piezoelectric constant, magnetic is put flexible, electricity is put flexible, machinery type, other modes that can produce power such as power electronics mode can, as long as the environment of system, the space, structural condition requires to allow to get final product, and no longer needs conventional fluid power system that one cover hydraulic power must be arranged like that, " hydrodynamic source " of forms such as gas pressure source installed.Like this, the producing method of the external force of system is flexible relatively, and device also can be done small and exquisite simply, various informative, control easily, and easy arrangement, flexible and changeable.
100 of external force act on the fluid storehouse housing 102, and " depression " on the fluid storehouse housing 102 among Fig. 1 just symbolically represented the deformation effect of external force 100 effects, and the action direction of the external force 100 among Fig. 1 is to represent with hollow arrow.
The flowing medium that has high pressure that conduit 103 is discharged 101 distortion backs, fluid storehouse imports the deformable cavity 105 in strange land into, deformable cavity housing 104 in the deformable cavity 105 is after high-pressure fluid medium enters, outside resiliently deformable will be produced under pressure, conduit 103 also can be with the transmission of fluid medium reflux storehouse 101 of returning of flowing backwards from deformable cavity 105, flowing medium can two-wayly pass through in conduit, and can only flow to by the port of conduit, flow out.
" fluid inlet " and " fluid output " that fluid flow to when the port of conduit was meant conduit transmitting fluid medium, fluid flows out, they are connected on fluid storehouse and the corresponding fluid interface of deformable cavity, and the Placement of this connection has modes such as " one-in-and-one-out ", " advances to have more ", " advance goes out more ", " advancing to have more " more." one-in-and-one-out " mode is meant that " fluid inlet " and " fluid output " of the flowing medium of conduit transmission respectively has only one; " one advances to have more " mode is meant that " fluid inlet " of the flowing medium of conduit transmission has only one, and " fluid output " has a plurality of; It is a plurality of that " advance one goes out more " mode is meant that " fluid inlet " of the flowing medium of conduit transmission has, and " fluid output " has only one; " advancing more and have more " " fluid inlet " that mode is meant the flowing medium of conduit transmission has a plurality ofly, and " fluid output " has a plurality of.
Deformable cavity can have only one or a plurality of (501.2,502.2 indications as shown in Figure 5) are arranged simultaneously in whole system.
The material behavior of deformable cavity housing comprises its integral body and other materials performances such as the material category part, Young's modulus.The material behavior of deformable cavity housing has determined the deformable cavity housing to press in being subjected to or the amount of deformation during external pressure, also influences the power output of system.
Between deformable cavity 105 and the fluid storehouse 101 is separated by a distance, and the size of this distance has determined the shortest length of conduit 103.
The outside that has shown deformable cavity 105 among Fig. 1 does not have " restraint layer ", promptly unconfined situation.At this moment, the material behavior of deformable cavity housing 104 is (part of " fluid interface " because of the installation of conduit except), mechanical structure identical everywhere (part of " fluid interface " because of the installation of conduit except) everywhere evenly, after having applied external force 100, deformable cavity housing 104 will be done freely in any direction, the resiliently deformable of identical magnitude of size.Shown in the fine dotted line among Fig. 1 is the possible shape of the deformable cavity after the resiliently deformable 105 in such cases, it has shown the outside resiliently deformable of all directions equal amplitude of deformable cavity housing 104, and the empty arrow of each among Fig. 1 has been represented the direction of the resiliently deformable of these amplitudes.At this moment, outer load can connect on the outer surface of deformable cavity housing 104.
But, if the material all directions of the deformable cavity housing 104 among Fig. 1 have heterogeneity, it is the material behavior skewness (part of " fluid interface " because of the installation of conduit except) at deformable cavity housing 104 each position, mechanical structure neither be identical everywhere (part of " fluid interface " because of the installation of conduit except), that just do not have aforesaid any direction etc. the resiliently deformable of amplitude.Its outside resiliently deformable of the place that elastic properties of materials intensity is big, structural thickness is big is little, and its outside resiliently deformable of the place that the elastic properties of materials deformation intensity is little, structural thickness is little is big.
Schematic representation after amplify the part that is illustrated in figure 2 as the deformable cavity structure, just intercepted a fraction of structure (comprising the segment fluid flow medium) of deformable cavity arbitrarily, and provided front cross-sectional view, therefrom the details of the local mechanical structure of deformable cavity is formed as can be seen.
Segment fluid flow medium among Fig. 2 the 201 expression deformable cavity (flowing medium is filled with fine dotted line in the drawings and represented, down with), its all flowing medium are to be full of inner space that the deformable cavity housing surrounded.
Among Fig. 2 104 is the deformable cavity housing (104 indications among Fig. 2 are a fraction of part of 104 among Fig. 1) of deformable cavity, be full of flowing medium in its volume inside, external packets is round restraint layer 203 (203 indications among Fig. 2 are a fraction of part of 203 among Fig. 3).Restraint layer 203 among Fig. 2 may be structural types (these " restraint layers " have relevant specifying later) such as " evenly restraint layer ", " not waiting even restraint layer ", " inhomogeneous restraint layer ".
Restraint layer is the structure that can produce resiliently deformable that is attached thereto of deformable cavity housing periphery.Generally under inside and outside pressure effect, can closely stick together between restraint layer and the deformable cavity housing, also can wait other Placement to link together by gluing.Restraint layer the distortion of deformable cavity housing or outside can both produce corresponding outside or inside distortion under the effect of load, the deformable cavity housing also produces corresponding distortion thereupon.
The constraint weak area that can distribute on the restraint layer, 204 among Fig. 2 are the constraint weak area on the restraint layer of indication.
The constraint weak area is a certain zone on the restraint layer, and it is with respect to other regional want " weakness ", and resistance to deformation intensity is less, and stress deformation is easy." constraint weak area " 204 among Fig. 2 just shown " approaching " of the structural thickness of restraint layer, also may be that the material behavior distribution design is become with respect to " weak " on other regional intensity, promptly regional herein because material category and characteristic different (even thickness is even), also can cause the stressed back distortion of this zone relatively easy, in Fig. 2, cannot demonstrate this " weak " because of material cause, but above-mentioned " approaching " and " weak " both act on identically, and effect is similar.
Constraint weak area 204 can have one or more (only represented among Fig. 2 subrange one of them).If when a plurality of " constraint weak area " arranged, the distribution on restraint layer 203 can be arranged by designing requirement.
The deformable cavity outside also can be designed to not have " restraint layer " to surround.
When the outside of the deformable cavity among Fig. 2 did not surround restraint layer, that is to say had not so just had the situation of restraint layer (not having constraint) as periphery shown in Figure 1 when not had restraint layer 203 and constraint weak area 204.At this moment, the situation that the material behavior of the deformable cavity housing 104 among Fig. 1 distributes, structural type will determine its distortion, the structural type of deformable cavity housing comprises the structure of its thickness, shape, details, can design according to system requirements.
Be to have shown the fundamental diagram of being with the outside resiliently deformable of the deformable cavity housing that does not wait even restraint layer as shown in Figure 3, not " not waiting even restraint layer " 203 among the figure, be thick dashed line indication among Fig. 3 and 203 correspondences among Fig. 2, it surrounds deformable cavity housing 104.
The implication of " not the waiting " of " not waiting even restraint layer " is that " restraint layer " is inequality on mechanical structure, and structural distribution is not equal to, and can produce constraint weak area 204; " evenly " of " not waiting even restraint layer " is meant that the distribution of material behavior is uniformly, i.e. the material category of restraint layer identical everywhere with material behavior (except the part of " fluid interface "); Otherwise the implication of " inhomogeneous " of restraint layer be meant that it is not identical (except the part of " fluid interface ") that material behavior distributes everywhere, have the skewness phenomenon, also comprise the different distributions of the kind of material, so also can produce constraint weak area 204.
Constraint weak area 204 designs on restraint layer, comprises the design of structural design and material, and the relative close region of resistance to deformation intensity of restraint layer is little in its regional extent, and stressed back is out of shape easily, and can be designed to this zone does not just have restraint layer (not having constraint) yet.The structural thickness in certain piece zone all can make that than " weak " relative other zones of resistance to deformation intensity of the restraint layer that this regional extent is interior are little than " approaching " or the strength of materials on the restraint layer, and it is easy that the generation of stressed back is out of shape.
" weak " of constraint weak area can be because the little mechanical structure of thickness, also can be owing to the reason of the material of the intensity " weak " of material itself, the perhaps common reason formation in this two aspect.Shape, size and the structures of constraint weak area 204 itself can be according to the requirement design of system, and constraint weak area 204 can be designed to not only one on whole restraint layer, can have a plurality ofly, designs by desired distribution.
Will there be distortion projecting point 106 in deformable cavity housing 104 at constraint weak area 204 places.The deformable cavity housing at constraint weak area 204 positions has a trend that breaks through constraint weak area 203 and extrude under the effect of internal flow pressure medium, can produce tangible, an outstanding external distortion of other location restraint layers relatively herein.And just among constraint weak area 203 zones, there is one of the outer load of a connection more zonule of small size, this zonule be under the pressure effect among the constraint weak area outwards or to obvious, the most outstanding lot of internal strain, be out of shape projecting point 106 exactly.The external deformation direction at distortion projecting point 106 places among Fig. 3 is to represent with hollow empty arrow
The binding mode of external force 100 and the variation of other system design parameters also correspondingly are embodied in the motion of outer load, by binding mode and other system design parameters of control external force 100, just can finally control the kinematic parameter of outer load.If 106 places have connected outer load at the distortion projecting point, this passive fluid power system will produce an externally point of action of the power of acting, and this system externally point of action of the power of acting is out of shape projecting point 106 exactly.The action direction of the external force 100 among Fig. 3 also is to represent with hollow arrow, and " depression " on the fluid storehouse housing 102 among Fig. 3 also symbolically represented the deformation effect of external force 100 effects.
Constraint weak area 204 shape, size and structures own have been determined the position of distortion projecting point 106 and the size of amount of deformation.Because distortion projecting point itself is exactly a part that retrains weak area, just this part is the most tangible special part of stress deformation, aims to connect outer load and design.
The distribution of the material behavior of " not waiting even restraint layer " 203 of system is uniform among Fig. 3, if the restraint layer among Fig. 3 is " an inhomogeneous restraint layer ", the material behavior distribution that is restraint layer is uneven, the resistance to deformation intensity of material just is not to equate everywhere, the material that is to say restraint layer has dissimilar material properties at different parts, in some part special material behavior is arranged in other words, again or the character of different parts material, kind is different (even material thickness is identical) all, restraint layer also can form constraint weak area and distortion projecting point so, " does not wait " the more complicated distortion situation of distortion that produces but have than the thickness because of mechanical structure.The position of the position of the restraint layer of " inhomogeneous " on whole restraint layer and the degree of " inhomogeneous " thereof also can be according to the requirements of system and design arbitrarily.
The special place of constrained layer material characteristic distribution can produce the resiliently deformable with respect to inconsistent (inhomogeneous) at other positions.After stressed, the local resiliently deformable that the strength of materials is big, material thickness is big is less relatively, and the local resiliently deformable that the strength of materials is little, material is thin is bigger.This also is that a kind of controlled deformation chamber externally produces one of means of the different distortion on the different direction.That is to say, except that control external force binding mode, can also distribute, reach the purpose that changes the load movement parameter by changing constrained layer material characteristic and material behavior.
Other system design parameters also comprises: the structure and material characteristic of fluid storehouse housing, the distribution of the structure and material characteristic of deformable cavity housing, the structure and material of conduit, the structure and material of flowing medium, except that control external force binding mode, can also change the load movement parameter by changing these system design parameterses.
This shows that the constraint weak area can have two kinds of approach of structure and material to form, and can both appointed positions design needed constraint weak area on restraint layer by the design of " power " on structural " thickness " design, the material.
Identical among the structure of the external force of indication, fluid storehouse, conduit among Fig. 3, function and Fig. 1, external force 100 also only acts on the fluid storehouse housing 102 among Fig. 3.
Below understand the basic functional principle of passive fluid dynamic control specifically, summary is got up, and following description can be arranged:
Fluid storehouse 101 produces the variation of inner space under external force 100 effects, fluid storehouse 101 changes the back and the flowing medium of discharge, import the deformable cavity 105 in strange land into by conduit 103, its deformable cavity housing 104 will produce external resiliently deformable after this flowing medium enters.If the structure and material of deformable cavity housing 104 is uniformly, the outside does not have restraint layer to surround or be besieged is " uniformly " restraint layer, and deformable cavity 105 will externally produce the uniform resiliently deformable of amplitude such as all directions; If deformable cavity housing 104 surrounded is structure and material restraint layer 203 all inhomogeneous, that do not wait, will produce the externally distortion projecting point 106 of distortion at constraint weak area 204; Distortion projecting point 106 places can connect outer load, and outer load will be with the distortion campaign at distortion projecting point 106 places.The status parameter of this motion depends mainly on the binding mode and the corresponding system design parameters of external force: the structure and material characteristic distribution of restraint layer, the structure and material characteristic of fluid storehouse housing, the structure and material characteristic distribution of deformable cavity housing, the structure and material of conduit, the structure and material of flowing medium.The elastic-restoring force of the reciprocal active force of outer load end and fluid storehouse housing, deformable cavity housing, make the fluid storehouse can flow backwards because of the flowing medium that discharged by the external force effect, the distortion of fluid storehouse housing is able to all or part of recovery, is again that the external resiliently deformable of next time deformable cavity is ready.This process can be gone down repeatedly, and the outer load in strange land will constantly be moved under this fluid dynamic drives, and produces the motor pattern of expection, realizes the control target of default.
For traditional conventional fluid power control system (hydraulic system, pneumatic system), the working medium of this type systematic is still fluid (liquid, gas etc.), motive force derives from the power plant that external force 100 is provided---electromagnetism, electronics, machinery etc. mode, system has casted off " hydrodynamic source " part of traditional conventional fluid power control system once and for all, thus the many problems that do not had " hydrodynamic source " of conventional fluid power control system to be brought.
This novel passive fluid dynamic control mode by corresponding system design parameterses such as control external force, fluid storehouse housing, deformable cavity housing, restraint layer, flowing mediums, is come the output of parameters such as the power of control system and displacement.
The most important characteristic of passive fluid dynamic control system of the present invention is exactly " passive " characteristic of system, secondly is " self feed back " characteristic, " isotropy " characteristic, and " non-throttling control " characteristic etc.
The passive most typical characteristic of fluid dynamic control system is its " passive " characteristic, do not need complicated huge hydraulic power, gas pressure source, make the formation of whole system simple, weight alleviates greatly, specific energy enlarges markedly, it is simple to control, useless load is little, efficient improves, the structure of whole system is simpler, manufactures and designs, working service is easier.Another distinguishing feature of " passive " characteristic is dynamic Control " quiet " or low noise, and the passive fluid power system of sealing does not have the leakage problem of conventional fluid power system yet.
Another characteristics of passive fluid dynamic control system are " self feed back " characteristics, its displacement output becomes certain proportionate relationship (except that the system of particular design) with hydrodynamic pressure for initialization system, after system design parameters is determined, can extrapolate the displacement output of corresponding system as long as detect pressure signal.Can not need the displacement transducer that adds that conventional active fluid power control system often had thus, system can work under open loop or semiclosed loop state and obtain good control effect, whole plant bulk can do forr a short time, simpler, spatial structure is more compact.
Passive fluid dynamic control system also has " isotropy " characteristic.If Fig. 1 has shown the material isotropy of peripheral restraint layer, just have any direction etc. the resiliently deformable of amplitude.As restraint layer being made required complicated shape, acted on external force on the fluid storehouse after, fluid storehouse housing and restraint layer will produce the collaborative deformed movement of expection amplitude on all directions of complicated shape.Utilize this characteristic can design complex space, any driver complicated shape, that a plurality of point of action are worked simultaneously.
" non-throttling control " characteristic of passive fluid dynamic control system.That the binding mode of the external force of passive fluid dynamic control system can have is continuous, pulse, the Sampling formula etc. the dynamic action mode, change the transmission that parameters such as its action intensity can change fluid pressure energy in good time.What be different from conventional active fluid dynamic control system is the pressure wave that directly produces fluid by external force, Wave energy does work by the deformable cavity that conduit is delivered to the strange land, and the pressure ascending, descending of the throttling formation of the restriction of the control valve for fluids of process routine forms fluid pulse.This mode is non-throttling control, for fluid power system has found a kind of new control approach again outside traditional throttling control mode.
The displacement of passive fluid dynamic control system and power output are controlled.The size of the displacement of passive fluid dynamic control system output is decided by the factors such as the distribution of structure and material characteristic, flowing medium structure and material characteristic of the shape of structure and material characteristic, constraint weak area of binding mode, the fluid storehouse housing of the external force on the fluid storehouse and distribution, deformable cavity housing and restraint layer.Change the one or more of these factors artificially, i.e. the output quantity of other controlled parameter such as controllable force, displacement.After above-mentioned other system design parameters is determined, the binding mode of institute's externally applied forces will determine restraint layer at the amount of deformation that is out of shape the projecting point place on the fluid storehouse, and this has also just determined the output of other controlled parameters such as power, displacement of system.
The size of the pressure of passive fluid dynamic control system finally still is decided by load, and this point is with the same general character of conventional active fluid power control system.The just load of " passive fluid dynamic control system ", the additional load of the inside that the each several part material that has comprised construction system forms behind the pressurized of fluid storehouse and when producing resiliently deformable, so do not having under the situation of outer load, system also can set up pressure because of additional load, and this point is again that passive fluid dynamic control system is different from the unique local of routine (active) fluid dynamic control system.When other factors is constant, the flow of the flowing medium that is extruded in the fluid storehouse, determined the amount of deformation of restraint layer at distortion projecting point place, also just determined the speed that is extruded of restraint layer, thereby also just determined to be attached thereto the movement velocity of the outer load that connects at " constraint projecting point place ".
Passive fluid dynamic control system can have various ways.By the difformity and the structural design of deformable cavity and restraint layer, and the material of varying strength can constitute multi-form passive fluid dynamic control system in the distribution of diverse location separately.Can design the passive fluid dynamic control gear of " straight-line displacement formula ", " swing offset formula ", " swing displacement type ", " planar expanded formula ", " three-dimensional expanssion type ", " linearity " or structural types such as " nonlinear displacement formulas ", and the combining form of these structural type systems, complex form, all can there be the application corresponding occasion in the system of these forms.
Passive fluid dynamic control system also can viewing system the difference of controlled parameter, multiple systems types such as " position system ", " speed system ", " Force control system " are arranged.
That the applying of the external force of passive fluid dynamic control system can have is electronic, mechanical, magnetic is put flexible, electricity and put modes such as flexible; The fluid storehouse can be forms such as piston type, diaphragm type, capsule formula, and conduit can arrange that flexible and changeablely the shape of fluid storehouse and deformable cavity and size can design at random and arrange that these make system design flexible and changeable arbitrarily.
The fluid control of passive fluid dynamic control system can also be to exchange the fluid dynamic control mode, carries out fluid dynamic control with the principle of control that is similar to Ac and application.
Provide embodiment below in conjunction with above-mentioned principle, and further specify the controlling method of passive fluid dynamic control system of the present invention with this.
Be the enforcement illustration of passive fluid dynamic control system as shown in Figure 4.
System of the present invention comprises: power controller 400, power plant 401, filling fluid medium, the fluid storehouse 101 that changes, inner space under external force, conduit 103, the deformable cavity 105 of filling fluid medium, outsourcing restraint layer, outer load 406; Power controller 400 connects power plant 401 and contacts with fluid storehouse 101 through power plant 401, and the flowing medium in the fluid storehouse 101 is communicated with deformable cavity 105 with conduit 103, and the distortion projecting point 106 of the restraint layer of deformable cavity 105 contacts with outer load 406.
System of the present invention also comprises: 408,413,414, three data collections of 407, three pressure transducers of displacement transducer, treatment device 409,410,412, computer 411; Displacement transducer 407 is contained on the direction of displacement of outer load 406, first pressure transducer 408 is contained in the carrying bottom surface of outer load 406, second pressure transducer 413 is contained in the side of deformable cavity 404, the 3rd pressure transducer 414 is contained in the side in fluid storehouse 402, first data capture, treatment device 409 connects displacement transducer 407 and computer 411 respectively, second data capture, treatment device 410 connects first pressure transducer 408 and computer 411 respectively, the 3rd data capture, treatment device 412 connects second pressure transducer 413 respectively, the 3rd pressure transducer 414 and computer 411, computer 411 connects power controller 400.
Just can further specify the controlling method of passive fluid dynamic control system by this embodiment of Fig. 4.Also can find out the chief component of the servo-control system of passive fluid dynamic control system of the present invention by Fig. 4, it is mainly by power controller 400, power plant 401, fluid storehouse 101, flowing medium 201, conduit 103, deformable cavity 105, sensor 407,408,413,414, information gathering and treatment device 409,410,412, the relevant accessory with some other of computer 411 is formed.
Power plant 401 among Fig. 4 are power sections of whole system, also are the devices that produces external force.Power plant need satisfy the operating conditions of system and site environment restriction, its working method with piezoelectric constant, magnetic put flexible, electricity put other modes that can produce power such as flexible, machinery type, power electronics mode can.
When using piezoelectric constant, when change is added in the voltage at piezoelectric constant rod (sheet) two ends, piezoelectric constant rod (sheet) free end just has the output of displacement and power; When using machinery type, by mechanical transmission and force conversion system design, output that can realizable force; Such as the power electronics mode, electric current can produce the output of the electromagnetic force that changes with electric current during by threaded pipe.
These power plant that produce external force can be done small and exquisite simply, various informative, control easily, and easy arrangement, flexible and changeable, no longer need conventional fluid power system must have " hydrodynamic source " of forms such as a cover hydraulic power, gas pressure source to install like that.Like this, the producing method of the external force of system is flexible relatively, and device is simple, and control is also convenient.
Power controller 400 among Fig. 4, under computer 411 commanders, the external force of the various patterns that control power plant 401 generation systems are required; External force remakes and is used for fluid storehouse 101, by conduit 103 fluid dynamic is sent to deformable cavity 105, makes the deformable cavity housing produce outside distortion at constraint projecting point 106 places, thereby drives the motion of the outer load 406 that is connected.
Meanwhile, information such as the displacement of outer load 406 motions, power, by corresponding displacement transducer 407, pressure transducer 408, and information gathering and treatment device 409,410 import in the computer 411; The internal pressure information in fluid storehouse and fluid deformation chamber is also gathered, is handled and import in the computer 411 by pressure transducer 413,414 and corresponding information gathering and treatment device 412; Other relevant information of system also can obtain by similar fashion, and imports processing in the computer 411 into; Computer 411 compares according to the information and the target value set of controlled parameters such as the displacement of gathering, power, just can obtain the deviate between actual value and the desired value in good time, computer 411 calculates the controlled quentity controlled variable that makes new advances according to selected suitable control algorithm and control target again, and sending power controller 400 to, the external force that produces corresponding modes by power controller 400 control power plant 401 affacts on the fluid storehouse 402 again.This process is carried out repeatedly, has just formed the closed loop control of the servo motion of system, and whole system also can stably be worked thus enduringly.
Power controller 400 is under the command signal control of computer 411, by the Drive and Control Circuit that some electronic parts and components commonly used just can be built, other produces the predrive circuit of the device of power to control coil, the electromagnet of follow-up power plant 401, the magnetron of piezoelectric constant etc.And these predrive circuits also can be common universal circuits.
Information gathering and treatment device 412 can adopt conventional data collecting plate card, as the multifunctional data acquiring plate HY-8021 series of Beijing China control techniques Co., Ltd, state, the inside and outside products commonly used such as data collecting card PCI-1710 series of Advantech company, realize the analog amount of sensor output or the signals collecting and the processing of digital quantity, and pass to computer 411.Various pressure transducers can be chosen on the market, the linear displacement grating of the optional Changchun SanFeng sensing Technology Co., Ltd of displacement transducer, and other forms that can choose on the market and the displacement transducer of model.
Above-mentioned whole system can constitute closed loop control, has realized affacting from external force the in good time control procedure of displacement (other controlled parameters such as power, speed) output.Generally can reach the purpose that changes controlled parameter by the binding mode of in good time change external force, but the control performance of system also with fluid storehouse housing, flowing medium, conduit, the deformable cavity housing, the structure and material of restraint layer is relevant, change these system design parameterses and constraint weak area structural parameter, and connect multi-form outer load (elastic load, inertia load, the viscosity load, composite load etc.) all can have influence on control to system, actual measurement goes out the output of controlled parameter under different designs parameter and the Control Parameter, can obtain the performance and the working control effect of the passive fluid dynamic control system under different Control Parameter and the system design parameters, thereby find suitable control algorithm.
Certainly, in the closed loop control of passive fluid dynamic control system, good control algorithm is vital, sometimes it has determined that can whole system stable operation, quiet, the dynamic characteristic that need the passive fluid dynamic control system of further investigation, find suitable controlling method, present existing linearity, Non-Linear Control Theory and intelligence control method can be applied in the closed loop control of passive fluid dynamic control system.
Equally can realize the function such as in good time tracking, power control, speed controlling, sequentially-operating, Stroke Control, program control of accurate location, the target of position by passive fluid dynamic control system, realize fully conventional fluid power control system the fundamental function that can realize.Certainly, control performance and index can be different because of system and load, need not compare one by one.
Real system also will need some other relevant accessories such as some pipe joints, pressure gauge, support, but can not change the main composition of system.
For passive fluid dynamic control system, no matter be to carry out open loop or closed loop control, all can also realize by following system architecture.
The fluid storehouse of said system, deformable cavity all can also be made of big or small, that structure is different a plurality of combination of monomers, as shown in Figure 5.
Each fluid storehouse like this can be respectively independently, jointly, a plurality ofly work in combination, be subjected to the effect of external force separately separately, thereby can produce the flow output of flowing medium separately respectively, total flow output of the flowing medium of all fluid storehouse outputs is all relevant with above-mentioned a plurality of external force binding modes separately, the pressure of the flowing medium of output is still as hereinbefore---and be decided by the outer load of system and inner additional load, the external acting of whole system is effect comprehensive of above-mentioned each external force effect.
Fig. 5 is the passive fluid dynamic control system structural representation of a plurality of fluids storehouse, deformable cavity.
Fluid storehouse 501 among Fig. 5, fluid storehouse 502, fluid storehouse 503 ... for size, structure can be inequality the sequence in a plurality of fluids storehouse, acted on corresponding separately external force sequence on it respectively: external force 501.1, external force 502.1, external force 503.1 ..., these external force all have binding mode separately." depression " on each fluid storehouse in the fluid storehouse sequence among Fig. 5 symbolically represented the deformation effect of corresponding external force sequence effect, and the force direction of external force sequence is represented with hollow arrow.
Binding mode above-mentioned and aforementioned external force is meant the size of active force and the time dependent rule of direction of active force.Specifically, be exactly the external force separately that applied on each fluid storehouse size and Orientation with the effect of these external force constantly, correlation between the length of acting duration, this relation can be represented with Fig. 6.
Transverse axis express time t among Fig. 6 (unit: second), the longitudinal axis represents to act on the external force F (unit: newton) on the fluid storehouse.Represented " power-time " relation curve is to suppose that arbitrarily the actual relationship curve can be constant pressure type, pulsed, index rising form, index decline form and other curve form, and the combining form of these forms among Fig. 6.
Deformable cavity among Fig. 5 also can be a plurality of, becomes deformable cavity sequence 501.2,502.2,, have the restraint layer of each self-structure, connect by conduit between deformable cavity and the fluid storehouse, may be that a conduit connects several deformable cavity, also may be that many conduits connect a deformable cavity.Between fluid storehouse and the deformable cavity can be in other words following relation---" one-to-many ": a fluid storehouse, a plurality of deformable cavity; " many-one ": a plurality of fluids storehouse, a deformable cavity; " multi-to-multi ": a plurality of fluids storehouse, a plurality of deformable cavity.
An outer load or a plurality of outer load that deformable cavity can connect, the outer load that a plurality of deformable cavity can only connect, or connect a plurality of outer loads simultaneously.
Be similar to Fig. 1, situation shown in Figure 3, above-mentioned deformable cavity can not have restraint layer (not having constraint) yet, restraint layer also may be structural types such as " evenly restraint layer ", " not waiting even restraint layer ", " inhomogeneous restraint layer ", can exist too on the restraint layer " distortion weak area ", the direction of the distortion of the constraint highlight of the restraint layer in Fig. 5 on the deformable cavity sequence is with the direction indication of hollow empty arrow indication.The same with earlier figures 1, situation shown in Figure 3, fluid storehouse and deformable cavity also have corresponding various ways because of the different choice that structure, material, characteristic distribute.
The characteristic of the fluid storehouse of this type systematic, conduit, deformable cavity, restraint layer, flowing medium requires as hereinbefore, it has been the complicated integral structure of system, so it is different that the controlling method of this class " passive fluid dynamic control system " is compared with the controlling method of Fig. 1, system shown in Figure 3, but its basic principle still is based upon on the basis of Fig. 1, system shown in Figure 3.
Above-mentioned and all external force of mentioning of back can be one group of power that a power or several power are formed, and each power can have binding mode separately respectively, this there is no with described various system architectures of top each chapters and sections and controlling method and conflicts, and does not influence enforcement of the present invention.
When passive fluid dynamic control system as transmission system and open loop when control, computer can not need to calculate in real time the deviation between shift value of being gathered (or other parameter value such as power, speed) and the corresponding desired value of setting, directly the control of switching, power and the speed of the conversion of moving by other measures such as limit switch, time switch, pressure limiting switch, speed-limiting switches, direction just can realize functions such as sequentially-operating, Stroke Control, program control.At this moment, whole system mainly is made up of " power controller ", power plant, fluid storehouse, fluid storehouse housing, flowing medium, conduit, deformable cavity, deformable cavity housing, the relevant accessory with some other of restraint layer.Can not need a complete set of sensor, information gathering and treatment device and closed loop controller (function of the corresponding realization of the institute of " computer " in Fig. 4 example), system can further simplify.
Passive fluid dynamic control system of the present invention is in actual application, in above legend the shown chief component, also may need some other auxiliary device, such as: pipe joint, pressure gauge etc., complementary design and configuration according to actual needs when implementing, but can not have influence on the main composition and the basic principle of system.
Passive fluid dynamic control system is because flowing medium can free-flow between elastic cavity, it comes the size of the restraint layer distortion of control load end by control external force " binding mode ", and then the motion of the outer load of control, need not the throttling control of conventional transmission fluid, the noise that does not in addition have oil hydraulic pump or gas compressor, so whole system does not have noise substantially, can be applied on a large scale the demanding place of noise, or even the occasion of " super-silent ", the heating value of system also will greatly reduce.
Passive fluid dynamic control system is owing to system is simple in structure, there be not " hydrodynamic source ", whole system weight, volume reduce greatly, the power density ratio of system is big, invalid load is few, this point will be widened the application area of fluid power system greatly for anthropomorphic robot, from traveling gear, aircraft, spacecraft, open-air machinery, vehicle, small-sized automated tool tempting advantage is arranged.
Passive fluid dynamic control system is because flowing medium circle transmission in enclosed space only, can not have sealing configuration, can accomplish not leak, the occasion of having relatively high expectations for turbidity test, even " super clean " workshop, the fluid transmission also can be brought into play its unique effect.Particularly the passive fluid dynamic kind of drive also can be used in workshops such as medicine, food, intergrated circuit manufacturing.
Passive fluid dynamic control system is particularly suitable for the to-and-fro motion occasion of small flow, medium and small load, such as many enterprises punching press, forming equipment commonly used, utilize passive fluid dynamic kind of drive efficient higher, cost is lower, and equipment working service cost will descend greatly.
By Primary Study, can think that it is a kind of new kind of drive that passive fluid dynamic drives to passive fluid dynamic control technique.Though its numerous characteristics also needs further to inquire into, but can think, passive fluid dynamic control system is when having inherited the conveniently principal advantages of conventional fluid driving medium transmission, characteristics such as will have also that volume is little, in light weight, noise free, nothing are revealed, heating is little, simple in structure, and these characteristics to be conventional fluid power control systems be difficult to possess.Passive fluid dynamic control technique can be generalized on other automatic lines and the new product designs, such as: intelligent children toys, electronic pet, medical assistant robot etc.Passive fluid dynamic drives can also provide a brand-new kind of drive for military, civilian occasions such as Aeronautics and Astronautics, Transport Machinery, automated arms.
The means of studying passive fluid dynamic control technique can be referred from conventional fluid dynamic Control Study on Technology, need not special equipment and device.
The passive fluid dynamic control thought that the present invention proposes first, for the control of routine " active " fluid dynamic, make full use of advantages such as the media flow characteristic in the conventional fluid dynamic control system, easy remote transmission, isotropy, the oil sources and the source of the gas of not conventional again (active) fluid dynamic control (driving) system, the serial problem of having avoided in the using process of conventional fluid power control system the existence because of " hydrodynamic source " to bring.
The a series of special performance that passive fluid dynamic control system is had will make it have wide actual application prospect.
Claims (5)
1. passive fluid dynamic controlling method, the fluid storehouse that is full of flowing medium with a constant volume, under external force, the inner space that its fluid storehouse housing is surrounded will change, and the flowing medium in the fluid storehouse will be discharged from the fluid storehouse; The flowing medium that these are discharged from is sent to by conduit in the deformable cavity in strange land; It is characterized in that: the deformable cavity housing and the peripheral restrain layer of deformable cavity, under the effect of the flowing medium that imports into, will produce outside resiliently deformable, the position of the distortion projecting point of the constraint weak area of the deformable cavity housing of deformable cavity is with regard to the output of strong and displacement, thereby will act on the external work on the fluid storehouse originally, the deformable cavity that is delivered to the strange land by flowing medium goes to drive the outer load acting that distortion projecting point place connects; Be applied to the binding mode of the external force on the fluid storehouse by control, or, control the amount of deformation of restraint layer at distortion projecting point place by changing system design parameters, and then the motion state of the outer load of control.
2. the control system that is used for the described a kind of passive fluid dynamic controlling method of claim 1, it is characterized in that comprising: power controller (400), power plant (401), filling fluid medium, the fluid storehouse (101) that changes, inner space under external force, conduit (103), the deformable cavity of filling fluid medium, outsourcing restraint layer (105), outer load (406); Power controller (400) connects power plant (401) and contacts with fluid storehouse (101) through power plant (401), flowing medium in the fluid storehouse (101) is communicated with deformable cavity (105) with conduit (103), and the distortion projecting point (106) of the restraint layer of deformable cavity (105) contacts with outer load (406).
3. the control system of a kind of passive fluid dynamic controlling method according to claim 2, it is characterized in that also comprising: displacement transducer (407), three pressure transducers (408,413,414), three data collections, treatment device (409,410,412), computer (411); Displacement transducer (407) is contained on the direction of displacement of outer load (406), first pressure transducer (408) is contained in the carrying bottom surface of outer load (406), second pressure transducer (413) is contained in the side of deformable cavity (404), the 3rd pressure transducer (414) is contained in the side of fluid storehouse (402), first data capture, treatment device (409) connects displacement transducer (407) and computer (411) respectively, second data capture, treatment device (410) connects first pressure transducer (408) and computer (411) respectively, the 3rd data capture, treatment device (412) connects second pressure transducer (413) respectively, the 3rd pressure transducer (414) and computer (411), computer (411) connects power controller (400).
4. the control system of a kind of passive fluid dynamic controlling method according to claim 2 is characterized in that: said flowing medium is composition, the mixture of gas, liquid, colloid, electric liquid unsteady flow, magnetic flow liquid, magnetic fluid, powdery solid, liquid metal, high temperature fluid, semifluid or the above-mentioned fluid that can transmit fluid pressure energy.
5. the control system of a kind of passive fluid dynamic controlling method according to claim 2 is characterized in that: said power plant (401) are put the power plant that flexible, electricity is put flexible, machinery type, power electronics for piezoelectric constant, the magnetic that can produce power.
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| CN1956106B (en) * | 2006-08-18 | 2010-09-08 | 许宏 | Large stroke precision working platform device and drive method |
| CN102789823B (en) * | 2012-07-25 | 2015-06-24 | 华北电力大学 | Drive controller based on characteristics of 4-DEG C water and control method thereof |
| CN104006129B (en) * | 2014-05-26 | 2015-04-22 | 中国矿业大学 | High-power transmission electro-hydraulic control system and method based on magnetorheological fluid |
| TWI611103B (en) * | 2016-02-03 | 2018-01-11 | 研能科技股份有限公司 | Control method of driving circuit of piezoelectric actuated pump and driving circuit thereof |
| CN112639295B (en) * | 2019-04-28 | 2023-10-13 | 白保忠 | Double-fluid load mutual feedback automatic control device, driving method thereof and foot-type mobile machine |
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| US3910087A (en) * | 1974-12-18 | 1975-10-07 | Boeing Co | Hydraulic-forming machine |
| US4604901A (en) * | 1983-01-31 | 1986-08-12 | St Sensortechnik Ag | Hydraulic pressure receiver |
| US4918920A (en) * | 1986-10-02 | 1990-04-24 | Britax (Geco) S.A. | Hydraulic remote control device for controlled members, such as external rear view mirrors on vehicles |
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