CN101576141B - Longitudinal linear vibration inhibiting method and device based on rotary magnetorheological device - Google Patents

Abstract

The invention relates to a longitudinal linear vibration inhibiting method by using a rotary magnetorheological device and a device, which convert the longitudinal linear vibration of a mechanical system into rotary torsional vibration and use a rotary magnetorheological damper to realize vibration inhibiting. The device consists of the rotary magnetorheological damper, a motion converting mechanism and an elastic element. The motion converting mechanism can be a screw nut, a gear rack, and the like. Considering from the aspect of transmission efficiency, a ball bearing screw is one of the most competitive proposals; the rotary magnetorheological damper can be designed into a disc type or a drum type; the common characteristics thereof are as follows: the contribution of the rotational speed and the viscidity of a magnetorheological liquid zero field to the damping torque is smaller so as to be capable of being ignored; under a certain structure condition, the magnetorheological liquidyield stress decided by a controllable magnetic field becomes the only factor for deciding the damping torque; and the elastic element can be selected from spiral springs, vane springs or fuel spring s according to different detailed applications.

Description

Longitudinal linear vibration inhibiting method and device based on the rotary magnetorheological device

Technical field

The invention belongs to Structure with Intelligent Structure System and structural vibration control technical field, be specifically related to a kind of longitudinal linear vibration and be converted into rotary-type torsional vibration by corresponding mechanism with vibration system, and the method for utilizing the rotary magnetorheological damper to carry out vibration suppression, can be specific to mechanical system vibration control and application thereof such as vehicle, engineering machinery, weapon platforms.

Background technique

In the structural vibration control technical field, people adopt elastic element and damping member to realize that vibration control, damping member wherein adopt oil damper usually usually, utilize fluid to produce the damping force that adapts with external environment condition by the long-pending flow channel of variable cross section.This method need adopt valve arrangement control flow channel by area, causes structural reliability not high, is easy to produce fault; On the other hand, owing to need be adapted to complicated external environment condition by control structure, the damping characteristic of conventional oil fluid shock absorber can't be followed external environment condition and be carried out the self adaption adjusting, cause controlled structure objects to be difficult to the performance that reaches optimum, it is a kind of passive vibration control technology, therefore adopt the half active vibration control that realizes controlled device based on the controllable damping device of magnetic rheological fluid intelligent material, can in complex environment, reach good vibration control effect, the reliability height, good stability, need not to consume a large amount of energy simultaneously, power consumption is extremely low, can advantage such as use in the energy obtains the wild environment of difficulty.

Existing magnetorheological half active vibration control system all is an integrated MR damper in controlled system, with the system motion feedback of status of sensor acquisition in controller, determine the optimal damper of system by the control algorithm of complexity, and the controlling and driving device is to realize half ACTIVE CONTROL of system.Relative active system, half active vibration control energy consumption is extremely low, does not have the active force input, has guaranteed the Security and the control robustness of system.Magnetorheological device has three kinds of basic working modes, be shear mode, flow pattern and squeeze mode, and squeeze mode is unsuitable for the bigger application of automotive suspension vibration amplitude, the MR damper of the existing automotive suspension vibration suppression that proposes all is a core structure, is generally operational in other mode of operations that flow pattern or flow pattern and shear mode etc. are composited.

For the cartridge type MR damper, the gap between piston and cylinder body is one of most important structural parameter, and it has determined the null field damping force of MR damper, is called the damping gap, and the damping gap is big more, and the null field damping force is more little.And when one timing of damping gap, the movement velocity of the relative cylinder body of piston is big more, and then the null field damping force is big more, and this moment is certain owing to the damping force that magnetic rheology effect causes, so vibration velocity is big more, and the accounting of null field damping force in total damping power is big more.When MR damper extrinsic motivated electric current certain, the MR damper damping force is called the speed characteristics of MR damper with the variation relation of vibration velocity, generally have hysteretic characteristic and nonlinear feature, this brings great puzzlement for the control of MR damper.Just because of this, a large amount of researchers have carried out relevant control algorithm research, from fuzzy self-adaption control, ANN (Artificial Neural Network) Control is to Human Simulating Intelligent Control etc., and is numerous.Lot of manpower and material resources has not only been wasted in the exploitation of these control algorithms, and is difficult to obtain optimum control effect, and perhaps the control algorithm control effect that only just can obtain under given conditions has certain narrow limitation.

All these cartridge type MR damper have following common feature: the damper damping force is by uncontrollable power F _UcWith controllable force F _τTwo-part are formed, and uncontrollable power is again by viscous force F _ηWith frictional force F _fForm, controllable force is obtained by magnetic rheology effect, and the dynamic range D of MR damper then is defined as the ratio of damping force and uncontrollable power, that is:

$D=\frac{F}{F_{\mathrm{uc}}}=\frac{F_{\mathrm{\τ}}+F_{\mathrm{uc}}}{F_{\mathrm{uc}}}=1+\frac{F_{\mathrm{\τ}}}{F_{\mathrm{\η}}+F_f}$

Under lubricated good situation, frictional force F _fOnly account for the very little part of damping force, when doing the damping force analysis, can ignore.From Fig. 7 as seen, controllable force F _τSize and structural parameter L (piston length), A _p(piston cross-section is long-pending), h (damping gap width), and the shear yield stress τ of magnetic flow liquid under the specific magnetic fields condition ₀Relevant, when magnetic field condition one timing, controllable force is only relevant with structural parameter, and controllable force shows as the function of a single variable of externally-applied magnetic field, only needs just can obtain certain controllable damping force by impressed current controlling magnetic field condition.And viscous force F _ηExcept that with the said structure parameter correlation, also with damper Operational Limits v ₀(piston movement speed) is closely related, and piston movement speed is big more, and viscous force is also big more.As seen, cartridge type MR damper damping force is not only the function that adds controllable magnetic field, also is the function of damper Operational Limits simultaneously, has the variable velocity characteristic.Exactly because the existence of these speed characteristics has strengthened the non-linear characteristics of damper to a great extent, its control difficulty is increased greatly.

Summary of the invention

Be used for longitudinal linear vibration at the cartridge type MR damper and suppress above shortcomings, the present invention proposes a kind of rotary magnetorheological damper that utilizes and carries out method and device that longitudinal linear vibration suppresses.

We investigate the rotary magnetorheological damper can find the not available distinct advantages of straight line type cartridge type MR damper.In general, according to the difference of structural type, the rotary magnetorheological damper can be divided into disc type and drum-type two classes.As depicted in figs. 1 and 2, the working surface of disc type MR damper is a rotor end-face, the advantage that it has, and inertia is little, material is economized, volume is little, but owing to the centrifugal motion of magnetic particle in the magnetic flow liquid under high rotating speed is not suitable for high speed situation; The working surface of drum-type rotary magnetorheological damper is the rotor circumference face, and it has the characteristics opposite with the disc type damper.

According to theory analysis, the damping torque T of disc type and drum-type MR damper _pAnd T _gBe respectively:

$T_p=T_{\mathrm{p\τ}}+T_{\mathrm{p\η}}=\frac{4}{3}\mathrm{\π}{\mathrm{\τ}}_0({R_o}^3-{R_i}^3)\·\mathrm{sgn}\left(\mathrm{\ω}\right)+\mathrm{\π\η}\frac{\mathrm{\ω}}{g}({R_o}^4-{R_i}^4)$

$T_g=T_{\mathrm{g\&tau;}}+T_{\mathrm{\&eta;}}=2\mathrm{\&pi;w}{\mathrm{\&tau;}}_0{{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="H2009101040147E00011.png,H2009101040147E00032.png"\; state="\{\{state\}\}">R</figure-callout>}}_1}^2\&CenterDot;\mathrm{sgn}\left(\mathrm{\&omega;}\right)+\frac{2\mathrm{\&pi;\&eta;w}{{\mathrm{<figure-callout\; id="1"\; label="R"\; filenames="H2009101040147E00011.png,H2009101040147E00032.png"\; state="\{\{state\}\}">R</figure-callout>}}_1}^3\mathrm{\&omega;}}{h}$

T wherein _{P τ}, T _{P η}, T _{G τ}, T _{G η}Be respectively the damping torque that disc type and drum-type MR damper are produced by magnetic rheology effect and viscous force.At this moment, the dynamic range D of disc type and drum-type MR damper _pAnd D _gBe respectively:

$D_p=\frac{T_{\mathrm{p\&tau;}}}{T_{\mathrm{p\&eta;}}}=\frac{4}{3}\mathrm{sgn}\left(\mathrm{\&omega;}\right)\&CenterDot;\frac{{\mathrm{\&tau;}}_0}{\mathrm{\&eta;\&omega;}}\&CenterDot;\frac{g({R_o}^3-{R_i}^3)}{{R_o}^4-{R_i}^4}$

$D_g=\frac{T_{\mathrm{g\&tau;}}}{T_{\mathrm{g\&eta;}}}=\mathrm{sgn}\left(\mathrm{\&omega;}\right)\&CenterDot;\frac{{\mathrm{\&tau;}}_0}{\mathrm{\&eta;\&omega;}}\&CenterDot;\frac{\mathrm{<figure-callout\; id="1"\; label="h\; R"\; filenames="H2009101040147E00011.png,H2009101040147E00032.png"\; state="\{\{state\}\}">h</figure-callout>}}{R_{}}$

Prepare level according to existing magnetic flow liquid, under stronger magnetic field condition, shear yield stress τ ₀Can reach the level of 60kpa, and the null field viscosities il is generally less than 1pa.s, as seen, under the situation of rotational speed omega not too big (deciding), can guarantees dynamic range D on null field viscosity size _pAnd D _gGreater than 10, thereby make because the damping torque T that viscous force produces _{P η}And T _{G η}Can ignore, it is very little to the damping torque influence of disc type and drum-type rotary magnetorheological damper also to be rotating speed, the constant torque characteristic of Here it is rotary magnetorheological damper.

Based on above to the cartridge type MR damper the variable velocity characteristic and the analysis of the constant torque characteristic of rotary magnetorheological damper, in occasions such as Vibration of Vehicle Suspensions controls, the vertical vibration of suspension system can be converted into torsional vibration by mechanism design, utilize the rotary magnetorheological damper to consume vibrational energy, thereby can be based on its constant torque characteristic, ignore the influence of rotating speed, make damping torque become Shear Yield Stress of Magnetorheological Fluids τ damping torque ₀, also promptly add the function of a single variable of controllable magnetic field, reduce the control difficulty of magnetorheological controllable damping equipment in Vibration Suppression System greatly.

Therefore, the present invention proposes a kind of rotary magnetorheological damper that utilizes and carries out the method that longitudinal linear vibration suppresses, adopt rotary magnetorheological damper, conversion of motion mechanism and elastic element, described conversion of motion mechanism is the mechanism that longitudinal linear vibration is converted into torsional vibration; The running shaft upper end of rotary magnetorheological damper is linked to each other with the sprung weight of mechanical system, the running shaft lower end of rotary magnetorheological damper and the output that rotatablely moves of conversion of motion mechanism are rigidly connected, the longitudinal linear vibration receiving part of conversion of motion mechanism then links to each other with the unsprung weight of mechanical system, and elastic element is arranged between rotary magnetorheological damper and the conversion of motion mechanism; The longitudinal linear vibration of mechanical system is converted into torsional vibration by mechanism of conversion of motion mechanism earlier, pass to the rotary magnetorheological damper, consume vibrational energy by the rotary magnetorheological damper again, the damping torque of rotary magnetorheological damper shows in the mode of damping force by conversion of motion mechanism, and the elastic force that produces with elastic element, form elasticity-damped system, thereby realize vibration suppression.

Described method is applicable to that automobile suspension system vibration suppression, automotive seat vibration damping, engineering machinery vibration damping and weapon platform (as cannon) etc. have the vibration suppression occasion than large amplitude.

The present invention further proposes to realize the mechanical system longitudinal linear vibration restraining device of said method, and described device comprises rotary magnetorheological damper, conversion of motion mechanism and elastic element; Described conversion of motion mechanism is the mechanism that longitudinal linear vibration is converted into torsional vibration; The running shaft upper end of rotary magnetorheological damper is linked to each other with the sprung weight of mechanical system, the running shaft lower end of rotary magnetorheological damper and the whirling vibration output of conversion of motion mechanism are rigidly connected, the longitudinal linear vibration receiving part of conversion of motion mechanism then links to each other with the unsprung weight of mechanical system, and elastic element is arranged between rotary magnetorheological damper and the conversion of motion mechanism.

The rotary magnetorheological damper that this device adopts is according to concrete application conditions difference, and its basic structure can be designed as disc type or drum-type MR damper.Its essential characteristic is operated in shear mode for the rotary magnetorheological damper, and it is input as and rotatablely moves, and is output as the resisting moment opposite with the direction that rotatablely moves, and the energy that rotatablely moves by the resisting moment consumption input that produces.The rotary magnetorheological damper is under typical conditions (not too high rotational speed), damper rotational speed change very little to the contribution of damping torque, damping torque only is the function by the controllable magnetic field of impressed current control, when using it for the closed loop vibration control system, can simplify the modeling and the control algorithm of suspension vibration control system greatly, reach to save and control cost, improve the purpose of control effect.

The conversion of motion mechanism of this device is the torsional vibration that the longitudinal linear vibration of mechanical system is converted into the rotary magnetorheological damper.Based on this, can adopt any mechanism form that rotatablely moves that to-and-fro motion is converted into, comprise ball screw arrangement, screw-nut structure, worm-and-wheel gear, pinion and rack etc., but consider that according to ease of use and transmission efficiency angle ball screw framework is more competitive selection.

The elastic element of this device is according to concrete application conditions, can adopt helical spring, leaf spring or hydro-pneumatic spring, the resisting moment that elastic force that it produces and rotary magnetorheological damper produce, and the damping force that shows by conversion of motion mechanism together, form elasticity-damped system, thereby realize that Vibration of Vehicle Suspensions suppresses.

The present invention has following advantage:

1, simpler controlling method and strategy

MR damper often applies to the vibration control of vehicle suspension, weapon platform etc., because the non-linear nature of magnetorheological damping device needs design control corresponding algorithm need to obtain damping force.At different controlling object, according to the complexity of its modeling, classical control theory, modern control theory and Intelligent Control Theory all may be used for suppressing based on half active vibration of magnetorheological controllable damping.

When adopting the cartridge type MR damper, in case structural parameter determine that damping force is the function that adds controllable magnetic field and damper motion state.Its control system basic structure as shown in Figure 3, SC system controller is based on the mathematical model of controlled device when model-free intelligent control (perhaps core control algorithm), the motion state of sensor acquisition controlled device, determine the optimal control power that this moment, controlled device needed by SC system controller, the motion state information that obtains with sensor then, determine the control electric current that need apply to MR damper by the damping force controller, finish the The whole control circulation.The damping force controller then is the achievement of cartridge type MR damper reverse (control) modeling, and it obtains based on a large amount of stand test data of MR damper, wastes time and energy and with high costs.

Behind the rotary magnetorheological damper that adopts the present invention to propose, because its constant torque characteristic, the damper structure parameter is in case definite, and damping torque only is the function of externally-applied magnetic field, and its control system is simplified as shown in Figure 4.Determine the optimal control power of controlled device needs when SC system controller after, because rotary magnetorheological damper damping torque is the function of a single variable of externally-applied magnetic field, can obtain the control electric current that need apply to MR damper easily, need not to carry out reverse modeling by the stand test data of damper, can simplify controlling method greatly, reduction is controlled cost.

2, simplify the MR damper design method

Because cartridge type MR damper damping force is the function of externally-applied magnetic field and piston movement speed, its design need be carried out under the given speed condition, need consider the shear yield stress and the null field viscosity of magnetic flow liquid simultaneously, and rationally determine the damping gap, to obtain suitable dynamic range.And the rotary magnetorheological damper is under the condition of ignoring viscosity moment, the shear yield stress that only need consider magnetic flow liquid is carried out the damping force design, end clearance of damper (disc type) or circumferential clearance (drum-type) only need to pay attention to when carrying out the magnetics design, thereby simplify the design of damper greatly.

3, overcome magnetic flow liquid sedimentation and sealing problem, improve the damper reliability

The settlement issues of magnetic flow liquid and stability reunion are the major reasons that hinders magnetorheological device development.Cartridge type MR damper inner casing is divided into two chambeies up and down by piston, damping gap between piston and cylinder body is the flow channel of magnetic flow liquid, in case magnetic flow liquid generation sedimentation even reunion, to influence magnetic flow liquid by the damping gap, even causing obstruction, this will make the reliability of cartridge type magneto-rheological vibration damper reduce greatly.And the rotary magnetorheological damper is operated in shear mode, the macroscopic view that magnetic flow liquid does not take place flows, even magnetic flow liquid generation sedimentation can not produce big influence to the running of damper yet, simultaneously, the motion of damper has restitution to the magnetic flow liquid of sedimentation.

In addition, the cartridge type MR damper produces damping force by the pressure difference that piston motion brings between upper and lower cavity, so the seal request of piston rod is higher; And the rotary magnetorheological damper is operated in shear mode, can not produce pressure difference in active chamber inside, and is lower to seal request, can save cost, guarantees the reliability of work.

4, wideer damping force scope

Null field damping force and magnetic Circuit Design need be taken into account in cartridge type magnetic rheological liquid damper damping gap, adopt bigger damping gap, the null field damping force is lower, this helps the exploitation of control algorithm, realize more excellent control effect, but because the damping gap is the maximum magnetic resistance place of magnetic loop, its increase will cause magnetic flux to descend, thereby influence the maximum shear yield stress that magnetic flow liquid can reach, may reduce the size of controllable damping force, therefore, the damping force scope (dynamic range) of cartridge type MR damper is restricted.And the rotary magnetorheological damper be not subjected to externally-applied magnetic field to do the time spent, damping torque is produced by the null field viscosity of magnetic flow liquid, and it is numerically very little, optimal design by damping gap and magnetic circuit, can obtain higher controllable damping moment, thereby guarantee that the rotary magnetorheological damper obtains very low viscous damping moment and bigger dynamic range.

5, cost is lower

Because magnetic flow liquid costs an arm and a leg the important materials cost factor that its consumption size is the magnetorheological damping device.Need to be full of magnetic flow liquid in the cartridge type MR damper upper and lower cavity,, need a large amount of magnetic flow liquids to carry out filling, increased cost of material greatly because stroke is bigger; The rotary magnetorheological damper can be saved the magnetic flow liquid consumption greatly because the change of mode of structure only needs magnetic flow liquid is filled up narrow and small viscous shear space.

Description of drawings

Fig. 1 is the structure principle chart of disc type MR damper;

Fig. 2 is the structure principle chart of drum-type MR damper;

Fig. 3 is that the cartridge type MR damper is used for the control system block diagram that the mechanical system longitudinal linear vibration suppresses;

Fig. 4 is that the rotary magnetorheological damper is used for the control system block diagram that the mechanical system longitudinal linear vibration suppresses;

Fig. 5 is a kind of structural representation that specifically is used for the longitudinal linear vibration restraining device of Vibration of Vehicle Suspensions inhibition;

Fig. 6 is a kind of structural representation that specifically is used for artillery system longitudinal linear vibration restraining device;

Fig. 7 is the damping force graph of a relation of cartridge type MR damper.

Embodiment

According to Figure of description technological scheme of the present invention is described in further detail below.

Fig. 5 has specifically shown a kind of structure that is used for the longitudinal linear vibration restraining device of Vibration of Vehicle Suspensions inhibition, it is mainly by running shaft 1, end cap 2, rolling bearing 3, flange 4, sealing cover 5, field coil 6, rotor 7, magnetic flow liquid 8, housing 9, spring 10, connecting shaft body 11 and 12, lead screw shaft 13, ball nut cover 14, adpting flange 15, flat key 16, axle envelope 17 up and down, and composition such as sealing gasket 18.

Wherein running shaft 1 upper end screw thread is used for linking to each other with unsprung weight (suspension) with the sprung weight (vehicle body) of automobile suspension system with adpting flange 15.Lead screw shaft 13 is assemblied in the ball nut cover 14, and the relative movement of vehicle body and suspension shows as the to-and-fro motion of ball nut cover 14 (promptly being the double vibrations receiving parts), and drive lead screw shaft 13 (being the whirling vibration output) generation rotatablely moves.Connecting shaft body 11 is connected by flat key with running shaft 1 and lead screw shaft 13 respectively with 12 up and down, and together with bolton, therefore the rotation of lead screw shaft 13 is rotated driven rotary axle 1 together, the bottom of ball nut cover 14 is connected with adpting flange 15, is installed on the unsprung weight (suspension) by adpting flange 15.Running shaft 1 links to each other by flat key 16 and drives rotor 7 with rotor 7 and rotates, and is contained in the housing 9, surrounded by magnetic flow liquid 8 around the rotor 7, and by sealing cover 5 and flange up and down 4, end cap 2 seals.Flange 4 and end cap 2 up and down passed at running shaft 1 two ends.When rotor 7 rotates, magnetic flow liquid 8 will be sheared and be produced damping torque.Housing 9 and sealing cover 5 all are made of ferromagnetic materials such as low carbon steel, in the space that holds equally the rotor 7 that is made of ferromagnetic material is arranged.Field coil 6 is positioned at the outer rim of rotor 7, and its lead-in wire can be drawn (this figure indicates) by rotor and running shaft, and field coil 6 also can design in housing 9, this structure will make draw more simple.When field coil 6 applies field current, rotor 7, housing 9, sealing cover 5 and magnetic flow liquid 8 common formation magnetic loops, thereby magnetic flow liquid 8 is in the controllable magnetic field that impressed current causes, the magnetic flow liquid that produces magnetic rheology effect will be to produce controlled damping torque under shear action.Flange 4 is made by nonferromagnetic materials such as aluminium, copper, be used to isolate magnetic field, make magnetic field can not form the loop by the running shaft 1 of ferromagnetic material, make magnetic field concentration in rotor periphery simultaneously, make magnetic induction intensity higher, make full use of peripheral bigger shearing speed and torque radius, to obtain bigger damping torque.Rolling bearing 3 is used for supporting rotating shaft 1 and reduces rotational resistance, improves mechanism's life-span, can use deep groove ball bearing or thrust-bearing etc. according to actual conditions.End cap 2 is used for the axially locating of rolling bearing and plays the dust sealing effect.The common sealings that form magnetic flow liquid 8 such as axle envelope 17 and sealing gasket 18, because magnetic flow liquid 8 only is subjected to shearing motion, rotary magnetorheological damper inside is in atmospheric pressure state, and is lower to seal request, and therefore axle envelope 17 can adopt felt sealing, seal with O ring or oil sealing sealing according to circumstances.The sealing gasket 18 that is used for sealing cover 5 sealings in order not influence magnetic intensity, can adopt other sealing means owing to be the part of effective magnetic loop according to circumstances, as seal with O ring, so that housing 9 fits tightly with sealing cover 5, reduces the influence to magnetic field.

Fig. 6 has specifically shown a kind of structural representation that is used for artillery system longitudinal linear vibration restraining device.It is made up of bearing friction top 19, thrust-bearing 20, mounting flange 21, running shaft 1, hanger 22, spring 10, sealing cover 5, sealing gasket 18, axle envelope 17, rotor 7, field coil 6, tightening nut 23, magnetic flow liquid 8 and housing 9 etc.

The outer rim middle part coiling field coil 6 of rotor 7, they are contained in the housing 9, and periphery is filled with magnetic flow liquid 8, and the upper end seals by sealing cover 5 and sealing gasket 18; Running shaft 1 lower end and rotor 7 link to each other by tightening nut, and sealing cover 5 and bearing friction top 19 are passed in running shaft 1 upper end, and mechanism is connected with conversion of motion; The position of passing sealing cover 5 at running shaft 1 is equipped with thrust-bearing 20.Conversion of motion mechanism adopts the sliding-type screw-nut structure, is made up of the nut that internal thread on leading screw on the running shaft 1 of rotary magnetorheological damper and the hanger 22 constitutes, and hanger 22 is connected with the double vibrations partially rigid of mechanical system; The upper end of running shaft 1 is connected with the fixed position of mechanical system with thrust-bearing 20 by mounting flange 21, and thrust-bearing 20 is arranged in mounting flange 21, and spring 10 is installed between hanger 22 and the sealing cover 5.

Can will produce extremely strong recoil and longitudinal linear vibration during the artillery system emission, and effectively suppress vibration so that cannon is got back to launch readiness fast after emission, and be related to the key indexs such as density of fire of cannon, its vibration suppression be significant.Because gun vibration belongs to impingement, all adopted thrust-bearing 20 to be used to bear bigger axial force up and down, and the ball screw that the embodiment who is different from Fig. 5 demonstration adopts, though its conversion of motion mechanism adopts lower but the sliding-type screw-nut structure that impact resistance is stronger of efficient to be made up of the nut that internal thread on leading screw on the running shaft 1 and the hanger 22 constitutes.For keeping the stress equalization of artillery system, structure shown in Figure 6 is in cannon the right and left symmetric arrangement.Device is fixed in artillery gun body by edge hole on the mounting flange 21 and housing 9, and is because the vertical stroke of cannon is bigger, that two thrust-bearings 20 are arranged apart to improve the stability of a system.Spring is installed between hanger 22 and the sealing cover 5, and longitudinal linear vibration is delivered to running shaft 1 and is converted into torsional vibration by hanger 22, and pressure spring 10 produces elastic restoring force simultaneously.Axle envelope 17 can adopt felt sealing, seal with O ring or oil sealing sealing according to circumstances.Rotor 7 and housing 9 are made of the low carbon steel ferromagnetic material with better magnetic conduction ability.

The embodiment who more than provides is in order to the practical application of explanation the present invention and it, and therefore makes those skilled in the art can make and use the present invention.But this only is a preferred embodiment, be not that the present invention is done any pro forma restriction, any one professional and technical personnel is in the scope that does not depart from technical solution of the present invention, and above technology of foundation and method do certain modification and the equivalent embodiment who is considered as equivalent variations is worked as in change.

Claims (8)

1. longitudinal linear vibration inhibiting method based on the rotary magnetorheological device, it is characterized in that: described method utilizes conversion of motion mechanism that longitudinal linear vibration is converted into rotary-type torsional vibration, the running shaft upper end of rotary magnetorheological damper is linked to each other with the sprung weight of mechanical system, the running shaft lower end of rotary magnetorheological damper and the output that rotatablely moves of conversion of motion mechanism are rigidly connected, the straight-line oscillation receiving part of conversion of motion mechanism then links to each other with the unsprung weight of mechanical system, between rotary magnetorheological damper and conversion of motion mechanism elastic element is set; The longitudinal linear vibration of mechanical system is converted into rotary-type torsional vibration by conversion of motion mechanism earlier, passes to the rotary magnetorheological damper, consumes vibrational energy by the rotary magnetorheological damper again; The damping torque of rotary magnetorheological damper shows in the mode of damping force by conversion of motion mechanism, and with the elastic force that elastic element produces, forms elasticity-damped system, thereby realizes vibration suppression.

2. mechanical system longitudinal linear vibration restraining device of realizing the described method of claim 1, it is characterized in that: described device comprises rotary magnetorheological damper, conversion of motion mechanism and elastic element; Described conversion of motion mechanism is the mechanism that longitudinal linear vibration is converted into torsional vibration; The running shaft upper end of described rotary magnetorheological damper links to each other with the sprung weight of mechanical system, the running shaft lower end of rotary magnetorheological damper and the output that rotatablely moves of conversion of motion mechanism are rigidly connected, the to-and-fro motion receiving part of conversion of motion mechanism then links to each other with the unsprung weight of mechanical system, and elastic element is arranged between rotary magnetorheological damper and the conversion of motion mechanism;

Described rotary magnetorheological damper comprises running shaft (1), flange (4), sealing cover (5), field coil (6), rotor (7), magnetic flow liquid (8) and the housing (9) of end cap (2), scroll-up/down bearing (3), upper and lower up and down; The outer rim coiling field coil (6) of described rotor (7), rotor (7) and field coil (6) are contained in the housing (9), periphery is filled with magnetic flow liquid (8), and by sealing cover (5) and go up lower flange (4), end cap (2) seals up and down; Running shaft (1) links to each other by flat key (16) with rotor (7), and the flange (4) of upper and lower, end cap (2) are up and down passed in running shaft (1) two ends, and supports by rolling bearing (3).

3. mechanical system longitudinal linear vibration restraining device according to claim 2 is characterized in that: described rotary magnetorheological damper is disc type or drum-type MR damper; Described conversion of motion mechanism adopts ball screw framework, screw-nut body, worm-and-wheel gear or pinion and rack; Described elastic element adopts helical spring, leaf spring or hydro-pneumatic spring.

4. mechanical system longitudinal linear vibration restraining device according to claim 3, it is characterized in that: described conversion of motion mechanism adopts ball screw framework, comprise lead screw shaft (13), ball nut cover (14) and adpting flange (15), lead screw shaft (13) is assemblied in the ball nut cover (14), upper end and the running shaft (1) of rotary magnetorheological damper by about connecting shaft body (11 and 12) be connected, the bottom of ball nut cover (14) is connected with adpting flange (15), is installed on the unsprung weight of mechanical system by adpting flange (15).

5. mechanical system longitudinal linear vibration restraining device according to claim 4, it is characterized in that: described spring (10) is installed between rotary magnetorheological damper and the conversion of motion mechanism, the upper end is against flange (4) lower end surface of the bottom of rotary magnetorheological damper, and the lower end is pressed on the ball nut cover (14) of conversion of motion mechanism.

6. according to claim 2 or 3 described mechanical system longitudinal linear vibration restraining devices, it is characterized in that: described rotary magnetorheological damper comprises running shaft (1), bearing friction top (19), up-thrust bearing (20), sealing cover (5), field coil (6), rotor (7), magnetic flow liquid (8) and housing (9); The outer rim middle part coiling field coil (6) of described rotor (7), they are contained in the housing (9), and periphery is filled with magnetic flow liquid (8), and the upper end seals by sealing cover (5) and sealing gasket (18), and lower thrust-bearing (20) is installed in sealing cover (5); Running shaft (1) lower end links to each other by tightening nut (23) with rotor (7), and sealing cover (5) and bearing friction top (19) are passed in running shaft (1) upper end, and mechanism is connected with conversion of motion.

7. mechanical system longitudinal linear vibration restraining device according to claim 6, it is characterized in that: described conversion of motion mechanism adopts the sliding-type screw-nut structure, gone up the nut of internal thread formation by leading screw on the running shaft (1) of rotary magnetorheological damper and hanger (22) and form, hanger (22) is connected with the double vibrations partially rigid of mechanical system; The upper end of running shaft (1) is contained in the mounting flange (21) by thrust-bearing (20) and bearing friction top (19), and is connected with the fixed position of mechanical system by the edge hole of mounting flange (21).

8. mechanical system longitudinal linear vibration restraining device according to claim 6 is characterized in that: described elastic element adopts helical spring (10), is installed between hanger (22) and the sealing cover (5).

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