WO2024124656A1 - 一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法 - Google Patents

一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法 Download PDF

Info

Publication number
WO2024124656A1
WO2024124656A1 PCT/CN2023/072772 CN2023072772W WO2024124656A1 WO 2024124656 A1 WO2024124656 A1 WO 2024124656A1 CN 2023072772 W CN2023072772 W CN 2023072772W WO 2024124656 A1 WO2024124656 A1 WO 2024124656A1
Authority
WO
WIPO (PCT)
Prior art keywords
drum
closed
magnetorheological damper
rotary multi
static
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2023/072772
Other languages
English (en)
French (fr)
Inventor
李会军
陆叶
宋爱国
厉叶
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Southeast University
Original Assignee
Southeast University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Southeast University filed Critical Southeast University
Publication of WO2024124656A1 publication Critical patent/WO2024124656A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

Definitions

  • the invention belongs to the technical field of dampers, and in particular relates to a closed-loop force-controlled rotary multi-drum magnetorheological damper and a control method thereof.
  • Magnetorheological fluid is a non-homogeneous suspension composed of polarizable micron-sized particles, carrier fluid and additives. Under the action of an external electric field or magnetic field, a chain structure will be formed inside the fluid. The direction of the chain structure is parallel to the field direction, which increases the yield stress of the fluid and restricts the flow of the fluid. External energy needs to be injected to break the chain structure and restore the fluid movement.
  • the performance of the magnetorheological fluid After applying an external magnetic field, the performance of the magnetorheological fluid will change rapidly.
  • the particles form a chain structure inside the magnetorheological fluid, the yield stress increases, and the magnetorheological fluid is converted from a liquid to a solid state, and has a certain shear resistance.
  • the particles After removing the external magnetic field, the particles are redispersed inside the magnetorheological fluid, the yield stress disappears, and the magnetorheological fluid returns to a liquid state.
  • the shear magnetorheological fluid can only feel a very small viscous torque (the viscous torque is related to the viscosity of the magnetorheological fluid).
  • Magnetorheological dampers are of great significance for robot drives due to their fast response time, high torque-to-volume ratio, and low power requirements.
  • Patent CN 110873147 B proposes a symmetrical multi-cylinder rotating magnetorheological damper
  • Patent CN 105626754 A proposes a multi-piece rotating magnetorheological fluid damper based on a serpentine magnetic circuit.
  • the torque-to-volume ratio needs to be optimized and the compactness can be further improved.
  • the present invention proposes a closed-loop force-controlled rotary multi-drum magnetorheological damper and a control method thereof.
  • the present invention designs a multi-drum structure without increasing the difficulty of assembly, and designs an embedded Hall sensor to ensure its own closed-loop force control.
  • the present invention provides the following technical solutions:
  • a rotary multi-drum magnetorheological damper capable of closed-loop force control, comprising an upper shell, a middle shell, an input shaft, an upper shell, a coil bracket, a coil, a lower shell, an output shaft, an inner static drum, an inner moving drum, a middle static drum, an outer moving drum, an outer static drum, and a Hall sensor; the upper shell, the middle shell, and the lower shell are sequentially arranged from top to bottom and fixedly connected to each other, the input shaft is fixed to the top of the upper shell, the upper shell, the middle shell, and the lower shell constitute a containing space, one end of the output shaft, the coil bracket, the coil, the inner static drum, the inner moving drum, the middle static drum, the outer moving drum, and the outer static drum are arranged in the containing space.
  • the coil bracket is fixedly connected to the upper shell, the coil is fixed on the coil bracket, the inner moving drum and the outer moving drum are embedded in the coil bracket, the inner static drum, the middle static drum and the outer static drum are embedded in the output shaft, and the inner static drum, the inner moving drum, the middle static drum, the outer moving drum and the outer static drum are alternately distributed in sequence; there are gaps between the upper shell and the inner static drum, between the inner static drum and the inner moving drum, between the inner moving drum and the middle static drum, between the middle static drum and the outer moving drum, between the outer moving drum and the outer static drum, between the outer static drum and the middle shell, between the upper shell and the output shaft, and between the output shaft and the lower shell, and these gaps are filled with magnetic Rheological fluid; the Hall sensor is embedded in the middle housing.
  • a retaining spring for positioning and resisting the upper shell is also provided on the output shaft.
  • the input shaft, the upper housing, the middle housing and the lower housing are fixedly connected by screws.
  • the coil support is fixedly connected to the upper shell by screws, and the inner moving drum and the outer moving drum are fixed to the coil support by screws.
  • the inner static drum, the middle static drum and the outer static drum are fixed on the output shaft by screws.
  • the present invention also provides a control method for a rotary multi-drum magnetorheological damper capable of closed-loop force control, comprising the following steps:
  • Step 1 Function relationship calibration: different currents I are passed through the coil of the magnetorheological damper, and the corresponding output force and the magnitude of the measured magnetic field are measured;
  • Step 2 Set the desired output force, convert it into the desired magnetic field size through the relationship, detect the magnetic field size in real time through the Hall sensor, perform magnetic field closed-loop control, and thus control the output force.
  • the present invention has the following advantages and beneficial effects:
  • the present invention can realize closed-loop control of torque output by built-in Hall sensor without external force sensor.
  • the rotary multi-drum magnetorheological damper provided by the present invention optimizes the torque-to-volume ratio and has a more compact structure.
  • the present invention separates the input and output shafts, which is convenient for integration with any drive system. It only needs a coupling to connect, and no additional slots need to be processed, which is more practical.
  • the output shaft is fixed with double bearings, and the two mechanical supports can ensure the stability of the shaft operation, avoid friction between the output shaft and other parts, reduce the off-state torque, and improve the overall output performance.
  • the present invention optimizes the structure and adopts a single coil design to improve the integrity of the mechanical system.
  • the present invention increases the number of parallel dynamic and static drums to improve system performance. Compared with previous designs, the present invention has a smaller volume and space and a lower cost on the basis of improved performance.
  • FIG1 is a schematic diagram of a rotary multi-drum magnetorheological damper capable of closed-loop force control provided by the present invention
  • FIG. 2 is a schematic diagram of the control flow of the rotary multi-drum magnetorheological damper capable of closed-loop force control provided by the present invention.
  • the rotary multi-drum magnetorheological damper with closed-loop force control comprises a middle housing 1, an input shaft 2, an upper housing 3, a coil support 4, a coil 5, a lower housing 6, an inner bearing 7, an outer bearing 8, a retaining spring 9, an output shaft 10, an inner static drum 11, an inner moving drum 12, a middle static drum 13, an outer moving drum 14, an outer static drum 15, and a Hall sensor 16.
  • the upper housing 3, the middle housing 1, and the lower housing 6 are arranged in sequence from top to bottom, and the upper housing 3, the middle housing 1, and the lower housing 6 constitute a containing space, which is filled with magnetorheological fluid, and the top of the output shaft 10, the coil support 4, the coil 5, the inner static drum 11, the inner moving drum 12, the middle static drum 13, the outer moving drum 14, and the outer static drum 15 are arranged in the space.
  • the Hall sensor 16 is embedded in the middle housing 1.
  • the input shaft 2 is connected to the upper housing 3 and can rotate relative to other parts.
  • the top of the output shaft is connected to the upper housing through an inner bearing, and the middle part is connected to the lower housing through an outer bearing.
  • the output shaft is also provided with a retaining spring 9 for resisting the upper shell and positioning, so as to maintain the mutual clearance of the components in the space and prevent the friction loss between the parts from affecting the output performance.
  • the coil support 4 is fixedly connected to the upper shell 3, the inner moving drum 12 and the outer moving drum 14 are embedded in the coil support 4, the inner static drum 11, the middle static drum 13, and the outer static drum 15 are embedded in the output shaft 10, and the coil support 4 is located above the output shaft 10.
  • the inner static drum 11, the inner moving drum 12, the middle static drum 13, the outer moving drum 14, and the outer static drum 15 are staggered in sequence, and there are gaps between each other.
  • the cross section of the rotary multi-drum magnetorheological damper is a cross shape, with a radial transmission shaft in the horizontal direction and an axial transmission shaft in the vertical direction.
  • the input shaft 2 and the output shaft 10 can be connected to other structures through the threads on the shafts.
  • the screws axially connect the input shaft 2, the upper housing 3, the middle housing 1,
  • the position of the lower shell 6 is relatively fixed, the screws radially fix the upper shell 3, the coil support 4, the inner moving drum 12 and the outer moving drum 14, and the coil 5 is fixed to the coil support 4 by glue.
  • the output shaft 10 is relatively fixed with the inner static drum 11, the middle static drum 13 and the outer static drum 15 by screws, the retaining spring 9 is used for axial positioning, and the inner bearing 7 and the outer bearing 8 are used to reduce the contact friction between the parts.
  • there are three gaps between the lower shell 6 and the output shaft 10 two gaps between the middle shell 1 and the outer static drum 15, one gap between the outer static drum 15 and the outer moving drum 14, one gap between the outer moving drum 14 and the output shaft 10, one gap between the outer moving drum 14 and the middle static drum 13, one gap between the middle static drum 13 and the coil support 4, one gap between the middle static drum 13 and the inner dynamic drum 12, one gap between the inner moving drum 12 and the output shaft 10, one gap between the inner dynamic drum 12 and the inner static drum 11, one gap between the inner static drum 11 and the coil support 4, and two gaps between the inner static drum 11 and the upper shell 3.
  • the Hall sensor 16 is embedded in the middle shell 1 to detect the magnetic field strength, so that the magnetic field closed loop control can be performed to control the output torque. Since the addition of the Hall sensor makes the magnetic field not evenly distributed, in order to ensure the accuracy of the measurement, three square grooves are opened on the middle shell 4 to facilitate the fixing of the Hall sensor 16.
  • the output shaft 10 is connected to the inner static drum 11, the middle static drum 13, and the outer static drum 15.
  • the input shaft 2 transmits the torque to the output shaft connected to the three static drums through magnetorheological fluid. Due to the installation of 7 inner bearings and 8 outer bearings, the off-state torque when no power is applied is reduced, and the smoothness of the damper is improved.
  • a coil slot is reserved in the coil support 4, and the coil interface is led out and connected to an external slip ring.
  • the control method of the rotary multi-drum magnetorheological damper capable of closed-loop force control is shown in FIG2 , and is specifically as follows:
  • the function relationship is calibrated. Different currents I are passed through the coil of the magnetorheological damper, and the corresponding output force and the magnitude of the measured magnetic field are measured. Among them, B is the magnetic induction intensity and F is the output force.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Fluid-Damping Devices (AREA)

Abstract

一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法，包括上壳体（3）、中壳体（1）、输入轴（2），线圈支架（4）、线圈（5）、下壳体（6）、输出轴（10）、内静鼓（11）、内动鼓（12）、中静鼓（13）、外动鼓（14）、外静鼓（15）、霍尔传感器（16）。在不增加装配难度的基础上，设计了多鼓式结构，通过内嵌霍尔传感器能够实现自身闭环控制力矩输出，无需外置力传感器。同时，优化了力矩体积比，结构更为紧凑。

Description

一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法 技术领域
本发明属于阻尼器技术领域，具体涉及一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法。
背景技术
磁流变液是由可极化的微米级颗粒、载液以及添加剂构成的非均质悬浮体，在外加电场或磁场的作用下会在流体内部形成链式结构。链式结构的方向与场方向平行，使流体的屈服应力增大，流体的流动被限制，需要注入外界能量以打破链式结构，恢复流体运动。
在施加外部磁场后，磁流变液的性能会快速发生变化，颗粒在磁流变液内部形成链式结构，屈服应力增大，磁流变液由液态转换为类固态，并具有一定的抗剪切能力；在撤去外部磁场后，颗粒重新分散在磁流变液内部，屈服应力消失，磁流变液重新恢复为液态，剪切磁流变液只能感受到很小的粘滞力矩(粘滞力矩与磁流变液粘度有关)。磁流变阻尼器因响应时间快，转矩-体积比高，功率要求低的特点，对于机器人驱动有着重要意义。
现有针对磁流变阻尼器设计有众多方法，其中包括：
专利CN 110873147 B提出一种对称多筒旋转式磁流变阻尼器；专利CN 105626754 A一种基于蛇形磁路的多片旋转式磁流变液阻尼器。
但是上述专利方案中还存在以下问题：
1、无法自身闭环控制力矩输出，需要外置力传感器；
2、力矩体积比有待优化，紧凑型可进一步提高。
现有技术中尚无能够解决以上问题的合理方案。
发明内容
针对现有技术中存在的问题，本发明提出一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法。本发明在不增加装配难度的基础上，设计了多鼓式结构，同时为了保证自身可力闭环控制，设计了内嵌霍尔传感器。
为了达到上述目的，本发明提供如下技术方案：
一种可闭环力控的旋转式多鼓磁流变阻尼器，包括上壳体、中壳体、输入轴、上壳体，线圈支架、线圈、下壳体、输出轴、内静鼓、内动鼓、中静鼓、外动鼓、外静鼓、霍尔传感器；所述上壳体、中壳体、下壳体由上而下依次设置且彼此固定连接，所述输入轴固定在上壳体顶部，上壳体、中壳体、下壳体构成了容纳空间，输出轴一端、线圈支架、线圈、内静鼓、内动鼓、中静鼓、外动鼓、外静鼓设置在容纳空间内；线圈支架与上壳体固定连接，线圈固定在线圈支架上，内动鼓和外动鼓嵌入线圈支架，内静鼓、中静鼓、外静鼓嵌入输出轴，内静鼓、内动鼓、中静鼓、外动鼓、外静鼓依次交错分布；上壳体和内静鼓之间，内静鼓和内动鼓之间，内动鼓和中静鼓之间，中静鼓和外动鼓之间，外动鼓和外静鼓之间，外静鼓和中壳体之间，上壳体和输出轴之间，输出轴与下壳体之间均存在间隙，这些间隙内填充有磁 流变液；霍尔传感器嵌入在中壳体中。
进一步的，所述输出轴顶端通过内轴承与上壳体连接，中部通过外轴承与下壳体连接。
进一步的，所述输出轴上还设置有用于定位并抵住上壳体的卡簧。
进一步的，所述线圈和上壳体之间具有装配间隙。
进一步的，所述输入轴、上壳体、中壳体、下壳体之间通过螺丝固定连接。
进一步的，所述线圈支架与上壳体通过螺丝固定连接，所述内动鼓和外动鼓通过螺丝固定在线圈支架上。
进一步的，所述内静鼓、中静鼓、外静鼓通过螺丝固定在输出轴上。
本发明还提供了可闭环力控的旋转式多鼓磁流变阻尼器的控制方法，包括如下步骤：
步骤1，函数关系标定，给磁流变阻尼器的线圈通入不同的电流I，测量对应的输出力以及测量的磁场大小；
步骤2，设定期望输出力，通过关系转换为期望磁场大小，通过霍尔传感器实时检测磁场大小，做磁场闭环控制，从而控制输出力。
与现有技术相比，本发明具有如下优点和有益效果：
1.本发明通过内嵌霍尔传感器能够实现自身闭环控制力矩输出，无需外置力传感器。同时，本发明提供的旋转式多鼓磁流变阻尼器优化了力矩体积比，结构更为紧凑。
2.本发明将输入输出轴分离，方便集成任何的驱动系统，只需要联轴器连接即可，不需另外加工槽孔，更具有应用性。此外，输出轴采用双轴承固定，机械上两处支撑可保证轴运行的平稳性，避免输出轴与其他零件的摩擦，降低断态力矩，提高整体的输出性能。
3.本发明优化结构，采用使用单线圈设计，提高机械系统的一体性。
4.本发明增加并排动静鼓数量提高系统性能，相较于以往设计，本发明在提升性能的基础上，体积空间更小，成本代价更低。
附图说明
图1是本发明提供的可闭环力控的旋转式多鼓磁流变阻尼器示意图；
图2是本发明提供的可闭环力控的旋转式多鼓磁流变阻尼器控制流程示意图。
附图标记说明：
1-中壳体，2-输入轴，3-上壳体，4-线圈支架，5-线圈，6-下壳体，7-内轴承，8外轴承-，9-卡簧，10-输出轴，11-内静鼓，12-内动鼓，13-中静鼓，14-外动鼓，15-外静鼓，16-霍尔传感器。
具体实施方式
以下将结合具体实施例对本发明提供的技术方案进行详细说明，应理解下述具体实施方式仅用于说明本发明而不用于限制本发明的范围。
如图1所示，本发明提供的可闭环力控的旋转式多鼓磁流变阻尼器，包括中壳体1、输入轴2、上壳体3、线圈支架4、线圈5、下壳体6、内轴承7、外轴承8、卡簧9、输出轴10、内静鼓11、内动鼓12、中静鼓13、外动鼓14、外静鼓15、霍尔传感器16。图中，上壳体3、中壳体1、下壳体6由上而下依次设置，上壳体3、中壳体1、下壳体6构成了容纳空间，该空间内填充着磁流变液，输出轴10顶部、线圈支架4、线圈5、内静鼓11、内动鼓12、中静鼓13、外动鼓14、外静鼓15即设置在该空间内。霍尔传感器16嵌入在中壳体1中。输入轴2和上壳体3相连接，能够相对其他部分旋转。输出轴顶端通过内轴承与上壳体连接，中部通过外轴承与下壳体连接。输出轴上还设置有卡簧9用于抵住上壳体并进行定位，以保持空间内各构件的相互间隙，防止零件之间产生摩擦损耗影响输出性能。线圈支架4与上壳体3固定连接，内动鼓12和外动鼓14嵌入在线圈支架4中，内静鼓11、中静鼓13、外静鼓15嵌入在输出轴10上，线圈支架4位于输出轴10上方。内静鼓11、内动鼓12、中静鼓13、外动鼓14、外静鼓15依次交错分布，且彼此之间具有间隙。上壳体3和输出轴10之间，内静鼓11和上壳体3之间，外静鼓15和中壳体1之间，输出轴10与下壳体6之间均存在间隙，上述这些间隙内充满磁流变液。此外，线圈5和上壳体之间具有装配间隙，但无需填充磁流变液。
具体地说，旋转式多鼓磁流变阻尼器剖面为十字形，横向为径向传动轴，纵向为轴向传动轴。输入轴2和输出轴10可通过轴上的螺纹与其他结构相连接，螺丝轴向将输入轴2、上壳体3、中壳体1、 下壳体6位置相对固定，螺丝径向固定上壳体3、线圈支架4、内动鼓12和外动鼓14，线圈5通过胶水固定于线圈支架4。输出轴10与内静鼓11、中静鼓13、外静鼓15通过螺丝配合保持相对固定，卡簧9作轴向定位，另外通过内轴承7和外轴承8减少由于零件间的接触摩擦。图1截面中，在下壳体6和输出轴10间存在3条缝隙，中壳体1和外静鼓15间存在2条细缝，外静鼓15和外动鼓14间存在1条细缝，外动鼓14和输出轴10间存在1条细缝，外动鼓14和中静鼓13间存在1条细缝，中静鼓13和线圈支架4间存在1条细缝，中静鼓13和内动鼓12间存在1条细缝，内动鼓12和输出轴10间存在1条细缝，内动鼓12和内静鼓11间存在1条细缝，内静鼓11和线圈支架4间存在1条细缝，内静鼓11和上壳体3间存在2条细缝，这15条细缝内均填充满磁流变液。霍尔传感器16嵌入在中壳体1中，检测磁场强度，因此可作磁场闭环控制，从而控制输出力矩。由于霍尔传感器的加入使得磁场并不是均匀分布，为了保证测量的准确率，中壳体4上开有三个方形槽，方便霍尔传感器16固定。
输出轴10连着内静鼓11、中静鼓13、外静鼓15，输入轴2通过磁流变液将扭矩传递给连接三个静鼓的输出轴，由于安装了7内轴承和8外轴承，降低了未通电时的断态扭矩，提高了阻尼器的顺滑程度。
线圈支架4内留有线圈槽，并将线圈接口引出，外接滑环。
可闭环力控的旋转式多鼓磁流变阻尼器的控制方法如图2所示，具体如下：
第一，函数关系标定，给磁流变阻尼器的线圈通入不同的电流I，测量对应的输出力以及测量的磁场大小。其中，B为磁感应强度，F为输出力。
第二，设定期望输出力，通过关系转换为期望磁场大小，通过霍尔传感器实时检测磁场大小，做磁场闭环控制，从而控制输出力。
本发明方案所公开的技术手段不仅限于上述实施方式所公开的技术手段，还包括由以上技术特征任意组合所组成的技术方案。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也视为本发明的保护范围。

Claims (8)

  1. 本发明提供了一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法，包括上壳体、中壳体、输入轴、上壳体，线圈支架、线圈、下壳体、输出轴、内静鼓、内动鼓、中静鼓、外动鼓、外静鼓、霍尔传感器。本发明在不增加装配难度的基础上，设计了多鼓式结构，通过内嵌霍尔传感器能够实现自身闭环控制力矩输出，无需外置力传感器。同时，优化了力矩体积比，结构更为紧凑。
  2. 根据权利要求1所述的可闭环力控的旋转式多鼓磁流变阻尼器，其特征在于：所述输出轴顶端通过内轴承与上壳体连接，中部通过外轴承与下壳体连接。
  3. 根据权利要求1所述的可闭环力控的旋转式多鼓磁流变阻尼器，其特征在于：所述输出轴上还设置有用于定位并抵住上壳体的卡簧。
  4. 根据权利要求1所述的可闭环力控的旋转式多鼓磁流变阻尼器，其特征在于：所述线圈和上壳体之间具有装配间隙。
  5. 根据权利要求1所述的可闭环力控的旋转式多鼓磁流变阻尼器，其特征在于：所述输入轴、上壳体、中壳体、下壳体之间通过螺丝固定连接。
  6. 根据权利要求1所述的可闭环力控的旋转式多鼓磁流变阻尼器，其特征在于：所述线圈支架与上壳体通过螺丝固定连接，所述内动鼓和外动鼓通过螺丝固定在线圈支架上。
  7. 根据权利要求1所述的可闭环力控的旋转式多鼓磁流变阻尼器，其特征在于：所述内静鼓、中静鼓、外静鼓通过螺丝固定在输出轴上。
  8. 可闭环力控的旋转式多鼓磁流变阻尼器的控制方法，用于控制根 据权利要求1-7中任意一项所述的可闭环力控的旋转式多鼓磁流变阻尼器，包括如下步骤：
    步骤1，函数关系标定，给磁流变阻尼器的线圈通入不同的电流I，测量对应的输出力以及测量的磁场大小；
    步骤2，设定期望输出力，通过关系转换为期望磁场大小，通过霍尔传感器实时检测磁场大小，做磁场闭环控制，从而控制输出力。
PCT/CN2023/072772 2022-12-12 2023-01-18 一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法 Ceased WO2024124656A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211591398.1A CN115962247A (zh) 2022-12-12 2022-12-12 一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法
CN202211591398.1 2022-12-12

Publications (1)

Publication Number Publication Date
WO2024124656A1 true WO2024124656A1 (zh) 2024-06-20

Family

ID=87353573

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/072772 Ceased WO2024124656A1 (zh) 2022-12-12 2023-01-18 一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法

Country Status (2)

Country Link
CN (1) CN115962247A (zh)
WO (1) WO2024124656A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119594139A (zh) * 2024-12-11 2025-03-11 东南大学 一种可实现直线旋转独立力反馈的磁流变阻尼器

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1372086A (zh) * 2001-02-28 2002-10-02 汪建晓 旋转机械转子振动控制用磁流变液阻尼器
CN108775370A (zh) * 2018-06-15 2018-11-09 南京林业大学 一种磁流变阻尼器的磁滞补偿控制方法
CN109826904A (zh) * 2019-03-20 2019-05-31 华东交通大学 一种双圆桶旋转式磁流变阻尼器
CN110873147A (zh) * 2019-11-07 2020-03-10 东南大学 一种对称多筒旋转式磁流变阻尼器
US20210215222A1 (en) * 2017-02-24 2021-07-15 Inventus Engineering Gmbh Rotary damper

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105221602A (zh) * 2014-07-03 2016-01-06 中国人民解放军装甲兵工程学院 一种可消除热膨胀压力的多筒式磁流变离合器
WO2016168934A1 (en) * 2015-04-21 2016-10-27 Exonetik Inc. Magnetorheological fluid clutch apparatus with cylindrical fluid gap
CN208719183U (zh) * 2018-08-30 2019-04-09 华东交通大学 一种采用双磁场作用的具有蛇形液流通道的磁流变离合器
EP3864313B1 (en) * 2018-10-12 2025-09-03 Exonetik Inc. Magnetorheological fluid clutch apparatus with low permeability drums
CN110159672A (zh) * 2019-04-30 2019-08-23 西华大学 多极叠加式磁流变离合器

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1372086A (zh) * 2001-02-28 2002-10-02 汪建晓 旋转机械转子振动控制用磁流变液阻尼器
US20210215222A1 (en) * 2017-02-24 2021-07-15 Inventus Engineering Gmbh Rotary damper
CN108775370A (zh) * 2018-06-15 2018-11-09 南京林业大学 一种磁流变阻尼器的磁滞补偿控制方法
CN109826904A (zh) * 2019-03-20 2019-05-31 华东交通大学 一种双圆桶旋转式磁流变阻尼器
CN110873147A (zh) * 2019-11-07 2020-03-10 东南大学 一种对称多筒旋转式磁流变阻尼器

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN119594139A (zh) * 2024-12-11 2025-03-11 东南大学 一种可实现直线旋转独立力反馈的磁流变阻尼器
WO2025232358A1 (zh) * 2024-12-11 2025-11-13 东南大学 一种可实现直线旋转独立力反馈的磁流变阻尼器

Also Published As

Publication number Publication date
CN115962247A (zh) 2023-04-14

Similar Documents

Publication Publication Date Title
JP6294502B2 (ja) アウタカップ回転型軸方向渦電流ダンパー
CN102878225A (zh) 一种多片式磁流变液力矩传递装置
CN107191530B (zh) 一种双线圈活塞式磁流变液减摆器
CN108131420B (zh) 一种具备高效吸能特性的缓冲装置
WO2024124656A1 (zh) 一种可闭环力控的旋转式多鼓磁流变阻尼器及其控制方法
CN104180842A (zh) 一种宽频带大位移角振动台
CN110454526B (zh) 基于穿戴式外骨骼的磁流变制动系统
CN104052217A (zh) 一种盘式永磁调速器
CN100350171C (zh) 高性能多片旋转式磁流变阻尼器
CN110145566B (zh) 一种滚珠丝杠传动的旋转式磁流变阻尼器及其工作方法
CN117074024A (zh) 一种外圈旋转轴承加载试验装置
CN208847822U (zh) 一种超声电机寿命测试平台
CN104660007B (zh) 双支撑永磁涡流柔性变速器
CN105466686A (zh) 一种具有转静子不同轴容错能力的旋转件轴向力加载系统
CN100561167C (zh) 一种测试风力发电变桨轴承的试验机
CN116085418A (zh) 一种自传感磁流变旋转阻尼器
CN101113766A (zh) 一种阻尼力矩可控的虎克铰
CN108194570A (zh) 一种刚弹性转换减振器
CN108411772A (zh) 桥梁减振支座
CN103388648B (zh) 提高高储能飞轮系统中阻尼装置可靠性的方法及装置
CN107040082B (zh) 一种磁悬浮反作用飞轮装置
CN110159672A (zh) 多极叠加式磁流变离合器
CN114382820B (zh) 一种基于磁流变胶的双轴独立可控制动器
CN110594340A (zh) 一种基于磁流变脂的双向力和力矩传动装置
CN202867632U (zh) 一种多片式磁流变液力矩传递装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23901876

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 23901876

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 23901876

Country of ref document: EP

Kind code of ref document: A1