WO2020155641A1 - 液压调节转动惯量主动控制装置 - Google Patents

液压调节转动惯量主动控制装置 Download PDF

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WO2020155641A1
WO2020155641A1 PCT/CN2019/105656 CN2019105656W WO2020155641A1 WO 2020155641 A1 WO2020155641 A1 WO 2020155641A1 CN 2019105656 W CN2019105656 W CN 2019105656W WO 2020155641 A1 WO2020155641 A1 WO 2020155641A1
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moment
inertia
hydraulic
driver
pipe
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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
    • E04H9/023—Bearing, supporting or connecting constructions specially adapted for such buildings and comprising rolling elements, e.g. balls, pins
    • 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, and in particular to an active control device for hydraulic adjustment of the moment of inertia.
  • 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
  • proper installation of the vibration control system can effectively reduce the dynamic response of the structure and reduce structural damage or fatigue damage.
  • the movement of the structure is usually a combination of translation and torsion swing.
  • translational tuned mass damper English name Tuned Mass Damper, TMD
  • active mass damper/active torque output device English name Active Mass Damper/Driver, AMD
  • the existing structural vibration control system mainly has the following shortcomings: 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 device can Control the slewing vibration, but the control efficiency is extremely low, which cannot meet the requirements of use; third, the passive moment of inertia tuned damper is effective for the control of the slewing vibration, but it needs to carry out complex frequency modulation for the structure itself, and control some complex structures Low efficiency, poor effect, low robustness, low controllability, and small scope of application; fourth, the control system has a small scope of application, limited control power output, and limited control effects; fifth, control system energy utilization Rate cannot be guaranteed and cannot meet economic needs.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide an active control device for hydraulic adjustment of the moment of inertia in view of the above problems.
  • the hydraulically adjustable moment of inertia active control device of the present invention includes an active output module and a hydraulic variable moment of inertia module;
  • the active output module includes a device lumen and a driver, an encoder, and a transmission fixed in the device lumen.
  • the hydraulic variable moment of inertia module includes a moment of inertia disc housing and a propulsion submodule and a hydraulic submodule arranged in the moment of inertia disc housing;
  • the driver is fixed on the inner wall of the device lumen.
  • One end of the driver is equipped with an encoder, and the other end is connected to the transmission.
  • the shaft of the driver passes through the transmission and is vertically fixed at the center of the moment of inertia disk housing;
  • the hydraulic sub-module includes a liquid storage cavity, a water pump, an annular hydraulic pipe network, a hydraulic hose, and a liquid infusion pipe.
  • the propulsion sub-module includes a drive motor, gears, a propulsion straight pipe and a liquid outlet pipe.
  • the liquid storage cavity is a closed cavity with two ends Fixed on the lumen of the device, the shell of the moment of inertia disk is arranged in the space enclosed by the liquid storage cavity and the lumen of the device; the annular hydraulic pipe network is fixed on the shell of the moment of inertia, including a number of ring tubes located on the same plane, The ring tubes are distributed from the inside to the outside with the center of the moment of inertia disk shell as the center.
  • Each ring tube has two openings. The openings of all the ring tubes are flush.
  • a liquid injection channel is formed between the openings on both sides.
  • a gear is provided on both sides of the propelling straight pipe, and both sides of the propelling straight pipe are provided with teeth. The teeth are meshed with the gears, and the driving motor drives the gears to rotate to drive the propelling straight pipe back and forth along the injection channel.
  • the top of the propelling straight pipe is equipped with a liquid outlet pipe, which is connected to the annular tube through the liquid outlet pipe, and the bottom of the propelling straight pipe is connected to the water pump through a hydraulic hose.
  • the water pump is also connected to an infusion tube, which is connected to the liquid storage cavity through the infusion tube.
  • the liquid outlet pipe adopts a piston structure, including an annular rubber ring, a steel ball ring and a three-stage sealing ring of a sealing rubber ring.
  • Four steel balls are distributed in the steel ball ring, which can be used for lubrication while sealing.
  • driver bracket is fixed in the device lumen, and the driver is fixed on the driver bracket.
  • controller which is connected with the driver, the driving motor and the water pump through a line.
  • controlled structure is installed on the lumen of the device, and the rotational inertia disk housing is parallel to the rotating surface of the controlled structure.
  • the drive shaft is connected with the moment of inertia disk housing through a flange coupling.
  • driver, transmission and encoder are coaxial.
  • the transmission is a reducer.
  • the driver is a servo motor or a stepping motor.
  • the moment of inertia of the present invention can be automatically adjusted by hydraulic pressure, with high adjustment accuracy, wide adjustment range, and large system application range;
  • the present invention is suitable for the situation where the structure undergoes rotation, torsion or swing vibration, and has a wide range of applications.
  • Figure 1 is a schematic diagram of the structure of the present invention
  • Figure 2 is a schematic diagram of the internal structure of the hydraulic variable moment of inertia module
  • Figure 3 is a side view of the hydraulic variable moment of inertia module
  • Figure 4 is a schematic diagram of the structure of the outlet pipe
  • Figure 5 is a schematic diagram of the present invention installed in the pendulum structure
  • the above drawings include the following reference signs: 1. Device lumen; 2. Drive; 3. Encoder; 4. Transmission; 5. Moment of inertia disk housing; 6. Drive support; 7. Liquid storage cavity; 8. , Water pump; 9. Annular hydraulic pipe network; 10. Hydraulic hose; 11. Infusion pipe; 12. Drive motor; 13. Gear; 14. Propulsion straight pipe; 15. Outlet pipe; 16. Annular pipe; 17, injection Liquid channel; 18. Tooth; 19. Controlled structure; 20. Annular rubber ring; 21. Steel ball ring; 22. Seal rubber ring; 23. Steel ball.
  • the hydraulically adjustable moment of inertia active control device of the present invention includes an active output module and a hydraulic variable moment of inertia module.
  • the active output module includes a device lumen 1 and a driver 2, an encoder 3, and a transmission 4 fixed in the device lumen.
  • the hydraulic variable moment of inertia module includes a moment of inertia disk housing 5 and a propulsion sub-module arranged in the moment of inertia disk housing And the hydraulic sub-module, the controlled structure 19 is installed on the lumen of the device.
  • the driver is fixed on the inner wall of the device lumen through the driver bracket 6, an encoder is installed at one end of the driver, and the other end is connected with the transmission.
  • the shaft of the driver passes through the transmission and is vertically fixed at the center of the inertia disk housing.
  • a sensor in addition to the sensor installed at the end of the driver for collecting rotational inertia data, a sensor is also installed at the hanging point to collect the rotation data of the controlled structure.
  • the sensor here can be, but not limited to, photoelectric Shaft encoder, angular acceleration sensor or gyroscope.
  • the shell of the moment of inertia disc is a cylindrical hollow shell.
  • the hydraulic submodule includes a liquid storage chamber 7, a water pump 8, an annular hydraulic pipe network 9, a hydraulic hose 10, and a liquid infusion pipe 11.
  • the propulsion submodule includes a drive motor 12, a gear 13, and a propulsion Straight pipe 14 and liquid outlet pipe 15, the liquid storage cavity is a closed hollow cavity, both ends are fixed on the device lumen, the moment of inertia disk shell is arranged in the space enclosed by the liquid storage cavity and the device lumen, the moment of inertia
  • the disc housing is a cylindrical hollow shell, and the other structures in the propulsion sub-module and the hydraulic sub-module except the liquid storage cavity are all located in the rotational inertia disc housing.
  • the annular hydraulic pipe network is fixed on the shell of the moment of inertia disk, and includes a number of annular tubes 16 on the same plane.
  • the annular tubes are distributed from the inside to the outside with the drive shaft (also the center of the shell of the moment of inertia) as the center. There are a certain distance between them.
  • Each ring tube has two openings. The openings of all the ring tubes are flush.
  • a liquid injection channel 17 is formed between the openings on both sides.
  • the propelling straight tube is located in the liquid injection channel, and the left and right sides of the propelling straight tube Both sides are provided with teeth 18, and a gear is provided on both sides of the propelling straight pipe.
  • the teeth are meshed with the gear, and the driving motor drives the gear to rotate so as to drive the propelling straight pipe to move back and forth along the liquid injection channel to advance the top of the straight pipe.
  • the liquid outlet pipe is installed, and the liquid outlet pipe is connected with the annular pipe to complete the liquid injection and pumping; the bottom of the propelling straight pipe is connected with the water pump through a hydraulic hose, and the water pump is also connected with an infusion pipe, which is connected to the liquid storage cavity through the infusion pipe ,
  • the infusion tube has two branches, one for injection and one for pumping.
  • the liquid outlet pipe adopts a piston structure, including a ring rubber ring 20, a steel ball ring 21 and a sealing rubber ring 22 three-stage sealing ring. There are four steel balls 23 distributed in the steel ball ring, which can play a role of lubrication while sealing.
  • the water pump draws liquid (such as water) from the liquid storage cavity through a branch of the infusion pipe.
  • the liquid enters the propulsion straight pipe through the hydraulic hose, and the drive motor drives the gear to rotate, thereby driving the propelling straight pipe forward and advancing the straight pipe injection.
  • the liquid is first connected with the outermost ring pipe, and then the liquid is fed into the corresponding ring pipe through the liquid outlet pipe in order.
  • One of the two openings of the ring pipe is used for liquid injection and the other is used for exhausting;
  • the drive motor drives the gear to rotate, and drives the propulsion straight pipe to connect with the outermost ring pipe first, and then pump the liquid from the ring pipe in turn, drain the liquid into the water pump through the hydraulic hose, and then pass the infusion pipe.
  • the other branch pipe drains the water from the pump into the liquid storage cavity.
  • the sensor set at the hanging point of the controlled structure collects the swing motion state of the controlled structure, that is, the swing angle and the swing angle acceleration data, and transmits the structure state data to the controller (not shown in the figure), and the controller determines whether it needs to be performed Active control, when the controlled structure's slewing vibration data exceeds the previously set threshold, the controller controls the driver's action; the encoder installed at the end of the driver collects the rotation of the driver in real time, and feeds it back to the controller to achieve The closed-loop control of the controller, the controlled structure and the driver; the driver can control the hydraulic variable moment of inertia module to rotate according to the real-time measured structure motion state, automatically adjust the injection ratio of the hydraulic moment of inertia wheel, and gradually increase the hydraulic change through the injection
  • the moment of inertia of the moment of inertia module is gradually reduced by pumping fluid, and the amount of the moment of inertia of the hydraulic variable moment of inertia module is changed by changing the number
  • the device can be applied to the following but not limited to the following basic prototype motion models of mechanical problems: free swing of a single pendulum structure; vibration of a constrained inverted pendulum structure; fixed axis rotation of a rigid body around any axis in space, etc., in actual engineering such as :Swing of suspended structures (hooks, cranes, etc.); torsional sway vibration of irregular buildings under wind load; torsional sway vibration of offshore platforms under the coupling action of waves, wind, ice, etc.; spacecraft, space structures During the operation, the torsional sway movement caused by the adjustment of its own posture and the opening of the solar windsurfing board; the high-speed railway locomotive, during the high-speed operation, the torsional sway vibration of the body caused by the small excitation, etc.

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Abstract

本发明涉及系统中振动的抑制领域，公开了一种液压调节转动惯量主动控制装置，其包括主动出力模块和液压变转动惯量模块；主动出力模块包括装置管腔和固定在装置管腔内的驱动器、编码器和变速器，液压变转动惯量模块包括转动惯量盘壳体和设置于转动惯量盘壳体内的推进子模块和液压子模块；液压子模块包括储液腔、水泵、环形液压管网、液压软管和输液管，推进子模块包括驱动电机、齿轮、推进直管和出液管。本发明的转动惯量可以通过液压自动调节，调节精度高，调节范围广，系统应用范围大，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。

Description

液压调节转动惯量主动控制装置 技术领域
本发明涉及系统中振动的抑制领域，具体而言，涉及一种液压调节转动惯量主动控制装置。
背景技术
近年来，高速公路、铁路、桥梁、高层建筑、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迅速发展。这些工程设施、结构在使用过程中往往会在外部荷载的作用下产生振动，严重的会产生摇摆，甚至发生破坏。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。
结构的运动通常由平动以及扭转摆动组合而成。研究表明平动调谐质量阻尼器(英文名Tuned Mass Damper，TMD)、主动质量阻尼器/主动扭矩输出装置(英文名Active Mass Damper/Driver，AMD)由于在扭转摆动中需要提供向心力而大大减弱控制效果甚至完全失去作用，因此对回转摆振控制几乎无效。然而具有回转摆振运动特性的结构运动形式极为常见，如：悬吊结构(吊钩、吊车等)的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摆振；宇宙飞船、空间结构在运行过程中，由于自身姿势调整以及太阳能帆板打开引起的扭转摆振运动；高速铁路机车，由于微小激励引起的车身的扭转摆振运动等。因此需要一种特殊的 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，从而发挥控制系统有效控制作用。
总体来讲，现有的结构振动控制系统主要具有以下不足：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；第四，控制系统适用范围小，控制力输出有限，控制效果有限；第五，控制系统能源利用率无法保证，无法满足经济性的需求。
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针对以上问题提供一种液压调节转动惯量主动控制装置。
为了实现上述目的，本发明的液压调节转动惯量主动控制装置包括主动出力模块和液压变转动惯量模块；
主动出力模块包括装置管腔和固定在装置管腔内的驱动器、编码器和变速器，液压变转动惯量模块包括转动惯量盘壳体和设置于转动惯量盘壳体内的推进子模块和液压子模块；
驱动器固定在装置管腔内壁上，驱动器的一端安装有编码器，另一端与变速器连接，驱动器的转轴穿过变速器与转动惯量盘壳体的中心处垂直固定；
液压子模块包括储液腔、水泵、环形液压管网、液压软管和输液管，推进子模块包括驱动电机、齿轮、推进直管和出液管，储液腔为封闭的腔体，两端固定在装置管腔上，转动惯量盘壳体设置于储液腔与装置管腔围成的空间内；环形液压管网固定在转动惯量盘壳体上，包括若干位于同一平面的环形管，若干环形管以转动惯量盘壳体的圆心为中心由内向外分布，每个环形管具有两个开口，所有环形管的开口平齐，两侧开口之间形成一个注液通道，推进直管位于注液通道内，推进直管两侧分别设置有一个齿轮，推进直管两个侧面均设置有齿牙，齿牙与齿轮相啮合，驱动电机驱动齿轮转动从而带动推进直管沿着注液通道来回运动，推进直管顶部安装有出液管，通过出液管与环形管连接，推进直管底部通过液压软管与水泵连接，水泵上还连接有输液管，通过输液管与储液腔连接，
进一步的，出液管采用活塞结构，包括环形胶圈、钢滚珠环和密封胶圈三级密封环，钢滚珠环内分布有四个钢滚珠，密封的同时可以起到润滑的作用。
进一步的，还包括驱动器支架,驱动器支架固定在装置管腔内，驱动器固定在驱动器支架上。
进一步的，还包括控制器，控制器通过线路与驱动器、驱动电机和水泵连接。
进一步的，被控结构安装于装置管腔上，转动惯量盘壳体平行于被控结构的转动面。
进一步的，驱动器转轴通过法兰联轴器与转动惯量盘壳体连接。
进一步的，驱动器、变速器和编码器同轴。
进一步的，变速器为减速器。
进一步的，驱动器为伺服电机或步进电机。
本发明具有以下有益效果：
(1)本发明的转动惯量可以通过液压自动调节，调节精度高，调节范围广，系统应用范围大；
(2)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；
(3)本发明适用于适合结构发生转动、扭转或回转摆振运动的情况，适用范围广。
附图说明
图1是本发明结构示意图；
图2是液压变转动惯量模块内部结构示意图；
图3是液压变转动惯量模块侧视图；
图4是出液管结构示意图；
图5是本发明在单摆结构中安装示意图；
附图标记
其中，上述附图包括以下附图标记：1、装置管腔；2、驱动器；3、编码器；4、变速器；5、转动惯量盘壳体；6、驱动器支架；7、储液腔；8、水泵；9、环形液压管网；10、液压软管；11、输液管；12、驱动电机；13、齿轮； 14、推进直管；15、出液管；16、环形管；17、注液通道；18、齿牙；19、被控结构；20、环形胶圈；21、钢滚珠环；22、密封胶圈；23、钢滚珠。
具体实施方式
下面结合附图对本发明作进一步说明。
本实施例以单摆结构模型为基本力学模型原型的结构为例；
如图1-5所示，本发明的液压调节转动惯量主动控制装置包括主动出力模块和液压变转动惯量模块。
主动出力模块包括装置管腔1和固定在装置管腔内的驱动器2、编码器3和变速器4，液压变转动惯量模块包括转动惯量盘壳体5和设置于转动惯量盘壳体内的推进子模块和液压子模块，被控结构19安装在装置管腔上。
驱动器通过驱动器支架6固定在装置管腔内壁上，驱动器的一端安装有编码器，另一端与变速器连接，驱动器的转轴穿过变速器与转动惯量盘壳体的中心处垂直固定。
本实施例中，除了设置于驱动器尾端用于采集转动惯量转动数据的传感器，吊点处也设置有一个传感器，用来采集被控结构的转动数据，此处的传感器可以采用但不限于光电轴角编码器、角加速度传感器或者陀螺仪。
转动惯量盘壳体为圆柱形空壳，液压子模块包括储液腔7、水泵8、环形液压管网9、液压软管10和输液管11，推进子模块包括驱动电机12、齿轮13、推进直管14和出液管15，储液腔为封闭的空心腔体，两端固定在装置管腔上，转动惯量盘壳体设置于储液腔与装置管腔围成的空间内，转动惯量盘壳体为圆柱形空壳，推进子模块和液压子模块中除了储液腔之外的其他结构 均位于转动惯量盘壳体内。
环形液压管网固定在转动惯量盘壳体上，包括若干位于同一平面的环形管16，环形管以驱动器转轴(也是转动惯量盘壳体的圆心)为中心由内向外分布，相邻的环形管之间间隔一定的距离，每个环形管具有两个开口，所有环形管的开口平齐，两侧开口之间形成一个注液通道17，推进直管位于注液通道内，推进直管的左右两个侧面均设置有齿牙18，推进直管两侧分别设置有一个齿轮，齿牙与齿轮相啮合，驱动电机驱动齿轮转动从而带动推进直管沿着注液通道来回运动，推进直管顶部安装有出液管，通过出液管与环形管连接，完成注液和抽液；推进直管底部通过液压软管与水泵连接，水泵上还连接有输液管，通过输液管与储液腔连接，输液管具有两个支管，一个用来注液，一个用来抽液。出液管采用活塞结构，包括环形胶圈20、钢滚珠环21和密封胶圈22三级密封环，钢滚珠环内分布有四个钢滚珠23，密封的同时可以起到润滑的作用。
注液时，水泵通过输液管的一个支管从储液腔内抽取液体(比如水)，液体经过液压软管进入推进直管，驱动电机带动齿轮转动，从而带动推进直管前进，推进直管注液时首先与最外圈的环形管连通，然后向内依次通过出液管将液体输入到对应的环形管内，环形管的两个开口中一个用来注液，另一个用来排气；抽液时，驱动电机带动齿轮转动，带动推进直管同样是首先与最外圈的环形管连通，然后依次从环形管里将液体抽出，通过液压软管将液体排入水泵，再通过输液管的另一个支管将水泵的水排入储液腔内。
本发明的作用原理如下：
被控结构吊点处设置的传感器采集被控结构的摆振运动状态即摆角以及 摆角加速度数据，并把结构状态数据传送给控制器(图中未示出)，控制器判断是否需要进行主动控制，当被控结构发生回转摆振运动数据超出之前所设定的阈值的时候，控制器控制驱动器动作；驱动器末端同轴安装的编码器实时采集驱动器的转动情况，反馈给控制器，实现控制器与被控结构以及驱动器的闭环控制；驱动器可以根据实时测量的结构运动状态，控制液压变转动惯量模块发生回转转动，自动调节液压转动惯量轮的注液比，通过注液逐渐增加液压变转动惯量模块的转动惯量，通过抽液逐渐减小液压变转动惯量模块的转动惯量，通过改变已注液环形管的数量，改变液压变转动惯量模块的转动惯量大小，调节作用在被控结构上的控制力矩，实现振动控制的目的。
该装置可以应用到以下但不限于以下的力学问题基本原型运动模型中：单摆结构的自由摆动；受约束倒立摆结构的振动；刚体绕空间任意轴的定轴转动等，在实际工程中如：悬吊结构(吊钩、吊车等)的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摇摆振动等；宇宙飞船、空间结构在运行过程中，由于自身姿势调整以及太阳能帆板打开引起的扭转摆振运动；高速铁路机车，在高速运行过程中，由于微小激励引起的车身的扭转摇摆振动运动等。
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (9)

  1. 一种液压调节转动惯量主动控制装置，其特征在于，
    包括主动出力模块和液压变转动惯量模块；
    主动出力模块包括装置管腔(1)和固定在装置管腔(1)内的驱动器(2)、编码器(3)和变速器(4)，液压变转动惯量模块包括转动惯量盘壳体(5)和设置于转动惯量盘壳体(5)内的推进子模块和液压子模块；
    驱动器(2)固定在装置管腔(1)内壁上，驱动器(2)的一端安装有编码器(3)，另一端与变速器(4)连接，驱动器(2)的转轴穿过变速器(4)与转动惯量盘壳体(5)的中心处垂直固定；
    液压子模块包括储液腔(7)、水泵(8)、环形液压管网(9)、液压软管(10)和输液管(11)，推进子模块包括驱动电机(12)、齿轮(13)、推进直管(14)和出液管(15)，储液腔(7)为封闭的腔体，两端固定在装置管腔(1)上，转动惯量盘壳体(5)设置于储液腔(7)与装置管腔(1)围成的空间内；环形液压管网(9)固定在转动惯量盘壳体(5)上，包括若干位于同一平面的环形管(16)，环形管(16)以转动惯量盘壳体(5)的圆心为中心由内向外分布，每个环形管(16)具有两个开口，所有环形管(16)的开口平齐，两侧开口之间形成一个注液通道(17)，推进直管(14)位于注液通道(17)内，推进直管(14)两侧分别设置有一个齿轮(13)，推进直管(14)两个侧面均设置有齿牙(18)，齿牙(18)与齿轮(13)相啮合，驱动电机(12)驱动齿轮(13)转动从而带动推进直管(14)沿着注液通道(17)来回运动，推进直管(14)顶部安装有出液管(15)，通过出液管(15)与环形管(16)连接，推进直管(14)底部通过液压软管(10)与水泵(8)连接，水泵(8)上还连接有输液管(11)，通过输液管(11)与储液腔(7) 连接。
  2. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，出液管(15)采用活塞结构，包括环形胶圈(20)、钢滚珠(23)环(21)和密封胶圈(22)三级密封环，钢滚珠(23)环(21)内分布有四个钢滚珠(23)，密封的同时可以起到润滑的作用。
  3. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，还包括驱动器支架(6),驱动器支架(6)固定在装置管腔(1)内，驱动器(2)固定在驱动器支架(6)上。
  4. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，还包括控制器，控制器与驱动器(2)、驱动电机(12)和水泵(8)连接。
  5. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，被控结构(19)安装于装置管腔(1)上，转动惯量盘壳体(5)平行于被控结构(19)的转动面。
  6. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，驱动器(2)的转轴通过法兰联轴器与转动惯量盘壳体(5)连接。
  7. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，驱动器(2)、变速器(4)和编码器(3)同轴。
  8. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，变速器(4)为减速器。
  9. 根据权利要求1所述的液压调节转动惯量主动控制装置，其特征在于，驱动器(2)为伺服电机或步进电机。
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