WO2020175899A1

WO2020175899A1 - Device and method for generating shock-type response signal for suppressing vibration

Info

Publication number: WO2020175899A1
Application number: PCT/KR2020/002717
Authority: WO
Inventors: 노승훈
Original assignee: 금오공과대학교 산학협력단; 주식회사 티브이에스
Priority date: 2019-02-28
Filing date: 2020-02-26
Publication date: 2020-09-03
Also published as: KR20200105017A; KR102194265B1

Abstract

The present invention relates to a device and a method for generating a shock-type response signal by which vibration can be suppressed. The characteristics (a frequency, a frequency vibration magnitude, and a slope) of a frequency component having the largest vibration, among frequency components constituting a vibration signal, are determined through vibration measurement, and then the supply of a shock response signal is preprogrammed in a control unit (200) together with a response signal supply time point. In addition, when the occurrence and size of vibration are sensed by a sensor (100) and are transferred to the control unit (200), a shock response signal corresponding to the vibration magnitude of the frequency component, which has been pre-determined in the control unit (200), is generated and transferred, and an actuator (300) is driven by the transferred signal. Accordingly, by supplying the shock response signal, vibration can be efficiently suppressed without a side effect in which vibration becomes stronger. When vibration remains after the shock response signal is supplied, the control unit (200) may be repeatedly operated to additionally supply a response signal.

Description

2020/175899 PCT/KR2020/002717 Specification

Title of the invention: Apparatus and method for generating shock-type signals for vibration suppression

Technical field

[1] The present invention relates to a vibration control device and method, and more particularly, to a shock-type response signal generating device and method capable of suppressing vibration.

Background

[2] In general, vibration is a transient response that disappears over time because there is no supply of continuous external force such as centrifugal force after an impact is applied as shown in Fig. 1 and the amplitude generated from the centrifugal force of the rotating body is kept constant as shown in Fig. Examples of transient vibration include increased noise, vibration caused by instantaneous acceleration and deceleration, and flow induced vibrations such as snoring and piping vibration.

[3] Steady-state vibration is the vibration of machinery or equipment having rotating bodies such as motors, spindles, helicopter/wind generator rotors, ship propellers, monitors, and screws.

[4] As a device to reduce vibration, dampers are most widely used, and the dampers are manual.

It is classified into a passive damper and an active damper.

[5] First, a manual damper is a device that absorbs vibration by dissipating the internal stress and friction energy of a vibrating object by adding a spring or a vibration absorber to the vibration part. However, if a manual damper is installed, the rigidity of the structure is lowered. The overall size of the resulting copper may be larger, which may reduce product quality, durability and reliability.

[6] An active damper is a device that senses vibration from a sensor, generates a response signal by a signal generator, transmits it to the actuator, and then reduces the vibration by supplying a response signal through the actuator operation. In general, within an active damper kit (Kit). It can be divided into a case where a vibration analysis is performed and a case where a vibration analysis is not performed, a case where a response signal is set in advance by performing a vibration analysis and a response signal is immediately supplied when a vibration occurs.

[7] When performing vibration analysis in an active damping kit, use a frequency analyzer.

As it goes through the process of analyzing the vibration signal by using it, an expensive frequency analyzer (at least KRW 10,000 or more) is essential, and the bulky controller, sensor, and

In the process of transmitting and receiving signals between actuators, several parts (antenna, battery, cable) are required, and a signal generator to supply appropriate signals is added.

[8] The frequency analyzer is an effective device capable of accurate analysis of vibration, but the calculation process is complex, so it takes 2 to 4 seconds only to analyze the signal (the time to convert the time domain signal to the frequency domain signal). After several tens of cycles (if the frequency is 10 Hz, 20 to 40 cycles), the response (output of the corresponding signal) is 2020/175899 1»（：1^1{2020/002717 Since it becomes possible, real-time vibration control is not possible, and there is a problem of low control efficiency.

[9] Referring to FIG. 3, in the case of US Patent No. 2009-114821, in the active damping kit

To briefly summarize the mechanism of an active damping system that includes a frequency analysis process, the frequency analyzer analyzes the vibration signal measured by the sensor to obtain finite frequency components, and the frequency analyzer, control box, or the like in the active damping kit indicated by the red box. It analyzes the motion signal through other measuring equipment and transmits the vibration wave of reverse phase to the actuator by the signal generator. In this way, the measured vibration signal meets and cancels the reverse signal supplied by the actuator to relieve the vibration.

[1] However, referring to the explanatory diagram showing the operation mechanism of the conventional active damper in Fig. 4 as a waveform, this technology is a vibration signal (after the time is immediately determined, the vibration analysis process is

Vibration signal (corresponding signal with exactly opposite phase to each other (the purpose is to supply blood,

[11] As described above, when the frequency analysis process is performed in the active damper,

It takes a long time (2 to 4 seconds) in the entire process of analyzing and analyzing the waveforms of multiple frequency components and supplying the corresponding signal, so real-time control is not possible. This is the price of the frequency analyzer to be included in the active damper. There is a problem that the price is very high. In addition, since the vibration of the same frequency component as the original vibration signal is supplied as a corresponding signal, it is very likely that the vibration will inevitably occur and the vibration will increase.

[12] If vibration analysis is not performed within the active damper kit urine), the phase is reversed as it is without the vibration analysis process and generated as a response signal.

It passes to the actuator and supplies a response signal.

[13] Referring to FIG. 5, in the case of Japanese Laid-Open Patent No. 2009-114821, the active damper

To summarize the mechanism, the measured signal from the sensor (1) passes through the phase inverters (31, 32), and the actuator (2) is driven by a signal of the opposite phase (indicated by the red box) to respond to the vibrating body (4). Supply the signal.

[14] By the way, this technique inverts the measured vibration signal as it is, so that the actuator must move exactly in the opposite direction to the vibration body for the entire signal (both positive and negative directions), so the actuator (2) must be attached to the vibration body (4).

[15] In other words, this method coincides with the operating frequency of the corresponding signal and the natural frequency of the vibrating body, so that the resonance between the actuator and the vibrating body inevitably occurs.

[16] In general, signal processing is an operation on an input signal, but it is not as long as the frequency analysis process as in the case of Fig. 4, but the time required for signal processing increases as the signal becomes more complex. Exactly due to the vibration of a complex signal In the process of generating a signal of the opposite phase, noise, error, and delay time are very likely to occur.

Therefore, when the vibration signal is complex, as shown in Fig. 6, the delay (0 _£ time is prolonged, resulting in a phase difference, and in the worst case (phase difference 180), the amplitude can be doubled.

[17] When vibration occurs after setting the response signal in advance by performing the vibration analysis of the vibrating body

A technology for controlling vibration by immediately supplying a corresponding signal is shown. 2020/175899 1»（：1^1{2020/002717 For reference, in the case of registration number ^-1903982, the operating mechanism of the vibration control device can be summarized in the following three steps.

[18]-Step 1: Perform a vibration analysis on the vibrating body in advance, and determine the finite (1~3) frequency components that have the largest amplitude among the infinite frequency component vibrations. Then, based on the analysis result, the corresponding signal Set in advance.

[19]-Step 2: When vibration occurs, the sensor detects it and transmits it to the control unit.

[Step 2-Step 3: When the vibration signal is transmitted to the control unit, a preset response signal is

[21] Output to drive the actuator.

[22] To perform the vibration analysis above, a frequency analyzer in the device is unnecessary.

Since only finite (1~3) frequency components are supported, the signal processing process is simple and the delay time can be shortened compared to the above two techniques.

[23] This technology proposes a method of responding to the response signal in the opposite phase to the entire vibration signal as shown in Fig. 8 and a method of supplying the response signal only for a part of the cycle (1/4 cycle) as shown in Fig. 9.

[24] It is said that the separation between the vibrating body and the actuator is made to block the possibility of resonance that may occur in the process of supplying the corresponding signal, but in the case of Fig. 8, the vibration and the corresponding signal have exactly opposite phases (+), All in the (-) direction

In order to respond, the actuator must be attached to the vibrating body, and resonance occurs because the two signals are vibrations of the same frequency component. In the case of Fig. 9, the response signal is supplied only for a part of the cycle (1/4 cycle). It is the simplest form, but it is possible that some parts of the period coincide and resonate. The biggest problem is that the response signal is continuous, so a short response signal is instantaneously

Equivalent to being supplied infinitely (continuously).

[25] In fact, if a continuous response signal is supplied to the generated vibration once indefinitely, the reverse effect of increasing the vibration occurs. In order to easily understand the above adverse effect, it can be clearly confirmed by simplifying the continuous response signal and supplying only some of them. Figure 10 shows that the continuous response signal supplied during the 1/4 cycle of Figure 9 is simplified into 5 intermittent response signals.

[26] Figure 11 shows the vibration at the point of supplying a corresponding signal to the generated transient vibration.

This is a picture in which the vibration disappears even if an accurate shock response signal that can be canceled is supplied only once. Since the response signal is a shock that is supplied for a very short time, there is no frequency component, so there is no problem due to resonance and phase difference. Since only the corresponding signal size needs to be determined, there is no problem due to phase difference, and since it is supplied only once, there is no side effect of increasing the vibration.

12 shows the result of supplying all of the simplified five intermittent response signals shown in FIG. 10 to the vibration signal. The vibration is abnormally chained by supply of the first response signal in time. 2020/175899 1»（：1^1{2020/002717 The vibration is reduced, but at time _/2 , the vibration reappears due to the secondary response signal. The vibration amplitude decreases as there is no additional response signal between the times _/2 and _/3 , but again, the movement size becomes larger due to the additional response signal supply at _/3 , _/4 , and _/5 .

[28] In other words, after the vibration is reduced by a single shock response signal, the vibration is increased by an additional 2 to 5 shock response signals (actually infinite times in case of continuous supply).

[29] The continuous response signal supply has a side effect of increasing the vibration more than the simplified 5 response signals as shown in FIG.

[3 This above applies to all of the conventional technologies that use a continuous type of response signal, and this response signal is a problem of low control efficiency due to resonance induction (vibration becomes very large), inaccurate response time due to delay time (phase difference), The continuous response signal, not in the form of a shock, has the problem of increasing the vibration.

[31] On the other hand, since the shock type signal has no frequency component, there is no possibility of resonance at all, and there is no phase difference problem due to the delay time, since the time of supplying the corresponding signal is determined in advance of the delay time, and the signal continues after the vibration is controlled. Since there is no supply, there is no possibility of increasing the vibration. Therefore, when supplying a response signal to suppress the vibration signal, it is desirable to control the vibration by supplying it as a shock-type signal instead of continuously supplying it.

Detailed description of the invention

Technical task

[32] The purpose of the present invention to solve the above problems is

It is to provide an apparatus and method for generating a shock signal that suppresses vibration without side effects of increasing resonance, phase difference, and vibration by supplying a corresponding signal.

Problem solving means

[33] Referring to FIG. 13, the present invention for achieving the above object is a sensor 100 that detects vibration from the vibrating body 10; a control unit 200 that generates and transmits a shock response signal to cancel the detected vibration. ); and an actuator 300 driven by the transmitted corresponding signal.

[34] The sensor 100 senses the generation and magnitude of vibration and transmits it to the control unit 200.

[35] The control unit 200 generates an impact response signal based on preset data, and transmits it to the actuator 300.

[36] The actuator 300 is driven by the transmitted signal and supplies a shock response signal to suppress vibration.

The control unit includes a repeat execution unit (0) capable of additionally executing the control unit 200 when the residual vibration after output is large.

[38] To supply the above shock response signal, the frequency component having the largest vibration among various frequency components constituting the motion signal through vibration measurement as shown in Fig. 14 is selected. 2020/175899 1» (：1^1{2020/002717) After grasping, the characteristic (frequency, period) and the corresponding signal supply point are programmed in advance in the control unit 200. The frequency component with the greatest vibration corresponds to the vibration characteristic of the vibrating body. Therefore, when measuring the vibration, it appears consistently as the natural frequency or operating frequency of the vibrating body.

[39] For the above programming, referring to Fig. 16, since we know the period of the frequency component with the largest vibration found through vibration measurement in Fig. 14, the point at which 1/4 cycle passes after the vibration occurs (①) (③ ), the vibration pattern corresponding to the time point (④) passing by one cycle can be identified in advance.

[4] The point at which the corresponding signal is supplied (②) is the time required from sensor detection to actuator response.

Specifically, the time when the sensor 100 detects the vibration and transmits the signal to the control unit, the time when the control unit 200 generates a response signal and transmits it to the actuator 300, and the actuator 300 It corresponds to the reaction time.

[41] The above shock response signal supply method has been described in detail in specific details for implementing the invention.

[42] The process in which vibration is controlled from the generation of vibration through the present invention can be summarized as the following steps.

[43] First, the step of grasping the characteristics (frequency, period) of the frequency component having the greatest vibration through vibration measurement

[44] Second, the characteristic of the frequency component and the timing of supplying the corresponding signal to the control unit 200

Programming steps

[45] Third, when vibration occurs, the sensor 100 detects the size and transmits it to the control unit 200

[46] Fourth, the control unit 200 generates a shock signal corresponding to the vibration magnitude of the frequency component previously identified in the first step and transmits it to the actuator 300

[47] Fifth, the step of supplying the shock response signal by the actuator 300

[48] Sixth, when the residual vibration is large after the response signal is supplied, an additional shock response signal is supplied to the corresponding vibration to the repeat execution unit (0).

15 is an exemplary diagram showing the vibration signal, the shock response signal, and the result. The vibration signal on the left is the same as in Fig. 14 (the signal of the frequency component having the largest vibration determined through vibration measurement), and an enlarged view of the blue circle portion is shown for detailed confirmation. The corresponding signal in the center is the vibration characteristic determined in advance. Based on this, the shock signal that can extinguish the vibration at ② is generated by the control unit 200 and transmitted to the actuator 300, and the actuator 300 is driven to supply a response signal. Looking at the result signal on the right, the shock signal is generated. It can be confirmed that the vibration disappears from the supplied ②.

Effects of the Invention

[5 In the case of using the shock-type response signal generating device and method capable of suppressing vibration according to the present invention, the shock for a very short time (0.001 to 0.02 ₈ ) as shown in Fig. 17 is used. 2020/175899 1»（：1/10公020/002717 Vibration can be suppressed with a response signal, so the following side effects in the conventional technology do not occur.

Since the response signal in the form of shock is supplied for a very short time, there is no possibility of resonance with the inherent frequency of the vibrating body due to lack of repeatability.

52] In addition, only a small number of frequency components with large vibration amplitudes determined through vibration measurement

It is a very simple signal that occurs only in a short moment as shown in Fig. 17, so the signal processing process is short and the possibility of error is low, so efficient vibration control is possible, and the response signal size is determined

Since it only needs to be accurately supplied at the time of supply, there is no problem of phase difference due to the occurrence of delay time.

Since the frequency component having the largest vibration is identified in advance through vibration measurement, a compact and inexpensive device configuration is possible because an analyzer in the device is not required.

In summary, according to the present invention, if vibration is suppressed by supplying a response signal in the form of a shock that can extinguish the frequency with the largest vibration after sensing the vibration, there is no side effect of increasing the vibration, and there is no problem due to the delay time, so control accuracy/efficiency It is possible to construct an inexpensive shock-type signal generating device that is highly sensitive and has no concern about resonance.

Brief description of the drawing

[55 Fig. 1 is an example of transient vibration.

[56 Figure 2 is an example of steady state vibration

[57 Fig. 3 is an example of a technique in which vibration analysis is performed in an active damper.

[58 Fig. 4 is a mechanism of the active damper in Fig. 3, which is the opposite of the vibration signal (A).

Response signal (This is an explanatory diagram showing blood.

[5]]]]]]]]]]] Fig. 5 is an example of a technology in which vibration analysis is not performed in an active damper.

42479 o 33568

55566666666 FIG. 6 is an example diagram in which a phase difference occurs due to a longer delay time, and in the worst case (phase difference 180°) the amplitude is doubled.

[6 Fig. 7 is a conceptual diagram of the mechanism of an active damper that performs vibration analysis.

8 is an exemplary diagram showing a method of supplying a corresponding signal to the vibration signal and the entire vibration signal introduced in the active damper technology of FIG. 7.

FIG. 9 is an exemplary diagram showing a vibration signal introduced in the active damper technology of FIG. 7 and a corresponding signal supplied during a quarter cycle.

Fig. W is an example diagram of a simplified successive response signal into five shocks.

11 is an exemplary diagram in which a shock response signal is supplied to the vibration signal once.

12 is an exemplary view showing that the vibration signal is supplied with a signal corresponding to five shocks and the vibration is increased.

13 is an exemplary diagram showing a corresponding signal generating apparatus.

14 is a frequency having the largest vibration among frequency components constituting a vibration signal 2020/175899 1»（：1^1{2020/002717 It is I attempt to show the ingredients.

15 is an exemplary diagram in which a vibration signal and a single shock response signal are supplied.

16 is an exemplary diagram showing the characteristics of the visual point sunlight vibration signal.

[71] Fig. 17 is a diagram showing abuse of the shock response signal at temperature 15.

[72] FIG. 18 shows the frequency components and the largest

It is an attempt to show the vibration of the frequency component.

Fig. 19 is an exemplary diagram of transient vibration control, shock band fusion signal, and supply.

[74] Fig. 20 is an attempt to supply the shock response signal rule for the temperature steady state vibration control.

[75] Fig. 21 is a conceptual diagram of the experiment,

[76] Fig. 22 shows the experimental results.

Modes for the implementation of the invention

[77] Terms used in the specification can be interpreted to expand the meaning of the word.

By combining words and words that have different meanings into one word, the new meaning of a broader meaning takes the form of a compound word. As a rule, the word “conversation” and the word “channel” are combined to form a dialogue channel as this ¾ of communication. In addition, the embodiment presented in the specification is a preferred embodiment for implementation, and in some cases, other configurations may be added or the original configuration may be omitted. In the embodiments, the configuration includes or includes a configuration. Can be implemented.

[78] Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the attached drawings.

13 is an attempt I to show the corresponding signal generation device rule.

[80] In an embodiment of the present invention, an apparatus for generating a shock response signal generates and transmits a shock response signal capable of extinguishing the vibration detected by the controller 200 after sensing the vibration by the sensor 100, and using the transmitted response signal. The actuator 300 is driven.

[81] The above shock response signal is a vibration measurement that has the greatest vibration

The characteristic of the frequency component and the timing of supplying the corresponding signal are identified and transferred to the control unit 200.

Become programmed.

[82] Referring to Fig. 23, the meaning of the frequency component having the largest vibration above,

The signal of the frequency component that has the greatest vibration due to the bandwidth of 1 sub-band by filtering the signal rules (0~10 is 1 3 2!, 10~2 is 1 1.3, 30~7 is 1) There is no large frequency component, and in case of 101 at 100, 101.^2,

1 In the case of 10 to 31 children, the large frequency component does not exist, and in the case of 310 to 32 children, 317.3 卜1 å, only insignificant frequency components exist in frequencies after 32 digits.>> After that, the largest frequency component signal (Frequency component of 1.36Hz) Understand the rules.

Correction sheet (Regulation 91) 13 [¾ 2020/175899 1»（：1^1{2020/002717

[84] As shown in Fig. 23, various signals constituting the vibration signal identified through the vibration bamboo crystal

The vibrations of the frequency components are shown separately. It can be seen that most of the vibrations can be eliminated if the corresponding signal responds to one or two frequency components of the largest vibration. [[Therefore, the shock response signal is generated to remove the frequency component with the greatest vibration.

[85] Fig. 16 describes the process of generating a large angular signal in detail. Fig. 23 is an enlarged picture of the front part of the frequency component signal with the greatest vibration, ① is the time when the vibration occurs, and ② is the deal and II time (vibration It is the time when the response signal is supplied, taking into account the time of detection and until the actuator half-fusion (intermediate band fusion signal generation/supply), ③ is the point at which the second amplitude reaches the second amplitude after vibration (1/4 cycle), and ④ is the point at which one cycle passes.

[86] When the above information rule is programmed in the control unit (200), when vibration occurs (①),

Since it can be seen that the amplitude is at its maximum, the amplitude at ② can be predicted in advance through the inclination of the signal after vibration detection. Therefore, when the sensor (100) is transmitted to the vibration level rule control unit (200) at ①, the tilt rule It can be generated and transmitted by determining the magnitude of the shock response signal that can extinguish the vibration. With the transmitted response signal, the actuator 300 is driven and supplied to the shock response signal/vibrator 10 to suppress the vibration.

Correction sheet (Regulation 91) 13 [¾ 2020/175899 1»（：1^1{2020/002717

[87] The repeating execution unit 210 repeats the process performed by the control unit 200 when a large residual vibration remains even after the shock response signal is supplied, and the actuator 300 applies an additional shock-to-fusion signal rule for the magnitude of the vibration. Can supply.

[88] From these results, even when the vibration pattern is transient or steady-state vibration, it is possible to find the largest frequency component and supply a shock response signal to suppress the vibration.

[89] In general, vibration is composed of several frequency components. In the case of transient vibration, Fig. 23 is an example of finding the largest frequency component. ^[However , in the case of steady state vibration, referring to Fig. 18, four frequencies In the steady state vibration composed of components, the frequency component of the largest vibration can be checked.

[90] In the case of transient vibration, the shock treatment signal is supplied, referring to rule 19, after the occurrence of vibration.

Since there is no additional external force supply, the magnitude of the vibration gradually decreases due to friction and air resistance as time goes by. After the vibration is generated, it is possible to ensure that the vibration is immediately extinguished when a response signal in the form of an impact that can suppress the vibration is supplied once. have.

[91] In the case of normal vibration, referring to Fig. 20, as shown in the left figure, if the shock response signal rule is supplied every time a vibration occurs, the response signal is supplied as shown in the right figure. Can be recognized.

[92] Figure 21 shows the experimental configuration and experimental video of 168!

It was captured, and the experimental method was to compare the case where the response signal in the form of shock was supplied and not supplied after causing a shock to the flat plate structure and generating vibration.

[93] Fig. 22 shows the actual results of Fig. 21, and in the figure, for the visible effect

The vibration was controlled by supplying a response signal rule one cycle after the occurrence of the vibration, but in the real case, the response signal and supply can be provided immediately after the vibration occurs.

[94] Although the above description has been made with reference to the preferred and embodiments of the present invention, skilled persons in the relevant technical field may develop the present invention in various ways within the scope not departing from the spirit and scope of the present invention described in the following patent claims. You will understand that it can be modified and changed.

Correction sheet (Regulation 91) 13 [¾

Claims

2020/175899 1»（：1/10公020/002717 Claims

[Claim 1] A sensor 100 for sensing vibration from the vibrating body 10;

A control unit 200 for generating and outputting a shock response signal to cancel the sensed vibration; A shock-type response signal generator capable of suppressing vibration, including an actuator 300 that is driven in response to a shock response signal having a certain size.

[Claim 2] The method of claim 1,

The shock response signal is a shock-type response signal generator capable of suppressing one-time vibration.

[Claim 3] The method of claim 1,

The control unit 200 is a step of determining a characteristic of a frequency component having the greatest vibration through vibration measurement;

Programming a characteristic of the frequency component and a time point of supplying a corresponding signal to the control unit 200;

The sensor 100 detects the generation and magnitude of vibration, and then transfers it to the control unit 200;

Generating an impact response signal corresponding to the vibration magnitude of the frequency component previously determined by the control unit 200 and transmitting the signal to the actuator 300;

Supplying a shock response signal transmitted by driving the actuator 300; And

When the vibration remains after the response signal is supplied, a shock-type response signal generator capable of suppressing the vibration performing a step of supplying an additional shock response signal to the corresponding vibration to the repeat execution unit 210 if necessary.

[Claim 4] The method of claim 1,

The control unit 200 generates and transmits a shock response signal corresponding to the amplitude of a small number of frequency components having the largest vibration among a plurality of frequency components constituting the detected vibration signal, and residual vibration remains after the response signal is supplied. A shock-type response signal generator capable of suppressing vibration, including a repeat execution unit 210 capable of additionally executing the control unit 200, if any.

[Claim 5] In paragraph 3,

The frequency component having the greatest vibration is determined in advance through vibration measurement, and then a corresponding signal generating device in the form of a shock capable of suppressing the vibration programmed in the control unit 200.