60results about How to "Achieving semi-active control" patented technology

The invention discloses a multi-mode electromagnetic energy-regenerative vehicle active suspension actuator. The multi-mode electromagnetic energy-regenerative vehicle active suspension actuator comprises an actuator main body and an actuator controller, wherein the actuator main body comprises a piston cylinder, a permanent magnet linear motor module, an adjustable damping vibration absorber module, an actuator upper end cover and a lower lifting lug. The permanent magnet linear motor module comprises a secondary piston rod, a linear motor upper end cover, a linear motor lower end cover, a plurality of silicon steel sheets, a plurality of primary coils and a permanent magnet; the adjustable damping vibration absorber module comprises a vibration absorber piston rod, a sleeve, an upper lifting lug, a sealing separation plate, a big piston, a small piston, a damping liquid passage and a proportional electromagnetic valve; and an input end of the actuator controller is connected with an acceleration sensor, a sprung mass speed sensor and an unsprung mass speed sensor. The invention further discloses a control method for the multi-mode electromagnetic energy-regenerative vehicle active suspension actuator. The invention is advantaged in that the energy-regenerative efficiency of the multi-mode electromagnetic energy-regenerative vehicle active suspension actuator is high, the service life of a vehicle-mounted storage battery can be effectively prolonged and an active suspension is in an optimal vibration absorbing state.

The invention discloses an energy feedback type damper which can combine piezoelectric ceramic and magnetorheological fluid, wherein the energy feedback type damper can supply electric energy which is generated by piezoelectric electricity generation units due to vibration to the magnetorheological fluid for shock absorption. The energy feedback type damper comprises a cylinder body, a piston rod, the upper piezoelectric electricity generation unit, the lower piezoelectric electricity generation unit, an electric energy extraction and storage unit, a pressure sensor and a controller. The upper piezoelectric electricity generation unit is installed outside a rod body in a sleeved mode. An upper partition plate is arranged below the upper piezoelectric electricity generation unit in an overlapping mode. The lower piezoelectric electricity generation unit is arranged on the inner bottom surface of the cylinder body. A lower partition plate is arranged on the lower piezoelectric electricity generation unit in an overlapping mode. An upper magnetorheological fluid chamber containing magnetorheological fluid is formed between the upper partition plate and a piston body. A lower magnetorheological fluid chamber containing magnetorheological fluid is formed between the piston body and the lower partition plate. The piston body is provided with a plurality of throttling holes. An excitation coil mechanism is installed in the piston body. The upper piezoelectric electricity generation unit and the lower piezoelectric electricity generation unit are connected with the electric energy extraction and storage unit. The pressure sensor is connected with the controller. The electric energy extraction and storage unit is connected with the excitation coil mechanism through the controller. The pressure sensor is installed on the upper partition plate.

The invention provides a semi-driving type variable stiffness dynamic vibration absorber made from conical springs, belonging to the technical field of vibration control. The semi-driving type variable stiffness dynamic vibration absorber comprises two mass blocks, a high-stiffness plate, two small-stiffness plates, two conical springs, a threaded rod, a stepping motor and a real-time monitoring and controlling system. The weights of the two mass blocks are the same, the two mass blocks are respectively arranged at two ends of the upper surface of the high-stiffness plate with a center hole, one large-diameter ends of the conical springs are respectively fixed at the upper surface and the lower surface of the high-stiffness plate, one small-diameter ends of the conical springs are respectively fixed on the two small-stiffness plates, one small-stiffness plate is fixedly arranged in a main structure, the threaded rod penetrates through the circular hole of the high-stiffness plate, two ends of the threaded rod are respectively in threaded connection with the small-stiffness plates, the directions of screw threads are opposite to one another, the top end of the thread rod is connected with an output end of the stepping motor, and the output end of the stepping motor is electrically connected with the real-time monitoring and controlling system. According to the semi-driving type variable stiffness dynamic vibration absorber, the semi-driving type control is easy to realize, the stiffness can be continuously adjusted, the semi-driving type variable stiffness dynamic vibration absorber is good in vibration absorbing effect, large in vibration absorbing range, quick in response, high in precision, and small in energy consumption.

The invention relates to a space robot structure, in particular to a soft contact joint based on motion and static blocks. The soft contact joint comprises a driving and transmission mechanism, a damping component and a sensing unit, wherein the driving and transmission mechanism mainly comprises a motor driving unit, a controller, an inner shell, an outer shell, a sliding block and a sliding rail, the damping component mainly comprises a linear magneto-rheological damper, a clutch, a rotary magneto-rheological damper, a spring mechanism and a torsion spring mechanism, and the sensing unit comprises an encoder and a linear displacement sensor. The overall flexibility of the mechanical arm joint is mainly controlled by the clutch and the magneto-rheological dampers in the damping component, pitching and yaw two-degree-of-freedom rigid driving and spatial six-dimensional momentum discharge interconversion can be achieved according to an operation task, and then soft contact of spatial operation is achieved.

The invention belongs to the technical field of aircraft, and discloses a controller and control method for a magneto-rheological damper of a landing gear of an aircraft. A core control module is separately connected to a landing-gear position indication system and a flight management computer through data buses; an angle sensor feeds back the swing state of aircraft wheels; and a current sensor feeds back actual working electric currents of coils of the damper. The control method comprises the steps of determining, during the landing and taxiing of the aircraft, the operation state of the controller by virtue of a landing-gear deploying-and-retracting state acquired by the landing-gear position indication system and the flight altitude and flight state acquired by the flight management computer, calculating the working electric currents required for the coils of the magneto-rheological damper according to the swing state of the aircraft wheels acquired by the angle sensor and the aircraft speed, descent rate and load data acquired by the flight management computer, controlling a current driving module to output target currents, and controlling the output damping of the magneto-rheological damper. The controller and control method for the magneto-rheological damper of the landing gear of the aircraft can adjust the damping force of the magneto-rheological damper in real time according to the shimmy state of the landing gear, and effectively suppress the shimmy of the landing gear.

The invention relates to a double-coil piston type magnetorheological fluid damper. The double-coil piston type magnetorheological fluid damper comprises an outer cylinder barrel, an inner cylinder barrel, end covers, a piston shaft, magnetic guiding loops and magnetic insulating loops. The end covers are fixedly arranged on both ends of the outer cylinder barrel, the inner cylinder barrel is coaxially installed in the outer cylinder barrel, the magnetic guiding loops are fixed between the two ends of the inner cylinder barrel and the end covers, the magnetic insulating loops are fixed between two ends of the inner cylinder barrel and the magnetic guiding loops, and two ends of the piston shaft are coaxially inserted into the inner cylinder barrel and installed with the end covers and the magnetic insulating loops in a sliding mode; a plurality of damping channels are arranged in the inner cylinder barrel in the circumferential direction, and a magnetorheological fluid storage cavity and the damping channels are filled with magnetorheological fluid; and coils are twined around the inner ends of the end covers, and a closed magnetic loop is formed by the magnetic guiding loops, the inner cylinder barrel and the end covers after the coils are electrified and the piston shaft operates. According to the double-coil piston type magnetorheological fluid damper, the damping channels are lengthened under the condition that the piston stroke is satisfied, great initial damping force is generated without loading electric current, great coulomb force is generated after the electric current is loaded, the working scope is expanded, and the adjustable multiple of the damping force of the damper is increased.

The invention discloses a piezoelectric type variable stiffness and variable damping dynamic vibration absorber. The dynamic vibration absorber comprises an upper bearing platform and a lower bearingplatform; a mass inertia block and a plurality of vibration absorbing units are arranged between the upper bearing platform and the lower bearing platform; the lower bearing platform is fixedly connected with equipment awaiting vibration damping; and each vibration absorbing unit comprises two first piezoelectric elements, a friction lever, a plurality of vertical elastic elements and a second piezoelectric element, wherein the two first piezoelectric elements are arranged on the upper bearing platform and the lower bearing platform correspondingly, the two ends of the friction lever are connected with the two first piezoelectric elements, and the middle part of the friction lever penetrates through the mass inertia block, the two ends of each of the multiple vertical elastic elements areconnected with the mass inertia block and the first piezoelectric elements, and the second piezoelectric element is arranged on the joint face of the friction lever and the mass inertia block. The dynamic vibration absorber disclosed by the invention has the advantages that the stiffness coefficient and the damping coefficient of the vibration absorber can be designed according to the vibration characteristics of the equipment; stiffness and damping can be adjusted by controlling voltage; the dynamic vibration absorber can be effectively applied to architectural and mechanical equipment variedin vibration property; semi-active control over vibration can be realized; and a good vibration damping effect can be achieved.

The invention discloses an electromagnetic energy feeding type vehicle active suspension actuator. The electromagnetic energy feeding type vehicle active suspension actuator comprises an actuator body and an actuator controller. The actuator body comprises an electromagnetic linear motor module and a variable-damping shock absorber module. The electromagnetic linear motor module comprises a plurality of primary coils, a plurality of primary iron chips and a secondary piston rod. The variable-damping shock absorber module comprises a shock absorber piston rod, a piston, a piston cylinder and damping oil. The shock absorber piston rod is a hollow piston rod. The multiple primary iron chips are arranged on the inner wall of the shock absorber piston rod. The primary coils are wound in gaps between the multiple primary iron chips. A throttling hole is formed in the piston. A throttling hole adjustment valve plate and a throttling hole adjustment motor are connected to the piston. The invention further discloses a control method of the electromagnetic energy feeding type vehicle active suspension actuator. The electromagnetic energy feeding type vehicle active suspension actuator is stable and reliable in work and high in energy feeding efficiency; the service life of a vehicle-mounted storage battery can be effectively prolonged, and an active suspension can be made to be in an optimal shock absorbing state.

The invention discloses an electromagnetic integrated type energy feedback suspension actuator of an electric vehicle and a control method of the electromagnetic integrated type energy feedback suspension actuator of the electric vehicle. The suspension actuator comprises a magnetorheological damper, a linear motor and an actuator monitoring device, wherein the magnetorheological damper comprisesa cylinder, a magnetorheological fluid, an inner chamber upper partition board and an inner chamber lower partition board, wherein the linear motor comprises a linear motor shell, a secondary part anda primary part; the actuator monitoring device comprises an actuator controller. The control method of the suspension actuator comprises the following steps: 1, data acquisition and transmission; 2,control of the suspension actuator by the actuator controller in an energy feedback mode, a primary damping mode, a secondary damping mode and an active mode according to sample data. The suspension actuator is reasonable in design, multi-mode switching of a suspension system can be realized according to different road conditions of vehicle traveling, energy waste of the electric vehicle is reduced, driving mileage of the electric vehicle can be increased, and the promotion and application values are high.

The invention provides a vehicle magneto-rheological oil gas suspension damping valve. The vehicle magneto-rheological oil gas suspension damping valve comprises a valve body with an inner cavity, an installation pipe and a floating piston, wherein the installation pipe is fixedly placed in the valve body, an induction coil and a winding rod are arranged in the installation pipe, the induction coil is wound around the winding rod, and the floating piston is installed on the installation pipe. An upper fixing piece, a middle fixing piece and a lower fixing piece are arranged on the outer wall of the installation pipe, the floating piston is arranged between the upper fixing piece and the middle fixing piece, an upper limiting assembly is placed between the floating piston and the upper fixing piece, a lower limiting assembly is placed between the floating piston and the middle fixing piece, and the installation pipe is further provided with a fixed valve element. The damping valve is integrated with a velocity sensor, and therefore the damping valve is high in reliability. The vehicle magneto-rheological oil gas suspension damping valve can automatically sense the vibration velocity of wheels relative to a vehicle body, and corresponding damping adjustment can be carried out according to voltage generated by the induction oil.

The invention discloses a two-channel lateral rigidity semi-active hydropneumatic suspension adopting a bilateral symmetrical structure. The two-channel lateral rigidity semi-active hydropneumatic suspension comprises a steering wheel, an angle synchronous control valve, a flow follow-up valve, suspension cylinders, energy accumulators, control valves and pipelines. Each suspension cylinder comprises a piston rod, a piston, an inner control valve set, a cylinder barrel and a sealing socket ring. Each suspension cylinder internally comprises an auxiliary oil cavity and a suspension inner cavity which are completely isolated. Each suspension cylinder inner cavity comprises a cylinder barrel inner cavity and a piston rod inner cavity which communicate with each other through the corresponding inner control valve set in the middle so that a suspension cylinder inner cavity system can be formed. Each auxiliary oil cavity is externally connected with the corresponding control valve and the energy accumulator through the corresponding pipeline so that an external control loop can be formed. The angle synchronous control valve is connected with the control valves of the left external control loop and the right external control loop so that state control channs can be formed. The flow follow-up valve is connected with the cylinder barrel inner cavity of the left suspension cylinder inner cavity system and the cylinder barrel inner cavity of the right suspension cylinder inner cavity system so that pressure/flow follow-up channels can be formed. The two control channels are independent from each other, and the contained control loops/inner cavity systems contained are independent from each other. The angle synchronous control valve carries out synchronous control along with the steering wheel, and the flow follow-up valve carries out follow-up control along with the pressure of the left suspension cylinder inner cavity and the pressure of the right suspension cylinder inner cavity.

The invention discloses a combined energy feedback type semi-active suspension fork actuator and a control method thereof. The combined energy feedback type semi-active suspension fork actuator comprises an actuator body and a monitoring device, wherein the actuator body comprises an air spring mechanism and a linear motor; the air spring mechanism comprises an air spring, an air spring upper endcover and an air spring lower end cover; the linear motor comprises a secondary permanent magnet assembly and a primary coil assembly; the secondary permanent magnet assembly comprises a linear motorsecondary housing and a secondary permanent magnet. The control method comprises the following steps of I, performing data acquisition and synchronous transmission; II, adjusting the height differenceof spring mass and non-spring mass in the starting stage of a vehicle; III, adjusting the height difference of the spring mass and the non-spring mass in the travelling stage of the vehicle and electromagnetic damping force; and IV, after the vehicle stops travelling, adjusting the height difference of the spring mass and the non-spring mass. Through the adoption of the combined energy feedback type semi-active suspension fork actuator disclosed by the invention, the stability and the smoothness of the vehicle can be improved; and energy generated by the actuator is recovered, and the energyconsumption of the vehicle is reduced.

The invention discloses a reinforced concrete column reinforcing structure and method. A reinforcing groove is vertically formed in a to-be-reinforced reinforced concrete column, and the interior of the reinforcing groove is coated with a filling material; the clean reinforcing groove is half filled with the filling material, then a memory alloy bar is placed into the clean reinforcing groove, andthe reinforcing groove is pressed into the filling material; then the reinforcing groove is filled with a filling material and compacted and leveled, so that the reinforced concrete column and the memory alloy bar form a whole. A near-surface reinforcing method is adopted, so that the bonding area of a reinforcing rib and the concrete is increased, the possibility of bonding stripping damage is reduced, and the bonding performance of the reinforcing rib and the concrete is improved. The characteristics of the memory alloy bar are utilized so that the energy dissipation capability of the reinforcing column can be remarkably improved, the residual deformation generated after stress of the concrete column is reduced, the damage self-repairing capability of a component is improved, rapid recovery of structure functions after earthquakes is achieved, and semi-active control over the reinforced concrete column is achieved.

The invention relates to a nonlinear energy trap device with a magnetorheological damper. The nonlinear energy trap device with the magnetorheological damper comprises a base bearing platform plate (1) connected with a main structure, two parallel linear guide rails (2) are arranged on the base bearing platform plate (1), a supporting plate (6) is arranged on the linear guide rails (2), linear bearings (3) are arranged between the supporting plate (6) and the linear guide rails (2), a vibrator (7) is installed on the supporting plate (6), tension and compression springs (9) with guide pipes (8) are symmetrically arranged on the two sides of the vibrator (7) in the horizontal direction perpendicular to the linear guide rails (2), the magnetorheological damper (10) is connected with the vibrator (7) through a hinge pin (11) in the direction parallel to the linear guide rails (2), and the other ends of the tension and compression springs (9) and the other end of the magnetorheological damper (10) are connected with fixed baffles (4). Compared with a traditional damping device, the structure has the advantages of being light in weight, wide in damping frequency, better in robustness, good in energy consumption effect and the like.

The invention discloses an anti-settling multilayer spiral pole plate damper based on giant electrorheological fluid, and relates to the technical field of dampers. The damper comprises an outer cylinder, an upper end cover is arranged at the upper end of the outer cylinder, a lower end cover is arranged at the lower end of the outer cylinder, a floating piston connected to the outer cylinder in a sliding mode is arranged in the outer cylinder, a compensation cavity between the floating piston and the lower end cover is filled with compressed air, a working cavity between the upper end cover and the floating piston is filled with the giant electrorheological fluid, a spindle structure is arranged in the outer cylinder, penetrates through the upper end cover and can slide relative to the upper end cover, a plurality of spiral blade pole plates and a plurality of electrode plates are arranged on the spindle structure in the circumferential direction, each spiral blade pole plate is connected to one electrode plate, and an anti-settling structure is arranged at the lower end of the spindle structure. The damper has the advantages of being simple in structure, high in response speed, light in weight, small in size, large in damping force and capable of automatically preventing settling.

The invention relates to a semi-active flexible particle collision inertia mass damper. The semi-active flexible particle collision inertia mass damper comprises a rotating shaft, a rotating damping mechanism rotatably arranged on the rotating shaft and a horizontal toothed moving mechanism which meshes with the rotating shaft. The horizontal toothed moving mechanism comprises a gear and a toothedrectangular mass block, the gear is fixedly mounted on the rotating shaft, the toothed rectangular mass block is mounted on a suspension guide rail and performs a reciprocating horizontal linear motion, the toothed rectangular mass block meshes with the gear to convert the horizontal bidirectional motion into an independent rotational motion, and energy dissipation is achieved through the rotating damping mechanism. The semi-active flexible particle collision inertia mass damper simultaneously controls the horizontal two-way vibration independently, adopts an active rotating collision mechanism, combines a SMA elastic blocking device with particles of an outer SMA material layer to realize the double energy consumption, realizes the better damping effect according to the principle of theinertia mass damper, and greatly solves the noise problem, and an air spring with variable stiffness is combined with a semi-active control strategy to achieve the optimal control frequency.

The invention discloses a controllable variable stiffness leg based on magnetorheology. The controllable variable stiffness leg comprises a magnetorheology damping module, a connecting belt, a pair of leg supporting rods, a pair of foot supporting rods and a plurality of connecting and fastening parts. The magnetorheology damping module is connected with the two leg supporting rods in a bilateral symmetry manner, and two torsional springs are mounted between the magnetorheology damping module and the leg supporting rods in a bilateral symmetry manner; two ends of the torsional springs are connected with a magnetorheology damping module end cover and the leg supporting rods, and the two foot supporting rods are connected with the two leg supporting rods through central rods; and the foot supporting rods can rotate relative to the leg supporting rods. One end of the connecting belt is wound on the magnetorheology damping module, and the other end of the connecting belt is connected with one ends of the foot supporting rods. The problems that a leg device is single in stiffness in the advancing process, and the ground adaptation range is narrow are solved; and the mechanism is simple, the control strategy is simple, the response speed is high, and continuous effective changes of rigidity can be achieved.

The invention discloses an anti-settling combined energy-regenerative suspension actuator of an electric automobile and a control method thereof; the suspension actuator comprises a magneto-rheological shock absorber, a motor unit, an energy feedback unit and an actuator monitoring device, and the control method comprises the following steps: 1, data acquisition and transmission; 2, an actuator controller controls the suspension actuator in four modes including a high energy-saving mode, an energy-saving mode, a stable mode and a dynamic mode according to the sampling data of the actuator controller. The suspension actuator is reasonable in design, easy to realize, and the heights of the sprung mass and the unsprung mass of the automobile and the control force of the actuator can be adjusted; when the automobile runs on different road surfaces, multi-mode switching can be carried out on the suspension system according to the magnitude of an energy feedback voltage on a piezoelectric plate, and the comfort and stability during automobile running are improved; meanwhile, energy generated by the suspension system is recycled in time, waste of automobile energy is reduced, the endurance mileage of the electric automobile is prolonged, the service life of a battery is prolonged, and the practical value is high.

The invention discloses a magnetofluid shock absorber for a cutter head. The magnetofluid shock absorber comprises a shell with a hollow structure, wherein an upper end cover and a lower cover are fixedly installed at the upper end and the lower end of the shell respectively, grooves are formed in the upper end cover and the lower end cover, a cooling pipe which is vertically arranged and is fixedly connected with the upper end cover and the lower end cover is arranged in the center of the shell, the upper end of the cooling pipe penetrates through the upper end cover and is located in the groove of the upper end cover, the lower end of the cooling pipe penetrates through the lower end cover and is located in the groove of the lower end cover, an annular positive electromagnet is arrangedat the circumferential side of the cooling pipe located in the groove of the upper end cover, and an annular negative electromagnet is arranged at the circumferential side of the cooling pipe locatedin the groove of the lower end cover. The magnetofluid shock absorber is mainly used for controlling vibration of the machining cutter head of a lathe, and the feature that magnetofluid damping varieswith the magnitude of the magnetic field is utilized. By controlling the magnetic field of the electromagnets at the two sides of the magnetofluid, the magnitude of magnetofluid damping is changed, real-time regulation on the shock absorber is achieved, and thus real-time control over the vibration of the cutter head is achieved accordingly.