CN110861762B - Self-adaptive piezoelectric shunt semi-passive control device and method for shafting vibration control - Google Patents
Self-adaptive piezoelectric shunt semi-passive control device and method for shafting vibration control Download PDFInfo
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- CN110861762B CN110861762B CN201911100871.XA CN201911100871A CN110861762B CN 110861762 B CN110861762 B CN 110861762B CN 201911100871 A CN201911100871 A CN 201911100871A CN 110861762 B CN110861762 B CN 110861762B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H23/00—Transmitting power from propulsion power plant to propulsive elements
- B63H23/32—Other parts
- B63H23/34—Propeller shafts; Paddle-wheel shafts; Attachment of propellers on shafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/30—Mounting of propulsion plant or unit, e.g. for anti-vibration purposes
- B63H21/302—Mounting of propulsion plant or unit, e.g. for anti-vibration purposes with active vibration damping
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Abstract
The invention provides a self-adaptive piezoelectric shunt semi-passive control device and method for shafting vibration control. The method comprises the following steps: piezoelectric shunt circuit, power supply unit, self-adaptation regulating circuit. The self-adaptive adjusting circuit is connected with the piezoelectric shunt circuit, a voltage probe is adopted to measure a plurality of voltages in the piezoelectric shunt circuit in real time, and the difference or product result of the measured voltages is used as the reference parameter of self-adaptive adjustment to adjust the piezoelectric shunt circuit according to the voltage characteristics in the circuit under the optimal parameter. By monitoring the voltage parameters (or the product, the difference value and the like) in the negative capacitor circuit, an adjusting rule is given according to the characteristics of the voltage parameters, and real-time voltage is output to adaptively adjust the controllable resistance parameters of the circuit in the double negative capacitor circuit, so that the characteristics of the negative capacitors always meet the optimal parameters, and adaptive adjustment and control are realized.
Description
Technical Field
The invention relates to the technical field of ship vibration reduction, in particular to a self-adaptive adjustment piezoelectric shunt semi-passive control device and method for controlling longitudinal and transverse vibration of a propeller shaft system.
Background
The propeller rotates in an uneven unsteady flow field, generates fundamental frequency and frequency multiplication exciting force line spectrum components related to rotating speed and blade number and random broadband components which basically and gradually attenuate along with frequency while generating static thrust, and the fundamental frequency and frequency multiplication exciting force line spectrum components and the random broadband components generate underwater sound radiation by forcing the ship structure to vibrate through shafting transmission; the latter will excite the characteristic modes of the propeller-shafting-hull coupled system, both of which will form prominent characteristic frequency spectrum.
The vibration control means adopted on the existing propulsion shaft system comprises longitudinal vibration isolation of a vibration damper, vibration isolation of a resonance converter, dynamic anti-resonance vibration isolation, vibration absorption of an active vibration absorber, a dynamic vibration absorber on a base, a dynamic vibration absorber inside a hollow shaft system, vibration isolation and vibration absorption treatment inside a thrust bearing. Wherein the use of vibration isolation results in vibrations being blocked to the propeller end, increasing the magnitude of the propeller's vibrations, and the vibration isolation frequency cannot be too low, otherwise the propulsion efficiency will be affected. The dynamic antiresonance can amplify the vibration transmission above a certain frequency; the active dynamic vibration absorber adopts active control measures, so that the system is complex. The dynamic vibration absorber has small influence on the natural frequency of the propulsion shafting, and does not need to be connected into the shafting to bear large static thrust, but if a passive vibration absorbing measure is adopted, the required mass cost is large because the controlled frequency of the propulsion shafting is low, and the engineering can not bear the static thrust; a single conventional vibration absorber can only have a suppression effect for a certain order of mode; the periodic structure capable of realizing broadband vibration control and the dynamic vibration absorber integrated control structure occupy larger space; and the vibration absorption effect can be influenced by the change of the natural frequency of the propeller-shafting-hull coupling system at different rotating speeds. By adopting a semi-active control measure, aiming at the change of the large pulsating pressure and the natural frequency of an actual paddle-shafting-hull coupling system, the proposed magnetorheological controller is saturated and cannot cover the change range of the natural frequency. Due to the adoption of active control measures, corresponding control devices and power amplification devices need to be equipped, the complexity of the system is increased, the complexity of the actual operation environment and the instability possibly caused by a control algorithm need to be considered in the active control measures, and due to the factors, the active control devices are not practically applied to a ship propulsion shaft system and basically stay at the stages of theoretical analysis and laboratory test research.
The difference between the inherent modal characteristic and the response amplitude of the propulsion shafting at different rotating speeds is large, and in the piezoelectric shunt damping technology, the optimal parameters of the circuit are the key points for realizing the optimal vibration control. The optimal parameters are related to the dynamic characteristics of the controlled structure, the circuit structure and the electrical characteristics of each component in the circuit, and the key point for realizing the optimal damping performance is how to ensure that the parameters of the components in the circuit are always optimal under different working conditions and complex environments.
The patent with publication number CN104590528A discloses a longitudinal vibration control device of a boat propulsion shafting based on piezoelectric stack-hydraulic micro-displacement amplification, which comprises an axial vibration measurement system, a thrust pulsation controller, a power amplifier and a displacement control execution mechanism, which are connected in sequence by signals, wherein the displacement control execution mechanism comprises: the piezoelectric stack is used for receiving the electric signal sent by the power amplifier and generating corresponding output displacement; the hydraulic micro-displacement amplifier comprises a hydraulic amplification cavity with openings at two ends, two pistons with different sizes are respectively matched with two ends of the hydraulic amplification cavity in a sealing mode, the large piston acts with the displacement output end of the piezoelectric stack, and the small piston acts with a thrust bearing of a boat propulsion shafting through a slide valve core.
Disclosure of Invention
Aiming at the defects that in the prior art, the propulsion shaft system vibrates in low-rotating speed and high-rotating speed, in low-frequency-band longitudinal and transverse bending vibration modes and in the vibration mode of a propeller under different working conditions and complex environments, the invention aims to provide a self-adaptive adjustment piezoelectric shunt semi-passive control device for shaft system vibration control.
The invention provides a self-adaptive adjustment piezoelectric shunt semi-passive control device for controlling the vibration of a shaft system, which comprises:
piezoelectric shunt circuit: the device is connected to a propulsion shaft of a propulsion shaft system and rotates along with the propulsion shaft;
a power supply device: the piezoelectric shunt circuit comprises a static end and a rotating end, wherein the rotating end is connected to the propulsion shaft, rotates along with the propulsion shaft and is electrically connected with the piezoelectric shunt circuit;
the self-adaptive adjusting circuit: and the voltage probe is connected with the piezoelectric shunt circuit, and is used for measuring a plurality of voltages in the piezoelectric shunt circuit in real time, and the difference or product result of the measured voltages is used as the reference parameter for self-adaptive adjustment according to the voltage characteristic in the circuit under the optimal parameter, so that the piezoelectric shunt circuit is adjusted.
Preferably, the piezoelectric shunt circuit includes: the device comprises a piezoelectric sheet, a resistor, an inductor, a parallel negative capacitor and a serial negative capacitor;
the piezoelectric sheet is fixedly connected to a rotating shaft of a shaft system, and the piezoelectric sheet, the resistor, the inductor and the series negative capacitor are sequentially connected in series;
the parallel negative capacitor is connected with the piezoelectric sheet, the resistor, the inductor and the series negative capacitor in parallel;
the power supply device is connected with the parallel negative capacitor and the series negative capacitor.
Preferably, the adaptive adjusting circuit is connected to the parallel negative capacitor and the series negative capacitor, respectively, and adjusts the piezoelectric shunt circuit by adjusting the parallel negative capacitor and the series negative capacitor.
Preferably, the parallel negative capacitance includes: a first operational amplifier, a capacitor C1PResistance R2PAnd a variable resistor R1P；
The capacitor C1PIs respectively connected with the positive input end and the output end of the first operational amplifier, and the resistor R2PRespectively connected to the negative input terminal and the output terminal of the first operational amplifier, the variable resistor R1PRespectively connected to the negative input terminal of the first operational amplifier and ground.
Preferably, the adaptive adjusting circuit obtains voltages of a positive input end, a negative input end, an output end and a power supply end of the first operational amplifier, and adjusts the variable resistor R1PThe resistance value of (2).
Preferably, the series negative capacitance includes: second operational amplifier, variable resistor R1SResistance R2SVariable resistor R3SCapacitor C3SAnd a resistance RBS；
The variable resistor R1SThe two ends of the second operational amplifier are respectively connected with the negative input end and the output end of the second operational amplifier; the resistor R2SBoth ends of the second operational amplifier are respectively connected with the positive input end and the output end of the second operational amplifier; the variable resistor R3SOne end of the second operational amplifier is connected with the positive input end of the second operational amplifier, and the other end of the second operational amplifier passes through the capacitor C3SGrounding; the resistor RBSAnd the capacitor C3SAnd (4) connecting in parallel.
Preferably, the adaptive adjusting circuit acquiresA positive input terminal, a negative input terminal, an output terminal, a power supply terminal of the second operational amplifier, and the resistor RBSVoltage at both ends, and adjusting the variable resistance R1SAnd the variable resistor R3SThe resistance value of (2).
Preferably, the software of the adaptive adjusting circuit is implemented on a microprocessor, and the hardware adjusts the parallel negative capacitors and the series negative capacitors by using crystalline field effect transistors.
Preferably, the power supply device is a slip ring power supply device, the stationary end is a stator, and the rotating end is a rotor; or, the power supply device is an induction telemetering power supply device, the static end is a transmitting end, and the rotating end is a receiving end.
Preferably, the piezoelectric patches are operated in a d31 mode, and are arranged in a plurality of numbers circumferentially around the propeller shaft where the strain of the desired control mode is greatest.
Compared with the prior art, the invention has the following beneficial effects:
according to the control mechanism of the double-negative-capacitor piezoelectric shunt damping circuit for multi-mode control of the paddle-shafting-hull coupling system and the characteristics of voltage parameters of each element in the shunt circuit under the optimal parameters, the invention provides an adjustment rule by monitoring the voltage parameters (or the product, the difference value and the like) in the negative capacitor circuit and according to the characteristics of the voltage parameters, outputs real-time voltage to adaptively adjust the circuit controllable resistance parameters in the double-negative capacitor circuit, so that the characteristics of the negative capacitor always meet the optimal parameters, and realizes adaptive adjustment and control.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram according to a second embodiment of the present invention;
FIG. 3 is a piezoelectric shunt circuit diagram;
FIG. 4 is a diagram of an adaptive regulator circuit with parallel negative capacitors;
fig. 5 is a diagram of an adaptive regulator circuit with series negative capacitors.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1 and fig. 2, the present invention provides an adaptive tuning piezoelectric shunt semi-passive control device for controlling shaft system vibration, including: piezoelectric shunt circuit 3, adaptive control circuit 4 and power supply unit for rotating shafting.
The power supply device comprises a static end 1 and a rotating end 2, wherein the rotating end 2 is connected to the propulsion shaft, rotates along with the propulsion shaft and is electrically connected with the piezoelectric shunt circuit 3, and the static end 1 is arranged on the periphery of the rotating end 2 and supplies power to the piezoelectric shunt circuit through the rotating end 2. In the embodiment shown in fig. 1, the power supply device is an inductive telemetry power supply device, the stationary end is a transmitting end, and the rotating end is a receiving end; in the embodiment shown in fig. 2, the power supply is a slip ring power supply, the stationary end is a stator, and the rotating end is a rotor. The slip ring power supply device adopts a rotor with good dynamic balance, and can input voltage as high as 500V; the induction telemetering power supply device adopts a receiving end with good dynamic balance and can input voltage as high as 40V.
As shown in fig. 3, the piezoelectric shunt circuit is connected to the propulsion shaft of the propulsion shaft system and rotates with the propulsion shaft. The piezoelectric shunt circuit includes: piezoelectric sheet 31, resistor 35, inductor 34, parallel negative capacitor 32, and series negative capacitor 33.
The piezoelectric patches 31 are adhered to the surface of the rotating shaft of the shaft system, work in a d31 mode, and are arranged at the positions where the strain of the required control mode is maximum in order to improve the electromechanical coupling coefficient of the required control mode, the number of the piezoelectric patches is at least more than 20, the piezoelectric patches are adhered to corresponding positions on the propulsion shaft system by a high-performance two-component epoxy resin adhesive, and the arrangement mode is that the piezoelectric patches are arranged around the rotating shaft for one circle.
The piezoelectric sheet 31, the resistor 35, the inductor 34 and the series negative capacitor 33 are sequentially connected in series; the parallel negative capacitor 32 is connected with the piezoelectric sheet 31, the resistor 35, the inductor 34 and the series negative capacitor 33 in parallel; the power supply is connected to the parallel negative capacitor 32 and the series negative capacitor 33.
The software of the self-adaptive adjusting circuit 4 is realized on a microprocessor, and the hardware utilizes a crystal field effect transistor (JFET) to adjust the resistance controlled by the voltage in the negative capacitance circuit so as to realize a relatively ideal negative capacitance value and meet the real-time optimal parameters in the shunt circuit.
The self-adaptive adjusting circuit 4 is connected with the piezoelectric shunt circuit 3, a plurality of voltages in the piezoelectric shunt circuit are measured in real time by adopting a voltage probe, and the piezoelectric shunt circuit is adjusted by taking the difference or product result of the measured voltages as the reference parameter of self-adaptive adjustment according to the voltage characteristic in the circuit under the optimal parameter.
Specifically, as shown in fig. 4 and 5, the adaptive adjusting circuit 4 is connected to a parallel negative capacitor 32 and a series negative capacitor 33, respectively, and adjusts the piezoelectric shunt circuit by adjusting the parallel negative capacitor and the series negative capacitor. The parallel negative capacitor and the series negative capacitor are respectively realized by adopting an operational amplifier and a corresponding circuit thereof. The two negative-capacitance adaptive adjusting circuits can be integrated into one microprocessor.
The adaptive adjustment control circuit and the control strategy need to be designed according to the characteristics of parameters such as voltage in the circuit under the optimal parameters. The voltage probe can be adopted to measure the voltage in the negative capacitance piezoelectric shunt circuit, the voltage drop of components and parts, and the voltage of the inverting input end and the non-inverting input end of the operational amplifier in real time, and then the difference or product result of the voltage parameters is used as the basis parameter for self-adaptive adjustment by calculating and analyzing the difference, the product and the like of the voltage parameters according to the voltage characteristics in the circuit under the optimal parameters so as to determine the adjustment direction of the resistance in the negative capacitance circuit.
It is currently more preferable to use the voltages at the inverting and non-inverting inputs (i.e. the positive and negative inputs) of the operational amplifier, because these voltages can also be used to monitor the stability margin under small and large excitations. In order to realize the self-adaptive control circuit, a corresponding subtraction circuit, a multiplication circuit, an integration circuit, an attenuation circuit, a low-pass filter circuit and the like are required to be constructed to realize the operation of difference and product of voltage results, and a microprocessor chip with a plurality of DA/AD conversion inputs is required to complete corresponding functions.
In the specific implementation of the adaptive adjustment of the resistance, a controllable resistance of a circuit can be constructed by adopting a crystal field effect transistor and the like. Under different working conditions, the resistance value is adjusted based on the control voltage given by the operation of the control circuit, so that the negative capacitance value of the optimal parameter of the double-negative-capacitance piezoelectric shunt damping circuit is realized, and the performance of the piezoelectric shunt damping circuit is kept in the optimal state under different working conditions.
The self-adaptive control method for adjusting the negative capacitance parameters based on the controllable resistance of the circuit does not need to add a complex test system and a data processing system, and can enable the shunt circuit to be always in the optimal parameters.
In fig. 4, the parallel negative capacitance includes: a first operational amplifier, a capacitor C1PResistance R2PAnd a variable resistor R1P(ii) a Capacitor C1PIs respectively connected with the positive input end and the output end of the first operational amplifier, and a resistor R2PIs respectively connected with the negative input end and the output end of the first operational amplifier, and a variable resistor R1PRespectively connected to the negative input terminal of the first operational amplifier and ground. The self-adaptive adjusting circuit obtains the voltages of the positive input end, the negative input end, the output end and the power supply end of the first operational amplifier and adjusts the variable resistor R1PThe resistance value of (2). An inductance ofL A And a resistance value ofR BS Are used to stabilize the performance of the negative impedance converter operating in the high frequency band and at 0Hz, respectively. By adjusting the resistanceR S1Varying capacitanceNC 2. Has been adjustedNC 2By adjusting the resistanceR S3To change the resistanceNR N So as to realize ideal negative capacitance. Using a crystalline field effect transistor (JFET) to control the resistance of the voltage during adjustment by the adaptive control circuitR S1And (6) carrying out adjustment.
In fig. 5, the series negative capacitance includes: second operational amplifier, variable resistor R1SResistance R2SVariable resistor R3SCapacitor C3SAnd a resistance RBS(ii) a Variable resistor R1SBoth ends of the first operational amplifier are respectively connected with the negative input end and the output end of the second operational amplifier; resistance R2SBoth ends of the first operational amplifier are respectively connected with the positive input end and the output end of the second operational amplifier; variable resistor R3SOne end of the second operational amplifier is connected with the positive input end of the second operational amplifier, and the other end of the second operational amplifier passes through a capacitor C3SGrounding; resistance RBSAnd a capacitor C3SAnd (4) connecting in parallel. The adaptive adjusting circuit obtains a positive input end, a negative input end, an output end, a power supply end and a resistor R of the second operational amplifierBSVoltage at both ends, and adjusting variable resistance R1SAnd a variable resistor R3SThe resistance value of (2).
When the thrust shaft rotates underwater, under the action of the wide-band force of the propeller, the longitudinal vibration mode, the transverse vibration mode or the vibration mode of the propeller of the shaft system can amplify the force, so that the force transmitted to the thrust bearing has a peak value. The control performance of the dynamic vibration absorber is closely related to the optimal parameters, and the optimal parameters are related to the dynamic characteristics of a controlled structure, the circuit structure and the electrical characteristics of each component in the circuit. The self-adaptive regulation control technology provided by the invention ensures that a circuit is always in the optimal parameter under variable working conditions and complex environments, and realizes the damping performance.
The self-adaptive control method for adjusting the negative capacitance parameters based on the controllable resistance of the circuit does not need to add a complex test system and a data processing system, can enable the shunt circuit to be always in the optimal parameters, and ensures the performance of the designed circuit by the integrated application of the methods.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (6)
1. The utility model provides a semi-passive controlling means of self-adaptation piezoelectricity reposition of redundant personnel of shafting vibration control which characterized in that includes:
piezoelectric shunt circuit: the device is connected to a propulsion shaft of a propulsion shaft system and rotates along with the propulsion shaft;
a power supply device: the piezoelectric shunt circuit comprises a static end and a rotating end, wherein the rotating end is connected to the propulsion shaft, rotates along with the propulsion shaft and is electrically connected with the piezoelectric shunt circuit;
the self-adaptive adjusting circuit: the voltage detection circuit is connected with the piezoelectric shunt circuit, a plurality of voltages in the piezoelectric shunt circuit are measured in real time by adopting a voltage probe, and the difference or product result of the measured voltages is used as a reference parameter for self-adaptive adjustment according to the voltage characteristic in the circuit under the optimal parameter to adjust the piezoelectric shunt circuit;
the piezoelectric shunt circuit includes: the device comprises a piezoelectric sheet, a resistor, an inductor, a parallel negative capacitor and a serial negative capacitor;
the piezoelectric sheet is fixedly connected to a rotating shaft of a shaft system, and the piezoelectric sheet, the resistor, the inductor and the series negative capacitor are sequentially connected in series;
the parallel negative capacitor is connected with the piezoelectric sheet, the resistor, the inductor and the series negative capacitor in parallel;
the power supply device is connected with the parallel negative capacitors and the series negative capacitors;
the self-adaptive adjusting circuit is respectively connected with the parallel negative capacitor and the series negative capacitor, and adjusts the piezoelectric shunt circuit by adjusting the parallel negative capacitor and the series negative capacitor;
the parallel negative capacitance includes: a first operational amplifier, a capacitor C1PResistance R2PAnd a variable resistor R1P；
The capacitor C1PIs respectively connected with the positive input end and the output end of the first operational amplifier, and the resistor R2PRespectively connected to the negative input terminal and the output terminal of the first operational amplifier, the variable resistor R1PBoth ends of the first operational amplifier are respectively connected with the negative input end of the first operational amplifier and the ground;
the series negative capacitance includes: second operational amplifier, variable resistor R1SResistance R2SVariable resistor R3SCapacitor C3SAnd a resistance RBS；
The variable resistor R1SThe two ends of the second operational amplifier are respectively connected with the negative input end and the output end of the second operational amplifier; the resistor R2SBoth ends of the second operational amplifier are respectively connected with the positive input end and the output end of the second operational amplifier; the variable resistor R3SOne end of the second operational amplifier is connected with the positive input end of the second operational amplifier, and the other end of the second operational amplifier passes through the capacitor C3SGrounding; the resistor RBSAnd the capacitor C3SAnd (4) connecting in parallel.
2. The adaptive piezoelectric shunt semi-passive control device for shafting vibration control according to claim 1, wherein the adaptive adjusting circuit obtains voltages of a positive input terminal, a negative input terminal, an output terminal and a power supply terminal of the first operational amplifier, and adjusts the variable resistor R1PThe resistance value of (2).
3. The adaptation of shafting vibration control as claimed in claim 1The piezoelectric shunt semi-passive control device is characterized in that the self-adaptive adjusting circuit obtains a positive input end, a negative input end, an output end, a power supply end and the resistor R of the second operational amplifierBSVoltage at both ends, and adjusting the variable resistance R1SAnd the variable resistor R3SThe resistance value of (2).
4. The shafting vibration controlled adaptive piezoelectric shunt semi-passive control device according to claim 1, wherein the software of the adaptive adjusting circuit is implemented on a microprocessor, and the hardware adjusts the parallel negative capacitors and the series negative capacitors by using crystalline field effect transistors.
5. The adaptive piezoelectric shunt semi-passive control device for shafting vibration control according to claim 1, wherein the power supply device is a slip ring power supply device, the stationary end is a stator, and the rotating end is a rotor; or, the power supply device is an induction telemetering power supply device, the static end is a transmitting end, and the rotating end is a receiving end.
6. The self-adaptive piezoelectric shunt semi-passive control method for shafting vibration control is characterized in that the self-adaptive piezoelectric shunt semi-passive control device for shafting vibration control of claim 1 is adopted to control the vibration of a propeller shafting.
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