WO2020155632A1 - 悬吊式复合调谐转动惯量驱动控制系统 - Google Patents

悬吊式复合调谐转动惯量驱动控制系统 Download PDF

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WO2020155632A1
WO2020155632A1 PCT/CN2019/105641 CN2019105641W WO2020155632A1 WO 2020155632 A1 WO2020155632 A1 WO 2020155632A1 CN 2019105641 W CN2019105641 W CN 2019105641W WO 2020155632 A1 WO2020155632 A1 WO 2020155632A1
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Prior art keywords
plate
control unit
moment
suspension
track
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English (en)
French (fr)
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张春巍
王昊
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Qingdao University of Technology
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Qingdao University of Technology
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
    • E04H9/0215—Bearing, supporting or connecting constructions specially adapted for such buildings involving active or passive dynamic mass damping systems
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
    • E04H9/023—Bearing, supporting or connecting constructions specially adapted for such buildings and comprising rolling elements, e.g. balls, pins

Definitions

  • the invention relates to the field of vibration suppression in a system, and in particular to a suspension type compound tuning moment of inertia drive control system.
  • the structure will vibrate under the action of these dynamic loads, which will generally cause Fatigue and reliability problems can cause structural damage and failure in severe cases, causing casualties and property losses.
  • dynamic loads such as earthquakes
  • the structure will collapse and be damaged and cannot be used anymore, or even if the structure has not collapsed, the internal equipment, decoration, and installation system cannot be used after being damaged. , And even cause secondary disasters, which caused huge safety threats and economic property losses to users.
  • vibration control technology has been rapidly developed in recent years. Not only in the field of civil engineering, vibration control technology is also a hot spot in the fields of aerospace, automotive, machinery, marine engineering, and military engineering.
  • vibration control technology is also a hot spot in the fields of aerospace, automotive, machinery, marine engineering, and military engineering.
  • proper safety vibration control systems in the structure can effectively reduce the dynamic response of the structure, reduce structural damage or fatigue damage, so as to meet people's needs for structural safety, comfort, and achieve safety, economy, and safety.
  • Reasonable balance of reliability A large number of studies have shown that the application of vibration control technology in civil engineering has significant effects and important significance. It can not only prevent or reduce structural damage, improve the disaster prevention performance of the structure, ensure the safety of people’s lives and properties, but also extend the life of the structure. Reduce the maintenance cost of the structure, and greatly meet people's requirements for the comfort of the structure under extreme conditions.
  • the structure vibration control technology of civil engineering is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control.
  • active control passive control
  • passive control technology has been relatively mature.
  • the devices used for passively tuned energy absorption mainly include tuned mass dampers and tuned liquid dampers, etc., which have been applied in many civil engineering structures.
  • the principle of TMD control is to make the sub-structure resonate with the main structure by adjusting the frequency of the sub-structure, that is, the damper, and the main structure, that is, the controlled structure, and dissipate the vibration energy of the main structure through the internal damping mechanism of the sub-structure, thereby reducing the main structure Dynamic response to achieve the purpose of vibration control.
  • the movement form of the structure has complex and diverse characteristics, usually composed of a combination of translation and torsion swing.
  • the TMD system when used to control the swing of the suspension quality system, it is found that when the suspension direction of the structure is consistent with the direction of the swing motion, the TMD system can play an effective control role regardless of the initial offset or the simple harmonic load excitation input;
  • the TMD system is used for the shimmy control of the structure in another direction, that is, when the suspension direction of the structure and its shimmy movement direction are perpendicular to each other, no matter how to adjust the system parameters (such as structure pendulum length, control system position, etc.), the TMD system will not work.
  • the application of existing structural vibration control devices in the field of civil engineering has an indispensable role, and it is of great significance to protect the lives and properties of structural users.
  • the existing structural vibration control devices/systems mainly exhibit the following deficiencies: First, the translational TMD control device can only control the translational motion of the structure and is invalid for the control of the swing vibration; second, the translational AMD control Although the device can control the swing vibration, the control efficiency is extremely low and cannot meet the requirements of use; third, the passive moment of inertia tuned damper is effective for the control of the swing vibration movement, but it requires complex frequency modulation for the structure itself. Complicated structures have low control efficiency, poor effect, low robustness, low controllability, and small application range.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide a suspended composite tuning moment of inertia drive control system to solve the ineffectiveness of the translational TMD in the prior art on the control of the swing motion; the translational AMD has low control efficiency and poor effect; passive tuning
  • the control of the moment of inertia damper is applicable to the problems of low robustness, complex frequency modulation technology, and small application range.
  • a suspension type compound tuning moment of inertia drive control system is characterized by comprising a translation control unit and a rotation control unit, the translation control unit is fixed at the bottom of the controlled structure, and the lower end of the translation control unit is connected with the rotation control unit;
  • the translation control unit includes a mounting plate, a track plate I, a moving plate I, a track plate II, a moving plate II and a limit block.
  • the two ends of the rail plate I and the rail plate II are respectively fixed with the limit blocks, and the mounting plate is fixed on the controlled
  • the track plate I is fixed on the mounting plate
  • the track plate I and the track plate II are both provided with a central guide rail
  • on both sides of the central guide rail are respectively opened an auxiliary guide rail I and auxiliary guide rail II, on the moving plate I and moving plate II
  • Each has a central sliding block. Both sides of the central sliding block are provided with an auxiliary sliding block I and an auxiliary sliding block II.
  • the central sliding block is matched with the central guide rail, and the auxiliary sliding block I and the auxiliary sliding block II are respectively connected with the corresponding track plate
  • the auxiliary guide rail I on the upper part is matched with the auxiliary guide rail II;
  • the rail plate I is fixed at the lower end of the mounting plate, the rail plate I is fitted with a moving plate I, the rail plate II is fixed under the moving plate I, and the rail direction of the rail plate II is with the rail plate I
  • the direction of the guide rail is vertical, and the rail plate II is matched with the movable plate II;
  • the rotation control unit includes a two-way suspension device, a suspension shaft, a drive, a transmission, a rotating shaft, a moment of inertia disc, and a flange.
  • the two-way suspension device is fixed at the lower end of the moving plate II, and the suspension shaft is installed under the suspension device, and the end of the suspension shaft
  • the drive is connected, the output end of the drive is connected to the transmission, the transmission is externally connected to the rotating shaft, the rotating shaft is connected to the moment of inertia disk through a flange
  • the two-way suspension device includes two connecting units, the connecting unit includes a fixed plate, a vertical plate and a rotating column, and the vertical plate is fixed on At both ends of the fixed plate, the rotating column is fixed between the vertical plates, and the rotating columns of the connecting unit are installed crosswise to form an integral two-way suspension device;
  • Sensors are installed on the controlled structure to collect state data of the controlled structure
  • An encoder is installed on the driver base, and the driver is coaxially connected with the transmission and the encoder.
  • electromagnetic coils and high-strength permanent magnets are arranged in the track of the center rail, and coils are arranged in the center slider, and the principle of linear motor is used to drive the center slider to move in the center rail.
  • the transmission is a reducer, and the outer contour of the drive and the reducer are the same.
  • the driver is a stepper motor or a servo motor.
  • driver and the transmission are perpendicularly connected with the moment of inertia disc, and the moment of inertia disc is parallel to the direction of the control plane of the translation control unit.
  • the two auxiliary guide rails I of the track plate I and the track plate II are respectively equipped with a grating ruler for measuring and feeding back the linear displacement of the moving plate I or the moving plate II.
  • the bottom surface of the auxiliary guide rail II on the track plate I and the track plate II are linearly opened with a row of positioning holes, the positioning holes are arranged in the same direction as the track direction, and the corresponding positions of the moving plate I and the moving plate II are provided with retractable
  • the positioning pin is matched with the positioning hole, and the expansion and contraction of the positioning pin is controlled by hydraulic components.
  • the suspended mass moment of inertia disc is a disc or ring with a certain mass.
  • the controller is connected to the sensor, the driver, and the encoder connected to the end of the driver.
  • the system is used as a suspension TMD (that is, a suspension tuned mass damper) control device, and the suspended rotation control unit is used as a suspended mass, which plays a passive control role under the condition of no large response.
  • the translation control unit and the rotation control unit perform active control, combined with translation control and torsional vibration control technology, so that the control system can be installed on a controlled structure, exerting the dual control effect of translation and rotation;
  • the present invention combines active and passive control technologies to combine the advantages of suspended TMD, AMD, and moment of inertia drive control devices, and utilizes multiple unit coordination modes to ensure the control effect to the greatest extent and the control force is controllable ;
  • the system uses a driver and a linear driver to achieve the output of the control force, without the need for a complicated frequency modulation design process, and at the same time get rid of the problem that the control cannot be achieved due to the technical limitation of frequency modulation, and has a wider application range;
  • the system has greater robustness and is not subject to excessive influence on the control effect due to changes in structural form and changes in external loads.
  • Figure 1 is a perspective view of the overall structure of the present invention
  • Figure 2 is a front view of the overall structure of the present invention.
  • Figure 3 is a schematic diagram of the structure of the translation control unit
  • Figure 4 is a schematic diagram of the connection structure between the rail plate and the moving plate of the translation control unit
  • Figure 5 is a schematic diagram of the track plate structure
  • Figure 6 is a schematic diagram of the mechanism of the two-way suspension device
  • the suspended composite tuning moment of inertia drive control system of the present invention includes a translation control unit and a rotation control unit.
  • the translation control unit is fixed at the bottom of the controlled structure, and the lower end of the translation control unit is connected Turn the control unit;
  • the translation control unit includes a mounting plate 1, a rail plate I2, a moving plate I3, a rail plate II4, a moving plate II5, and a limit block 6.
  • the two ends of the rail plate I and the rail plate II are respectively fixed with the limit blocks, and the mounting plate is fixed on
  • the track plate I is fixed on the mounting plate
  • the track plate I and the track plate II are both provided with a central guide rail 7
  • an auxiliary guide rail I8 and an auxiliary guide rail II9 are respectively opened on both sides of the central guide rail
  • An auxiliary sliding block I11 and an auxiliary sliding block II12 are respectively provided on both sides of the central sliding block.
  • the central sliding block and the central guide rail are matched with each other.
  • the rail plate I is fixed at the lower end of the mounting plate, the rail plate I is fitted with a movable plate I, the rail plate II is fixed under the movable plate I, and the rail direction of the rail plate II It is perpendicular to the rail direction of the track plate I, and the track plate II is matched with a movable plate II.
  • the rotation control unit includes a two-way suspension device 13, a suspension shaft 14, a driver 15, a transmission 16, a rotating shaft 17, a moment of inertia disk 18, and a flange 19.
  • the two-way suspension device is fixed at the lower end of the moving plate II, and the suspension device is installed below the suspension device.
  • Suspension shaft the end of the suspension shaft is connected to the driver, the output end of the driver is connected to the transmission, and the transmission is externally connected to the rotating shaft.
  • the rotating shaft is connected to the rotational inertia plate through a flange.
  • the two-way suspension device includes two connecting units.
  • the connecting unit includes a fixed plate 131 and a vertical plate. 132 and the rotating column 133, the vertical plate is fixed at both ends of the fixed plate, the rotating column is fixed between the vertical plates, and the rotating columns of the connecting unit are installed crosswise to form an integral two-way suspension device.
  • the suspension mass moment of inertia disc is a disc or ring of a certain mass, and the material is usually a metal material or other materials with higher density; the suspension shaft is a rigid shaft, and the material is usually a metal material.
  • Sensors are installed on the controlled structure to collect state data of the controlled structure
  • An encoder 22 is installed on the driver base.
  • the driver is coaxially connected with the transmission and the encoder.
  • the transmission is a reducer.
  • the outer contour of the driver and the reducer is the same.
  • the driver is a stepping motor or a servo motor.
  • the drive and the transmission are perpendicularly connected with the moment of inertia disk, and the moment of inertia disk is parallel to the direction of the control plane of the translation control unit.
  • Electromagnetic coils and high-strength permanent magnets are arranged in the track of the center rail.
  • the center slider is equipped with a coil.
  • the linear motor is used to drive the center slider to move in the center rail.
  • the two auxiliary guide rails I of the track plate I and the track plate II are respectively installed with a grating ruler 21 for measuring and feeding back the linear displacement of the moving plate I or the moving plate II.
  • positioning holes 23 there is a row of positioning holes 23 on the bottom surface of the auxiliary guide rail II on the track plate I and the track plate II.
  • the positioning holes are arranged in the same direction as the track direction.
  • the corresponding positions of the moving plate I and the moving plate II are provided with retractable positioning pins. ,
  • the positioning pin is matched with the positioning hole, the expansion and contraction of the positioning pin is controlled by the hydraulic component, and it is fixed when the translation control unit is not required.
  • the present invention also includes a controller.
  • the controller is connected with the sensor, the driver, and the encoder connected to the end of the driver to control the driving direction and speed of the inertia disk by the driver.
  • the control and transmission part is the prior art and involves simple signal transmission As well as the processing functions, I will not repeat them here.
  • the present invention combines passive control and active control, and combines translational vibration control and rotary shimmy vibration control to combine and design a suspension type compound tuned moment of inertia drive control system.
  • the general structure does not have a large response.
  • the system is used as a suspension TMD (suspended tuned mass damper) control device, and the suspended rotation control unit is used as a suspended mass;
  • the control force on the controlled structure can control both the translational vibration form and the torsional shimmy vibration form to achieve the purpose of vibration control.
  • the process of the rotation control unit is that the controller transmits a control signal to the driver.
  • the driver drives the moment of inertia disk.
  • the acceleration of the rotation of the moment of inertia disk generates force, which is transmitted to the two-way suspension device through the suspension shaft, and the two-way suspension device transmits the force.
  • To the translation control unit and then act on the controlled structure to control the vibration of the controlled structure.
  • the function of the rotation control unit is based on the principle of linear motor.
  • the central slider at the lower end of the moving plate I and the moving plate II accelerates or decelerates in the track plate I and the track plate II, and the grating ruler acts on the moving plate I or the moving plate II.
  • the controller controls the moving speed and acceleration of the moving plate I or moving plate II in real time.
  • the force generated by the movement of the moving plate I and moving plate II directly acts on the controlled structure through the mounting plate.
  • the vibration in the plane is reduced.
  • the rotation control unit serves as the mass of the translation control unit to assist the movement of the translation control unit.
  • the translation control unit does not need to move, the hydraulic component controls the positioning pin to extend, the positioning pin is stuck in the positioning hole, and the moving plate I and the moving plate II are locked, and the translation control unit fixed.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

本发明涉及系统中振动的抑制领域，具体而言，涉及一种悬吊式复合调谐转动惯量驱动控制系统，其包括平动控制单元以及转动控制单元，平动控制单元固定在被控结构底部，平动控制单元下端连接转动控制单元；平动控制单元包括安装板、轨道板Ⅰ、移动板Ⅰ、轨道板Ⅱ、移动板Ⅱ以及限位块；转动控制单元包括双向悬吊装置、悬吊轴、驱动器、变速器、转轴、转动惯量盘以及法兰；本发明结合主动和被动控制技术，将悬吊形式的TMD、AMD以及转动惯量驱动控制装置的优点结合起来，利用多个单元相配合的模式，最大程度的保证了控制的效果，控制力可控。

Description

悬吊式复合调谐转动惯量驱动控制系统 技术领域
本发明涉及系统中振动的抑制领域，具体而言，涉及一种悬吊式复合调谐转动惯量驱动控制系统。
背景技术
近年来，随着经济的发展和社会的进步，人们对生活空间的要求也不断提高，国家在基础设施方面的投入不断增大。国家在土木工程的投入越来越大，高速公路、铁路、桥梁、高层建筑、大跨度空间结构等不断兴建。除此之外，人们还探索开发更广阔的空间，向“深海”、“深空”探索，海洋平台、宇宙空间站等结构也发展迅速。这些空间结构，在施工以及后期运行使用过程中，都不可避免地受到各种荷载的作用，包括静荷载和动荷载。在结构的使用过程中，对结构影响较大的往往是动载作用，如地震、风、浪、流、冰、爆炸等，结构在这些动力荷载的作用下会产生振动，一般情况下会引起疲劳与可靠性问题，严重时会造成结构的破坏失效，造成人员伤亡及财产损失。结构在使用过程中，遭受动载作用后，如地震作用，结构产生倒塌破坏，无法继续使用，或者即使结构没有倒塌，但其内部的设备设施、装饰装修、安装系统受到破坏之后也无法继续使用，甚至造成次生灾害，这给使用人员造成了巨大的安全威胁和经济财产损失。
另一方面，随着经济的发展和技术的不断进步，人们对结构的要求已不再仅仅局限于可用，还在结构安全性、耐久性等方面提出了更高的要求。人们在结构的使用过程中，结构物不仅需要确保人们的生命安全，还需要满足人们对舒适度等方面的要求。如，高层结构在风荷载作用下，会产生振动，在没有减隔震措施的情况下，处于高层的使用者会感到结构物的晃动，风力较大的情况下，结构物内部的设备设施甚至会受到由结构物振动引起的破坏，这不仅无法满足人们对结构物的舒适要求，也对经济财产造成威胁。
为了解决由结构物振动引起的各种问题，消除或减轻由外部荷载引起的振动，振动控制技术近年来得到了迅速的发展。不仅是在土木工程领域，振动控制技术在航空航天、汽车、机械、海洋工程、军事工程等领域也是热点方向。 对于土木工程结构，在结构中恰当地安全振动控制系统能够有效地减轻结构的动力响应，减轻结构的破坏或者疲劳损伤，从而满足人们对结构的安全、舒适等需求，达到安全性、经济性、可靠性的合理平衡。大量研究表明，振动控制技术在土木工程的应用具有显著的效果和重要的意义，不仅可以防止或减轻结构的破坏，提高结构的防灾性能，保证人们的生命财产安全，还可以延长结构寿命，降低结构的维护成本，极大限度的满足人们对结构在极端条件下的舒适度要求。
土木工程结构振动控制技术主要分为以下四个方面：主动控制、被动控制、半主动控制以及混合控制。其中，被动控制技术的研究已经较为成熟，其中用于被动调谐吸能的装置主要包括调谐质量阻尼器和调谐液体阻尼器等，已经在诸多土木工程结构中得到了应用。TMD控制的原理是通过调整子结构即阻尼器的频率与主结构即受控结构一致或相近，使子结构与主结构共振，通过子结构内部阻尼机制耗散主结构振动能量，从而消减主结构动力响应，达到振动控制的目的。大量的研究和实际应用已经表明，例如：美国波士顿60层的John Hancock大楼、马来西亚吉隆坡的双子塔、中国台北101大楼均安装了TMD振动控制系统，通过在后期的应用证明了被动控制TMD系统具有稳定、良好的控制效果。
结构的运动形式具有复杂多样的特性，通常由平动以及扭转摆动组合而成。然而采用TMD系统控制悬吊质量体系摆动问题时发现：当结构悬挂方向与其摆振运动方向一致时，无论是在初始偏移还是简谐荷载激励输入下，TMD系统都能发挥有效的控制作用；当把TMD系统用于结构另一个方向摆振控制即当结构悬挂方向与其摆振运动方向相互垂直时，无论怎样调整系统参数(如结构摆长、控制系统位置等)，TMD系统始终无法工作。经过大量的理论分析和试验探索，提出了平动TMD控制系统只能控制结构的平动运动而对回转摆振控制无效的结论。经过学者的研究表明，其根本原因在于此时TMD、TLD等被动控制系统处于离心状态而失去作用，系统质量块(或TLD水箱中的水)根本不运动，甚至主动质量阻尼器/驱动器(英文名Active Mass Damper/Driver，AMD)控制系统主动控制力因需要克服质量块重力分量而使其控制效率大大折扣。然而具有回转摆振运动特性的结构运动形式极为常见，如：不规则建筑在风荷载作用下的扭转摆振；悬吊结构的摆动；海洋平台在海浪、风、冰等耦合作用下的 扭转摆振等。因此需要设计一种特殊的结构振动/运动控制系统，使其可以自动克服(或摆脱)重力场对控制系统自身的影响(离心力作用)，或者使控制系统自身的工作/运动规律与重力场解耦，系统自振不受重力影响，以上两个方面均可以达到使控制系统充分运动起来的目的，从而发挥控制系统对结构振动的有效控制作用。
综上所述，现有的结构振动控制装置在土木工程领域的应用具有不可或缺的作用，并且对保障结构使用者的生命和财产具有非常重要的意义。但是现有的结构振动控制装置/系统主要表现出以下几方面的不足：第一，平动TMD控制装置只能控制结构的平动运动而对回转摆振控制无效；第二，平动AMD控制装置虽然可以控制回转摆振，但是控制效率极低，无法满足使用要求；第三，被动转动惯量调谐阻尼器对回转摆振运动控制有效，但是其需要针对结构自身进行复杂的调频，对某些复杂结构控制效率较低，效果不佳，存在鲁棒性低，可控性低，适用范围小等缺点。
本发明就是在这样的背景下产生的。
发明内容
本发明的主要目的在于提供一种悬吊式复合调谐转动惯量驱动控制系统，以解决现有技术中平动TMD对回转摆振运动控制失效；平动AMD控制效率低、效果较差；被动调谐转动惯量阻尼器控制适用鲁棒性低、调频技术复杂、适用范围小的问题。
为了实现上述目的，本发明采用以下的技术方案：
一种悬吊式复合调谐转动惯量驱动控制系统，其特征在于，包括平动控制单元以及转动控制单元，平动控制单元固定在被控结构底部，平动控制单元下端连接转动控制单元；
平动控制单元包括安装板、轨道板Ⅰ、移动板Ⅰ、轨道板Ⅱ、移动板Ⅱ以及限位块，轨道板Ⅰ和轨道板Ⅱ的两端分别固定有限位块，安装板固定在被控结构上，轨道板Ⅰ固定在安装板上，轨道板Ⅰ和轨道板Ⅱ上均开有中心导轨，中心导轨两侧分别开有一个辅助导轨Ⅰ和辅助导轨Ⅱ，移动板Ⅰ和移动板Ⅱ上分别带有一个中心滑块，中心滑块两侧分别设有一个辅助滑块Ⅰ和辅助滑块Ⅱ，中心滑块与中心导轨相配合，辅助滑块Ⅰ和辅助滑块Ⅱ分别与对应轨道板上的 辅助导轨Ⅰ和辅助导轨Ⅱ相配合；轨道板Ⅰ固定在安装板下端，轨道板Ⅰ配合安装有移动板Ⅰ，移动板Ⅰ下面固定轨道板Ⅱ，轨道板Ⅱ的导轨方向与轨道板Ⅰ的导轨方向垂直，轨道板Ⅱ配合安装有移动板Ⅱ；
转动控制单元包括双向悬吊装置、悬吊轴、驱动器、变速器、转轴、转动惯量盘以及法兰，双向悬吊装置固定在移动板Ⅱ下端，悬吊装置下方安装悬吊轴，悬吊轴末端连接驱动器，驱动器输出端连接变速器，变速器外连转轴，转轴通过法兰与转动惯量盘连接，双向悬吊装置包括两个连接单元，连接单元包括固定板、立板以及旋转柱，立板固定在固定板两端，旋转柱固定在立板之间，连接单元的旋转柱交叉安装，形成整体的双向悬吊装置；
被控结构上安装有传感器，用于采集被控结构的状态数据；
驱动器底座上安装有编码器，驱动器与变速器以及编码器同轴相连。
进一步的，中心导轨的轨道内设置电磁线圈以及高强永磁铁，中心滑块内设有线圈，利用线性电机的原理驱动中心滑块在中心导轨内运动。
进一步的，变速器为减速器，驱动器与减速器外轮廓相同。
进一步的，驱动器为步进电机或者伺服电机。
进一步的，驱动器以及变速器与转动惯量盘垂直连接，转动惯量盘平行于平动控制单元控制平面的方向。
进一步的，中心导轨轨道内有断电装置，用于紧急情况下切断整个平动控制单元的电力供应。
进一步的，轨道板Ⅰ和轨道板Ⅱ的两个辅助导轨Ⅰ内均分别安装有光栅尺，用于测量和反馈移动板Ⅰ或者移动板Ⅱ的直线位移。
进一步的，轨道板Ⅰ和轨道板Ⅱ上的辅助导轨Ⅱ的底面上均线性开有一列定位孔，定位孔排列方向与轨道方向一致，移动板Ⅰ以及移动板Ⅱ的对应位置上设置有可伸缩定位销，定位销与定位孔相配合，定位销的伸缩由液压元件控制。
进一步的，所述悬吊质量转动惯量盘为一定质量的圆盘或圆环。
进一步的，还包括传感器，控制器与传感器、驱动器以及驱动器末端连接的编码器连接。
本发明具有以下有益效果：
本发明在不发生较大响应情况下，系统作为悬吊TMD(即悬吊调谐质量阻尼器)控制装置，悬吊的转动控制单元作为悬吊的质量块，起到被动控制的作用，在响应较大时，平动控制单元以及转动控制单元进行主动控制，结合平动控制和扭转摆振控制技术，使得控制系统可以安装在受控结构上，发挥平动及转动双重控制效果；
本发明结合主动和被动控制技术，将悬吊形式的TMD、AMD以及转动惯量驱动控制装置的优点结合起来，利用多个单元相配合的模式，最大程度的保证了控制的效果，控制力可控；
该系统采用驱动器及直线驱动器，实现控制力的输出，无需进行复杂的调频设计过程，同时也摆脱了由于调频的技术限制而无法实现控制的问题，适用范围更广；
该系统具有更大的鲁棒性，不受结构形式变化以及外部荷载作用的变化而使控制效果受到过大影响。
附图说明
图1是本发明整体结构立体图；
图2是本发明整体结构主视图；
图3是平动控制单元结构示意图；
图4是平动控制单元轨道板与移动板连接结构示意图；
图5是轨道板结构示意图；
图6是双向悬吊装置机构示意图；
其中，上述附图包括以下附图标记：1、安装板；2、轨道板Ⅰ；3、移动板Ⅰ；4、轨道板Ⅱ；5、移动板Ⅱ；6、限位块；7、中心导轨；8、辅助导轨Ⅰ；9、辅助导轨Ⅱ；10、中心滑块；11、辅助滑块Ⅰ；12、辅助滑块Ⅱ；13、双向悬吊装置；131、固定板；132、立板；133、旋转柱；14、悬吊轴；15、驱动器；16、变速器；17、转轴；18、转动惯量盘；19、法兰；20、断电装置；21、光栅尺；22、编码器；23、定位孔。
具体实施方式
下面结合附图对本发明作进一步说明。
如图1-6所示，本发明所述的悬吊式复合调谐转动惯量驱动控制系统包括平动控制单元以及转动控制单元，平动控制单元固定在被控结构底部，平动控制单元下端连接转动控制单元；
平动控制单元包括安装板1、轨道板Ⅰ2、移动板Ⅰ3、轨道板Ⅱ4、移动板Ⅱ5以及限位块6，轨道板Ⅰ和轨道板Ⅱ的两端分别固定有限位块，安装板固定在被控结构上，轨道板Ⅰ固定在安装板上，轨道板Ⅰ和轨道板Ⅱ上均开有中心导轨7，中心导轨两侧分别开有一个辅助导轨Ⅰ8和辅助导轨Ⅱ9，移动板Ⅰ和移动板Ⅱ上分别带有一个中心滑块10，中心滑块两侧分别设有一个辅助滑块Ⅰ11和辅助滑块Ⅱ12，中心滑块与中心导轨相配合，辅助滑块Ⅰ和辅助滑块Ⅱ分别与对应轨道板上的辅助导轨Ⅰ和辅助导轨Ⅱ相配合；轨道板Ⅰ固定在安装板下端，轨道板Ⅰ配合安装有移动板Ⅰ，移动板Ⅰ下面固定轨道板Ⅱ，轨道板Ⅱ的导轨方向与轨道板Ⅰ的导轨方向垂直，轨道板Ⅱ配合安装有移动板Ⅱ。
转动控制单元包括双向悬吊装置13、悬吊轴14、驱动器15、变速器16、转轴17、转动惯量盘18以及法兰19，双向悬吊装置固定在移动板Ⅱ下端，悬吊装置下方安装悬吊轴，悬吊轴末端连接驱动器，驱动器输出端连接变速器，变速器外连转轴，转轴通过法兰与转动惯量盘连接，双向悬吊装置包括两个连接单元，连接单元包括固定板131、立板132以及旋转柱133，立板固定在固定板两端，旋转柱固定在立板之间，连接单元的旋转柱交叉安装，形成整体的双向悬吊装置。
所述悬吊质量转动惯量盘为一定质量的圆盘或圆环，材料通常为金属材料或者密度较高的其他材料；悬吊轴为刚性轴，材料通常为金属材料。
被控结构上安装有传感器，用于采集被控结构的状态数据；
驱动器底座上安装有编码器22，驱动器与变速器以及编码器同轴相连，变速器为减速器，驱动器与减速器外轮廓相同，驱动器为步进电机或者伺服电机。
驱动器以及变速器与转动惯量盘垂直连接，转动惯量盘平行于平动控制单元控制平面的方向。
中心导轨的轨道内设置电磁线圈以及高强永磁铁，中心滑块内设有线圈，利用线性电机的原理驱动中心滑块在中心导轨内运动，中心导轨轨道内有断电装置20，用于紧急情况下切断整个平动控制单元的电力供应。
轨道板Ⅰ和轨道板Ⅱ的两个辅助导轨Ⅰ内均分别安装有光栅尺21，用于测量和反馈移动板Ⅰ或者移动板Ⅱ的直线位移。
轨道板Ⅰ和轨道板Ⅱ上的辅助导轨Ⅱ的底面上均线性开有一列定位孔23，定位孔排列方向与轨道方向一致，移动板Ⅰ以及移动板Ⅱ的对应位置上设置有可伸缩定位销，定位销与定位孔相配合，定位销的伸缩由液压元件控制，在不需要平动控制单元作用的时候将其固定。
本发明还包括控制器，控制器与传感器、驱动器以及连接在驱动器末端的编码器相连接，控制驱动器对转动惯量盘的驱动方向以及转速，控制以及传输部分为现有技术，涉及简单的信号传输以及处理功能，在此不做赘述。
本发明的使用过程如下所述：
本发明将被动控制、主动控制相结合，将平动振动控制与回转摆振振动控制相结合，组合设计出一种悬吊式复合调谐转动惯量驱动控制系统，一般结构不发生较大响应情况下，系统作为悬吊TMD(即悬吊调谐质量阻尼器)控制装置，悬吊的转动控制单元作为悬吊的质量块；
当结构受到外部较强的激励作用，发生被动控制已经无法满足要求的响应时，可以通过结构的实际运动情况，控制系统的平动控制单元以及转动控制单元工作发挥作用，从而提供合适的作用于受控结构上的控制力，既可以控制平动振动形式也可以控制扭转摆振振动形式，达到振动控制的目的。
转动控制单元作用的过程是控制器传送控制信号给驱动器，驱动器驱动转动惯量盘，转动惯量盘回转转动的加速度产生作用力，通过悬吊轴传递给双向悬吊装置，双向悬吊装置传送作用力到平动控制单元上，进而作用在受控结构上，对受控结构的振动产生控制作用。
转动控制单元作用的过程是利用线性电机的原理，移动板Ⅰ以及移动板Ⅱ下端的中心滑块在轨道板Ⅰ和轨道板Ⅱ内做加速或者减速运动，光栅尺对移动板Ⅰ或者移动板Ⅱ的位置实时测量并反馈，控制器对移动板Ⅰ或者移动板Ⅱ的运动速度和加速度实时控制，移动板Ⅰ、移动板Ⅱ的运动产生的作用力直接通过安装板作用在受控结构上，将平面内的振动削减，此时转动控制单元作为平动控制单元的质量块，辅助平动控制单元的动作。
当被控结构仅存在扭转摆动动作的时候，平动控制单元无需动作，液压元件控制定位销伸长，定位销卡在定位孔中，将移动板Ⅰ以及移动板Ⅱ锁死，平动控制单元固定。
当然，上述内容仅为本发明的较佳实施例，不能被认为用于限定对本发明的实施例范围。本发明也并不仅限于上述举例，本技术领域的普通技术人员在本发明的实质范围内所做出的均等变化与改进等，均应归属于本发明的专利涵盖范围内。

Claims (10)

  1. 一种悬吊式复合调谐转动惯量驱动控制系统，其特征在于，包括平动控制单元以及转动控制单元，平动控制单元固定在被控结构底部，平动控制单元下端连接转动控制单元；
    平动控制单元包括安装板(1)、轨道板Ⅰ(2)、移动板Ⅰ(3)、轨道板Ⅱ(4)、移动板Ⅱ(5)以及限位块(6)，轨道板Ⅰ(2)和轨道板Ⅱ(4)的两端分别固定有限位块(6)，安装板(1)固定在被控结构上，轨道板Ⅰ(2)固定在安装板(1)上，轨道板Ⅰ(2)和轨道板Ⅱ(4)上均开有中心导轨(7)，中心导轨(7)两侧分别开有一个辅助导轨Ⅰ(8)和辅助导轨Ⅱ(9)，移动板Ⅰ(3)和移动板Ⅱ(5)上分别带有一个中心滑块(10)，中心滑块(10)两侧分别设有一个辅助滑块Ⅰ(11)和辅助滑块Ⅱ(12)，中心滑块(10)与中心导轨(7)相配合，辅助滑块Ⅰ(11)和辅助滑块Ⅱ(12)分别与对应轨道板上的辅助导轨Ⅰ(8)和辅助导轨Ⅱ(9)相配合；轨道板Ⅰ(2)固定在安装板(1)下端，轨道板Ⅰ(2)配合安装有移动板Ⅰ(3)，移动板Ⅰ(3)下面固定轨道板Ⅱ(4)，轨道板Ⅱ(4)的导轨方向与轨道板Ⅰ(2)的导轨方向垂直，轨道板Ⅱ(4)配合安装有移动板Ⅱ(5)；
    转动控制单元包括双向悬吊装置(13)、悬吊轴(14)、驱动器(15)、变速器(16)、转轴(17)、转动惯量盘(18)以及法兰(19)，双向悬吊装置(13)固定在移动板Ⅱ(5)下端，悬吊装置下方安装悬吊轴(14)，悬吊轴(14)末端连接驱动器(15)，驱动器(15)输出端连接变速器(16)，变速器(16)外连转轴(17)，转轴(17)通过法兰(19)与转动惯量盘(18)连接，双向悬吊装置(13)包括两个连接单元，连接单元包括固定板(131)、立板(132)以及旋转柱(133)，立板(132)固定在固定板(131)两端，旋转柱(133)固定在立板(132)之间，连接单元的旋转柱(133)交叉安装，形成整体的双向悬吊装置(13)；
    被控结构上安装有传感器，用于采集被控结构的状态数据；
    驱动器(15)底座上安装有编码器(22)，驱动器(15)与变速器(16)以及编码器同轴相连。
  2. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，中心导轨(7)的轨道内设置电磁线圈以及高强永磁铁，中心滑块(10)内设有线圈，利用线性电机的原理驱动中心滑块(10)在中心导轨(7)内运动。
  3. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，变速器(16)为减速器，驱动器(15)与减速器外轮廓相同。
  4. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，驱动器(15)为步进电机或者伺服电机。
  5. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，驱动器(15)以及变速器(16)与转动惯量盘(18)垂直连接，转动惯量盘(18)平行于平动控制单元控制平面的方向。
  6. 根据权利要求1所述悬吊式复合调谐转动惯量驱动控制系统，其特征在于，中心导轨(7)轨道内有断电装置(20)，用于紧急情况下切断整个平动控制单元的电力供应。
  7. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，轨道板Ⅰ(2)和轨道板Ⅱ(4)的两个辅助导轨Ⅰ(8)内均分别安装有光栅尺(21)，用于测量和反馈移动板Ⅰ(3)或者移动板Ⅱ(5)的直线位移。
  8. 根据权利要求7所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，轨道板Ⅰ(2)和轨道板Ⅱ(4)上的辅助导轨Ⅱ(9)的底面上均线性开有一列定位孔(23)，定位孔排列方向与轨道方向一致，移动板Ⅰ(3)以及移动板Ⅱ(5)的对应位置上设置有可伸缩定位销，定位销与定位孔相配合，定位销的伸缩由液压元件控制。
  9. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，所述悬吊质量转动惯量盘(18)为一定质量的圆盘或圆环。
  10. 根据权利要求1所述的悬吊式复合调谐转动惯量驱动控制系统，其特征在于，还包括传感器，控制器与传感器、驱动器(15)以及驱动器(15)末端连接的编码器连接。
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