JP2009243525A - Vibration isolation device and vibration isolation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vibration isolation device efficiently recovering electric energy required for active control from a generator disposed in a spring mass system. <P>SOLUTION: This vibration isolation device includes: a first spring 4 disposed between a base 1 and a first mass body 2; a rolling element screw device 5 having a screw shaft 7 connected to one of the base 1 and the first mass body, a nut 8 connected to the other of the base 1 and first mass body 2, and a plurality of rolling elements 10 rollably interposed between the screw shaft 7 and the nut 8, and converting the relative linear motion of the first mass body 2 with respect to the base 1 into the rotational movement of the screw shaft 7 or the nut 8; the generator 6 generating electricity from energy of the rotational movement of the screw shaft 7 or the nut 8 of the rolling element screw device 5; an electric energy storage means storing electric energy generated by the generator 6; and an actuator 14 actively controlling vibration of the first mass body 2 by using the electric energy stored by the electric energy storage means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vibration isolating apparatus and a vibration isolating method for actively controlling vibration of a mass body generated by an external force acting on a base in a spring mass system model by an actuator.

  The passive control method is a passive vibration control method in which the vibration of the mass body is controlled only by a spring and a damper disposed between the base and the mass body without using an actuator. On the other hand, the active control method is an active vibration suppression method that actively controls the vibration of the mass body using an actuator. By using the active control method, it is possible to obtain an excellent anti-vibration performance that cannot be realized by the conventional passive control method.

  However, in the active control method, it is necessary to drive an actuator in order to suppress vibration, and for that purpose, electric energy must be applied from the outside. The point of requiring electric energy is a problem of the active control method. In order to solve the problem of this active control method, Patent Document 1 describes a vibration isolator that supplies electric energy necessary for active control from a generator (energy regeneration damper) arranged in the system. Has been.

The vibration isolator is a two-degree-of-freedom vibration isolator in which a second spring mass system m ₂ -k ₂ is added to the first spring mass system m ₁ -k ₁ . A first DC motor is disposed in parallel with the spring k _{1 in} the first spring mass system m ₁ -k ₁ . A second DC motor is also arranged in parallel with the spring k _{2 in} the second spring mass system m ₂ -k ₂ . When the action of the disturbance on the first spring k ₁ of the spring-mass system m ₁ -k _1, the first mass m ₁ of the spring-mass system m ₁ -k ₁ vibrates. Along with the vibration of mass m ₁ , the first DC motor functions as a generator (energy regeneration damper), and generates electricity from the vibration energy of mass m ₁ . The electricity generated by the first DC motor is stored in a capacitor. The electricity stored in the capacitor is supplied to the second DC motor of the second spring mass system. The second DC motor functions as an actuator, and actively attenuates the vibration of the mass m ₁ of the first spring mass system using the voltage of the capacitor.
Japanese Patent No. 3934670

In the conventional vibration isolator, the first DC motor is a linear motor, and generates electric power in proportion to the stroke speed of the mover. However, since the mover of the first DC motor only vibrates following the vibration of the first mass m ₁ , both the amplitude and speed of the mover are small. For this reason, the electrical energy generated by the first DC motor is reduced. Even if the second DC motor actively controls the vibration of the mass m ₁ of the first spring mass system, the vibration of the mass m ₁ cannot be sufficiently attenuated.

  Then, an object of this invention is to provide the vibration isolator and the vibration isolating method which can collect | recover efficiently the electrical energy required for active control from the generator arrange | positioned in a spring mass system.

  In order to solve the above problem, the invention according to claim 1 is a first spring disposed between a base and a first mass body, and is connected to one of the base and the first mass body. A threaded shaft, a nut connected to the other of the base and the first mass body, a rolling element rolling groove on the outer peripheral surface of the screw shaft, and a loaded rolling element rolling groove on the inner peripheral surface of the nut A rolling element screw device having a plurality of rolling elements interposed between them so as to be capable of rolling motion, and converting a relative linear motion of the first mass body relative to the base into a rotational motion of the screw shaft or the nut A generator that generates electricity from the energy of rotational motion of the screw shaft or the nut of the rolling element screw device, an electrical energy storage means that stores electrical energy generated by the generator, and the electrical energy storage means Stored electrical energy By using an actuator to actively control the vibration of the first mass body, a vibration damping device comprising a.

  According to a second aspect of the present invention, in the vibration isolator according to the first aspect, between the base and the first mass body, the actuator and the second spring are arranged in parallel with the first spring. A spring is arranged in series, and a second mass body is interposed between the actuator and the second spring.

  According to a third aspect of the present invention, in the vibration isolator of the first aspect, an additional mass body is attached to the first mass body, and the first mass body and the additional mass body are interposed between the first mass body and the additional mass body. Is characterized in that the actuator and the second spring are arranged in parallel.

  According to a fourth aspect of the present invention, in the vibration isolating method of the spring mass system model in which the first spring is disposed between the base and the first mass body, either the base or the first mass body is provided. Rolling motion is possible between a screw shaft to be connected, a nut connected to the other of the base and the first mass body, and a rolling element rolling groove of the screw shaft and a load rolling element rolling groove of the nut. Using a rolling element screw device having a plurality of rolling elements interposed between the first mass body and the rotary motion of the screw shaft or the nut, Electricity is generated from the rotational motion energy of the screw shaft or the nut of the rolling element screw device, the electric energy generated by the generator is stored in an electric energy storage means, and the electric energy stored in the electric energy storage means is stored. Profit To the actuator is a vibration reduction method for actively controlling vibration of the first mass body.

  According to the present invention, the rolling element screw device is interposed between the base and the first mass body, and the vibration of the first mass body is converted into the rotational motion of the screw shaft or the nut. Then, the generator generates electricity from the energy of the rotational movement of the screw shaft or nut. The generator outputs electrical energy proportional to the rotational speed of the screw shaft or nut. By converting the vibration of the first mass body into the rotational movement of the screw shaft or the nut, the speed of the vibration of the first mass body can be increased. Therefore, it is possible to efficiently recover electrical energy necessary for active control.

  The vibration isolator according to the first embodiment of the present invention will be described in detail with reference to the accompanying drawings. FIG. 1 shows a model of a vibration isolator. The vibration isolator is intended to suppress the vibration of the first mass body 2 when vibration is applied to the base 1 as a disturbance. The vibration applied to the base 1 is force excitation or displacement disturbance.

  A first spring 4 is disposed between the base 1 and the first mass body 2. Between the base 1 and the first mass body 2, an energy regenerative damper 3 that generates electric power using vibration energy of the first mass body 2 is arranged in parallel with the first spring 4. The energy regeneration damper 3 includes a ball screw 5 that is a rolling element screw device, and a rotary brushless motor 6.

  The ball screw 5 is interposed between a screw shaft 7 rotatably connected to the base 1, a nut 8 connected to the first mass body 2 via a bracket 9, and the screw shaft 7 and the nut 8. A large number of balls. The screw shaft 7 is connected to the base 1 so as to be able to rotate around its axis and not to move in the direction of the axis. The nut 8 is connected to the bracket 9 so that it cannot rotate with respect to the first mass body 2 and can move in the direction of its axis. The ball screw 5 converts the linear motion of the first mass body 2 relative to the base 1 into the rotational motion of the screw shaft 7.

  FIG. 2 shows a detailed view of the ball screw 5. On the outer peripheral surface of the screw shaft 7, a spiral ball rolling groove 7a having a predetermined lead is formed. On the inner peripheral surface of the nut 8, a load ball rolling groove 8 a that faces the ball rolling groove 7 a of the screw shaft 7 is formed. A large number of balls 10 are interposed between the ball rolling groove 7a of the screw shaft 7 and the loaded ball rolling groove 8a of the nut 8 so as to be capable of rolling motion. A return pipe 11 is attached to the nut 8 so that the ball 10 rolling between the screw shaft 7 and the nut 8 can circulate. The return pipe 11 connects one end of the load ball rolling groove 8a of the nut 8 to the other end several turns away. When the screw shaft 7 rotates relative to the nut 8, a large number of balls 10 revolve around the screw shaft 7. The ball 10 that has rolled to one end of the load ball rolling groove 8a of the nut 8 is lifted into the return pipe 11 and returned to the other end of the load ball rolling groove 8a several turns before.

  By interposing the ball 10 between the screw shaft 7 and the nut 8 so as to allow rolling motion, the frictional resistance of the ball screw 5 can be reduced. For this reason, the linear motion of the nut 8 can be efficiently converted into the rotational motion of the screw shaft 7. The rotational speed of the screw shaft 7 can be adjusted by the lead of the ball screw 5. The current generated by the brushless motor 6 that is a generator is proportional to the rotational speed of the screw shaft 7. By adjusting the lead of the ball screw 5, it is possible to generate a current necessary for the actuator to operate.

  The brushless motor 6 shown in FIG. 1 is a permanent magnet synchronous motor that uses a permanent magnet for the field. The permanent magnet rotates to be brushless. The periphery of the permanent magnet that is a rotor is surrounded by a three-phase coil that is a stator. The permanent magnet is connected to the screw shaft 7. When the screw shaft 7 rotates, an induced voltage is generated in proportion to the rotational speed of the screw shaft 7. The electric energy generated by the brushless motor 6 is stored in the capacitor 24 (see FIG. 4).

  As shown in FIG. 3, a variable resistor 12 is connected to the brushless motor 6. When the variable resistor 12 is connected to the brushless motor 6, the brushless motor 6 generates a damping force. The damping force generated by the brushless motor 6 will be described. As described above, the brushless motor 6 outputs the induced voltage e proportional to the rotational speed V of the screw shaft 7. If the proportionality constant at this time is P, e = P · V. Since a voltage e is generated in the circuit to which the variable resistor 12 is connected, a current e / R flows. For this reason, the three-phase coil of the brushless motor 6 outputs the current P · P · V / R. This is the damping force. The brushless motor 6 functions as a damper having a damping coefficient P · P / R. If the resistance value R of the variable resistor 12 is changed, the damping force of the brushless motor 6 can be adjusted.

  As shown in FIG. 1, an actuator 14 and a second spring 16 are arranged between the base 1 and the first mass body 2 in parallel with the first spring 4. The actuator 14 and the second spring 16 are arranged in series, and a second mass body 15 is interposed between them. The actuator 14 is composed of a linear DC motor, and actively controls the vibration of the first mass body 2 using the electric energy stored in the capacitor 24. As the actuator 14, a voice coil motor, a reciprocating motor, a pneumatic actuator, a hydraulic actuator, or the like can be used instead of the linear DC motor.

  For example, disturbances to be removed by the vibration isolator include linear motion disturbance applied to the first mass body 2 in addition to ground motion disturbance applied to the base 1. A low-rigidity spring is suitable for removing the former disturbance, and a high-rigidity spring is suitable for removing the latter linear motion disturbance. By arranging the actuator 14 and the second spring 16 in series between the base 1 and the first mass body 2, high rigidity against direct acting disturbance is ensured without impairing vibration insulation performance against ground moving disturbance. can do.

This principle will be described below. As shown in FIG. 1, when two springs having spring characteristics k ₂ and k ₃ are arranged in series, and further a spring having spring characteristics k ₁ is connected in parallel to form one composite spring, spring characteristics of the combined spring K _c is calculated by equation 1.
(Formula 1)
kc = {k ₂ · k ₃ / (k ₂ + k ₃ )} + k ₁

Therefore, if the relationship of k ₂ = −k ₃ is satisfied, kc = ∞ of the composite spring is obtained regardless of the value of k ₁ . That is, by connecting the actuator 14 having a negative spring characteristic and the second spring 16 having a positive spring characteristic in series, the rigidity against the direct acting disturbance can be made infinite, and a high damping performance can be obtained. It can be demonstrated.

  FIG. 4 shows a circuit diagram of the vibration isolator. The three-phase alternating current output from the brushless motor 6 is converted into direct current by a rectifier 21 made of a diode. The magnitude of the direct current is adjusted by the variable resistor 12 and then stored in the capacitor 24. By outputting a three-phase alternating current from the brushless motor 6, the alternating current generated by the brushless motor 6 can be efficiently converted into a direct current.

A relay switch 25 is arranged in a circuit connecting the rectifier 21 and the capacitor 24. When the voltage E ₁ generated by the brushless motor 6 is lower than the voltage Ec stored in the capacitor 24, current flows backward from the capacitor 24 to the brushless motor 6. At this time, the relay switch 25 removes the capacitor 24 from the electric circuit in order to prevent reverse current flow (see FIG. 5A). Since only the variable resistor 12 is connected to the brushless motor 6, the brushless motor 6 functions as a normal damper.

On the other hand, when the voltage E ₁ generated by the brushless motor 6 is higher than the voltage Ec stored in the capacitor 24, the relay switch 25 is connected to the capacitor 24, and the current E ₁ generated by the brushless motor 6 is stored in the capacitor 24. (See FIG. 5B).

  As shown in FIG. 4, in the circuit connecting the capacitor 24 and the actuator 14, a resistor 26 is arranged in parallel and a relay switch 25 is arranged. Further, a controller 27 for controlling the actuator 14 is disposed in this circuit. The controller 27 determines the force (voltage) output from the actuator 14 based on the displacement, velocity, or acceleration of the first mass body 2 and the second mass body 15 detected by the sensor. Specifically, as shown in FIG. 6, the force that the actuator 14 outputs is determined so that the second mass body 15 vibrates in a phase opposite to that of the first mass body 2. By vibrating the second mass body 15 in a phase opposite to that of the first mass body 2, the vibration of the first mass body 2 can be suppressed.

  When the force of the actuator 14 calculated by the controller 27 is within the range of the damping force that can be generated when the actuator 14 functions as a damper, the relay switch 25 connects the resistor 26 to the actuator 14, The actuator 14 is caused to function as a damper (see FIG. 5A). A variable resistor may be used as the resistor, and the viscosity of the damper may be changed by changing the resistance value.

When the force of the actuator 14 calculated by the controller 27 exceeds the range of the damping force that can be generated when the actuator 14 functions as a damper, the relay switch 25 connects the capacitor 24 to the actuator 14, The actuator 14 is actively controlled using the voltage stored in 24 (see FIG. 5C). However, when the induced voltage E ₂ of the actuator 14 is larger than the voltage E _{c of the} capacitor 24, a current flows backward from the actuator 14 to the capacitor 24. At this time, in order to make the actuator 14 function as a damper, the relay switch 25 disconnects the capacitor 24 from the actuator 14 and switches to the resistor 26 (see FIG. 5B).

  FIG. 7 is a model diagram of the vibration isolator according to the second embodiment of the present invention. In the vibration isolator of the second embodiment, a dynamic damper is attached as a sub vibration system to the main vibration system including the first mass body 2, the first spring 4 and the energy regenerative damper 3. That is, the additional mass body 31 is attached to the first mass body 2. An actuator 32 and a second spring 33 are arranged in parallel between the first mass body 2 and the additional mass body 31. The configurations of the first spring 4 and the energy regenerative damper 3 arranged between the base 1 and the first mass body 2 are the same as the model of the vibration isolator of the first embodiment.

  Also in the vibration isolator of the second embodiment, the electric energy generated by the energy regenerative damper 3 is stored in the capacitor. The actuator 32 actively controls the vibration of the first mass body 2 using the electrical energy stored in the capacitor. The displacement of the first mass body 2 and the additional mass body 31 is detected by a sensor. Based on the output signal of the sensor, the controller controls the actuator 32 so that the additional mass body 31 vibrates at a phase opposite to the vibration of the first mass body 2.

  In addition, this invention is not limited to the said embodiment, In the range which does not change the summary of this invention, it can change variously. For example, a damper that performs passive control is provided between the base and the first mass body, between the first mass body and the second mass body, or between the first mass body and the additional mass body. You may arrange.

  In the rolling element screw device, a roller screw using a roller as the rolling element may be used instead of the ball screw.

Model diagram of the vibration isolator of the first embodiment of the present invention Ball screw perspective view Circuit diagram with variable resistance connected to brushless motor Circuit diagram of the above vibration isolator Circuit diagram showing operation of relay switch The conceptual diagram which shows the state which vibrated the 2nd mass body in the antiphase with the 1st mass body Model diagram of vibration isolator of second embodiment of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Base, 2 ... 1st mass body, 3 ... Energy regeneration damper, 5 ... Ball screw (rolling body screw device), 6 ... Brushless motor (generator), 7 ... Screw shaft, 7a ... Ball rolling groove ( Rolling element rolling groove), 8 ... nut, 8a ... loaded ball rolling groove (loaded rolling element rolling groove), 10 ... ball (rolling element), 14 ... actuator, 15 ... second mass body, 21 ... rectifier , 24 ... capacitor, 27 ... controller, 31 ... additional mass, 32 ... actuator

Claims (4)

A first spring disposed between the base and the first mass;
A screw shaft coupled to one of the base and the first mass body; a nut coupled to the other of the base and the first mass body; and a rolling element rolling groove on an outer peripheral surface of the screw shaft; A plurality of rolling elements interposed between the rolling rolling grooves of the inner peripheral surface of the nut so as to be capable of rolling motion, and the linear movement of the first mass body relative to the base is performed by the screw shaft. Or a rolling element screw device that converts the rotational motion of the nut;
A generator for generating electricity from the energy of rotational movement of the screw shaft or the nut of the rolling element screw device;
Electrical energy storage means for storing electrical energy generated by the generator;
An anti-vibration device comprising: an actuator that actively controls vibration of the first mass body using the electrical energy stored by the electrical energy storage means. Between the base and the first mass body, the actuator and the second spring are arranged in series in parallel with the first spring,
The vibration isolator according to claim 1, wherein a second mass body is interposed between the actuator and the second spring. An additional mass is attached to the first mass,
The vibration isolator according to claim 1, wherein the actuator and the second spring are arranged in parallel between the first mass body and the additional mass body. In the vibration isolation method of the spring mass system model in which the first spring is arranged between the base and the first mass body,
A screw shaft connected to one of the base and the first mass body, a nut connected to the other of the base and the first mass body, and a rolling element rolling groove of the screw shaft and a load of the nut Using a rolling element screw device having a plurality of rolling elements interposed between the rolling element rolling grooves so as to be capable of rolling motion, relative linear movement of the first mass body with respect to the base is performed by the screw shaft or Converted into rotational movement of the nut,
A generator generates electricity from the energy of rotational movement of the screw shaft or the nut of the rolling element screw device,
Storing the electrical energy generated by the generator in an electrical energy storage means;
An anti-vibration method in which an actuator actively controls vibration of the first mass body using electric energy stored in the electric energy storage means.

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