EP1210529A2 - Appareil servant a attenuer les vibrations par activation electronique et electromagnetique - Google Patents

Appareil servant a attenuer les vibrations par activation electronique et electromagnetique

Info

Publication number
EP1210529A2
EP1210529A2 EP00922311A EP00922311A EP1210529A2 EP 1210529 A2 EP1210529 A2 EP 1210529A2 EP 00922311 A EP00922311 A EP 00922311A EP 00922311 A EP00922311 A EP 00922311A EP 1210529 A2 EP1210529 A2 EP 1210529A2
Authority
EP
European Patent Office
Prior art keywords
vibration
actuator
flux
housing
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP00922311A
Other languages
German (de)
English (en)
Inventor
Rahmat A. Shoureshi
Mark J. Bell
R. Bruce Deroo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cooper Tire and Rubber Co
Original Assignee
Cooper Tire and Rubber Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Cooper Tire and Rubber Co filed Critical Cooper Tire and Rubber Co
Publication of EP1210529A2 publication Critical patent/EP1210529A2/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means

Definitions

  • the present invention relates to an integrated electromagnetic and electronic device to be mechanically attached to a vibrating body for the purpose of attenuating such vibrations from that body at multiple points or throughout that body.
  • Objects where the device can be applied include, for example, structures composed of several substructures and vibrating bodies such as an engine, chassis, or body of a vehicle.
  • One or more actuators as disclosed herein can be attached to optimally defined points on, for example, a chassis, for the purpose of attenuating vibration and structure-borne noise within the interior of the vehicle.
  • a vibration control system is composed of three major elements: a sensor or sensors that provides information about the vibration, a controller/amplifier that utilizes sensor signals and determines the required control effort, and an actuator that takes the control signal and generates appropriate force that nullifies the vibration force.
  • This invention relates to integrated electronics and an electromagnetic actuator for attenuation of vibrations of a structure, or noise within an interior of an enclosure, caused by structural vibrations .
  • An underlying objective of the present invention is to provide a device that can be easily attached at optimally and strategically defined points or locations of a structure which utilizes electronics to derive an appropriate signal that drives an electromagnetic circuit which, in turn, creates interference forces to attenuate vibrations at apriori defined locations of that structure or other structures in mechanical communication with the first structure. Therefore, unlike the prior art, the embodiment of this invention does not need to reside between the source of excitation and the structure of interest, namely between the engine and chassis of a vehicle, rather it can be attached anywhere on the structure that is deemed appropriate based on the dynamic analysis of the whole system.
  • a vibration control system is characterized by its magneto-mechanical or mechanical stiffness and its mass to operate in a narrow-band within the frequency of vibration excitation to utilize the concept of resonance for its mechanical benefits, or utilize its electronics to move its operating frequencies outside of the excitation frequency and thus produce a flat wide-band actuation spectrum and large bandwidth.
  • the source of excitation can be from a multiplicity of sources, namely, in the case of automotive vehicles: road excitations, engine vibrations, vibrations of transmission, generator, exhaust, air moving machinery, etc.
  • One or more units of the embodiment of the present invention can compensate for all of these sources.
  • a smart and adaptive active vibration control system comprising:
  • a coil wound on a coil former that resides in the flux collector and thus exposed to a very high magnetic flux density, which can be made into a single coil or parallel sets of coils according to the types of available power sources, namely it has the ability to operate with low or high currents;
  • an actuator having double supports or spiders that can be conical or flat- shaped and used at the top and bottom, one attached between an upper portion of the upper flux collector and a top lid, the other attached between a lower portion of the lower flux collector and a bottom plate.
  • the spiders having very large radial stiffness and very small axial stiffness that enables the actuator to maintain a uniformly constant gap width between the coil and magnetic flux collectors which results in linear operating characteristics for the embodiment with reduced mechanical distortion; mechanical, elastomeric, or other types of compliant elements can be added between the upper portion of the upper flux collector and the top lid, and the lower portion of the lower flux collector and the bottom plate to limit the excursion of the moving parts, as well as defining the operating frequency band of the actuator;
  • the top lid and bottom plate can have thin film permanent magnets of the same polarities with the thin film permanent magnets attached to the upper and lower flux collectors, thus creating electro-magneto stiffness, rather than mechanical stiffness which could eliminate the need for any compliant element at the top and bottom.
  • an inner electronic circuit controls the shape of the force output spectrum, thus without using mechanical parts, this actuator can be used for both narrow-band and broad-band applications, namely, in the case of automotive vehicles, it can be used for both engine vibration attenuation as low as the idle frequency through high frequency noise attenuation.
  • the invention may take form in various components and arrangements of components, and in various steps and arrangements of steps.
  • the drawings are only for purposes of illustrating preferred embodiments and are not to scale. The drawings are not to be construed as limiting the invention.
  • FIG. 1 is a schematic diagram of an exemplary embodiment of the vibration attenuation system using electronic and electromagnetic actuator, in accordance with the invention.
  • FIG. 2 shows a cross-sectional view of the actuator and its unique components that is also in accordance with the invention.
  • FIG. 3 describes the preferred embodiment of the electromagnetic actuator of the invention when mechanical springs are used in place of the magnetic-film springs .
  • FIGS. 4A and 4B describe a top plan view and cross-sectional view respectively of the conical spider made of fabric molded into the nylon with special top and bottom edges for attachment to a top lid and bottom plate .
  • FIG. 5 presents harmonic distortion that is experienced based on operating prior art electromagnetic actuators, a major shortcoming that is reduced by this invention.
  • FIG. 6 shows a peaky transfer function exhibited by the prior art, which is not ideal for different applications, this shortcoming is also reduced by this invention.
  • FIG. 7 shows mechanical communication and vibration energy transfer between an electromagnetic actuator and the structure.
  • FIG. 8 describes the concept of combined pseudo-feedforward and feedback control used to represent mathematical and computational logic imbedded in 16.
  • FIG. 9 presents a block diagram for adaptive pseudo feedforward feedback control system.
  • FIG. 10 describes an internal feedback control for this invention embodiment around the actuator which provides virtual damping.
  • FIG. 11 illustrates internal block diagram for automatic sensing to create electronic damping in the actuator of embodiment of this invention.
  • a preferred embodiment of the invention includes a new vibration attenuation actuator 21 that exhibits reduced harmonic distortion. This vast improvement in harmonic properties is achieved through the frictionless design of the actuator.
  • the preferred embodiment of the vibration attenuation system has a control system 16 and inner loop electronics 15 that incorporates an adjustable, active, non-mechanical, damping using internal feedback. This provides an ability to electronically tune the system and allows it to have a flat transfer function in one application, and as peaky a frequency response as is needed in certain other applications, and/or operating conditions.
  • Efficiency and linearity of electromagnetic actuators are directly related to the quality and efficiency of flux collection and steering used and to the symmetry of the resulting magnetic field.
  • a first or magnetic flux collector 10 and a second or magnetic flux collector 4 in a complementary double-cupping design in conjunction with a magnet 6, the preferred embodiment of this invention generates a symmetric magnetic field around and through a drive coil or coils 8 and provides an effective actuator with linear characteristics .
  • Reduced friction operation is achieved by utilizing symmetrically angled supports or spiders, which in a preferred design (Figs 4A and 4B) are akin to conical bellows 7 that have very large radial rigidity with very low axial stiffness.
  • This unique characteristic of the spiders provides central rigidity. That rigidity, combined with the magnet and flux collector design, enables the actuator to maintain a more uniformly constant radial gap width between the flux collectors 4, 10 and coil 8.
  • the high radial stiffness of the spiders 7 maintains a more constant gap width.
  • the low axial stiffness of the spiders allows the actuator mass to move freely along its intended direction of motion.
  • axial magnetic stiffeners 2 (Fig. 2) and/or helical springs 25 (Fig. 3) , or optionally elastomeric springs (not shown) are included in the preferred embodiment. This unique combination for creating axial stiffness for resonant actuators is introduced for the first time with the present invention.
  • FIG. 1 shows an overall schematic of a vibration attenuation system installed in an example of a typical application.
  • the application includes excitation source 20, e.g. engine or other rotating machines.
  • the excitation source 20 is attached to a structure 13 through a mounting device 17.
  • the excitation source 20 causes structure 13 to vibrate and transfers this vibration to a variety of substructures 18, which could cause both vibrations sensed by sensor 14 or structure-borne noise sensed by sensor 19.
  • a predetermined combination of sensors, such as for example vibration sensors 14, noise sensors 19 and feedforward sensors 22, are strategically located throughout the subject object and/or environment.
  • a control system 16 such as designed according to our patent numbers 5,418,858; 5,564,537; 5,629,986, and other pending patent applications, that uses feedforward, feedback and combined feedforward/ feedback control schemes, receives sensor information from, for example, vibration sensor 14 and noise sensor 19. The control system 16 then, in real time, calculates appropriate signals to send to inner loop electronics 15, if used. Inner loop electronics 15 then, derives a drive signal for electromagnetic actuator 21.
  • FIG. 2 illustrates an embodiment of the electromagnetic actuator 21.
  • a permanent magnet 6 is attached by bonding, encapsulation, fasteners, or other attachment means, within a first or upper flux collector 10 and a second, or lower flux collector 4.
  • This combination of flux directing collectors 10, 4 and magnet 6 form an inertial mass 24 of the actuator 21.
  • the upper and lower flux collectors 10, 4 each have a base wall 26 and a sidewall 28 extending outwardly therefrom. Therefore, the flux collectors 10,4 are in the shape of large cups or bowls and, as indicated above, are formed from a ferrous material.
  • the lower flux collector 4 fits within the sidewall of the cup formed by the upper flux collector 10.
  • the magnet 6 preferably fits within both of the cups formed by both upper and lower flux collectors 10, 4.
  • the magnet 6 is centered or axially aligned within, and attached to, an inner surface of the base of both flux collectors 10, 4.
  • the cup formed by the flux collector 10 is installed upside down and the cup formed by the lower flux collector 4 is installed right side up. Since the magnet 6 is centered or axially aligned within and attached to inner surfaces of both flux collectors 10,4, the lower flux collector 4 is also centered or received in an axially aligned manner within the upper flux collector 10.
  • An annular or radial gap 26 is formed between the sidewalls of the upper and lower flux collectors 10, 4.
  • the upper flux collector 10 collects and redirects the magnetic flux associated with one pole of the magnet 6 and the lower flux collector 4 collects and redirects the flux associated with the other pole of the magnet 6.
  • the two flux collectors 10, 4 cooperate to direct the flux in an even and symmetric manner across the annular gap 26.
  • the upper flux collector 10 and therefore the entire inertial mass 24 is suspended from a support surface, such as, for example lid 11.
  • the lower flux collector is similarly attached to a second support surface, such as, for example, bottom plate 5.
  • the flux collectors 10, 4 are attached to and thereby suspended from their respective support surfaces 11, 5 by support members or conical spiders 7.
  • each spider 7 is formed from a conical bellows 42.
  • An inner attachment ring 46 is used to secure the spider to one of the flux collectors 10, 4.
  • An outer attachment ring 44 is used to secure or attach the spider to a support surface, such as for example lid 11 or bottom plate 5. It is possible to use other spider designs that achieve the objectives of high radial stiffness and low axial stiffness, for example, using a planar shape design, and still remain within the scope of invention.
  • the illustrated spider design provides a beneficial flexibility in a direction of inertial mass 24 motion (up and down in Fig.
  • a coil former 9 is attached to a support surface such as, for example, the bottom plate 5.
  • the coil former 9 can hold a single or multiple coils 8 depending on the intended power source and power requirements of the application.
  • the coil 8 and therefore at least part of coil former 9 are positioned within the annular or radial gap 26 that is formed between the upper and lower flux collectors 10. 4.
  • the coil 8, magnet 6, and flux collectors 10, 4 form an efficient electromagnetic circuit.
  • any kind of permanent magnet 6 can be used, as long as it is well suited to the operating environment of the actuator.
  • the magnet 6 is inexpensive and unaffected by temperature extremes, shock, and vibration.
  • the preferred embodiment of the invention uses thin, solid, ceramic cylindrical magnets. These magnets are relatively immune to environmental extremes, are available in high volume, and are therefore relatively inexpensive.
  • the first support surface for example lid 11
  • a second support surface for example bottom plate 5
  • a separator for example shell 3
  • An attachment means such as bolt 1 can be used to mechanically attach the actuator to the structure 13.
  • Ribs 12 are used to provide the necessary strength and rigidity to the lid 11 for attachment to the structure 13 without increasing the passive weight of the actuator .
  • magnetic films 2 can provide magneto-stiffness characteristics and limit the excursion of the upper and lower cups. Particularly, the magnetic films are repelled by magnetic films secured to the flux collectors. Like poles are disposed in proximal relation to magnetically suspend the magnet and the flux collectors between the lid and the bottom plate. These magnetic films can be used in conjunction with or be replaced by other biasing members such as, mechanical, elastomeric or pneumatic springs, which can also be used to alter the actuators frequency response characteristics.
  • an actuator that uses mechanical coil springs 25 to apply axial restoring forces, instead of the magnetic films 2 of Fig. 2.
  • the springs 25 keep the inertial mass centered in the housing.
  • Any kind of suitable low friction or preferably low friction compliant element, including elastomeric elements, can be used in addition to or instead of coil springs 25.
  • the elements are selected, in part, on the operating characteristics of the actuator 21 such as the frequency response of the actuator 21. For example, stiffer elements produce peaks or resonances at higher frequencies .
  • the preferred embodiment of Figure 3 is similar to that described above in Figure 2. Accordingly like numerals refer to like elements and new components are identified by new numerals.
  • the housing receives the permanent magnet and the flux collectors 4, 10 and the springs 25 interposed between the lid and the upper flux collector, and the bottom plate and the lower flux collector, respectively, suspend the assembly in the housing.
  • the coil 8 is secured to the housing and positioned in the radial gap between the flux collectors. It will be appreciated, however, that the embodiments of Figures 2 and 3 illustrate first and second flux collectors, although a single flux collector in proximity or operative relation with the permanent magnet could be used without departing from the scope and intent of the present invention.
  • the spiders 7 still provide the desired radial stiffness and axial flexibility in this actuator assembly.
  • V xH (r, t) + — D (r,t) j(r,t) Ampere' s Circuit Law dt
  • V - B (r, t) 0 Gauss' Law for Magnetic Field
  • the preferred embodiment of the electromagnetic actuator 21 can be represented by a lumped parameter system which is rigidly attached to the structure.
  • mass M represents the inertial mass 24 of the combined mass of magnet 6, and upper and lower flux collectors 10, 4.
  • the combined effects of magnetic films or springs 2 or mechanical springs 25 can be lumped into the K of FIG. 7. If the spider 7 introduces any damping, then C in FIG. 7 represents it.
  • Vibrations from structure 13 would be transmitted to the actuator shell 3 causing coil former 9 and coil 8 while carrying electrical current provided by inner loop electronics 15 to be moved through the magnetic field which in turn will generate a magnetic force. Based on the Newton's law of motion, the following is resulted:
  • the required current through the coil of actuator is obtained from the following:
  • I(s) is the desired current required to cancel vibrations.
  • this invention incorporates feedback sensors 14 and/or 19 located at strategic locations and utilizes control logic, presented in FIG. 8, embedded within controller 16.
  • the feedforward sensor 22 provides advance information about the incoming vibration excitations, thus software running in the controller 16 anticipates what needs to be done ahead of time.
  • Feedback or performance sensors 14, 19, describe how well the system is attenuating vibrations at the desired locations. Since exact advance information about the excitation source is not always accessible, controller 16 can use pseudo feedforward control software to predict and approximate feedforward type information. The goal of combined pseudo feedforward and feedback is to minimize:
  • mode shapes, modal participation with respect to the input excitations can be used to identify best locations for positioning actuators .
  • the actuator 21 is designed to avoid mechanical friction or damping. Therefore, the actuator's 21 transfer function relating force and displacement is :
  • FIG. 10 shows the actuator with internal feedback. The resulting transfer function is:
  • This invention does not use a velocity sensor; rather it takes advantage of the inverse problem, namely,
  • an embodiment may include inner loop electronics 15, as shown in FIGURES 1 and 11, which introduces virtual damping and thus the ability to provide a variety of actuator frequency response spectra, namely narrow band, flat broad band, etc.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Soundproofing, Sound Blocking, And Sound Damping (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)

Abstract

La présente invention concerne un système destiné à éliminer les vibrations et le bruit, et qui comprend un actionneur servant à éliminer les vibrations électromagnétiques (21) et un système de commande électronique (16). L'actionneur servant à éliminer les vibrations (21) comporte un aimant permanent (6) à proximité d'un collecteur de flux (4, 10). Le collecteur de flux comporte un orifice par lequel est dirigé le champ magnétique de l'aimant. Le courant, dirigé vers le flux par une bobine ou un ensemble de bobines (8) enroulées sur une carcasse de bobine (9) située à l'intérieur de l'orifice, génère un champ magnétique qui s'utilise pour déplacer la masse de l'actionneur comprenant le collecteur de flux et l'aimant de manière à créer des interférences éliminant les vibrations ou le bruit. Le courant d'attaque provient du système de commande électronique (16) et de l'amplificateur. Le système de commande électronique reçoit des entrées de divers capteurs (14, 19, 22), notamment des capteurs de bruit (19) et de vibrations (14). Ces capteurs peuvent fournir des données d'anticipation et de réaction. L'unité de commande peut inclure des algorithmes de commande adaptatifs.
EP00922311A 1999-02-22 2000-02-22 Appareil servant a attenuer les vibrations par activation electronique et electromagnetique Withdrawn EP1210529A2 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US12109599P 1999-02-22 1999-02-22
US121095P 1999-02-22
PCT/US2000/040034 WO2000049309A2 (fr) 1999-02-22 2000-02-22 Appareil servant a attenuer les vibrations par activation electronique et electromagnetique

Publications (1)

Publication Number Publication Date
EP1210529A2 true EP1210529A2 (fr) 2002-06-05

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Family Applications (1)

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EP00922311A Withdrawn EP1210529A2 (fr) 1999-02-22 2000-02-22 Appareil servant a attenuer les vibrations par activation electronique et electromagnetique

Country Status (4)

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EP (1) EP1210529A2 (fr)
JP (1) JP2003530522A (fr)
BR (1) BR0008384A (fr)
WO (1) WO2000049309A2 (fr)

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JP6688681B2 (ja) * 2016-05-27 2020-04-28 住友理工株式会社 電磁式アクチュエータとそれを用いた能動型制振器、電磁式アクチュエータの製造方法
CN106594169B (zh) * 2016-12-23 2019-03-15 苏州东菱智能减振降噪技术有限公司 一种准零刚度惯性作动器
CN107654552B (zh) * 2017-08-31 2019-07-16 哈尔滨工程大学 一种采用压电片进行对中性调节的准零刚度隔振器
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CN107830107A (zh) * 2017-11-13 2018-03-23 许昌恒科实业发展有限公司 一种抗震桥架
CN108412953B (zh) * 2018-02-02 2019-09-03 苏州科技大学 一种机械设备的减震装置
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Also Published As

Publication number Publication date
WO2000049309A3 (fr) 2000-12-07
WO2000049309A2 (fr) 2000-08-24
BR0008384A (pt) 2003-08-26
JP2003530522A (ja) 2003-10-14

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