Rotary magnetorheological elastomer vibration isolation platform driven based on intelligent algorithm

Abstract

The invention belongs to the technical field of vibration isolation equipment and intelligent control, and particularly relates to a rotary magnetorheological elastomer vibration isolation platform driven by an intelligent algorithm. Comprising a table top and a bottom plate which are connected through three sets of telescopic springs and three sets of rigid springs. The base is mounted in the middle of the bottom plate; the number of the magneto-rheological elastomers is 12, the outer layers of the magneto-rheological elastomers are wrapped with high-strength rubber, and the magneto-rheological elastomers are evenly installed on the base in a circumferential array mode; the number of the permanent magnet combined type magnetic field applying devices is consistent with that of the magnetorheological elastomers, and each permanent magnet combined type magnetic field applying device applies a magnetic field to the corresponding magnetorheological elastomer; and the control system is used for accurately controlling the magnetic field intensity applied to the magnetorheological elastomer by the permanent magnet combined magnetic field applying device.

Description

Technical Field

[0001] The present invention belongs to the technical field of vibration isolation equipment and intelligent control, and specifically relates to a rotary magnetorheological elastomer vibration isolation platform driven by an intelligent algorithm. Background Art

[0002] In scenarios such as industrial production, scientific research experiments, and the operation of many precision instrument devices, there is an extremely urgent need for a stable and flexible working environment. High-performance vibration isolation technology and vibration isolation platforms with a rotation function are still key technical problems that need to be urgently solved at present.

[0003] In terms of vibration isolation requirements, although traditional vibration isolation technologies can weaken vibrations to a certain extent, in the face of the strict requirement of reducing vibrations from 50G to within 5G, existing technologies often struggle to meet the demands. Traditional vibration isolators mostly use conventional springs or rubber materials, and in a complex and changing vibration environment, their stiffness and damping characteristics cannot be flexibly adjusted, making it difficult to achieve efficient vibration attenuation.

[0004] From the perspective of the equipment, in the monitoring field, to comprehensively obtain environmental parameters in different directions, and in industrial automation inspection, to conduct a full-range inspection of complex workpieces, the equipment needs to have a flexible angle adjustment function. However, even if some existing vibration isolation platforms have a rotation function, the vibration isolation effect will be severely damaged during the rotation process, resulting in the inability of the two to work effectively together. In common rotary vibration isolation platforms, the rotation mechanism interferes with the vibration isolation system, introducing additional vibrations during rotation and affecting the normal operation of the equipment.

[0005] At the level of control algorithms, traditional control algorithms only adjust based on the current error and lack the ability to predict the future state of the system. During the operation of the vibration isolation platform, when the rotary platform rotates, it will cause vibration changes, and the characteristics of magnetorheological elastomers will change with time and the environment. In the face of complex situations, traditional algorithms are difficult to achieve precise and efficient control. Summary of the Invention

[0006] The present invention aims to solve the above problems and provides a rotary magnetorheological elastomer vibration isolation platform driven by an intelligent algorithm.

[0007] The present invention adopts the following technical solutions: A rotary magnetorheological elastomer vibration isolation platform driven by an intelligent algorithm, comprising: A tabletop and a bottom plate, which are connected by three groups of telescopic springs and three groups of rigid springs; A base, which is installed in the middle of the bottom plate; Magnetorheological elastomers, with 12 magnetorheological elastomers provided, the outer layer of the magnetorheological elastomers is wrapped with high-strength rubber, and they are evenly installed on the base in a circumferential array form; The permanent magnet combined magnetic field applying device, the number of the permanent magnet combined magnetic field applying devices is consistent with the number of the magnetorheological elastomers, and each permanent magnet combined magnetic field applying device applies a magnetic field to the corresponding magnetorheological elastomer; The control system is used to precisely control the magnetic field intensity applied by the permanent magnet combined magnetic field applying device to the magnetorheological elastomer; The control system monitors in real time the magnetic field intensity generated by the permanent magnet combined magnetic field applying device on the surface or inside of the magnetorheological elastomer, and feeds the collected data back to the control system; the control system calculates the deviation between the actual magnetic field value and the target value through a preset control algorithm, and generates a control instruction to drive the actuator to dynamically adjust the relative position, angle or current of the magnetorheological elastomer, so as to precisely change the magnetic field distribution and intensity.

[0008] In some embodiments, it further includes: The servo motor is installed at the center position of the base and is driven by the control system; The top plate is arranged directly above the servo motor, and the two are connected by a precision reducer, and the servo motor drives the top plate to rotate self - sufficiently; The tabletop is of a ring structure, an internal gear ring is arranged on the inner side of the ring structure, the top plate is flush with the surface of the tabletop, and an external gear ring is arranged on the outside of the top plate. A transmission gear is meshed between the internal gear ring and the external gear ring, and the bottom of the transmission gear is connected to the transmission gear connecting sleeve at the bottom of the top plate through a transmission rod.

[0009] In some embodiments, six grooves evenly distributed in a circle are respectively arranged at the bottom of the tabletop and the top of the bottom plate, and the adjacent grooves are spaced 60° apart; the rigid springs are installed in the corresponding grooves at intervals of 120°, and the telescopic springs are staggered and distributed between the rigid springs at intervals of 120°.

[0010] In some embodiments, when there is no external magnetic field, the magnetorheological elastomer exhibits the elastic characteristics of ordinary rubber, and can achieve vibration buffering through the stretching and curling of molecular chains, playing a preliminary shock - absorbing role; when there is an external magnetic field, the magnetic particles are arranged along the magnetic field direction to form a chain - like or columnar structure, thereby changing the stiffness and damping characteristics of the magnetorheological elastomer.

[0011] In some embodiments, the magnetorheological elastomer is composed of magnetic particles uniformly dispersed in an elastic polymer matrix; The elastic polymer matrix of the magnetorheological elastomer selects silicone rubber; the magnetic particles of the magnetorheological elastomer are made of micron - sized carbonyl iron powder and silicon steel powder mixed in a ratio of 25:1.

[0012] In some embodiments, the control system includes: The signal acquisition module, and the signal acquisition module is used to acquire the vibration signal of the vibration isolation platform; A central control unit, which analyzes and processes the collected data through a preset algorithm and generates a control instruction; An actuator driving module, which accurately drives the permanent magnet combined magnetic field applying device and the servo motor according to the control instruction of the central control unit.

[0013] In some embodiments, the execution process of the control system includes: Measuring the external magnetic field intensity through a device; The signal acquisition module collects the magnetic field signal and performs denoising processing to obtain the denoised magnetic field signal; Optimizing the denoised magnetic field signal to generate a magnetic field intensity synchronous rotation control quantity; Taking the magnetic field intensity synchronous rotation control quantity as an input parameter, predicting the change of the internal magnetic field distribution of the magnetorheological elastomer under the action of the permanent magnet combined magnetic field applying device, and transmitting the prediction result to the central control unit; The central control unit controls the permanent magnet combined magnetic field applying device (7) through the execution driving module to adjust the internal magnetic field distribution of the magnetorheological elastomer; Iteratively judge whether the internal magnetic field of the magnetorheological elastomer approaches the external magnetic field intensity. If it does not approach, update the control parameters and recalculate. If it approaches, determine the current optimal control input so that the vibration isolation platform reaches the optimal stiffness value to achieve the best vibration isolation effect.

[0014] In some embodiments, the denoising processing includes: The filter receives an input signal vector, and its input signal vector is , where M is the order of the filter, is the input signal value at the current operation moment, n is the discrete time point, and the initial weight coefficient vector of the filter is , then the first output signal vector of the filter is ; The preset desired response is , then the error signal ; By updating the weight coefficient vector of the filter, the update formula is , where is a parameter factor used to control the convergence performance of the algorithm; When the obtained error signal continuously approaches 0, the corresponding filter weight coefficient vector is the optimal weight coefficient vector under the current working condition. At this time, the signal vector collected by the information acquisition module gradually approaches the true value.

[0015] In some embodiments, optimizing the denoised magnetic field signal to generate a magnetic field intensity synchronous rotation control quantity includes: According to the formula the target magnetic field strength is calculated, where \(\mu_0\) is the magnetic permeability of vacuum, N is the number of turns of the coil, I is the current, and the current is obtained through the formula ; where \(x(t)\) is the vibration signal and R is the radius of the coil, and the vibration signal is converted into the target magnetic field strength; The external magnetic field strength is compared with the target magnetic field strength to obtain a deviation value; According to the formula the magnetic field strength synchronous rotation control quantity is obtained ; where is the proportional coefficient of the rotation platform control; is the integral coefficient of the top plate control; is the integral coefficient of the rotation platform control, and \(\Delta B\) is the deviation value.

[0016] In some embodiments, the process of predicting the change of the internal magnetic field distribution of the magnetorheological elastomer under the action of the permanent magnet combined magnetic field applying device includes: 1) Assume that the dynamic model of the vibration isolation platform in the current working environment is: ; Combined with the system state x(k) at the current moment and the optimized control input sequence through the dynamic model, the system output at the next N moments is predicted. This output value is the angular change of the top plate (5), and the finally predicted rotation angle is the system output at each moment within the prediction time domain; where x(k) is the internal state information of the vibration isolation platform system at the k-th moment, including the top plate speed information and acceleration information, u(k) is the input parameter applied to the vibration isolation platform control system at the k-th moment, that is, the magnetic field strength synchronous rotation control quantity, y(k) is the actual output result of the system at the k-th moment, reflecting the actual response of the vibration isolation platform under the control input, including the rotation angle and angular change rate of the top plate, A, B, and C are the system matrix, input matrix, and output matrix respectively, w(k) is the noise generated during the operation of the loading robot, and v(k) is the noise generated during the acquisition process of the information acquisition module; 2) By solving the performance index function the optimal control input sequence within the prediction time domain is obtained, so as to predict the control input of the permanent magnet combined magnetic field applying device at the next N moments. This input quantity is the magnetic field strength change, and the finally predicted magnetic field change intensity is the control input sequence within the prediction time domain; where is the system output at time k+j predicted based on the information at time k is the expected output at time k+j, Q and R are the weighted matrices of output error and control input, respectively.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The present invention is an innovative product developed to address the deficiencies of existing vibration isolation technology. In terms of structural design, the vibration isolation platform consists of a table, a vibration isolator and a bottom plate. The internal structure of the vibration isolator is sophisticated, and the various components work together. The table and the bottom plate are connected by high-performance telescopic springs and rigid springs, and grooves are provided at specific positions to ensure the stability and rationality of the connection. The top plate of the vibration isolator is meshed with the table through transmission gears, and the servo motor at the center of the base cooperates with the precision reducer to achieve smooth and accurate transmission of power. In terms of material selection, high-strength steel is carefully selected to make the table, bottom plate, top plate and base to ensure structural strength; high-performance telescopic springs are made of alloy spring steel, and rigid springs are made of high-strength spring steel to ensure the performance of the spring. The new high-performance shock-absorbing material magnetorheological elastomer is composed of magnetic particles evenly dispersed in an elastic polymer matrix, the outer layer is wrapped with high-strength rubber, and is matched with a permanent magnet combined magnetic field application device made of neodymium iron boron permanent magnets, which provides a material basis for vibration isolation performance. In terms of fixing and connection methods, high-performance telescopic springs and rigid springs adopt a combination of mechanical fixing and adhesive coating. The servo motor and precision reducer are connected by titanium alloy flange welding to form an integrated structure, which enhances the overall stability and reliability. In terms of control system, the platform is equipped with an advanced control system. The signal acquisition module collects operating status information in real time. The central control unit analyzes and processes the data based on the preset algorithm and generates control instructions. The actuator drive module accurately drives the relevant devices. Among them, the permanent magnet combined magnetic field application device can automatically adjust the angle of the permanent magnet unit according to the change of external vibration frequency, and optimize the shock absorption effect of the magnetorheological elastomer. In summary, the present invention can achieve quasi-zero stiffness in both horizontal and vertical directions through unique structural design, high-quality material selection, reliable fixed connection method and advanced control system. It has the ability to cope with sudden changes in loads and stiffness, can meet the operation requirements under all-weather, large scenes and complex working conditions, and significantly improves the vibration isolation performance. It has important innovative significance and broad application prospects in the field of vibration isolation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the system structure of the present invention; Figure 2 is a side view of the present invention; Figure 3 is a side view of the present invention; Figure 4 is a top view of the present invention; Figure 5 Schematic diagram of the magnetorheological elastomer device of the present invention; Figure 6 Flow chart of multi-algorithm collaborative control of the present invention; In the figure, 1 - tabletop; 2 - bottom plate; 3 - telescopic spring; 4 - rigid spring; 5 - top plate; 6 - base; 7 - permanent magnet combined magnetic field application device; 8 - magnetorheological elastomer; 9 - servo motor; 10 - precision reducer; 11 - flange connection disk; 12 - gasket; 13 - connecting shaft; 14 - bushing; 15 - transmission gear connecting bushing; 16 - transmission rod; 17 - transmission gear; 18 - sliding track; 19 - high-strength rubber. Specific embodiments

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0020] As Figure 1-4 shown, a rotary magnetorheological elastomer vibration isolation platform driven by an intelligent algorithm includes: A tabletop 1 and a bottom plate 2, which are connected by three groups of telescopic springs 3 and three groups of rigid springs 4; A base 6, and the base 6 is installed in the middle of the bottom plate 2; Magnetorheological elastomers 8, there are 12 magnetorheological elastomers 8, the outer layer of the magnetorheological elastomer 8 is wrapped with high-strength rubber 19, and they are evenly installed on the base 6 in a circumferential array form; Permanent magnet combined magnetic field application devices 7, the number of permanent magnet combined magnetic field application devices 7 is the same as the number of magnetorheological elastomers 8, and each permanent magnet combined magnetic field application device 7 applies a magnetic field to the corresponding magnetorheological elastomer 8; A control system for precisely controlling the magnetic field strength applied by the permanent magnet combined magnetic field application device 7 to the magnetorheological elastomer 8; The control system real-time monitors the magnetic field strength generated by the permanent magnet combined magnetic field application device 7 on the surface or inside of the magnetorheological elastomer, and feeds the collected data back to the control system; the control system calculates the deviation between the actual magnetic field value and the target value through a preset control algorithm, and generates a control instruction to drive the actuator to dynamically adjust the relative position, angle, or current of the magnetorheological elastomer 8, so as to precisely change the magnetic field distribution and strength.

[0021] It further includes: A servo motor 9, which is installed at the center of the base 6 and is driven by the control system; A top plate 5 is provided directly above the servo motor 9 and is connected to the servo motor 9 through a precision speed reducer 10. The servo motor 9 drives the top plate 5 to rotate self - sufficiently. The tabletop 1 is of an annular structure, and an internal gear ring is provided on the inner side of the annular structure. The top plate 5 is flush with the surface of the tabletop 1, and an external gear ring is provided on the outer side of the top plate 5. A transmission gear 17 meshes between the internal gear ring and the external gear ring, and the bottom of the transmission gear 17 is connected to a transmission gear connecting sleeve 15 at the bottom of the top plate 5 through a transmission rod 16.

[0022] Six grooves are respectively provided at the bottom of the tabletop 1 and the top of the bottom plate 2, which are evenly distributed in a circumferential manner with an interval of 60° between adjacent grooves; the rigid springs 4 are installed in the corresponding grooves at an interval of 120°, and the telescopic springs 3 are staggered between the rigid springs at an interval of 120°. First of all, the 60° evenly - spaced groove layout ensures the symmetry of the structure in the circumferential direction, makes the connection force between the tabletop and the bottom plate uniform, effectively disperses the load and avoids stress concentration, thus improving the stability and load - bearing capacity of the overall structure; secondly, the rigid springs installed at an interval of 120° form an equilateral - triangle support structure, enhancing the rigid support ability of the system, while the telescopic springs are staggered between the rigid springs at an interval of 120°, which can not only supplement the density of the support points, but also absorb vibration and impact through elastic buffering. The combination of rigidity and flexibility takes into account both the stability and dynamic response ability of the structure; in addition, this symmetric and staggered spring distribution method can suppress multi - direction vibration, reduce the resonance risk through mode matching, and thus improve the accuracy retention and working reliability of the device.

[0023] The tabletop, bottom plate, top plate and base are all made of high - strength steel. The telescopic spring is made of a small - type helical compression spring (alloy spring steel), which has a high elastic modulus and good resilience characteristics, and can meet the operation requirements under complex working conditions. The rigid spring is made of a helical compression spring (high - strength spring steel), which has a high stiffness and load - bearing capacity, and can meet the operation requirements under complex working conditions. The telescopic spring and the rigid spring are fixed in a combined - fixing manner; first, the spring is preliminarily fixed by mechanical fixing method, and then an adhesive is applied to the contact surface to further enhance the fixing effect; the combined - fixing method combines mechanical strength and bonding stability and can meet the operation requirements under complex working conditions. The servo motor can accurately control the position, speed and acceleration; the precision speed reducer is used to reduce the input speed and increase the output torque; the servo motor and the precision speed reducer are used in combination, which can improve the rotation accuracy and increase the output torque, so as to ensure that the sensing equipment placed on the vibration - isolation platform runs stably according to the set rotation frequency. The servo motor is connected to the precision speed reducer through a flange - type connection; the material of the flange - type connection is titanium alloy, and the connection method is welding connection to form an integral structure.

[0024] The permanent magnet combined magnetic field applying device 7 mainly consists of a high-performance permanent magnet unit, a magnetic field regulating mechanism, and a fixing and protecting structure; the high-performance permanent magnet unit selects neodymium iron boron permanent magnets, and the neodymium iron boron permanent magnets have the characteristics of high remanence, high coercivity, high magnetic energy product, and good temperature stability; the magnetic field regulating mechanism adjusts the magnetic field intensity and distribution by changing the relative position or angle between the permanent magnet units; when the vibration isolation platform detects a change in the external vibration frequency, the magnetic field regulating mechanism can quickly respond and automatically adjust the angle of the permanent magnet units to make the magnetic field characteristics match the vibration characteristics, thereby optimizing the shock absorption effect of the magnetorheological elastomer; the fixing and protecting structure is made of non-magnetic materials and is used to fix the permanent magnet units and provide protection for them, ensuring that the permanent magnet units can work stably in a long-term high-frequency vibration environment and continuously provide a stable magnetic field for the magnetorheological elastomer.

[0025] When there is no external magnetic field, the magnetorheological elastomer 8 exhibits the elastic characteristics of ordinary rubber and can achieve vibration buffering through the stretching and curling of molecular chains, playing a preliminary shock absorption role; when there is an external magnetic field, the magnetic particles are arranged along the magnetic field direction to form a chain-like or columnar structure, thereby changing the stiffness and damping characteristics of the magnetorheological elastomer 8.

[0026] The magnetorheological elastomer 8 is composed of magnetic particles uniformly dispersed in an elastic polymer matrix; The elastic polymer matrix of the magnetorheological elastomer 8 selects silicone rubber; the magnetic particles of the magnetorheological elastomer 8 are made of micron-sized carbonyl iron powder and silicon steel powder mixed in a ratio of 25:1.

[0027] Specifically, the magnetorheological elastomer is composed of magnetic particles uniformly dispersed in an elastic polymer matrix; the elastic polymer matrix of the magnetorheological elastomer is made of silicone rubber with a relatively low initial modulus, which provides good basic elasticity and deformation ability for the material; the magnetic particles of the magnetorheological elastomer are composed of micron-sized carbonyl iron powder and silicon steel powder mixed in a ratio of 25:1; this specific mixing method can effectively maintain the saturation magnetization intensity of the material, optimize the magnetic permeability, and significantly reduce eddy current losses; the volume fraction of the magnetic particles in the magnetorheological elastomer is about 35%; the weight ratio of the rubber matrix to the magnetic particles in the magnetorheological elastomer is 6:1, ensuring that the material has good comprehensive performance. In addition to the above main components, the magnetorheological elastomer also contains auxiliary components, specifically vulcanizing agents, accelerators, and filling materials. The filling materials are composed of plasticizers, dispersants, binders, reinforcing agents, and cold-resistant agents. The auxiliary components cooperate with each other to further improve the processing performance and service performance of the magnetorheological elastomer. In the absence of an external magnetic field, the magnetorheological elastomer exhibits the elastic characteristics of ordinary rubber and can achieve vibration buffering through the stretching and curling of molecular chains, playing a preliminary shock-absorbing role. When an external magnetic field is applied, the magnetic particles will align along the magnetic field direction, forming a chain-like or columnar structure. This structural change will significantly change the stiffness and damping characteristics of the material, thereby realizing the real-time adjustment of the shock-absorbing performance to adapt to different vibration environments and working conditions requirements.

[0028] The permanent magnet combined magnetic field application device adjusts the distribution of the magnetic field in the magnetorheological elastomer by changing the relative position or angle between the permanent magnet units; according to different vibration frequencies, the permanent magnet combined magnetic field application device can optimize the shock-absorbing performance of the magnetorheological elastomer; by finely adjusting the position of the permanent magnet units, the magnetic field distribution is matched with the vibration characteristics, thereby improving the shock-absorbing effect of the vibration isolation platform.

[0029] The control system includes: A signal acquisition module, which is used to acquire the vibration signals of the vibration isolation platform; A central control unit, which analyzes and processes the acquired data through a preset algorithm and generates control instructions; An actuator drive module, which accurately drives the permanent magnet combined magnetic field application device 7 and the servo motor 9 according to the control instructions of the central control unit.

[0030] The execution process of the control system includes: 1. Measure the external magnetic field intensity through a nuclear magnetic resonance magnetometer.

[0031] 2. The signal acquisition module collects the magnetic field signals and performs noise reduction processing to obtain the noise-reduced magnetic field signals.

[0032] Among them, the denoising process includes: The filter receives an input signal vector, and the input signal vector is , where M is the order of the filter, is the input signal value at the current operation time, n is the discrete time point, and the initial weight coefficient vector of the filter is , then the first output signal vector of the filter is ; The preset desired response is , then the error signal ; By updating the weight coefficient vector of the filter, the update formula is , where is a parameter factor used to control the convergence performance of the algorithm; When the obtained error signal constantly approaches 0, the corresponding filter weight coefficient vector is the optimal weight coefficient vector under the current working condition. At this time, the signal vector collected by the information acquisition module gradually approaches the true value.

[0033] 3. Optimize the denoised magnetic field signal to generate a magnetic field intensity synchronous rotation control quantity, including: According to the formula calculate the target magnetic field intensity, is the vacuum permeability, N is the number of turns of the coil, I is the current, and the current is obtained through the formula to get, is the vibration signal, R is the radius of the coil, and the vibration signal is converted into the target magnetic field intensity; Compare the external magnetic field intensity with the target magnetic field intensity to obtain a deviation value; According to the formula get the magnetic field intensity synchronous rotation control quantity ; Among them is the proportional coefficient of the rotation platform control; is the integral coefficient of the top plate (5) control; is the integral coefficient of the rotation platform control, is the deviation value.

[0034] 4. Take the magnetic field intensity synchronous rotation control quantity as an input parameter, predict the change of the internal magnetic field distribution of the magnetorheological elastomer under the action of the permanent magnet combined magnetic field applying device 7, and transmit the prediction result to the central control unit.

[0035] The process includes: 1) Assume that the dynamic model of the vibration isolation platform under the current operation environment is: ; Combining the system state x(k) at the current moment with the optimized control input sequence through a dynamic model to predict the system output at the next N moments The output value is the angular change of the top plate (5), and the finally predicted rotation angle is the system output at each moment within the prediction horizon ; where x(k) is the internal state information of the vibration isolation platform system at the k-th moment, including the top plate velocity information and acceleration information, u(k) is the input parameter applied to the vibration isolation platform control system at the k-th moment, that is, the magnetic field strength synchronous rotation control amount, y(k) is the actual output result of the system at the k-th moment, reflecting the actual response of the vibration isolation platform under the action of the control input, including the rotation angle and the angular change rate of the top plate, A, B, and C are the system matrix, input matrix, and output matrix respectively, w(k) is the noise generated during the operation of the loading robot, and v(k) is the noise generated during the acquisition process of the information acquisition module; 2) Solving the optimal control input sequence within the prediction horizon through the performance index function to predict the control input of the permanent magnet combined magnetic field application device (7) at the next N moments The input quantity is the magnetic field strength change, and the finally predicted magnetic field change intensity is the control input sequence within the prediction horizon ; ; where is the system output at the (k + j)-th moment predicted based on the information at the k-th moment is the desired output at the (k + j)-th moment, and Q and R are the weighted matrices of the output error and the control input respectively

[0036] 5. The central control unit controls the permanent magnet combined magnetic field application device 7 through the execution drive module to adjust the internal magnetic field distribution of the magnetorheological elastomer; cyclically and iteratively determine whether the internal magnetic field of the magnetorheological elastomer approaches the external magnetic field strength. If it does not approach, update the control parameters and recalculate. If it approaches, determine the current optimal control input so that the vibration isolation platform reaches the optimal stiffness value to achieve the best vibration isolation effect

[0037] Example: Manufacture of the tabletop and the bottom plate: Material selection: High-strength steel with a strength grade of Q460 is used. It has a high yield strength and can effectively bear the weight of the tabletop and the placed equipment, ensuring the overall stability of the platform

[0038] Processing technology: The tabletop and the bottom plate are processed strictly according to the design dimensions to ensure precise fit with other components. Six grooves evenly distributed in a circle are precisely milled at the bottom of the tabletop and the top of the bottom plate respectively, and the included angle between each groove is precisely controlled at 60°

[0039] Top plate and base processing: The top plate and the base are also made of Q460 high-strength steel. An installation hole with a diameter of 60 mm is opened in the center of the base for installing the servo motor.

[0040] Telescopic spring: Select a small helical compression spring made of 65Mn material. The outer diameter of the spring is 22 mm, the inner diameter is 16 mm, and the free height is 45 mm. After heat treatment, the elastic modulus reaches 200 GPa, and the springback characteristic is good. Three high-performance telescopic springs are respectively installed in the corresponding grooves at the bottom of the tabletop and the top of the bottom plate, and the included angle between each spring is 120°. During installation, first fix the two ends of the spring with a mechanical clamp, and then apply instant glue to the contact surfaces of the clamp, the spring and the groove to enhance the fixing effect.

[0041] Rigid spring: A helical compression spring is made of 50CrVA high-strength spring steel. The outer diameter of the spring is 35 mm, the inner diameter is 28 mm, and the free height is 55 mm. The stiffness coefficient is 250 N / mm. Three rigid springs and high-performance telescopic springs are installed alternately in the corresponding grooves, and the included angle between each rigid spring is 120°. The fixing method is the same as that of the high-performance telescopic spring.

[0042] Installation of servo motor and precision reducer: Select a Delta ASD-A2-0421-F servo motor, which has high-precision position, speed and acceleration control capabilities. Through a customized titanium alloy flange (material is TA2), it is connected to a Sumitomo SHG-08-10 precision planetary reducer (reduction ratio 10:1) by argon arc welding process to ensure firm connection and high concentricity. Install the assembled servo motor and reducer in the center of the vibration isolator base, and accurately align the motor output shaft with the reducer input shaft.

[0043] Installation of transmission gear: The transmission gear is made of 42CrMo alloy steel, and the tooth surface is quenched after quenching and tempering, and the hardness reaches HRC50-55. It is installed between the outer gear of the vibration isolator top plate and the inner gear of the tabletop, and the meshing clearance is adjusted to ensure smooth and accurate power transmission.

[0044] Magnetorheological elastomer: It is made into a cylinder with an outer diameter of 45 mm and a height of 20 mm. The outer layer is wrapped with high-strength nitrile rubber with a Shore hardness of 80A to enhance the protection and sealing performance. The magnetorheological elastomers are evenly distributed in a circumferential array at the inner position between the top plate and the base, and the included angle between each magnetorheological elastomer is 30°, and they are fixed with epoxy resin adhesive.

[0045] The model of the permanent magnet combined magnetic field application device is CMF-ⅢA, the high-frequency vibration isolation efficiency is increased by 42%, and the system energy consumption is reduced by 28%.

[0046] Permanent Magnet Combined Magnetic Field Application Device: The permanent magnet combined magnetic field application device includes a high-performance permanent magnet unit, a magnetic field adjustment mechanism, and a fixing and protection structure. The high-performance permanent magnet unit selects NdFeB permanent magnets of N50 grade, with a remanence intensity of 1.48T and a coercivity of 1100kA / m. The magnetic field adjustment mechanism adopts a lead screw nut structure driven by a 28BYJ-48 stepping motor with a step angle of 1.8°. The rotation of the lead screw drives the permanent magnet unit to move, changing the relative position and angle to achieve the adjustment of magnetic field strength and distribution. The fixing and protection structure is made of aluminum alloy. Twelve permanent magnet combined magnetic field application devices are evenly distributed in a circumferential array on the outer side between the top plate and the base, with an included angle of 30° between each device, and are fixed to the top plate and the base by bolts.

[0047] Overall Assembly: Connect the assembled vibration isolator between the tabletop and the bottom plate through high-performance telescopic springs and rigid springs to ensure that the springs fit tightly with the grooves. Install a TC4 titanium alloy housing on the outermost side of the vibration isolation platform and fix the housing to the bottom plate with bolts to play a role in protection and enhancing the structural strength.

[0048] Construction of Control System: Building of Signal Acquisition Module: Selection and Installation of Vibration Sensors: Select PCB-352C66 piezoelectric vibration sensors with a sensitivity of 100mV / g, a range of ±50g, and a frequency response of 0.5 - 10000Hz. Fix the sensors to the installation positions with bolts, and connect the sensor signal lines to the data acquisition card using RG-58 coaxial shielded cables.

[0049] Selection and Installation of Position Sensors: Adopt Omron E6B2-CZ5C incremental rotary encoders with a resolution of 1000P / R. Install them at the output shaft end of the servo motor and connect them to the motor shaft through a coupling to ensure synchronous rotation. Connect the encoder signal lines to the data acquisition card using special shielded wires.

[0050] Selection and Wiring of Data Acquisition Cards: Select Advantech PCI-1716L data acquisition cards, which have 16 single-ended analog input channels and a maximum sampling frequency of 250kHz. Connect the vibration sensor signal lines to the analog input channels AI0 - AI5, and connect the rotary encoder signal lines to the digital input channels DI0 - DI3. The data acquisition card is connected to the central control unit through the PCI bus.

[0051] Settings of Central Control Unit: The Siemens S7-1511-1PN CPU module is selected as the central control unit. Programming is carried out through the TIA Portal software to realize the analysis and processing of the collected data. According to the preset adaptive filtering algorithm, PID control algorithm and model predictive control (MPC) algorithm, combined with the data of vibration sensors and position sensors, control instructions are generated. The CPU module communicates with the actuator drive module through the PROFINET industrial Ethernet.

[0052] Connection of the actuator drive module: Selection and wiring of the servo drive: It is paired with a Delta ASD-A2-0421-F servo motor, and a Delta ASD-A2-0421-F servo drive is selected. Connect the PROFINET interface s of the Siemens S7-1511-1PN CPU module to the Ethernet interface of the servo drive through a network cable. The three-phase lines U, V, and W at the output end of the servo drive are connected to the corresponding terminals of the servo motor, and at the same time, the motor encoder feedback line is connected properly.

[0053] Selection and wiring of the stepper motor drive: For the 28BYJ-48 stepper motor, a ULN2003 drive chip is used to make a drive circuit. Connect the digital output ports Q0.0 - Q0.3 of the Siemens S7-1511-1PN CPU module to the input ports of the drive circuit through Dupont wires to control the forward and reverse rotation and speed of the stepper motor, and then adjust the magnetic field of the permanent magnet combined magnetic field application device.

[0054] System debugging and optimization: Power on and test devices such as servo motors, stepper motors, and sensors. Test functions such as the forward and reverse rotation, speed adjustment, and positioning accuracy of the servo motor; test the rotation direction and step angle accuracy of the stepper motor; check whether the output signals of the sensors are normal.

[0055] In the TIA Portal software, perform simulation debugging on the control program in the Siemens S7-1511-1PN CPU module. Simulate different vibration environments, rotation angles and speed requirements, and check whether the control algorithm runs normally and whether the control instructions are generated accurately.

[0056] Conduct actual on-line debugging. By changing the external vibration excitation and controlling the rotation of the rotating platform, real-time monitor the data of the signal acquisition module, the calculation results of the central control unit and the actions of the actuator, and optimize the control program parameters.

[0057] Use a vibration simulation instrument to test the vibration response of the vibration isolation platform under different working conditions, and record parameters such as vibration amplitude and frequency.

[0058] According to the test results, optimize the mechanical structure parameters such as the spring stiffness of the vibration isolator, the formula of the magnetorheological elastomer, and the magnetic field distribution of the permanent magnet, as well as the control algorithm parameters, so that the vibration isolation platform can achieve quasi-zero stiffness in both the horizontal and vertical directions, effectively cope with sudden loads and stiffness changes, and meet the operation requirements under all-weather, large-scene, and complex working conditions.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A rotating magnetorheological elastomer vibration isolation platform driven by an intelligent algorithm, characterized in that: include: The table top (1) and the bottom plate (2) are connected via three groups of telescopic springs (3) and three groups of rigid springs (4); A base (6), wherein the base (6) is installed in the middle of the bottom plate (2); Magnetorheological elastomers (8), wherein 12 magnetorheological elastomers (8) are provided, the outer layer of the magnetorheological elastomers (8) is wrapped with high-strength rubber (19), and the magnetorheological elastomers (8) are evenly installed on the base (6) in the form of a circular array; A permanent magnet combined magnetic field applying device (7), wherein the number of the permanent magnet combined magnetic field applying devices (7) is consistent with the number of the magnetorheological elastomers (8), and each permanent magnet combined magnetic field applying device (7) applies a magnetic field to a corresponding magnetorheological elastomer (8); A control system for accurately controlling the intensity of a magnetic field applied by a permanent magnet combined magnetic field applying device (7) to a magnetorheological elastomer (8); The control system monitors the intensity of the magnetic field generated by the permanent magnet combined magnetic field applying device (7) on the surface or inside of the magnetorheological elastomer in real time, and feeds back the collected data to the control system; the control system calculates the deviation between the actual magnetic field value and the target value through a preset control algorithm, generates a control instruction to drive the actuator to dynamically adjust the relative position, angle or current of the magnetorheological elastomer (8), thereby accurately changing the magnetic field distribution and intensity.

2. The rotary magnetorheological elastomer vibration isolation platform driven by intelligent algorithm according to claim 1 is characterized in that: Also includes: A servo motor (9) is mounted at the center of the base (6) and driven by a control system; A top plate (5), the top plate (5) being arranged directly above the servo motor (9), the two being connected via a precision reducer (10), and the servo motor (9) driving the top plate (5) to rotate; The table top (1) is an annular structure, an inner gear ring is arranged on the inner side of the annular structure, the top plate (5) is flush with the surface of the table top (1), and an outer gear ring is arranged on the outer side of the top plate (5), a transmission gear (17) is meshed between the inner gear ring and the outer gear ring, and the bottom of the transmission gear (17) is connected to the transmission gear connecting shaft sleeve (15) at the bottom of the top plate (5) through a transmission rod (16).

3. The rotary magnetorheological elastomer vibration isolation platform driven by intelligent algorithm according to claim 1 is characterized in that: The bottom of the table top (1) and the top of the bottom plate (2) are respectively provided with six grooves evenly distributed in a circumference, with adjacent grooves spaced 60 degrees apart; the rigid springs (4) are installed in the corresponding grooves at intervals of 120 degrees, and the telescopic springs (3) are staggeredly distributed between the rigid springs at intervals of 120 degrees.

4. The rotary magnetorheological elastomer vibration isolation platform driven by intelligent algorithm according to claim 1 is characterized in that: When there is no external magnetic field, the magnetorheological elastomer (8) exhibits the elastic properties of ordinary rubber and can achieve vibration buffering through the stretching and curling of molecular chains, thereby playing a preliminary shock-absorbing role. When there is an external magnetic field, the magnetic particles of the magnetorheological elastomer (8) are arranged along the direction of the magnetic field to form a chain or columnar structure, thereby changing the stiffness and damping properties of the magnetorheological elastomer (8).

5. The rotary magnetorheological elastomer vibration isolation platform driven by intelligent algorithm according to claim 4 is characterized in that: The magnetorheological elastomer (8) is composed of magnetic particles uniformly dispersed in an elastic polymer matrix; The elastic polymer matrix of the magnetorheological elastomer (8) is made of silicone rubber; the magnetic particles of the magnetorheological elastomer (8) are made of micron-grade carbonyl iron powder and silicon steel powder mixed in a ratio of 25:

1.

6. The rotary magnetorheological elastomer vibration isolation platform driven by intelligent algorithm according to claim 2 is characterized in that: The control system comprises: A signal acquisition module, wherein the signal acquisition module is used to collect vibration signals of the vibration isolation platform; A central control unit, which analyzes and processes the collected data through a preset algorithm and generates control instructions; An actuator drive module, wherein the actuator drive module accurately drives the permanent magnet combined magnetic field applying device (7) and the servo motor (9) according to control instructions of the central control unit.

7. The rotary magnetorheological elastomer vibration isolation platform driven by intelligent algorithm according to claim 6 is characterized in that: The execution process of the control system includes: Calculate the external magnetic field strength through the device; The signal acquisition module collects the magnetic field signal and performs denoising processing to obtain the denoised magnetic field signal; The denoised magnetic field signal is optimized to generate a synchronous rotation control quantity of the magnetic field intensity; Using the magnetic field intensity synchronous rotation control amount as an input parameter, predicting the change in magnetic field distribution inside the magnetorheological elastomer under the action of the permanent magnet combined magnetic field applying device (7), and transmitting the prediction result to the central control unit; The central control unit controls the permanent magnet combined magnetic field applying device (7) to adjust the magnetic field distribution inside the magnetorheological elastomer by executing the driving module; The loop iteration determines whether the internal magnetic field of the magnetorheological elastomer approaches the external magnetic field strength. If not, the control parameters are updated and recalculated. If so, the current optimal control input is determined so that the vibration isolation platform reaches the optimal stiffness value to achieve the best vibration isolation effect.

8. The intelligent algorithm-driven rotating magnetorheological elastomer vibration isolation platform according to claim 7, characterized in that: Denoising includes: The filter receives an input signal vector, whose input signal vector is , where M is the order of the filter, is the input signal value at the current operation time, n is the discrete time point, and the initial weight coefficient vector of the filter is , then the signal vector output by the filter for the first time is ; The expected response is , then the error signal ; By updating the weight coefficient vector of the filter, the update formula is ,in is a parameter factor used to control the convergence performance of the algorithm; When the error signal As it approaches 0, the corresponding filter weight coefficient vector That is, it is the optimal weight coefficient vector under the current working condition. At this time, the signal vector collected by the information acquisition module gradually approaches the true value.

9. The intelligent algorithm driven rotating magnetorheological elastomer vibration isolation platform according to claim 7, characterized in that: The denoised magnetic field signal is optimized to generate the synchronous rotation control quantity of the magnetic field intensity, including: According to the formula Calculate the target magnetic field strength, is the vacuum magnetic permeability, N is the number of coil turns, I is the current, and the current is calculated by the formula get, is the vibration signal, R is the coil radius, and the vibration signal is converted into the target magnetic field strength; Compare the external magnetic field strength with the target magnetic field strength to obtain a deviation value; According to the formula Get the synchronous rotation control quantity of magnetic field intensity ; in is the proportional coefficient of the rotating platform control; is the integral coefficient of top plate (5) control; is the integral coefficient of the rotating platform control, is the deviation value.

10. The intelligent algorithm driven rotating magnetorheological elastomer vibration isolation platform according to claim 7, characterized in that: The process of predicting the change of the magnetic field distribution inside the magnetorheological elastomer under the action of the permanent magnet combined magnetic field applying device (7) includes: 1) Assume that the dynamic model of the vibration isolation platform under the current working environment is: ; The dynamic model combines the current system state x(k) and the optimized control input sequence , thereby predicting the system output at N moments in the future , the output value is the angle change of the top plate (5), and the final predicted rotation angle is the system output at each moment in the prediction time domain ; Where x(k) is the internal state information of the vibration isolation platform system at time k, including top plate velocity information and acceleration information; u(k) is the input parameter applied to the vibration isolation platform control system at time k, namely, the synchronous rotation control quantity of the magnetic field intensity; y(k) is the actual output result of the system at time k, reflecting the actual response of the vibration isolation platform under the control input, including the rotation angle of the top plate and the rate of change of the angle; A, B, and C are the system matrix, input matrix, and output matrix, respectively; w(k) is the noise generated during the operation of the shovel loading robot; and v(k) is the noise generated during the acquisition process of the information acquisition module; 2) Through the performance indicator function Solve to obtain the optimal control input sequence in the prediction time domain , thereby predicting the control input of the permanent magnet combined magnetic field applying device (7) at the next N moments , the input is the change in magnetic field intensity, and the final predicted magnetic field change intensity is the control input sequence in the prediction time domain ; in is the system output at time k+j predicted based on the information at time k is the expected output at time k+j, Q and R are the weighted matrices of output error and control input, respectively.

Images