CN212567655U - Multi-spring connection double-moving-plate bending and torsion coupling vibration control device - Google Patents
Multi-spring connection double-moving-plate bending and torsion coupling vibration control device Download PDFInfo
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- CN212567655U CN212567655U CN202021704721.8U CN202021704721U CN212567655U CN 212567655 U CN212567655 U CN 212567655U CN 202021704721 U CN202021704721 U CN 202021704721U CN 212567655 U CN212567655 U CN 212567655U
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Abstract
The utility model discloses a multi-spring connection double-moving-plate bending and torsional coupling vibration control device, which comprises a multi-spring connection double-moving-plate body part, a vibration detection part and a drive control part; the multi-spring connection double-moving-plate body part comprises a first flexible cantilever plate and a second flexible cantilever plate, one end of each flexible cantilever plate is fixed on the servo platform through a mechanical clamping device, the other end of each flexible cantilever plate is a free end, the free ends of the flexible cantilever plates are coupled through multi-spring connection, a piezoelectric ceramic sensor, an acceleration sensor, a laser displacement sensor and a binocular vision measuring system are used for detecting vibration signals of the multi-spring connection double-moving-plate structure, and a rolling guide rail and a piezoelectric driver which are driven by a servo motor serve as actuators for restraining vibration. The device can be used for researching the influence of the bending and torsion coupling characteristics of the multi-spring connection double moving plate on the vibration of the flexible cantilever plate structure and controlling the vibration.
Description
Technical Field
The utility model relates to a flexible construction's coupling vibration control field, concretely relates to crooked torsional coupling vibration controlling means of two movable plates of many spring couplings.
Background
In the field of aerospace and industrial production, flexible structures are widely applied, and different from rigid structures, the flexible structures have the characteristics of light weight, low energy consumption, high efficiency and flexible operation, but the natural frequency of the flexible structures is low, low-frequency modal vibration is easy to excite, solar sailboards of many spacecrafts all adopt flexible cantilever plate structures, the flexible plate structures have the vibration characteristics of bending and torsion, and in recent years, the bending and torsion coupling vibration characteristics and active control of multiple flexible plates become key and hot subjects of current world research. In the process of adjusting the posture of the spacecraft, the solar sailboard is excited to vibrate by movement, the stability of the spacecraft is affected, and therefore the research on the vibration characteristics of bending and torsional coupling of the multi-spring connection double-moving-board is of great significance.
The linear rolling guide rail has the advantages of high positioning precision, capability of realizing gapless light and fast movement, high precision, high rigidity, large allowable load and high efficiency, the servo motor has the advantages of high control precision, fast response, wide speed regulation range, good dynamic characteristic, simplicity and convenience in operation, capability of positioning and servo and the like, and the servo motor drives the linear rolling guide rail to realize fast positioning and movement.
The measurement method is generally divided into contact measurement and non-contact measurement, and the contact measurement is performed by a piezoelectric sensor, an acceleration sensor and the like, so that the measurement method has the characteristics of good measurement effect and high precision, but the added mass and rigidity brought by the measurement method can influence the original structure. Compared with the traditional contact type measurement, the non-contact type measurement such as a laser displacement sensor and binocular vision measurement can avoid the influence on the original structure, but the measurement precision is limited by the precision of a probe or a camera and a lens.
SUMMERY OF THE UTILITY MODEL
In order to overcome the shortcoming and the deficiency that prior art exists, the utility model aims at providing a crooked torsional coupling vibration control device of two movable plates of multi-spring connection, the utility model discloses fully considered the produced coupling of multi-spring connection and removed the influence to the vibration of flexible cantilever plate.
The utility model adopts the following technical scheme:
a multi-spring connection double-moving-plate bending and torsional coupling vibration control device comprises a multi-spring connection double-moving-plate body part, a vibration detection part and a driving control part;
the multi-spring connection double-moving-plate body part comprises a spring support, a follow-up platform, a first flexible cantilever plate and a second flexible cantilever plate, wherein the first flexible cantilever plate and the second flexible cantilever plate are arranged in parallel, one end of the first flexible cantilever plate and one end of the second flexible cantilever plate are fixed on the follow-up platform through a mechanical clamping device, the other end of the first flexible cantilever plate and the second flexible cantilever plate are free ends, the two spring supports are respectively positioned on the outer sides of the free ends of the two flexible cantilever plates, the inner sides of the free ends of the two flexible cantilever plates are connected with each other through flexible springs, the free ends of the two flexible cantilever plates are respectively connected with the spring support through springs, all the springs are in the same pre-tightening state, and bending and torsional coupling of the multi-spring connection double; the servo platform is fixed on the sliding blocks of the rolling driving guide rail and the rolling driven guide rail and moves along with the movement of the sliding blocks, the rolling driving guide rail and the rolling driven guide rail are connected through a synchronous belt structure, and the rolling driving guide rail and the rolling driven guide rail are arranged on the experiment table base in parallel;
the vibration detection part comprises a contact detection unit and a non-contact detection unit;
the contact type detection unit comprises a piezoelectric ceramic sensor and an acceleration sensor, wherein the piezoelectric ceramic sensor and the acceleration sensor are arranged on the flexible cantilever and used for detecting vibration signals and inputting the vibration signals into the drive control part;
the non-contact detection unit comprises a laser displacement sensor and a binocular vision measurement unit, wherein the laser displacement sensor detects vibration signals of the flexible cantilever plate and inputs the vibration signals into the drive control part;
the binocular vision measuring unit comprises a CCD camera and a laser projector, the laser projector projects a laser dot matrix onto the flexible cantilever, and the CCD camera collects images and inputs the images into a computer.
And the drive control part is used for receiving the signal of the vibration detection part to obtain a control signal, driving the follow-up platform to move and inhibiting the vibration of the flexible cantilever plate.
Preferably, the drive control part comprises a rolling guide rail unit and a piezoelectric drive vibration control unit;
the rolling guide rail unit comprises a servo motor, a servo motor driver, a terminal board, a motion control card and a computer; the servo motor drives the rolling driving guide rail to rotate through the coupler, the servo motor is connected with the servo motor driver, the servo motor driver is connected with the terminal board, the terminal board is connected with the motion control card, the motion control card is connected with the computer, the encoder of the servo motor feeds back the rotation information of the motor to the servo motor driver, the motion control card is transmitted through the terminal board and further input into the computer, and the computer obtains control quantity according to the feedback information and drives the servo motor to rotate through the motion control card, the terminal board and the servo motor driver;
the piezoelectric driving vibration control unit comprises a piezoelectric amplifying circuit and a piezoelectric driver, the piezoelectric driver is pasted on the flexible cantilever plate, vibration signals measured by the piezoelectric ceramic sensor, the acceleration sensor, the laser displacement sensor and the binocular vision measuring unit are input into a computer, the computer obtains control signals, the control signals are output to the piezoelectric driver through the motion control card and the terminal board and piezoelectric amplifying signals, and the piezoelectric driving vibration control unit is used for inhibiting vibration of the flexible cantilever plate.
Preferably, the acceleration sensor comprises two flexible cantilever plates, one free end of each flexible cantilever plate is arranged on a midline of the flexible cantilever plate in the width direction.
Preferably, the piezoelectric driver comprises 16 piezoelectric ceramic plates, eight flexible cantilever plates are adhered to two sides of the center line of each flexible cantilever plate, two flexible cantilever plates are symmetrically adhered to two sides of each flexible cantilever plate, and each flexible cantilever plate is connected in parallel.
Preferably, the piezoelectric ceramic sensor comprises two piezoelectric ceramic plates, and one flexible cantilever plate is positioned on a central line of the flexible cantilever plate in the width direction of the free end.
Preferably, the inboard of two flexible cantilever plate free ends passes through flexible spring interconnect, and the free end of two flexible cantilever plates passes through the spring to be connected with spring bracket respectively, specifically is:
the first flexible cantilever plate and the second flexible cantilever plate are arranged between the two spring supports, the first flexible cantilever plate and the second flexible plate are connected with the spring supports on the outer sides of the first flexible cantilever plate and the second flexible plate through an upper flexible spring, a middle flexible spring and a lower flexible spring respectively, the inner sides of the first flexible plate and the second flexible plate are connected through the upper flexible spring, the middle flexible spring and the lower flexible spring respectively, the three springs on the upper portion are located on the same straight line, the three springs on the middle portion are located on the same straight line, the three springs on the lower portion are located on the same straight line, the nine springs are in the same pre-tightening state, and the bending and torsional vibration coupling of the multi-spring connection double movable plates is achieved.
Preferably, each flexible cantilever plate is measured by using two laser displacement sensors, and the two laser displacement sensors are positioned at two sides of the flexible cantilever plate and are 150mm away from the free end of the flexible cantilever plate and 30mm away from the upper edge and the lower edge of the flexible cantilever plate.
Preferably, the two CCD cameras and the laser projector are fixed on a binocular vision measuring unit support, and the binocular vision measuring unit support is arranged on the experiment table base.
Preferably, the slider planes of the rolling drive rail and the rolling driven rail have the same height.
A control process of a multi-spring connection double-moving-plate bending and torsional coupling vibration control device comprises the following steps:
firstly, respectively detecting the vibration of a flexible cantilever plate by utilizing a piezoelectric ceramic sensor, an acceleration sensor, a laser displacement sensor and a binocular vision measuring unit to obtain corresponding measuring signals;
secondly, amplifying the piezoelectric ceramic sensor signal acquired in the first step through a charge amplifier, transmitting the amplified piezoelectric ceramic sensor signal through a terminal board, converting an analog signal into a digital signal through an A/D conversion module in a motion control card, and transmitting the digital signal to a computer; the vibration signal detected by the acceleration sensor is input to the motion control card, and the analog signal is converted into a digital signal through an A/D conversion module in the motion control card and is transmitted to a computer; the vibration signal detected by the laser displacement sensor is transmitted through the terminal board, and an A/D conversion module in the motion control card converts an analog signal into a digital signal and transmits the digital signal to a computer; the binocular vision measuring unit transmits the shot image of the mark point to a computer through a USB interface, processes the image, extracts and calculates vibration information;
thirdly, according to the detection signal obtained in the second step, the computer runs a corresponding active control algorithm to obtain a corresponding vibration feedback signal, the vibration feedback signal is output through a D/A module of the motion control card, the signal is amplified through a piezoelectric amplifying circuit through information transmission of a terminal board and is transmitted to a piezoelectric sheet driver for responding, and the vibration feedback signal is used for controlling the vibration of the multi-spring connection double-movement flexible cantilever plate; meanwhile, a corresponding control algorithm is operated, after the track of the motor is planned, the output of the motor is transmitted to a servo motor driver through a motion control card and a terminal board D/A module to drive the servo motor to rotate, the rotation of the servo motor drives the lead screw of the rolling guide rail to move through a coupler, so that the servo platform is driven to move through a sliding block, and the movement and the vibration of the multi-spring connection double-movement flexible cantilever plate body part are controlled;
and fourthly, obtaining a plurality of experimental results through changing control parameters and repeated tests to obtain the vibration characteristics and the control effect of the multi-spring connection double-movement flexible cantilever plate.
The utility model has the advantages that:
(1) the utility model discloses a reasonable mechanical structure design, fix two identical flexible cantilever boards on same follow-up platform through mechanical clamping device respectively, connect through a plurality of springs between the flexible cantilever board to the crooked and torsional vibration of two flexible cantilever boards of coupling, provide good condition for studying the influence that many spring connection structure vibrates to the flexible cantilever board of removal;
(2) the utility model adopts the servo motor to drive the rolling guide rail and the piezoelectric driver to compositely drive the flexible cantilever plate structure, so that the flexible cantilever plate structure moves in a larger linear range, and the flexible cantilever plate structure realizes stable, accurate and quick positioning and pointing in a larger working space and quickly inhibits vibration;
(3) the utility model discloses in experimental apparatus has adopted rolling guide transmission structure, compares with other drive mechanism, and it has advantages such as the transmission is accurate, the transmission is steady, positioning accuracy is high, the allowable load is big.
(4) The utility model discloses a two kinds of measuring method of contact measurement and non-contact measurement can select measuring method according to the demand, has fully considered contact measurement and non-contact measurement's advantage and disadvantage, and the additional mass and the rigidity that the contact brought can exert an influence to the structure, but measurement accuracy is higher. Non-contact measurement does not produce additional effects but the measurement accuracy is poor compared to contact measurement. The multi-sensor detection and combination method is used for detecting and comparing the vibration of the multi-spring connection double-movement flexible cantilever plate, and is beneficial to improving the detection precision.
(5) The utility model discloses use follow-up platform to make measuring device and the synchronous removal of many spring coupling double movable plate body structure to make and measure more convenient, it is higher to detect the precision.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a front view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a right side view of FIG. 1;
FIG. 5 is a schematic view of a rolling screw and timing belt structure;
fig. 6 is a control flow chart of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples and drawings, but the present invention is not limited thereto.
Examples
As shown in fig. 1 to 5, a bending and torsional coupling vibration control device for a multi-spring connection dual moving plate comprises a body part of the multi-spring connection dual moving plate, a vibration detection part and a driving control part;
-the multi-spring connecting dual moving plate body portion comprises:
the two flexible cantilever plates with completely consistent size and material are respectively a first flexible cantilever plate 7 and a second flexible cantilever plate 8, the two flexible cantilever plates are arranged in parallel, one end of each flexible cantilever plate is fixed by a mechanical clamping device 9, the end is called a fixed end, the other end is a free end, and the mechanical clamping device is fixed on a follow-up platform 18. The two spring supports are respectively positioned on the outer sides of the free ends of the two flexible cantilever plates, one side, opposite to the two flexible cantilever plates, of the two flexible cantilever plates is the inner side, and the other side of the two flexible cantilever plates is the outer side. Be connected through flexible spring 2 respectively between two flexible cantilever plates and the spring bracket, concrete connection mode is:
the inner sides of the free ends of the two flexible cantilever plates are mutually connected through the upper, middle and lower flexible springs, the outer sides of the free ends of the flexible cantilever plates are respectively connected with the spring support through the upper, middle and lower springs, the upper three springs are ensured to be in a straight line, the middle three springs are in a straight line, the lower three springs are in a straight line, and the springs are ensured to be in the same pre-tightening state, so that the bending and torsional coupling of the double plates connected by the multiple springs are realized.
The follow-up platform is fixed on the sliding blocks of the rolling driving guide rail 13 and the rolling driven guide rail 19, the follow-up platform moves along with the movement of the sliding blocks, the rolling driving guide rail and the rolling driven guide rail are connected through a synchronous belt structure 26, the experiment table base 17 is composed of parts such as a section bar and a stainless steel plate, the rolling driving guide rail 13 and the rolling driven guide rail 19 are fixed on the stainless steel plate, and therefore the sliding block plane of the rolling driving guide rail 13 and the sliding block plane of the rolling driven guide rail 19 are guaranteed to be at the same height. The spring support 3, the laser displacement sensor support 4 and the binocular vision measuring unit support 16 are fixed on the follow-up platform 18 and move synchronously with the follow-up platform.
-the vibration detecting section includes:
the detection unit comprises a piezoelectric ceramic sensor 11 and an acceleration sensor 1 during contact, detects a vibration signal of an attached flexible cantilever plate through the sensing characteristic of the detection unit, converts the vibration signal into an electric signal and outputs the electric signal, the electric signal of the piezoelectric ceramic sensor 11 is amplified by a charge amplifier 21 and then transmitted to a motion control card 24 through a terminal board 23, and an analog standard electric signal is converted into a digital signal in proportion through an A/D conversion module in the motion control card 24 and then transmitted to a computer; the vibration signal detected by the acceleration sensor 1 is transmitted to the motion control card 24 through the terminal board, and the analog signal is converted into a digital signal by an a/D conversion module inside the motion control card 24 and transmitted to the computer 25.
The acceleration sensor specifically comprises two flexible cantilever plates, wherein one flexible cantilever plate is arranged at the free end of each flexible cantilever plate and is arranged at the center line of the flexible cantilever plate in the width direction; the two acceleration sensors can respectively detect the compound information of the tail end vibration and the movement of the two flexible cantilever plates and transmit the compound information to a computer as feedback signals.
The piezoelectric ceramic sensor 11 comprises 2 piezoelectric ceramic plates, wherein each flexible cantilever plate is 1, is respectively positioned on the center line of the width direction of the free ends of the first flexible cantilever plate 7 and the second flexible cantilever plate 8, is pasted on a single surface, can be used for detecting the vibration information of the flexible cantilever plates, and is transmitted to a computer as a feedback signal.
The non-contact detection unit comprises a laser displacement sensor and a binocular vision measurement unit,
each flexible cantilever plate is measured by two laser displacement sensors 6, the laser displacement sensors are positioned on two sides of the free end of the flexible cantilever plate, detect vibration signals of the flexible cantilever plate and input the vibration signals into a drive control part; the laser displacement sensor measures the position 150mm away from the free end of the flexible cantilever plate and 30mm away from the upper edge and the lower edge.
Each flexible cantilever plate is provided with a group of binocular vision measuring units which comprise two CCD cameras 5 and a laser projector 15, the distance between each camera and the flexible cantilever plate is 500-600 mm, the horizontal distance between the two CCD cameras is 200mm, and the two CCD cameras 5 and the laser projector 15 are fixed on a binocular vision measuring unit support 16. The binocular vision measuring unit needs to be calibrated in advance before being used.
The non-contact measuring devices are fixed on the follow-up platform 18 through a support and move synchronously with the body part of the multi-spring connection double-moving plate.
The utility model discloses a method that multisensor combines had both adopted contact measurement method like piezoceramics sensor 11 and acceleration sensor 1, had also adopted non-contact measurement method like laser displacement sensor 6 and binocular vision measuring unit.
-the drive control section includes:
a rolling guide rail unit, wherein the servo motor 14 is connected with a servo motor driver 20 by adopting a speed control or position control mode, the servo motor driver 20 of the servo motor is connected to a terminal board 23, the terminal board 23 is connected with a motion control card 24, an encoder of the servo motor 14 can feed back the rotation information of the motor to the servo motor driver 20, the rotation information is transmitted to the motion control card 24 through the terminal board 23 and further transmitted to a computer 25 through the motion control card 24, the computer 25 runs a corresponding algorithm according to the feedback information and then sends out a corresponding control quantity, the control quantity is transmitted to the servo motor driver 20 through the motion control card 24 and the terminal board 23 to drive the rotation of the servo motor 14, the rotation of the servo motor 14 drives the rotation of a lead screw of a rolling driving guide rail 13 through a coupler, and the lead screw of a rolling driven, the rotation of the rolling guide rail lead screw drives the sliding block to move, and the movement of the sliding block drives the follow-up platform to move synchronously, so that the movement and the vibration of the flexible cantilever plate body part fixed on the follow-up platform are controlled.
Piezoelectric-driven vibration control unit: the piezoelectric ceramic sensor 11, the acceleration sensor 1, the laser displacement sensor 6 and the binocular vision measuring unit transmit the measured vibration signals to the computer 25, and after a corresponding active control algorithm is operated, the control signals are output through a D/A output module of the motion control card 24, transmitted through information of the terminal board 23, amplified through the piezoelectric amplifying circuit 22 and output to the piezoelectric driver 10 for inhibiting the vibration of the flexible cantilever plate.
The piezoelectric driver comprises 16 piezoelectric ceramic plates, 8 flexible cantilever plates are respectively adhered to the front and back surfaces of two sides of the center line of the first flexible cantilever plate and the second flexible cantilever plate, and two flexible cantilever plates are symmetrically adhered to each other and connected in parallel and are respectively used for controlling the residual vibration of the flexible cantilever plates.
The bottom of the base 17 of this embodiment has four support legs, and a transverse bracket is installed between each adjacent support leg.
In this embodiment, a limit switch 12 is further disposed on the base.
As shown in fig. 6, the working process of the multi-spring connecting dual moving plate bending and torsional coupling vibration test control device includes:
firstly, respectively detecting the vibration of a multi-movement flexible cantilever plate by using a piezoelectric ceramic sensor 11, an acceleration sensor 1, a laser displacement sensor 6 and a binocular vision measuring unit to obtain corresponding measuring signals;
secondly, amplifying the piezoelectric ceramic sensor signal acquired in the first step through a charge amplifier, transmitting the amplified piezoelectric ceramic sensor signal through a terminal board, converting an analog signal into a digital signal through an A/D conversion module in a motion control card, and transmitting the digital signal to a computer; the vibration signal detected by the acceleration sensor is input to the motion control card, and the analog signal is converted into a digital signal through an A/D conversion module in the motion control card and is transmitted to a computer; the vibration signal detected by the laser displacement sensor is transmitted through the terminal board, and an A/D conversion module in the motion control card converts an analog signal into a digital signal and transmits the digital signal to a computer; the binocular vision measuring system transmits the shot image of the mark point to a computer through a USB interface, processes the image, extracts and calculates vibration information.
Thirdly, according to the detection signal obtained in the second step, the computer runs a corresponding active control algorithm to obtain a corresponding vibration feedback signal, the vibration feedback signal is output through a D/A module of the motion control card, the signal is amplified through a piezoelectric amplifying circuit through information transmission of a terminal board and is transmitted to a piezoelectric sheet driver for responding, and the vibration feedback signal is used for controlling the vibration of the multi-spring connection double-movement flexible cantilever plate; meanwhile, a corresponding control algorithm is operated, after the track of the motor is planned, the output of the motor is transmitted to a servo motor driver through a motion control card and a terminal board D/A module to drive the servo motor to rotate, the rotation of the servo motor drives the lead screw of the rolling guide rail to move through a coupler, so that the servo platform is driven to move through a sliding block, and the movement and the vibration of the multi-spring connection double-movement flexible cantilever plate body part are controlled;
and fourthly, obtaining a plurality of experimental results through changing control parameters and repeated tests to obtain the vibration characteristics and the control effect of the multi-spring connection double-movement flexible cantilever plate.
The dashed lines in fig. 1 indicate the wiring relationships between the various devices, and the directional arrows indicate the direction of propagation of the detection and control signal streams.
In this embodiment, the first and second flexible cantilever plates have the same material, size and other parameters, and are thin plates made of epoxy resin material, and the geometric dimensions are 1000mm × 500mm × 2 mm. The elastic modulus of the epoxy resin is Ep34.64Gpa, and the density ρ 1840kg/m3。
The piezoelectric sheet driver is made of piezoelectric ceramic materials, the geometric dimension of the piezoelectric sheet driver is 50mm multiplied by 15mm multiplied by 1mm, the piezoelectric sheet driver is pasted on the flexible cantilever plate in a sheet shape, the distance from the fixed end is 30mm, the distance from the upper edge and the lower edge of the beam in the width direction is 25mm, and the elastic modulus of the piezoelectric ceramic materials is Ep＝63Gpa，d31＝-166pm/V。
The piezoelectric ceramic sensor is made of piezoelectric ceramic materials, the geometric dimension of the piezoelectric ceramic sensor is 30mm multiplied by 10mm multiplied by 1mm, and the piezoelectric ceramic sensor is pasted on the middle line of the width direction of the flexible cantilever plate in a sheet shape and is 50mm away from the fixed end.
The acceleration sensor is a charge output piezoelectric type sensor with the model number of 8044A of Kistler company, the nominal sensitivity of the sensor is-0.3 pC/g, and the measurement frequency range is 1-8000 Hz.
The experiment table base is assembled by three aluminum profiles with lengths of 1680mm, 1480mm and 900mm respectively, the table top is a stainless steel plate with the length of 1800mm multiplied by 1600 multiplied by 10mm, the table top is connected with the profiles through screws, and each joint of the profiles is fixed by angle iron.
The servo motor can be made of HC-KFS43 type servo motor manufactured by Mitsubishi servo motor corporation, the rated voltage is alternating current 220V, the output power is 400W, and the type of the servo motor driver (20) is MR-J2S-40A.
The rolling guide rail adopts a KR module of THK company, a double-slider rolling guide rail with the model of KR5520B, the basic static rated static load is 61900N, the basic rated dynamic load is 38100N, and the static allowable moments in three directions are M respectivelyA＝4890N·m、MB＝4890N·m、MC4570N · m, and the repeated positioning accuracy is ± 0.01 mm.
The laser displacement sensor is a loose laser displacement sensor with the model of HG-C1100, the measuring center distance is 100mm, the measuring range is +/-35 mm, and the repetition precision is 70 um.
The binocular vision system consists of two CCD cameras and two lenses. A CCD camera of Mimejing company is selected, the model of the CCD camera is DMK 23U445, the size of the collected image is 1280 x 960 pixels, and the number of frames is 30 frames/second. The lens is TCL 06165 MP, has a focal length of 6mm and a size of
The laser is KYD650N5-TS 1236.
The selected motion control card is a GTS-400-PV-PCI series motion controller produced by Gangjia company, the motion controller is provided with 4 paths of shaft resource channels (each shaft signal has 1 path of analog quantity output, incremental encoder input, motor control output and alarm reset functions), the input and output of optical coupling isolation general digital signals are respectively provided with 16 paths, 2 paths of quadruple frequency incremental auxiliary encoder input and 8 paths of AD analog quantity sampling input, and the voltage range of the analog quantity input and output is as follows: -10V to + 10V; selecting a certain channel as a motor control channel, correctly connecting a 400W Mitsubishi servo motor to a high-speed motion controller in a speed control or position control mode, and connecting an alternating current servo motor with a rolling guide rail through a coupler; the servo motor can be a HC-KFS43 type servo motor produced by Mitsubishi servo motor corporation, the rated voltage is 200V alternating current, the output power is 400W, the rated rotating speed is 3000r/min, the type of the servo unit which is only matched with the servo motor is MR-J2S-40A, and the working mode of the servo motor can be set to be a speed, position and torque control mode through related setting and correct wiring of the motor servo unit.
The charge amplifier is YE5850 type charge amplifier of Jiangsu Union energy electronic limited company, and can amplify a weak input signal to a voltage signal which is copied to-10V- + 10V.
The piezoelectric amplifying circuit can be composed of parts such as piezoelectric amplifiers with the models of APEX-PA241DW or APEX-PA240CX, and the like, and the development unit is the university of southern China, and the device and the method are applied by the applicant and named as space sailboard bending and torsional mode vibration simulation active control, and are described in detail in the patent with the application number of 200810027186.4. The amplification factor can reach 52 times, namely, the amplification factor is increased from minus 5V to +5V to minus 260 to + 260V.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited by the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (9)
1. A multi-spring connection double-moving-plate bending and torsional coupling vibration control device is characterized by comprising a multi-spring connection double-moving-plate body part, a vibration detection part and a driving control part;
the multi-spring connection double-moving-plate body part comprises a spring support, a follow-up platform, a first flexible cantilever plate and a second flexible cantilever plate, wherein the first flexible cantilever plate and the second flexible cantilever plate are arranged in parallel, one end of the first flexible cantilever plate and one end of the second flexible cantilever plate are fixed on the follow-up platform through a mechanical clamping device, the other end of the first flexible cantilever plate and the second flexible cantilever plate are free ends, the two spring supports are respectively positioned on the outer sides of the free ends of the two flexible cantilever plates, the inner sides of the free ends of the two flexible cantilever plates are connected with each other through flexible springs, the free ends of the two flexible cantilever plates are respectively connected with the spring support through springs, all the springs are in the same pre-tightening state, and bending and torsional coupling of the multi-spring connection double; the servo platform is fixed on the sliding blocks of the rolling driving guide rail and the rolling driven guide rail and moves along with the movement of the sliding blocks, the rolling driving guide rail and the rolling driven guide rail are connected through a synchronous belt structure, and the rolling driving guide rail and the rolling driven guide rail are arranged on the experiment table base in parallel;
the vibration detection part comprises a contact detection unit and a non-contact detection unit;
the contact type detection unit comprises a piezoelectric ceramic sensor and an acceleration sensor, wherein the piezoelectric ceramic sensor and the acceleration sensor are arranged on the flexible cantilever and used for detecting vibration signals and inputting the vibration signals into the drive control part;
the non-contact detection unit comprises a laser displacement sensor and a binocular vision measurement unit, wherein the laser displacement sensor detects vibration signals of the flexible cantilever plate and inputs the vibration signals into the drive control part;
the binocular vision measuring unit comprises a CCD camera and a laser projector, the laser projector projects a laser dot matrix onto the flexible cantilever, and the CCD camera acquires an image and inputs the image into a computer;
and the drive control part is used for receiving the signal of the vibration detection part to obtain a control signal, driving the follow-up platform to move and inhibiting the vibration of the flexible cantilever plate.
2. The apparatus as claimed in claim 1, wherein the driving control part comprises a rolling guide unit and a piezoelectric driving vibration control unit;
the rolling guide rail unit comprises a servo motor, a servo motor driver, a terminal board, a motion control card and a computer; the servo motor drives the rolling driving guide rail to rotate through the coupler, the servo motor is connected with the servo motor driver, the servo motor driver is connected with the terminal board, the terminal board is connected with the motion control card, the motion control card is connected with the computer, the encoder of the servo motor feeds back the rotation information of the motor to the servo motor driver, the motion control card is transmitted through the terminal board and further input into the computer, and the computer obtains control quantity according to the feedback information and drives the servo motor to rotate through the motion control card, the terminal board and the servo motor driver;
the piezoelectric driving vibration control unit comprises a piezoelectric amplifying circuit and a piezoelectric driver, the piezoelectric driver is pasted on the flexible cantilever plate, vibration signals measured by the piezoelectric ceramic sensor, the acceleration sensor, the laser displacement sensor and the binocular vision measuring unit are input into a computer, the computer obtains control signals, the control signals are output to the piezoelectric driver through the motion control card and the terminal board and piezoelectric amplifying signals, and the piezoelectric driving vibration control unit is used for inhibiting vibration of the flexible cantilever plate.
3. The apparatus as claimed in claim 1, wherein the acceleration sensor comprises two, one at the free end of each flexible cantilever plate, and is located on the midline of the flexible cantilever plate in the width direction.
4. The apparatus of claim 1, wherein the piezoelectric actuator comprises 16 piezoelectric ceramic plates, eight flexible cantilever plates are adhered to two sides of the center line of the flexible cantilever plate, and two flexible cantilever plates are symmetrically adhered to two sides of the center line of the flexible cantilever plate, and two piezoelectric ceramic plates are connected in parallel.
5. The apparatus of claim 1, wherein the piezo-ceramic sensor comprises two piezo-ceramic plates, one for each flexible cantilever plate, located on a centerline of the flexible cantilever plate in a width direction of the free end of the flexible cantilever plate.
6. The device for controlling bending and torsional coupling vibration of a multi-spring connected double moving plate as claimed in claim 1, wherein the inner sides of the free ends of the two flexible cantilever plates are connected with each other through a flexible spring, and the free ends of the two flexible cantilever plates are respectively connected with the spring bracket through springs, specifically:
the first flexible cantilever plate and the second flexible cantilever plate are arranged between the two spring supports, the first flexible cantilever plate and the second flexible plate are connected with the spring supports on the outer sides of the first flexible cantilever plate and the second flexible plate through an upper flexible spring, a middle flexible spring and a lower flexible spring respectively, the inner sides of the first flexible plate and the second flexible plate are connected through the upper flexible spring, the middle flexible spring and the lower flexible spring respectively, the three springs on the upper portion are located on the same straight line, the three springs on the middle portion are located on the same straight line, the three springs on the lower portion are located on the same straight line, the nine springs are in the same pre-tightening state, and the bending and torsional vibration coupling of the multi-spring connection double movable plates is achieved.
7. The apparatus of claim 1, wherein each of the two flexible cantilever plates is measured by two laser displacement sensors located at two sides of the flexible cantilever plate and located at a distance of 150mm from the free end of the flexible cantilever plate and at a distance of 30mm from the upper and lower edges.
8. The apparatus of claim 1, wherein the two CCD cameras and the laser projector are fixed to a binocular vision measuring unit mount, the binocular vision measuring unit mount being disposed on the base of the experiment table.
9. The apparatus as claimed in claim 1, wherein the slider planes of the rolling driving rail and the rolling driven rail have the same height.
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| CN202021704721.8U CN212567655U (en) | 2020-08-14 | 2020-08-14 | Multi-spring connection double-moving-plate bending and torsion coupling vibration control device |
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| CN202021704721.8U CN212567655U (en) | 2020-08-14 | 2020-08-14 | Multi-spring connection double-moving-plate bending and torsion coupling vibration control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912518A (en) * | 2020-08-14 | 2020-11-10 | 华南理工大学 | Multi-spring connection double-moving-plate bending and torsion coupling vibration control device and method |
| CN114414185A (en) * | 2022-01-24 | 2022-04-29 | 青岛英派斯健康科技股份有限公司 | Plate vibration tester |
-
2020
- 2020-08-14 CN CN202021704721.8U patent/CN212567655U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111912518A (en) * | 2020-08-14 | 2020-11-10 | 华南理工大学 | Multi-spring connection double-moving-plate bending and torsion coupling vibration control device and method |
| CN114414185A (en) * | 2022-01-24 | 2022-04-29 | 青岛英派斯健康科技股份有限公司 | Plate vibration tester |
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