WO2020155632A1

WO2020155632A1 - Suspended composite tuned rotational inertia drive control system

Info

Publication number: WO2020155632A1
Application number: PCT/CN2019/105641
Authority: WO
Inventors: 张春巍; 王昊
Original assignee: 青岛理工大学
Priority date: 2019-02-01
Filing date: 2019-09-12
Publication date: 2020-08-06
Also published as: CN109610672B; CN109610672A

Abstract

The present invention relates to the field of vibration suppression in a system, and in particular to a suspended composite tuned rotational inertia drive control system, comprising a translation control unit and a rotation control unit, the translation control unit being fixed to the bottom of a controlled structure, the lower end of the translation control unit being connected to the rotation control unit; the translation control unit comprises mounting plates, a rail plate I, a moving plate I, a rail plate II, a moving plate II, and limiting blocks; the rotation control unit comprises a bidirectional suspension device, a suspension shaft, a driver, a transmission, a rotatory shaft, a rotational inertia disc, and a flange. The present invention combines active and passive control technologies, combines the advantages of a suspended TMD and AMD and a rotational inertia drive control device, and uses a mode of cooperation between a plurality of units, thereby ensuring the control effect to the greatest extent and providing a controllable control force.

Description

Suspension type compound tuning moment of inertia drive control system

Technical field

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.

Background technique

In recent years, with economic development and social progress, people's requirements for living space have also been increasing, and the state's investment in infrastructure has been increasing. The state has invested more and more in civil engineering, and highways, railways, bridges, high-rise buildings, and large-span spatial structures have been continuously constructed. In addition, people are also exploring and developing a wider space, exploring the "deep sea" and "deep space", and structures such as ocean platforms and space stations are also developing rapidly. These spatial structures are inevitably subjected to various loads during construction and later operation and use, including static and dynamic loads. During the use of the structure, it is often the dynamic load that has a greater impact on the structure, such as earthquakes, wind, waves, currents, ice, explosions, etc. 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. During the use of the structure, after being subjected to 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.

On the other hand, with the development of economy and the continuous progress of technology, people's requirements for structures are no longer limited to usability, and higher requirements are also put forward in terms of structural safety and durability. When people use the structure, the structure not only needs to ensure people's life safety, but also needs to meet people's requirements for comfort. For example, high-rise structures will vibrate under the action of wind loads. Without seismic isolation measures, users in high-rise buildings will feel the shaking of the structure. In the case of high winds, the equipment and facilities inside the structure may even Will be damaged by the vibration of the structure, which not only fails to meet people's comfort requirements for the structure, but also poses a threat to economic property.

In order to solve various problems caused by structural vibration and eliminate or reduce vibration caused by external loads, 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. For civil engineering structures, 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. Among them, the research of 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. A large number of studies and practical applications have shown that, for example, the 60-story John Hancock Building in Boston, the Twin Towers in Kuala Lumpur, Malaysia, and the Taipei 101 Building in China have all installed TMD vibration control systems. The passive control TMD system has Stable and good control effect.

The movement form of the structure has complex and diverse characteristics, usually composed of a combination of translation and torsion swing. However, when the TMD system is 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; When 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. After a lot of theoretical analysis and experimental exploration, it is concluded that the translational TMD control system can only control the translational motion of the structure and is invalid for the control of the swing vibration. Research by scholars shows that the fundamental reason is that passive control systems such as TMD and TLD are in a centrifugal state and lose their function. The system mass (or the water in the TLD tank) does not move at all, and even the active mass damper/driver (English) Active Mass Damper/Driver (AMD) control system's active control force needs to overcome the weight of the mass, which greatly reduces its control efficiency. However, structural motion forms with rotational shimmy motion characteristics are extremely common, such as: torsional shimmy of irregular buildings under wind loads; swing of suspended structures; torsional oscillating of offshore platforms under the coupling action of waves, wind, and ice. Zhen etc. Therefore, it is necessary to design a special structural vibration/motion control system so that it can automatically overcome (or get rid of) the influence of the gravity field on the control system itself (centrifugal force), or solve the control system's own work/motion law with the gravity field. Coupling, the natural vibration of the system is not affected by gravity. Both of the above two aspects can achieve the purpose of fully moving the control system, so as to exert the effective control effect of the control system on structural vibration.

In summary, 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. However, 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.

Summary of the invention

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.

In order to achieve the above objectives, the present invention adopts the following technical solutions:

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 In terms of structure, 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.

Further, 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.

Further, the transmission is a reducer, and the outer contour of the drive and the reducer are the same.

Further, the driver is a stepper motor or a servo motor.

Further, the 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.

Further, there is a power cutoff device in the center rail track, which is used to cut off the power supply of the entire translation control unit in an emergency.

Furthermore, 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.

Further, 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.

Further, the suspended mass moment of inertia disc is a disc or ring with a certain mass.

Further, it also includes a sensor, and the controller is connected to the sensor, the driver, and the encoder connected to the end of the driver.

The present invention has the following beneficial effects:

In the present invention, 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. When it is larger, 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.

Description of the drawings

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;

Among them, the above drawings include the following reference signs: 1. Mounting plate; 2. Track plate I; 3. Moving plate I; 4. Track plate II; 5. Moving plate II; 6. Limiting block; 7. Center guide rail 8. Auxiliary guide rail Ⅰ; 9. Auxiliary guide rail Ⅱ; 10, central slide block; 11. Auxiliary slide block Ⅰ; 12, auxiliary slide block Ⅱ; 13, two-way suspension device; 131, fixed plate; 132, vertical plate; 133. Rotating column; 14. Suspension shaft; 15. Drive; 16. Transmission; 17, rotating shaft; 18. Moment of inertia disc; 19. Flange; 20. Power-off device; 21. Grating ruler; 22. Encoder; 23. Positioning hole.

detailed description

The present invention will be further explained below in conjunction with the drawings.

As shown in Figures 1-6, 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 In the controlled structure, 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, the moving plate Ⅰ and moving There is a central sliding block 10 on the plate II. 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. Cooperate with the auxiliary rail I and the auxiliary rail II on the corresponding rail plate; 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.

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. There is a power-off device 20 in the center rail track for emergency situations. Cut off the power supply of the entire translation control unit.

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.

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 use process of the present invention is as follows:

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;

When the structure is subject to strong external excitation and passive control can no longer meet the required response, the actual movement of the structure, the translation control unit and the rotation control unit of the control system can be used to provide a suitable effect. 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. Real-time measurement and feedback of the position of the moving plate, 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. At this time, the rotation control unit serves as the mass of the translation control unit to assist the movement of the translation control unit.

When the controlled structure only has torsion and swing action, 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.

Of course, the above content is only a preferred embodiment of the present invention, and cannot be considered as limiting the scope of the present invention. The present invention is not limited to the above examples, and equal changes and improvements made by those of ordinary skill in the art within the essential scope of the present invention should fall within the scope of the patent of the present invention.

Claims

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 mounting plate (1), rail plate I (2), moving plate I (3), rail plate II (4), moving plate II (5) and limit block (6), rail plate I ( 2) The limit block (6) is fixed to the two ends of the track plate Ⅱ (4), the mounting plate (1) is fixed on the controlled structure, the track plate Ⅰ (2) is fixed on the mounting plate (1), and the track plate There are central guide rails (7) on both Ⅰ (2) and track plate Ⅱ (4). There are auxiliary guide rails Ⅰ (8) and auxiliary guide rails Ⅱ (9) on both sides of the central guide rail (7). Moving plate Ⅰ ( 3) A central sliding block (10) is respectively provided on the moving plate Ⅱ (5), and an auxiliary sliding block I (11) and an auxiliary sliding block II (12) are respectively arranged on both sides of the central sliding block (10). The sliding block (10) is matched with the central guide rail (7), and the auxiliary sliding block I (11) and the auxiliary sliding block II (12) are respectively corresponding to the auxiliary guide rail I (8) and auxiliary guide rail II (9) on the corresponding track plate. Cooperate; track plate Ⅰ (2) is fixed at the lower end of the mounting plate (1), the track plate Ⅰ (2) is fitted with a movable plate Ⅰ (3), and the track plate Ⅱ (4) is fixed under the movable plate Ⅰ (3). The guide rail direction of Ⅱ(4) is perpendicular to the guide rail direction of the track plate Ⅰ(2), and the track plate Ⅱ(4) is matched with the movable plate Ⅱ(5);

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 disc (18) and a flange (19), two-way suspension The device (13) is fixed on the lower end of the moving plate Ⅱ (5), the suspension shaft (14) is installed under the suspension device, the end of the suspension shaft (14) is connected to the driver (15), and the output end of the driver (15) is connected to the transmission (16) , The transmission (16) is externally connected with a rotating shaft (17), the rotating shaft (17) is connected with the moment of inertia disk (18) through a flange (19), the two-way suspension device (13) includes two connecting units, and the connecting unit includes a fixed plate ( 131), the vertical plate (132) and the rotating column (133), the vertical plate (132) is fixed at both ends of the fixed plate (131), the rotating column (133) is fixed between the vertical plates (132), and the rotating column of the connecting unit (133) Cross installation to form a whole two-way suspension device (13);

Sensors are installed on the controlled structure to collect state data of the controlled structure;

An encoder (22) is installed on the base of the driver (15), and the driver (15) is coaxially connected with the transmission (16) and the encoder.
The suspension type composite tuned moment of inertia drive control system according to claim 1, characterized in that electromagnetic coils and high-strength permanent magnets are arranged in the track of the central guide rail (7), and the central slider (10) is provided with a coil, using The principle of linear motor drives the central sliding block (10) to move in the central guide rail (7).
The suspension type compound tuning moment of inertia drive control system according to claim 1, characterized in that the transmission (16) is a reducer, and the outer contour of the drive (15) is the same as that of the reducer.
The suspension type composite tuning moment of inertia drive control system according to claim 1, wherein the driver (15) is a stepper motor or a servo motor.
The suspension type composite tuning moment of inertia drive control system according to claim 1, wherein the driver (15) and the transmission (16) are connected perpendicularly to the moment of inertia disc (18), and the moment of inertia disc (18) is parallel to the plane. The motion control unit controls the direction of the plane.
The suspension type composite tuning moment of inertia drive control system according to claim 1, characterized in that there is a power cut-off device (20) in the center guide rail (7) to cut off the power supply of the entire translation control unit in an emergency .
The suspension type composite tuning moment of inertia drive control system according to claim 1, wherein the two auxiliary guide rails I (8) of the track plate I (2) and the track plate II (4) are respectively installed with gratings Ruler (21) is used to measure and feedback the linear displacement of moving plate I (3) or moving plate II (5).
The suspension type composite tuning moment of inertia drive control system according to claim 7, characterized in that the bottom surface of the auxiliary guide rail II (9) on the track plate I (2) and the track plate II (4) are linearly opened Column positioning holes (23), the alignment direction of the positioning holes is consistent with the track direction, the corresponding positions of the moving plate I (3) and the moving plate II (5) are provided with retractable positioning pins, the positioning pins are matched with the positioning holes, and the positioning pins The expansion and contraction is controlled by hydraulic components.
The suspension type compound tuned moment of inertia drive control system according to claim 1, wherein the suspension mass moment of inertia disc (18) is a disc or ring of a certain mass.
The suspension type composite tuning moment of inertia drive control system according to claim 1, further comprising a sensor, and the controller is connected with the sensor, the driver (15) and the encoder connected to the end of the driver (15).