KR20200105017A - Apparatus and method for generating the corresponding impact signal to suppress vibrations - Google Patents

Abstract

The present invention relates to an apparatus and a method for generating a response signal in the form of a shock to suppress vibration. A shock response signal supply is pre-programmed in a control unit (200) along with the time when the response signal is supplied after determining the characteristics frequency, periodic vibration, amplitude, and slope of the frequency components having the largest vibration among the frequency components constituting a vibration signal through a vibration measurement. When a sensor (100) detects the generation and magnitude of vibration and transits a detection result to the control unit (200), the control unit (200) generates and transmits the shock response signal corresponding to the magnitude of the vibration of the frequency component identified in advance, and an actuator (300) is driven by the transmitted signal to supply the shock response signal and supplies the shock response signal, thereby effectively suppressing the vibration without the side effect of increasing the vibration. If the vibration remains after the shock response signal is supplied, the control unit (200) may be repeatedly executed to provide additional response signals.

Description

Apparatus and method for generating shock-type signals for vibration suppression {APPARATUS AND METHOD FOR GENERATING THE CORRESPONDING IMPACT SIGNAL TO SUPPRESS VIBRATIONS}

The present invention relates to a vibration control apparatus and method, and more particularly, to an apparatus and method for generating a corresponding signal in the form of an impact capable of suppressing vibration.

In general, vibration is a transient response that disappears over time because there is no continuous supply of external force such as centrifugal force after the impact acts as shown in FIG. 1 and the amplitude generated from the centrifugal force of the rotating body is kept constant as shown in FIG. There is a steady state response. Examples of transient vibration include inter-floor noise and vibration caused by instantaneous acceleration/deceleration, and flow induced vibrations such as snoring and piping vibration also correspond to this.

Steady-state vibration is the vibration of machinery or equipment having rotating bodies such as motors, spindles, helicopter/wind generator rotors, ship propellers, monitors, and screws.

A damper is the most widely used device to reduce vibration, and the damper is classified into a passive damper and an active damper.

First, a passive damper is a device that absorbs vibration by dissipating internal stress and friction energy of a vibrating object by adding a spring or a vibration absorbing material to the vibration area. However, when the passive damper is installed, the rigidity of the structure may be lowered, and the overall magnitude of the vibration may be increased, and thus product quality, durability, and reliability may be deteriorated.

The active damper is a device that senses vibration from a sensor, generates a response signal by a signal generator, transmits it to the actuator, and reduces vibration by supplying a response signal through actuator operation. In general, within the active damper kit (Kit), it can be divided into a case where vibration analysis is performed and a case where vibration analysis is not performed, a case where a response signal is set in advance prior to vibration analysis and a response signal is immediately supplied when vibration occurs. I can.

When performing vibration analysis within an active damping kit, a frequency analyzer is used to analyze the vibration signal, so an expensive frequency analyzer (at least KRW 10 million) is essential, and a bulky controller, sensor and In the process of transmitting and receiving signals between actuators, several parts (antenna, battery, cable) are required, and there is a disadvantage in that a signal generator is added to supply appropriate signals.

The frequency analyzer is an effective equipment capable of accurate analysis of vibration, but the computational process is complex, so it takes 2 to 4 seconds only to analyze the signal (the time to convert the time domain signal to the frequency domain signal), and dozens of times after the vibration occurs. Since the reaction (output of a response signal) becomes possible after a period (20 to 40 cycles when the frequency is 10 Hz), real-time vibration control is not possible, resulting in low control efficiency.

Referring to FIG. 3, in the case of U.S. Patent No. 2009-114821, briefly summarizing the mechanism of the active damping system including the frequency analysis process in the active damping kit, the frequency analyzer analyzes the vibration signal measured by the sensor, The frequency components are obtained, and the vibration signal is analyzed through a frequency analyzer, control box or other measuring equipment in the active damping kit indicated by the red box, and the vibration wave in the reverse phase is transmitted to the actuator to the signal generator. Accordingly, the measured vibration signal and the inverse signal supplied by the actuator meet and cancel out to mitigate the vibration.

However, referring to the explanatory diagram showing the operating mechanism of the conventional active damper in a waveform of FIG. 4, this technology measures the vibration signal A and then undergoes a vibration analysis process to have an exactly opposite phase to the vibration signal A. The purpose is to supply the corresponding signal (B),

As described above, when the frequency analysis process is performed within the active damper, it takes a long time (2 to 4 seconds) in the entire process of analyzing the vibration, analyzing the waveforms of a plurality of frequency components, and supplying the corresponding signal, and thus real-time control. It is impossible, and the price of the frequency analyzer to be included in the active damper is expensive, so the price of the active damper is very high. In addition, since the vibration of the same frequency component as the original vibration signal is supplied as a corresponding signal, there is a very high possibility that the vibration inevitably occurs and the vibration increases.

When vibration analysis is not performed in the active damper kit, the phase is reversed without the vibration analysis process after measuring the vibration, generating a response signal, and transmitting it to the actuator to supply the response signal.

Referring to FIG. 5, in the case of Japanese Patent Laid-Open No. 2009-114821, summarizing the mechanism of the active damper, the signal measured from the sensor 1 passes through the phase inverters 31 and 32, and the signal of the opposite phase (red A corresponding signal is supplied to the vibrating body 4 by driving the actuator 2 with a box).

However, this technique inverts the measured vibration signal as it is, so that the actuator must move exactly opposite to the vibrating body for the entire signal (both + and-directions), so the actuator 2 must be attached to the vibrating body 4.

That is, in this method, the operating frequency of the corresponding signal and the natural frequency of the vibrating body are matched, so that resonance between the actuator and the vibrating body inevitably occurs.

In general, signal processing is an operation on an input signal, and although it is not as long as the frequency analysis process as in the case of FIG. 4, the time required for signal processing increases as the signal becomes more complex. Noise, errors, and delay times are very likely to occur in the process of generating signals of exactly opposite phase to the vibration of complex signals. Therefore, when the vibration signal is complex, as shown in FIG. 6, the delay time increases, resulting in a phase difference, and in the worst case (phase difference 180°), the amplitude can be doubled.

A technology that controls vibration by immediately supplying a response signal when vibration occurs after setting a response signal prior to analyzing the vibration of a vibrating body is shown. Referring to FIG. 7, in the case of registration number 10-1903982, the operating mechanism of the vibration control device can be summarized in the following three steps.

-Step 1: Prior to analyzing the vibration of the vibrating body, determine the finite (1~3) frequency components with the largest amplitude among infinite frequency component vibrations. And, based on the analysis result, a corresponding signal is set in advance.

-Step 2: When vibration occurs, the sensor detects it and transmits it to the control unit.

-Step 3: When the vibration signal is transmitted to the controller, a preset response signal

Output to drive the actuator.

As the above-described vibration analysis is preceded, a frequency analyzer in the device is unnecessary and only a finite (1~3) frequency component is supported, so the signal processing process is simple, and the delay time can be shortened compared to the above two technologies.

In this technology, as shown in Fig. 8, a method of responding to the corresponding signal in an opposite phase to the entire vibration signal and a method of supplying the corresponding signal only during a part of the cycle (1/4 cycle) as shown in Fig. 9 are proposed.

In order to block the possibility of resonance that may occur in the process of supplying the corresponding signal, it is mentioned that the vibrating body and the actuator are separated, but in the case of FIG. 8, the vibration and the corresponding signal have exactly opposite phases, and (+), (- ) Direction, so that the actuator must be attached to the vibrating body, and resonance occurs because the two signals are vibration of the same frequency component. In the case of Fig. 9, the response signal is supplied only for a part of the cycle (1/4 cycle). However, there is a possibility that a part of the cycle coincides and resonates. The biggest problem is the response signal Since the shape is continuous, it is equivalent to an instantaneous short response signal being supplied infinitely (continuously).

In fact, if a continuous response signal is supplied to the generated vibration infinitely, the adverse effect of increasing the vibration occurs. In order to easily understand the adverse effects above, it can be clearly confirmed by simplifying the continuous response signal and supplying only some of them. FIG. 10 shows a simplification of the continuous response signal supplied during the 1/4 cycle of FIG. 9 into 5 intermittent response signals.

에서 진동을 상쇄시킬 수 있는 정확한 충격 대응 신호가 단 1회만 공급되어도 진동이 소멸되는 그림이다. 대응신호의 형태가 매우 짧은 시간동안 공급되는 충격이기 때문에 주파수성분이 없어 공진과 위상차로인한 문제가 없고, 충격 시점의 대응신호 크기만 결정하면 되므로 위상차로 인한 문제도 없으며, 단 1회만 공급되기 때문에 진동이 더 커지는 부작용도 없다. 이 결과는 도 21, 22의 실험사진/동영상으로도 확인할 수 있다.11 is a time point of supplying a corresponding signal to the generated transient vibration

This is a picture in which the vibration disappears even if the correct shock response signal that can cancel the vibration is supplied only once. Because the shape of the response signal is a shock that is supplied for a very short time, there is no problem due to resonance and phase difference because there is no frequency component, and there is no problem due to the phase difference because only the size of the response signal at the time of the impact is determined, and it is supplied only once. There is also no side effect of increasing the vibration. This result can also be confirmed by the experimental photos/videos of FIGS. 21 and 22.

에서 1차 대응 신호 공급으로 진동이 상쇄되어 진동이 줄어들지만, 시간

에서 2차 대응 신호 때문에 진동은 다시 생겨난다. 시간

와

사이의 추가 대응신호가 없어 진동 크기가 감소하지만, 다시

,

,

에서의 추가 대응신호 공급으로인해 진동크기가 더 커지게된다.12 shows the result of supplying all of the simplified intermittent response signals 5 times shown in FIG. 10 to the vibration signal. time

The vibration is canceled by supplying the first response signal in

Because of the second-order response signal in, the vibrations reappear. time

Wow

There is no additional response signal between the vibrations, but the magnitude of the vibration is reduced.

,

,

The vibration amplitude becomes larger due to the supply of additional response signals from

That is, after the vibration is reduced by one shock response signal, the vibration is increased by an additional 2 to 5 shock response signals (actually infinite times when continuously supplied).

The continuous response signal supply has a side effect of increasing the vibration more than the simplified 5 response signals as shown in FIG. 12.

The above is applicable to all of the conventional techniques that use a continuous type of response signal, and this response signal is a problem of low control efficiency due to resonance induction (vibration becomes very large), inaccurate response time due to delay time (phase difference), and impact type. Not a continuous response signal has a problem of increasing the vibration.

On the other hand, the impact type signal has no frequency component, so there is no possibility of resonance, and there is no phase difference problem due to the delay time because the time of supplying the corresponding signal is determined by considering the delay time in advance, and there is no signal supply continuing after the vibration is controlled. There is no possibility of increasing the vibration at all. Therefore, when supplying the corresponding signal to suppress the vibration signal, it is preferable to control the vibration by supplying it as a shock-type signal instead of continuously supplying it.

US Patent No. 2009-114821 Japanese Unexamined Patent Publication No. 2009-114821 Registration No. 10-1903982, Vibration control device and method

An object of the present invention for solving the above problems is to provide an apparatus and method for generating a shock signal for suppressing vibration without side effects of increasing resonance, phase difference, and vibration by supplying a corresponding signal in the form of an impact.

The present invention for achieving the above object, referring to FIG. 13, a sensor 100 for sensing vibration from the vibrating body 10; A control unit 200 for generating and transmitting a shock response signal to cancel the sensed vibration; And an actuator 300 driven by the transmitted corresponding signal.

The sensor 100 detects the generation and magnitude of vibration and transmits it to the control unit 200.

The control unit 200 generates an impact response signal based on preset data and transmits it to the actuator 300.

The actuator 300 is driven by the transmitted signal to provide a shock response signal to suppress vibration.

The control unit includes a repeat execution unit 210 capable of additionally executing the control unit 200 when the residual vibration after output is large.

In order to supply the shock response signal, as shown in Fig. 14, after determining the frequency component having the largest vibration among various frequency components constituting the vibration signal, the characteristic (frequency, period) and the timing of supplying the response signal are determined through vibration measurement. It is programmed in advance in the control unit 200. Since the frequency component having the largest vibration corresponds to the vibration characteristics of the vibrating body, it appears consistently like the natural frequency or operating frequency of the vibrating body when measuring vibration.

Referring to FIG. 16 for the above programming, since the period of the frequency component having the largest vibration identified through vibration measurement in FIG. 14 is known, the point at which 1/4 cycle passes after the vibration occurs (①) (③), Vibration patterns corresponding to the point in time (④) when the cycle passes can be identified in advance.

The time point of supplying the response signal (②) is the time (about several ms) from sensor detection to actuator response. Specifically, it corresponds to the time when the sensor 100 senses the vibration and transmits the signal to the control unit, the time when the control unit 200 generates and transmits the corresponding signal to the actuator 300, and the time at which the actuator 300 reacts. .

The method for supplying the shock response signal has been described in detail in the detailed description for carrying out the invention.

The process of controlling vibration from occurrence of vibration through the present invention can be summarized as the following steps.

First, the step of determining the characteristics (frequency, period) of the frequency component having the greatest vibration by measuring vibration

Second, programming the characteristic of the frequency component and the timing of supplying the corresponding signal to the control unit 200

Third, when vibration occurs, the sensor 100 detects the size and transmits it to the control unit 200

Fourth, the control unit 200 generates an impact signal corresponding to the vibration magnitude of the frequency component previously identified in the first step and transmits it to the actuator 300

Fifth, the step of supplying the shock response signal by the actuator 300

Sixth, if the residual vibration after supplying the response signal is large, supplying an additional shock response signal to the corresponding vibration to the repeat execution unit 210

15 is an exemplary view showing the vibration signal, the shock response signal, and the result. The vibration signal on the left is the same as that of FIG. 14 (the signal of the frequency component having the largest vibration identified through vibration measurement), and is an enlarged view of a blue circle for detailed confirmation. The response signal in the middle is that the control unit 200 generates a shock signal that can extinguish the vibration at ② based on the previously identified vibration characteristics and transmits it to the actuator 300, and the actuator 300 is driven to supply the response signal. do. If you look at the result signal on the right, you can see that the vibration disappears from ② where the shock signal was supplied.

In the case of using the apparatus and method for generating a shock-type response signal capable of suppressing vibration according to the present invention, it is possible to suppress the vibration with a shock response signal for a very short time (0.001 to 0.02 sec) as shown in FIG. There is no side effect in the prior art such as.

Since the corresponding signal in the form of an impact is supplied for a very short time, there is no possibility of resonating with the natural frequency of the vibrating body due to lack of repeatability.

In addition, since the signal is a very simple signal that only occurs at a short moment, as shown in Fig. 17, it responds to only a few frequency components with a large vibration magnitude identified through vibration measurement, so the signal processing process is short and there is a possibility of error occurrence. Since it is low, efficient vibration control is possible, and since it is only necessary to accurately supply the corresponding signal when the corresponding signal is supplied by determining the magnitude of the corresponding signal, there is no phase difference problem due to the occurrence of the delay time.

Since the frequency component having the greatest vibration is identified in advance through vibration measurement, a small and inexpensive device configuration is possible because an analyzer in the device is not required.

In summary, according to the present invention, if vibration is suppressed by supplying a response signal in the form of a shock that can eliminate the frequency with the largest vibration after sensing the vibration, there is no side effect of increasing the vibration, and there is no problem due to the delay time, so control accuracy/efficiency It is possible to construct an inexpensive shock-type response signal generating device that is high in value and has no risk of resonance.

1 is an example of transient vibration.
2 is an example of steady state vibration
3 is an example of a technique in which vibration analysis is performed in an active damper.
FIG. 4 is an explanatory view showing a corresponding signal B of a phase opposite to the vibration signal A as a mechanism of the active damper of FIG. 3.
5 is an example of a technique in which vibration analysis is not performed in an active damper.
6 is an exemplary diagram in which a phase difference occurs due to a longer delay time, and in the worst case (phase difference 180°), the amplitude is doubled.
7 is a conceptual diagram of a mechanism of an active damper prior to vibration analysis.
8 is an exemplary diagram showing a method of supplying a corresponding signal to the vibration signal and the total vibration signal introduced in the active damper technology of FIG. 7.
9 is an exemplary view showing a vibration signal introduced in the active damper technology of FIG. 7 and a corresponding signal supplied during a quarter cycle.
10 is an exemplary diagram in which a continuous response signal is simplified into five shocks.
11 is an exemplary diagram in which a shock response signal is supplied to the vibration signal once.
12 is an exemplary view showing that a shock response signal is supplied to the vibration signal 5 times and the vibration is increased.
13 is an exemplary view showing an apparatus for generating a corresponding signal.
14 is an exemplary diagram showing a frequency component having the largest vibration among frequency components constituting a vibration signal.
15 is an exemplary diagram in which a vibration signal and a shock response signal are supplied.
16 is an exemplary diagram showing characteristics of vibration signals for each viewpoint.
17 is an enlarged view of the shock response signal of FIG. 15.
18 is an exemplary diagram showing vibrations of the frequency components and the largest frequency components in the case of vibration in a steady state.
19 is an exemplary view of supplying an impact response signal for controlling transient vibration.
20 is an exemplary view of supplying a shock response signal for controlling vibration in a steady state.
21 is a conceptual diagram and an image of an experiment.
22 shows the experimental results.

The terms used in the specification take the form of a compound word having a new meaning in a broader sense by combining words and words having different meanings into one word that can be interpreted broadly in the original meaning of the word. For example, the word “conversation” and the word “channel” are combined to form a dialogue channel, which means a communication channel through which dialogue is conducted. In addition, the embodiments presented in the specification are preferred embodiments, and in some cases, other components may be added or the original configuration may be omitted. In an embodiment, it may be implemented to include or have a configuration.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

13 is an exemplary view showing an apparatus for generating a corresponding signal.

In an embodiment of the present invention, the shock response signal generating apparatus generates and transmits a shock response signal capable of extinguishing the vibration detected by the controller 200 after sensing the vibration by the sensor 100, and using the transmitted response signal, the actuator ( 300) is driven.

The shock response signal is programmed in the control unit 200 by performing vibration measurement in advance to determine the characteristics of the frequency component having the largest vibration and the timing of supplying the corresponding signal.

Refer to Table 1 for the meaning of the frequency component having the greatest vibration above. When the vibration signal is filtered and the bandwidth is 10 Hz, the signal of the frequency component having the largest vibration for each band is (1.36 Hz for 0 to 10 Hz, 10 to 10 Hz). In the case of 20Hz, 11.3Hz, in the case of 30~70Hz, there is no large frequency component, in the case of 100~110Hz, 101.1Hz, in the case of 110~310Hz, there is no large frequency component, and in the case of 310~320Hz, 317.3 At frequencies after Hz and 320 Hz, only insignificant frequency components exist), and then the largest frequency component signal (frequency component of 1.36 Hz) is identified.

As shown in Table 1, vibrations of various frequency components constituting the vibration signal identified through vibration measurement are separated and shown. It can be seen that most of the vibration can be eliminated if the corresponding signal accurately corresponds to one or two frequency components of the largest vibration. Therefore, the shock response signal is generated to remove the frequency component with the greatest vibration.

The process of generating the corresponding signal is described in detail in FIG. 16. This is an enlarged picture of the front part of the frequency component signal with the largest vibration in Table 1. ① is the time when the vibration occurs, ② is the time when the response signal is supplied, taking into account the delay time (time until the vibration is detected and the actuator response (shock response signal generation/supply)), and ③ is the time when the maximum amplitude is reached (1/4). Period), and ④ is the time point after one period.

If the above information is programmed in the control unit 200, it can be seen that the amplitude at ③ becomes maximum when the vibration occurs (①), so that the amplitude at ② can be predicted in advance through the slope of the signal after the vibration is detected. Therefore, when the sensor 100 transmits the magnitude of the vibration at ① to the control unit 200, the magnitude of the shock response signal capable of extinguishing the vibration at ② can be determined, generated and transmitted through the inclination. The actuator 300 is driven by the transmitted response signal and a shock response signal is supplied to the vibrating body 10 to suppress vibration.

If the large residual vibration remains even after the shock response signal is supplied, the repeat execution unit 210 may repeat the process performed by the control unit 200, so that the actuator 300 may additionally supply the shock response signal to the corresponding vibration level. .

From these results, even when the vibration is a transient vibration or a vibration in a steady state, the largest frequency component is found and a shock response signal is supplied to suppress the vibration.

In general, vibration is composed of several frequency components. In the case of transient vibration, Table 1 is an example of finding the largest frequency component. In the case of vibration in a steady state, referring to FIG. 18, a normal vibration consisting of four frequency components. In the state vibration, the frequency component of the largest vibration can be checked.

As for the supply of the shock response signal, in the case of transient vibration, referring to FIG. 19, since there is no additional external force supply after the vibration occurs, the magnitude of the vibration gradually decreases due to friction and air resistance as time passes. It can be seen that the vibration is immediately extinguished when a response signal in the form of an impact that can suppress the vibration is supplied once after the vibration occurs.

In the case of vibration in a normal state, referring to FIG. 20, if a shock response signal is supplied whenever a vibration occurs as shown in the left figure, it can be seen that the vibration disappears at each time the response signal is supplied as shown in the right figure.

Fig. 21 is a capture of an experimental configuration and an experimental image of a test model made with the principles of the present invention, and as an experimental method, a case where a response signal in the form of an impact is supplied and a response signal in the form of an impact is supplied after generating vibration by causing an impact on a flat plate It is to compare the cases that did not.

FIG. 22 shows the experimental results of FIG. 21, and in the figure, for a visible effect, a response signal is supplied one cycle after the vibration to control the vibration, but in actual cases, the response signal can be supplied immediately after the vibration occurs.

Although described above with reference to preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the following claims. You will understand that you can do it.

10: vibrating body 100: sensor
200: control unit 210: repeat execution unit
300: actuator

Claims (5)

A sensor 100 for sensing vibration from the vibrating body 10;
A control unit 200 for generating and outputting a shock response signal to cancel the sensed vibration;
A shock-type response signal generating device capable of suppressing vibration, including an actuator 300 that is driven in response to a shock response signal having a predetermined size. The method of claim 1,
The shock response signal is a shock-type response signal generating device capable of suppressing one-time vibration. The method of claim 1,
The control unit 200 determining a characteristic of a frequency component having the largest vibration by measuring vibration;
Programming a characteristic of the frequency component and a time point of supplying a corresponding signal to the control unit 200;
Detecting the generation and magnitude of vibration by the sensor 100 and transmitting it to the control unit 200;
Generating a shock response signal corresponding to the vibration magnitude of the frequency component identified in advance by the control unit 200 and transmitting it to the actuator 300;
Supplying an impact response signal transmitted by driving the actuator 300; And
When the vibration remains after the response signal is supplied, a shock-type response signal generating device capable of suppressing the vibration performing the step of supplying an additional shock response signal to the corresponding vibration to the repeat execution unit 210 if necessary. The method of claim 1,
The control unit 200 generates and transmits shock response signals corresponding to the amplitudes of a few frequency components having the largest vibration among several frequency components constituting the sensed vibration signal, and residual vibration remains after the response signal is supplied. A shock-type response signal generating device capable of suppressing vibration, including a repeating execution unit 210 capable of additionally executing the control unit 200, if any. The method of claim 3,
A response signal generating device in the form of a shock capable of suppressing the vibration programmed in the control unit 200 after identifying the frequency component having the largest vibration in advance through vibration measurement.

Images