WO2020155638A1 - 丝杠驱动主动液体调谐质量阻尼器 - Google Patents

丝杠驱动主动液体调谐质量阻尼器 Download PDF

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Publication number
WO2020155638A1
WO2020155638A1 PCT/CN2019/105648 CN2019105648W WO2020155638A1 WO 2020155638 A1 WO2020155638 A1 WO 2020155638A1 CN 2019105648 W CN2019105648 W CN 2019105648W WO 2020155638 A1 WO2020155638 A1 WO 2020155638A1
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Prior art keywords
lead screw
liquid
driver
screw
mass damper
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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
    • E04H9/0235—Anti-seismic devices with hydraulic or pneumatic damping

Definitions

  • the invention relates to the field of vibration suppression in a system, in particular to a screw-driven active liquid tuned mass damper.
  • Structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control.
  • active control passive control
  • semi-active control hybrid control
  • the existing structural vibration control system has an indispensable role, but the existing structural vibration control system mainly exhibits the following deficiencies:
  • TMD is highly sensitive to structural frequency and needs to be complex for the structure itself.
  • the frequency modulation of AMD has low control efficiency and poor effect on some complex structures. It has disadvantages such as low robustness, low controllability, and small application range.
  • third, the quality of the mass block driven by the AMD control device is fixed and the change is complicated. The mass block quality cannot be adjusted during use, resulting in limited control range and low flexibility. Once the structure is changed, the control system may face failure .
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide a screw-driven active liquid tuned mass damper to solve the limited effect of traditional TMD/AMD on structural vibration control in the prior art; passive tuned inertia damper control is suitable for low robustness and frequency modulation
  • passive tuned inertia damper control is suitable for low robustness and frequency modulation
  • the technology is complex and the scope of application is small; the damper of the active and immutable drive mass has the risk of failure when the structure changes, and the problem of low flexibility.
  • a screw-driven active liquid tuned mass damper which is characterized by comprising a drive housing, a support plate and an active control device.
  • the active control device includes a driver, a moving mass body, a screw and a bearing; the drive housing is fixed on the controlled On the object, the support plate is fixed inside the drive housing, the support plate is equipped with a driver, the driver is connected to the lead screw, the other end of the lead screw is fixed on the outer wall of the drive housing through a bearing, and the moving mass body is connected to the lead screw.
  • a sensor is installed on the controlled structure to collect the vibration state of the controlled object.
  • An encoder is coaxially installed at the end of the driver to collect the actual rotation angle of the driver.
  • the moving mass body includes a moving box and a base.
  • the moving box is fixed on the base, and the base is provided with threaded holes matched with the lead screw.
  • the liquid delivery device includes a liquid storage tank, a liquid taking pipe, a liquid taking device, and an infusion pipe; the liquid storage tank is connected with a liquid taking pipe, and the other end of the liquid taking pipe is connected with the liquid taking device to take liquid.
  • the device is connected with the moving box on the moving mass body through the infusion tube.
  • an air hole is opened on the top of the mobile box for balancing the air pressure in the mobile box, and the air hole is provided with a cover.
  • liquid extractor is a water pump or a water pump.
  • guide blocks parallel to the lead screw are fixed on the left and right sides of the support plate, and guide rails matched with the sliding blocks are opened on the guide blocks.
  • the active control device is installed in parallel on the support plate, and the base is provided with threaded holes corresponding to the number of lead screws.
  • multiple sets of active control devices are installed in the vertical direction of the drive housing.
  • the moving masses on each active control device slowly move to the same starting point and act at the same time, so that the reaction force is strengthened and the vibration is enhanced. inhibition.
  • controller which is connected to the sensor, encoder and driver circuit, receives signals from the sensor and the encoder, and transmits control signals to the driver to control the driving direction and speed of the lead screw by the driver.
  • the screw-driven active liquid tuned mass damper of the present invention can adjust the control force in a wide range by adjusting the number of active control devices, the mass of the moving mass, and the acceleration of the driver rotating the screw, so that the output force Wider range
  • the present invention uses a driver to drive the ball screw to drive the mass to generate control force, and the response is more sensitive;
  • the quality of the moving mass involved in the invention can be automatically adjusted by changing the liquid volume, with high adjustment accuracy and a wide range of system applications;
  • the present invention has greater robustness, and the control effect will not be greatly affected by changes in structural form and changes in external load effects.
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the base structure
  • Figure 3 is a schematic diagram of the arrangement of active control devices
  • Figure 4 is a schematic diagram of the installation of the moving mass body
  • Figure 5 is a schematic diagram of the installation of the guide block
  • the above drawings include the following reference signs: 1. drive housing; 11, guide rail; 12, support plate; 2. driver; 3. moving mass; 31, moving box; 32, base; 33, threaded hole; 34. Slider; 4. Lead screw; 5. Bearing; 6. Bearing; 7. Liquid pipe; 8. Liquid pipe; 9. Infusion pipe; 10. Encoder.
  • the screw-driven active liquid tuned mass damper of the present invention includes a screw-driven active liquid tuned mass damper, which includes a drive housing 1, a support plate 12, and an active control device,
  • the active control device includes a driver 2, a moving mass body 3, a lead screw 4 and a bearing 5; the drive housing is fixed on the controlled object, the support plate is fixed inside the drive housing, the support plate is equipped with a driver, and the drive is connected to the lead screw.
  • the other end of the lead screw is fixed on the outer wall of the drive housing through a bearing, and the moving mass body is connected to the lead screw.
  • a sensor is installed on the controlled object to collect the vibration state of the controlled object
  • An encoder 10 is coaxially installed at the end of the driver to collect the actual rotation angle of the driver.
  • the movable mass body includes a movable box 31 and a base 32.
  • the movable box is fixed on the base, and the base is provided with a threaded hole 33 matched with the screw.
  • the present invention also includes a liquid delivery device, which includes a liquid storage tank 6, a liquid taking pipe 7, a liquid taking device 8 and a liquid infusion pipe 9; the liquid storage tank is connected with a liquid taking pipe, and the other end of the liquid taking pipe is connected with a liquid taking device ,
  • the liquid extractor is connected to the mobile box on the moving mass through the infusion tube.
  • the liquid extractor is a water pump or a water pump.
  • the liquid in the liquid storage tank is transported to the mobile tank through the liquid extractor.
  • the liquid extraction tube and the infusion tube are long enough , Usually the liquid is water, but other liquids that are not corrosive and volatile can also be used. Liquids of different densities can change the mass of the moving mass.
  • the top of the moving box has air holes to balance the air pressure in the moving box.
  • the cover relies on the push of a hydraulic cylinder to automatically open and close.
  • the air hole is opened and the delivery is completed, and the air hole is sealed.
  • Sliders 34 are provided on the left and right sides of the base.
  • Guide blocks 13 parallel to the lead screws are fixed on the left and right sides of the support plate, and guide rails 11 matched with the sliding blocks are opened on the guide blocks.
  • the active control device is installed in parallel on the support plate, and the base is provided with threaded holes corresponding to the number of lead screws.
  • Multiple sets of active control devices are installed in the vertical direction inside the drive housing.
  • the present invention also includes a controller, which is connected to the sensor, encoder and driver circuit, receives signals from the sensor and the encoder, and transmits control signals to the driver, and controls the driving direction and speed of the lead screw by the driver.
  • a controller which is connected to the sensor, encoder and driver circuit, receives signals from the sensor and the encoder, and transmits control signals to the driver, and controls the driving direction and speed of the lead screw by the driver.
  • the invention uses a ball screw to drive the mass body to move in the track, thereby realizing the effect of variable vibration control.
  • the mass body can change the mass body mass by adjusting the volume of water in the water tank, and can set and design multiple channels according to actual conditions. Work, thereby improving the robustness and universality of the device, the control force output range is wider, the system is more flexible, and the application range is wider.
  • the device adjusts the rotation speed of the ball screw through analysis and calculation, thereby adjusting the moving speed of the mass body. It also matches the volume of the liquid in the mass body water tank, changes the mass body mass, realizes structural vibration control while ensuring higher control efficiency, and improving the control force output range.
  • the sensor collects the vibration of the controlled object and transmits the vibration data to the controller.
  • the controller determines whether active control is required. When the vibration response data exceeds the previously set threshold, the controller controls the active control device to act and drive the total
  • the actuator starts to move, the driver drives the screw to rotate, and the rotation of the screw drives the moving mass to move. Through the acceleration or deceleration of the driver, the moving mass accelerates or decelerates to translate, generating a horizontal reaction force, and the force is applied to the screw. Furthermore, by driving the shell to act on the controlled object, the vibration of the controlled object can be suppressed.
  • the number of active control device movement participation and the rotation of the drive can be controlled, and the liquid delivery device can also be used Add or reduce the liquid in the moving box to change the mass of the moving mass to change the magnitude of the control force on vibration.
  • the liquid delivery device can also be used Add or reduce the liquid in the moving box to change the mass of the moving mass to change the magnitude of the control force on vibration.

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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)
  • Vibration Prevention Devices (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)

Abstract

本发明涉及系统中振动的抑制领域，具体而言，涉及一种丝杠驱动主动液体调谐质量阻尼器，其包括驱动壳体、支撑板以及主动控制装置，主动控制装置包括驱动器、移动质量体、丝杠以及轴承；驱动壳体固定在被控物体上，支撑板固定在驱动壳体内部，支撑板上安装有驱动器，驱动器连接丝杠，丝杠另一端通过轴承固定在驱动壳体外壁上，移动质量体连接在丝杠上，本发明解决了现有技术中传统TMD/AMD对结构振动控制效果有限；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；主动不可变驱动质量块的阻尼器，在结构发生改变时有失效的风险，灵活性低的问题。

Description

丝杠驱动主动液体调谐质量阻尼器 技术领域
本发明涉及系统中振动的抑制领域，具体而言，涉及一种丝杠驱动主动液体调谐质量阻尼器。
背景技术
近年来，随着高层建筑、高速公路、铁路、桥梁、大跨度空间结构等不断兴建，海洋平台、宇宙空间站等结构也发展迅速。这些工程设施、结构在使用过程中往往会由于外部荷载的作用产生振动，严重的产生摇摆，甚至破坏。
另一方面，随着社会的进步和发展，人们对结构的稳定性要求也不断提高，结构的微小振动虽然不会导致失效，但会导致人们的不适，为了解决由结构物振动引起的各种问题，振动控制技术应运而生。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。对于各种工程结构，恰当地安装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，消减结构的振动，减小振动对结构使用者造成的不利影响。
然而，大量的实践和研究表明调谐质量阻尼器、主动质量阻尼器/主动扭矩输出装置(英文名Active Mass Damper/Driver，AMD)，对结构振动控制有效。但是，TMD控制装置对结构频率较为敏感，且质量块行程有限，导致控制效果有限；AMD控制装置同样面临控制效果范围有限的问题，并且，现有的AMD装置常见的驱动形式有电磁驱动、液压伺服驱动器等，这些驱动形式存在反应灵敏性有限、驱动作用力有限且驱动质量单一不可变等弊端。
总之，现有的结构振动控制系统具有不可或缺的作用，但是现有的结构振动控制系统主要表现出以下几方面的不足：第一，TMD对结构频率敏感性高，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；第二，AMD控制装置虽然控制效果有限，反应灵敏性有限，作用力有限；第三，AMD控制装置驱动的质量块质量固定，改变复杂，使用过程中不可调整质量块质量，导致其控制范围有限，灵活性低，结构一旦发生改变，控制系统有可能面临失效。
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丝杠驱动主动液体调谐质量阻尼器，以解决现有技术中传统TMD/AMD对结构振动控制效果有限；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；主动不可变驱动质量块的阻尼器，在结构发生改变时有失效的风险，灵活性低的问题。
为了实现上述目的，本发明采用以下的技术方案：
一种丝杠驱动主动液体调谐质量阻尼器，其特征在于，包括驱动壳体、支撑板以及主动控制装置，主动控制装置包括驱动器、移动质量体、丝杠以及轴承；驱动壳体固定在被控物体上，支撑板固定在驱动壳体内部，支撑板上安装有驱动器，驱动器连接丝杠，丝杠另一端通过轴承固定在驱动壳体外壁上，移动质量体连接在丝杠上。
被控结构上安装有传感器，用于采集被控物体的振动状态。
驱动器的端部同轴安装有编码器，用于采集驱动器实际转角。
移动质量体包括移动箱以及底座，移动箱固定在底座上，底座带有与丝杠相配合的螺纹孔。
进一步的，还包括液体输送装置，液体输送装置包括储液箱、取液管、取液器以及输液管；储液箱上连接有取液管，取液管另一端连接取液器，取液器通过输液管与移动质量体上的移动箱连接。
进一步的，移动箱顶端开有气孔，用于平衡移动箱内的气压，气孔上带有封盖。
进一步的，取液器为水泵或者抽水机。
进一步的，底座左右两侧带有滑块。
进一步的，支撑板的左右两侧固定有与丝杠相平行的导向块，导向块上开有与滑块相配合的导轨。
进一步的，支撑板上平行安装主动控制装置，底座开有与丝杠数量对应的螺纹孔。
进一步的，驱动壳体竖直方向安装有多组主动控制装置，当结构响应剧烈时，各个主动控制装置上的移动质量体缓慢移动到同一起点，同时动作，使得反作用力加强，增强对振动的抑制。
进一步的，还包括控制器，控制器与传感器、编码器以及驱动器线路连接，接收传感器以及编码器的信号，并传递控制信号给驱动器，控制驱动器对丝杠的驱动方向以及转速。
本发明具有以下有益效果：
(1)本发明所涉及的丝杠驱动主动液体调谐质量阻尼器通过调节主动控制装置的数量、移动质量体质量以及驱动器转动丝杠的加速度可以很大范围的调节控制力的大小，使得输出力范围更广；
(2)本发明采用驱动器驱动滚珠丝杠驱动质量体产生控制力，反应更灵敏；
(3)本发明中的编码器、控制器以及驱动器的相互反馈协作，形成了闭环的控制，最大程度的保证了控制的效果，控制精准；
(4)该发明中所涉及的移动质量体的质量可以通过改变液体体积自动调节，调节精度高，系统应用范围大；
(5)本发明具有更大的鲁棒性，控制效果不会因结构形式改变以及外部荷载作用的改变而受到较大影响。
附图说明
图1是本发明整体结构示意图；
图2是底座结构示意图；
图3是主动控制装置排布示意图；
图4是移动质量体安装示意图；
图5是导向块安装示意图；
其中，上述附图包括以下附图标记：1、驱动壳体；11、导轨；12、支撑板；2、驱动器；3、移动质量体；31、移动箱；32、底座；33、螺纹孔；34、滑块；4、丝杠；5、轴承；6、轴承；7、取液管；8、取液器；9、输液管；10、编码器。
具体实施方式
下面结合附图对本发明作进一步说明。
如图1-5所示，本发明所述的丝杠驱动主动液体调谐质量阻尼器包括一种丝杠驱动主动液体调谐质量阻尼器，其包括驱动壳体1、支撑板12以及主动控 制装置，主动控制装置包括驱动器2、移动质量体3、丝杠4以及轴承5；驱动壳体固定在被控物体上，支撑板固定在驱动壳体内部，支撑板上安装有驱动器，驱动器连接丝杠，丝杠另一端通过轴承固定在驱动壳体外壁上，移动质量体连接在丝杠上。
被控物体上安装有传感器，用于采集被控物体的振动状态；
驱动器的端部同轴安装有编码器10，用于采集驱动器实际转角。
移动质量体包括移动箱31以及底座32，移动箱固定在底座上，底座带有与丝杠相配合的螺纹孔33。
本发明还包括液体输送装置，液体输送装置包括储液箱6、取液管7、取液器8以及输液管9；储液箱上连接有取液管，取液管另一端连接取液器，取液器通过输液管与移动质量体上的移动箱连接，取液器为水泵或者抽水机，通过取液器将储液箱中的液体输送到移动箱中，取液管和输液管足够长，通常液体为水，也可以选用不具有腐蚀性和挥发性的其他液体，不同密度的液体可以改变移动质量体的质量，移动箱顶端开有气孔，用于平衡移动箱内的气压，气孔上带有封盖，封盖依靠液压缸的推动实现自动开合，往移动箱内输送液体的时候，气孔打开，输送完毕，气孔封上。
底座左右两侧带有滑块34。
支撑板的左右两侧固定有与丝杠相平行的导向块13，导向块上开有与滑块相配合的导轨11。
支撑板上平行安装主动控制装置，底座开有与丝杠数量对应的螺纹孔。
驱动壳体内部竖直方向上安装有多组主动控制装置。
本发明还包括控制器，控制器与传感器、编码器以及驱动器线路连接，接收传感器以及编码器的信号，并传递控制信号给驱动器，控制驱动器对丝杠的驱动方向以及转速，此部分所涉及到的控制部分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。
本发明利用了滚珠丝杠，驱动质量体在轨道内移动，从而实现变振动控制的效果，质量体可以通过调整水箱内水的体积改变质量体质量，且可以根据实际情况设置设计多个通道协同工作，从而提高装置的鲁棒性和普适性，控制力输出范围更广，系统更灵活，适用范围更广，装置通过分析计算，调节滚珠丝杠转动速度，从而调节质量体的移动速度，并匹配质量体水箱内液体的体积大 小，改变质量体的质量，实现结构振动控制的同时保证较高的控制效率，提高控制力输出范围。
本发明的使用过程如下所述：
传感器采集被控物体的振动，并把振动数据传送给控制器，控制器判断是否需要进行主动控制，当振动响应数据超出之前所设定的阈值的时候，控制器控制主动控制装置动作，驱动总成开始动作，驱动器驱动丝杠转动，丝杠转动带动移动质量体移动，通过驱动器的加速或者减速转动，移动质量体加速或者减速平移，产生水平方向的反作用力，作用力施加到丝杠上，进而通过驱动壳体作用到被控物体上，对被控物体的振动起抑制作用，根据被控物体的振动强度可以控制主动控制装置的运动参与的数量以及驱动器的转动，还可以通过液体输送装置往移动箱内增加或者减少液体的方式改变移动质量体的质量，以改变对振动的控制力大小，当需要多个主动控制装置一起作用的时候，需要将多个主动控制装置缓慢移动到相同的起点，同时控制多个主动控制装置，使各个主动控制装置的运动状态一致，以便达到作用力叠加的效果。
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 (9)

  1. 一种丝杠驱动主动液体调谐质量阻尼器，其特征在于，包括驱动壳体(1)、支撑板(12)以及主动控制装置，主动控制装置包括驱动器(2)、移动质量体(3)、丝杠(4)以及轴承(5)；驱动壳体(1)固定在被控物体上，支撑板(12)固定在驱动壳体(1)内部，支撑板(12)上安装有驱动器(2)，驱动器(2)连接丝杠(4)，丝杠(4)另一端通过轴承(5)固定在驱动壳体(1)外壁上，移动质量体(3)连接在丝杠(4)上；
    被控物体上安装有传感器，用于采集被控物体的振动状态；
    驱动器(2)的端部同轴安装有编码器(10)，用于采集驱动器(2)实际转角。
    移动质量体(3)包括移动箱(31)以及底座(32)，移动箱(31)固定在底座(32)上，底座(32)带有与丝杠(4)相配合的螺纹孔(33)。
  2. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，还包括液体输送装置，液体输送装置包括储液箱(6)、取液管(7)、取液器(8)以及输液管(9)；储液箱(6)上连接有取液管(7)，取液管(7)另一端连接取液器(8)，取液器(8)通过输液管(9)与移动质量体(3)上的移动箱(31)连接。
  3. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，移动箱(31)顶端开有气孔(33)，用于平衡移动箱(31)内的气压，气孔上带有封盖。
  4. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，取液器(8)为水泵或者抽水机。
  5. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，底座(32)左右两侧带有滑块(34)。
  6. 根据权利要求5所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，支撑板(12)的左右两侧固定有与丝杠(4)相平行的导向块(13)，导向块(13)上开有与滑块(34)相配合的导轨(11)。
  7. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，支撑板(12)上平行安装主动控制装置，底座(32)开有与丝杠(4)数量对应的螺纹孔(33)。
  8. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，驱动壳体(1)竖直方向上安装有多组主动控制装置。
  9. 根据权利要求1所述的丝杠驱动主动液体调谐质量阻尼器，其特征在于，还包括控制器，控制器与传感器、编码器(10)以及驱动器(2)线路连接，接收传感器以及编码器(10)的信号，并传递控制信号给驱动器(2)，控制驱动器(2)对丝杠(4)的驱动方向以及转速。
PCT/CN2019/105648 2019-02-01 2019-09-12 丝杠驱动主动液体调谐质量阻尼器 Ceased WO2020155638A1 (zh)

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