WO2020155643A1 - 自供能式主被动复合转动惯量驱动控制系统 - Google Patents

自供能式主被动复合转动惯量驱动控制系统 Download PDF

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WO2020155643A1
WO2020155643A1 PCT/CN2019/105659 CN2019105659W WO2020155643A1 WO 2020155643 A1 WO2020155643 A1 WO 2020155643A1 CN 2019105659 W CN2019105659 W CN 2019105659W WO 2020155643 A1 WO2020155643 A1 WO 2020155643A1
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passive
active
moment
output module
control system
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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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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/16—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material
    • F16F15/167—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring
    • F16F15/173—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring provided within a closed housing

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  • the invention relates to the field of vibration suppression in a system, and in particular to a self-powered active and passive composite moment of inertia drive control system.
  • Vibration is a common phenomenon in life. Engineering facilities and structures will often vibrate due to external loads during use, causing severe sway or even damage. In order to solve various problems caused by the vibration of the structure, vibration control technology came into being.
  • 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 safety vibration control system can effectively reduce the dynamic response of the structure and reduce the damage or fatigue damage of the structure.
  • the movement of the structure is usually a combination of translation and torsion swing.
  • the structural vibration control system has an indispensable role, but the existing structural vibration control system has the following shortcomings: First, the translational TMD control device can only control the translational motion of the structure and affect the swing The control is invalid. Although the translational AMD control device can control the swing vibration, the control efficiency is extremely low and cannot meet the requirements of use; second, the passive moment of inertia tuned damper is effective for the control of the swing vibration movement, but it needs to be carried out for the structure itself Complicated frequency modulation has low control efficiency and poor effect on some complex structures.
  • control system has shortcomings such as low robustness, low controllability, and small application range; third, the control system has a small application range, limited control force output, and control The effect is limited, and the energy utilization rate of the control system cannot be guaranteed, which cannot meet the economic needs. Fourth, although the active (rotating) control device can solve the above three problems, there is a risk of the accidental energy cut-off control system completely failing.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide a self-powered active and passive combined moment of inertia drive control system for the above problems.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module.
  • the active output module includes a driver, an encoder, a transmission and an active moment of inertia disc;
  • the passive output module includes Torsional variable damping box, generator, energy storage unit and passive moment of inertia disc;
  • a system lumen is arranged between the active moment of inertia disc and the passive moment of inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system lumen;
  • the driver is fixed on one side of the system lumen.
  • One end of the driver is equipped with an encoder, and the other end is connected with the transmission.
  • the drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk;
  • the torsion variable damping box includes an outer connecting plate, an inner connecting plate, an outer sleeve, an inner sleeve and a torsion spring.
  • the outer connecting plate is fixed at the center of the passive moment of inertia disc
  • the inner connecting plate is fixed at the end of the system lumen
  • the inner sleeve The cylinder is fixedly connected with the inner connecting plate
  • the outer sleeve is fixedly connected with the outer connecting plate
  • the inner sleeve is coaxial with the outer sleeve
  • the outer sleeve is sleeved on the outside of the inner sleeve.
  • the two ends are closed by oil-sealed bearings.
  • a closed damping fluid tank is formed between the damping fluid tank, and the damping fluid tank is filled with damping fluid;
  • the torsion spring is arranged in the damping fluid tank, wound around the inner sleeve, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve;
  • the generator is fixed on the other side of the system lumen, coaxial with the driver, the generator shaft passes through the system lumen, inner connecting plate and inner sleeve in turn, and then fixedly connected with the outer connecting plate;
  • An energy storage unit is also installed on the generator, and the energy storage unit is also connected to the drive.
  • the driver is fixed in the lumen of the system through the driver fixing frame.
  • the generator is fixed in the system lumen through the generator fixing frame.
  • the present invention also includes a controller, which is respectively connected to the energy storage unit, generator, driver and encoder.
  • a liquid injection hole is provided on the outer sleeve for filling the damping liquid.
  • the active moment of inertia disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
  • the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and when the rotation directions are opposite, the control force in the same direction is generated.
  • the driver is a servo motor or a stepping motor.
  • the control system of the present invention adopts self-powered technology, which can realize the synergy of the active module and the passive module without relying on external energy;
  • the control system of the present invention can realize active and passive composite control, and can realize vibration control under complex conditions. Compared with active control, combined with passive control technology, it has greater stability and energy saving;
  • the control system of 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 overall structure of the present invention.
  • Figure 2 is a front view of the present invention
  • Figure 3 is a schematic diagram of the torsional variable damping box structure
  • Figure 4 is a schematic diagram of the present invention installed in the pendulum structure
  • the above drawings include the following reference signs: 1. Drive; 2. Encoder; 3. Transmission; 4. Active moment of inertia disc; 5. Torsional variable damping box; 6. Generator; 7. Energy storage unit; 8. Passive moment of inertia disc; 9. System lumen; 10. Drive fixing frame; 11. Outer connecting plate; 12. Inner connecting plate; 13. Outer sleeve; 14. Inner sleeve; 15. Torsion spring; 16 , Liquid injection hole; 17, generator fixing frame; 18, controller; 19, controlled structure.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module.
  • the active output module includes a driver 1, an encoder 2, a transmission 3, and an active moment of inertia disc 4;
  • the passive output module includes a torsion variable damping box 5, a generator 6, an energy storage unit 7 and a passive moment of inertia disc 8;
  • a system lumen 9 is arranged between the active moment of inertia disc and the passive moment of inertia disc.
  • the active output module and the passive output module are symmetrically distributed along the center of the system lumen; the controlled structure 19 is fixed at the center of the system lumen, and the active moment of inertia Both the disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
  • the driver is fixed on one side of the system lumen by the driver fixing frame 10.
  • One end of the driver is equipped with an encoder, and the other end is connected with the transmission.
  • the drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk; the driver is a servo motor Or stepper motor.
  • the torsion variable damping box includes an outer connecting plate 11, an inner connecting plate 12, an outer sleeve 13, an inner sleeve 14 and a torsion spring 15.
  • the outer connecting plate is fixed at the center of the passive moment of inertia disc by bolts, and the inner connecting plate is fixed by bolts
  • the inner sleeve is fixedly connected with the inner connecting plate
  • the outer sleeve is fixedly connected with the outer connecting plate
  • the inner sleeve is coaxial with the outer sleeve
  • the outer sleeve is sleeved outside the inner sleeve, and both ends pass through
  • the oil seal bearing is closed, and a closed damping fluid tank is formed between the two sleeves.
  • the outer sleeve is provided with a liquid injection hole 16 for filling the damping fluid tank with the damping fluid; the torsion spring is arranged in the damping fluid tank along the inner edge
  • the sleeve is wound, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve; by changing the viscosity of the damping fluid in the torsion variable damping box and the stiffness of the torsion spring, the purpose of changing the damping can be achieved for frequency modulation.
  • the generator is fixed on the other side of the system lumen through the generator fixing frame 17, coaxial with the driver, the generator shaft passes through the system lumen, the inner connecting plate and the inner sleeve in turn, and then is fixedly connected to the outer connecting plate;
  • An energy storage unit 7 is also installed on the generator.
  • the energy storage unit is also connected to the drive.
  • the energy storage unit is a battery.
  • the passive moment of inertia disc rotates to generate control force and drive the generator to rotate to generate electrical energy.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention further includes a controller 18, which is respectively connected with the energy storage unit, generator, driver and encoder.
  • a sensor is also provided at the hanging point to collect the rotation data of the controlled structure.
  • the sensor here can be, but is not limited to Photoelectric shaft encoder, angular acceleration sensor or gyroscope.
  • the passive output module can work alone to achieve the vibration control requirements.
  • the generated electric energy is stored in the battery to reserve energy for the active output module.
  • the sensor will detect The response of the structure is fed back to the controller, and the controller determines whether the active output module needs to be turned on.
  • the active output module starts to work, and the active output module can move according to the real-time measured structure State, control the rotation of the moment of inertia disc, adjust the control torque acting on the controlled structure, adjust the drive energy output, control the vibration of the structure, and ensure high control efficiency.
  • the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and the direction of rotation is opposite to produce the control force in the same direction.
  • the active and passive output modules play a control role at the same time, which produces a good effect of compound control and realizes vibration control. purpose. As the active output module turns on and takes effect, the structural response decreases and gradually enters the range where the passive output module can perform. The sensor feeds back to the controller in real time, the active output module stops working, and the passive output module keeps working until it reaches control. effect.
  • control system of the present invention can be applied to the following but not limited to the following basic prototype motion models of mechanical problems: free swing of a simple pendulum structure; vibration of a constrained inverted pendulum structure; fixed-axis rotation of a rigid body around an arbitrary axis in space, etc.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

一种自供能式主被动复合转动惯量驱动控制系统，其包括主动出力模块和被动出力模块，主动出力模块包括驱动器（1）、编码器（2）、变速器（3）和主动转动惯量圆盘（4）；被动出力模块包括扭转变阻尼箱（5）、发电机（6）、储能单元（7）和被动转动惯量圆盘（8）；主动转动惯量圆盘（4）和被动转动惯量圆盘（8）之间设置有系统管腔（9），主动出力模块和被动出力模块沿系统管腔（9）中心对称分布。该控制系统采用自供能技术，可以实现主动模块与被动模块的协同作用，且不需要依赖外部能量；该控制系统可以实现主、被动复合控制，能够实现复杂条件下的振动控制，与主动控制相比，结合被动控制技术，稳定性更好。

Description

自供能式主被动复合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，涉及一种自供能式主被动复合转动惯量驱动控制系统。
背景技术
振动是生活中常见的一种现象，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。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。
结构的运动通常由平动以及扭转摆动组合而成。研究表明由于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)在扭转摆动中由于需要提供向心力导致控制效果大大减弱甚至完全失去作用，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，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。
主动控制技术因其具备控制效果好、鲁棒性好等优点，近年来发展迅速。但是，在技术的研究和实践过程中，人们发现由于主动控制装置需要外部能源来驱动工作，在工程结构遭到破坏时，能源的供应被意外切断会导致主动控制装置的完全失效。
综上，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具有以下几方面的不足：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，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；第二，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；第三，控制系统适用范围小，控制力输出有限，控制效果有限，且控制系统能源利用率无法保证，无法满足经济性的需求；第四，主动(转动)控制装置虽然能解决上述三方面问题，但是，存在意外能源切断控制系统完全失效的风险。
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上述问题提供一种自供能式的主被动复合的转动惯量驱动控制系统。
为了实现上述目的，本发明的自供能式主被动复合转动惯量驱动控制系统，包括主动出力模块和被动出力模块，主动出力模块包括驱动器、编码器、变速器和主动转动惯量圆盘；被动出力模块包括扭转变阻尼箱、发电机、储能单元和被动转动惯量圆盘；
主动转动惯量圆盘和被动转动惯量圆盘之间设置有系统管腔，主动出力 模块和被动出力模块沿系统管腔中心对称分布；
驱动器固定在系统管腔内一侧，驱动器一端安装有编码器，另一端与变速器连接，驱动器的驱动轴穿过变速器与主动转动惯量盘的中心处垂直固定；
扭转变阻尼箱包括外连接板、内连接板、外套筒、内套筒和扭转弹簧，外连接板固定在被动转动惯量圆盘中心处，内连接板固定在系统管腔端部，内套筒与内连接板固定连接，外套筒与外连接板固定连接，内套筒与外套筒同轴，外套筒套在内套筒外侧，两端通过油封轴承封闭，两个套筒之间形成封闭的阻尼液仓，阻尼液仓内填充有阻尼液；扭转弹簧设置于阻尼液仓内，沿内套筒缠绕，一端与外连接板固定，另一端固定在内套筒上；
发电机固定在系统管腔内另一侧，与驱动器同轴，发电机转轴依次穿过系统管腔、内连接板和内套筒后与外连接板固定连接；
发电机上还安装有储能单元，储能单元还与驱动器连接。
进一步的，驱动器通过驱动器固定架固定在系统管腔内。
进一步的，发电机通过发电机固定架固定在系统管腔内。
进一步的，本发明还包括控制器，控制器分别与储能单元、发电机、驱动器和编码器连接。
进一步的，外套筒上设置有注液孔，用于填充阻尼液。
进一步的，内套筒和内连接板均不与发电机转轴发生接触。
进一步的，主动转动惯量圆盘和被动转动惯量圆盘平行于被控结构转动面。
进一步的，主动转动惯量圆盘和被动转动惯量圆盘同轴转动，转动方向 相反时，产生相同方向的控制力。
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)本发明的控制系统采用自供能技术，可以实现主动模块与被动模块的协同作用，且不需要依赖外部能量；
(2)本发明的被动出力模块中阻尼可调节，可根据被控结构进行调频，具有适用范围广的特点；
(3)本发明的控制系统可以实现主、被动复合控制，能够实现复杂条件下的振动控制，且与主动控制相比，结合被动控制技术，具有更大的稳定性和节能性；
(4)本发明的控制系统适用于结构发生转动、扭转或回转摆振运动的情况，适用范围广。
附图说明
图1是本发明整体结构示意图；
图2是本发明正视图；
图3是扭转变阻尼箱结构示意图；
图4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、驱动器；2、编码器；3、变速器；4、主动转动惯量圆盘；5、扭转变阻尼箱；6、发电机；7、储能单元；8、被动转动惯量圆盘；9、系统管腔；10、驱动器固定架；11、外连接板；12、内连接板；13、外套筒；14、内套筒；15、扭转弹簧；16、注液孔；17、发电 机固定架；18、控制器；19、被控结构。
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1-4所示，本发明的自供能式主被动复合转动惯量驱动控制系统包括主动出力模块和被动出力模块，主动出力模块包括驱动器1、编码器2、变速器3和主动转动惯量圆盘4；被动出力模块包括扭转变阻尼箱5、发电机6、储能单元7和被动转动惯量圆盘8；
主动转动惯量圆盘和被动转动惯量圆盘之间设置有系统管腔9，主动出力模块和被动出力模块沿系统管腔中心对称分布；被控结构19固定在系统管腔中心位置，主动转动惯量圆盘和被动转动惯量圆盘均平行于被控结构转动面。
驱动器通过驱动器固定架10固定在系统管腔内一侧，驱动器一端安装有编码器，另一端与变速器连接，驱动器的驱动轴穿过变速器与主动转动惯量盘的中心处垂直固定；驱动器为伺服电机或步进电机。
扭转变阻尼箱包括外连接板11、内连接板12、外套筒13、内套筒14和扭转弹簧15，外连接板通过螺栓固定在被动转动惯量圆盘中心处，内连接板通过螺栓固定在系统管腔端部，内套筒与内连接板固定连接，外套筒与外连接板固定连接，内套筒与外套筒同轴，外套筒套在内套筒外侧，两端通过油封轴承封闭，两个套筒之间形成封闭的阻尼液仓，外套筒上设置有注液孔16，用于向阻尼液仓内填充阻尼液；扭转弹簧设置于阻尼液仓内，沿内套筒缠绕，一端与外连接板固定，另一端固定在内套筒上；通过改变扭转变阻尼箱内的 阻尼液的粘稠度和扭转弹簧刚度可以实现改变阻尼的目的进行调频。
发电机通过发电机固定架17固定在系统管腔内另一侧，与驱动器同轴，发电机转轴依次穿过系统管腔、内连接板和内套筒后与外连接板固定连接；
内套筒和内连接板均不与发电机转轴发生接触，与发电机转轴脱离，即发电机只带动外连接板、外套筒和被动转动惯量圆盘转动，内连接板与内套筒均是固定的，不发生转动；
发电机上还安装有储能单元7，储能单元还与驱动器连接，储能单元为蓄电池，被动出力模块工作时，被动转动惯量圆盘发生回转运动，产生控制力，同时带动发电机转动产生电能，通过导线输入蓄电池中储存供主动出力模块使用。
本发明的自供能式主被动复合转动惯量驱动控制系统还包括控制器18，控制器分别与储能单元、发电机、驱动器和编码器连接。
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编码器，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。
通常情况下仅被动出力模块单独工作即可达到振动控制要求，工作的同时将产生的电能储存在蓄电池中为主动出力模块储备能量，当遇到复杂条件，结构响应较大时，传感器将监测到结构的响应反馈给控制器，控制器判断是否需要开启主动出力模块，当控制器判断被动出力模块已经无法满足结构的响应要求时，主动出力模块开始工作，主动出力模块可以根据实时测量的结构运动状态，控制转动惯量圆盘发生回转转动，调节作用在被控结构上的控制力矩，调节驱动能源输出大小，控制结构的振动，保证较高的控制效率。 此时，主动转动惯量圆盘和被动转动惯量圆盘同轴转动，转动方向相反，产生相同方向的控制力，主、被动出力模块同时发挥控制作用，产生复合控制的良好效果，实现振动控制的目的。随着主动出力模块开启并发挥作用，结构响应减小，逐渐进入被动出力模块所能发挥作用的范围内，传感器实时反馈给控制器，主动出力模块停止工作，被动出力模块保持工作，直到达到控制效果。
本发明的控制系统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. 一种自供能式主被动复合转动惯量驱动控制系统，其特征在于，包括主动出力模块和被动出力模块，主动出力模块包括驱动器(1)、编码器(2)、变速器(3)和主动转动惯量圆盘(4)；被动出力模块包括扭转变阻尼箱(5)、发电机(6)、储能单元(7)和被动转动惯量圆盘(8)；
    主动转动惯量圆盘(4)和被动转动惯量圆盘(8)之间设置有系统管腔(9)，主动出力模块和被动出力模块沿系统管腔(9)中心对称分布；
    驱动器(1)固定在系统管腔(9)内一侧，驱动器(1)一端安装有编码器(2)，另一端与变速器(3)连接，驱动器(1)的驱动轴穿过变速器(3)与主动转动惯量圆盘(4)的中心处垂直固定；
    扭转变阻尼箱(5)包括外连接板(11)、内连接板(12)、外套筒(13)、内套筒(14)和扭转弹簧(15)，外连接板(11)固定在被动转动惯量圆盘(8)中心处，内连接板(12)固定在系统管腔(9)端部，内套筒(14)与内连接板(12)固定连接，外套筒(13)与外连接板(11)固定连接，内套筒(14)与外套筒(13)同轴，外套筒(13)套在内套筒(14)外侧，两端通过油封轴承封闭，两个套筒之间形成封闭的阻尼液仓，阻尼液仓内填充有阻尼液；扭转弹簧(15)设置于阻尼液仓内，沿内套筒(14)缠绕，一端与外连接板(11)固定，另一端固定在内套筒(14)上；
    发电机(6)固定在系统管腔(9)内另一侧，与驱动器(1)同轴，发电机(6)转轴依次穿过系统管腔(9)、内连接板(12)和内套筒(14)后与外连接板(11)固定连接；
    发电机(6)上还安装有储能单元(7)，储能单元(7)与驱动器(1)连接。
  2. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统， 其特征在于，驱动器(1)通过驱动器固定架(10)固定在系统管腔(9)内。
  3. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，发电机(6)通过发电机固定架(17)固定在系统管腔(9)内。
  4. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，还包括控制器(18)，控制器(18)分别与储能单元(7)、发电机(6)、驱动器(1)和编码器(2)连接。
  5. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，外套筒(13)上设置有注液孔(16)，用于填充阻尼液。
  6. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，内套筒(14)和内连接板(12)均不与发电机(6)转轴发生接触。
  7. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，主动转动惯量圆盘(4)和被动转动惯量圆盘(8)平行于被控结构(19)转动面。
  8. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，主动转动惯量圆盘(4)和被动转动惯量圆盘(8)同轴转动，转动方向相反，产生相同方向的控制力。
  9. 根据权利要求1所述的自供能式主被动复合转动惯量驱动控制系统，其特征在于，驱动器(1)为伺服电机或步进电机。
PCT/CN2019/105659 2019-02-01 2019-09-12 自供能式主被动复合转动惯量驱动控制系统 Ceased WO2020155643A1 (zh)

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