WO2020155643A1 - Système de commande d'entraînement à inertie rotative à composé actif-passif auto-alimenté - Google Patents

Système de commande d'entraînement à inertie rotative à composé actif-passif auto-alimenté Download PDF

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Publication number
WO2020155643A1
WO2020155643A1 PCT/CN2019/105659 CN2019105659W WO2020155643A1 WO 2020155643 A1 WO2020155643 A1 WO 2020155643A1 CN 2019105659 W CN2019105659 W CN 2019105659W WO 2020155643 A1 WO2020155643 A1 WO 2020155643A1
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WIPO (PCT)
Prior art keywords
passive
active
moment
output module
control system
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PCT/CN2019/105659
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English (en)
Chinese (zh)
Inventor
张春巍
王昊
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青岛理工大学
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Application filed by 青岛理工大学 filed Critical 青岛理工大学
Publication of WO2020155643A1 publication Critical patent/WO2020155643A1/fr

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    • 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
    • F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
    • F16F15/16—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material
    • F16F15/167—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring
    • F16F15/173—Suppression of vibrations in rotating systems by making use of members moving with the system using a fluid or pasty material having an inertia member, e.g. ring provided within a closed housing

Definitions

  • the invention relates to the field of vibration suppression in a system, and in particular to a self-powered active and passive composite moment of inertia drive control system.
  • Vibration is a common phenomenon in life. Engineering facilities and structures will often vibrate due to external loads during use, causing severe sway or even damage. In order to solve various problems caused by the vibration of the structure, vibration control technology came into being.
  • 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 safety vibration control system can effectively reduce the dynamic response of the structure and reduce the damage or fatigue damage of the structure.
  • the movement of the structure is usually a combination of translation and torsion swing.
  • the structural vibration control system has an indispensable role, but the existing structural vibration control system has the following shortcomings: First, the translational TMD control device can only control the translational motion of the structure and affect the swing The control is invalid. Although the translational AMD control device can control the swing vibration, the control efficiency is extremely low and cannot meet the requirements of use; second, the passive moment of inertia tuned damper is effective for the control of the swing vibration movement, but it needs to be carried out for the structure itself Complicated frequency modulation has low control efficiency and poor effect on some complex structures.
  • control system has shortcomings such as low robustness, low controllability, and small application range; third, the control system has a small application range, limited control force output, and control The effect is limited, and the energy utilization rate of the control system cannot be guaranteed, which cannot meet the economic needs. Fourth, although the active (rotating) control device can solve the above three problems, there is a risk of the accidental energy cut-off control system completely failing.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide a self-powered active and passive combined moment of inertia drive control system for the above problems.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module.
  • the active output module includes a driver, an encoder, a transmission and an active moment of inertia disc;
  • the passive output module includes Torsional variable damping box, generator, energy storage unit and passive moment of inertia disc;
  • a system lumen is arranged between the active moment of inertia disc and the passive moment of inertia disc, and the active output module and the passive output module are symmetrically distributed along the center of the system lumen;
  • the driver is fixed on one side of the system lumen.
  • One end of the driver is equipped with an encoder, and the other end is connected with the transmission.
  • the drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk;
  • the torsion variable damping box includes an outer connecting plate, an inner connecting plate, an outer sleeve, an inner sleeve and a torsion spring.
  • the outer connecting plate is fixed at the center of the passive moment of inertia disc
  • the inner connecting plate is fixed at the end of the system lumen
  • the inner sleeve The cylinder is fixedly connected with the inner connecting plate
  • the outer sleeve is fixedly connected with the outer connecting plate
  • the inner sleeve is coaxial with the outer sleeve
  • the outer sleeve is sleeved on the outside of the inner sleeve.
  • the two ends are closed by oil-sealed bearings.
  • a closed damping fluid tank is formed between the damping fluid tank, and the damping fluid tank is filled with damping fluid;
  • the torsion spring is arranged in the damping fluid tank, wound around the inner sleeve, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve;
  • the generator is fixed on the other side of the system lumen, coaxial with the driver, the generator shaft passes through the system lumen, inner connecting plate and inner sleeve in turn, and then fixedly connected with the outer connecting plate;
  • An energy storage unit is also installed on the generator, and the energy storage unit is also connected to the drive.
  • the driver is fixed in the lumen of the system through the driver fixing frame.
  • the generator is fixed in the system lumen through the generator fixing frame.
  • the present invention also includes a controller, which is respectively connected to the energy storage unit, generator, driver and encoder.
  • a liquid injection hole is provided on the outer sleeve for filling the damping liquid.
  • the active moment of inertia disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
  • the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and when the rotation directions are opposite, the control force in the same direction is generated.
  • the driver is a servo motor or a stepping motor.
  • the control system of the present invention adopts self-powered technology, which can realize the synergy of the active module and the passive module without relying on external energy;
  • the control system of the present invention can realize active and passive composite control, and can realize vibration control under complex conditions. Compared with active control, combined with passive control technology, it has greater stability and energy saving;
  • the control system of 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 overall structure of the present invention.
  • Figure 2 is a front view of the present invention
  • Figure 3 is a schematic diagram of the torsional variable damping box structure
  • Figure 4 is a schematic diagram of the present invention installed in the pendulum structure
  • the above drawings include the following reference signs: 1. Drive; 2. Encoder; 3. Transmission; 4. Active moment of inertia disc; 5. Torsional variable damping box; 6. Generator; 7. Energy storage unit; 8. Passive moment of inertia disc; 9. System lumen; 10. Drive fixing frame; 11. Outer connecting plate; 12. Inner connecting plate; 13. Outer sleeve; 14. Inner sleeve; 15. Torsion spring; 16 , Liquid injection hole; 17, generator fixing frame; 18, controller; 19, controlled structure.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention includes an active output module and a passive output module.
  • the active output module includes a driver 1, an encoder 2, a transmission 3, and an active moment of inertia disc 4;
  • the passive output module includes a torsion variable damping box 5, a generator 6, an energy storage unit 7 and a passive moment of inertia disc 8;
  • a system lumen 9 is arranged between the active moment of inertia disc and the passive moment of inertia disc.
  • the active output module and the passive output module are symmetrically distributed along the center of the system lumen; the controlled structure 19 is fixed at the center of the system lumen, and the active moment of inertia Both the disc and the passive moment of inertia disc are parallel to the rotating surface of the controlled structure.
  • the driver is fixed on one side of the system lumen by the driver fixing frame 10.
  • One end of the driver is equipped with an encoder, and the other end is connected with the transmission.
  • the drive shaft of the driver passes through the transmission and is vertically fixed at the center of the active moment of inertia disk; the driver is a servo motor Or stepper motor.
  • the torsion variable damping box includes an outer connecting plate 11, an inner connecting plate 12, an outer sleeve 13, an inner sleeve 14 and a torsion spring 15.
  • the outer connecting plate is fixed at the center of the passive moment of inertia disc by bolts, and the inner connecting plate is fixed by bolts
  • the inner sleeve is fixedly connected with the inner connecting plate
  • the outer sleeve is fixedly connected with the outer connecting plate
  • the inner sleeve is coaxial with the outer sleeve
  • the outer sleeve is sleeved outside the inner sleeve, and both ends pass through
  • the oil seal bearing is closed, and a closed damping fluid tank is formed between the two sleeves.
  • the outer sleeve is provided with a liquid injection hole 16 for filling the damping fluid tank with the damping fluid; the torsion spring is arranged in the damping fluid tank along the inner edge
  • the sleeve is wound, one end is fixed to the outer connecting plate, and the other end is fixed to the inner sleeve; by changing the viscosity of the damping fluid in the torsion variable damping box and the stiffness of the torsion spring, the purpose of changing the damping can be achieved for frequency modulation.
  • the generator is fixed on the other side of the system lumen through the generator fixing frame 17, coaxial with the driver, the generator shaft passes through the system lumen, the inner connecting plate and the inner sleeve in turn, and then is fixedly connected to the outer connecting plate;
  • An energy storage unit 7 is also installed on the generator.
  • the energy storage unit is also connected to the drive.
  • the energy storage unit is a battery.
  • the passive moment of inertia disc rotates to generate control force and drive the generator to rotate to generate electrical energy.
  • the self-powered active and passive composite moment of inertia drive control system of the present invention further includes a controller 18, which is respectively connected with the energy storage unit, generator, driver and encoder.
  • a sensor is also provided at the hanging point to collect the rotation data of the controlled structure.
  • the sensor here can be, but is not limited to Photoelectric shaft encoder, angular acceleration sensor or gyroscope.
  • the passive output module can work alone to achieve the vibration control requirements.
  • the generated electric energy is stored in the battery to reserve energy for the active output module.
  • the sensor will detect The response of the structure is fed back to the controller, and the controller determines whether the active output module needs to be turned on.
  • the active output module starts to work, and the active output module can move according to the real-time measured structure State, control the rotation of the moment of inertia disc, adjust the control torque acting on the controlled structure, adjust the drive energy output, control the vibration of the structure, and ensure high control efficiency.
  • the active moment of inertia disc and the passive moment of inertia disc rotate coaxially, and the direction of rotation is opposite to produce the control force in the same direction.
  • the active and passive output modules play a control role at the same time, which produces a good effect of compound control and realizes vibration control. purpose. As the active output module turns on and takes effect, the structural response decreases and gradually enters the range where the passive output module can perform. The sensor feeds back to the controller in real time, the active output module stops working, and the passive output module keeps working until it reaches control. effect.
  • control system of 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 an arbitrary axis in space, etc.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

La présente invention concerne un système de commande d'entraînement à inertie rotative à composé actif-passif auto-alimenté qui comprend un module de sortie actif et un module de sortie passif, le module de sortie actif comprenant un pilote (1), un encodeur (2), une transmission (3) et un disque inertiel rotatif actif (4) ; le module de sortie passif comprend une boîte d'amortissement variable en torsion (5), un générateur (6), une unité de stockage d'énergie (7) et un disque d'inertie rotatif passif (8) ; une cavité de tuyau de système (9) est agencée entre le disque d'inertie rotatif actif (4) et le disque d'inertie rotatif passif (8), et le module de sortie actif et le module de sortie passif sont symétriquement répartis le long du centre de la cavité de tuyau de système (9). Le système de commande adopte une technologie auto-alimentée, peut réaliser l'effet synergique du module actif et du module passif et n'a pas besoin de dépendre d'une énergie externe ; le système de commande peut réaliser une commande de composé actif et passif et réaliser la commande de vibration dans des conditions complexes, et la combinaison avec la technologie de commande passive fournit une meilleure stabilité par rapport à une commande active.
PCT/CN2019/105659 2019-02-01 2019-09-12 Système de commande d'entraînement à inertie rotative à composé actif-passif auto-alimenté WO2020155643A1 (fr)

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CN201910103424.3A CN109630612B (zh) 2019-02-01 2019-02-01 自供能式主被动复合转动惯量驱动控制***
CN201910103424.3 2019-02-01

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CN109630612B (zh) * 2019-02-01 2023-11-24 青岛理工大学 自供能式主被动复合转动惯量驱动控制***
CN110745156B (zh) * 2019-10-31 2021-07-16 青岛理工大学 高速列车动态行为主被动混合控制***
CN110654412B (zh) * 2019-10-31 2021-04-09 青岛理工大学 抑制高速列车侧滚、点头、摇头行为的主被动复合控制***
CN115366927B (zh) * 2022-08-15 2024-06-11 沈阳工业大学 高空吊物不利摆动行为的控制***
CN115404758B (zh) * 2022-08-15 2024-07-16 沈阳工业大学 一种回转力矩主被动复合控制***
CN115233540A (zh) * 2022-08-15 2022-10-25 沈阳工业大学 抑制桥梁多模态耦合振动的主被动混合控制***
CN115387593B (zh) * 2022-08-15 2024-04-02 沈阳工业大学 悬吊物体摇摆止振的主被动复合控制***

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CN114414145B (zh) * 2021-12-21 2024-03-12 上海利正卫星应用技术有限公司 帆板驱动机构转动惯量模拟装置

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