CN115384807A - Active vibration-damping support rod with space precision maintaining capability and vibration damping system - Google Patents
Active vibration-damping support rod with space precision maintaining capability and vibration damping system Download PDFInfo
- Publication number
- CN115384807A CN115384807A CN202210734972.8A CN202210734972A CN115384807A CN 115384807 A CN115384807 A CN 115384807A CN 202210734972 A CN202210734972 A CN 202210734972A CN 115384807 A CN115384807 A CN 115384807A
- Authority
- CN
- China
- Prior art keywords
- vibration
- vibration absorption
- force
- active
- flexible hinge
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000013016 damping Methods 0.000 title claims abstract description 79
- 238000010521 absorption reaction Methods 0.000 claims abstract description 113
- 239000012528 membrane Substances 0.000 claims description 37
- 230000008030 elimination Effects 0.000 claims description 14
- 238000003379 elimination reaction Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012546 transfer Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 238000002955 isolation Methods 0.000 abstract description 9
- 238000012423 maintenance Methods 0.000 abstract description 5
- 238000005452 bending Methods 0.000 abstract description 4
- 230000014759 maintenance of location Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000000737 periodic effect Effects 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000015556 catabolic process Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012958 reprocessing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/228—Damping of high-frequency vibration effects on spacecraft elements, e.g. by using acoustic vibration dampers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
- F16F15/06—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means with metal springs
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention provides an active vibration-damping support rod with space precision maintaining capability, which realizes vibration isolation based on the force cancellation principle, does not influence the initial position and angle precision of a moving part while realizing vibration isolation, and realizes the maintenance of the space (position and angle) precision of the moving part. This initiative damping bracing piece includes: the device comprises a flexible hinge A, a flexible hinge B, a vibration absorption actuator shell, a vibration absorption actuator base, a vibration absorption actuator and a force sensor; the flexible hinge A and the flexible hinge B provide low bending rigidity in two directions perpendicular to the axial direction, so that the active vibration absorption supporting rod is equivalent to a two-force rod on mechanics; the force sensor measures at least axial force information, the vibration absorption actuator provides actuating force in the axial direction under the driving of the external controller, and the force sensor, the vibration absorption actuator and the controller form a closed-loop control system of the axial force. In addition, the invention also provides a vibration damping system based on the active vibration damping support rod.
Description
Technical Field
The invention relates to a vibration damper, in particular to a vibration damping support rod and a vibration damping system, and belongs to the technical field of satellite design and application.
Background
Periodic micro-vibration is generated when a part which does periodic reciprocating motion on the remote sensing satellite, such as a refrigerator and a control moment gyro (CMG for short), works. With the requirement for higher resolution of remote sensing satellites, the transmission of micro-vibration to the camera may affect the image quality, so that vibration isolation measures need to be taken for the micro-vibration source to reduce the influence of periodic micro-vibration on the camera.
However, the CMG has an angular pointing requirement, and a dewar assembly in the refrigerator has a high requirement on position accuracy and needs to participate in optical adjustment. The vibration isolation requirements of the vibration source which participates in optical adjustment and has position and angle precision requirements cannot be met by using a low-rigidity passive vibration isolator and an active vibration isolation device based on a displacement actuator, and the low-rigidity passive vibration isolator can cause overlarge low-frequency-range displacement due to low rigidity so as to exceed the requirements.
Disclosure of Invention
In view of the above, the present invention provides an active vibration damping support rod with a capability of maintaining spatial accuracy, which is the accuracy of spatial position and angle, in order to meet the requirement of vibration damping of a moving member requiring the accuracy of position and angle.
Possess the initiative damping bracing piece of space precision retentivity, include: the device comprises a flexible hinge A, a flexible hinge B, a vibration absorption actuator shell, a vibration absorption actuator base, a vibration absorption actuator and a force sensor;
one axial end of the shell of the vibration absorption actuator is connected with a vibration disturbance source through a flexible hinge A, and the other axial end of the shell of the vibration absorption actuator is connected with a base of the vibration absorption actuator;
the force sensor is tightly pressed between the flexible hinge B and the vibration absorption actuator base; the force sensor has a pre-tightening force; the force sensor is used for acquiring axial force information and transmitting the axial force information to the external controller;
the flexible hinge B is connected with a basic structure;
the vibration absorption actuator is arranged in the shell of the vibration absorption actuator, and the vibration absorption actuator is used for generating axial force under the action of the controller so as to offset the disturbance axial force of the disturbance source.
As a preferred embodiment of the present invention: the vibration absorbing actuator includes: the voice coil motor comprises a voice coil motor rotor, a voice coil motor stator and a vibration force transmission assembly;
the voice coil motor rotor can move along the axial direction;
the voice coil motor stator is fixedly connected with the shell of the vibration absorption actuator and is electrically connected with an external controller;
the vibration force transmission assembly is fixedly connected with the rotor of the voice coil motor, and transmits axial actuating force generated by the rotor of the voice coil motor to the shell of the vibration absorption actuator and the base of the vibration absorption actuator.
As a preferred embodiment of the present invention: the vibrating force transfer assembly comprises: the film spring A, the film spring B, the limiting block A, the limiting block B and the connecting bolt;
the membrane spring A is arranged between the flexible hinge A and the shell of the vibration absorption actuator; the membrane spring B is arranged between the shell of the vibration absorption actuator and the base of the vibration absorption actuator;
the connecting bolt sequentially penetrates through the membrane spring B, the voice coil motor stator, the voice coil motor rotor and the membrane spring A from bottom to top and then is locked through a nut;
the upper end and the lower end of the membrane spring A are respectively compressed by a nut and a limiting block A sleeved on the connecting bolt;
and the upper end and the lower end of the membrane spring B are respectively compressed by a limiting block B sleeved on the connecting bolt and a nut of the connecting bolt.
As a preferred embodiment of the present invention: the force sensor is sleeved on the stud on the upper end face of the flexible hinge B; the part of the stud penetrating through the force sensor is locked with the vibration absorption actuator base through a nut, and the force sensor is tightly pressed between the flexible hinge B and the vibration absorption actuator base; and applying pretightening force to the force sensor through a nut.
As a preferred embodiment of the present invention: and the limiting block A and the limiting block B are integrally processed with the rotor of the voice coil motor.
As a preferred embodiment of the present invention: the flexible hinge A, the flexible hinge B, the vibration absorption actuator shell and the vibration absorption actuator base are all made of metal.
As a preferred embodiment of the present invention: the sensitive element in the force sensor is made of piezoelectric materials.
Furthermore, the present invention provides a vibration damping system comprising: more than three active vibration absorption supporting rods; the active vibration elimination support rods are the active vibration elimination support rods with space precision maintaining capacity, and more than three active vibration elimination support rods are arranged between the vibration disturbance source and the base structure according to a set space angle; more than three active vibration absorption support rods are respectively and electrically connected with the controller.
Preferably, the following components: one end of the active vibration elimination supporting rod is connected with the vibration disturbance source through the switching corner box, and the other end of the active vibration elimination supporting rod is connected with the foundation structure through the switching corner box.
Preferably, the vibration damping system comprises six active vibration damping support rods; every two of the six active vibration absorption supporting rods form a group; the three groups of active vibration absorption supporting rods are uniformly distributed at intervals along the circumferential direction; one end of each of the two active vibration-damping support rods in each group is connected with the foundation structure at a set included angle through the switching angle box, and the other end of each active vibration-damping support rod is connected with the same position of the vibration-disturbing source through the switching angle box.
Has the advantages that:
(1) The active vibration-damping support rod has no flexible link in the axial direction, can provide better rigid support for a moving part (namely a vibration-disturbing source), realizes vibration isolation based on the principle of force cancellation, does not influence the initial position and angle precision of the moving part while realizing vibration isolation, and realizes the maintenance of the space (position and angle) precision of the moving part; the active vibration-damping support rod is good in integrity, high in universality, suitable for vibration isolation requirements of various moving parts and wide in application prospect.
(2) The active vibration elimination support rod adopts the voice coil motor controlled by the external controller as the vibration absorption actuator, and if the disturbance vibration frequency of a moving part deviates from a design value or the frequency drifts due to performance degradation after long-term on-orbit work, the vibration elimination frequency can be adjusted by modifying the parameters of the controller at any time, so that the high-performance vibration elimination of the whole life cycle of the spacecraft is adapted.
(3) In the active vibration-damping support rod, the membrane spring is adopted for axial force transmission, and the axial actuating force generated by the rotor of the voice coil motor is transmitted to the shell of the vibration-absorbing actuator and the base of the vibration-absorbing actuator, so that the vibration-damping effect of the active vibration-damping support rod can be improved.
(4) The vibration damping system based on the active vibration damping support rod has the characteristic of high rigidity of a conventional equipment support bracket, a flexible vibration damping link is not arranged on a load transmission path of the vibration damping system, and the precision of a position and an angle can be still kept after the ground optical adjustment and the ground optical adjustment are subjected to the full-period environments of ground testing, general assembly, storage, emission, on-orbit and the like. Meanwhile, the vibration damping system can measure the disturbance vibration force information on the active vibration damping supporting rod through the force sensor and transmit the disturbance vibration force information to the controller; the controller drives the vibration absorption actuator inside the active vibration absorption supporting rod to work, so that the periodic vibration interference force is counteracted, and the vibration absorption effect is achieved. In addition, the damping frequency of the damping system can be adjusted by adjusting the parameters of the controller, and the damping system has stronger adaptability to the damping requirement of a disturbance source which generates frequency drift due to performance degradation after long-term operation on the rail.
(5) In the vibration damping system based on the active vibration damping support rod, the switching angle box is connected with the vibration disturbing source and the foundation structure, the precision adjustment of the vibration disturbing source is realized through the adjustment of the switching angle box, and the precision maintenance of the position and the angle of the vibration disturbing source is realized through the high-rigidity characteristic of the vibration damping system.
(6) In the vibration damping system based on the active vibration damping support rod, a plurality of active vibration damping support rods in different directions are arranged; through the layout of a plurality of supporting rods, the force in all directions can be offset.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a cross-sectional view of an active damping support rod with spatial accuracy retention capability (the vibration absorbing actuator is partially not shown);
FIG. 2 is a cross-sectional view of an embodiment of an active damping support rod with spatial accuracy retention capability;
FIG. 3 is a schematic view of a damping system with spatial accuracy retention capability;
FIG. 4 is a disturbance force transmission diagram of the damping system;
figure 5 is an illustration of an embodiment of a damping system having six sets of support rods.
Wherein: 1-flexible hinge A, 2-vibration absorption actuator shell, 3-vibration absorption actuator, 4-vibration absorption actuator base, 5-force sensor, 6-flexible hinge B, 7-membrane spring A, 8-limiting block A, 9-voice coil motor rotor, 10-limiting block B, 11-connecting bolt, 12-voice coil motor stator, 13-membrane spring B, 100-vibration interference source, 200-switching angle box, 300-active vibration absorption supporting rod and 400-controller
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The present embodiment is described to explain the present invention, but is not limited to the present invention. The following description is given in some specific detail in order to provide a better understanding of the invention.
Example 1:
the present embodiment provides an active vibration-damping support rod having a spatial accuracy maintaining capability, which is capable of achieving vibration damping based on the principle of force cancellation, which can be used for vibration damping of a moving member having high requirements for positional and angular accuracy, and which is capable of vibration damping without changing the initial positional and angular accuracy of the moving member.
As shown in fig. 1, the active vibration-damping support rod includes: the device comprises a flexible hinge A1, a flexible hinge B6, a vibration absorption actuator shell 2, a vibration absorption actuator base 4, a vibration absorption actuator 3 and a force sensor 5.
Wherein: one end of the shell 2 of the vibration absorption actuator is connected with the flexible hinge A1, and the other end is connected with the base 4 of the vibration absorption actuator; specifically, the method comprises the following steps: the flexible hinge A1 is provided with connecting holes at two axial ends, one end is connected with a disturbance vibration source (namely a moving part) through a fastener, and the other end is connected with the vibration absorption actuator shell 2 through a fastener. The shell 2 of the vibration absorption actuator is of a structure that one end of the shell is opened in the axial direction, and the other end of the shell is provided with a through hole; with a flexible hinge A1 attached to its open end. The vibration absorption actuator base 4 is a hollow frustum structure with an opening at the large end and a through hole at the small end. The end of the through hole of the vibration absorption actuator shell 2 is coaxially connected with the large end of the vibration absorption actuator base 4 through a fastening piece.
The upper end face of the flexible hinge B6 is provided with a stud, a force sensor 5 of a hollow cylinder structure is sleeved on a polished rod part of the stud, a threaded part of the stud penetrates through the force sensor 5, further penetrates through a through hole in the small end of the vibration absorption actuator base 4 and is locked by a nut, and therefore the vibration absorption actuator base 4 and the force sensor 5 are pressed tightly; thereby compressing the force sensor 5 between the flexible hinge B6 and the shock absorbing actuator base 4. The nut applies a pre-tightening torque, so that the aim of pre-tightening the force sensor 5 can be fulfilled, and axial tension and pressure can be measured. And the lower end surface of the flexible hinge B6 is provided with a connecting hole which is connected with a spacecraft foundation structure.
The flexible hinge A1, the vibration absorption actuator shell 2, the vibration absorption actuator base 4, the force sensor 5 and the flexible hinge B6 are sequentially coaxially connected to form a mechanical two-force rod structure, and the structure can only transfer the axial force of the support rod. The force sensor 5 is connected with an external controller through a cable, and the force sensor 5 collects axial force information of the active vibration absorption supporting rod and transmits the axial force information to the external controller.
The two axial ends of the active vibration-damping support rod are flexible hinges, and the bending rigidity of the flexible hinges in two directions perpendicular to the axial direction of the vibration-damping support rod is far lower than the axial rigidity, so that the axial displacement of the active vibration-damping support rod is only limited, and the rotation of the active vibration-damping support rod around the axis of the active vibration-damping support rod is not limited.
The vibration absorption actuator 3 is arranged in the vibration absorption actuator shell 2, and the side surface of the vibration absorption actuator shell 2 is provided with a locking hole of the vibration absorption actuator 3 and a cable through hole.
As shown in fig. 2, the vibration-absorbing actuator 3 includes: two membrane springs (membrane spring A7 and membrane spring B13 respectively), two limiting blocks (limiting block A8 and limiting block B10 respectively), connecting bolts 11, voice coil motor rotor 9 and voice coil motor stator 12.
The voice coil motor rotor 9 is an annular structure with a central hole, and an annular groove coaxial with the central hole is processed on the lower end face of the voice coil motor rotor, so that a central boss is formed in the central part of the voice coil motor rotor; the voice coil motor stator 12 is an annular structure with an opening at the upper end and a via hole processed at the lower end. The voice coil motor rotor 9 and the voice coil motor stator 12 are coaxially arranged, wherein a central boss of the voice coil motor rotor 9 is positioned in a central hole of the voice coil motor stator 12, and an annular shell of the voice coil motor stator 12 is positioned in an annular groove of the voice coil motor rotor 9. The voice coil motor rotor 9 is in sliding fit with the voice coil motor stator 12, and the voice coil motor rotor 9 can move along the axial direction.
12 via hole place ends of voice coil motor stator with inhale actuator shell 2 fixed connection (the fastener realizes voice coil motor stator 12 and inhale being connected between the actuator shell 2 through the locking hole of inhaling the outer circumference of actuator shell 2), the cable of voice coil motor stator 12 is worn out through the cable perforation of inhaling on the actuator shell 2, is connected with external control ware. The external controller supplies power to the voice coil motor stator 12 to form an electromagnetic field, and drives the voice coil motor rotor 9 to move along the axial direction of the supporting rod. Namely, the active vibration-damping support rod is connected with an external control through two cables, namely a cable connected with the voice coil motor stator 12 and a cable connected with the force sensor 5.
The voice coil motor rotor 9 is connected with two membrane springs and two limiting blocks through the connecting bolt 11 to form the vibration part of the vibration absorption actuator 3, and the two membrane springs in the vibration part of the vibration absorption actuator 3 are respectively compressed and fixed with the flexible hinge A1 and the vibration absorption actuator shell 2 and the vibration absorption actuator base 4 through the vibration absorption actuator shell 2. Specifically, the method comprises the following steps: the membrane spring A7 is pressed and fixed between the flexible hinge A1 and the vibration absorption actuator shell 2 through a fastener between the flexible hinge A1 and the vibration absorption actuator shell 2; the diaphragm spring B13 is pressed and fixed between the vibration-absorbing actuator housing 2 and the vibration-absorbing actuator base 4 by a fastener between the vibration-absorbing actuator housing 2 and the vibration-absorbing actuator base 4. One end of the vibration absorption actuator base 4 is connected with the vibration absorption actuator shell 2 to press the membrane spring B13 in the vibration absorption actuator 3, the other end of the vibration absorption actuator base is connected with the flexible hinge B6 through a stud of the flexible hinge B6, and the pressing force sensor 5 is arranged.
A connecting bolt 11 sequentially penetrates through a membrane spring B13, a through hole of a voice coil motor stator 12, a central hole of a voice coil motor rotor 9 and a membrane spring A7 from bottom to top and then is locked through a nut; stopper A8 suit is on connecting bolt 11, and stopper A8 is located between voice coil motor active cell 9 and membrane spring A7, and one end is contradicted with voice coil motor active cell 9 up end, and the other end is contradicted with membrane spring A7 lower terminal surface, and the upper and lower both ends of membrane spring A7 compress tightly through nut and stopper A8 respectively from this, avoid it to be in unsettled state. A limiting block B10 is also sleeved on the connecting bolt 11, the limiting block B10 is positioned between the voice coil motor rotor 9 and the membrane spring B13, one end of the limiting block B10 is abutted against the lower end face of the voice coil motor rotor 9, and the other end of the limiting block B10 is abutted against the upper end face of the membrane spring B13; the nut part of the connecting bolt 11 is abutted against the lower end face of the membrane spring B13 through the cushion block, and therefore the upper end and the lower end of the membrane spring B13 are respectively compressed through the limiting block B10 and the nut of the connecting bolt 11, and the membrane spring is prevented from being in a suspended state. Therefore, when the rotor 9 of the voice coil motor moves axially, the two diaphragm springs and the two limiting blocks are driven to be connected through the connecting bolts 11 to form the whole vibrating part of the vibration absorbing actuator 3 to move axially. The two limiting blocks and the voice coil motor rotor 9 can be integrally processed.
When the voice coil motor rotor 9 moves axially, the two diaphragm springs are driven to deform, and the axial actuating force generated by the voice coil motor rotor 9 is transmitted to the vibration absorption actuator shell 2 and the vibration absorption actuator base 4 through the diaphragm springs.
The vibration absorption principle of the active vibration absorption supporting rod is as follows: the two ends of the support rod are provided with flexible hinges, and the bending rigidity of the flexible hinges in two transverse directions perpendicular to the axial direction of the support rod is far lower than the axial rigidity, so that the support rod is equivalent to a 'two-force rod' in mechanics, and only axial force is transferred. Measuring original disturbance axial force on the supporting rod through a force sensor 5, and transmitting the original disturbance axial force to a controller; the controller drives the vibration absorbing actuators 3 to generate axial forces of equal amplitude and opposite phase. The axial force that actuator 3 produced that shakes is inhaled through two membrane springs and is transmitted to the actuator shell 2 that shakes, and two axial forces join in force sensor 5 department to offset original disturbance axial force, reach the purpose of vibration isolation (avoid original disturbance axial force to transmit to the foundation structure promptly).
In the active vibration-damping support rod, the flexible hinge A1 and the flexible hinge B6 provide low bending stiffness in two directions perpendicular to the axial direction, so that the active vibration-damping support rod is equivalent to a mechanical two-force rod; the force sensor 5 measures at least axial force information, the vibration absorption actuator 3 provides actuating force in the axial direction under the driving of the external controller, and the force sensor 5, the vibration absorption actuator 3 and the controller form a closed-loop control system of the axial force.
Preferably, the flexible hinge A1, the flexible hinge B6, the vibration absorption actuator shell 2 and the vibration absorption actuator base 4 are all made of metal; the sensitive element in the force sensor 5 is made of piezoelectric material.
Example 2:
in addition to embodiment 1 described above, a vibration damping system having a spatial accuracy retention capability is provided.
As shown in fig. 3, the damping system includes: n (N is more than or equal to 3) active vibration absorption supporting rods 300, a switching corner box 200 and a controller 400; the upper end of the vibration damping system is provided with equipment which needs space precision maintenance and has micro vibration during working, namely a vibration disturbing source 100, and the lower end of the vibration damping system is connected with a spacecraft foundation structure.
According to the requirement of vibration reduction, the N active vibration-damping support rods 300 are arranged according to a set spatial angle (the arrangement of the plurality of active vibration-damping support rods 300 can realize the cancellation of forces in all directions), and the angular relationship between the vibration-disturbing source 100 and the spacecraft foundation structure is ensured by the transfer corner box 200. Specifically, the method comprises the following steps: one end of the active vibration elimination support rod 300 is connected with the vibration disturbance source 100 through the switching angle box 200, and the other end is connected with the spacecraft foundation structure through the switching angle box 200. In the ground installation stage, the adapting corner box 200 is adjusted by rotation, gasket adjustment, reprocessing and the like until the installation position and the accuracy of the disturbance source 100 meet the requirements. The switching angle box is connected with the vibration disturbing source 100 and a base structure, the precision adjustment of the vibration disturbing source 100 is realized through the adjustment of the switching angle box 200, and the precision maintenance of the position and the angle of the vibration disturbing source 100 is realized through the high rigidity characteristic of a vibration damping system. Each active damping support rod 300 is electrically connected to the controller 400 through two cables.
The working principle of the damping system is as follows: the force sensor 5 on each device measures the original vibration disturbing axial force information of the vibration eliminating active support rod 300 where the force sensor 5 is located and feeds the information back to the controller 400, and the controller 400 controls the vibration part in the vibration absorbing actuator 3 to vibrate up and down to generate axial actuating force with the same amplitude and opposite phase to the original vibration disturbing axial force; the axial actuating force of the vibration absorption actuator 3 is transmitted to the vibration absorption actuator shell 2 and the vibration absorption actuator base 4 through the membrane spring and then transmitted to the force sensor 5, so that the original vibration interference force is counteracted, and the purpose of vibration reduction is achieved.
Ground parking, final assembly, test and launching flight stages: the mechanical load transmission path of the disturbance source 100 through the damping system is as follows: the disturbance source 100 — > the equipment end transfer angle box — > the flexible hinge A1 — > the vibration absorption actuator housing 2, the vibration absorption actuator base 4 — > the force sensor 5 — > the flexible hinge B6 — > the foundation structure end transfer angle box — > the satellite/camera foundation structure, as shown in fig. 4; the transmission links of the mechanical load are rigid elements, no flexible low-rigidity deformation link exists in the axial direction, and through the design of all the parts, the rigidity of a combination body of the disturbance vibration source 100 and the vibration damping system can be ensured, and the requirements on the precision of the position and the direction of the disturbance vibration source 100 are ensured.
In the on-orbit flight phase, when the damping system does not work, the transmission path of the disturbance force of the disturbance source 100 is: disturbance vibration source 100- > equipment end switching angle box- > flexible hinge A1- > inhale that the actuator shell 2, inhale that the actuator base 4- > force sensor 5- > flexible hinge B6- > foundation structure end switching angle box- > satellite/camera foundation structure, the axial disturbance vibration power of disturbance vibration source 100 through the bracing piece transmission is measured to the force sensor 5 on every vibration absorption bracing piece 300, and measurement information transmits to controller 400.
When the vibration reduction system works, the vibration disturbing force information collected by the force sensor 5 is transmitted to the controller 400, the controller 400 controls the vibration absorption actuator 3 to act to generate axial reaction force with equal amplitude and opposite phase, the reaction force is transmitted to the vibration absorption actuator shell 2 and the vibration absorption actuator base 4 through the membrane spring and then transmitted to the force sensor 5 to offset the vibration disturbing force, and the vibration disturbing force collected by the force sensor 5 is reduced.
As shown in fig. 5, the present embodiment provides a damping system having six active damping support rods 300, wherein the six active damping support rods 300 are grouped into three groups in pairs; the three groups of active vibration absorption supporting rods 300 are uniformly distributed at intervals along the circumferential direction; one end of each of the two active vibration-damping support rods 300 in each group forms an included angle of 60 degrees with the spacecraft foundation structure through the switching angle box 200, and the other end of each of the two active vibration-damping support rods 300 in each group is connected with the vibration-disturbing source 100 at the same position through the switching angle box 200, so that the included angle of the axial lines of the two active vibration-damping support rods 300 in each group is also 60 degrees.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. Possess the initiative damping bracing piece of space precision retentivity, its characterized in that includes: the vibration absorption actuator comprises a flexible hinge A (1), a flexible hinge B (6), a vibration absorption actuator shell (2), a vibration absorption actuator base (4), a vibration absorption actuator (3) and a force sensor (5);
one axial end of the vibration absorption actuator shell (2) is connected with a vibration disturbance source through a flexible hinge A (1), and the other axial end of the vibration absorption actuator shell is connected with a vibration absorption actuator base (4);
the force sensor (5) is pressed between the flexible hinge B (6) and the vibration absorption actuator base (4); the force sensor (5) has a pre-tightening force; the force sensor (5) is used for collecting axial force information and transmitting the axial force information to an external controller;
the flexible hinge B (6) is connected with a base structure;
the vibration absorption actuator (3) is arranged in the vibration absorption actuator shell (2), and the vibration absorption actuator (3) is used for generating axial force under the action of the controller so as to offset the disturbance axial force of the disturbance vibration source.
2. The active vibration canceling support rod with spatial accuracy maintaining capability of claim 1, wherein: the vibration absorbing actuator (3) includes: the voice coil motor comprises a voice coil motor rotor (9), a voice coil motor stator (12) and a vibration force transmission assembly;
the voice coil motor rotor (9) can move along the axial direction;
the voice coil motor stator (12) is fixedly connected with the vibration absorption actuator shell (2) and is electrically connected with an external controller;
the vibration force transmission assembly is fixedly connected with the voice coil motor rotor (9) and transmits axial actuating force generated by the voice coil motor rotor (9) to the vibration absorption actuator shell (2) and the vibration absorption actuator base (4).
3. The active vibration canceling support rod with spatial accuracy maintaining capability of claim 2, wherein: the vibrating force transfer assembly comprises: the membrane spring A (7), the membrane spring B (13), the limiting block A (8), the limiting block B (10) and the connecting bolt (11);
the membrane spring A (7) is arranged between the flexible hinge A (1) and the vibration absorption actuator shell (2); the membrane spring B (13) is arranged between the vibration absorption actuator shell (2) and the vibration absorption actuator base (4);
the connecting bolt (11) sequentially penetrates through the membrane spring B (13), the voice coil motor stator (12), the voice coil motor rotor (9) and the membrane spring A (7) from bottom to top and then is locked through a nut;
the upper end and the lower end of the membrane spring A (7) are respectively compressed by a nut and a limiting block A (8) sleeved on the connecting bolt (11);
the upper end and the lower end of the membrane spring B (13) are respectively compressed by a limiting block B (10) sleeved on the connecting bolt (11) and a nut of the connecting bolt (11).
4. The active vibration canceling support rod with spatial accuracy maintaining capability according to any one of claims 1 to 3, wherein: the force sensor (5) is sleeved on a stud on the upper end face of the flexible hinge B (6); the part of the stud penetrating out of the force sensor (5) is locked with the vibration absorption actuator base (4) through a nut, and the force sensor (5) is pressed between the flexible hinge B (6) and the vibration absorption actuator base (4); a pre-tightening force is applied to the force sensor (5) through a nut.
5. The active vibration canceling support rod with spatial accuracy maintaining capability of claim 3, wherein: and the limiting block A (8) and the limiting block B (10) are integrally processed with the voice coil motor rotor (9).
6. The active vibration canceling support rod with spatial accuracy maintaining capability according to any one of claims 1 to 3, wherein: the flexible hinge A (1), the flexible hinge B (2), the vibration absorption actuator shell (2) and the vibration absorption actuator base (4) are all made of metal.
7. The active vibration damping support rod with spatial accuracy maintaining capability according to any one of claims 1 to 3, wherein: and a sensitive element in the force sensor (5) is made of a piezoelectric material.
8. A vibration dampening system characterized by: the method comprises the following steps: more than three active vibration absorption supporting rods; the active vibration elimination support rod is the active vibration elimination support rod with space precision maintaining capability of any one of the claims 1-7, and more than three active vibration elimination support rods are arranged between the vibration disturbance source and the base structure according to a set space angle; more than three active vibration absorption supporting rods are respectively and electrically connected with the controller.
9. The vibration dampening system of claim 8 wherein: one end of the active vibration elimination supporting rod is connected with the vibration disturbance source through the switching angle box, and the other end of the active vibration elimination supporting rod is connected with the foundation structure through the switching angle box.
10. The vibration dampening system of claim 8 wherein: comprises six active vibration-damping support rods; every two of the six active vibration-damping support rods are in a group; the three groups of active vibration absorption supporting rods are uniformly distributed at intervals along the circumferential direction; one end of each of the two active vibration-damping support rods in each group is connected with the foundation structure at a set included angle through the switching angle box, and the other end of each active vibration-damping support rod is connected with the same position of the vibration-disturbing source through the switching angle box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210734972.8A CN115384807A (en) | 2022-06-27 | 2022-06-27 | Active vibration-damping support rod with space precision maintaining capability and vibration damping system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210734972.8A CN115384807A (en) | 2022-06-27 | 2022-06-27 | Active vibration-damping support rod with space precision maintaining capability and vibration damping system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115384807A true CN115384807A (en) | 2022-11-25 |
Family
ID=84116715
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210734972.8A Pending CN115384807A (en) | 2022-06-27 | 2022-06-27 | Active vibration-damping support rod with space precision maintaining capability and vibration damping system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115384807A (en) |
-
2022
- 2022-06-27 CN CN202210734972.8A patent/CN115384807A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0786057B1 (en) | ACTIVE SYSTEMS AND DEVICES INCLUDING ACTIVE VIBRATION ABSORBERS (AVAs) | |
| EP0621418B1 (en) | Apparatus for controlling active mounts | |
| JP5166253B2 (en) | System and method for actively dampening vibrations | |
| US9234561B2 (en) | Vibration isolating device | |
| US7637359B2 (en) | Modular interface for damping mechanical vibrations | |
| EP0539930B1 (en) | Multiaxis isolation system | |
| KR101150080B1 (en) | Pushing force deviating interface for damping mechanical vibrations | |
| EP2182238B1 (en) | Piezoelectric liquid inertia vibration eliminator | |
| JP3614755B2 (en) | Omnidirectional vibration isolation system | |
| US6695106B2 (en) | Method and apparatus for improved vibration isolation | |
| US10443677B2 (en) | Base isolation unit and base isolation apparatus | |
| US20100030384A1 (en) | Vibration Isolation System With Design For Offloading Payload Forces Acting on Actuator | |
| US4781363A (en) | Vibration isolator particularly of the antiresonance force type | |
| US9644698B2 (en) | Device for the purpose of influencing the transfer of vibration between two units | |
| US8840062B2 (en) | Pylon mounting system with vibration isolation | |
| US8282087B2 (en) | Oscillation decoupling device | |
| KR100870108B1 (en) | Active passive vibration isolator using voice coil motor | |
| JPH03288039A (en) | Vibration isolating device | |
| CN115384807A (en) | Active vibration-damping support rod with space precision maintaining capability and vibration damping system | |
| US3155361A (en) | Vibration isolation mount | |
| JP4236752B2 (en) | Support mount | |
| US4312247A (en) | Vibration reducing mount system | |
| JPH06280932A (en) | Vibration isolation device | |
| US20220032481A1 (en) | Preloaded strut | |
| JPH05310196A (en) | Vibration control device of spacecraft onboard |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |