CN1587739A - Six freedom super magnetostrictive active vibration control platform - Google Patents
Six freedom super magnetostrictive active vibration control platform Download PDFInfo
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- CN1587739A CN1587739A CN 200410080465 CN200410080465A CN1587739A CN 1587739 A CN1587739 A CN 1587739A CN 200410080465 CN200410080465 CN 200410080465 CN 200410080465 A CN200410080465 A CN 200410080465A CN 1587739 A CN1587739 A CN 1587739A
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Abstract
This invention discloses a kind of six degrees of freedom overexcitation blackening comeandgo drive vibration control flat, this flat is composed with the upper mesa, the lower mesa, the sensor group, the actuate group and the adapting pieces, the sensor group installs on the upper mesa, the actuate group installs between the upper mesa and the lower mesa, the adapting pieces install on the soleplate of the upper mesa and the lower mesa. The flat of this invention can work in the micro amplitute and the low frequency condition; the effect of the vibration reduction is 98% or so. As a control system of vibration reduction which is based on the flat, the flat is easily operated, controllable.
Description
Technical field
The present invention relates to a kind of vibration damping equipment, specifically, be meant a kind of active vibration vibration damping six freedom super magnetostrictive active vibration control platform that is applicable under the high precision low frequency environment a little.
Background technique
Development along with industrial technology, in the use of some precision type instrument, as present generation aircraft, underwater submarine, space station etc., the vibration of motor and aerodynamic force have a strong impact on the precision and the reliability of precision type instrument performance, and this requirement to the pedestal stability of installation motor is also very high.The conventional employing increases rigidity and adds the damping material vibration and noise reducing, and this has not only increased weight, reduced performance and effect of vibration and noise reduction is also very limited.Adopt and add in the damping material vibration damping, the intelligent material of using at present has: shape-memory material, piezoelectric material, super magnetostriction material, electromagnetism rheology fluid etc., for highi degree of accuracy vibration isolation and adaptive structure a little, the shape-memory material speed of response is slow, the piezoelectric material drive actions is little, and operating voltage height, Security are relatively poor, and fluid stability is not enough and mechanical response is relatively poor.
Super magnetostriction material can produce telescopic variation along the direction of magnetization under the action of a magnetic field, and all can elongate or shorten with the increase and decrease in magnetic field under positive negative fluxfield, has the favorable linearity section under downfield.In active vibration control field, super magnetostriction material is with a wide range of applications.Compare with marmem with piezoelectric material commonly used, the super magnetostriction material strain is big, and bearing capacity is strong, and driving voltage is low, and the ageing of performance phenomenon that does not exist timeliness to cause, temperature surpass curie temperature and still can recover to use.But because the hysteresis characteristic that super magnetostriction material has, the output of actuator also shows the characteristic of hysteresis.This non-linear factor will exert an influence to the stability of control accuracy and control.
Summary of the invention
The object of the present invention is to provide a kind of vibration damping equipment of active vibration control platform being controlled by automatic control technology and super magnetostriction material.This six freedom super magnetostrictive active vibration control platform can be realized low frequency (100Hz is following), big load, micro breadth oscillation (translation micron meter, rotation microradian meter) effective control can access the damping property with highi degree of accuracy and desirable dynamic characteristic.
A kind of six freedom super magnetostrictive active vibration control platform of the present invention, form by upper table surface, following table, sensor groups, actuator group and link, sensor groups is installed in the upper table surface top, the actuator group is installed between upper table surface and the following table, and link is installed on the fitting seat of upper table surface and following table.Described sensor groups comprises 3 outer covers, 3 sensor fitting seats and 6 acceleration transducers, and per 2 acceleration transducers are installed on 1 sensor fitting seat, is covering 1 outer cover on per 1 sensor fitting seat; Outer cover is provided with the hole that is connected usefulness for sensor with the external control end, and its hole and sensor outbound course are in the same way.Described actuator group comprises 6 actuator pairs, and each actuator pair comprises ultra-magnetic telescopic actuator, last flexible hinge, following flexible hinge and connecting rod; The output shaft of ultra-magnetic telescopic actuator is connected with last flexible hinge, and the other end of last flexible hinge is connected with head rod, and the other end of head rod is connected with link on the fitting seat that is installed in upper table surface below; The tapped hole of ultra-magnetic telescopic actuator bottom is threaded with second connecting rod, the other end of second connecting rod is connected with following flexible hinge, the other end of following flexible hinge is connected with the 3rd connecting rod, and the link on the fitting seat on the other end of the 3rd connecting rod and the following table is connected.Described link is the prune shape at an angle of a regular cube, and its planar delta is provided with tapped hole, and link is connected with fitting seat realization on the following table by the tapped hole on this planar delta and upper table surface; On all the other 2 planes of link, respectively be provided with mutually perpendicular tapped hole.
Described six freedom super magnetostrictive active vibration control platform, 2 actuator that per 1 actuator of its actuator group is secondary and adjacent are secondary vertical.
Described six freedom super magnetostrictive active vibration control platform, per 2 acceleration transducers in its sensor groups are orthogonal to be installed on 2 faces of sensor fitting seat, and the sensor fitting seat is a Pyramid.
Described six freedom super magnetostrictive active vibration control platform, flexible hinge is identical with following flexible hinge structure on it, constitute by first hinge block, hinge contiguous block and second hinge block, first hinge block and second hinge block are " recessed " shape, and be provided with tapped hole in the flush end center, the hinge contiguous block is bonded in the recessed end of first hinge block and second hinge block; First hinge block and second hinge block adopt 40
#Steel shapes, and the hinge contiguous block is a rubber material.
Described six freedom super magnetostrictive active vibration control platform, its upper table surface and following table are 40
#The disk that steel shapes.
Described six freedom super magnetostrictive active vibration control platform, the magnetostriction materials of its ultra-magnetic telescopic actuator are chosen Tb
0.27～0.3Dy
0.7～0.73Fe
1.9～2.0, the magnetostriction coefficient of its performance curve linearity range reaches more than the 1000ppm.
The advantage of six freedom super magnetostrictive active vibration control platform of the present invention: (1) adopts the six-degree-of-freedom platform of intellectual material, possesses the steady ability that causes under the big a little load of low frequency, can be at low frequency 10～100Hz scope inner control vibration damping a little; (2) upper table surface design parallel with following table, symplex structure helps the installation with miscellaneous equipment; (3) platform is decoupling zeros in the motion of three translation directions, is beneficial to the application of ACTIVE CONTROL algorithm; (4) sensor installation method of You Huaing and flexible hinge structural design scheme have improved the performance and the effectiveness in vibration suppression of platform; (5) this platform structure can have wide application prospect in steady field of causing of all kinds of precision instrumentations and precision machining field, and its effectiveness in vibration suppression is 98%.
Description of drawings
Fig. 1 is a six freedom super magnetostrictive active vibration control platform structural representation of the present invention.
Fig. 2 is the mounting structure schematic representation of per 2 sensors of the present invention.
Fig. 3 is an actuator auxiliary structure decomposing schematic representation of the present invention.
Fig. 3 (a) is a flexible hinge sectional view of the present invention.
Fig. 4 is a link structural representation of the present invention.
Fig. 5 is that fitting seat and link concern schematic representation in the upper table surface of the present invention.
Fig. 6 is that fitting seat and link concern schematic representation in the following table of the present invention.
Fig. 7 is an embodiment a structural representation.
Fig. 8 is embodiment's a vibration damping control plotted curve.
：1. 101. 102. 103.2. 20 1. 202. 203. 204. 210. 211. 3. 301. 302. 303. 304.305. 306. 307. 308.309. 310. 311. 312.313. 314. 315. 316.317. 4. 401. 402.403. 5. 501. 6.601. 602. 603. 7. 701.702. 703. 704. 705.706. 707. 708. 709. 710.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Six freedom super magnetostrictive active vibration control platform of the present invention, form by upper table surface 1, following table 4, sensor groups 2, actuator group 3 and link 7, sensor groups 2 is installed in upper table surface 1 top, actuator group 3 is installed between upper table surface 1 and the following table 4, and link 7 is installed in respectively on the fitting seat of upper table surface 1 and following table 4.The magnetostriction materials of ultra-magnetic telescopic actuator 309 are chosen Tb
0.27～0.3Dy
0.7～0.73Fe
1.9～2.0, the magnetostriction coefficient of its performance curve linearity range reaches more than the 1000ppm.Sensor fitting seat 204 is a Pyramid, and upper table surface 1, following table 4 are 40
#The big or small identical disk that steel shapes.Link 7 is the prune shape at an angle of a regular cube, and its planar delta 707 is provided with tapped hole 708, and link 7 is connected with fitting seat realization on the following table 4 by the tapped hole 708 on this planar delta 707 and upper table surface 1; On all the other 2 planes of link 7, respectively be provided with mutually perpendicular tapped hole.Connecting rod on the actuator pair is by two mutually perpendicular tapped holes on the link, and then realizes the vertical relation between each actuator pair.
In the present invention, last flexible hinge 308 is identical with following flexible hinge 307 structures, constitute by first hinge block 315, hinge contiguous block 317 and second hinge block 316, first hinge block 315 and second hinge block 316 are " recessed " shape, and be provided with tapped hole in the flush end center, hinge contiguous block 317 is bonded in the recessed end of first hinge block 315 and second hinge block 316; First hinge block 315 and second hinge block 316 adopt 40
#Steel shapes, and hinge contiguous block 317 is a rubber material.This design of flexible hinge has solved the decoupling zero between the actuator pair.
In the present invention, sensor groups 2 comprises 3 outer covers, 3 sensor fitting seats and 6 acceleration transducers.Per 2 acceleration transducers are installed on 1 sensor fitting seat 204, and the mounting point of these 2 sensors is mutually perpendicular, are covering 1 outer cover on the sensor fitting seat 204; Described outer cover is provided with the hole that is connected usefulness for sensor with the external control end, and its hole and sensor outbound course are in the same way.Installation relation between the sensor as shown in Figure 2, sensor fitting seat 204 is a Pyramid, be provided with the tapped hole for sensor installation at the center of each triangular facet, the first sensor 210 and second sensor 211 are installed in respectively in the tapped hole of two triangular facets of sensor fitting seat 204.The hole that the output terminal of the first sensor 210 and second sensor 211 is provided with by first outer cover 201 is stretched out with the line of the control section of six freedom super magnetostrictive active vibration control platform and is connected, the electrical signal of output groups of acceleration sensors 2 each sensor acquisition, be 6 road signals in the present invention, because of 6 acceleration transducers are arranged.
In the present invention, actuator group 3 comprises 6 actuator pairs, and each actuator pair comprises ultra-magnetic telescopic actuator 309, last flexible hinge 308, following flexible hinge 307 and connecting rod; The output shaft 314 of ultra-magnetic telescopic actuator 309 is connected with last flexible hinge 308, and the other end of last flexible hinge 308 is connected with head rod 312, and the other end of head rod 312 is connected with link on the fitting seat that is installed in upper table surface 1 below; The tapped hole of ultra-magnetic telescopic actuator 309 bottoms is threaded with second connecting rod 311, the other end of second connecting rod 311 is connected with following flexible hinge 307, the other end of following flexible hinge 307 is connected with the 3rd connecting rod 313, and the link on the fitting seat on the other end of the 3rd connecting rod 313 and the following table 4 is connected.Concrete annexation sees also shown in Fig. 1, Fig. 3～6, the head rod of the first actuator pair 301 is connected in the tapped hole on left plane of first link 701 on first fitting seat 101 of upper table surface 1 below, and the 3rd connecting rod of the first actuator pair 301 is connected in the tapped hole on right plane of the 4th link 704 on first fitting seat 401 of following table 4 tops; The head rod of the second actuator pair 302 is connected in the tapped hole on right plane of first link 701 on first fitting seat 101 of upper table surface 1 below, and the 3rd connecting rod of the second actuator pair 302 is connected in the tapped hole on left plane of the 5th link 705 on second fitting seat 402 of following table 4 tops.Adopt identical head and the tail Placement to connect for remaining actuator is secondary, constituted the moving platform of six-degree-of-freedom like this, the stage apparatus that can in low frequency 10～100Hz scope, control micro breadth oscillation.Terminal pin 310 on the ultra-magnetic telescopic actuator 309 is used to connect the control signal of platform control system output.
In the present invention, link 7 is the prune shape at an angle of a regular cube, and its planar delta 707 is provided with tapped hole 708, and tapped hole 708 is connected with fitting seat; On all the other 2 planes of link 7, respectively be provided with tapped hole, see also shown in Figure 4.ABCGHEF is the link of cube structure at an angle of pruning, and AHC is the planar delta 707 that cube is pruned, and is provided with tapped hole 708 in planar delta 707 in the heart, and tapped hole 708 is connected with fitting seat.The left side ABFE face of planar delta 707 is defined as left plane 710 relatively, is provided with tapped hole at the center on left plane 710, and this tapped hole is used for being connected with the connecting rod (head rod or the 3rd connecting rod) of actuator pair.The right BFGC face of planar delta 707 is defined as right plane 709 relatively, is provided with tapped hole at the center on right plane 709, and this tapped hole is used for being connected with the connecting rod (head rod or the 3rd connecting rod) of actuator pair.The design of link 7 of the present invention, the decoupling zero that has solved between the actuator pair connects, and also can make simultaneously and form vertically arranged position relation between the actuator pair.The tapped hole of establishing on planar delta 707, right plane 709 and left plane 710 is all vertical with the plane at place, and its Vertical direction is R1, R3 and R2.For micro breadth oscillation control, the gap of joint, collision and friction meeting produce a very large impact the control effect, and flexible hinge is a kind of structural measure for avoiding this type of problem to take.The present invention is a kind of vibration damping equipment under Active Control Mode, and promptly six freedom super magnetostrictive active vibration control platform mainly is to adopt super magnetostriction material Tb on its structure
0.27～0.3Dy
0.7～0.73Fe
1.9～2.0The ultra-magnetic telescopic actuator of making 309, and realize the form of biaxial hinge (go up flexible hinge 308, flexible hinge 307) down at the two ends of ultra-magnetic telescopic actuator 309, control section is to input the terminal pin 310 of control on ultra-magnetic telescopic actuator 309 of vibration damping equipment, output from groups of acceleration sensors 2, the seat vibration that records is subdued about 98%.
See also shown in Figure 7, in order to test the effectiveness in vibration suppression of active vibration control platform of the present invention, provide vibration source with vibration exciter 5, and vibration exciter 5 is installed on the base plate of platform support 6, following table 4 is installed on the left dunnage 602 and right dunnage 603 of platform support 6.Process control machine by platform control system outputs control signals to 309 pairs of control platforms of the present invention of each ultra-magnetic telescopic actuator and carries out vibration damping control, its signal weakening by the acceleration transducer passback reaches more than 98%, and the quantity of electric charge that No. 6 sensors are exported under frequency 17Hz condition as shown in Figure 8.
Claims (7)
1, a kind of six freedom super magnetostrictive active vibration control platform, it is characterized in that: form by upper table surface (1), following table (4), sensor groups (2), actuator group (3) and link (7), sensor groups (2) is installed in upper table surface (1) top, actuator group (3) is installed between upper table surface (1) and the following table (4), and link (7) is installed on the fitting seat of upper table surface (1) and following table (4);
Described sensor groups (2) comprises 3 outer covers, 3 sensor fitting seats and 6 acceleration transducers, and per 2 acceleration transducers are installed on 1 sensor fitting seat, is covering 1 outer cover on per 1 sensor fitting seat; Outer cover is provided with the hole that is connected usefulness for sensor with the external control end, and its hole and sensor outbound course are in the same way;
Described actuator group (3) comprises 6 actuator pairs, and each actuator pair comprises ultra-magnetic telescopic actuator (309), last flexible hinge (308), following flexible hinge (307) and connecting rod; The output shaft (314) of ultra-magnetic telescopic actuator (309) is connected with last flexible hinge (308), the other end of last flexible hinge (308) is connected with head rod (312), and the other end of head rod (312) is connected with link on the fitting seat that is installed in upper table surface (1) below; The tapped hole of ultra-magnetic telescopic actuator (309) bottom is threaded with second connecting rod (311), the other end of second connecting rod (311) is connected with following flexible hinge (307), the other end of following flexible hinge (307) is connected with the 3rd connecting rod (313), and the link on the fitting seat on the other end of the 3rd connecting rod (313) and the following table (4) is connected;
Described link (7) is the prune shape at an angle of a regular cube, its planar delta (707) is provided with tapped hole (708), and link (7) is realized being connected with the fitting seat on the following table (4) with upper table surface (1) by the tapped hole (708) on this planar delta (707); On all the other 2 planes of link (7), respectively be provided with mutually perpendicular tapped hole.
2, six freedom super magnetostrictive active vibration control platform according to claim 1 is characterized in that: 2 actuator that per 1 actuator of described actuator group (3) is secondary and adjacent are secondary vertical.
3, six freedom super magnetostrictive active vibration control platform according to claim 1, it is characterized in that: per 2 acceleration transducers in the described sensor groups (2) are orthogonal to be installed on 2 faces of sensor fitting seat (204), and sensor fitting seat (204) is a Pyramid.
4, six freedom super magnetostrictive active vibration control platform according to claim 1, it is characterized in that: it is identical with following flexible hinge (307) structure to go up flexible hinge (308), constitute by first hinge block (315), hinge contiguous block (317) and second hinge block (316), first hinge block (315) and second hinge block (316) are " recessed " shape, and be provided with tapped hole in the flush end center, hinge contiguous block (317) is bonded in the recessed end of first hinge block (315) and second hinge block (316); First hinge block (315) and second hinge block (316) adopt 40
#Steel shapes, and hinge contiguous block (317) is a rubber material.
5, six freedom super magnetostrictive active vibration control platform according to claim 1 is characterized in that: upper table surface (1) and following table (4) are 40
#The disk that steel shapes.
6, six freedom super magnetostrictive active vibration control platform according to claim 1 is characterized in that: the magnetostriction materials of ultra-magnetic telescopic actuator (309) are chosen Tb
0.27～0.3Dy
0.7～0.73Fe
1.9～2.0, the magnetostriction coefficient of its performance curve linearity range reaches more than the 1000ppm.
7, six freedom super magnetostrictive active vibration control platform according to claim 1 is characterized in that: vibration damping about 98% in low frequency 10～100Hz scope a little.
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| CNB2004100804659A CN1320290C (en) | 2004-10-11 | 2004-10-11 | Six freedom super magnetostrictive active vibration control platform |
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|---|---|---|---|
| CNB2004100804659A CN1320290C (en) | 2004-10-11 | 2004-10-11 | Six freedom super magnetostrictive active vibration control platform |
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| CN1587739A true CN1587739A (en) | 2005-03-02 |
| CN1320290C CN1320290C (en) | 2007-06-06 |
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| CN2576434Y (en) * | 2002-11-18 | 2003-10-01 | 哈尔滨工业大学博实精密测控有限责任公司 | Six-freedom precision paralleled robot |
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