JPS61124741A - Vibro-isolating device - Google Patents

Abstract

PURPOSE:To improve a vibro-isolating function for a vibrative input in a wide frequency range, by detecting a movement condition of an attitude changing device and a structure mounting it and correcting the movement condition on the basis of the detection result. CONSTITUTION:When a separate vibro-isolating device is not mounted, a vibrative input as a disturbance is directly transmitted to an attitude changing device 1 from a structure 7, changing an attitude of an equipment 2. An attitude detecting part 3, detecting a change of this attitude, generates a detection signal, while a control part 5, inputting the detection signal, calculates a correction quantity of the attitude of the attitude changing device 1. Accordingly, the equipment 2, correcting its attitude through an attitude control driving part 4, provides a vibro-isolating function similar when the vibro-isolating device is mounted while a vibro-isolating function for a wide frequency range.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a vibration isolating device that provides an appropriate vibration control function to an attitude changing device that receives a vibration input as a disturbance.

[Prior Art] Equipment such as telescopes or antennas that have a wide pointing range and require highly accurate camouflage control are usually used by being attached to a separately manufactured attitude change device. When vibration input as a disturbance is applied to this attitude change device,
The posture change device has a function of detecting a change in posture caused by a vibration input using a unique posture detection section, determining the amount of posture correction by a control device, and correcting the posture using a posture change drive section.

However, the above-mentioned attitude correction function is severely limited by the detection speed of the attitude detection unit, the attitude correction amount determination speed of the control unit, and the response speed of the attitude change drive unit.
It is limited to correction of the influence of vibration input in the low frequency range and upper limit of T1, and it is necessary to add an independent vibration isolator to dampen vibration input in a higher frequency range.

Conventionally, a passive vibration isolator consisting of one spring and a damper has been commonly used as a vibration isolator for such applications, but with this method, the range of vibration isolation effect is limited to equipment and attitude change equipment. Since the mass of the vibration isolator and the spring constitution of the vibration isolator are limited to the range of 8 waves which are more crystalline than the natural vibration #, it is necessary to suppress the natural vibration to less than the above-mentioned natural vibration. It was difficult and rare to apply this method to attitude change devices that carry small equipment. In addition, in a passive vibration isolator, it is necessary to have the effect of amplifying the vibration in response to a vibration input due to the same natural vibration as described above, and the ability of the attenuator to reduce this vibration field ll1i effect. After raising the above specific #
There was a problem that the vibration damping effect in a higher frequency range was lower than that of J&.

In addition, in recent years, a method has been developed in which a support section using a magnetic bearing is installed inside an attitude change device that carries a large, high-mass telescope used under space environment conditions, and it also serves as a vibration isolator.
For example, the document Control 5yaten D=Isi
bait af-yong-gS4-81-h1 boundary S voice field m (J
Of Guidance and Cantml
, vol 3, fhl).

This method gives magnetic bearings the ability to restore minute movements and is used for protection, but it is difficult to control, and controllable vibrations are limited to low frequencies and ranges. Therefore, it was insufficient as a vibration isolator to be used as an addition to an attitude change device for equipment that requires highly accurate attitude control.

[Problem that the invention seeks to solve]

Conventional vibration isolators, which are passive type, have a problem in that it is difficult to obtain vibration isolation effects over a wide range of the same wave and range for arbitrary loads due to the natural vibration of the anti-vibration device. Furthermore, in a vibration isolating device that does not include a support section using a magnetic bearing, there are problems such as difficulty in control and controllable vibration #R wave range being limited to a low frequency range.

The present invention was made in order to solve the problems of the conventional anti-#i device as described above. The purpose of the present invention is to provide a vibration isolating device that has high anti-TIE ability.

[Means for solving problems]

The vibration isolator according to the present invention is used by being attached between an attitude changing device and a structure supporting the same, and includes an elastic support structure and a driving means, and is configured to correct the motion state of the attitude changing device. It is what was done. The correction of the motion state of the posture change device employs active vibration isolation force throwing that controls the relative relationship between the structure and the posture change device based on changes in the motion state.

[Operation] The motion state detection unit in the vibration isolator of the present invention independently detects the motion states of the structure and the attitude change device, and the motion state correction amount determining means receives the detection signal in g. Predetermined motion of the posture change device! Determine the amount of correction,
As a result, the driving means is controlled in order to achieve the necessary anti-vibration function.

[Embodiments of the invention]

Hereinafter, one embodiment of the present invention will be described with reference to the drawings. 1st
The figure is a structural diagram of a metal body of a vibration isolating device according to the present invention and an attitude changing device connected thereto. In FIG. 1, the posture change device (1) detects the posture of the device (2)!
1sc3)1. Attitude control drive unit (4) and control unit (
5), and is attached to the structure (7)K through the vibration isolator (6). The vibration isolator (6) also includes - an elastic support structure (
8), structure (7) and posture change device t! (1) Motion state detection units (9) and (10) attached to both
), a drive section (11) for correcting the motion state of the posture changing device (1), a control section (12) of the drive section (11), a control section (12) Fi, and a motion state detection section.・A detection signal conversion unit (13) that converts the detection signals of (9) and (lO), and a calculation unit (14) that calculates the sudden correction of the motion state of the attitude change device (1) based on the converted detection signals.
), the drive unit (11) based on the calculation results of the calculation unit (14).
The control signal generating section (15) controls the control signal generation section (15).

Next, the operation of the actual 31 rows of the vibration isolator according to the present invention will be explained based on FIG. 2 and subsequent figures. First, Figure 2 shows the acceleration amplitude of the vibrating human force as a disturbance applied to the posture change device (1) when an independent vibration isolator is not installed, and the vibration input caused by the posture change device (1). The ratio of the acceleration amplitude of the motion is shown in relation to the same wave number of the vibration input described above.If an independent vibration isolator is not installed, the attitude R change device (1) receives disturbances from the structure (7). The vibration input as shown in FIG. The amount of correction of the attitude of the attitude change device (1) is calculated using the detection signal as input, and the attitude of the device (2) is corrected via the attitude control drive unit (4). However, the vibration isolation function due to the posture correction function of the posture changing device (1) is as shown in Figure 2.
[This is invalid for am inputs greater than &. As mentioned above, the upper limit frequency of the effective range of this anti-vibration function depends on the detection speed of the attitude detection section (3), the attitude correction type determination speed of the control section (5), and the response speed of the attitude control drive section (4). Determined,
It is difficult to increase the frequency above about 1Hz with a normal attitude changing device.

Next, FIG. 3 and FIG. 4 K, the vibration isolating device (6) of the present invention
The acceleration amplitude of the vibration input as a disturbance applied to the structure ('i) that houses the attitude change device (1) when adding The ratio is shown in the same manner as in Fig. 2.Among these, Fig. 3 shows the vibration isolation when the damping force determination means based on speed is used alone as the vibration isolation method of the vibration isolator (6). In this case, the control unit (12) of the vibration isolator (6) changes the posture in response to a detection signal from the motion state detection unit (lO) attached to the Fi5i% force change device (1). A control signal proportional to the motion speed of the device (1) is generated to drive the drive unit (11) and add damping force, but the vibration isolation function in this case is designed to prevent vibration inputs below a certain frequency. In the case shown in Figure 3, the effective range of the anti-vibration function of the anti-vibration system (6) is limited to the elastic support structure of the anti-vibration device (6). 8)
Spring articles of incorporation and equipment (2) and posture change equipment
Since the mass of (1) is equal due to the natural vibration determined by the mass, even if it is combined with the vibration isolation function of the attitude change device (1), there may be a frequency range in which the vibration isolation function is ineffective.

FIG. 4 shows a moisture-proof bag using an example of a vibration-proofing method for eliminating the frequency range in which the vibration-proofing function of the vibration-proofing method shown in FIG. 3 is ineffective! This shows the anti-vibration characteristic of (6). In the example shown in FIG. 4, as the vibration isolation method of the vibration isolator (6), a damping force determining means based on speed and a damping force determining means based on displacement are used together.
The control unit (12) of the anti-vibration M position (6) is the attitude change device (1)
And the posture change device (1) lacks the detection signals of the motion state detection units (9) and (10) attached to the structure (7).
and the structure (generates a control signal proportional to the difference in force displacement,
The damping force is applied by driving the driving part (11).

In the above embodiment, the damping force determination means based on the speed of the attitude change device (1) is used alone as the means for determining the motion state ms positive amount, and in addition to the damping force determination means based on the speed of the attitude change device (1), the attitude change device!
Although two cases are shown in which the damping force determining means based on the difference in change between (1) and structure (7) are used together, it is not recommended to use each damping force determining means alone or in combination as appropriate. A vibration isolator (6) that has a vibration isolating function according to the characteristics of the attitude change device (1) and the equipment (2), the necessity of vibration isolation, and the frequency range of vibration input as a disturbance.
It is possible to configure

c. Effects of the Invention] As described above, according to the present invention, the drive unit and its control unit are configured to detect the motion state of the posture change device and the structure to which it is attached, and correct the motion state based on the detection result. Vibration isolation device using active vibration isolation method It becomes possible to add it to the changing device.

[Brief explanation of drawings]

Figure 1 is an overall configuration diagram when a vibration isolator using the vibration isolation method according to the present invention is applied to an attitude change device, and Figure 2 is a diagram showing the vibration isolation device of the attitude change device when the vibration isolator is not housed. FIGS. 3 and 4 are schematic diagrams showing the vibration isolation characteristics of an embodiment in which a vibration isolation device using the vibration isolation method according to the present invention is applied to an attitude changing device. (1)... Attitude change device, (2)... Aircraft number, (6)
... Vibration isolator, (7) ... Structure, (8) ... Elastic support structure, (9) ... Motion state detection section, (10)
...Movement state detection section, (11)...Driver section, (12
)...control unit, Fig. 1 1zS reading +41p

Claims (5)

[Claims] (1) In a vibration isolator that is used in addition to an attitude change device for equipment that includes an attitude detection unit, an attitude change drive unit, and a control unit for the drive unit, an elastic support structure made of an elastic member that supports the attitude change device. and a first structure attached to both the structure to which the attitude change device is attached and the attitude change device.
and a second motion state detection section, and a determining means that receives the detection signal of the motion state detection section as an input and determines a motion state correction amount of the posture changing device necessary for controlling the device to a predetermined posture; A vibration isolating device comprising: drive means for correcting the motion state of the posture changing device based on the motion state modification amount determined by the determining means. (2) The damping force determining means based on the displacement obtained from the motion state detecting section is solely used as the means for determining the amount of motion state correction of the posture changing device.
) Anti-vibration device as described in section 2. (3) The damping force determining means based on the velocity obtained from the motion state detection section is used alone as the means for determining the amount of motion state correction of the posture changing device.
) Anti-vibration device as described in section 2. (4) The damping force determining means based on the acceleration obtained from the motion state detecting section is solely used as the means for determining the motion state correction amount of the posture changing device.
The vibration isolator described in section 1). (5) The above claim characterized in that any two or all of the damping force determining means based on the displacement, velocity, or acceleration obtained from the motion state detection section are used together as the means for determining the amount of motion state correction of the posture changing device. The vibration isolator according to scope 1.