WO2020155644A1 - Control system employing mechanical driving device to realize adaptive adjustment of rotational inertia - Google Patents

Control system employing mechanical driving device to realize adaptive adjustment of rotational inertia Download PDF

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Publication number
WO2020155644A1
WO2020155644A1 PCT/CN2019/105660 CN2019105660W WO2020155644A1 WO 2020155644 A1 WO2020155644 A1 WO 2020155644A1 CN 2019105660 W CN2019105660 W CN 2019105660W WO 2020155644 A1 WO2020155644 A1 WO 2020155644A1
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Prior art keywords
inertia
moment
rotational inertia
driver
control system
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PCT/CN2019/105660
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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 WO2020155644A1 publication Critical patent/WO2020155644A1/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 an adaptive mechanical drive adjusting moment of inertia 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, 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 control system has a small scope of application, limited control power output, and limited control effects; fifth, control system energy utilization Rate cannot be guaranteed and cannot meet economic needs.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide an adaptive mechanical drive adjusting moment of inertia control system for the above problems.
  • the adaptive mechanical drive adjusting moment of inertia control system of the present invention includes an output module fixedly connected to the controlled structure, and the output module includes a rotational inertia quantum module and an output sub-module;
  • the rotational inertia quantum module includes two rotational inertia discs arranged symmetrically. Each rotational inertia disc has three rotational inertia adjustment channels evenly distributed along the radial direction. Each rotational inertia adjustment channel is equipped with a drive motor, a ball screw and a mobile Mass, the drive motor is fixed at the inner end of the rotational inertia adjustment channel, one end of the ball screw is connected with the drive motor, the other end is fixed on the rotational inertia plate, and the moving mass is fixed on the ball screw;
  • the output sub-module includes two sets of output devices arranged symmetrically.
  • the output device includes a driver, an encoder and a transmission.
  • the inner end of the driver is fixed with an encoder, and the outer end is connected with the transmission.
  • the drive shaft of the driver passes through the center of the transmission and the moment of inertia disc. Vertically fixed.
  • it also includes an output lumen, two sets of output devices are symmetrical even in the output lumen, and two rotational inertia discs are symmetrically arranged at both ends of the output lumen.
  • driver bracket is fixed in the output lumen, and the driver is fixed on the driver bracket.
  • the output lumen includes a base and an upper cover, and the two are fixedly connected by bolts.
  • controller which is connected to the encoder and the driver.
  • driver, transmission and encoder are coaxial.
  • the transmission is a reducer.
  • the driver is a servo motor or a stepping motor.
  • the present invention uses a driver to drive the moment of inertia to generate a control force.
  • the moment of inertia can be automatically adjusted without the need for a frequency modulation design process. It has self-adaptive characteristics, high adjustment accuracy, wide adjustment range, and large system application range;
  • the two sets of output devices of the present invention are symmetrically arranged and work simultaneously during normal operation, reducing the structural load of each set. If one set fails, the other set can continue to work, ensuring the stability of the system.
  • 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 an exploded view of the structure of the present invention
  • Figure 2 is a schematic top view of the structure of the present invention.
  • Figure 3 is a diagram of the internal structure of the moment of inertia disk of the present invention.
  • Figure 4 is a schematic diagram of the present invention installed in the pendulum structure
  • the self-adaptive mechanical drive adjusting moment of inertia control system of the present invention includes an output module fixedly connected to the controlled structure 12, and the output module includes a rotational inertia quantum module and an output sub-module;
  • the output submodule includes an output lumen 1 and two sets of output devices symmetrically arranged in the output lumen.
  • the output lumen has a tubular structure and includes a base 1.1 and an upper cover 1.2, which are fixedly connected by bolts;
  • the output device includes a driver 2, a transmission 3, and a driver bracket 4.
  • the driver bracket is fixed in the output lumen, the driver is fixed on the driver bracket, the driver is a servo motor or a stepping motor, and an encoder 5 is fixed at the inner end of the driver.
  • the drive shaft of the driver passes through the center of the transmission and the moment of inertia disk and is vertically fixedly connected by a flange.
  • the driver, the transmission and the encoder are coaxial.
  • a controller 6 is also arranged between the two encoders. Connect with encoder and driver;
  • 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 moment of inertia quantum module includes a moment of inertia disk 7 symmetrically arranged at both ends of the output lumen.
  • Three moments of inertia adjustment channels 8 are evenly distributed in the moment of inertia disk along the radial direction.
  • the angle between adjacent moments of inertia adjustment channels is 120 degrees.
  • Each rotational inertia adjustment channel is provided with a drive motor 9, a ball screw 10 and a moving mass 11.
  • the drive motor is fixed at the inner end of the rotational inertia adjustment channel.
  • One end of the ball screw is connected to the drive motor through a coupling, and the other One end is fixed on the rotational inertia disk through a bearing, and the moving mass is fixed on the ball screw.
  • the driving motor drives the ball screw to rotate, and then drives the moving mass to move along the ball screw.
  • the three motors work completely synchronously to ensure that the three moving masses move synchronously and the distance from the center of the circle is the same
  • the sensor set at the hanging point of the controlled structure collects the oscillating motion state of the controlled structure, namely the oscillating angle and the oscillating angular acceleration data, and transmits the structure state data to the controller, and the controller determines whether active control is required.
  • the controller controls the action of the drive;
  • the encoder installed at the end of the drive collects the rotation of the drive in real time and feeds it back to the controller to realize the control of the controller, the controlled structure and the drive Closed-loop control;
  • the driver can control the rotational inertia disk to rotate according to the real-time measured structure motion state, and change the moment of inertia by changing the position of the moving mass in the three channels.
  • the reaction force generated by the rotation of the inertia disk acts on the lumen of the device The upper part is then transferred to the controlled structure connected with the lumen of the device to inhibit the swing of the controlled structure.
  • the self-adaptive mechanical drive adjusting moment of inertia 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 single pendulum structure; vibration of a constrained inverted pendulum structure; rigid body around any axis in space
  • swing of suspended structures hooks, cranes, etc.
  • torsional vibration of irregular buildings under wind loads offshore platforms under the coupling action of waves, wind, and ice
  • the torsional swing vibration of the spacecraft and space structure during the operation process due to the adjustment of its own posture and the opening of the solar panel, the torsional vibration of the high-speed railway locomotive, the torsion of the body caused by the small excitation during the high-speed operation Rocking vibration motion, 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)
  • Vibration Prevention Devices (AREA)
  • Transmission Devices (AREA)

Abstract

The present invention relates to the field of vibration suppression systems. Disclosed is a smart control device employing a driving shaft to realize adjustment of rotational inertia. The smart control device comprises a force output module fixedly connected to a controlled structure. The force output module comprises a rotational inertia submodule and a force output submodule. The rotational inertia submodule comprises two symmetrically arranged rotational inertia discs. Three rotational inertia adjustment channels are uniformly radially arranged in each rotational inertia disc. A drive motor, a ball screw and a movable mass block are provided in each rotational inertia adjustment channel. The force output submodule comprises two symmetrically arranged force output devices. The force output device comprises a driving device, an encoder and a speed changer. The present invention employs a driving device to drive a rotational inertia disc so as to generate a control force, such that rotational inertia can be adjusted automatically without needing a frequency regulation process, thereby achieving high adjustment precision and a wide adjustment range. The control system of the present invention is applicable to scenarios in which a structure experiences rotational, torsional or rotary vibrations, and has a wide range of applications and enhanced robustness.

Description

自适应机械驱动调节转动惯量式控制***Self-adaptive mechanical drive to adjust the moment of inertia 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，涉及一种自适应机械驱动调节转动惯量式控制***。The invention relates to the field of vibration suppression in a system, and in particular, to an adaptive mechanical drive adjusting moment of inertia 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, which 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，控制***适用范围小，控制力输出有限，控制效果有限；第五，控制***能源利用率无法保证，无法满足经济性的需求。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, 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 control system has a small scope of application, limited control power output, and limited control effects; fifth, control system energy utilization Rate cannot be guaranteed and cannot meet economic needs.
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适应机械驱动调节转动惯量式控制***。The main purpose of the present invention is to provide an adaptive mechanical drive adjusting moment of inertia control system for the above problems.
为了实现上述目的，本发明的自适应机械驱动调节转动惯量式控制***,包括与被控结构固定连接的出力模块,出力模块包括转动惯量子模块和出力子模块；In order to achieve the above objective, the adaptive mechanical drive adjusting moment of inertia control system of the present invention includes an output module fixedly connected to the controlled structure, and the output module includes a rotational inertia quantum module and an output sub-module;
转动惯量子模块包括对称设置的两个转动惯量盘，每个转动惯量盘内沿径向均布有三条转动惯量调节通道，每条转动惯量调节通道内均设置有驱动电机、滚珠丝杠和移动质量块，驱动电机固定在转动惯量调节通道内端，滚 珠丝杠一端与驱动电机连接，另一端固定在转动惯量盘上，移动质量块固定在滚珠丝杠上；The rotational inertia quantum module includes two rotational inertia discs arranged symmetrically. Each rotational inertia disc has three rotational inertia adjustment channels evenly distributed along the radial direction. Each rotational inertia adjustment channel is equipped with a drive motor, a ball screw and a mobile Mass, the drive motor is fixed at the inner end of the rotational inertia adjustment channel, one end of the ball screw is connected with the drive motor, the other end is fixed on the rotational inertia plate, and the moving mass is fixed on the ball screw;
出力子模块包括对称设置的两套出力装置，出力装置包括驱动器、编码器和变速器，驱动器内端固定有编码器，外端与变速器连接，驱动器的驱动轴穿过变速器与转动惯量盘的中心处垂直固定。The output sub-module includes two sets of output devices arranged symmetrically. The output device includes a driver, an encoder and a transmission. The inner end of the driver is fixed with an encoder, and the outer end is connected with the transmission. The drive shaft of the driver passes through the center of the transmission and the moment of inertia disc. Vertically fixed.
进一步的，还包括出力管腔，两套出力装置对称甚至于出力管腔内，两个转动惯量盘对称设置于出力管腔两端。Furthermore, it also includes an output lumen, two sets of output devices are symmetrical even in the output lumen, and two rotational inertia discs are symmetrically arranged at both ends of the output lumen.
进一步的，还包括驱动器支架,驱动器支架固定在出力管腔内，驱动器固定在驱动器支架上。Further, it also includes a driver bracket, the driver bracket is fixed in the output lumen, and the driver is fixed on the driver bracket.
进一步的，出力管腔为包括底座和上盖，二者通过螺栓固定连接。Further, the output lumen includes a base and an upper cover, and the two are fixedly connected by bolts.
进一步的，还包括控制器，控制器与编码器及驱动器连接。Further, it also includes a controller, which is connected to the encoder and the driver.
进一步的，驱动器、变速器和编码器同轴。Further, the driver, transmission and encoder are coaxial.
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)本发明采用驱动器驱动转动惯量产生控制力，转动惯量可以自动调节，无需进行调频设计过程，具有自适应的特性，且调节精度高，调节范围广，***应用范围大；(1) The present invention uses a driver to drive the moment of inertia to generate a control force. The moment of inertia can be automatically adjusted without the need for a frequency modulation design process. It has self-adaptive characteristics, high adjustment accuracy, wide adjustment range, and large system application range;
(2)本发明的两套出力装置对称设置，正常运行时同时工作，减小了每一套构造的负荷，如果其中一套发生故障，另外一套可以继续工作，保证了***的稳定性。(2) The two sets of output devices of the present invention are symmetrically arranged and work simultaneously during normal operation, reducing the structural load of each set. If one set fails, the other set can continue to work, ensuring the stability of the system.
(3)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；(3) The present invention has greater robustness, and the control effect will not be greatly affected by changes in structural form and changes in external loads;
(4)本发明的控制***适用于结构发生转动、扭转或回转摆振运动的情况，适用范围广。(4) 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.
附图说明Description of the drawings
图1是本发明的结构分解图；Figure 1 is an exploded view of the structure of the present invention;
图2是本发明俯视结构示意图；Figure 2 is a schematic top view of the structure of the present invention;
图3是本发明转动惯量盘内部结构图；Figure 3 is a diagram of the internal structure of the moment of inertia disk of the present invention;
图4是本发明在单摆结构中安装示意图；Figure 4 is a schematic diagram of the present invention installed in the pendulum structure;
附图标记Reference number
其中，上述附图包括以下附图标记：1、出力管腔；1.1、底座；1.2、上盖；2、驱动器；3、变速器；4、驱动器支架；5、编码器；6、控制器；7、转动惯量盘；8、转动惯量调节通道；9、驱动电机；10、滚珠丝杠；11、移动质量块；12、被控结构。Among them, the above drawings include the following reference signs: 1. Output lumen; 1.1, base; 1.2, upper cover; 2. driver; 3. transmission; 4. driver support; 5. encoder; 6, controller; 7 , Moment of inertia disc; 8. Moment of inertia adjustment channel; 9. Drive motor; 10. Ball screw; 11. Moving mass; 12. Controlled structure.
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；In this embodiment, a structure with a simple pendulum structure model as a basic mechanical model prototype is taken as an example;
如图1-4所示，本发明的自适应机械驱动调节转动惯量式控制***包括与被控结构12固定连接的出力模块，出力模块包括转动惯量子模块和出力子模块；As shown in Figures 1-4, the self-adaptive mechanical drive adjusting moment of inertia control system of the present invention includes an output module fixedly connected to the controlled structure 12, and the output module includes a rotational inertia quantum module and an output sub-module;
出力子模块包括出力管腔1和对称设置于出力管腔内的两套出力装置，出力管腔为管状结构，包括底座1.1和上盖1.2，二者通过螺栓固定连接；The output submodule includes an output lumen 1 and two sets of output devices symmetrically arranged in the output lumen. The output lumen has a tubular structure and includes a base 1.1 and an upper cover 1.2, which are fixedly connected by bolts;
出力装置包括驱动器2、变速器3和驱动器支架4，驱动器支架固定在出力管腔内，驱动器固定在驱动器支架上，驱动器为伺服电机或步进电机，驱动器内侧的一端固定有编码器5，外端与变速器连接，驱动器的驱动轴穿过变速器与转动惯量盘的中心处通过法兰盘垂直固定连接，驱动器、变速器和编码器同轴，两个编码器之间还设置有控制器6，控制器与编码器及驱动器连接；The output device includes a driver 2, a transmission 3, and a driver bracket 4. The driver bracket is fixed in the output lumen, the driver is fixed on the driver bracket, the driver is a servo motor or a stepping motor, and an encoder 5 is fixed at the inner end of the driver. Connected to the transmission, the drive shaft of the driver passes through the center of the transmission and the moment of inertia disk and is vertically fixedly connected by a flange. The driver, the transmission and the encoder are coaxial. A controller 6 is also arranged between the two encoders. Connect with encoder and driver;
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，吊点处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光电轴角编码器、角加速度传感器或者陀螺仪。In this embodiment, in addition to the encoder installed at the end of the driver for collecting rotational inertia data, 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.
转动惯量子模块包括对称设置于出力管腔两端的转动惯量盘7，转动惯量盘内沿径向均布有三条转动惯量调节通道8，相邻的转动惯量调节通道之间的夹角是120度，每条转动惯量调节通道内均设置有驱动电机9、滚珠丝杠10和移动质量块11，驱动电机固定在转动惯量调节通道内端，滚珠丝杠一端通过联轴器与驱动电机连接，另一端通过轴承固定在转动惯量盘上，移动质量块固定在滚珠丝杠上。驱动电机驱动滚珠丝杠转动，进而驱动移动质量块沿滚珠丝杠平动，三个电机完全同步工作，保证三个移动质量块同步移动，且距离圆心的距离相同。The moment of inertia quantum module includes a moment of inertia disk 7 symmetrically arranged at both ends of the output lumen. Three moments of inertia adjustment channels 8 are evenly distributed in the moment of inertia disk along the radial direction. The angle between adjacent moments of inertia adjustment channels is 120 degrees. Each rotational inertia adjustment channel is provided with a drive motor 9, a ball screw 10 and a moving mass 11. The drive motor is fixed at the inner end of the rotational inertia adjustment channel. One end of the ball screw is connected to the drive motor through a coupling, and the other One end is fixed on the rotational inertia disk through a bearing, and the moving mass is fixed on the ball screw. The driving motor drives the ball screw to rotate, and then drives the moving mass to move along the ball screw. The three motors work completely synchronously to ensure that the three moving masses move synchronously and the distance from the center of the circle is the same.
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，并把结构状态数据传送给控制器，控制器判断是否需要进行主动控制，当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，控制转动惯量盘发生回转转动，通过改变三个通道内移动质量块的位置来改变转动惯量，转动惯量盘转动产生的反作用力作用在装置管腔上，进而传递给与装置管腔连接的被控结构上，抑制被控结构的摆动。The sensor set at the hanging point of the controlled structure collects the oscillating motion state of the controlled structure, namely the oscillating angle and the oscillating angular acceleration data, and transmits the structure state data to the controller, and the controller determines whether active control is required. When the structure rotates When the swing motion data exceeds the previously set threshold, the controller controls the action of the drive; the encoder installed at the end of the drive collects the rotation of the drive in real time and feeds it back to the controller to realize the control of the controller, the controlled structure and the drive Closed-loop control; the driver can control the rotational inertia disk to rotate according to the real-time measured structure motion state, and change the moment of inertia by changing the position of the moving mass in the three channels. The reaction force generated by the rotation of the inertia disk acts on the lumen of the device The upper part is then transferred to the controlled structure connected with the lumen of the device to inhibit the swing of the controlled structure.
本发明的自适应机械驱动调节转动惯量式控制***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 self-adaptive mechanical drive adjusting moment of inertia 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 single pendulum structure; vibration of a constrained inverted pendulum structure; rigid body around any axis in space In actual projects, such as: swing of suspended structures (hooks, cranes, etc.); torsional vibration of irregular buildings under wind loads; offshore platforms under the coupling action of waves, wind, and ice The torsional swing vibration of the spacecraft and space structure during the operation process, due to the adjustment of its own posture and the opening of the solar panel, the torsional vibration of the high-speed railway locomotive, the torsion of the body caused by the small excitation during the high-speed operation Rocking vibration motion, 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. 一种自适应机械驱动调节转动惯量式控制***，包括与被控结构(12)固定连接的出力模块,出力模块包括转动惯量子模块和出力子模块；An adaptive mechanical drive adjusting moment of inertia control system, comprising an output module fixedly connected to a controlled structure (12), the output module including a rotational inertia quantum module and an output sub-module;
    转动惯量子模块包括两个对称设置的转动惯量盘(7)，每个转动惯量盘(7)内沿径向均布有三条转动惯量调节通道(8)，每条转动惯量调节通道(8)内均设置有驱动电机(9)、滚珠丝杠(10)和移动质量块(11)，驱动电机(9)固定在转动惯量调节通道(8)内端，滚珠丝杠(10)一端与驱动电机(9)连接，另一端固定在转动惯量盘(7)上，移动质量块(11)固定在滚珠丝杠(10)上；The moment of inertia quantum module includes two symmetrically arranged moment of inertia discs (7), each moment of inertia disc (7) has three moment of inertia adjustment channels (8) evenly distributed along the radial direction, and each moment of inertia adjustment channel (8) A drive motor (9), a ball screw (10) and a moving mass (11) are installed inside. The drive motor (9) is fixed at the inner end of the inertia adjustment channel (8), and one end of the ball screw (10) is connected to the drive The motor (9) is connected, the other end is fixed on the moment of inertia disk (7), and the moving mass (11) is fixed on the ball screw (10);
    出力子模块包括对称设置的两套出力装置，出力装置包括驱动器(2)、编码器(5)和变速器(3)，驱动器(2)内端固定有编码器(5)，外端与变速器(3)连接，驱动器(2)的驱动轴穿过变速器(3)与转动惯量盘(7)的中心处垂直固定。The output sub-module includes two sets of output devices arranged symmetrically. The output device includes a driver (2), an encoder (5) and a transmission (3). The inner end of the driver (2) is fixed with an encoder (5), and the outer end and the transmission ( 3) Connection, the drive shaft of the driver (2) passes through the transmission (3) and is vertically fixed at the center of the moment of inertia disk (7).
  2. 根据权利要求1所述的自适应机械驱动调节转动惯量式控制***，其特征在于，还包括出力管腔(1)，两套出力装置对称设置于出力管腔(1)内，两个转动惯量盘(7)对称设置于出力管腔(1)两端。The adaptive mechanical drive adjusting moment of inertia control system according to claim 1, characterized in that it further comprises an output lumen (1), two sets of output devices are symmetrically arranged in the output lumen (1), two moments of inertia The disc (7) is symmetrically arranged at both ends of the output lumen (1).
  3. 根据权利要求2所述的自适应机械驱动调节转动惯量式控制***，其特征在于，还包括驱动器支架(4),驱动器支架(4)固定在出力管腔(1)内，驱动器(2)固定在驱动器支架(4)上。The adaptive mechanical drive adjusting moment of inertia control system according to claim 2, characterized in that it further comprises a driver bracket (4), the driver bracket (4) is fixed in the output lumen (1), and the driver (2) is fixed On the drive bracket (4).
  4. 根据权利要求2或3所述的自适应机械驱动调节转动惯量式控制***，其特征在于，出力管腔(1)为包括底座(1.1)和上盖(1.2)，二者通过螺栓固定连接。The adaptive mechanical drive adjusting moment of inertia control system according to claim 2 or 3, characterized in that the output lumen (1) comprises a base (1.1) and an upper cover (1.2), which are fixedly connected by bolts.
  5. 根据权利要求1所述的自适应机械驱动调节转动惯量式控制***，其特征在于，还包括控制器(6)，控制器(6)与编码器(5)及驱动器(2) 连接。The adaptive mechanical drive adjusting moment of inertia control system according to claim 1, characterized in that it further comprises a controller (6), which is connected to the encoder (5) and the driver (2).
  6. 根据权利要求1所述的自适应机械驱动调节转动惯量式控制***，其特征在于，驱动器(2)、变速器(3)和编码器(5)同轴。The adaptive mechanical drive adjusting moment of inertia control system according to claim 1, characterized in that the driver (2), the transmission (3) and the encoder (5) are coaxial.
  7. 根据权利要求1所述的自适应机械驱动调节转动惯量式控制***，其特征在于，变速器(3)为减速器。The adaptive mechanical drive adjusting moment of inertia control system according to claim 1, wherein the transmission (3) is a reducer.
  8. 根据权利要求1所述的自适应机械驱动调节转动惯量式控制***，其特征在于，驱动器(2)为伺服电机或步进电机。The adaptive mechanical drive adjusting moment of inertia type control system according to claim 1, wherein the driver (2) is a servo motor or a stepping motor.
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