WO2024036965A1 - 一种回转力矩主被动复合控制系统 - Google Patents
一种回转力矩主被动复合控制系统 Download PDFInfo
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- WO2024036965A1 WO2024036965A1 PCT/CN2023/083707 CN2023083707W WO2024036965A1 WO 2024036965 A1 WO2024036965 A1 WO 2024036965A1 CN 2023083707 W CN2023083707 W CN 2023083707W WO 2024036965 A1 WO2024036965 A1 WO 2024036965A1
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- motor
- flange
- rotating
- controlled
- control system
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- 239000002131 composite material Substances 0.000 title claims abstract description 47
- 238000000034 method Methods 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 claims abstract description 8
- 230000008569 process Effects 0.000 claims abstract description 7
- 238000005096 rolling process Methods 0.000 claims description 32
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- ISWSIDIOOBJBQZ-UHFFFAOYSA-N phenol group Chemical group C1(=CC=CC=C1)O ISWSIDIOOBJBQZ-UHFFFAOYSA-N 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000001808 coupling effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003631 expected effect Effects 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
Definitions
- the invention relates to the technical field of bridge engineering, and in particular to an active and passive composite control system for rotational torque.
- the vibration control of bridges is usually controlled by passive control methods such as dampers.
- the dampers can only output linear control force, which is equivalent to the fact that the dampers can only control the horizontal vibration and vertical vibration generated by the bridge and cannot Control of torsional vibrations produced by bridges.
- the damper also has the following defects: 1. The tensile strength of the damper is limited and it is easy to break when trains and bridges resonate. 2. When the damper controls bridge vibration, the damping fluid inside it is easily emulsified at high temperature under the action of high-frequency reciprocation, causing its control performance to be unstable.
- the damper controls the torsional vibration of the bridge, its linear control force characteristics are prone to chaos, and it has different control effects at different excitation frequencies.
- the tuned damper can control the vibration of the bridge. Instead of having no control effect, it will intensify the vibration of the bridge and fail to produce the expected effect.
- the main purpose of the present invention is to provide an active and passive composite control system for rotational torque, aiming to solve the technical problem that the dampers in the prior art cannot effectively solve the torsional vibration of the bridge, resulting in poor stability of the bridge.
- the technical solution provided by the present invention is:
- a rotary torque active and passive composite control system including a first rotating shaft, an elastic return member, a first rotating member, a first motor, a second rotating member, a sensor and a controller, the first rotating shaft is rotatably arranged on the On the object to be controlled, the elastic reset member is sleeved on the first rotating shaft, the first rotating member is arranged on the first rotating shaft, and one end of the elastic reset member is connected to the object to be controlled, The other end is connected to the first rotating member, the first motor is arranged on the side of the first rotating member facing away from the first rotating shaft, and the second rotating member is arranged on the first motor, The controller is connected to the sensor and the first motor respectively.
- the first rotating member rotates in a direction opposite to the twisting direction of the object to be controlled under the action of the object to be controlled.
- the sensor is used to Detect the twist angle of the object to be controlled and send the twist angle to the controller.
- the controller is used to process the received twist angle and output corresponding control instructions to the controller according to the processing results.
- a first motor is used to control the first motor to drive the second rotating member to rotate, so that the second rotating member accelerates the rotation of the first rotating member.
- the first rotating member includes a first rotating plate and an annular first flange extending radially toward the first motor along an edge of the first rotating plate, and the other end of the elastic return member is connected to the first rotating plate.
- the first rotating plate is connected to the first rotating plate.
- the first rotating plate is arranged on the first rotating shaft.
- the first motor is arranged on the side of the first rotating plate facing away from the first rotating shaft.
- the second rotating plate is connected to the first rotating plate.
- the component includes a second rotating plate and a second motor.
- the second rotating plate is arranged on the first motor.
- the second motor is arranged on a side of the second rotating plate facing away from the first motor.
- the second rotating plate is arranged on the first motor.
- the second motor is drivingly connected to the inner wall of the first flange, and the controller is further used to control the second motor to accelerate the rotation of the first flange according to the processing result, so that the first flange The first rotating plate is driven to rotate.
- the rotary torque active and passive composite control system also includes a transmission assembly, and the second motor and the first flange are transmission connected through the transmission assembly.
- the transmission assembly includes a gear
- the second motor has a second rotating shaft
- the gear is sleeved on the second rotating shaft
- a ring of gear teeth is provided on the inner wall of the first flange
- the gear It is engaged and transmission connected with the first flange.
- each second motor is disposed on the side of the second rotating plate facing away from the first motor, and the plurality of gears They are arranged on a plurality of second rotating shafts in one-to-one correspondence.
- the rotary torque active and passive composite control system also includes a base, the base is used to be installed in the object to be controlled, the first rotating shaft is rotatably arranged on the base, and the elastic One end of the reset component is connected to the base.
- the base includes a mounting base and a connecting arm provided on the mounting base.
- One end of the connecting arm away from the mounting base is connected to the inner wall of the object to be controlled, and the first rotating shaft is rotatable. It is arranged on the mounting base, and one end of the elastic return member is connected to the mounting base.
- the mounting base includes a mounting plate and an annular second flange extending radially along an edge of the mounting plate toward the first rotating shaft, and the first rotating shaft is rotatably disposed on the mounting plate, so One end of the elastic return member is connected to the mounting plate, the connecting arm is provided on the outer wall of the second flange, and the outer wall of the first flange can rotate along the inner wall of the second flange.
- the rotary torque active and passive composite control system also includes rolling elements, the rolling elements are arranged between the first flange and the second flange, and a third flange is provided on the outer wall of the first flange.
- a raceway, the inner wall of the second flange is provided with a second raceway corresponding to the first raceway, and the rolling element can be formed between the first raceway and the second raceway. Roll in the cavity so that the outer wall of the first flange can rotate along the inner wall of the second flange.
- the rotary torque active and passive composite control system also includes a cage, the number of the rolling elements is multiple, and the plurality of rolling elements are arranged on the cage at intervals and can rotate along the cage, and the third rolling element A flange drives the rolling element to rotate, so that the rolling element drives the cage to rotate.
- the present invention has the following beneficial effects:
- the first rotating part of the present application can rotate relative to the object to be controlled through the first rotating shaft. Under the action of the object to be controlled, the first rotating part will rotate in the opposite direction to the twisting direction of the object to be controlled, so that the first rotating part can generate offset
- the torque of the torsional vibration of the object to be controlled is transmitted to the object to be controlled through the elastic reset member to offset the torsional vibration generated by the object to be controlled, thereby improving the stability of the object to be controlled.
- Such an arrangement can make the rotation torque dominant.
- Passive composite control system achieves energy saving effect. This application detects the torsion angle of the object to be controlled through a sensor and sends the torsion angle to the controller.
- the controller processes the received torsion angle and outputs corresponding control instructions to the first motor according to the processing results to control the first motor.
- the second rotating part is driven to rotate so that the second rotating part generates a torque, and the torque is transmitted to the first rotating part through the first motor to accelerate the rotation of the first rotating part, so that the first rotating part can quickly generate an offset.
- the torque of torsional vibration of the object to be controlled The torque generated by the first rotating member is transmitted to the object to be controlled through the elastic return member to quickly offset the torsional vibration generated by the object to be controlled, thereby improving the accuracy and real-time performance of the torque generated by the active and passive composite control system for rotational torque.
- Fig. 1 is a schematic diagram of a rotary torque active and passive composite control system according to an embodiment of the present invention.
- Fig. 2 is a cross-sectional view of a rotary torque active and passive composite control system according to an embodiment of the present invention.
- FIG. 3 is a partial schematic diagram of a rotary torque active and passive composite control system according to an embodiment of the present invention.
- Rotary torque active and passive composite control system 1. Elastic return member; 2. First rotating member; 21. First rotating plate; 22. First flange; 3. First motor; 4. Second rotating member; 41. Second rotating plate; 42. Second motor; 421. Second rotating shaft; 5. Sensor; 6. Controller; 7. Object to be controlled; 8. Transmission component; 81. Gear; 9. Base; 91. Mounting seat; 911, mounting plate; 912, second flange; 92, connecting arm; 10, rolling element; 11, cage; 12, first fixing piece; 13, second fixing piece.
- the rotary torque active and passive composite control system 100 includes a first rotating shaft, an elastic return member 1, a first rotating member 2, and a first rotating member 2.
- the first rotating shaft is rotatably arranged on the object to be controlled 7
- the elastic return member 1 is set on the first rotating shaft
- the first rotating member 2 is arranged on On the first rotating shaft, one end of the elastic return member 1 is connected to the object to be controlled 7 and the other end is connected to the first rotating member 2.
- the first motor 3 is arranged on the side of the first rotating member 2 facing away from the first rotating shaft.
- the rotating member 4 is arranged on the first motor 3, and the controller 6 is connected to the sensor 5 and the first motor 3 respectively.
- the first rotating member 2 rotates in the direction opposite to the twisting direction of the object to be controlled 7 under the action of the object to be controlled 7,
- the sensor 5 is used to detect the twist angle of the object 7 to be controlled, and send the twist angle to the controller 6.
- the controller 6 is used to process the received twist angle, and output corresponding control instructions to the first motor 3 according to the processing results. , to control the first motor 3 to drive the second rotating member 4 to rotate, so that the second rotating member 4 accelerates the rotation of the first rotating member 2.
- the first rotating member 2 of the present application can rotate relative to the object to be controlled 7 through the first rotating shaft. Under the action of the object to be controlled 7, the first rotating member 2 will rotate in the direction opposite to the twisting direction of the object to be controlled 7, so that the first rotating member 2 can rotate relative to the object to be controlled 7.
- the rotating member 2 can generate a moment that offsets the torsional vibration of the object to be controlled 7 , and transmits the torque to the object to be controlled 7 through the elastic return member 1 to offset the torsional vibration generated by the object to be controlled 7 , thereby improving the stability of the object to be controlled 7 . Smoothness and such an arrangement enable the rotary torque active and passive composite control system 100 to achieve energy saving effects.
- This application detects the twist angle of the object 7 to be controlled through the sensor 5, and sends the twist angle to the controller 6.
- the controller 6 processes the received twist angle, and outputs corresponding control instructions to the first motor 3 according to the processing results.
- the first motor 3 is controlled to drive the second rotating member 4 to rotate, so that the second rotating member 4 generates a torque, and the torque is transmitted to the first rotating member 2 through the first motor 3 to accelerate the rotation of the first rotating member 2 , so that the first rotating member 2 can quickly generate a moment that offsets the torsional vibration of the object 7 to be controlled.
- the torque generated by the first rotating member 2 is transmitted to the object to be controlled 7 through the elastic return member 1 to quickly offset the torsional vibration generated by the object 7 to be controlled, thereby improving the accuracy and real-time accuracy of the torque generated by the active and passive composite control system 100 for rotational torque. sex.
- the elastic return member 1 is a torsion spring.
- the first motor 3 is a torque motor, and the torque motor can generate large torque.
- the senor 5 is provided on the object 7 to be controlled, and the controller 6 is provided on the first motor 3 .
- the object 7 to be controlled is a bridge.
- the rotary torque active and passive composite control system 100 also includes a bearing, which is arranged on the object 7 to be controlled, and the first rotating shaft is connected to the bearing, so that the first rotating shaft is rotatably arranged on the object 7 to be controlled.
- the first rotating member 2 includes a first rotating plate 21 and an annular first flange 22 extending radially along the edge of the first rotating plate 21 toward the first motor 3 .
- the other end of the elastic return member 1 is connected to the first rotating plate 21 , the first rotating plate 21 is arranged on the first rotating shaft, the first motor 3 is arranged on the side of the first rotating plate 21 facing away from the first rotating shaft, the second rotating member 4 includes a second rotating plate 41 and a second motor 42, The second rotating plate 41 is arranged on the first motor 3, and the second motor 42 is arranged on the side of the second rotating plate 41 facing away from the first motor 3.
- the second motor 42 is drivingly connected to the inner wall of the first flange 22 to control
- the controller 6 is also used to control the second motor 42 to accelerate the rotation of the first flange 22 according to the processing result, so that the first flange 22 drives the first rotating plate 21 to rotate.
- the rotation speed of the second motor 42 By controlling the rotation speed of the second motor 42 through the controller 6, the rotation of the first flange 22 can be accelerated, so that the first flange 22 drives the first rotating plate 21 to rotate quickly, so that the first rotating member 2 can quickly generate and offset the objects to be controlled. 7 torsional vibration torque, thereby improving the real-time performance of the torque generated by the rotary torque active and passive composite control system 100.
- the second motor 42 is a high-speed motor, and the high-speed motor has a relatively fast rotation speed. It can be understood that high-speed motors refer to motors with a speed exceeding 10,000r/min.
- the rotary torque active and passive composite control system 100 also includes a transmission assembly 8 , through which the second motor 42 and the first flange 22 are transmission connected.
- a transmission assembly 8 through which the second motor 42 and the first flange 22 are transmission connected.
- the transmission assembly 8 includes a gear 81.
- the second motor 42 has a second rotating shaft 421.
- the gear 81 is sleeved on the second rotating shaft 421.
- a ring of gear teeth is provided on the inner wall of the first flange 22.
- the gear 81 and the first flange 22 Engaging transmission connection.
- Each second motor 42 is disposed on the side of the second rotating plate 41 facing away from the first motor 3 .
- the plurality of gears 81 are disposed on a plurality of first motors 3 in a one-to-one correspondence.
- the rotation of the component 2 enables the first rotating component 2 to quickly generate a torque that offsets the torsional vibration of the object 7 to be controlled, thereby further improving the real-time performance of the rotational torque active and passive composite control system 100 in generating torque.
- the plurality of second motors 42 are evenly arranged on the side of the second rotating plate 41 facing away from the first motor 3 .
- the number of the second motor 42 and the gear 81 are both four.
- the rotary torque active and passive composite control system 100 also includes a base 9.
- the base 9 is used to be installed in the object to be controlled 7.
- the first rotating shaft is rotatably arranged on the base 9.
- One end of the elastic return member 1 is connected to the base 9 connect.
- the base 9 is installed in the object to be controlled 7 so that the moment generated by the first rotating member 2 can be transmitted to the object 7 to be controlled through the elastic return member 1 and the base 9 in sequence, so that the moment generated by the first rotating member 2
- the torsional vibration generated by the object 7 to be controlled can be better offset, thereby improving the stability of the object 7 to be controlled.
- the base 9 includes a mounting base 91 and a connecting arm 92 disposed on the mounting base 91.
- One end of the connecting arm 92 away from the mounting base 91 is connected to the inner wall of the object to be controlled 7.
- the first rotating shaft is rotatably disposed on the mounting base 91.
- One end of the elastic return member 1 is connected to the mounting base 91 .
- the connecting arm 92 has a flat strip structure. Compared with the plate-shaped connecting arm 92 with a larger area, such arrangement can not only reduce the cost, but also reduce the weight of the rotary torque active and passive composite control system 100, thus The load of the rotary torque active and passive composite control system 100 on the object 7 to be controlled is reduced, thereby improving the safety of the object 7 to be controlled.
- each connecting arm 92 There are multiple connecting arms 92 , and the plurality of connecting arms 92 are spaced on the mounting base 91 .
- One end of each connecting arm 92 away from the mounting base 91 is connected to the inner wall of the object 7 to be controlled.
- the multiple connecting arms 92 can not only improve the connection reliability between the mounting base 91 and the object to be controlled 7 , but also can transmit the torque generated by the first rotating member 2 to different parts of the object 7 to be controlled, so that the first rotating member The torque generated by 2 can better offset the torsional vibration generated by the object 7 to be controlled, thereby improving the stability of the object 7 to be controlled.
- the number of connecting arms 92 is four.
- the mounting base 91 includes a mounting plate 911 and an annular second flange 912 extending radially along the edge of the mounting plate 911 toward the first rotating shaft.
- the first rotating shaft is rotatably provided on the mounting plate 911.
- One end of the elastic return member 1 is connected to the mounting plate 911.
- the plates 911 are connected, the connecting arm 92 is provided on the outer wall of the second flange 912, and the outer wall of the first flange 22 can rotate along the inner wall of the second flange 912.
- the first motor 3 drives the first rotating plate 21 to rotate, so that the first rotating plate 21 drives the first flange 22 to rotate along the inner wall of the second flange 912 , so that the torque generated by the first flange 22 passes through the second flange 912 in turn.
- Flange 912, mounting base 91 and connecting arm 92 is transmitted to the object 7 to be controlled, so that the torque generated by the first rotating member 2 can quickly offset the torsional vibration of the object 7 to be controlled, thereby further improving the real-time performance of the torque generated by the active and passive composite control system 100 for rotational torque.
- the rotary torque active and passive composite control system 100 also includes a rolling element 10.
- the rolling element 10 is arranged between the first flange 22 and the second flange 912.
- a first raceway is provided on the outer wall of the first flange 22, and a second raceway is provided on the outer wall of the first flange 22.
- the inner wall of the flange 912 is provided with a second raceway corresponding to the first raceway, and the rolling element 10 can roll in the cavity formed by the first raceway and the second raceway, so that the outer wall of the first flange 22 It can rotate along the inner wall of the second flange 912 .
- the rolling body 10 is prevented from coming out from between the first flange 22 and the second flange 912 during rolling, so that the rolling body 10 can reliably roll on the first raceway. It rolls in the cavity formed together with the second raceway, thereby improving the rolling reliability of the rolling element 10 .
- the rolling element 10 is a steel ball.
- the steel ball has the advantages of high hardness, low wear rate, resistance to deformation, and long service life.
- the rotary torque active and passive composite control system 100 also includes a cage 11.
- the number of rolling elements 10 is multiple.
- the multiple rolling elements 10 are spaced on the cage 11 and can rotate along the cage 11.
- the first flange 22 drives the rolling. body 10, so that the rolling body 10 drives the cage 11 to rotate.
- the cage 11 can evenly space the plurality of rolling elements 10 from each other, so that each rolling element 10 can roll normally between the first flange 22 and the second flange 912 .
- the cage 11 is made of a phenolic tape tube.
- the cage 11 made of a phenolic tape tube has high wear resistance and self-lubricating properties, and has certain elasticity, plasticity, hardness, impact toughness, and fatigue properties. Strength and fracture toughness.
- the rotary torque active and passive composite control system 100 also includes a first fixing part 12.
- the first fixing part 12 is detachably disposed on the base 9.
- the first motor 3 is disposed on the side of the first fixing part 12 facing away from the base 9. .
- the rotary torque active and passive composite control system 100 also includes a second fixing part 13.
- the second fixing part 13 is disposed on the side of the first fixing part 12 facing away from the base 9.
- the first motor 3 is disposed on the second fixing part 13 facing away from the base 9.
- the bearing is arranged on the mounting plate 911, and the first rotating shaft is connected to the bearing, so that the first rotating shaft is rotatably arranged on the mounting plate 911.
- the first rotating member 2 When the object 7 to be controlled undergoes torsional vibration, the first rotating member 2 first rotates under the action of the object 7 to be controlled. Rotate in the direction opposite to the torsional direction of the object to be controlled 7, so that the first rotating member 2 can generate a moment that offsets the torsional vibration of the object to be controlled 7, and transmits the torque to the object to be controlled 7 through the elastic return member 1, thereby canceling out the torsional vibration of the object to be controlled 7.
- the end connected to the elastic reset member 1 and the object to be controlled 7 will generate a moment opposite to the torsion direction of the object 7 to be controlled (that is, the end connected to the elastic reset member 1 and the object 7 to be controlled will generate a torque opposite to the elastic reset 1 and the first rotating member 2 connect the end of the opposite moment), thereby canceling the torsional vibration generated by the object 7 to be controlled.
- the sensor 5 detects the twist angle of the object 7 to be controlled, and sends the twist angle to the controller 6.
- the controller 6 processes the received twist angle, and outputs corresponding control instructions to the first motor 3 according to the processing results.
- the first motor 3 is controlled to drive the second rotating member 4 to rotate so that the second rotating member 4 generates a torque.
- the torque generated by the second rotating member 4 is transmitted to the first rotating member 2 through the first motor 3 to accelerate the first rotation.
- the first rotating member 2 rotates, so that the first rotating member 2 can quickly generate a torque that offsets the torsional vibration of the object 7 to be controlled, thereby improving the control efficiency and control accuracy of the rotary torque active and passive composite control system 100.
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Abstract
本发明公开了一种回转力矩主被动复合控制系统，包括第一转轴、弹性复位件、第一旋转件、第一电机、第二旋转件、传感器以及控制器，第一旋转件通过第一转轴可相对待控对象旋转，第一旋转件在待控对象的作用下会朝向待控对象扭转方向相反的方向旋转，以使第一旋转件能够产生抵消待控对象扭转振动的力矩。通过传感器检测待控对象的扭转角度，并将扭转角度发送给控制器，控制器对接收的扭转角度进行处理，并根据处理结果输出相应的控制指令给第一电机，以控制第一电机驱动第二旋转件旋转，以使第二旋转件产生力矩，并通过第一电机将该力矩传递到第一旋转件上，以加速第一旋转件旋转，从而使第一旋转件能够快速产生抵消待控对象扭转振动的力矩。
Description
本发明涉及桥梁工程技术领域，特别涉及一种回转力矩主被动复合控制系统。
在现有技术中，当列车在桥梁上行驶时，一旦列车遇到桥面轨道不平顺的情况，将导致列车发生振动，振动的列车又会反作用在轨道上，长期如此，将导致轨道发生形变。轨道的形变越大，列车对轨道的振动也会随之越大，从而间接加剧列车对桥梁的振动，严重时将导致桥梁发生坍塌。
为了解决上述问题，桥梁的振动控制通常采用阻尼器等被动控制方式进行控制，但是阻尼器只能输出直线的控制力，相当于阻尼器只能对桥梁产生的水平振动和垂直振动进行控制，无法对桥梁产生的扭转振动进行控制。阻尼器还具有以下缺陷：1、阻尼器的抗拉强度有限，在列车和桥梁发生共振时容易发生断裂。2、阻尼器在控制桥梁振动时，其内部的阻尼液在高频往复作用下容易高温乳化，导致其控制性能不稳定，并且由于调谐质量阻尼器的位移和摆角之间的耦合效应，并不能用于带有旋转特性的振动形式，因此在控制桥梁扭转振动时往往失效。3、阻尼器在控制桥梁扭转振动时，其直线控制力的特性容易发生混沌现象，在不同的激励频率下具有不同的控制效果，但是在某种激励频率下，调谐阻尼器对于桥梁的振动控制非但没有控制效果，反而会加剧桥梁的振动，从而无法产生预期的效果。
发明内容
本发明的主要目的在于提供一种回转力矩主被动复合控制系统，旨在解决现有技术中的阻尼器无法有效解决桥梁的扭转振动，导致桥梁的稳定性较差的技术问题。
为了解决上述技术问题，本发明提供的技术方案为：
一种回转力矩主被动复合控制系统，包括第一转轴、弹性复位件、第一旋转件、第一电机、第二旋转件、传感器以及控制器，所述第一转轴可转动地设置在所述待控对象上，所述弹性复位件套设在所述第一转轴上，所述第一旋转件设置在所述第一转轴上，所述弹性复位件的一端与所述待控对象连接，另一端与所述第一旋转件连接，所述第一电机设置在所述第一旋转件背对所述第一转轴的一侧，所述第二旋转件设置在所述第一电机上，所述控制器分别与所述传感器和所述第一电机连接，所述第一旋转件在所述待控对象的作用下朝向所述待控对象扭转方向相反的方向旋转，所述传感器用于检测所述待控对象的扭转角度，并将所述扭转角度发送给所述控制器，所述控制器用于对接收的所述扭转角度进行处理，并根据处理结果输出相应的控制指令给所述第一电机，以控制所述第一电机驱动所述第二旋转件旋转，从而使所述第二旋转件加速所述第一旋转件旋转。
其中，所述第一旋转件包括第一旋转板以及沿所述第一旋转板的边缘朝向所述第一电机径向延伸的环形第一凸缘，所述弹性复位件的另一端与所述第一旋转板连接，所述第一旋转板设置在所述第一转轴上，所述第一电机设置在所述第一旋转板背对所述第一转轴的一侧，所述第二旋转件包括第二旋转板和第二电机，所述第二旋转板设置在所述第一电机上，所述第二电机设置在第二旋转板背对所述第一电机的一侧，所述第二电机和所述第一凸缘的内壁传动连接，所述控制器还用于根据所述处理结果控制所述第二电机加速所述第一凸缘旋转，以使所述第一凸缘带动所述第一旋转板旋转。
其中，所述回转力矩主被动复合控制系统还包括传动组件，所述第二电机和所述第一凸缘之间通过所述传动组件传动连接。
其中，所述传动组件包括齿轮，所述第二电机具有第二转轴，所述齿轮套设在所述第二转轴上，所述第一凸缘的内壁上设有一圈轮齿，所述齿轮和所述第一凸缘啮合传动连接。
其中，所述第二电机和所述齿轮的数量均为多个，每个所述第二电机均设置在所述第二旋转板背对所述第一电机的一侧，多个所述齿轮一一对应设置在多个所述第二转轴上。
其中，所述回转力矩主被动复合控制系统还包括基座，所述基座用于安装在所述待控对象内，所述第一转轴可转动地设置在所述基座上，所述弹性
复位件的一端与所述基座连接。
其中，所述基座包括安装座以及设置在所述安装座上的连接臂，所述连接臂远离所述安装座的一端与所述待控对象的内壁连接，所述第一转轴可转动地设置在所述安装座上，所述弹性复位件的一端与所述安装座连接。
其中，所述安装座包括安装板以及沿所述安装板的边缘朝向所述第一转轴径向延伸的环形第二凸缘，所述第一转轴可转动地设置在所述安装板上，所述弹性复位件的一端与所述安装板连接，所述连接臂设置在所述第二凸缘的外壁上，所述第一凸缘的外壁可沿所述第二凸缘的内壁旋转。
其中，所述回转力矩主被动复合控制系统还包括滚动体，所述滚动体设置在所述第一凸缘和所述第二凸缘之间，所述第一凸缘的外壁上设有第一滚道，所述第二凸缘的内壁上设有对应所述第一滚道的第二滚道，所述滚动体可在所述第一滚道和所述第二滚道共同形成的空腔内滚动，以使所述第一凸缘的外壁可沿所述第二凸缘的内壁旋转。
其中，所述回转力矩主被动复合控制系统还包括保持架，所述滚动体的数量为多个，多个所述滚动体间隔设置在所述保持架上且可沿保持架转动，所述第一凸缘带动所述滚动体旋转，以使所述滚动体带动所述保持架旋转。
与现有技术相比，本发明具有以下有益效果：
本申请的第一旋转件通过第一转轴可相对待控对象旋转，第一旋转件在待控对象的作用下会朝向待控对象扭转方向相反的方向旋转，以使第一旋转件能够产生抵消待控对象扭转振动的力矩，并通过弹性复位件将该力矩传递到待控对象上，以抵消待控对象产生的扭转振动，从而提高待控对象的平稳性，如此设置，能够使回转力矩主被动复合控制系统达到节能的效果。本申请通过传感器检测待控对象的扭转角度，并将扭转角度发送给控制器，控制器对接收的扭转角度进行处理，并根据处理结果输出相应的控制指令给第一电机，以控制第一电机驱动第二旋转件旋转，以使第二旋转件产生力矩，并通过第一电机将该力矩传递到第一旋转件上，以加速第一旋转件旋转，从而使第一旋转件能够快速产生抵消待控对象扭转振动的力矩。第一旋转件产生的力矩又通过弹性复位件传递到待控对象上，以快速抵消待控对象产生的扭转振动，从而提高回转力矩主被动复合控制系统产生力矩的精度和实时性。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图示出的结构获得其他的附图。
图1是根据本发明的一个实施例的回转力矩主被动复合控制系统的示意图。
图2是根据本发明的一个实施例的回转力矩主被动复合控制系统的剖视图。
图3是根据本发明的一个实施例的回转力矩主被动复合控制系统的局部示意图。
100、回转力矩主被动复合控制系统；1、弹性复位件；2、第一旋转件；21、第一旋转板；22、第一凸缘；3、第一电机；4、第二旋转件；41、第二旋转板；42、第二电机；421、第二转轴；5、传感器；6、控制器；7、待控对象；8、传动组件；81、齿轮；9、基座；91、安装座；911、安装板；912、第二凸缘；92、连接臂；10、滚动体；11、保持架；12、第一固定件；13、第二固定件。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明的一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明，本发明实施例中所有方向性指示(诸如上、下、左、右、前、后……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。
另外，在本发明中涉及“第一”、“第二”等的描述仅用于描述目的，而不能理解为指示或暗示其相对重要性或者隐含指明所指示的技术特征的数
量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。另外，全文中的“和/或”包括三个方案，以A和/或B为例，包括A技术方案、B技术方案，以及A和B同时满足的技术方案；另外，各个实施例之间的技术方案可以相互结合，但是必须是以本领域普通技术人员能够实现为基础，当技术方案的结合出现相互矛盾或无法实现时应当认为这种技术方案的结合不存在，也不在本发明要求的保护范围之内。
如图1-3所示，本实施例提供了一种回转力矩主被动复合控制系统100，该回转力矩主被动复合控制系统100包括第一转轴、弹性复位件1、第一旋转件2、第一电机3、第二旋转件4、传感器5以及控制器6，第一转轴可转动地设置在待控对象7上，弹性复位件1套设在第一转轴上，第一旋转件2设置在第一转轴上，弹性复位件1的一端与待控对象7连接，另一端与第一旋转件2连接，第一电机3设置在第一旋转件2背对第一转轴的一侧，第二旋转件4设置在第一电机3上，控制器6分别与传感器5和第一电机3连接，第一旋转件2在待控对象7的作用下朝向待控对象7扭转方向相反的方向旋转，传感器5用于检测待控对象7的扭转角度，并将扭转角度发送给控制器6，控制器6用于对接收的扭转角度进行处理，并根据处理结果输出相应的控制指令给第一电机3，以控制第一电机3驱动第二旋转件4旋转，从而使第二旋转件4加速第一旋转件2旋转。
本申请的第一旋转件2通过第一转轴可相对待控对象7旋转，第一旋转件2在待控对象7的作用下会朝向待控对象7扭转方向相反的方向旋转，以使第一旋转件2能够产生抵消待控对象7扭转振动的力矩，并通过弹性复位件1将该力矩传递到待控对象7上，以抵消待控对象7产生的扭转振动，从而提高待控对象7的平稳性，如此设置，能够使回转力矩主被动复合控制系统100达到节能的效果。本申请通过传感器5检测待控对象7的扭转角度，并将扭转角度发送给控制器6，控制器6对接收的扭转角度进行处理，并根据处理结果输出相应的控制指令给第一电机3，以控制第一电机3驱动第二旋转件4旋转，以使第二旋转件4产生力矩，并通过第一电机3将该力矩传递到第一旋转件2上，以加速第一旋转件2旋转，从而使第一旋转件2能够快速产生抵消待控对象7扭转振动的力矩。第一旋转件2产生的力矩又通过弹性复位件1传递到待控对象7上，以快速抵消待控对象7产生的扭转振动，从而提高回转力矩主被动复合控制系统100产生力矩的精度和实时性。
在本实施例中，弹性复位件1为扭转弹簧。
在本实施例中，第一电机3为力矩电机，力矩电机能够产生较大的扭矩。
在本实施例中，传感器5设置在待控对象7上，控制器6设置在第一电机3上。
在本实施例中，待控对象7为桥梁。
回转力矩主被动复合控制系统100还包括轴承，轴承设置在待控对象7上，第一转轴和轴承连接，以使第一转轴可转动地设置在待控对象7上。
第一旋转件2包括第一旋转板21以及沿第一旋转板21的边缘朝向第一电机3径向延伸的环形第一凸缘22，弹性复位件1的另一端与第一旋转板21连接，第一旋转板21设置在第一转轴上，第一电机3设置在第一旋转板21背对第一转轴的一侧，第二旋转件4包括第二旋转板41和第二电机42，第二旋转板41设置在第一电机3上，第二电机42设置在第二旋转板41背对第一电机3的一侧，第二电机42和第一凸缘22的内壁传动连接，控制器6还用于根据处理结果控制第二电机42加速第一凸缘22旋转，以使第一凸缘22带动第一旋转板21旋转。通过控制器6控制第二电机42的转速，可加速第一凸缘22旋转，以使第一凸缘22带动第一旋转板21快速旋转，使得第一旋转件2能够快速产生抵消待控对象7扭转振动的力矩，从而提高回转力矩主被动复合控制系统100产生力矩的实时性。
在本实施例中，第二电机42为高速电机，高速电机具有较快的转速。可以了解，高速电机是指转速超过10000r/min的电机。
回转力矩主被动复合控制系统100还包括传动组件8，第二电机42和第一凸缘22之间通过传动组件8传动连接。当传动组件8发生损坏时，只需更换损坏的传动组件8即可，无需更换第二电机42，从而降低回转力矩主被动复合控制系统100的更换成本。
传动组件8包括齿轮81，第二电机42具有第二转轴421，齿轮81套设在第二转轴421上，第一凸缘22的内壁上设有一圈轮齿，齿轮81和第一凸缘22啮合传动连接。
第二电机42和齿轮81的数量均为多个，每个第二电机42均设置在第二旋转板41背对第一电机3的一侧，多个齿轮81一一对应设置在多个第二转轴421上。通过多个第二电机42和多个齿轮81的配合，能够加速第一旋转
件2旋转，使得第一旋转件2能够快速产生抵消待控对象7扭转振动的力矩，从而进一步提高回转力矩主被动复合控制系统100产生力矩的实时性。
多个第二电机42均匀设置在第二旋转板41背对第一电机3的一侧。
第二电机42和齿轮81的数量均为四个。
回转力矩主被动复合控制系统100还包括基座9，基座9用于安装在待控对象7内，第一转轴可转动地设置在基座9上，弹性复位件1的一端与基座9连接。将基座9安装在待控对象7内，以使第一旋转件2产生的力矩能够依次通过弹性复位件1、基座9传递到待控对象7内，使得第一旋转件2产生的力矩能够更好地抵消待控对象7产生的扭转振动，从而提高待控对象7的平稳性。
基座9包括安装座91以及设置在安装座91上的连接臂92，连接臂92远离安装座91的一端与待控对象7的内壁连接，第一转轴可转动地设置在安装座91上，弹性复位件1的一端与安装座91连接。
在本实施例中，连接臂92呈扁平条形结构，相对于面积较大的板状连接臂92，如此设置，不仅能够降低成本，而且能够降低回转力矩主被动复合控制系统100的重量，从而降低回转力矩主被动复合控制系统100对待控对象7的负荷，进而提高待控对象7的安全性。
连接臂92的数量为多个，多个连接臂92间隔设置在安装座91上，每个连接臂92远离安装座91的一端均与待控对象7的内壁连接。通过多个连接臂92不仅能够提高安装座91和待控对象7的连接可靠性，而且能够将第一旋转件2产生的力矩分别传递到待控对象7的不同部位上，使得第一旋转件2产生的力矩能够更好地抵消待控对象7产生的扭转振动，从而提高待控对象7的平稳性。
连接臂92的数量为四个。
安装座91包括安装板911以及沿安装板911的边缘朝向第一转轴径向延伸的环形第二凸缘912，第一转轴可转动地设置在安装板911上，弹性复位件1的一端与安装板911连接，连接臂92设置在第二凸缘912的外壁上，第一凸缘22的外壁可沿第二凸缘912的内壁旋转。通过第一电机3驱动第一旋转板21旋转，以使第一旋转板21带动第一凸缘22沿第二凸缘912的内壁旋转，从而使第一凸缘22产生的力矩依次通过第二凸缘912、安装座91以及连接臂
92传递到待控对象7上，使得第一旋转件2产生的力矩能够快速抵消待控对象7的扭转振动，从而进一步提高回转力矩主被动复合控制系统100产生力矩的实时性。
回转力矩主被动复合控制系统100还包括滚动体10，滚动体10设置在第一凸缘22和第二凸缘912之间，第一凸缘22的外壁上设有第一滚道，第二凸缘912的内壁上设有对应第一滚道的第二滚道，滚动体10可在第一滚道和第二滚道共同形成的空腔内滚动，以使第一凸缘22的外壁可沿第二凸缘912的内壁旋转。通过设置第一滚道和第二滚道，以防止滚动体10在滚动的过程中从第一凸缘22和第二凸缘912之间脱出，使得滚动体10能够可靠地在第一滚道和第二滚道共同形成的空腔内滚动，从而提高滚动体10滚动的可靠性。
在本实施例中，滚动体10为钢球，钢球具有硬度高、磨损率低、不易变形以及使用寿命长等优点。
回转力矩主被动复合控制系统100还包括保持架11，滚动体10的数量为多个，多个滚动体10间隔设置在保持架11上且可沿保持架11转动，第一凸缘22带动滚动体10，以使滚动体10带动保持架11旋转。通过保持架11能够将多个滚动体10均匀地相互隔开，使得每个滚动体10在第一凸缘22和第二凸缘912之间能够正常地滚动。
在本实施例中，保持架11由酚醛胶布管制成，采用酚醛胶布管制成的保持架11具有较高的耐磨损性能和自润滑性能，有一定的弹性、塑性、硬度、冲击韧性、疲劳强度以及断裂韧性等优点。
回转力矩主被动复合控制系统100还包括第一固定件12，第一固定件12可拆卸地设置在基座9上，第一电机3设置在第一固定件12背对基座9的一侧。
回转力矩主被动复合控制系统100还包括第二固定件13，第二固定件13设置在第一固定件12背离基座9的一侧，第一电机3设置在第二固定件13背对第一固定件12的一侧。
轴承设置在安装板911上，第一转轴和轴承连接，以使第一转轴可旋转地设置在安装板911上。
工作原理：
当待控对象7发生扭转振动时，第一旋转件2先在待控对象7的作用下
朝向待控对象7扭转方向相反的方向旋转，以使第一旋转件2能够产生抵消待控对象7扭转振动的力矩，并通过弹性复位件1将该力矩传递到待控对象7上，从而抵消待控对象7产生的扭转振动。具体地，在第一旋转件2旋转的过程中，弹性复位件1和第一旋转件2连接的一端会产生与待控对象7扭转方向相同的恢复力矩，由于弹性复位件1两端的作用力是相反的，因此弹性复位件1和待控对象7连接的一端会产生与待控对象7扭转方向相反的力矩(也就是，弹性复位件1和待控对象7连接的一端会产生与弹性复位件1和第一旋转件2连接的一端相反的力矩)，从而抵消待控对象7产生的扭转振动。再通过传感器5检测待控对象7的扭转角度，并将扭转角度发送给控制器6，控制器6对接收的扭转角度进行处理，并根据处理结果输出相应的控制指令给第一电机3，以控制第一电机3驱动第二旋转件4旋转，以使第二旋转件4产生力矩，第二旋转件4产生的力矩通过第一电机3传递到第一旋转件2上，以加速第一旋转件2旋转，从而使第一旋转件2能够快速产生抵消待控对象7扭转振动的力矩，从而提高了回转力矩主被动复合控制系统100的控制效率和控制精度。
以上所述仅为本发明的优选实施例，并非因此限制本发明的专利范围，凡是在本发明的发明构思下，利用本发明说明书及附图内容所作的等效结构变换，或直接/间接运用在其他相关的技术领域均包括在本发明的专利保护范围内。
Claims (10)
- 一种回转力矩主被动复合控制系统，其特征在于，包括第一转轴、弹性复位件、第一旋转件、第一电机、第二旋转件、传感器以及控制器，所述第一转轴可转动地设置在待控对象上，所述弹性复位件套设在所述第一转轴上，所述第一旋转件设置在所述第一转轴上，所述弹性复位件的一端与所述待控对象连接，另一端与所述第一旋转件连接，所述第一电机设置在所述第一旋转件背对所述第一转轴的一侧，所述第二旋转件设置在所述第一电机上，所述控制器分别与所述传感器和所述第一电机连接，所述第一旋转件在所述待控对象的作用下朝向所述待控对象扭转方向相反的方向旋转，所述传感器用于检测所述待控对象的扭转角度，并将所述扭转角度发送给所述控制器，所述控制器用于对接收的所述扭转角度进行处理，并根据处理结果输出相应的控制指令给所述第一电机，以控制所述第一电机驱动所述第二旋转件旋转，从而使所述第二旋转件加速所述第一旋转件旋转。
- 根据权利要求1所述的回转力矩主被动复合控制系统，其特征在于，所述第一旋转件包括第一旋转板以及沿所述第一旋转板的边缘朝向所述第一电机径向延伸的环形第一凸缘，所述弹性复位件的另一端与所述第一旋转板连接，所述第一旋转板设置在所述第一转轴上，所述第一电机设置在所述第一旋转板背对所述第一转轴的一侧，所述第二旋转件包括第二旋转板和第二电机，所述第二旋转板设置在所述第一电机上，所述第二电机设置在第二旋转板背对所述第一电机的一侧，所述第二电机和所述第一凸缘的内壁传动连接，所述控制器还用于根据所述处理结果控制所述第二电机加速所述第一凸缘旋转，以使所述第一凸缘带动所述第一旋转板旋转。
- 根据权利要求2所述的回转力矩主被动复合控制系统，其特征在于，所述回转力矩主被动复合控制系统还包括传动组件，所述第二电机和所述第一凸缘之间通过所述传动组件传动连接。
- 根据权利要求3所述的回转力矩主被动复合控制系统，其特征在于，所述传动组件包括齿轮，所述第二电机具有第二转轴，所述齿轮套设在所述第二转轴上，所述第一凸缘的内壁上设有一圈轮齿，所述齿轮和所述第一凸缘啮合传动连接。
- 根据权利要求4所述的回转力矩主被动复合控制系统，其特征在于，所述第二电机和所述齿轮的数量均为多个，每个所述第二电机均设置在所述第二旋转板背对所述第一电机的一侧，多个所述齿轮一一对应设置在多个所述第二转轴上。
- 根据权利要求2所述的回转力矩主被动复合控制系统，其特征在于，所述回转力矩主被动复合控制系统还包括基座，所述基座用于安装在所述待控对象内，所述第一转轴可转动地设置在所述基座上，所述弹性复位件的一端与所述基座连接。
- 根据权利要求6所述的回转力矩主被动复合控制系统，其特征在于，所述基座包括安装座以及设置在所述安装座上的连接臂，所述连接臂远离所述安装座的一端与所述待控对象的内壁连接，所述第一转轴可转动地设置在所述安装座上，所述弹性复位件的一端与所述安装座连接。
- 根据权利要求7所述的回转力矩主被动复合控制系统，其特征在于，所述安装座包括安装板以及沿所述安装板的边缘朝向所述第一转轴径向延伸的环形第二凸缘，所述第一转轴可转动地设置在所述安装板上，所述弹性复位件的一端与所述安装板连接，所述连接臂设置在所述第二凸缘的外壁上，所述第一凸缘的外壁可沿所述第二凸缘的内壁旋转。
- 根据权利要求8所述的回转力矩主被动复合控制系统，其特征在于，所述回转力矩主被动复合控制系统还包括滚动体，所述滚动体设置在所述第一凸缘和所述第二凸缘之间，所述第一凸缘的外壁上设有第一滚道，所述第二凸缘的内壁上设有对应所述第一滚道的第二滚道，所述滚动体可在所述第一滚道和所述第二滚道共同形成的空腔内滚动，以使所述第一凸缘的外壁可沿所述第二凸缘的内壁旋转。
- 根据权利要求9所述的回转力矩主被动复合控制系统，其特征在于，所述回转力矩主被动复合控制系统还包括保持架，所述滚动体的数量为多个，多个所述滚动体间隔设置在所述保持架上且可沿保持架转动，所述第一凸缘带动所述滚动体旋转，以使所述滚动体带动所述保持架旋转。
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