JP3943670B2 - Vibration isolator - Google Patents

Description

【００２３】
図１５にＦＦＴ解析をすることによって求めた周波数応答を示す．
【００２４】
本発明のシステムと同様に制御に外部エネルギーを必要としないパッシブ制御やセミアクティブ制御よりも，１次共振点付近の制振性能が向上していることがわかる．本発明の有効性を十分に証明する結果である．
【図面の簡単な説明】
【図１】 本発明の説明図である．
【図２】 Ｖｓ≧０かつＥ１≧Ｅｃの時のエネルギー回生ダンパの電気回路の説明図である．
【図３】 Ｖｓ＜０かつＥ１≧Ｅｃの時のエネルギー回生ダンパの電気回路の説明図である．
【図４】 Ｅ１＜Ｅｃの時のエネルギー回生ダンパの電気回路の説明図である．
【図５】 直流モーターに抵抗と可変抵抗器を接続した時の図である．
【図６】 Ｃｍｉｎ・（Ｖ２−Ｖ１）≦ｕ≦Ｃｍａｘ・（Ｖ２−Ｖ１）の時のアクチュエータの電気回路の説明図である．
【図７】 ｕ＞Ｃｍａｘ・（Ｖ２−Ｖ１）かつ，ｕ≧０かつ，Ｅｃ≧Ｅ２の時のアクチュエータの電気回路の説明図である．
【図８】 ｕ＞Ｃｍａｘ・（Ｖ２−Ｖ１）かつ，ｕ≧０かつ，Ｅｃ＜Ｅ２の時のアクチュエータの電気回路の説明図である．
【図９】 ｕ＞Ｃｍａｘ・（Ｖ２−Ｖ１）かつ，ｕ＜０かつ，Ｅｃ≧Ｅ２の時のアクチュエータの電気回路の説明図である．
【図１０】 ｕ＞Ｃｍａｘ・（Ｖ２−Ｖ１）かつ，ｕ＜０かつ，Ｅｃ＜Ｅ２の時のアクチュエータの電気回路の説明図である．
【図１１】 ｕ＜Ｃｍｉｎ・（Ｖ２−Ｖ１）かつ，ｕ≧０かつ，Ｅｃ≧Ｅ２の時のアクチュエータの電気回路の説明図である．
【図１２】 ｕ＜Ｃｍｉｎ・（Ｖ２−Ｖ１）かつ，ｕ≧０かつ，Ｅｃ＜Ｅ２の時のアクチュエータの電気回路の説明図である．
【図１３】 ｕ＜Ｃｍｉｎ・（Ｖ２−Ｖ１）かつ，ｕ＜０かつ，Ｅｃ≧Ｅ２の時のアクチュエータの電気回路の説明図である．
【図１４】 ｕ＜Ｃｍｉｎ・（Ｖ２−Ｖ１）かつ，ｕ＜０かつ，Ｅｃ＜Ｅ２の時のアクチュエータの電気回路の説明図である．
【図１５】 実施例のランダム派入力に対する振動伝達率の計算結果のグラフである．[0001]
BACKGROUND OF THE INVENTION
The present invention is a technology related to a vibration isolator for the purpose of insulating external vibration.
[0002]
[Prior art]
Active vibration control, in which actuators are placed and force is applied directly to the object of vibration isolation, has better vibration isolation capability than passive control devices that consist only of springs and dampers.
[0003]
However, it is necessary to supply energy from the outside in order to perform vibration control, which is also a drawback of active vibration control.
[0004]
[Problems to be solved by the invention]
The present invention eliminates the above-mentioned drawbacks and supplies all energy necessary for active vibration control from a generator (unsprung (lower) energy regenerative damper) arranged in the system.
[0005]
The aim is to realize a vibration control device with two degrees of freedom that stores vibration energy as electrical energy and performs active vibration control without supplying energy from the outside.
[0006]
[Means for Solving the Problems]
Therefore, the vibration isolator of the present invention is a two-degree-of-freedom vibration isolator composed of an upper mass and an upper spring and a lower mass and a lower spring.
An unsprung (lower) energy regenerative damper that generates electric power by generating an induced voltage proportional to the speed of a vibration stroke that is a disturbance of the lower mass and the lower spring ;
A capacitor for storing the generated electricity,
To generate output by electricity stored by the capacitor, which comprises an actuator that on the spring by the output on the mass of the (upper) sprung to control the vibration of the spring (upper side) (upper side) It is characterized by.
Moreover, anti-vibration device of the present invention, voltage generated by energy recovery damper of the unsprung (bottom) is lower than the voltage of the capacitor, remove the condenser, and a resistor only, the A first relay switch is provided to switch the unsprung (lower) energy regenerative damper to a damper.
The vibration isolator of the present invention stops vibration control of the upper mass and the upper spring when the absolute value of the induced voltage of the upper (upper) actuator is larger than the voltage of the capacitor. And a second relay switch for switching the sprung (upper) actuator to a damper.
The vibration isolator according to the present invention is characterized in that the unsprung (lower) energy regeneration damper and the unsprung (upper) actuator are DC motors.
Figure 1 shows the system of the present invention. A two-degree-of-freedom vibration isolator model was adopted, and one DC motor was placed on the unsprung and one on the spring. The vibration is applied to the unsprung state as a disturbance, and the purpose is to prevent the sprung mass. The present invention can be applied to both force excitation and displacement disturbance. The unsprung DC motor functions as a generator (energy regeneration damper) that generates power using vibration energy, and the DC motor on the spring functions as a servo motor (actuator) that performs active vibration control. In the future, the unsprung DC motor will be called an energy regeneration damper, and the unsprung DC motor will be called an actuator. The vibration energy regenerated by the energy regenerative damper is stored as electrical energy in the capacitor, and the actuator performs active control using the voltage of the capacitor.
[0007]
The DC motor functions as an energy regenerative damper and actuator. Two relay switches are arranged in the electric circuit connecting the energy regenerative damper and the capacitor. Three relay switches and a voltage controller are arranged in the electric circuit connecting the actuator and the capacitor.
[0008]
This section explains how to switch the circuit of the energy regenerative damper. The vibration always changes in the vertical direction. It is necessary to always switch the connection direction with the capacitor according to the direction of vibration. Also, if the vibration energy is small and the generated voltage is lower than the capacitor voltage, electricity will flow backward. At that time, remove the capacitor from the electrical circuit and connect only the resistor to the DC motor. In this way, the energy regenerative damper functions as a normal damper. When it is impossible to store the vibration energy, the energy regenerative damper functions as a normal damper and performs vibration isolation.
[0009]
The first relay switch in Fig. 1 aims to realize the function of switching and rectifying the direction of connection between the energy regenerative damper and the capacitor. The second relay switch is intended to switch the connection and disconnection between the DC motor and the capacitor.
[0010]
The specific circuit switching rules are explained in Figs. The circuit diagram shows only relay switches 1 and 2 related to the energy regeneration damper. In the figure, E1 is the absolute value of the induction voltage of the energy regenerative damper, Ec is the voltage of the capacitor, and Vs is the stroke speed of the energy regenerative damper. 2 and 3 show that the induced voltage is higher than the voltage of the capacitor, and the energy generated is supplied to the capacitor. Fig. 4 shows the case where the induced voltage is lower than the voltage of the capacitor and vibration energy is not regenerated in the capacitor. In FIGS. 2 to 14, i in the figure indicates the current flow of the circuit.
[0011]
Before explaining the actuator circuit, let us explain the damping force that the DC motor produces when a resistor and a variable resistor are connected to the DC motor as shown in Fig. 5.
[0012]
The DC motor generates an induced voltage e in proportion to the stroke speed V and an output f in proportion to the armature current i. The proportional constant at this time is called the actuator coefficient, and here it is set to P.
[0013]
If the resistance is R and the resistance value of the variable resistor is Rvar, the voltage P · V is generated in the circuit when the stroke of the DC motor is moving at the speed V. Therefore, the current P · V / ( R + Rvar) flows. Therefore, the DC motor generates the output P · P · V / (R + Rvar). This is the damping force, and the DC motor functions as a damper with a damping coefficient P · P / (R + Rvar).
[0014]
The smaller the value of Rvar, the smaller the damping force. Therefore, the maximum attenuation coefficient is P · P / R when Rvar = 0. The attenuation coefficient at this time is Cmax. The minimum attenuation coefficient is when Rvar is set to an infinite value, that is, when the circuit is disconnected. If the attenuation coefficient at this time is Cmin, then Cmin = 0.0.
[0015]
The actuator circuit is explained. The circuit diagram shows only relay switches 3, 4 and 5, variable resistors, and voltage controllers related to the actuator. The actuator circuit consists of three relay switches, a variable resistor, and a voltage controller. The speed of the sprung mass is V2, and the speed of the unsprung mass is V1. Based on the value detected by the sensor, the force that the actuator produces is determined. Let u be the output. When the value of u is between the maximum damping force and the minimum damping force that can be generated when a resistance is connected to the actuator and functioning as a damper, that is, Cmin · (V2−V1) ≦ u ≦ Cmax · At (V2-V1), the actuator functions as a damper and changes the viscosity of the damper by changing the resistance value with a variable resistor, and performs semi-active control. Figure 6 shows the circuit diagram at this time.
[0016]
When Cmax · (V2−V1) <u, active control is performed using the capacitor voltage. The voltage is controlled by the voltage controller, and the actuator is controlled to generate the output u. However, if the absolute value E2 of the induced voltage of the actuator is larger than the voltage Ec of the capacitor, the active control is stopped and the actuator is switched to a damper having a Cmax damping coefficient. Figures 7 to 10 show circuit diagrams at this time.
[0017]
When Cmin · (V2−V1)> u, active control is performed using the capacitor voltage. The voltage is controlled by the voltage controller, and the actuator is controlled to generate the output u. However, when the absolute value E2 of the induced voltage of the actuator is larger than the voltage Ec of the capacitor, the active control is stopped and the actuator is switched to a damper having a Cmin damping coefficient. Figures 11-14 show circuit diagrams at this time.
[0018]
【Example】
Next, an example will be described. Random waves were created to simulate natural disturbances, and the damping performance (frequency response) of the system of the present invention was calculated by computer simulation.
[0019]
As the voltage controller shown in Fig. 1 etc., it was assumed that a variable resistor was used.
[0020]
As a comparison, passive control and semi-active control methods were cited. Passive control is control that uses only springs and dampers without actuators. Semi-active control is control performed only by changing the resistance value of the variable resistor of the actuator.
[0021]
Table 1 shows the specifications used in the numerical simulation.
[0022]
[Table 1]

[0023]
Figure 15 shows the frequency response obtained by FFT analysis.
[0024]
As with the system of the present invention, it can be seen that the damping performance near the primary resonance point is improved compared to passive control and semi-active control that do not require external energy for control. This is a result that sufficiently proves the effectiveness of the present invention.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of the present invention.
FIG. 2 is an explanatory diagram of an electric circuit of an energy regenerative damper when Vs ≧ 0 and E1 ≧ Ec.
FIG. 3 is an explanatory diagram of an electric circuit of an energy regenerative damper when Vs <0 and E1 ≧ Ec.
FIG. 4 is an explanatory diagram of an electric circuit of an energy regenerative damper when E1 <Ec.
FIG. 5 is a diagram when a resistor and a variable resistor are connected to the DC motor.
FIG. 6 is an explanatory diagram of an electric circuit of the actuator when Cmin · (V2−V1) ≦ u ≦ Cmax · (V2−V1).
FIG. 7 is an explanatory diagram of an electric circuit of an actuator when u> Cmax · (V2−V1), u ≧ 0, and Ec ≧ E2.
FIG. 8 is an explanatory diagram of an electric circuit of the actuator when u> Cmax · (V2−V1), u ≧ 0, and Ec <E2.
FIG. 9 is an explanatory diagram of an electric circuit of the actuator when u> Cmax · (V2−V1), u <0, and Ec ≧ E2.
FIG. 10 is an explanatory diagram of an electric circuit of an actuator when u> Cmax · (V2−V1), u <0, and Ec <E2.
FIG. 11 is an explanatory diagram of an electric circuit of the actuator when u <Cmin · (V2−V1), u ≧ 0, and Ec ≧ E2.
FIG. 12 is an explanatory diagram of an electric circuit of the actuator when u <Cmin · (V2−V1), u ≧ 0, and Ec <E2.
FIG. 13 is an explanatory diagram of an electric circuit of the actuator when u <Cmin · (V2−V1), u <0, and Ec ≧ E2.
FIG. 14 is an explanatory diagram of an electric circuit of an actuator when u <Cmin · (V2−V1), u <0, and Ec <E2.
FIG. 15 is a graph showing a calculation result of vibration transmissibility with respect to random input according to the embodiment.

Claims (4)

In an anti-vibration device having two degrees of freedom consisting of an upper mass and upper spring and a lower mass and lower spring,
A lower energy regeneration damper you power to generate an induced voltage proportional to the speed of the vibration stroke the a lower mass and disturbance of the lower spring,
A capacitor for storing the generated electricity,
To generate output by electricity stored by the capacitor, the two-degree-of-freedom vibration isolation apparatus being characterized in that an actuator of the upper side that controls the vibration of the upper spring and the upper mass by output . Voltage generated in the previous SL lower energy regeneration damper is lower than the voltage of the capacitor, remove the condenser, a resistor connected only to a first switching the energy regenerative damper before Symbol lower the damper The anti-vibration device according to claim 1 , further comprising a relay switch . The absolute value of the induced voltage before SL upper actuator is greater than the voltage of the capacitor, stop vibration control of the upper mass and the upper spring, before Symbol upper actuator a second switch to damper The vibration isolator according to claim 1 or 2, further comprising a relay switch . Energy recovery damper and pre SL upper actuator before Symbol lower side, vibration isolating apparatus according to any one of 3 claims 1 characterized in that it is a direct current motor.

Images