CN203130893U

CN203130893U - Combined actuator

Info

Publication number: CN203130893U
Application number: CN 201320121234
Authority: CN
Inventors: 张进秋; 彭志召; 贾进峰; 张建; 张磊; 彭颜铭; 黄大山
Original assignee: Academy of Armored Forces Engineering of PLA
Current assignee: Academy of Armored Forces Engineering of PLA
Priority date: 2013-03-18
Filing date: 2013-03-18
Publication date: 2013-08-14
Anticipated expiration: 2023-03-18

Abstract

The utility model discloses a combined actuator which comprises a magneto-rheological damper and an electromagnetic actuator. The magneto-rheological damper comprises a nonmagnetic outer tube and a magnetic inner tube. An air sac is disposed on the outer wall of the magnetic inner tube. A piston component comprising a piston link, a damping piston and a guide piston is disposed in the magnetic inner tube. An electromagnetic coil is wound on the damping piston. A circular damping gap is reserved between the damping piston and the inner wall of the magnetic inner tube as well as between the electromagnetic coil and the inner wall of the magnetic inner tube. A guide valve is disposed on an inner lower end cover of the magnetic guide tube. One port of the guide valve is communicated with a lower cavity, and the other port of the guide valve is communicated with an energy storage cavity. The electromagnetic actuator comprises a primary component and a secondary component. The secondary component comprises permanent magnets and magnetic poles, wherein the permanent magnets and the magnetic poles are alternately sleeved on the outer wall of the nonmagnetic outer tube. The primary component comprises a primary yoke. A primary core and the primary winding are fixedly and alternately arranged on the inner wall of the primary yoke. The combined actuator is capable of outputting active control force towards or opposite to motion direct of a structure, the control force has large output range, and energy consumption is low.

Description

The combined type actuator

Technical field

The utility model relates to a kind of combined type actuator for active control in structural vibration, belongs to Structure Active Control actuator field.

Background technique

At present, the structural vibration control technology has been widely used in a lot of fields such as bridge, building, ocean platform, space flight and aviation and machinery.According to the difference of control principle, the structural vibration control technology can be divided into ACTIVE CONTROL and two branches of half ACTIVE CONTROL, and half ACTIVE CONTROL energy consumption wherein is low, but its control effect is relatively poor, and ACTIVE CONTROL is effective, but its energy consumption is big, is the bottleneck of its practical application.

Existing electromagnetic actuator often is used to active control in structural vibration because it has advantages such as installing space is little, in light weight, controllability is good.Under certain control strategy, electromagnetic actuator output control force suppresses structural vibration, the direction of its control force is not subjected to the relative displacement of structure or the restriction of relative velocity, control effective, but the control force direction of no matter expecting is identical with the direction of structure relative velocity still opposite, and electromagnetic actuator all needs to provide and the corresponding electric current of control force size, therefore, its energy consumption is very big.

Existing MR damper is a kind of with intellectual material---magnetic flow liquid is as working medium, realize the shock absorber part that damping force is adjustable by the viscosity that adds loaded magnetic field change magnetic flow liquid, its outstanding characteristics are that response is fast, the damping force controlled range is wide and big or small adjustable continuously, especially advantage of low energy consumption gains great popularity it, be widely used in various structural vibration control occasions, but, MR damper is a kind of half ACTIVE CONTROL shock absorber part, can only realize the adjusting to the damping force that hinders relative movement, the control force opposite with the relative velocity direction namely can only be provided, thereby the control effect is inferior many for the electromagnetic actuator of ACTIVE CONTROL.

This shows, design that a kind of to control the structural vibration control device effective, that energy consumption is low be present urgent problem.

The model utility content

The purpose of this utility model is to provide a kind of combined type actuator for active control in structural vibration, this combined type actuator compact structure, safe and reliable to operation, the exportable active controlling force identical or opposite with the structure direction of relative movement, compare with MR damper with existing electromagnetic actuator, it has increased the active controlling force output area, has reduced the energy consumption to active control in structural vibration, and the control effect is very good.

To achieve these goals, the utility model has adopted following technological scheme:

A kind of combined type actuator for active control in structural vibration, it is characterized in that: it comprises MR damper, electromagnetic actuator, wherein:

This MR damper comprises non-magnetic conduction urceolus, be installed in the magnetically conducting inner tube in this non-magnetic conduction urceolus, on this non-magnetic conduction urceolus, lower end mouth is respectively by outer upper end cap, the sealing of outer lower end lid, on this magnetically conducting inner tube, lower end mouth is respectively by interior upper end cap, interior lower end cap sealing, be adhesive with air bag on the outer wall of this magnetically conducting inner tube, in the toroidal cavity that this air bag forms between the inwall of the outer wall of this magnetically conducting inner tube and this non-magnetic conduction urceolus, be formed with the accumulation of energy chamber between the inwall of this air bag and this non-magnetic conduction urceolus, be provided with piston assembly in this magnetically conducting inner tube, this piston assembly comprises piston rod, one end of this piston rod is connected with an end of damping piston, the other end of this piston rod upper end cap in this, pass in the through hole of offering respectively on should outer upper end cap and be exposed to this non-magnetic conduction urceolus outside, the other end of this damping piston is fixedly connected with guide piston, be wound with electromagnetic coil on this damping piston, be formed with annular damping slit between the inwall of this damping piston and this electromagnetic coil and this magnetically conducting inner tube, this electromagnetic coil is connected with power supply unit, the inwall sliding contact of this guide piston and this magnetically conducting inner tube, this damping piston and this guide piston are divided into epicoele with this magnetically conducting inner tube, two chambers of cavity of resorption, offer through hole on this guide piston, between this epicoele and this cavity of resorption via this annular damping slit, this through hole of offering on this guide piston and being communicated with, in the through hole of offering on the lower end cap in being somebody's turn to do flow-guiding valve is installed, one port of this flow-guiding valve communicates with this cavity of resorption, the another port of this flow-guiding valve is positioned at the space between this lower end cap and this outer lower end lid, is provided with the flow channel that connects between the space in this between lower end cap and this outer lower end lid and this accumulation of energy chamber;

This electromagnetic actuator comprises level assembly just, secondary component, this secondary component comprises the permanent magnet of ring-type, the magnetic pole of ring-type, from an end of this non-magnetic conduction urceolus to the other end, this permanent magnet, this magnetic pole alternately is set on the outer wall of this non-magnetic conduction urceolus, just level assembly comprises the elementary iron core of ring-type, the elementary winding of ring-type, tubular elementary yoke portion, this elementary winding is connected with this power supply unit, this elementary iron core, this elementary winding alternately be installed on the inwall of this elementary yoke portion and and this secondary component between be formed with the space, the bottom of this elementary yoke portion is equipped with the slide-and-guide bearing, the surperficial sliding contact of this slide-and-guide bearing and this secondary component, the top of this elementary yoke portion is equipped with enclosing cover, and an end that is exposed to this piston rod of this non-magnetic conduction urceolus outside is fixedlyed connected with this enclosing cover.

The utility model has the advantages that:

The utility model combined type actuator combines existing electromagnetic actuator with the characteristics of existing MR damper, when the direction of the active controlling force of the utility model combined type actuator expection output is identical with the structure direction of relative movement, by the output of the electromagnetic actuator in the utility model combined type actuator active controlling force, when the direction of the active controlling force of the utility model combined type actuator expection output is opposite with the structure direction of relative movement, by the MR damper output active controlling force that energy consumption is lower in the utility model combined type actuator, when if MR damper can't be exported whole active controlling forces, replenished by electromagnetic actuator again, so, compare with MR damper with existing electromagnetic actuator, the utility model combined type actuator has realized significantly cutting down the consumption of energy and purpose that can two-way output control force, controls effective.

Description of drawings

Fig. 1 is the schematic representation that the utility model combined type actuator is carried out compression movement;

Fig. 2 is the schematic representation that the utility model combined type actuator is carried out extensional motion.

Embodiment

As depicted in figs. 1 and 2, the combined type actuator that the utility model is used for active control in structural vibration comprises MR damper, electromagnetic actuator, wherein:

This MR damper comprises by non-magnet material (as stainless steel, aluminum alloy) the non-magnetic conduction urceolus of making 31, be installed in the magnetically conducting inner tube of being made by high permeability material (as carbon steel) 35 in this non-magnetic conduction urceolus 31, on this non-magnetic conduction urceolus 31, lower end mouth is respectively by outer

upper end cap

32,13 sealings of outer lower end lid, on this magnetically conducting inner tube 35, lower end mouth is respectively by interior upper end cap, interior lower end cap 33 sealings, in practice, the interior upper end cap of magnetically conducting inner tube 35 can share an end cap with non-magnetic conduction urceolus 31, as shown in Figure 1, magnetically conducting inner tube 35 has shared outer upper end cap 32 with non-magnetic conduction urceolus 31, this magnetically conducting inner tube 35 is via outer upper end cap 32, outer lower end lid 13 and being installed in this non-magnetic conduction urceolus 31, being adhesive with air bag 36(non-magnet material on the outer wall of this magnetically conducting inner tube 35 makes), in the toroidal cavity that this air bag 36 forms between the inwall of the outer wall of this magnetically conducting inner tube 35 and this non-magnetic conduction urceolus 31, be formed with accumulation of energy chamber 37 between the inwall of this air bag 36 and this non-magnetic conduction urceolus 31, be provided with piston assembly in this magnetically conducting inner tube 35, this piston assembly comprises piston rod 41, one end of this piston rod 41 is connected with an end of damping piston 43, the other end of this piston rod 41 upper end cap in this, pass (namely passing in the through hole that the outer upper end cap 32 from Fig. 1 is offered) in the through hole of offering respectively on this outer upper end cap 32 and be exposed to this non-magnetic conduction urceolus 31 outsides, the other end of this damping piston 43 is fixedly connected with guide piston 45, this damping piston 43 is made by high permeability material (as carbon steel), this guide piston 45 is made by non-magnet material, be wound with electromagnetic coil 44 on this damping piston 43, be formed with annular damping slit between the inwall of this damping piston 43 and this electromagnetic coil 44 and this magnetically conducting inner tube 35, this electromagnetic coil 44 is connected with the power supply unit (not shown), the inwall sliding contact of this guide piston 45 and this magnetically conducting inner tube 35, damping piston 43 is the drive of piston rod 41 and guide piston 45 slide mobile guiding function along the inwall of magnetically conducting inner tube 35 under and do axial motion in magnetically conducting inner tube 35, this damping piston 43 and this guide piston 45 are divided into epicoele 51 with this magnetically conducting

inner tube

35,52 two chambers of cavity of resorption, offer through hole 46 on this guide piston 45, between this epicoele 51 and this cavity of resorption 52 via this annular damping slit, this through hole 46 of offering on this guide piston 45 and being communicated with, in the through hole of offering on the lower end cap 33 in being somebody's turn to do flow-guiding valve 34 is installed, one port of this flow-guiding valve 34 communicates with this cavity of resorption 52, the another port of this flow-guiding valve 34 is positioned at this lower end cap 33 and this outer lower end covers 13 space, is provided with the flow channel that connects between the space that this interior lower end cap 33 and this outer lower end lid are 13 and this accumulation of energy chamber 37;

This electromagnetic actuator comprises level assembly just, secondary component, this secondary component comprises the permanent magnet 25 of ring-type, the magnetic pole 24 of ring-type, this permanent magnet 25 adopts axial charging, this magnetic pole 24 adopts high permeability material to make, as electrical pure iron, from an end of this non-magnetic conduction urceolus 31 to the other end, this permanent magnet 25, this magnetic pole 24 alternately is set on the outer wall of this non-magnetic conduction urceolus 31, the magnetic pole of the end that adjacent two permanent magnets 25 are relative is opposite, just level assembly comprises the elementary iron core 22 of ring-type, the elementary winding 21 of ring-type, upper and lower opening and tubular elementary yoke portion 11, this elementary yoke portion 11 adopts high permeability materials (as carbon steel) to make, this elementary winding 21 is connected with this power supply unit, this elementary iron core 22, this elementary winding 21 alternately be installed on the inwall of this elementary yoke portion 11 and and this secondary component between be formed with the space, the bottom of this elementary yoke portion 11 is equipped with slide-and-guide bearing 23, the surperficial sliding contact of this slide-and-guide bearing 23 and this secondary component, this slide-and-guide bearing 23 be used for making MR damper with and go up fixing secondary component and under its guiding function, do axial motion, the top of this elementary yoke portion 11 is equipped with enclosing cover 12, and an end that is exposed to this piston rod 41 of these non-magnetic conduction urceolus 31 outsides is fixedlyed connected with this enclosing cover 12.

In actual design, offer normal open hole 42 on the piston rod 41, offer the wire through-hole (not shown) on the damping piston 43, this wire through-hole communicates with this normal open hole 42, and electromagnetic coil 44 is connected with the power supply unit of outside by being laid on the lead 47 in this wire through-hole, this normal open hole 42.It should be noted that wire through-hole will encapsulate after wiring.

For first level assembly, elementary winding 21 is fixed on by support ring 27 on the inwall of elementary yoke portion 11, and this support ring 27 is made for non-magnetic conduction insulating material, as teflon, this support ring 27 is used for the winding of elementary winding 21, and makes the interval of 22 of each elementary iron cores equate.Elementary iron core 22 forms for the silicon steel plate stacking of smearing insulated paint.Can be interference fit between elementary iron core 22 and the elementary yoke portion 11 and be connected, magnitude of interference is 0.03mm-0.05mm.

For secondary component, this secondary component is fixed on the outer wall of non-magnetic conduction urceolus 31 by retaining ring 26.This retaining ring 26 is made for non-magnetic conduction insulating material, can adopt between this retaining ring 26 and the non-magnetic conduction urceolus 31 to be threaded or interference fit, and this retaining ring 26 is used for compressing magnetic pole 24 and permanent magnet 25.

In actual design, can be provided with scalable dust-proof cover 14 between the bottom of this elementary yoke portion 11 and the outer lower end lid 13, be used for preventing contamination by dust just level assembly, secondary component and influence performance.

As figure, in addition, can be respectively equipped with

draw ring

15,16 on enclosing cover 12, the outer lower end lid 13.

In the utility model, cause for compensating piston connecting rod 41 turnover magnetically conducting inner tubes 35 in accumulation of energy chamber 37, cavity of resorption 51, the Volume Changes that the magnetic flow liquid of filling in 52 Volume Changes and the utility model expands with heat and contract with cold and causes, and, accumulation of energy chamber 37 can isolate the magnetic field of electromagnetic coil 44 and magnetically conducting inner tube 35 generations with just, phase mutual interference between the magnetic field that secondary component produces, in addition, traditional double barreled MR damper is because the isolation fully of gas and liquid, gas is sneaked in the liquid easily, thereby reduced speed of response, the introducing in the accumulation of energy chamber 37 in the utility model then can be avoided this problem, can effectively shorten the response time of MR damper.

When reality was used, the controlling method of the utility model combined type actuator comprised step:

When the direction of the active controlling force of expection output is identical with the structure direction of relative movement, only export active controlling force by the electromagnetic actuator in the utility model combined type actuator;

When the direction of the active controlling force of expection output is opposite with the structure direction of relative movement, then: if the active controlling force of expection output is less than the maximum damping force of the MR damper in the utility model combined type actuator, then only by the output of the MR damper in the utility model combined type actuator active controlling force; If the active controlling force of expection output is greater than the maximum damping force of the MR damper in the utility model combined type actuator, then make the MR damper output maximum damping force in the utility model combined type actuator, by the output of the electromagnetic actuator in the utility model combined type actuator difference power value (i.e. the active controlling force of expection output deducts the capable value of maximum damping force), that is to say by MR damper and electromagnetic actuator and export active controlling force jointly.

Specify working procedure and the principle of the utility model combined type actuator below:

During use, make magnetic flow liquid be full of epicoele 51 and cavity of resorption 52, draw

ring

15,16 is connected on the corresponding construction.

Situation one: when the direction of the active controlling force of expection output is identical with the structure direction of relative movement, only by the output of the electromagnetic actuator in the utility model active controlling force, namely to elementary winding 21 logical three phase circuits, make between first level assembly and the secondary component and produce induction field, the induction field that produces makes and just produces relative movement between the level assembly and the MR damper that secondary component is fixedly arranged, reaches the purpose of exporting active controlling force.For example, when the active controlling force of expection output and structure direction of relative movement are F direction shown in Fig. 1, then just should produce corresponding induction field between level assembly and the secondary component, make and just make the compression movement identical with the F direction between the level assembly and the MR damper that secondary component fixedly is arranged (piston rod 41 is to magnetically conducting inner tube 35 interior propellings, epicoele 51 becomes big, and cavity of resorption 52 diminishes).Again for example, when the active controlling force of expection output and structure direction of relative movement are F direction shown in Fig. 2, then just should produce corresponding induction field between level assembly and the secondary component, (piston rod 41 is extracted out outside magnetically conducting inner tube 35 to make the extensional motion that just work is identical with the F direction between the level assembly and the MR damper that secondary component is fixedly arranged, epicoele 51 diminishes, and cavity of resorption 52 becomes big).And this moment is not to electromagnetic coil 44 energisings (electric current that is MR damper is set to zero), do not produce induction field between electromagnetic coil 44 and the magnetically conducting inner tube 35, though just between level assembly and the MR damper that secondary component fixedly is arranged work compress or the extensional motion process in, magnetic flow liquid can be last, cavity of

resorption

51,52, flow (flow direction as shown in FIG.) between the accumulation of energy chamber 37, but owing to do not produce induction field between electromagnetic coil 44 and the magnetically conducting inner tube 35, so, MR damper can not produce any effect by the magnetic flow liquid when flowing through annular damping slit, here it should be noted that, this moment, MR damper can produce the null field damping force opposite with the active controlling force of electromagnetic actuator output, but because the power value of null field damping force is very little, therefore can ignore, in a word, MR damper externally shows as and does not export active controlling force.

Situation two: when the direction of the active controlling force of expection output is opposite with the structure direction of relative movement, if the active controlling force of expection output is less than the maximum damping force (during the input maximum current) of MR damper, then only need to feed the suitably electric current of size to the electromagnetic coil 44 of MR damper, thereby only by MR damper output active controlling force, and do not switch on to elementary winding 21 this moment, and electromagnetic actuator is not exported active controlling force.Be specially:

If the active controlling force of expection output is the F direction shown in Fig. 1 (the structure direction of relative movement is opposite with the F direction), then make electromagnetic coil 44 feed suitable electric current, produce corresponding induction field between electromagnetic coil 44 and the magnetically conducting inner tube 35, magnetic flow liquid in the annular damping slit is subjected to magnetic field induction to change oneself viscosity (generation damping force), cause magnetic flow liquid (in a large number) in the cavity of resorption 52 via through hole 46, annular damping slit flows into epicoele 51(shown in arrow among the figure), epicoele 51 becomes big, cavity of resorption 52 diminishes, piston rod 41 advances in magnetically conducting inner tube 35, the first work compression movement identical with the F direction between level assembly and the MR damper that secondary component is fixedly arranged, MR damper produces the active controlling force of F direction shown in Fig. 1, and the magnetic flow liquid (on a small quantity) in this moment cavity of resorption 52 is via flow-guiding valve 34, flow channel is 37 inflows (shown in arrow among the figure) to the accumulation of energy chamber.

If the active controlling force of expection output is the F direction shown in Fig. 2 (the structure direction of relative movement is opposite with the F direction), then make electromagnetic coil 44 feed suitable electric current, produce corresponding induction field between electromagnetic coil 44 and the magnetically conducting inner tube 35, magnetic flow liquid in the annular damping slit is subjected to magnetic field induction to change oneself viscosity (generation damping force), cause magnetic flow liquid (in a large number) in the epicoele 51 via annular damping slit, through hole 46 flows into cavity of resorption 52(shown in arrow among the figure), cavity of resorption 52 becomes big, epicoele 51 diminishes, piston rod 41 is extracted out outside magnetically conducting inner tube 35, the first work extensional motion identical with the F direction between level assembly and the MR damper that secondary component is fixedly arranged, MR damper produces the active controlling force of F direction shown in Fig. 2, and the magnetic flow liquid (on a small quantity) in the chamber of accumulation of energy at this moment 37 is via flow channel, flow-guiding valve 34 flows into (shown in arrow among the figure) to cavity of resorption 52.

Situation three: when the direction of the active controlling force of expection output is opposite with the structure direction of relative movement, if the active controlling force of expection output is greater than the maximum damping force (during the input maximum current) of MR damper, then the electromagnetic coil 44 to MR damper feeds maximum electric current, on the basis of the maximum damping force that MR damper can provide, produce difference power value by electromagnetic actuator again, export active controlling force jointly by MR damper and electromagnetic actuator, so both increased the output area of active controlling force, significantly reduced energy consumption again, with existing MR damper, electromagnetic actuator is compared, and vibration control effect and energy-saving effect are all very remarkable.Specifically, electromagnetic coil 44 feeds maximum current, secondary windings 21 feeds suitable three phase circuit, the corresponding induction field that produces between electromagnetic coil 44 and the magnetically conducting inner tube 35 and the corresponding induction field that just produces between level assembly and the secondary component make work compression or the extensional motion opposite with the structure direction of relative movement between the level assembly and the MR damper that secondary component is fixedly arranged just jointly, its concrete principle and process are seen the description in the above-mentioned situation one, two, no longer here give unnecessary details.

The utility model has the advantages that:

In a word, the utility model combined type actuator compact structure, safe and reliable to operation, the exportable active controlling force identical or opposite with the structure direction of relative movement, compare with MR damper with existing electromagnetic actuator, it has increased the active controlling force output area, has reduced the energy consumption to active control in structural vibration, and the control effect is very good.

Above-mentioned is preferred embodiment of the present utility model and the know-why used thereof; for a person skilled in the art; under the situation that does not deviate from spirit and scope of the present utility model; any based on apparent changes such as the equivalent transformation on the technical solutions of the utility model basis, simple replacements, all belong within the utility model protection domain.

Claims

1. combined type actuator, it is characterized in that: it comprises MR damper, electromagnetic actuator, wherein:

2. combined type actuator as claimed in claim 1 is characterized in that:

Offer the normal open hole on the described piston rod, offer wire through-hole on the described damping piston, this wire through-hole communicates with this normal open hole, and described electromagnetic coil is connected with the described power supply unit of outside by being laid on the lead in this wire through-hole, this normal open hole.

3. combined type actuator as claimed in claim 1 is characterized in that:

Described elementary winding is fixed on the inwall of described elementary yoke portion by support ring, and this support ring is that non-magnetic conduction insulating material is made.

4. combined type actuator as claimed in claim 1 is characterized in that:

Described elementary iron core is that the silicon steel plate stacking of smearing insulated paint forms.

5. as claim 1 or 3 or 4 described combined type actuator, it is characterized in that:

For interference fit is connected, magnitude of interference is 0.03mm-0.05mm between described elementary iron core and the described elementary yoke portion.

6. combined type actuator as claimed in claim 1 is characterized in that:

Described secondary component is fixed on the outer wall of described non-magnetic conduction urceolus by retaining ring.

7. combined type actuator as claimed in claim 1 is characterized in that:

Be provided with scalable dust-proof cover between the bottom of described elementary yoke portion and the described outer lower end lid.

8. combined type actuator as claimed in claim 1 is characterized in that:

Described enclosing cover, described outer lower end cover and are respectively equipped with draw ring.

9. combined type actuator as claimed in claim 1 is characterized in that:

Described damping piston is made by high permeability material, and described guide piston is made by non-magnet material.