CN209511004U - Actively compound variable damping control device for pivoting - Google Patents
Actively compound variable damping control device for pivoting Download PDFInfo
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- CN209511004U CN209511004U CN201920180785.3U CN201920180785U CN209511004U CN 209511004 U CN209511004 U CN 209511004U CN 201920180785 U CN201920180785 U CN 201920180785U CN 209511004 U CN209511004 U CN 209511004U
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- driver
- variable damping
- pivoting
- control device
- rotary inertia
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Abstract
The inhibition field that the utility model relates to vibrate in system discloses a kind of compound variable damping control device for pivoting of active comprising variable damping module and power plant module；Variable damping module includes magnetorheological liquid case and rotary inertia wheel, and rotary inertia wheel is set in magnetorheological liquid case, is provided with electromagnetism gauze in two circular end faces of magnetorheological liquid case；Power plant module includes device lumen, driver, encoder and speed changer, driver is fixed on device lumen wall, one end of driver is equipped with encoder, the other end is connect with speed changer, and the drive shaft of driver passes through speed changer, protrudes into that magnetorheological liquid case is vertical with the center of rotary inertia wheel to fix.The rotary damping of the rotary inertia wheel of the utility model can automatically adjust, degree of regulation is high, and adjustable range is wide, and system application range is big, the utility model has bigger robustness, and control effect will not be a greater impact because of the change that structure type changes and external loads act on.
Description
Technical field
The inhibition field that the utility model relates to vibrate in system turns in particular to a kind of compound variable damping of active
Dynamic control device.
Background technique
In recent years, highway, railway, bridge, skyscraper, large-span space structure etc. are constantly built, ocean platform,
The structures such as space station also rapidly develop.These job facilities, structure are in use often in the work of external loads
It is vibrated with lower generation, serious can generate is waved, or even is destroyed.In order to solve various caused by being vibrated by works ask
Topic, vibration control technology come into being.
In terms of structural vibration control technology is broadly divided into following four: active control, passive control, semi- active control and
Mixing control.For various engineering structures, the dynamic response of structure can effectively be mitigated by properly installing vibration control system,
Mitigate structural damage or fatigue damage.
The movement of structure is usually composed of translation and torsionoscillation.Research shows that translation tuned mass damper
(English name Tuned Mass Damper, TMD), active mass damper/active torque output device (English name Active
Mass Damper/Driver, AMD) due to need to provide centripetal force in torsionoscillation and weaken significantly control effect even it is complete
It is complete ineffective therefore nearly unavailable to shimmy control is turned round.However there is the structure motion form for turning round shimmy kinetic characteristic
It is extremely common, such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；Sea
Torsion of the foreign platform under the couplings such as wave, wind, ice is shimmy；Spaceship, space structure in the process of running, due to from
Body stance adjustment and solar energy sailboard reverse lagging motion caused by opening；High-speed railway locomotive, since small excitation causes
The torsion lagging motion of vehicle body etc..Therefore a kind of special control system is needed, allows to overcome (or getting rid of) weight automatically
Influence (centrifugal force effect) of the field of force to control system itself, or make the work/characteristics of motion and gravity of control system itself
Field decoupling, system self-vibration is not influenced by gravitation, to play the effective control action of control system.
Generally speaking, existing Structural Vibration Control Systems mainly have the following deficiencies: first, be translatable TMD control device
Can only the translational motion of control structure and it is invalid to shimmy control is turned round；Second, although translation AMD control device can control back
Switch vibration, but control efficiency is extremely low, is unable to satisfy requirement；Third, passive rotation inertia tuned damper is to gyroscopic pendulum
Motion control of shaking is effective, but it needs to carry out complicated frequency modulation for structure itself, to certain labyrinth control efficiencies compared with
It is low, ineffective, the disadvantages of it is low that there are robustness, and controllability is low, and the scope of application is small；4th, it actively can not variable damping rotation control
The system scope of application processed is small, and control force output is limited, and control effect is limited；5th, it actively can not variable damping Rotable Control System
Energy utilization rate not can guarantee, and be unable to satisfy the demand of economy.
The utility model is exactly to generate in this context.
Utility model content
The main purpose of the utility model is that providing a kind of compound variable damping rotation control dress of active in view of the above problems
It sets.
To achieve the goals above, the compound variable damping control device for pivoting of the active of the utility model includes variable damping module
And power plant module；
Variable damping module includes magnetorheological liquid case and rotary inertia wheel, and magnetorheological liquid case is circular tube shaped, and full magnetic is filled in inside
Rheology liquid, rotary inertia wheel are set in magnetorheological liquid case, are surrounded by magnetorheological fluid, in two circular end faces of magnetorheological liquid case
It is provided with electromagnetism gauze；
Power plant module includes device lumen and is fixed on the intraluminal driver of device, encoder and speed changer, device pipe
Chamber is cylindrical shape, is vertically fixed at the center of magnetorheological liquid case circular end face, and driver is fixed on device lumen wall, is driven
One end of dynamic device is equipped with encoder, and the other end is connect with speed changer, the drive shaft of driver across speed changer, protrude into it is magnetorheological
Liquid case is vertical with the center of rotary inertia wheel to fix.
Further, the utility model further includes driver rack, and driver is fixed on device pipe by driver rack
It is intracavitary.
Further, the utility model further includes controller, and controller passes through route and electromagnetism gauze, driver and coding
Device connection.
Further, rotary inertia wheel is the intermediate round pie being recessed inwardly, and outer surface is provided with strip groove or protrusion,
To increase friction and contact area with magnetorheological fluid.
Further, the drive shaft of driver is connect by flange tray joint shaft with rotary inertia wheel.
Further, controlled structure is installed on device lumen, and rotary inertia wheel is parallel to the plane of rotation of controlled structure.
Further, driver, speed changer and encoder are coaxial.
Further, speed changer is retarder.
Further, driver is servo motor or stepper motor.
The utility model has the following beneficial effects:
(1) rotary damping of the rotary inertia wheel of the utility model can automatically adjust, and degree of regulation is high, adjustable range
Extensively, system application range is big；
(2) the utility model has bigger robustness, and control effect will not change because of structure type and external loads
The change of effect and be a greater impact；
(3) the utility model is suitable for the case where being suitble to structure to rotate, reverse or turn round lagging motion, the scope of application
Extensively.
Detailed description of the invention
Fig. 1 is the utility model structure diagram；
Fig. 2 is the utility model magnetorheological fluid box structure schematic diagram；
Fig. 3 is the utility model scheme of installation in single pendulum structure；
Wherein, the above drawings include the following reference numerals: 1, magnetorheological liquid case；2, rotary inertia wheel；3, device lumen；4,
Driver；5, encoder；6, speed changer；7, it is controlled structure；8, electromagnetism gauze；9, controller；10, driver rack.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
The present embodiment is by taking single pendulum structural model is the structure of basic mechanical model prototype as an example；
As shown in Figure 1-3, the compound variable damping control device for pivoting of the active of the utility model includes variable damping module and moves
Power module；Variable damping module includes magnetorheological liquid case 1 and rotary inertia wheel 2, and power plant module includes device lumen 3 and is fixed on dress
Intraluminal driver 4, encoder 5 and speed changer 6 are set, controlled structure 7 is installed on device lumen, and rotary inertia wheel is parallel to
The shimmy face that twists of controlled structure.
Magnetorheological liquid case is circular tube shaped, surrounds a sealing space, inside filling by two circular end faces and a cylinder
Full magnetorheological fluid, rotary inertia wheel are set in magnetorheological liquid case, are surrounded by magnetorheological fluid, and rotary inertia wheel concaves for centre
Sunken round pie, outer surface are provided with strip groove or protrusion, these strip grooves or protrusion can increase and magnetorheological fluid
Friction and contact area；Electromagnetism gauze 8 is provided in two circular end faces of magnetorheological liquid case, route and control are crossed by electromagnetic wire Netcom
Device 9 processed connects, and controller is also connect with driver and encoder.
Device lumen is cylindrical shape, is vertically fixed at the center of magnetorheological liquid case circular end face, driver passes through driving
Device bracket 10 is fixed on device lumen wall, and one end of driver is equipped with encoder, and the other end is connect with speed changer, is driven
Dynamic device, speed changer and encoder are coaxial, and the drive shaft of driver passes through speed changer, protrudes into magnetorheological liquid case and rotary inertia wheel
Center is vertically fixedly connected by flange tray joint shaft.
In the present embodiment, in addition to being set to driver tail end for acquiring the encoder of rotary inertia rotation data, suspension centre
Place is also equipped with a sensor, and for acquiring the rotation data of controlled structure, sensor herein can be used but is not limited to
Optical electric axial angle encoder, angular acceleration transducer or gyroscope.
The action principle of the utility model is as follows:
The sensor being arranged at controlled structure suspension centre acquires lagging motion state, that is, pivot angle of controlled structure and pivot angle adds
Speed data, and controlled configuration state data transmission to controller, controller judges whether to need to carry out active control, works as quilt
When the structure shimmy exercise data of generation revolution is controlled beyond threshold value set before, controller control driver is acted；It drives
The dynamic coaxial mounted encoder in device end acquires the rotation situation of driver in real time, feeds back to controller, realizes controller and quilt
Control the closed-loop control of structure and driver；Driver can control rotary inertia according to the structure motion state of real-time measurement
Revolution rotation occurs for wheel, while by the size of control electromagnetism gauze electric current, adjusting suitable magnetic field strength, matching rotary inertia
Take turns the damping of rotation.Rotary inertia rotates the raw reaction force acts of movable property on device lumen, and then passes to and device pipe
In the controlled structure of chamber connection, inhibit the swing of controlled structure.
The magnetic effect of electric current and the basic principle of magnetorheological fluid is utilized in the utility model, by acquiring controlled structure in real time
Amplitude of fluctuation and frequency, change the rotation and rotary damping of the rotary inertia wheel of driver control in real time, adjustment effect exists
Control moment in controlled structure, adjusts drive energy output size, and the vibration of control structure guarantees higher control efficiency.
The device can be applied in the basic prototype motion model of mechanics problem following but not limited to the following: single pendulum structure
Freely swing；The vibration of constrained inverted pendulum structure；Rigid body around any axis in space fixed-axis rotation etc., in practical projects
Such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；Ocean platform exists
Torsion rocking vibration under the couplings such as wave, wind, ice etc.；Spaceship, space structure in the process of running, due to itself
Stance adjustment and solar energy sailboard reverse lagging motion caused by opening；High-speed railway locomotive, during high-speed cruising, by
Torsion rocking vibration campaign of the vehicle body caused by small excitation etc..
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of compound variable damping control device for pivoting of active, which is characterized in that
Including variable damping module and power plant module；
Variable damping module includes magnetorheological liquid case (1) and rotary inertia wheel (2), and magnetorheological liquid case (1) is circular tube shaped, inside filling
Full magnetorheological fluid, rotary inertia wheel (2) are set in magnetorheological liquid case (1), are surrounded by magnetorheological fluid, magnetorheological liquid case (1)
Electromagnetism gauze (8) are provided in two circular end faces；
Power plant module includes device lumen (3) and the driver (4) being fixed in device lumen (3), encoder (5) and speed changer
(6), device lumen (3) is cylindrical shape, is vertically fixed at the center of magnetorheological liquid case (1) circular end face, and driver (4) is fixed
On device lumen (3) inner wall, one end of driver (4) is equipped with encoder (5), and the other end is connect with speed changer (6), driving
The drive shaft of device (4) passes through speed changer (6), protrudes into that magnetorheological liquid case (1) is vertical with the center of rotary inertia wheel (2) to fix.
2. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that further include driver branch
Frame (10), driver (4) are fixed in device lumen (3) by driver rack (10).
3. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that further include controller
(9), controller (9) is connect by route with electromagnetism gauze (8), driver (4) and encoder (5).
4. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that rotary inertia wheel (2)
For the round pie that centre is recessed inwardly, outer surface is provided with strip groove or protrusion, to increase the friction with magnetorheological fluid and connect
Contacting surface product.
5. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that the drive of driver (4)
Moving axis is connect by flange tray joint shaft with rotary inertia wheel (2).
6. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that controlled structure (7) peace
Loaded on device lumen (3), rotary inertia wheel (2) is parallel to the shimmy face that twists of controlled structure (7).
7. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that driver (4), speed change
Device (6) and encoder (5) are coaxial.
8. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that speed changer (6) is to subtract
Fast device.
9. the compound variable damping control device for pivoting of active according to claim 1, which is characterized in that driver (4) is to watch
Take motor or stepper motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920180785.3U CN209511004U (en) | 2019-02-01 | 2019-02-01 | Actively compound variable damping control device for pivoting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920180785.3U CN209511004U (en) | 2019-02-01 | 2019-02-01 | Actively compound variable damping control device for pivoting |
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| Publication Number | Publication Date |
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| CN209511004U true CN209511004U (en) | 2019-10-18 |
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ID=68203781
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201920180785.3U Active CN209511004U (en) | 2019-02-01 | 2019-02-01 | Actively compound variable damping control device for pivoting |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109654162A (en) * | 2019-02-01 | 2019-04-19 | 青岛理工大学 | Actively compound variable damping control device for pivoting |
-
2019
- 2019-02-01 CN CN201920180785.3U patent/CN209511004U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109654162A (en) * | 2019-02-01 | 2019-04-19 | 青岛理工大学 | Actively compound variable damping control device for pivoting |
| WO2020155642A1 (en) * | 2019-02-01 | 2020-08-06 | 青岛理工大学 | Active composite variable-damping rotation control apparatus |
| US10962077B2 (en) | 2019-02-01 | 2021-03-30 | Qingdao university of technology | Active composite variable damping rotational control device |
| CN109654162B (en) * | 2019-02-01 | 2024-04-12 | 青岛理工大学 | Active composite damping-variable rotation control device |
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