CN109667358A - Adaptive mechanical driving adjusts rotational inertia type control system - Google Patents
Adaptive mechanical driving adjusts rotational inertia type control system Download PDFInfo
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- CN109667358A CN109667358A CN201910103411.6A CN201910103411A CN109667358A CN 109667358 A CN109667358 A CN 109667358A CN 201910103411 A CN201910103411 A CN 201910103411A CN 109667358 A CN109667358 A CN 109667358A
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- rotary inertia
- power output
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- control system
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- 230000003044 adaptive effect Effects 0.000 title claims description 16
- 230000008859 change Effects 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 15
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 238000012938 design process Methods 0.000 abstract description 2
- 230000005764 inhibitory process Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 239000000725 suspension Substances 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000013519 translation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000005284 excitation Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
- E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
- E04H9/0215—Bearing, supporting or connecting constructions specially adapted for such buildings involving active or passive dynamic mass damping systems
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
- E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
- E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
- E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
- E04H9/023—Bearing, supporting or connecting constructions specially adapted for such buildings and comprising rolling elements, e.g. balls, pins
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to the inhibition fields vibrated in system, disclose a kind of axis drive adjusting rotational inertia type intelligent controlling device comprising what is be fixedly connected with controlled structure goes out power module, and power module includes rotary inertia submodule and power output submodule out；Rotary inertia submodule includes symmetrically arranged two rotary inertia disks, it is radially evenly equipped with three rotary inertias in each rotary inertia disk and adjusts channel, every rotary inertia, which is adjusted in channel, is provided with driving motor, ball-screw and moving mass block, submodule of contributing includes symmetrically arranged two sets of power output devices, and power output device includes driver, encoder and speed changer.The present invention generates control force using driver driving rotary inertia, and rotary inertia can automatically adjust, and without carrying out frequency modulation design process, degree of regulation is high, and adjustable range is wide；Control system of the invention is suitable for the case where structure rotates, reverses or turn round lagging motion, applied widely, and robustness is high.
Description
Technical field
The present invention relates to the inhibition fields vibrated in system, adjust and turn in particular to a kind of driving of adaptive mechanical
Dynamic inertia formula control system.
Background technique
In recent years, highway, railway, bridge, skyscraper, large-span space structure etc. are constantly built, ocean platform,
The structures such as space station also rapidly develop.These job facilities, structure are in use often in the work of external loads
It is vibrated with lower generation, serious can generate is waved, or even is destroyed.In order to solve various caused by being vibrated by works ask
Topic, vibration control technology come into being.
In terms of structural vibration control technology is broadly divided into following four: active control, passive control, semi- active control and
Mixing control.For various engineering structures, the dynamic response of structure can effectively be mitigated by properly installing vibration control system,
Mitigate structural damage or fatigue damage.
The movement of structure is usually composed of translation and torsionoscillation.Research shows that translation tuned mass damper
(English name Tuned Mass Damper, TMD), active mass damper/active torque output device (English name Active
Mass Damper/Driver, AMD) due to need to provide centripetal force in torsionoscillation and weaken significantly control effect even it is complete
It is complete ineffective therefore nearly unavailable to shimmy control is turned round.However there is the structure motion form for turning round shimmy kinetic characteristic
It is extremely common, such as: the swing of overhung construction (suspension hook, crane)；Torsion of the asymmetric buildings under wind action is shimmy；Sea
Torsion of the foreign platform under the couplings such as wave, wind, ice is shimmy；Spaceship, space structure in the process of running, due to from
Body stance adjustment and solar energy sailboard reverse lagging motion caused by opening；High-speed railway locomotive, since small excitation causes
The torsion lagging motion of vehicle body etc..Therefore a kind of special control system is needed, allows to overcome (or getting rid of) weight automatically
Influence (centrifugal force effect) of the field of force to control system itself, or make the work/characteristics of motion and gravity of control system itself
Field decoupling, system self-vibration is not influenced by gravitation, to play the effective control action of control system.
Generally speaking, existing Structural Vibration Control Systems mainly have the following deficiencies: first, be translatable TMD control device
Can only the translational motion of control structure and it is invalid to shimmy control is turned round；Second, although translation AMD control device can control back
Switch vibration, but control efficiency is extremely low, is unable to satisfy requirement；Third, passive rotation inertia tuned damper is to gyroscopic pendulum
Motion control of shaking is effective, but it needs to carry out complicated frequency modulation for structure itself, to certain labyrinth control efficiencies compared with
It is low, ineffective, the disadvantages of it is low that there are robustness, and controllability is low, and the scope of application is small；4th, the control system scope of application is small, control
Power output processed is limited, and control effect is limited；5th, control system energy utilization rate not can guarantee, and be unable to satisfy the need of economy
It asks.
The present invention is exactly to generate in this context.
Summary of the invention
It is a primary object of the present invention to provide a kind of adaptive mechanical driving adjusting rotational inertia type in view of the above problems
Control system.
To achieve the goals above, adaptive mechanical of the invention driving adjusting rotational inertia type control system, including with
What controlled structure was fixedly connected goes out power module, and power module includes rotary inertia submodule and power output submodule out；
Rotary inertia submodule includes symmetrically arranged two rotary inertia disks, is radially evenly distributed in each rotary inertia disk
There are three rotary inertias to adjust channel, every rotary inertia, which is adjusted in channel, is provided with driving motor, ball-screw and movement
Mass block, driving motor are fixed on rotary inertia and adjust channel inner end, and ball-screw one end is connect with driving motor, and the other end is solid
It is scheduled on rotary inertia disk, moving mass block is fixed on ball-screw；
Submodule of contributing includes symmetrically arranged two sets of power output devices, and power output device includes driver, encoder and speed change
Device, driver inner end are fixed with encoder, and outer end is connect with speed changer, and the drive shaft of driver passes through speed changer and rotary inertia
It is vertically fixed at the center of disk.
It further, further include power output lumen, two sets of power output devices are symmetrically even contributed in lumen, two rotary inertias
Disk is symmetrically disposed on power output lumen both ends.
It further, further include driver rack, driver rack is fixed in power output lumen, and driver is fixed on driving
On device bracket.
Further, power output lumen be include pedestal and upper cover, the two is bolted to connection.
It further, further include controller, controller is connect with encoder and driver.
Further, driver, speed changer and encoder are coaxial.
Further, speed changer is retarder.
Further, driver is servo motor or stepper motor.
The invention has the following advantages:
(1) present invention generates control force using driver driving rotary inertia, and rotary inertia can automatically adjust, without into
Row frequency modulation design process has adaptive characteristic, and degree of regulation is high, and adjustable range is wide, and system application range is big；
(2) two sets of power output devices of the invention are symmetrical arranged, and when normal operation works at the same time, and reduce every suit construction
Load, if wherein a set of break down, other set can work on, and ensure that the stability of system.
(3) present invention has bigger robustness, and control effect will not change because of structure type and external loads effect
Change and be a greater impact；
(4) control system of the invention is suitable for the case where structure rotates, reverses or turn round lagging motion, is applicable in model
It encloses wide.
Detailed description of the invention
Fig. 1 is structural exploded view of the invention；
Fig. 2 is overlooking structure diagram of the present invention；
Fig. 3 is rotary inertia disk internal structure chart of the present invention；
Fig. 4 is present invention scheme of installation in single pendulum structure；
Wherein, the above drawings include the following reference numerals: 1, power output lumen；1.1, pedestal；1.2, upper cover；2, driver；
3, speed changer；4, driver rack；5, encoder；6, controller；7, rotary inertia disk；8, rotary inertia adjusts channel；9, it drives
Dynamic motor；10, ball-screw；11, moving mass block；12, it is controlled structure.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The present embodiment is by taking single pendulum structural model is the structure of basic mechanical model prototype as an example；
As shown in Figs 1-4, adaptive mechanical of the invention driving adjusting rotational inertia type control system includes and controlled knot
What structure 12 was fixedly connected goes out power module, and power module includes rotary inertia submodule and power output submodule out；
Power output submodule includes power output lumen 1 and is symmetrically disposed on intraluminal two sets of power output devices of contributing, lumen of contributing
For tubular structure, including pedestal 1.1 and upper cover 1.2, the two is bolted to connection；
Power output device includes driver 2, speed changer 3 and driver rack 4, and driver rack is fixed in power output lumen,
Driver is fixed on driver rack, and driver is servo motor or stepper motor, and one end on the inside of driver is fixed with volume
Code device 5, outer end is connect with speed changer, and the drive shaft of driver, which passes through, passes through ring flange at speed changer and the center of rotary inertia disk
Vertically be fixedly connected, driver, speed changer and encoder are coaxial, be additionally provided with controller 6 between two encoders, controller with
Encoder and driver connection；
In the present embodiment, in addition to being set to driver tail end for acquiring the encoder of rotary inertia rotation data, suspension centre
Place is also equipped with a sensor, and for acquiring the rotation data of controlled structure, sensor herein can be used but is not limited to
Optical electric axial angle encoder, angular acceleration transducer or gyroscope.
Rotary inertia submodule includes the rotary inertia disk 7 for being symmetrically disposed on power output lumen both ends, edge in rotary inertia disk
Radial equipartition has three rotary inertias to adjust channel 8, and the angle that adjacent rotary inertia is adjusted between channel is 120 degree, every
Rotary inertia adjusts and is provided with driving motor 9, ball-screw 10 and moving mass block 11 in channel, and driving motor, which is fixed on, to be turned
Dynamic inertia adjusts channel inner end, and ball-screw one end is connect by shaft coupling with driving motor, and the other end is fixed on by bearing
On rotary inertia disk, moving mass block is fixed on ball-screw.Driving motor drives ball screw turns, and then drives movement
Mass block is translatable along ball-screw, and three fully synchronized work of motor guarantee three moving mass block synchronizing movings, and apart from circle
The distance of the heart is identical.
Action principle of the invention is as follows:
The sensor being arranged at controlled structure suspension centre acquires lagging motion state, that is, pivot angle of controlled structure and pivot angle adds
Speed data, and configuration state data transmission to controller, controller judges whether to need to carry out active control, when structure is sent out
When the raw shimmy exercise data of revolution is beyond threshold value set before, controller controls driver and acts；Driver tip
Coaxial mounted encoder acquires the rotation situation of driver in real time, feeds back to controller, realize controller and controlled structure with
And the closed-loop control of driver；Driver can control rotary inertia disk and occur back according to the structure motion state of real-time measurement
It walks around dynamic, changes rotary inertia by changing the position of moving mass block in three channels, the rotation of rotary inertia disk generates
Reaction force acts pass in the controlled structure connecting with device lumen on device lumen, inhibit controlled structure
It swings.
Adaptive mechanical driving of the invention adjust rotational inertia type control system can be applied to it is following but be not limited to
Under the basic prototype motion model of mechanics problem in: single pendulum structure freely swings；The vibration of constrained inverted pendulum structure；Rigid body
Around the fixed-axis rotation etc. of any axis in space, in practical projects such as: the swing of overhung construction (suspension hook, crane)；Irregularly build
The torsion built under wind action is shimmy；Torsion rocking vibration etc. of the ocean platform under the couplings such as wave, wind, ice；
Spaceship, space structure in the process of running, torsion pendulum caused by being opened due to itself stance adjustment and solar energy sailboard
Vibration movement；High-speed railway locomotive, during high-speed cruising, the torsion rocking vibration campaign of the vehicle body due to caused by small excitation
Deng.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of adaptive mechanical driving adjusts rotational inertia type control system, go out including what is be fixedly connected with controlled structure (12)
Power module, power module includes rotary inertia submodule and power output submodule out；
Rotary inertia submodule includes two symmetrically arranged rotary inertia disks (7), and each rotary inertia disk (7) is interior radially equal
It is furnished with three rotary inertias and adjusts channel (8), every rotary inertia, which is adjusted in channel (8), is provided with driving motor (9), ball
Lead screw (10) and moving mass block (11), driving motor (9) are fixed on rotary inertia and adjust channel (8) inner end, ball-screw
(10) one end is connect with driving motor (9), and the other end is fixed on rotary inertia disk (7), and moving mass block (11) is fixed on rolling
On ballscrew (10)；
Power output submodule includes symmetrically arranged two sets of power output devices, and power output device includes driver (2), encoder (5) and becomes
Fast device (3), driver (2) inner end are fixed with encoder (5), and outer end is connect with speed changer (3), and the drive shaft of driver (2) is worn
Cross that speed changer (3) is vertical at the center of rotary inertia disk (7) to be fixed.
2. adaptive mechanical driving according to claim 1 adjusts rotational inertia type control system, which is characterized in that also wrap
It includes solenoid chamber (1), two sets of power output devices are symmetrically disposed in power output lumen (1), and two rotary inertia disks (7) are symmetrically disposed on
Power output lumen (1) both ends.
3. adaptive mechanical driving according to claim 2 adjusts rotational inertia type control system, which is characterized in that also wrap
It includes driver rack (4), driver rack (4) is fixed in power output lumen (1), and driver (2) is fixed on driver rack (4)
On.
4. adaptive mechanical driving according to claim 2 or 3 adjusts rotational inertia type control system, which is characterized in that
Power output lumen (1) be include pedestal (1.1) and upper cover (1.2), the two is bolted to connection.
5. adaptive mechanical driving according to claim 1 adjusts rotational inertia type control system, which is characterized in that also wrap
It includes controller (6), controller (6) is connect with encoder (5) and driver (2).
6. adaptive mechanical driving according to claim 1 adjusts rotational inertia type control system, which is characterized in that driving
Device (2), speed changer (3) and encoder (5) are coaxial.
7. adaptive mechanical driving according to claim 1 adjusts rotational inertia type control system, which is characterized in that speed change
Device (3) is retarder.
8. adaptive mechanical driving according to claim 1 adjusts rotational inertia type control system, which is characterized in that driving
Device (2) is servo motor or stepper motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103411.6A CN109667358B (en) | 2019-02-01 | 2019-02-01 | Self-adaptive mechanical driving adjusting rotary inertia type control system |
| PCT/CN2019/105660 WO2020155644A1 (en) | 2019-02-01 | 2019-09-12 | Control system employing mechanical driving device to realize adaptive adjustment of rotational inertia |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910103411.6A CN109667358B (en) | 2019-02-01 | 2019-02-01 | Self-adaptive mechanical driving adjusting rotary inertia type control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109667358A true CN109667358A (en) | 2019-04-23 |
| CN109667358B CN109667358B (en) | 2023-11-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910103411.6A Active CN109667358B (en) | 2019-02-01 | 2019-02-01 | Self-adaptive mechanical driving adjusting rotary inertia type control system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109667358B (en) |
| WO (1) | WO2020155644A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020155644A1 (en) * | 2019-02-01 | 2020-08-06 | 青岛理工大学 | Control system employing mechanical driving device to realize adaptive adjustment of rotational inertia |
| CN112594316A (en) * | 2020-12-17 | 2021-04-02 | 华中科技大学 | Inertial mass damping system with adjustable inertial mass coefficient |
| CN115637638A (en) * | 2022-10-26 | 2023-01-24 | 哈尔滨工业大学 | Variable inertial mass semi-active tuned mass damper inertial container and frequency tuning method |
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- 2019-02-01 CN CN201910103411.6A patent/CN109667358B/en active Active
- 2019-09-12 WO PCT/CN2019/105660 patent/WO2020155644A1/en active Application Filing
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| CN101016758A (en) * | 2007-01-22 | 2007-08-15 | 哈尔滨工业大学 | Novel mixing quality driving variable damping control device for structure vibration control |
| CN101413295A (en) * | 2008-11-24 | 2009-04-22 | 中国海洋大学 | Self-adapting frequency conversion tuning quality damping vibration attenuation apparatus and self-adapting frequency conversion method thereof |
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|---|---|---|---|---|
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| CN112594316A (en) * | 2020-12-17 | 2021-04-02 | 华中科技大学 | Inertial mass damping system with adjustable inertial mass coefficient |
| CN115637638A (en) * | 2022-10-26 | 2023-01-24 | 哈尔滨工业大学 | Variable inertial mass semi-active tuned mass damper inertial container and frequency tuning method |
| CN115637638B (en) * | 2022-10-26 | 2024-01-12 | 哈尔滨工业大学 | Inertial container of variable inertial semi-active tuning mass damper and frequency tuning method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109667358B (en) | 2023-11-24 |
| WO2020155644A1 (en) | 2020-08-06 |
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