TWI231843B - Active hybrid electromagnetic shock absorber and shock absorbing method thereof - Google Patents

Abstract

The present invention is to provide an active hybrid electromagnet shock absorber and the shock absorbing thereof. The invented shock absorber comprises a hybrid electromagnet set on the motion end, a hybrid electromagnet set on the carrier end, two flux path sleeves, a sliding sleeve, a gap sensor, a tachometer, a servo current driver, a shock absorption controller, a current detection circuit; and a power saving controller, which generates a mutual repulsion force with another hybrid magnet on the motion end via the hybrid electromagnet composed of a high intensity permanent magnet and an electrical magnet, to suspend a carrier. Meanwhile, a vibration signal detected by the carrier vibration sensor, a relative linear speed signal of the shock absorber sleeve detected by the speed sensor, and a relative gap displacement between two hybrid electromagnet sets detected by the gap sensor, are fed back to the shock absorption controller to be compared with an input instruction, and then sent to the servo current driver to generate a control current. The control current flows through a coil to induce an magnetic field to alter the acting force between the two sets of hybrid magnet, so as to achieve the function of adjusting and controlling the shock isolation, damping, and gap elevation. Furthermore, this invention also discloses a power saving control mechanism and a method thereof.

Description

1231843 V. Description of the invention (1) 1. [Invention of the invention The invention is to mix the high-strength permanent moving end with magnetism and use the platform to vibrate the shock absorber sleeve. Input command comparison The magnetic shock and damping control system caused by the coil. In addition, the gap between the shock absorber and the shock absorber is minimized due to the electromagnetic energy-saving mechanism. [Prior art ^ According to traditional practice

The technical field of the invention] 1. Regarding a shock absorber and a shock-absorbing method thereof, a hybrid magnet composed of an electromagnet == 1 :: generates mutual repulsive force to suspend a carrier; Phase of the vibration signal and speed sense: phase linear speed signal, feedback to the suspension controller: the device and the main air pressure type bomb <read the reference figure Ί, which is fixed by the I number reference figure

The field adaptor = Ϊ: f-flow driver generates the force between the work of the control current 1 and the force between the magnets, so that the active hybrid electromagnet shock absorber and control system of the bimonthly b are controlled by the distance sensor. , Tachometer and: control system, so as to input the height command, control the same as the attitude control mechanism of the platform. :: = Permanent magnet, the load is supported by permanent magnets through the servo control loop of this case, and electromagnets control electromagnetism] The morning avoidance used is mainly divided into three categories: passive shock absorber and semi-active suspension. The isolation spring is mechanical. Type springs and dampers are oil-type damping mechanisms. 1. It shows the strong structure of a known passive shock absorber mechanism. The spring 121 and the damper j22 of the movable shock absorber mechanism 120 have a fixed shock absorption effect. Buckle 2, which is not used to draw the knot of a semi-active shock absorber structure 1231843 Description of the invention (2) 不 'The semi-active shock absorber structure 130 is adjusted by a damping oil hole 131 ^ Ni parameter value to generate a dynamic Suspension isolation effect. Shown Γ Figure 3 'It shows the structure of a known active shock absorber mechanism: the vibration sensation of the active shock absorber mechanism 140 on the device carrier drives to cry 1 ^ Measure the output vibration signal, feedback To the controller 1 4 3, the servo eliminates the 6 ^ 1 control of the oil hole size, automatically changes the damping parameters, and achieves the filtering to make the adjustment range larger .... The above is the use of mechanical springs and air pressure. Springs or oil / gas springs, such as the concept of blood, dehydration, etc., are designed to create and solve problems, such as oil dampers, pneumatic bombs * or oil / gas bombs, and their disadvantages. Its own internal mechanical resistance and special rare earth materials B, Ferrite, Alnico, etc., which are not easy to accurately locate, can reach 900 KA / m; magnetic density Tesia; the energy storage is as high as 3600. It can innovate many non-traditional forces Permanent magnets generate great repulsion and are then matched with control mechanisms to make them more shock absorbers and control systems. A range of shock absorber frames composed of active hybrid electromagnets and permanent magnets, such as adjustment of damping ratio, filtering, etc., is easy to adjust and change, yy, y, hydromagnetic materials are advancing rapidly, and high strength Yongxi x, ⑽, etc .: force ir /: * 谇 佶 m ^ (Intensity; degree) (Density) rushed to 1.2 ~ i 3 KL / m3, which has long been out of traditional magnetic applications, this case has revealed-a kind of use of high-strength f suction , As a space spring :: Active type with strong efficiency, 'Ya, therefore, this hair = n two shock absorption methods, which uses high strength: wide = makes the larger isolation frequency of the two see the surrounding area, the amplitude of the earthquake Control and positioning control

Page 61231843 V. Description of the invention (3) Mechanism for improving shock absorption performance and its second method [In the invention, the above-mentioned shock absorber includes an electromagnet set; two speedometers; a combination of servo power and a power-saving controller Compared with the relative entry instruction of the suspension platform; the number and the distance sensing, the coil induces the magnetic field and the damping control. In addition, the accuracy and precision are also compared. law. The purpose is to include two magnetic path sleeve drivers at the moving end; ’It uses the other moving end to measure the relative linear velocity signal to the servo motor at the same time to change the two sets of functions. The invention also provides In addition, the invention also provides an energy-saving control invention to provide an active mixed iron set; a carrier; a distance-sensing current-sensing circuit ... The isolation is a moving end to a carrier controller, which is the movement, speed With the addition of the best control output interface and the interface of the coupling components; to provide enough feedback commands to isolate the shock control speed along with the control command, and complete the output to the shock control server to drive power current in proportion to the output Hybrid permanent magnet; sliding sleeve suspension controller strong permanent magnetic hybrid magnet carrier vibration sensing interval signal and signal, etc., feedback flow driver, hybrid magnet is a kind of central message that isolates the dynamic influence mechanism of the shock-absorbing end. Provides the actuator which is isolated from shock and vibration, and is provided with the actuator, which is coupled to the flow of electromagnetic wires, and becomes a servo state into an electric circuit. The iron and electromagnet are 4 meters in height, and the vibration sensor that generates mutual repulsion and force is used to measure the shock absorber and the wheel current to pass the shock mechanism. • shock avoidance control by including X-bit comparator connected to its computer group input / wheel system with the controller described later with a magnetic field which is electrically raw molded magnet

Page 71231843 V. Description of the invention (4) Group, the control of the motion control force coupled to the motion end has an acceleration servo current driver, a state module, is coupled to the ^ to offset or suppress the The speed and a displacement are connected to the end of the movement to measure the movement; to measure the voltage circuit and the gap between the isolation stage and the dynamic device to measure the load, and the end and the current sense servo The type is sent to the shock absorber, so that the vibration plus module of the moving end of the moving end is used to connect to the phase measurement circuit of the carrier end of the carrier and the output of the current drive; and the provincial controller uses the The negative invention of the carrier also provides the speed of the state module. Measure the displacement coupled with the movement to the output electric control to control the load. Electromagnetic motion end transmission, receiving the tachometer, the dynamic distance between the phase ends of the carrier, and the servo current value 'combiner, which is to make the gap distance permanent magnet away from the shock-absorbing state. The number of feedback adjustments with the benefit adjustment degree can be 0 feedback increase adjustment, the keys and the gain adjustment controller of the bit gain controller, and the damper control input and the shock control input hope to avoid the microprocessor shift, the speed knot The acceleration of the device has a displacement feedback-acceleration feedback controller with a micro-tremor and other automatic counting feedback increments, etc., and the carrier calculates the optimal regulator value to complete the control of the iron module. It is coupled to the linear module as a vibration jerk, to filter and drive the positioning flow. The automatic repulsion controller includes a gain controller; the speed of the bit that is estimated by the weight becomes the shock force; the carrier, Accept the force, its speed meter, its output, the carrier and speed; it is used to measure and control the feedback device, used for wave processing, and current sensing to find the appropriate force support. The method is to use the following steps: knobs such as regulators, regulators, etc. to transfer the feedback increase through a control value and other parameters and the speed of isolation.

1231843 V. Description of the invention (5) In addition, the present invention also provides an energy-saving control mechanism, which is placed between a shock-absorbing controller and a servo current driver. When the load on the stage reaches the equilibrium state at a certain gap position, the servo current will approach zero to achieve energy saving purposes. It includes: an energy-saving controller, when it detects the output current of the servo current driver and Polarity, calculate and filter the current change rate at that time, determine the direction of the gap adjustment, send it to the input of the suspension controller, and adjust the gap position by the suspension controller until the output current of the servo current driver is At zero, at this time, the load of the carrier is fully supported by the repulsive force of two sets of permanent magnets. It does not require a long-term continuous current, but at most it is the operating current for control. In addition, the present invention also provides an energy-saving control method for controlling the operation of an energy-saving control mechanism placed between a shock-absorbing controller and a servo current driver. When the load of a carrier will reach a state of equilibrium at a certain gap position, the servo current will approach zero to achieve energy saving purposes, which includes at least the following steps: detecting a control current, when the control current is greater than or equal to zero , Make a gap input voltage decrease; when the control current approaches zero, make the gap input voltage decrease to zero; when the control current is less than or equal to zero, increase a gap input voltage; and when the control current approaches zero , Increase the gap input voltage until it reaches zero. In addition, the present invention also provides an elevation control mechanism for isolating a moving end and a platform, including: a platform; a level sensor placed on the platform to sense the level of the platform; First active suspension

1231843 V. Description of the invention (6) = Ludi:; :: one side below the Hai platform is used to provide the platform to avoid the first main # Λ-, ·, juice and first-distance sensor, coupled To this kinematic end ° Λ Dynamic suspension control loop 'is used to measure the sound of 嗲 movement 踹 Active + 槪 ® Active suspension control loop; the second ^ suspension control loop is placed on the material table The bottom ^ is used for the platform's shock-absorbing effect; the second tachometer and the first door distance β Μ @ # are connected to the moving end and the second active dog suspension two-pitch sensing benefit, coupling the speed and clearance of the moving end Move = Road to measure the control loop; and the level # fineσσ, ^ Μ 苐 an active suspension control loop and the second active :: 'In the first-active suspension control suspension Control loop; between the seismic control loop and transferred to the first active detector, according to the current water π, t an active suspension control loop and the level or level of active suspension sensing to control the first -Variable to keep the platform water ^ Clearance of two active suspension control loops In addition, the present invention also provides = 1 -Motion end and —Platform, process control method, used to isolate the level sensor placed in the flat A ^ step. Provide-Platform; will be the first active avoidance i2, used to sense the level of the platform Or not; to; for the platform's shock-absorbing system;: =: set the side of the square-using the test mode, coupled to the movement ^, the speed leaf and the first sense of distance to measure the speed-active of the movement end Type suspension control loop, 'use two suspension control loops; at m == out to the first—active suspension control loop, use the other side below the second to provide a second active fan counter and a second distance: II; For: Platform shock-absorbing effect; Provide 1 move one "1" to the movement end and the second; page 1010231843

V. Description of the invention (7) 2-way master: measure the speed and clearance displacement of the moving end, and place the device at $ = = Γ 震 shock-absorbing control circuit; and control the circuit in a water: and connect to Ϊ The vibration path and the level I sensed by the second active suspension control, the detector ', and according to the level sensor, the second active suspension control is approved, = the first active suspension control loop and the state . The change of the gap of the work circuit 'keeps the platform level so that its purpose Ja 0 Your review commissioning station t, *. ^ Attached here is a detailed description of the structure and characteristics of the original creation. Fourth, [implementation]

凊 Refer to the hybrid electromagnetic 1 4 of the shock absorber's square magnet; the distance sensing controller 1 8; into, which is fed back to the flow driver 1 7 at the same time with the other movement 21; at the same time, and the speed number Block diagram 9. a X The active hybrid electromagnet according to the present invention, ▲ Its S includes: Ξ 7 shows, the active hybrid electromagnet set 11 of the present invention; two magnets :: the hybrid electromagnet set 10; the platform end

Detector and 13; Sliding sleeve current sensing circuit i 9., Servo current driver 17; Shockproof high-strength permanent force = disc: and hybrid magnet combined with power-saving controller 20 to produce a hybrid composed of two irons Magnet, using E = in the carrier 21, mutual repulsive force, the suspension carrier τ &lt; expansion sensor 2?, And eye 4 ΛΑ Φ I sensor is used to measure the shock absorber Η The shock vibration controller 18 of the vibration signal; wheel: refers to :: na = signal, which generates control electricity, electricity, and electricity, reaches servo electricity, flows through the coil bow, and generates a magnetic field, which changes two

1231843 V. Description of the invention (8) The force of the group of mixed magnets 10 and 11 is used to achieve the functions of vibration isolation and damping of the gap displacement regulation. The mixed electromagnet group 10 at the moving end is composed of a high-strength permanent magnet 100 and an electromagnet 101, and the electromagnet 101 is composed of a stone evening steel sheet 102 and a coil 103. One end of the high-strength permanent magnet is connected to the electromagnet 101, and the magnetic polarity of the other end is N, in order to control the current flowing through the coil to cause a magnetic field. A magnetic force is generated at both ends and merges with the magnetic force of the hydrous long magnet 00 to generate a total magnetic force modulation effect; the hybrid electromagnet group ii at the end of the stage is also composed of the high-strength permanent magnet 1 ". The hybrid electromagnet set 11 formed by the electromagnet 胃 at the end of the stomach is at the Zhanchenglei 2 ^ Λ at the near and far motion end of the sinus, and the permanent magnet 11 at the position of the wide magnet set 10 is ◦ The magnetic polarity is Ν pole, with a strong repulsion force from Welles and private, to make it function as "work", the two magnetic path sleeves 12 and 13 are hollow and made of iron material It is composed of broadcaster, ,,, and Λ α +, and is used to respectively mix the moving end into an electromagnet group 10 and the carrier end of the formed electromagnet group 11 and ^ ^, which are fixed to the magnetic path sleeve. The rabbits 1 2 and 13 can fix the permanent magnets 100 and 11 0 and the electromagnets separately. The magnetic circuit 101 and 11 can be formed by surrounding ferrous materials. The cylinder 14 is also hollow and E 4-way sleeves 12 and 13 are used to give this moving end an electromagnetic f, and 10 and a mixed electromagnet set of the stage end] 丄 uniform motion Direction ', I f ^ z force acting pushes the moving end of the hybrid electromagnet group 1 0 &amp;# &amp;# 成 electromagnet group 11 linear movement in the barrel 14. Among them, the distance sensor 15 is placed on one of the sides of the sliding sleeve 14 and the mixed electromagnet group 10 at the moving end is mixed with the end of the stage.

Page 121231843 V. Description of the invention (9) --- To form an electromagnet group 1 1 The relative displacement distance is used for positioning control feedback. It is a non-contact distance sensor; 6. It is placed on the other side of the sliding sleeve 14 to measure the relative linearity of the hybrid electromagnet group i i at the moving end of the hybrid electromagnet group i of of the stage; the servo motor, The driver 17 is a hybrid electric iron set coupled to the carrier end. It is used to supply enough power current to flow through the electromagnetic coil to generate a magnetic field. It is output in proportion to the control command and reaches the servo. status. Among them, the child suspension controller 18 is connected to the servo current driver 17, the distance sensor 15 and the carrier 2 丨 as the center god of the suspension. It accepts displacement, speed and Feedback information such as acceleration is compared with the input command to calculate the best control command to complete the performance of shock isolation. It further includes a microprocessor (not shown), a memory unit (not shown), and Digital / analog conversion (D / A) (not shown), an analog / digital conversion (_A / D) (not shown), a keyboard control (not shown), a display control (not shown) and input / Output (not shown) and other digitized components; the current sensing circuit 19 'is coupled to the servo current driver 17 for measuring the output current value of the servo current driver 17 and filtering it. And sent in the form of voltage; and the power saving controller 20 is coupled to the current sensing circuit 19 and the suspension controller 18 to control the gap distance and automatically find the appropriate gap position 'let the The load of the stage 21 is caused by the repulsive force of the permanent magnets 〇〇〇 and 1 〇 House, this time, the solenoid control current is close to zero. In addition, a rotating arm 1 6 1 ′ is provided between the tachometer 16 and the magnetic path sleeve 丨 2 and the sliding sleeve 丨 4 to convert linear motion into angular motion, and its output signal feedback To the suspension controller 8 to control the damping value of the suspension 8

Page 13 1231843 V. Description of the invention (10) Change the dynamic characteristics. Please refer to FIG. 5, which illustrates another schematic diagram of the control mechanism of the shock absorber according to the present invention. As shown in the figure, the isolation control mechanism of the Japan & Example is used to isolate a moving end from the one-to-one isolation and shock isolation. It includes a suspension controller 30, which is the isolation two = Dynamically affect the nerve 'It accepts the displacement, velocity, acceleration, etc. of the return = mechanism to compare the middle cover instructions, calculates the best control command, 6 :, and then the input energy; the first input / output interface 31: shock-isolated The suspension controller 30 is provided with an element to be described later, the suspension controller 3. '提 32' is coupled to the suspension controller 3 For :: Gen current driver generates a magnetic field by flowing through an electromagnetic coil, power current, out of the feeding state; those of the hybrid electromagnet module 3 ": make proportional The input drive state 3 2 is used to output a brake, and is coupled to the servo current, and further includes a moving terminal two, wherein the hybrid electromagnet module 33 is a hybrid electromagnet group (not shown in Figure 1 as a ^ magnet group ( ® unformed) and an electromagnet set at the end of the stage and the carrier a (see Figure 4). The mixed long-term magnet and an electromagnet at the moving end are formed into an electromagnet set by a high-strength Yongyi The high-strength and electromagnet are composed of a silicon steel sheet and iron, and the magnetic force at the other end is "&quot; one end of the extremely long magnet is connected to the electromagnetic field. A magnetic field is induced in the silicon steel sheet, * * The controlled current flows through the coil and the magnetic force merges to generate the total magnetic force c, which is coupled to the permanent magnet module 34, which is coupled to the mixed action; the dynamic system of the stage and the moving end to offset or suppress The &amp; = module 33, accepts the control degree u), a speed (v), and The force from the position, which has the output of acceleration ρ); vibration accelerometer 3 5, 1 1231843 V. Description of the invention (11) The dynamic module 3 3 coupled to the carrier and the moving end receives the acceleration The output is used to measure the vibration acceleration of the carrier; the tachometer 3 6 is coupled to the carrier and the dynamic module 3 4 of the moving end, and is used to measure the carrier's vibration through the rotating arm 3 6 1. Relative linear speed; the distance sensor 37 is coupled to the dynamic module 3 4 of the stage and the moving end, and is used to measure the relative displacement distance between the moving end and the stage end for positioning control feedback. Preferably, it is a non-contact distance sensor; the current sensing circuit 38 is coupled to the servo current driver 32, for measuring the output current value of the servo current driver 32, and adding The filtering process is sent in the form of voltage; and the power saving controller 39 is coupled to the current sensing circuit 38 and the suspension controller 30 to control the gap distance and automatically find the appropriate gap position, so that The load of the carrier is supported by the repulsive force of the permanent magnet. The controller 30 further includes a microprocessor 3 0 1, which is the core of the suspension controller 3 0, and calculates the optimal value based on the feedback information such as the displacement, speed, and acceleration, and then compares with the input instruction. Control command to complete the performance of shock isolation; the second input / output interface 302 is located between the microprocessor 3 01 and the servo current driver 32 to provide an interface therebetween; the third input / output interface 3 0 3 is located between the microprocessor 3 0 1 and the power-saving controller 39 to provide an interface therebetween; the displacement feedback gain adjuster 3 0 4 (Kp) is coupled to the microprocessor The device 3 0 1 and the first input / output interface 31 accept the relative displacement distance measured by the distance sensor 37 to control the position control stiffness to change the filtering bandwidth; the speed feedback gain adjustment A device 3 0 5 (Κν), which is coupled to the microprocessor 3 0 1 and the first input / output interface 3 1 and accepts the relative speed measured by the tachometer 36 6 to

Page 15 1231843 V. Description of the invention (12) The damping coefficient of the suspension controller 3 is adjusted to change the transient response; and the acceleration feedback gain adjuster 3 06 (Ka) is coupled to the micro processor. The device 3101 and the first input / output interface 31 receive the vibration acceleration of the carrier measured by the vibration accelerator 35 to regulate and control the output force to improve the filtering effect. Referring to FIG. 5 again, the present invention also provides an energy-saving control mechanism, which is placed between a suspension controller 30 and a servo current driver 32, which is connected with two sets of permanent magnets (not shown in the figure) (Shown) when the repulsive force and a carrier (Figure I) load will reach a state of equilibrium at a certain gap position, the servo current will go to 1 '0 to achieve energy saving purposes, including: energy-saving controller 39,' In order to measure the output current (1 d) of the servo current driver 32, the magnitude and polarity of the output current (1 d) and the current change rate at the time determine the direction of adjusting the gap, t; , And adjusted by the suspension controller 39 =: Bu, Shi J until the output current of the feeding current driver 32 is zero, 11 = '5 Hai load platform is completely repelled by two sets of permanent magnets The force support :: jm current is at most the operational electrical regulation for control ::: =, which shows the elevation system according to another embodiment of the present invention, which is not intended by the field ghost. As shown in the figure, the system of the elevation regulating machine of the present invention is placed on the platform 5. Above, use :: Measure = the first active suspension control software and hardware 52 on the platform, 50 °, and install-one side of the shaft 5 ° 3 to provide the platform's 50 suspension effect; No. A pillar 531 is coupled to the moving end 57 and the first main

1231843

V. Description of the Invention (13) The dynamic suspension control software and hardware 52 are used to provide the tilting rotation space of the moving end 57 and the first active suspension control software and hardware 52; the second active suspension control The circuit hardware and software 54 are placed on the other side below the platform 50 to provide the platform 5 0 shock-absorbing effect; the second rotating shaft 5 5 and the second pillar 5 5 1 'are coupled to the moving end 5 7 And the second active suspension control loop software and hardware 5 4 ′ are used to provide the tilting rotation space of the moving end 57 and the second active suspension control loop 54; and the horizontal controller 56, Between the first active suspension control circuit 52 and the second active suspension control circuit 54, and is connected to the first active suspension control circuit 52, the second active suspension control circuit 54 And the horizontal sensor 51, to control the change in the clearance of the first active suspension control circuit 52 and the second active suspension control circuit 54 according to the level of column f of the horizontal sensor 51, Keep the platform horizontal; in addition; the first active suspension control circuit 5 2 and the second active Vibration control circuit 54 has a respective feedback rate, damping can be regulated, so that the platform is isolated from the suspension function. Among them, in each active suspension control circuit, the soft and hard bodies 52 and 54 are provided with a tachometer (not shown), and there is a second, boom (not shown) between the moving end 57 and the In order to convert the linear motion into a corner motion, the bean loss = sign is fed back to the active suspension control circuit to control the resistance value of the suspension and change the dynamic characteristics. In addition, please refer to FIG. 5 again, the present invention also provides a control method for isolating and isolating shocks, which is used for isolating the dynamic impact of a moving end to a carrier end, which includes the following steps: providing a suspension controller 3 ( Step 10), it is better to have a displacement feedback gain adjuster 304, a speed feedback gain adjuster,

1231843

3 0 5 and an acceleration feedback gain adjuster 3 06 and other knobs to adjust the operation, and the suspension controller 30 has a microprocessor 3 0; through the keys of a control panel to enter the level, load Parameters such as the estimated weight of the platform (step 11); and the optimal displacement of the displacement feedback gain adjuster 30 4 and the speed feedback gain adjuster 3 05 are automatically calculated by the microprocessor 300i. The speed and the acceleration feedback gain adjuster 306 and other values to complete the performance of shock isolation (step 12). Among them, the suspension controller 30, the displacement feedback gain adjuster = 4, the speed feedback gain adjuster 405, the acceleration feedback gain adjusted to 306, and the microprocessor 301 work The principle, please refer to the above, and I will not repeat it here. In addition, please refer to FIG. 5 again, the present invention also provides an energy-saving control method, which is used to control an energy-saving control mechanism placed in a suspension controller 3 0 and a servo motor 3 2 The operation of the servo motor will be achieved through the external two ^, the repulsive force of the long-term magnet, and the load of a carrier at a certain gap position. The servo current will approach zero to achieve energy saving and balance. Including the following steps: detecting a control current (step 2), when the induced current (I d) is greater than or equal to zero, a gap input voltage (Vp c) is increased &quot; 'subtracted (= step 2 1) When the control current (I d) approaches zero, decrease the gap input voltage # (Vpc) to zero (step 2 2); when the control current (I d) is less than or equal to ^, make a gap input voltage (VpC) is incremented (step 23); and when the # ^ current (I d) approaches zero, the gap input voltage (Vp c) is incremented until it is determined (step 2 4). 4 In addition, please refer to FIG. 6 again, the present invention also provides an elevation adjustment.

Page 18, 1231843 V. The description of the invention (15); ^ 'used to isolate a moving end 57 and a platform 50, which includes the following step 2: provide a platform 50 (step 40); a level sensor 51 is placed on the platform 50 to sense the level of the platform 50 (step 41); a first active suspension control circuit software and hardware 52 is placed on one side below the platform 50, and In order to provide the platform 5 0 shock absorption effect (step 4 2); provide a first rotation shaft 53 coupled to the moving end 57 and the first active suspension control loop soft J body 52 to measure the moving end The speed of 57 is output to the first, the active control loop hardware and software 5 2 (step 43), · The other 50 in the platform 50 is different: f is used for a second active suspension control loop software and hardware 54, Provide ::: = seismic effect (step 44); provide-the second rotating shaft 55, the handle is connected to the measurement of the second active active suspension control circuit software and hardware 55, which is used to ^ know the speed of 57 and output To this way, the soft and hard body 54 (step 45). The active shock absorber control controller 56 is placed in the first step-step 46) with a fin, τ king, type anti-surface bismuth, and an active suspension control. "Gap-Like" makes this platform 5. Keep the horizontal state (between steps, better, in this step 43, the first rotating shaft Η &amp; 4: the step has-the first pillar 531, transfer to the first of the moving end 57-the main: = control circuit The soft and hard body 52 'is used to provide the Guangyun 57 movement and the first active suspension control circuit of the soft and hard body 52 ^ ^ remote movement end 57 and the bevel rotation space; on the 19th page, the soft and hard body circuit 54 is used to Provide the tilting rotation space of the moving end 57 and the hardware and software of the body control circuit 54. Among them, the platform 50, the level sensor 51, the hardware and software of the vibration control circuit 5 2, and the second active type The members of the shock control 54, the first tachometer 53, and the second tachometer 55 are referred to the above, and are not described here. Therefore, through the implementation of the present invention, it uses a hybrid magnet composed of a high-strength electromagnet. And the other end of the present invention disclosed by the present invention 1231843 5. Description of the invention (16 :) In step 44, two pillars 551 between the second rotating shaft 55 and the moving end 57 are coupled to the moving end 57 and the second The main students repel each other to suspend the carrier; at the same time, use the vibration signal detected by the deaf, and quickly The sensor measures the speed signal of the shock absorber, feedbacks it to the shock absorber controller, and inputs the servo current driver to generate a control current, which flows through the coil to change the force between the two groups of mixed magnets to achieve isolation and shade. The active hybrid electromagnet shock absorber and control system. This J :: a kind of shock absorption method to reduce or suppress the movement of the end-to-modification is derived from the technical field of the present invention. To sum up, the present invention is different from the conventional technical features regardless of whether it is used or not. It meets the invention's patent requirements # I. It has a first-type suspension control [two active suspensions: the first active suspension The principle of the hardware and software of the control circuit, please compare the same relative order of your permanent magnets and hybrid magnets, and set the vibration sensor sets, and send them to the function of triggering the magnetic field to change the control of the Ni. Partial changes or technical skills are easy to use, and they are obviously practical, and they are well aware, and spell 1231843 V. Description of the invention (17) The patent was granted earlier, and it will benefit the society, and the sense of realism. Page 211231843 Ming Known a drawing of a passive shock absorber mechanism. Known a semi-active shock absorber structure. Shown a conventional active shock absorber mechanism. It is a drawing of an active hybrid electric intent according to the present invention. According to the intention of another embodiment of the present invention, it shows a schematic diagram of another embodiment of the present invention. Brief description of the drawings V. [Simplified description of the drawings FIG. 1 is a schematic structural diagram; FIG. 2 is 1 is a schematic diagram of the structure of FIG. 1; FIG. 3 is a schematic diagram of the structure of ^ 1 is not intended; FIG. 4 is a schematic diagram of the ^ 1 is not intended ^ magnet shock absorber; FIG. 5 is a schematic diagram of a control mechanism for isolating the shock and FIG. Schematic diagram of the height adjustment mechanism block [Illustration of symbolic components of the diagram] Hybrid electromagnet set at the moving end 1 0 Electromagnet 1 0 1 Coil 1 0 3 Permanent magnet 1 1 0 Magnetic path sleeve 1 2 and 1 3 Pitch sensor 1 5 Rotating arm 1 6 1 Suspension controller 1 8 Power-saving controller 2 0 Permanent magnet 1 0 0 Silicon steel sheet 1 0 2 Hybrid electromagnet set on the stage 1 1 Electromagnet 1 11 Sliding sleeve 1 4 Tachometer 1 6 Servo Current driver 1 7 Current sense circuit 1 9 Desk 21

1231843 Schematic description of vibration sensor 2 2 Microprocessor 3 0 1 Third input / output interface 303 Speed feedback gain adjuster 3 0 5 Diyi input / output interface 31 Shock controller 3 0 Hybrid solenoid mode Group 33 Vibration accelerometer 3 5 Current sensing circuit 3 8 Suspension controller 3 0 Second input / output interface 302 Displacement feedback gain adjuster 3 〇4 Acceleration feedback gain adjuster 3 〇 6 Suspension controller 3 0 Servo current driver 3 2 Dynamic module of stage and moving end 3 4 Tachometer 3 6 Pitch sensor 3 7 Power-saving controller 3 9 ^ ^ 50 Level sensor 5 1 The first active suspension control loop software Hardware 52 First shaft 5 3 First pillar 531

The first active suspension control circuit hardware and software W = rotating shaft 55 second pillar 551 = brake 56 ㈣ end 57 passive suspension mechanism 120 ^ 1 9 1 damper 1 2 2 ^ Z1 damping oil hole 丨 3 i Semi-active suspension structure 1 3 0 Spring 132 Stage 1 41 Controller 1 4 3 Spring 145 Active suspension mechanism 1 4 〇 Vibration sensor 1 4 2 Servo driver 1 4 4

Page 23

Claims (1)

1231843 VI. Scope of patent application 1. An active hybrid electromagnet shock absorber, comprising: a hybrid electromagnet set at the moving end, consisting of a high-strength permanent magnet and an electromagnet; a hybrid electromagnet at the carrier end The iron set is also composed of the high-strength permanent magnet and the electromagnet; One or two magnetic path sleeves, which are hollow and made of iron material, are used to respectively fix the moving end mixed electromagnet set and the stage end mixed electromagnet set into the magnetic path sleeve. On the one hand, the permanent magnet and the electromagnet can be fixed, and on the other hand, a magnetic field loop can be formed by the surrounding ferrous material to establish an effective magnetic path; a sliding sleeve is also hollow and has an outer diameter larger than the two magnetic path sleeves. , Used to give the moving end of the hybrid electromagnet group and the carrier end of the hybrid electromagnet group consistent direction of movement, and by the magnetic force to promote the moving end of the hybrid electromagnet group and the carrier end of the hybrid electromagnet group in the barrel Internal linear movement; A pitch sensor is placed on one side of the sliding sleeve to measure the relative displacement distance between the hybrid electromagnet group at the moving end and the hybrid electromagnet group at the end of the stage, as a positioning control return Grant A tachometer and a rotating arm are arranged on the other side of the sliding sleeve to measure the relative linear velocity of the hybrid electromagnet group of the stage and the hybrid electromagnet group of the moving end; a servo current driver, It is a hybrid electromagnet set coupled to the end of the stage to provide sufficient power current to flow through the electromagnetic coil to generate a magnetic field. It is output in proportion to the control command and becomes a servo state; Page 24, 1231843 VI. Patent application scope-A suspension controller is coupled to the servo current driver, the pitch input command and the power-saving controller described below. It is the central nerve of the suspension, which accepts displacement, speed and Feedback information such as acceleration is compared with the input command to calculate the best control command to complete the performance of shock isolation. A current sensing circuit is coupled to the servo current driver to measure the servo current driver. The output current value is filtered and sent as a voltage; and A power-saving controller is coupled to the current sensing circuit and the suspension controller to control the gap distance and automatically find an appropriate gap position so that the load of the carrier is supported by the repulsive force of the permanent magnet. At this time, the electromagnet control current will approach zero. 2. The active hybrid electromagnet shock absorber described in item 1 of the scope of the patent application, wherein the hybrid electromagnet set at the moving end and the hybrid electromagnet set at the stage end are composed of a high-strength permanent magnet and an electromagnet. The electromagnet is composed of a silicon steel sheet and a coil. One end of the high-strength permanent magnet is connected to the electromagnet, and the magnetic polarity at the other gap end is N-pole to control the current flowing through the coil to cause The magnetic field 'generates magnetic force at both ends of the Shixi steel sheet and merges with the magnetic force of the permanent magnet to generate a total magnetic force modulation effect. 3. The active hybrid electromagnet shock absorber described in item 1 of the scope of patent application, wherein the magnetic polarity of the permanent magnet of the hybrid electromagnet group at the stage end near the moving electromagnet group is N Pole in order to form a strong repulsive force, making it function like a space spring. 4. Active hybrid electromagnet as described in item 1 of patent application Page 25 1231843 VI. Patent Application Range Vibrator; The distance sensor is a non-contact distance sensor. 5. The active hybrid electromagnet shock absorber as described in item 1 of the scope of patent application, wherein a rotating arm is respectively provided between the tachometer, the magnetic path sleeve and the sliding sleeve to convert linear motion In an angular motion, the output signal is fed back to the suspension controller to control the damping value of the suspension and change the dynamic characteristics. 6. The active hybrid electromagnet shock absorber described in item 1 of the scope of patent application, wherein the shock absorber controller further includes: a microprocessor, a memory unit, a digital / analog conversion (D / A), An analog / digital conversion (A / D), a keyboard control, a display control and input / output digital components. # 7. —A control mechanism for isolation and suspension, which is used to isolate the dynamic influence of a moving end to a platform end, including: a suspension controller, which is the central nerve of the isolation suspension control mechanism, which accepts Feedback information such as displacement, speed, and acceleration are compared with input instructions to calculate the best control command to complete the performance of shock isolation. A first input / output interface is coupled to the shock controller to provide the The interface between the suspension controller and the components described below; a servo current driver is coupled to the suspension controller to provide sufficient power current to flow through the electromagnetic coil to generate a magnetic field. Into a servo state; a hybrid electromagnet module is coupled to the servo current driver to output a control force; a stage and a dynamic module of the moving end are coupled to the hybrid electromagnet mold Page 261231843 6. The scope of the patent application group is controlled by the control force to offset or suppress the force transmitted from the moving end, which has an output of acceleration, speed and displacement; a vibration accelerometer, A dynamic module coupled to the stage and the moving end receives the output of the acceleration to measure the vibration acceleration of the stage; a tachometer and a rotating arm are coupled to the movement of the stage and the moving end The module is used to measure the relative linear speed of the carrier; it is used to measure back to measure the current-sensing servo electrical type of the operation and send it to the power-saving control to control the load. A distance sensor is used between the second control unit to control the dynamic module of the carrier and the moving end. The relative displacement distance between the moving end and the end of the carrier is used as a positioning measurement. The measuring circuit of the carrier and the platform, which moves and speeds out the best current drive control circuit, is coupled to the servo current driver for the output current value of the drive and is filtered and output; and Department coupled to the current sensing circuit and the flex control the gap distance, automatically find the appropriate clearance position, so that the repulsive force F of the permanent magnet is branched. The shock-absorbing control machine vibration controller described in item 7 of the patent scope further includes: a device, which is the core of the shock-absorbing controller, which returns a feedback message according to the bit speed, etc., and then compares it with the input instruction to calculate Order to complete the performance of shock isolation; the input / output interface is located on the microprocessor and the servo power to provide the interface between them; the input / output interface is located on the microprocessor and the power saving control to provide the time between them interface; Page 27 6. Patent application scope Private / ^ bit feedback gain adjuster 'Transferred to the microprocessor and the first play \; 丨 surface' Received the relative displacement distance measured by the distance sensor ' With a 5-week control position; ^: Method 丨 | Pricing constant stiffness to change the filtering bandwidth; ^, and feedback gain adjuster, coupled to the microprocessor and the first rain A & quot The 'face' is connected to the relative speed measured by the tachometer to regulate the damping coefficient of the J-controller to change the transient response; and the mouth, and the degree of return adjustment regulator are coupled to the micro processor And the first input / output surface, double the vibration acceleration of the carrier measured by the vibration accelerator to regulate and control the output to improve the filtering effect. V :! Please control the isolation and shock absorption control mechanism described in item 7 of the if scope if magnet module further includes a hybrid electromagnet set at the moving end and a hybrid electromagnet set known at the mouth, &quot;, by-high strength Permanent magnet and material composition, "Electromagnetic system * Coil household strong permanent magnets are connected to the-end of the :: iron, another: ⑽ pole, to control the current flow magnetic field 'to generate magnetic force at both ends of the sheet, and the permanent magnet The magnetic force converges to produce the total magnetic force modulation effect. Zili 10 · If the patent application section is used] Chu Q system, where the hybrid at the end of the stage controls the electro-mechanical magnet: where the permanent magnet's magnetic polarity is: the repulsive force So that it functions as if it forms a strong hybrid electromagnet group with the magnetic end of the stage and the permanent magnet polarity of the moving end should be Θ to generate the strong repulsion force of the electromagnet group in the gap. ~ 1 1 _Such as the control machine for isolating and absorbing shocks as described in the 5th patent in the 7th stalk around item 7 Page 28 1231843 6. The scope of patent application system, wherein the distance sensor is a non-contact distance sensor. ♦ 1 2. —A control method for isolating and isolating shocks, which is used to isolate the dynamic influence of a moving end to a carrier end, which includes the following steps: Provide a suspension controller with a displacement feedback gain adjuster, A speed feedback gain adjuster, an acceleration feedback gain adjuster and other knobs for operation adjustment, and the suspension controller has a microprocessor; the level of the suspension to be expected and the weight of the carrier are estimated through the keys of a control panel. And other parameters; and the microprocessor automatically calculates the optimal displacement of the displacement feedback gain adjuster, the speed of the speed feedback gain adjuster, and the acceleration of the acceleration feedback gain adjuster. Complete the performance of shock isolation. ♦ 1 3. —A kind of energy-saving control mechanism is placed between a suspension controller and a servo current driver. The repulsive force of two sets of permanent magnets and a carrier load will be in a certain gap position When the equilibrium state is reached, the servo current will approach zero to achieve energy saving. It includes: An energy-saving controller, when it detects the magnitude and polarity of the output current of the servo current driver, and calculates the current at that time The rate of change determines the direction of the adjustment gap, and sends it to the input of the suspension controller, and adjusts the gap position by the suspension controller until the output current of the servo current driver is zero. At this time, the carrier The load is fully supported by the repulsive force of two sets of permanent magnets. It does not require long-term continuous current, but at most it is the operating current for control. f 1 4. An energy-saving control method is used to control the operation of an energy-saving control mechanism placed between a suspension controller and a servo current driver. Page 291231843 / 、 The scope of patent application is externally connected> + Gap position 时 When the repulsive force of a permanent magnet and the load of a stage will reach an equilibrium state between certain energy purposes, the servo current will approach zero to achieve The province includes at least the following steps: _ pe 1; control current, when the control current is greater than or equal to zero, the gap wheel voltage decreases; when the control current approaches zero, the gap input voltage decreases to § control When the current is less than or equal to zero, a gap input voltage is increased; and § When the control current approaches zero, increase the gap input voltage to zero. y • An elevation control mechanism to isolate a moving end from a platform, which includes: a platform; a level sensor is placed on the platform to sense the level of the platform; a first The active hardware and software of the suspension control loop are placed on one side below the platform to provide the platform's suspension and elevation control effect. It includes a Γ first tachometer and a first distance sensor, which are coupled to the moving end and the first active suspension control loop software and hardware to measure the speed and clearance displacement of the moving end and output to The first active suspension control circuit software and hardware; a first shaft and the first pillar of the movable suspension control circuit software and hardware, 'connected to the moving end and the first main is used to provide the moving end and First initiative Page 30 1231843 VI. Patent application-type suspension control circuit software and hardware tilting rotation space a second active suspension control circuit software: the other side of the square is used to provide the platform ', placed on the platform platform Contains a second tachometer second distance sense:;: = = fruit 'inside the second active suspension control loop software and hardware for measuring the moving end and the degree and: H' and output to the second Active suspension control speed, a rotating shaft and the first pillar are connected to the moving end ★, dynamic suspension control loop software and hardware to provide the moving end and = the second main suspension control The tilting and rotating space of the hardware and software of the circuit; and the two active devices: ί: the controller is placed in the first active suspension control circuit and control circuit, the second active suspension control circuit and the level The earthquake is controlled according to the level sensed by the level sensor to control the platform between the first and second main shock control circuits and the second active earthquake control circuit to keep the platform horizontal. As a result, 16. According to the mechanism of height adjustment described in item 15 of the patent scope of Shenyin, there is a real rotating arm between the first tachometer and the moving end of Zhongyin. Use ^ to convert the linear motion into For a corner motion, the output signal is fed back to the second type of suspension control circuit to control the denier value of the shock absorber, and to change the dynamic and height adjustment mechanism as described in item 5 of the patent application scope. A rotating arm is further provided between the second tachometer and the moving end, and the linear motion is converted into an angular motion, and the output signal is fed back to the first shock-absorbing control circuit to control the shock absorber. Value, change the action 1 Page 31 1231843 VI. The scope of patent application 12318 meaning ___ :, apply! ^ 'Body and the first active suspension control circuit between the hardware and software and coupled to the first active suspension &amp; control circuit software and hardware, the second active suspension control circuit software and hardware, and '&quot; Hey' flat sensor 'and control the first according to the level sensed by the level sensor' Active suspension control software and hardware and the second main The gap between the hardware and software of the dynamic suspension control loop changes, which keeps the platform horizontal. 19 · The method as described in item 18 of the scope of patent application, wherein a rotating arm is further provided between the first rotation speed a and the moving end, which is used to rotate linearly into an angle, and the output signal is fed back. To the first active avoidance loop circuit hardware and software to control the damping value of the shock absorber, change the dynamic rotation, and the method described in item 18 of the scope of patent application, wherein the second operation loop There is further a / rotating arm between the leaf and the moving end, which is used to convert the linear shock buckle into a corner, and its output signal is given to the second active avoidance loop software and hardware to control the shock absorber. Damping value, changing dynamic characteristics Page 33