CN1952430A - Active shock absorption system for magnetorheological elastomer and control method therefor - Google Patents
Active shock absorption system for magnetorheological elastomer and control method therefor Download PDFInfo
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- CN1952430A CN1952430A CNA2005100949879A CN200510094987A CN1952430A CN 1952430 A CN1952430 A CN 1952430A CN A2005100949879 A CNA2005100949879 A CN A2005100949879A CN 200510094987 A CN200510094987 A CN 200510094987A CN 1952430 A CN1952430 A CN 1952430A
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- bump leveller
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/36—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers
- F16F1/3605—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by their material
- F16F1/361—Springs made of rubber or other material having high internal friction, e.g. thermoplastic elastomers characterised by their material comprising magneto-rheological elastomers [MR]
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Abstract
The invention relates to a damping device, especially active vibration absorber and the control method. Said vibration absorber in vibration absorbing system comprises main drive part, vibration absorbing block, changeably stiffness part, magnetic insulation block and U-shaped bracket. The main drive part comprises permanent magnet and column electromagnet. The column iron core is fixed on the bottom of bracket and permanent magnet is fixed with vibration absorbing block by magnetic insulation block. The changeably stiffness part comprises U-shaped electromagnet and MR elastomer. U-shaped iron core is opened downward, of which MR elastomer are set on two inner sides respectively. Vibration absorbing block is set among two chips and the lower end of U-shaped iron core is fixed with the upper end of U-shaped bracket to form inner space where the main drive part, vibration absorbing block, MR elastomer and magnetic insulation block are accommodated. The control method is that the changeably stiffness part and main drive part are controlled respectively according to frequency, amplitude value and phase information of vibration-damping objects. The invention belongs to half-active and active combined control and is provided with low consuming and wide vibration-damping frequency so on.
Description
Technical field
The present invention relates to be applied to vibration damping equipment and controlling method on the machinery, particularly active bump leveller and controlling method.
Background technique
Shock absorption system has significance very to all kinds of machinery, electric equipment.According to different power resources, shock absorption system can be divided into passive type and active two kinds.Traditional bump leveller is passive type normally, it does not need to consume external energy, simple in structure, can play excellent vibration damping effect to fixing excited frequency vibration, thereby be widely used in many because the vibration damping aspect of the forced vibration that the rotating part mass eccentricity of machinery causes.But there are two big defectives in this passive bump leveller, the first, be not suitable for the bigger occasion of frequency change; The second, tuned speed is slow, and phase place can not accurately be mated, and makes effectiveness in vibration suppression undesirable.
In recent years, along with people to the improving constantly of the requirement of the Security of the traffic tool such as car, boats and ships, aircraft and travelling comfort, multiple active damping device and controlling method have appearred.Introduce multiple existing active bump leveller in " Active Vibration Control " book that the Gu Zhongquan that National Defense Industry Press published in 1997 etc. writes, comprised frequency-adjustable and non-frequency-adjustable bump leveller.Frequency-adjustable is divided into the adjustable and stiffness-adjustable of inertia again, can be applicable to the occasion of frequency change, but it belongs to the parameter of regulating bump leveller and reaches tracking frequency, be actually half ACTIVE CONTROL, effectiveness in vibration suppression and passive type roughly the same, tuned speed is slow, and phase place can not accurately be mated, and effectiveness in vibration suppression is undesirable.Non-frequency-adjustable is to add actuator on the basis of passive type bump leveller, mainly is to utilize the control force of actuator to act on controll plant, reaches the purpose of control controll plant.Its advantage is directly to produce with vibration source opposite effect masterpiece to be used for the vibration damping object, can be tuning rapidly and accurately, and good damping result.But because its frequency is non-adjustable, near the bump leveller natural frequency, can realize that utilizing less energy to reach with the passive type bump leveller compares effectiveness in vibration suppression preferably, but when vibration frequency departs from the bump leveller natural frequency a little, the energy that obtaining same effectiveness in vibration suppression needs sharply increases, therefore the frequency range of energy practical application is still only near the natural frequency of bump leveller, so the vibration damping frequency band is narrower.
A kind of active vibration absorber that belongs to non-frequency-adjustable is disclosed in the CN01272733.4 patent, it adopts spring oscillator to carry out energy storage, its energy consumption is low, effectiveness in vibration suppression is obvious, but because its vibration damping frequency is still non-adjustable, the same with above-mentioned non-frequency-adjustable bump leveller, the vibration damping frequency band is still narrower.
Summary of the invention
The object of the present invention is to provide a kind of active shock absorption system for magnetorheological elastomer and controlling method of frequency-adjustable, thereby can realize the vibration damping of low energy consumption in wider frequency and under the bigger frequency variation rate.
Purpose of the present invention realizes in the following manner.
Active shock absorption system for magnetorheological elastomer of the present invention comprises bump leveller and controller, and its middle controller comprises acceleration transducer, charge amplifier, power amplifier and main control system; Described bump leveller includes active force element and absorber block, it is characterized in that, described bump leveller also include become stiffness elements, every magnetic patch and " U " shape support of being used to support; Described active force element is made of the columnar iron core (being the column electromagnet) that the permanent magnet and of column is wound with coil, this columnar iron core is connected on the inner bottom surface of support, permanent magnet is by being connected every magnetic patch and absorber block, the lower end surface of permanent magnet is parallel with the upper-end surface of columnar iron core, and distance between the two is greater than by the amplitude up and down of vibration damping object; Described change stiffness elements is made of " U " shape electromagnet and magnetic rheology elastic body, Open Side Down for " U " shape iron core, coil is around in its top, be fixed with a sheet of magnetic rheology elastic body respectively on two inner side surfaces of " U " shape iron core, absorber block places two centres, and be fixed into integral body, " U " shape iron core lower end is connected with " U " shape support upper-end surface, constitute hold active force element, absorber block and magnetic rheology elastic body, every the interior space of magnetic patch.
In above-mentioned shock absorption system, the quality of described absorber block, the size of magnetic rheology elastic body are determined according to following formula:
Wherein f is that bump leveller does not have the natural frequency under the magnetic field, and m is the quality of absorber block, and k is that magnetic rheology elastic body does not have the equivalent stiffness under the magnetic field, and A, t, G are respectively sectional area, thickness, the shear modulus of magnetic rheology elastic body.
In above-mentioned shock absorption system, described permanent magnet also can be replaced by another column electromagnet.Described " U " shape support and constitute by non-magnet material every magnetic patch.Described iron core and absorber block all adopt soft iron magnetic material.
In actual the use, the quality of generally selecting absorber block is by 5%～40% of vibration damping object quality.According to above formula, the size that changes magnetic rheology elastic body just can be regulated the natural frequency of bump leveller under no magnetic field, makes the natural frequency of bump leveller under no magnetic field than being hanged down about 20%～50% by the vibration frequency of vibration damping object.
Controlling method of the present invention, be included in and measure the relation curve between bump leveller natural frequency and field current and select suitable control law before bump leveller is installed, it is characterized in that, (1) use acceleration transducer to measure by the oscillating signal of vibration damping object, signal is sent into main control system after amplifying through charge amplifier, the inputted vibration signal is carried out computational analysis, the frequency that acquisition is vibrated by the vibration damping object, amplitude and phase information, (2) control becoming stiffness elements and active force element respectively: bump leveller natural frequency that records before a) installing and the relation between field current according to bump leveller, regulate the field current of coil on " U " shape electromagnet by power amplifier, to regulate the rigidity that becomes stiffness elements, thereby adjust the natural frequency of bump leveller, make it with identical by the vibration frequency of vibration damping object; B) according to by the frequency of vibration damping object, amplitude and phase information, in conjunction with predefined active force control law, the employing adaptive searching optimal algorithm calculates the Control Parameter in the control law, make under such Control Parameter by the vibration amplitude minimum of vibration damping object, this Control Parameter substitution control law is provided the control signal of active force, regulate the field current of column electromagnet coil in the active force element by power amplifier, the active force that produces between column electromagnet and permanent magnet is acted on by the vibration damping object, use sensor measurement by the oscillating signal of vibration damping object then, signal is sent into main control system after amplifying through amplifier, constitutes closed loop control.
The present invention uses the change rigidity elastic element of intellectual material magnetic rheology elastic body as dynamic vibration absorber, and adopt electromagnet that active force is provided, according to by the principal oscillation frequency and the vibrational state of vibration damping object, according to the controlling method of setting, change the rigidity of magnetic rheology elastic body, regulate the amplitude and the phase place of control force simultaneously, carry out phase matching rapidly and accurately, thereby can realize the vibration damping purpose of the low energy consumption of best absorbing in wider frequency and under the bigger frequency variation rate.
Active shock absorption system for magnetorheological elastomer of the present invention belongs to half initiatively and actively jointly control, and compares with existing all kinds of shock absorption systems, has following remarkable advantage:
1. compare with frequency tuning formula bump leveller, have response soon, the advantage of good damping result.Because the present invention can directly produce active force and act on by the vibration damping object according to by the vibrational state of vibration damping object, reduce the kinetic damping of absorber block greatly, can realize phase matching fast and accurately, be applicable to frequency change occasion faster;
2. compare with existing active force bump leveller, have the advantage of low energy consumption, vibration damping Bandwidth.The present invention can realize frequency tuning by regulating the rigidity that becomes stiffness elements in the frequency band of broad, thereby bump leveller all can be realized good energy storage effect in the frequency band of broad, the active force element consumes energy few in the frequency band of broad, elastic force, damping force and active force act on simultaneously by the vibration damping object in addition, the capacity usage ratio height that active force provides;
3. because elastic force, damping force and active force act on simultaneously by vibration damping object and frequency adjustable, use the vibration damping bandwidth that less absorbing quality and less amplitude also can reach to be needed, so the quality of bump leveller and volume are less;
4. simple in structure, even and in use the active force element break down, bump leveller still is equivalent to frequency tuning formula semi active vibration absorber, so the system reliability height.
Be described further below by embodiment and accompanying drawing thereof.
Description of drawings
Accompanying drawing 1 is the structural representation of the moving bump leveller of magnetic rheology elastic body active of the present invention.
Accompanying drawing 2 is a control principle schematic representation of the present invention.
Among Fig. 2: m
0, K
0, C
0By the quality of vibration damping object, rigidity and damping; m
0On be subjected to excitation force Psin ω t effect, ω is the frequency of excitation force, also promptly by the vibration frequency of vibration damping object, x
0By the displacement of vibration damping object; M, k, c are absorbing quality, equivalent stiffness and the dampings of bump leveller, and both have represented the characteristic of magnetic rheology elastic body the back; F is the active force that the active force element provides.
Embodiment
Referring to Fig. 1,1 is absorber block, the magnetic rheology elastic body of sheet was located at the left and right sides face of absorber block in 2 minutes, and bonding being integral, Open Side Down for " U " shape electromagnet 3, the coil 4A that connects with external power supply is around its top, and another surface of the magnetic rheology elastic body 2 of sheet is bonded in respectively on the inner side surface of " U " shape iron core.In the lower end surface of absorber block with screw connecting mode be fixed with brass material every magnetic patch 5, permanent magnet 6 is fixedly connected on the lower end surface of magnetic patch 5.The 7th, the electromagnet of tetragonal body, it is fixed on the inner bottom surface of " U " shape support 8, and its coil 4B and external power supply are connected.
The lower end of two sidewalls of " U " shape iron core constitutes closed magnetic loop by magnetic rheology elastic body 2, absorber block 1, the size of field current in changing this loop, and can regulate becomes the rigidity of stiffness elements, thereby changes the natural frequency of bump leveller.Absorber block is the absorbing quality by the kinoplaszm amount that is connected to form bump leveller every magnetic patch and permanent magnet, and the purpose that is provided with every magnetic patch is to avoid the magnetic circuit of permanent magnet influence by magnetic rheology elastic body.Column electromagnet and permanent magnet constitute the active force element of bump leveller.Also can use by another subpost shape iron core and coil in actual the use to replace permanent magnet, promptly constitute the active force element of bump leveller by two subpost shape iron cores and coil.
In above-mentioned shock absorption system, the size of described absorbing quality, magnetic rheology elastic body is determined according to following formula:
Wherein f is that bump leveller does not have the natural frequency under the magnetic field, and m is the absorbing quality, and k is that magnetic rheology elastic body does not have the equivalent stiffness under the magnetic field, and A, t, G are respectively sectional area, thickness, the shear modulus of magnetic rheology elastic body.The absorbing of selecting is fair to be by 5%～40% of vibration damping object quality.According to top formula, the size that changes magnetic rheology elastic body just can be regulated the natural frequency of bump leveller under no magnetic field, makes the natural frequency of bump leveller under no magnetic field than the frequency that needs vibration damping low about 20%～50%.For example, by vibration damping object quality m
0=25Kg is 60Hz by the vibration frequency of vibration damping object, can select the quality m=2.5Kg of absorber block according to rule noted earlier, selects bump leveller not have natural frequency f=40Hz under the magnetic field, the shear modulus G of known magnetic rheology elastic body=4 * 10
5Pa chooses magnetic rheology elastic body thickness t=5mm, then calculates the area A=0.002m of magnetic rheology elastic body according to following formula
2
Controlling method of the present invention is measured the relation curve between bump leveller natural frequency and field current and is selected suitable control law before bump leveller is installed, and these two operations are prior art.After this concrete control procedure is divided into becoming control two-part of stiffness elements and active force element.Referring to Fig. 2, be whole bump leveller in the frame of broken lines 9, it is fixed to by on the vibration damping object 10 by the screw of screw by frame bottom, and 11 for to be arranged on by the acceleration transducer on the vibration damping object, in order to measure by the oscillating signal of vibration damping object 10; This signal is sent into main control system 13 after amplifying through charge amplifier 12, adopts the FFT fft algorithm that the inputted vibration signal is carried out computational analysis, thus frequency, amplitude and phase information that acquisition is vibrated by the vibration damping object.Whether main control system 13 is relatively identical by the natural frequency of the vibration frequency of vibration damping object 10 and bump leveller 9, keep present situation constant if both are identical, if both differences, main control system 13 will be according to being pre-stored in bump leveller 9 natural frequencys in the main control system and the relation between field current, calculate the control signal that becomes active member, after this signal amplifies through power amplifier 14, output in the control of " U " magnet spool 4A electric current, regulate the field current that becomes coil 4A in the stiffness elements, the natural frequency that makes bump leveller 9 is with identical by the vibration frequency of vibration damping object.
On the other hand, main control system 13 also will be according to by the frequency of vibration damping object 10, amplitude and phase information, in conjunction with predefined active force control law, the employing adaptive searching optimal algorithm calculates the Control Parameter in the control law, make under such Control Parameter by the vibration amplitude minimum of vibration damping object, then Control Parameter substitution control law is provided the control signal of active force, regulate the field current of coil 4B in the active force element column electromagnet 7 by power amplifier 14, the active force of column electromagnet 7 and 6 generations of permanent magnet is acted on by vibration damping object 10, use acceleration transducer 11 to measure by the oscillating signal of vibration damping object 10, signal is sent into main control system 13 after amplifying through charge amplifier 12, constitute closed loop control, make the frequency of active force, amplitude and phase place realize phase matching fast and accurately, reach the purpose of the dynamic absorber of the best.
Provide the concrete computational process of active force control signal below: adopt the Accelerator Feedback control law
The active force that provides of F active force element wherein, x
0By the displacement of vibration damping object,
Be x
0To the second dervative of time, K
gIt is Control Parameter.By the displacement x of vibration damping object
0Amplitude be A
X0, A under above-mentioned control law
X0Be Control Parameter K
gFunction, A then
X0=A
X0(K
g).By the displacement x of vibration damping object
0And amplitude is by being carried out computational analysis by the oscillating signal of vibration damping object 10 and draw measuring, as previously mentioned.Choose by the vibration amplitude of vibration damping object and be minimised as control target, promptly
, the employing adaptive searching optimal algorithm calculates the Control Parameter K in the control law
g, the substitution control law can provide the control signal of active force F.
Claims (4)
1. active shock absorption system for magnetorheological elastomer comprises bump leveller and controller, and its middle controller comprises acceleration transducer, charge amplifier, power amplifier and main control system; Described bump leveller includes active force element and absorber block, it is characterized in that, described bump leveller also include become stiffness elements, every magnetic patch and " U " shape support of being used to support; Described active force element is made of the columnar iron core that the permanent magnet and of column is wound with coil, this columnar iron core is connected on the inner bottom surface of support, permanent magnet is by being connected every magnetic patch and absorber block, the lower end surface of permanent magnet is parallel with the upper-end surface of columnar iron core, and distance between the two is greater than by the amplitude up and down of vibration damping object; Described change stiffness elements is made of " U " shape electromagnet and magnetic rheology elastic body, Open Side Down for " U " shape iron core, coil is around in its top, be fixed with a sheet of magnetic rheology elastic body respectively on two inner side surfaces of " U " shape iron core, absorber block places two centres, and be fixed into integral body, " U " shape iron core lower end is connected with " U " shape support upper-end surface, constitute hold active force element, absorber block and magnetic rheology elastic body, every the interior space of magnetic patch.
2. active shock absorption system for magnetorheological elastomer as claimed in claim 1 is characterized in that, the quality of described absorber block, the size of magnetic rheology elastic body are determined according to following formula:
Wherein m is the quality of absorber block, and f is that bump leveller does not have the natural frequency under the magnetic field, and k is that magnetic rheology elastic body does not have the equivalent stiffness under the magnetic field, and A, t, G are respectively sectional area, thickness, the shear modulus of magnetic rheology elastic body.
3. active shock absorption system for magnetorheological elastomer as claimed in claim 1 is characterized in that, described permanent magnet is replaced by another column electromagnet.
4. the controlling method of an active shock absorption system for magnetorheological elastomer, be included in and measure the relation curve between bump leveller natural frequency and field current and select suitable control law before bump leveller is installed, it is characterized in that, (1) use acceleration transducer to measure by the oscillating signal of vibration damping object, signal is sent into main control system after amplifying through charge amplifier, the inputted vibration signal is carried out computational analysis, obtain frequency, amplitude and the phase information vibrated by the vibration damping object; (2) control becoming stiffness elements and active force element respectively: bump leveller natural frequency that records before a) installing and the relation between field current according to bump leveller, regulate the field current of coil on " U " shape electromagnet by power amplifier, to regulate the rigidity that becomes stiffness elements, thereby adjust the natural frequency of bump leveller, make it with identical by the vibration frequency of vibration damping object; B) according to by the frequency of vibration damping object, amplitude and phase information, in conjunction with predefined active force control law, the employing adaptive searching optimal algorithm calculates the Control Parameter in the control law, make under such Control Parameter by the vibration amplitude minimum of vibration damping object, Control Parameter substitution control law is provided the control signal of active force, field current by column electromagnet coil in the power amplifier adjusting active force element acts on by the vibration damping object active force that produces between column electromagnet and permanent magnet; Use sensor measurement by the oscillating signal of vibration damping object then, signal is sent into main control system after amplifying through amplifier, constitutes closed loop control.
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