CN201202764Y - Active anti-resonance vibration isolation device based on digital controller - Google Patents

Abstract

An active anti-resonance vibration isolation device based on a digital controller is characterized in that the active anti-resonance vibration isolation device comprises the following components: a piezoelectric acceleration sensor is positioned on a vibration isolation platform, an actuator is arranged between the vibration isolation platform and a base, the output end of the piezoelectric acceleration sensor is connected with a digital controller, the output end of the digital controller is connected with the input end of the actuator, the actuator acts under the control of the digital controller to apply force to the vibration isolation platform to generate vibration-proof motion, the frequency of the motion is the same as the vibration frequency of the vibration isolation platform given by the base, the amplitude of the motion is equal to the vibration amplitude of the vibration isolation platform given by the base, and the direction of the motion is opposite. The utility model discloses can realize the anti-resonance vibration isolation of a plurality of frequency simultaneously.

Description

Active anti-resonance vibration isolating device based on digital controller

Technical field

The utility model relates to a kind of power anti-resonance vibration isolating device, particularly a kind of active anti-resonance vibration isolating device based on digital controller.

Background technique

Traditional power anti-resonance vibration isolating device belongs to the category of Passive Control, and is simple, and reliable, cost is low, for the narrowband response of system the favorable damping effect is arranged, but it is then relatively poor for the effectiveness in vibration suppression of wide-band vibration.As shown in Figure 1, M is the quality of vibration-isolating platform, and K is the rigidity of elastic element, and C is a damping constant.M is the pendulum quality, and b is the distance of pendulum and fulcrum, and a is two distances between fulcrum.Vibration transmissibility can be expressed as $T=\frac{x}{u},$ Wherein u is the pedestal displacement, and x is the vibration displacement of vibration-isolating platform.

Traditional passive type power anti-resonance vibration isolation is the minimal point that there is vibration transmissibility in the ω place in frequency only.

Here $\mathrm{\ω}=\sqrt{K/m\frac{b}{a}(1+b/a)},$ That is to say that this class anti-resonance vibration isolation only has very high vibration isolation efficiency near certain specific frequency.Can not regulate the antiresonance frequency point, not possess a plurality of anti-resonance district.This type of isolation mounting does not have regulating power fully, and certain narrow limitation is arranged.

Summary of the invention

The technical problems to be solved in the utility model provides a kind of active anti-resonance vibration isolating device based on digital controller, can realize the anti-resonance vibration isolation at several frequency places simultaneously.

Technical solution of the present utility model is as follows:

A kind of active anti-resonance vibration isolating device based on digital controller, characteristics are that its formation is: a piezoelectric acceleration sensor is positioned on the vibration-isolating platform, between vibration-isolating platform and pedestal, actuator is set, the output termination digital controller of described piezoelectric acceleration sensor, the input end of the described actuator of output termination of this digital controller, this actuator is moved under the control of described digital controller, the described vibration-isolating platform application of force is produced the antivibration motion, the frequency of this motion gives the vibration frequency of vibration-isolating platform identical with pedestal, and the amplitude of motion and pedestal are given the equal and opposite in direction of the vibration amplitude of vibration-isolating platform, and travel direction is opposite.

Utilize above-mentioned active anti-resonance vibration isolating device to carry out the initiatively method of anti-resonance vibration isolation, comprise the following steps: based on digital controller

1. a piezoelectric acceleration sensor is set on vibration-isolating platform, between vibration-isolating platform and pedestal, actuator is set, the output termination digital controller of described piezoelectric acceleration sensor, the input end of the described actuator of output termination of this digital controller;

2. utilize spectrum analyzer to measure and analyze the frequencies omega of the interference vibration of isolating that vibration-isolating platform is produced by pedestal and necessary _iRelative amplitude a with corresponding normalization _i, i=1 wherein, 2,3 ... N;

3. import the frequencies omega of the described interference vibration that must isolate to described digital controller _iRelative amplitude a with corresponding normalization _iIn digital controller, set up proportion function W (x): $W\left(x\right)=\underset{i=1}{\overset{N}{\mathrm{\Π}}}\frac{{\mathrm{TA}}_i}{1-e^{j{\mathrm{\ω}}_{i}T}{x}^{-1}},$ In the formula, T is the sampling period, and N is a controller cascade number, A _iBe scale parameter, TA _iWith a _iRelevant, the proportion function in the corresponding Laplace of the described digital controller territory is $W\left(s\right)=\underset{i=1}{\overset{N}{\mathrm{\Π}}}\frac{A_i}{(s-j{\mathrm{\ω}}_i)};$

When 4. working, when external interference is delivered to vibration-isolating platform from pedestal, described piezoelectric acceleration sensor records the vibration acceleration on the vibration-isolating platform Vertical direction, give described digital controller, this digital controller obtains the proportion function W (s) of the displacement signal X (s) of vibration-isolating platform with described vibration acceleration through data processing, and the electrical signal of this proportion function W (s) is input to described actuator;

5. described actuator is exported corresponding power F (s) according to the electrical signal of the proportion function of input, F (s)=-W (s) X (s) acts on described vibration-isolating platform, make described vibration-isolating platform produce the anti-resonance vibration of giving the interference vibration of described vibration-isolating platform with pedestal, realize that vibration-isolating platform is in required frequencies omega _iThe vibration isolation at place.

When external interference when pedestal is delivered to vibration-isolating platform, piezoelectric acceleration sensor records the vibration acceleration on the vibration-isolating platform Vertical direction, by the integrated charge amplifier in inside, is converted into the voltage signal output of proportional with it amplification.Being directly inputted to the built-in A/D translation interface of described digital controller, is digital signal with analog signal conversion, passes through two-stage integration then, obtains the displacement signal of vibration-isolating platform.After this digital controller carries out RT rael time and control calculating according to the control algorithm that the utility model proposes, obtain the electrical signal of the proportion function of vibration-isolating platform displacement signal, be input to actuator through power amplification, this actuator is exported corresponding power according to the electrical signal of the proportion function of input, realizes that vibration-isolating platform has anti-resonance at the frequency place that we want.

The output signal of the digital controller in the utility model is the proportion function of vibration-isolating platform displacement signal, promptly export F (s)=-W (s) X (s).The setting of passing ratio function W (s) can realize that the vibration isolation object is at the vibration transmissibility at the frequency place that we want approaching zero.

Specifically, adopt the digital controller of cascade connection type structure.The proportion function of this digital controller output is:

$W\left(x\right)=\underset{i=1}{\overset{N}{\mathrm{\Π}}}\frac{{\mathrm{TA}}_i}{1-e^{j{\mathrm{\ω}}_{i}T}{x}^{-1}}$

In the formula, T is the sampling period, and N is a controller cascade number, A _iBe scale parameter.

Theoretical foundation: the motion equation of vibration-isolating platform is

$m\stackrel{\·\·}{x}+c\stackrel{\·}{x}+\mathrm{kx}=c\stackrel{\·}{u}+\mathrm{ku}+f---\left(1\right)$

In the formula: f is the control force of actuator output, wherein u, Be the displacement and the speed on basis, x,

With

Be respectively vibration displacement, speed and the acceleration of vibration-isolating platform.

Formula (1) is carried out Laplace transformation to be had

(ms ²+cs+k)X(s)-F(s)＝(cs+k)U(s) (2)

In the formula: X (s), U (s), F (s) is respectively x, u, the Laplace transformation of f.

When not applying control, i.e. actuator output F (s)=0, the displacement of vibration-isolating platform is

$X_0\left(s\right)=\frac{k+\mathrm{<figure-callout\; id="2"\; label="cs\; m\; s"\; filenames="Y200820059202E00092.png"\; state="\{\{state\}\}">cs</figure-callout>}}{m{s}^{}}U\left(s\right)---\left(3\right)$

When actuator to the control force that vibration-isolating platform applies is:

F(s)＝-W(s)X(s) (4)

In the formula: W (s) applies proportion function between the control force for the vibration displacement of vibration-isolating platform and actuator, and it is opposite to vibration-isolating platform interference direction of vibration with pedestal that negative sign represents that actuator applies the displacement that control force produces vibration-isolating platform.To put in order after formula (4) the substitution formula (2)

$\frac{X\left(s\right)}{X_0\left(s\right)}=\frac{1}{1+\frac{W\left(s\right)}{\mathrm{<figure-callout\; id="2"\; label="m\; s"\; filenames="Y200820059202E00092.png"\; state="\{\{state\}\}">m</figure-callout>}{s}^{}{}^2+\mathrm{cs}+k}}=K_1\left(s\right)---\left(5\right)$

If select W (s) to have following form:

$W\left(s\right)=\underset{i=1}{\overset{N}{\mathrm{\&Pi;}}}\frac{A_i}{(s-j{\mathrm{\&omega;}}_i)}$

Then formula (5) has

$K_1\left(s\right)=\frac{X\left(s\right)}{X_0\left(s\right)}=\frac{1}{1+\frac{1}{\mathrm{<figure-callout\; id="2"\; label="m\; s"\; filenames="Y200820059202E00092.png"\; state="\{\{state\}\}">m</figure-callout>}{s}^{}{}^2+\mathrm{cs}+k}\&CenterDot;\underset{i=1}{\overset{N}{\mathrm{\&Pi;}}}\frac{A_i}{(s-j{\mathrm{\&omega;}}_i)}}$

When $\underset{\mathrm{\&omega;}\&RightArrow;{\mathrm{\&omega;}}_i}{\lim }\left|K_1\left(\mathrm{j\&omega;}\right)\right|=0$

Further, $\frac{X\left(s\right)}{U\left(s\right)}=\frac{X\left(s\right)}{X_0\left(s\right)}\frac{X_0\left(s\right)}{U\left(s\right)}=K_1\left(s\right)\frac{k+\mathrm{<figure-callout\; id="2"\; label="cs\; ms"\; filenames="Y200820059202E00092.png"\; state="\{\{state\}\}">cs</figure-callout>}}{{\mathrm{ms}}^{}}$

Obtain $\underset{\mathrm{\&omega;}\&RightArrow;{\mathrm{\&omega;}}_i}{\lim }\left|\frac{X\left(s\right)}{U\left(s\right)}\right|=0$

Make that promptly frequency is ω _i(i=1,2,3 ...) the disturbance transmissibility located is zero, thereby makes the vibration isolating effect under this frequency very remarkable.

When analog filter is converted to digital filter, three kinds of mapping methods commonly used are arranged, i.e. not political reform of impulse response, not political reform of step response and bilinearity transform method.Not political reform of employing impulse response can be with the proportion function of Laplace territory internal controller $W\left(s\right)=\underset{i=1}{\overset{N}{\mathrm{\&Pi;}}}\frac{A_i}{(s-j{\mathrm{\&omega;}}_i)}$ Transform in the numeric field, its representation is as follows:

$W\left(x\right)=\underset{i=1}{\overset{N}{\mathrm{\&Pi;}}}\frac{{\mathrm{TA}}_i}{1-e^{j{\mathrm{\&omega;}}_{i}T}{x}^{-1}}$

In the formula, T is the sampling period, and N is a controller cascade number, A _iBe scale parameter.

Sort controller is easy to accomplish strict linear phase characteristic when guaranteeing that amplitude characteristic satisfies technical requirements.

Advantage of the present utility model is:

Can realize the anti-resonance vibration isolation of several frequency zones simultaneously, bandwidth increases.Use digital controller, can realize real-time control, reduce time lag.Adopt the cascade connection type structure, directly change i level controller characteristic and do not influence the zero limit characteristic of another grade controller, it is simple effective that Variation becomes.

The oscillatory type piezoelectric acceleration sensor precision height that adopts, compact structure, antijamming capability improves.

Description of drawings

Fig. 1 is passive type power anti-resonance vibration isolation figure

Fig. 2 is the structured flowchart of the utility model based on the active anti-resonance vibration isolating device of digital controller

Embodiment

The utility model is described in further detail below in conjunction with embodiment and accompanying drawing, but should not limit protection domain of the present utility model with this.

See also Fig. 2 earlier, Fig. 2 is the structured flowchart of the utility model based on the active anti-resonance vibration isolating device of digital controller, as seen from the figure, the utility model based on the formation of the active anti-resonance vibration isolating device of digital controller is: a piezoelectric acceleration sensor 2 is positioned on the vibration-isolating platform 1, actuator 4 is set between vibration-isolating platform 1 and pedestal, the output termination digital controller 3 of described piezoelectric acceleration sensor 2, the input end of the described actuator 4 of output termination of this digital controller 3, this actuator 4 is moved under the control of described digital controller 3, described vibration-isolating platform 1 application of force is produced the antivibration motion, the frequency of this motion gives the vibration frequency of vibration-isolating platform 1 identical with pedestal, and the amplitude of motion and pedestal are given the equal and opposite in direction of the vibration amplitude of vibration-isolating platform, and travel direction is opposite.

Utilize above-mentioned active anti-resonance vibration isolating device to carry out the initiatively method of anti-resonance vibration isolation, comprise the following steps: based on digital controller

1. a piezoelectric acceleration sensor 2 is set on vibration-isolating platform 1, actuator 4 is set between vibration-isolating platform 1 and pedestal, the output termination digital controller 3 of described piezoelectric acceleration sensor 2, the input end of the described actuator 4 of output termination of this digital controller 3;

2. utilize spectrum analyzer to measure and analyze the frequencies omega of the interference vibration of isolating that vibration-isolating platform 1 is produced by pedestal and necessary _iRelative amplitude a with corresponding normalization _i, i=1 wherein, 2,3 ... N;

3. import the frequencies omega of the described interference vibration that must isolate to described digital controller 3 _iRelative amplitude a with corresponding normalization _iIn digital controller 3, set up proportion function W (x): $W\left(x\right)=\underset{i=1}{\overset{N}{\mathrm{\&Pi;}}}\frac{{\mathrm{TA}}_i}{1-e^{j{\mathrm{\&omega;}}_{i}T}{x}^{-1}},$ In the formula, T is the sampling period, and N is a controller cascade number, A _iBe scale parameter, TA _iWith a _iRelevant, the proportion function in the described digital controller 3 corresponding Laplace territories is $W\left(s\right)=\underset{i=1}{\overset{N}{\mathrm{\&Pi;}}}\frac{A_i}{(s-j{\mathrm{\&omega;}}_i)};$

When 4. working, when external interference is delivered to vibration-isolating platform 1 from pedestal, described piezoelectric acceleration sensor records the vibration acceleration on the vibration-isolating platform Vertical direction, give described digital controller 3, this digital controller 3 obtains the proportion function W (s) of the displacement signal X (s) of vibration-isolating platform with described vibration acceleration through data processing, and the electrical signal of this proportion function W (s) is input to described actuator 4;

5. described actuator 4 is exported corresponding power F (s) according to the electrical signal of the proportion function of input, F (s)=-W (s) X (s) acts on described vibration-isolating platform 1, make described vibration-isolating platform 1 produce the anti-resonance vibration of giving the interference vibration of described vibration-isolating platform with pedestal, realize that vibration-isolating platform 1 is in required frequencies omega _iThe vibration isolation at place.

The technical order of the piezoelectric acceleration sensor 2 in the present embodiment is: sensitivity: 10mV/g; Measuring range: 0.5g pk; Frequency range 0.10-2000Hz; [constant power supply power supply: 2-20mA; Continuous current excitation voltage: 18-30V.

Claims (1)

1, a kind of active anti-resonance vibration isolating device based on digital controller, be characterised in that its formation is: a piezoelectric acceleration sensor is positioned on the vibration-isolating platform, between vibration-isolating platform and pedestal, actuator is set, the output termination digital controller of described piezoelectric acceleration sensor, the input end of the described actuator of output termination of this digital controller, this actuator is moved under the control of described digital controller, the described vibration-isolating platform application of force is produced the antivibration motion, the frequency of this motion gives the vibration frequency of vibration-isolating platform identical with pedestal, and the amplitude of motion and pedestal are given the equal and opposite in direction of the vibration amplitude of vibration-isolating platform, and travel direction is opposite.

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