WO2020155639A1 - Self-propelled omnidirectional rotational inertia drive control system - Google Patents

Self-propelled omnidirectional rotational inertia drive control system Download PDF

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Publication number
WO2020155639A1
WO2020155639A1 PCT/CN2019/105649 CN2019105649W WO2020155639A1 WO 2020155639 A1 WO2020155639 A1 WO 2020155639A1 CN 2019105649 W CN2019105649 W CN 2019105649W WO 2020155639 A1 WO2020155639 A1 WO 2020155639A1
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Prior art keywords
climbing
steering
driver
drive
control system
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PCT/CN2019/105649
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French (fr)
Chinese (zh)
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张春巍
王昊
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青岛理工大学
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Publication of WO2020155639A1 publication Critical patent/WO2020155639A1/en

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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

Definitions

  • the invention relates to the field of vibration suppression in a system, and in particular to a self-propelled omnidirectional moment of inertia drive control system.
  • Structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control.
  • active control passive control
  • semi-active control hybrid control
  • proper installation of the vibration control system can effectively reduce the dynamic response of the structure and reduce structural damage or fatigue damage.
  • the movement of the structure is usually a combination of translation and torsion swing.
  • translational tuned mass damper English name Tuned Mass Damper, TMD
  • active mass damper/active torque output device English name Active Mass Damper/Driver, AMD
  • the existing structural vibration control system mainly has the following shortcomings: first, the translational TMD control device can only control the translational motion of the structure and is invalid for the control of the swing vibration; second, the translational AMD control device can Control the slewing vibration, but the control efficiency is extremely low, which cannot meet the requirements of use; third, the passive moment of inertia tuned damper is effective for the control of the slewing vibration movement, but it needs to carry out complex frequency modulation for the structure itself, and control some complex structures Low efficiency, poor effect, low robustness, low controllability, and small scope of application; fourth, the active moment of inertia drive control device can only be used to control the shimmy movement in the plane where the moment of inertia wheel is located. When the out-of-plane shimmy motion is generated or the out-of-plane motion can be simplified to torsion, the system control efficiency will be greatly reduced or even fail.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide a self-propelled omni-directional moment of inertia drive control system for the above problems.
  • the self-propelled omni-directional moment of inertia drive control system of the present invention includes an active output unit, a steering climbing unit and a device lumen, and the controlled structure penetrates the device lumen;
  • the active output unit includes a driver, an encoder, a transmission and a moment of inertia wheel; the driver, the encoder and the transmission are all coaxially arranged in the device lumen, one end of the driver is installed with an encoder, the other end is connected with the transmission, and the drive shaft of the driver passes through The transmission is vertically fixed at the center of the moment of inertia wheel;
  • the steering climbing unit includes a steering unit and a climbing unit arranged in the lumen of the device;
  • the steering unit includes steering wheels, steering drive shafts, steering brackets, steering drivers and positioning springs;
  • a steering drive shaft is arranged at the center of the steering wheel.
  • the steering drive shaft is axially parallel to the controlled structure. Both ends of the steering drive shaft are provided with steering brackets.
  • the steering brackets are fixed on the inner wall of the device lumen.
  • One of the steering brackets is equipped with steering In the driver, the controlled structure penetrates the lumen of the device, and the steering wheel is tightly attached to the controlled structure through the positioning spring;
  • the climbing unit includes a climbing wheel, a climbing drive shaft, a climbing bracket, a climbing drive and a positioning spring;
  • a climbing drive shaft is arranged at the center of the climbing wheel, the climbing drive shaft is perpendicular to the axis of the controlled structure, and climbing supports are arranged at both ends of the climbing drive shaft.
  • the climbing supports are fixed on the inner wall of the device lumen, and one of the climbing supports is equipped with a climbing In the driver, the middle of the side circumferential surface of the climbing wheel is recessed inward, and the climbing wheel is tightly attached to the controlled structure through the positioning spring;
  • both the steering unit and the climbing unit include two groups, which are symmetrically arranged on both sides of the controlled structure.
  • the present invention also includes a temporary energy storage power supply, which is arranged in the lumen of the device and supplies power to the driver, the steering driver and the climbing driver.
  • the present invention also includes a controller, which is connected to the driver, the encoder, the steering driver and the climbing driver through a line.
  • the present invention also includes a driver bracket, the driver bracket is fixed in the device lumen, and the driver is fixed on the driver bracket.
  • one end of the positioning spring is fixed to the lumen of the device, and the other end is fixed to the steering transmission shaft or the climbing transmission shaft.
  • the transmission is a reducer.
  • the driver is a servo motor or a stepping motor.
  • the rotation of the moment of inertia wheel and the direction and vertical position of the entire control system can be automatically adjusted, with high adjustment accuracy, wide adjustment range, and large system application range;
  • the present invention is suitable for the situation where the structure undergoes rotation, torsion or swing vibration, and has a wide range of applications.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the present invention.
  • Figure 2 is a schematic diagram of the three-dimensional structure of the steering climbing unit
  • Figure 3 is a schematic diagram of the present invention installed in a pendulum structure
  • the above drawings include the following reference signs: 1. Device lumen; 2. Controlled structure; 3. Drive; 4. Encoder; 5. Transmission; 6. Moment of inertia; 7. Drive bracket; 8. Steering Wheel; 9. Steering drive shaft; 10. Steering support; 11. Steering drive; 12. Positioning spring; 13. Climbing wheel; 14. Climbing drive shaft; 15. Climbing support; 16. Climbing drive; 17. Temporary energy storage power supply .
  • a simple pendulum structure model is taken as an example of a basic mechanical model prototype.
  • the simple pendulum in this embodiment is not a plane pendulum, but a spherical pendulum.
  • the self-propelled omni-directional moment of inertia drive control system of the present invention includes an active output unit, a steering climbing unit and a device lumen 1, and the controlled structure 2 penetrates the device lumen;
  • the active output unit includes a driver 3, an encoder 4, a transmission 5 and a moment of inertia wheel 6; the driver, the encoder and the transmission are all arranged in the device lumen, the driver is fixed in the device lumen through the driver bracket 7, and one end of the driver is installed with an encoder The other end is connected with the transmission.
  • the drive, transmission and encoder are coaxial.
  • the drive shaft of the drive passes through the transmission and is vertically fixed at the center of the inertia wheel.
  • a sensor is also provided on the controlled structure to collect the rotational data of the controlled structure.
  • the sensors here can be, but are not limited to, angular acceleration sensors and gyroscopes.
  • the steering climbing unit includes a steering unit and a climbing unit. Both the steering unit and the climbing unit are arranged in the device lumen;
  • the steering unit includes a steering wheel 8, a steering transmission shaft 9, a steering bracket 10, a steering driver 11 and a positioning spring 12;
  • a steering drive shaft is arranged at the center of the steering wheel.
  • the steering drive shaft is axially parallel to the controlled structure. Both ends of the steering drive shaft are provided with steering brackets.
  • the steering brackets are fixed on the inner wall of the device lumen.
  • One of the steering brackets is equipped with steering Drive, the steering bracket installed with the steering drive is wider than the other steering bracket.
  • One end of the positioning spring is fixed to the device lumen and the other end is fixed to the steering drive shaft.
  • the steering wheel is tightly attached to the controlled structure under the action of the positioning spring. on.
  • the steering unit includes two sets of steering wheels, which are symmetrically arranged on both sides of the controlled structure.
  • the climbing unit includes a climbing wheel 13, a climbing drive shaft 14, a climbing bracket 15, a climbing driver 16, and a positioning spring;
  • a climbing drive shaft is arranged at the center of the climbing wheel, the climbing drive shaft is perpendicular to the axis of the controlled structure, and climbing supports are arranged at both ends of the climbing drive shaft.
  • the climbing supports are fixed on the inner wall of the device lumen, and one of the climbing supports is equipped with a climbing Drive, the climbing bracket installed with the climbing drive is wider than the other climbing bracket; one end of the positioning spring is fixed to the device lumen, the other end is fixed to the climbing transmission shaft, the side surface of the climbing wheel is recessed inward in the middle of the positioning spring Close to the accused structure under the action of
  • the climbing unit includes two sets of climbing wheels, which are symmetrically arranged on both sides of the controlled structure.
  • the climbing unit and the steering unit respectively control the axial height and lateral angle of the moment of inertia wheel.
  • a temporary energy storage power source 17 is also provided in the lumen of the device to supply power to the driver, steering driver and climbing driver.
  • the sensor set at the hanging point of the controlled structure collects the swing motion state of the controlled structure, that is, the swing angle and the swing angular acceleration data, and transmits the controlled structure state data to the controller (not shown in the figure), and the controller determines whether Active control is required.
  • the controller controls the driver's action; the encoder installed at the end of the driver collects the rotation of the driver in real time and feeds it back to the controller ,
  • the driver can control the rotation of the moment of inertia wheel to generate torque according to the real-time measurement of the structure motion state, and realize the rotation, torsion or gyration motion of the plane where the moment of inertia wheel is located
  • the climbing drive drives the climbing wheels through the climbing drive shaft
  • the steering drive drives the steering wheels through the steering drive shaft, so as to achieve the climbing and steering of the entire control system.
  • the present invention can automatically adjust the position of the entire control system and the direction of the moment of inertia wheel. To achieve the purpose of omni-directional vibration control.
  • the present invention can be applied to the following but not limited to the following basic prototype motion models of mechanical problems: free swing of a simple pendulum structure; vibration of a constrained inverted pendulum structure; fixed axis rotation of a rigid body around any axis in space, etc., in actual engineering such as :Swing of suspended structures (hooks, cranes, etc.); torsional sway vibration of irregular buildings under wind load; torsional sway vibration of offshore platforms under the coupling action of waves, wind, ice, etc.; spacecraft, space structures During the operation, the torsional sway movement caused by the adjustment of its own posture and the opening of the solar windsurfing board; the high-speed railway locomotive, during the high-speed operation, the torsional sway vibration of the body caused by the small excitation, etc.

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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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

The present invention relates to the field of suppressing vibration in a system, and discloses a self-propelled omnidirectional rotational inertia drive control system, comprising a driving power unit, a steering and climbing unit, and an apparatus pipe cavity; the driving power unit comprises a driver, an encoder, a transmission, and a rotational inertia wheel; the steering and climbing unit comprises a steering unit and a climbing unit arranged in the apparatus pipe cavity, the steering unit comprising a steering wheel, a steering transmission shaft, a steering bracket, a steering driver, and a positioning spring, and the climbing unit comprising a climbing wheel, a climbing transmission shaft, a climbing bracket, a climbing driver, and a positioning spring. The rotation of the rotational inertia wheel and the direction and vertical position of the entire control system in the present invention can be automatically adjusted, and the precision of adjustment is high and the range of adjustment is wide; the scope of application of the system is large, the present invention has greater robustness, and the control effects will not be greatly affected by changes to the structural form and changes to the external load.

Description

自走式全方向转动惯量驱动控制***Self-propelled omni-directional moment of inertia drive control system 技术领域Technical field
本发明涉及***中振动的抑制领域，具体而言，涉及一种自走式全方向转动惯量驱动控制***。The invention relates to the field of vibration suppression in a system, and in particular to a self-propelled omnidirectional moment of inertia drive control system.
背景技术Background technique
近年来，高速公路、铁路、桥梁、高层建筑、大跨度空间结构等不断兴建，海洋平台、宇宙空间站等结构也迅速发展。这些工程设施、结构在使用过程中往往会在外部荷载的作用下产生振动，严重的会产生摇摆，甚至发生破坏。为了解决由结构物振动引起的各种问题，振动控制技术应运而生。In recent years, highways, railways, bridges, high-rise buildings, and large-span spatial structures have been continuously constructed, and structures such as ocean platforms and space stations have also developed rapidly. These engineering facilities and structures often vibrate under the action of external loads during use, and severely shake or even cause damage. In order to solve various problems caused by the vibration of the structure, vibration control technology came into being.
结构振动控制技术主要分为以下四个方面：主动控制、被动控制、半主动控制以及混合控制。对于各种工程结构，恰当地安装振动控制***能够有效地减轻结构的动力响应，减轻结构的破坏或者疲劳损伤。Structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control. For various engineering structures, proper installation of the vibration control system can effectively reduce the dynamic response of the structure and reduce structural damage or fatigue damage.
结构的运动通常由平动以及扭转摆动组合而成。研究表明平动调谐质量阻尼器(英文名Tuned Mass Damper，TMD)、主动质量阻尼器/主动扭矩输出装置(英文名Active Mass Damper/Driver，AMD)由于在扭转摆动中需要提供向心力而大大减弱控制效果甚至完全失去作用，因此对回转摆振控制几乎无效。然而具有回转摆振运动特性的结构运动形式极为常见，如：悬吊结构(吊钩、吊车等)的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摆振；宇宙飞船、空间结构在运行过程中，由于自身姿势调整以及太阳能帆板打开引起的扭转摆振运动；高速铁路机车，由于微小激励引起的车身的扭转摆振运动等。因此需要一种特殊的控制***，使其可以自动克服(或摆脱)重力场对控制***自身的影响(离心力作用)，或者使控制***自身的工作/运动规律与重力场解耦，***自振不受重力影响，从而发挥控制***有效控制作用。The movement of the structure is usually a combination of translation and torsion swing. Studies have shown that translational tuned mass damper (English name Tuned Mass Damper, TMD), active mass damper/active torque output device (English name Active Mass Damper/Driver, AMD) greatly weaken control due to the need to provide centripetal force during torsional swing The effect is even completely useless, so it is almost ineffective to control the swing vibration. However, structural motion forms with slewing vibration characteristics are extremely common, such as: swinging of suspended structures (hooks, cranes, etc.); torsional vibrations of irregular buildings under wind loads; offshore platforms in waves, wind, and ice Torsional shimmy under the coupling action of the spacecraft; the torsional shimmy motion of the spacecraft and space structure due to the adjustment of its own posture and the opening of the solar panel during the operation; the torsional shimmy motion of the car body caused by the small excitation of the high-speed railway locomotive Wait. Therefore, a special control system is needed that can automatically overcome (or get rid of) the influence of the gravity field on the control system itself (centrifugal force), or decouple the work/motion law of the control system itself from the gravity field, and the system can vibrate naturally It is not affected by gravity, thus exerting the effective control function of the control system.
总体来讲，现有的结构振动控制***主要具有以下不足：第一，平动TMD控制装置只能控制结构的平动运动而对回转摆振控制无效；第二，平动AMD控制装置虽然可以控制回转摆振，但是控制效率极低，无法满足使用要求；第三， 被动转动惯量调谐阻尼器对回转摆振运动控制有效，但是其需要针对结构自身进行复杂的调频，对某些复杂结构控制效率较低，效果不佳，存在鲁棒性低，可控性低，适用范围小等缺点；第四，主动转动惯量驱动控制装置仅可适用于控制转动惯量轮所在平面内的摆振运动，当产生平面外的摆振运动或产生平面外可简化为扭转的运动时，***控制效率会大大降低甚至会失效。Generally speaking, the existing structural vibration control system mainly has the following shortcomings: first, the translational TMD control device can only control the translational motion of the structure and is invalid for the control of the swing vibration; second, the translational AMD control device can Control the slewing vibration, but the control efficiency is extremely low, which cannot meet the requirements of use; third, the passive moment of inertia tuned damper is effective for the control of the slewing vibration movement, but it needs to carry out complex frequency modulation for the structure itself, and control some complex structures Low efficiency, poor effect, low robustness, low controllability, and small scope of application; fourth, the active moment of inertia drive control device can only be used to control the shimmy movement in the plane where the moment of inertia wheel is located. When the out-of-plane shimmy motion is generated or the out-of-plane motion can be simplified to torsion, the system control efficiency will be greatly reduced or even fail.
本发明就是在这样的背景下产生的。The present invention was produced under this background.
发明内容Summary of the invention
本发明的主要目的在于针对以上问题提供一种自走式全方向转动惯量驱动控制***。The main purpose of the present invention is to provide a self-propelled omni-directional moment of inertia drive control system for the above problems.
为了实现上述目的，本发明的自走式全方向转动惯量驱动控制***包括主动出力单元、转向爬升单元和装置管腔，被控结构贯穿装置管腔；In order to achieve the above objective, the self-propelled omni-directional moment of inertia drive control system of the present invention includes an active output unit, a steering climbing unit and a device lumen, and the controlled structure penetrates the device lumen;
主动出力单元包括驱动器、编码器、变速器和转动惯量轮；驱动器、编码器和变速器均同轴设置在装置管腔内，驱动器一端安装有编码器，另一端与变速器连接，驱动器的驱动轴穿过变速器与转动惯量轮的中心处垂直固定；The active output unit includes a driver, an encoder, a transmission and a moment of inertia wheel; the driver, the encoder and the transmission are all coaxially arranged in the device lumen, one end of the driver is installed with an encoder, the other end is connected with the transmission, and the drive shaft of the driver passes through The transmission is vertically fixed at the center of the moment of inertia wheel;
转向爬升单元包括设置在装置管腔内的转向单元和爬升单元；The steering climbing unit includes a steering unit and a climbing unit arranged in the lumen of the device;
转向单元包括转向轮、转向传动轴、转向支架、转向驱动器和定位弹簧；The steering unit includes steering wheels, steering drive shafts, steering brackets, steering drivers and positioning springs;
转向轮的中心处设置有转向传动轴，转向传动轴与被控结构轴向平行，转向传动轴两端设置有转向支架，转向支架固定在装置管腔内壁上，其中一个转向支架上安装有转向驱动器，被控结构贯穿装置管腔，转向轮通过定位弹簧紧贴在被控结构上；A steering drive shaft is arranged at the center of the steering wheel. The steering drive shaft is axially parallel to the controlled structure. Both ends of the steering drive shaft are provided with steering brackets. The steering brackets are fixed on the inner wall of the device lumen. One of the steering brackets is equipped with steering In the driver, the controlled structure penetrates the lumen of the device, and the steering wheel is tightly attached to the controlled structure through the positioning spring;
爬升单元包括爬升轮、爬升传动轴、爬升支架、爬升驱动器和定位弹簧；The climbing unit includes a climbing wheel, a climbing drive shaft, a climbing bracket, a climbing drive and a positioning spring;
爬升轮的中心处设置有爬升传动轴，爬升传动轴与被控结构轴向垂直，爬升传动轴两端设置有爬升支架，爬升支架固定在装置管腔内壁上，其中一个爬升支架上安装有爬升驱动器，爬升轮的侧面圆周面中间向内凹陷，爬升轮通过定位弹簧紧贴在被控结构上；A climbing drive shaft is arranged at the center of the climbing wheel, the climbing drive shaft is perpendicular to the axis of the controlled structure, and climbing supports are arranged at both ends of the climbing drive shaft. The climbing supports are fixed on the inner wall of the device lumen, and one of the climbing supports is equipped with a climbing In the driver, the middle of the side circumferential surface of the climbing wheel is recessed inward, and the climbing wheel is tightly attached to the controlled structure through the positioning spring;
进一步的，转向单元和爬升单元均包括两组，对称设置在被控结构两侧。Further, both the steering unit and the climbing unit include two groups, which are symmetrically arranged on both sides of the controlled structure.
进一步的，本发明还包括临时储能电源，临时储能电源设置于装置管腔内，为驱动器、转向驱动器和爬升驱动器供电。Further, the present invention also includes a temporary energy storage power supply, which is arranged in the lumen of the device and supplies power to the driver, the steering driver and the climbing driver.
进一步的，本发明还包括控制器，控制器通过线路与驱动器、编码器、转向驱动器和爬升驱动器连接。Further, the present invention also includes a controller, which is connected to the driver, the encoder, the steering driver and the climbing driver through a line.
进一步的，本发明还包括驱动器支架,驱动器支架固定在装置管腔内，驱动器固定在驱动器支架上。Further, the present invention also includes a driver bracket, the driver bracket is fixed in the device lumen, and the driver is fixed on the driver bracket.
进一步的，定位弹簧一端固定在装置管腔，另一端固定在转向传动轴或爬升传动轴上。Further, one end of the positioning spring is fixed to the lumen of the device, and the other end is fixed to the steering transmission shaft or the climbing transmission shaft.
进一步的，变速器为减速器。Further, the transmission is a reducer.
进一步的，驱动器为伺服电机或步进电机。Further, the driver is a servo motor or a stepping motor.
本发明具有以下有益效果：The present invention has the following beneficial effects:
(1)本发明中转动惯量轮的转动以及整个控制***的方向和竖向位置可以自动调节，调节精度高，调节范围广，***应用范围大；(1) In the present invention, the rotation of the moment of inertia wheel and the direction and vertical position of the entire control system can be automatically adjusted, with high adjustment accuracy, wide adjustment range, and large system application range;
(2)本发明具有更大的鲁棒性，控制效果不会因结构形式改变以及外部荷载作用的改变而受到较大影响；(2) The present invention has greater robustness, and the control effect will not be greatly affected by changes in structural form and changes in external load effects;
(3)本发明适用于适合结构发生转动、扭转或回转摆振运动的情况，适用范围广。(3) The present invention is suitable for the situation where the structure undergoes rotation, torsion or swing vibration, and has a wide range of applications.
附图说明Description of the drawings
图1是本发明立体结构示意图；Figure 1 is a schematic diagram of the three-dimensional structure of the present invention;
图2是转向爬升单元立体结构示意图；Figure 2 is a schematic diagram of the three-dimensional structure of the steering climbing unit;
图3是本发明在单摆结构中安装示意图；Figure 3 is a schematic diagram of the present invention installed in a pendulum structure;
其中，上述附图包括以下附图标记：1、装置管腔；2、被控结构；3、驱动器；4、编码器；5、变速器；6、转动惯量轮；7、驱动器支架；8、转向轮；9、转向传动轴；10、转向支架；11、转向驱动器；12、定位弹簧；13、爬升轮；14、爬升传动轴；15、爬升支架；16、爬升驱动器；17、临时储能电源。Among them, the above drawings include the following reference signs: 1. Device lumen; 2. Controlled structure; 3. Drive; 4. Encoder; 5. Transmission; 6. Moment of inertia; 7. Drive bracket; 8. Steering Wheel; 9. Steering drive shaft; 10. Steering support; 11. Steering drive; 12. Positioning spring; 13. Climbing wheel; 14. Climbing drive shaft; 15. Climbing support; 16. Climbing drive; 17. Temporary energy storage power supply .
具体实施方式detailed description
下面结合附图对本发明作进一步说明。The present invention will be further explained below in conjunction with the drawings.
本实施例以单摆结构模型为基本力学模型原型的结构为例，本实施例的单摆不是平面单摆，而是球面单摆。In this embodiment, a simple pendulum structure model is taken as an example of a basic mechanical model prototype. The simple pendulum in this embodiment is not a plane pendulum, but a spherical pendulum.
如图1-3所示，本发明的自走式全方向转动惯量驱动控制***包括主动出力单元、转向爬升单元和装置管腔1，被控结构2贯穿装置管腔；As shown in Figures 1-3, the self-propelled omni-directional moment of inertia drive control system of the present invention includes an active output unit, a steering climbing unit and a device lumen 1, and the controlled structure 2 penetrates the device lumen;
主动出力单元包括驱动器3、编码器4、变速器5和转动惯量轮6；驱动器、编码器和变速器均设置在装置管腔内，驱动器通过驱动器支架7固定在装置管腔内，驱动器一端安装有编码器，另一端与变速器连接，驱动器、变速器和编码器同轴，驱动器的驱动轴穿过变速器与转动惯量轮的中心处垂直固定。The active output unit includes a driver 3, an encoder 4, a transmission 5 and a moment of inertia wheel 6; the driver, the encoder and the transmission are all arranged in the device lumen, the driver is fixed in the device lumen through the driver bracket 7, and one end of the driver is installed with an encoder The other end is connected with the transmission. The drive, transmission and encoder are coaxial. The drive shaft of the drive passes through the transmission and is vertically fixed at the center of the inertia wheel.
本实施例中，除了设置于驱动器尾端用于采集转动惯量转动数据的编码器，被控结构上也设置有一个传感器，用来采集被控结构的转动数据。此处的传感器可以采用但不限于角加速度传感器和陀螺仪。In this embodiment, in addition to the encoder provided at the end of the drive for collecting rotational inertia data, a sensor is also provided on the controlled structure to collect the rotational data of the controlled structure. The sensors here can be, but are not limited to, angular acceleration sensors and gyroscopes.
转向爬升单元包括转向单元和爬升单元，转向单元和爬升单元均设置在装置管腔内；The steering climbing unit includes a steering unit and a climbing unit. Both the steering unit and the climbing unit are arranged in the device lumen;
转向单元包括转向轮8、转向传动轴9、转向支架10、转向驱动器11和定位弹簧12；The steering unit includes a steering wheel 8, a steering transmission shaft 9, a steering bracket 10, a steering driver 11 and a positioning spring 12;
转向轮的中心处设置有转向传动轴，转向传动轴与被控结构轴向平行，转向传动轴两端设置有转向支架，转向支架固定在装置管腔内壁上，其中一个转向支架上安装有转向驱动器，安装有转向驱动器的转向支架比另一个转向支架要宽一些，定位弹簧一端固定在装置管腔，另一端固定在转向传动轴上，转向轮在定位弹簧的作用下紧贴在被控结构上。转向单元包括两组转向轮，两组转向轮对称设置于被控结构两侧。A steering drive shaft is arranged at the center of the steering wheel. The steering drive shaft is axially parallel to the controlled structure. Both ends of the steering drive shaft are provided with steering brackets. The steering brackets are fixed on the inner wall of the device lumen. One of the steering brackets is equipped with steering Drive, the steering bracket installed with the steering drive is wider than the other steering bracket. One end of the positioning spring is fixed to the device lumen and the other end is fixed to the steering drive shaft. The steering wheel is tightly attached to the controlled structure under the action of the positioning spring. on. The steering unit includes two sets of steering wheels, which are symmetrically arranged on both sides of the controlled structure.
爬升单元包括爬升轮13、爬升传动轴14、爬升支架15、爬升驱动器16和定位弹簧；The climbing unit includes a climbing wheel 13, a climbing drive shaft 14, a climbing bracket 15, a climbing driver 16, and a positioning spring;
爬升轮的中心处设置有爬升传动轴，爬升传动轴与被控结构轴向垂直，爬升传动轴两端设置有爬升支架，爬升支架固定在装置管腔内壁上，其中一个爬升支架上安装有爬升驱动器，安装有爬升驱动器的爬升支架比另一个爬升支架要宽一些；定位弹簧一端固定在装置管腔，另一端固定在爬升传动轴上，爬升轮的侧面圆周面中间向内凹陷，在定位弹簧的作用下紧贴在被控结构上。爬升单元包括两组爬升轮，两组爬升轮对称设置于被控结构两侧。A climbing drive shaft is arranged at the center of the climbing wheel, the climbing drive shaft is perpendicular to the axis of the controlled structure, and climbing supports are arranged at both ends of the climbing drive shaft. The climbing supports are fixed on the inner wall of the device lumen, and one of the climbing supports is equipped with a climbing Drive, the climbing bracket installed with the climbing drive is wider than the other climbing bracket; one end of the positioning spring is fixed to the device lumen, the other end is fixed to the climbing transmission shaft, the side surface of the climbing wheel is recessed inward in the middle of the positioning spring Close to the accused structure under the action of The climbing unit includes two sets of climbing wheels, which are symmetrically arranged on both sides of the controlled structure.
爬升单元和转向单元分别控制转动惯量轮轴向高度和横向角度。The climbing unit and the steering unit respectively control the axial height and lateral angle of the moment of inertia wheel.
装置管腔内还设置有临时储能电源17，为驱动器、转向驱动器和爬升驱动器供电。A temporary energy storage power source 17 is also provided in the lumen of the device to supply power to the driver, steering driver and climbing driver.
本发明的作用原理如下：The working principle of the present invention is as follows:
被控结构吊点处设置的传感器采集被控结构的摆振运动状态即摆角以及摆角加速度数据，并把被控结构状态数据传送给控制器(图中未示出)，控制器判断是否需要进行主动控制，当被控结构发生回转摆振运动数据超出之前所设定的阈值的时候，控制器控制驱动器动作；驱动器末端同轴安装的编码器实时采集驱动器的转动情况，反馈给控制器，实现控制器与被控结构以及驱动器的闭环控制；驱动器可以根据实时测量的结构运动状态，控制转动惯量轮发生回转转动产生力矩，实现对转动惯量轮所在平面的转动、扭转或回转摆振运动控制，爬升驱动器通过爬升传动轴驱动爬升轮，转向驱动器通过转向传动轴驱动转向轮，从而实现整个控制***的爬升与转向，本发明可以自动调节整个控制***所在的位置以及转动惯量轮的方向，实现全方位振动控制的目的。The sensor set at the hanging point of the controlled structure collects the swing motion state of the controlled structure, that is, the swing angle and the swing angular acceleration data, and transmits the controlled structure state data to the controller (not shown in the figure), and the controller determines whether Active control is required. When the oscillating movement data of the controlled structure exceeds the previously set threshold, the controller controls the driver's action; the encoder installed at the end of the driver collects the rotation of the driver in real time and feeds it back to the controller , To realize the closed-loop control of the controller and the controlled structure and the driver; the driver can control the rotation of the moment of inertia wheel to generate torque according to the real-time measurement of the structure motion state, and realize the rotation, torsion or gyration motion of the plane where the moment of inertia wheel is located Control, the climbing drive drives the climbing wheels through the climbing drive shaft, and the steering drive drives the steering wheels through the steering drive shaft, so as to achieve the climbing and steering of the entire control system. The present invention can automatically adjust the position of the entire control system and the direction of the moment of inertia wheel. To achieve the purpose of omni-directional vibration control.
本发明可以应用到以下但不限于以下的力学问题基本原型运动模型中：单摆结构的自由摆动；受约束倒立摆结构的振动；刚体绕空间任意轴的定轴转动等，在实际工程中如：悬吊结构(吊钩、吊车等)的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摇摆振动等；宇宙飞船、空间结构在运行过程中，由于自身姿势调整以及太阳能帆板打开引起的扭转摆振运动；高速铁路机车，在高速运行过程中，由于微小激励引起的车身的扭转摇摆振动运动等。The present invention can be applied to the following but not limited to the following basic prototype motion models of mechanical problems: free swing of a simple pendulum structure; vibration of a constrained inverted pendulum structure; fixed axis rotation of a rigid body around any axis in space, etc., in actual engineering such as ：Swing of suspended structures (hooks, cranes, etc.); torsional sway vibration of irregular buildings under wind load; torsional sway vibration of offshore platforms under the coupling action of waves, wind, ice, etc.; spacecraft, space structures During the operation, the torsional sway movement caused by the adjustment of its own posture and the opening of the solar windsurfing board; the high-speed railway locomotive, during the high-speed operation, the torsional sway vibration of the body caused by the small excitation, etc.
以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modification, equivalent replacement, improvement, etc., made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims (8)

  1. 一种自走式全方向转动惯量驱动控制***，其特征在于，A self-propelled omni-directional moment of inertia drive control system, characterized in that:
    包括主动出力单元、转向爬升单元和装置管腔(1)，被控结构(2)贯穿装置管腔(1)；Including the active output unit, the steering climbing unit and the device lumen (1), the controlled structure (2) penetrates the device lumen (1);
    主动出力单元包括驱动器(3)、编码器(4)、变速器(5)和转动惯量轮(6)，驱动器(3)、编码器(4)和变速器(5)均同轴设置在装置管腔(1)内，驱动器(3)一端安装有编码器(4)，另一端与变速器(5)连接，驱动器(3)的驱动轴穿过变速器(5)与转动惯量轮(6)的中心处垂直固定；The active output unit includes a driver (3), an encoder (4), a transmission (5) and a moment of inertia (6). The driver (3), the encoder (4) and the transmission (5) are all coaxially arranged in the device lumen In (1), an encoder (4) is installed at one end of the driver (3), and the other end is connected with the transmission (5). The drive shaft of the driver (3) passes through the center of the transmission (5) and the moment of inertia wheel (6) Vertical fixation
    转向爬升单元包括设置在装置管腔(1)内的转向单元和爬升单元；The steering climbing unit includes a steering unit and a climbing unit arranged in the device lumen (1);
    转向单元包括转向轮(8)、转向传动轴(9)、转向支架(10)、转向驱动器(11)和定位弹簧(12)；The steering unit includes a steering wheel (8), a steering transmission shaft (9), a steering bracket (10), a steering driver (11) and a positioning spring (12);
    转向轮(8)的中心处设置有转向传动轴(9)，转向传动轴(9)与被控结构(2)轴向平行，转向传动轴(9)两端设置有转向支架(10)，转向支架(10)固定在装置管腔(1)内壁上，其中一个转向支架(10)上安装有转向驱动器(11)，转向轮(8)通过定位弹簧(12)紧贴在被控结构(2)上；A steering transmission shaft (9) is arranged at the center of the steering wheel (8), the steering transmission shaft (9) is axially parallel to the controlled structure (2), and both ends of the steering transmission shaft (9) are provided with steering brackets (10), The steering bracket (10) is fixed on the inner wall of the device lumen (1), one of the steering brackets (10) is equipped with a steering driver (11), and the steering wheel (8) is closely attached to the controlled structure ( 2) on;
    爬升单元包括爬升轮(13)、爬升传动轴(14)、爬升支架(15)、爬升驱动器(16)和定位弹簧(12)；The climbing unit includes a climbing wheel (13), a climbing drive shaft (14), a climbing support (15), a climbing drive (16) and a positioning spring (12);
    爬升轮(13)的中心处设置有爬升传动轴(14)，爬升传动轴(14)与被控结构(2)轴向垂直，爬升传动轴(14)两端设置有爬升支架(15)，爬升支架(15)固定在装置管腔(1)内壁上，其中一个爬升支架(15)上安装有爬升驱动器(16)，爬升轮(13)的侧面圆周面中间向内凹陷，爬升轮(13)通过定位弹簧(12)紧贴在被控结构(2)上。A climbing drive shaft (14) is arranged at the center of the climbing wheel (13), the climbing drive shaft (14) is axially perpendicular to the controlled structure (2), and climbing supports (15) are arranged at both ends of the climbing drive shaft (14), The climbing bracket (15) is fixed on the inner wall of the device lumen (1), one of the climbing brackets (15) is equipped with a climbing driver (16), the side circumference of the climbing wheel (13) is recessed inward, and the climbing wheel (13) ) Is closely attached to the controlled structure (2) through the positioning spring (12).
  2. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，转向单元和爬升单元均包括两组，对称设置在被控结构(2)两侧。The self-propelled omni-directional moment of inertia drive control system according to claim 1, wherein the steering unit and the climbing unit each comprise two groups, which are symmetrically arranged on both sides of the controlled structure (2).
  3. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，还包括临时储能电源(17)，临时储能电源(17)设置于装置管腔(1)内，为驱动器(3)、转向驱动器(11)和爬升驱动器(16)供电。The self-propelled omni-directional moment of inertia drive control system according to claim 1, characterized in that it further comprises a temporary energy storage power supply (17), the temporary energy storage power supply (17) is arranged in the device lumen (1) and is The drive (3), the steering drive (11) and the climbing drive (16) are powered.
  4. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，还包括控制器，控制器通过线路与驱动器(3)、编码器(4)、转向驱动器(11)和爬升驱动器(16)连接。The self-propelled omni-directional moment of inertia drive control system according to claim 1, characterized in that it further comprises a controller, which communicates with the drive (3), encoder (4), steering drive (11) and climb Drive (16) connection.
  5. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，还包括驱动器支架(7),驱动器支架(7)固定在装置管腔(1)内，驱动器(3)固定在驱动器支架(7)上。The self-propelled omnidirectional moment of inertia drive control system according to claim 1, characterized in that it further comprises a driver bracket (7), the driver bracket (7) is fixed in the device lumen (1), and the driver (3) is fixed On the drive bracket (7).
  6. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，定位弹簧(12)一端固定在装置管腔(1)，另一端固定在转向传动轴(9)或爬升传动轴(14)上。The self-propelled omni-directional moment of inertia drive control system according to claim 1, wherein one end of the positioning spring (12) is fixed to the device lumen (1), and the other end is fixed to the steering drive shaft (9) or climbing transmission On the shaft (14).
  7. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，变速器(5)为减速器。The self-propelled omni-directional moment of inertia drive control system according to claim 1, wherein the transmission (5) is a reducer.
  8. 根据权利要求1所述的自走式全方向转动惯量驱动控制***，其特征在于，驱动器(3)为伺服电机或步进电机。The self-propelled omni-directional moment of inertia drive control system according to claim 1, wherein the driver (3) is a servo motor or a stepping motor.
PCT/CN2019/105649 2019-02-01 2019-09-12 Self-propelled omnidirectional rotational inertia drive control system WO2020155639A1 (en)

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