Vibration excitation and suppression integrated device and its mobile system

Abstract

The present invention discloses an integrated vibration excitation and vibration suppression device and its mobile system. The integrated vibration excitation and vibration suppression device includes a vibration excitation drive mechanism and a vibration suppression drive mechanism. The vibration excitation drive mechanism and the vibration suppression drive mechanism have different contact and motion relationships with the mass block, respectively, to achieve the transition of the three states of the integrated vibration excitation and vibration suppression device; the device integrates vibration excitation and vibration suppression, effectively saving costs, and the structure of the device is also very simple. The mobile system provided by the embodiment of the present invention sets the integrated vibration excitation and vibration suppression device on a mobile device, which can change the position of the integrated vibration excitation and vibration suppression device, further expanding the geographical application breadth of the integrated vibration excitation and vibration suppression device.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge testing, and in particular to an integrated vibration excitation and suppression device and a mobile system thereof. Background Art

[0002] With rapid economic development, long-span bridges are appearing and increasing in number. As bridge spans increase, the stiffness and damping of bridge structures decrease, leading to increasing vibrations from external factors such as earthquakes, wind, or vehicles. This can cause discomfort to drivers and pedestrians, impacting their functionality. In severe cases, excessive vibrations can lead to structural fatigue failure or even dynamic instability.

[0003] To ensure the safety of long-span bridges, dynamic load tests must be conducted during their construction and inspection. When conducting dynamic load tests, the bridge structure should first be subjected to a certain level of vibration. These vibrations are then collected and recorded using various vibration measuring instruments. The recorded vibration graphs are typically plots of the relationship between the vibration amount and time of the structural vibration system, i.e., the time-distance curve of a particular vibration physical quantity.

[0004] Currently, the most commonly used bridge vibration excitation method is the resonance method. This method involves placing a mass block at a fixed location on the bridge and driving it in motion to excite the bridge. After the bridge resonates, a second tuning mass damper system is required to suppress the vibration caused by the resonance. This means that to test the vibration safety of a bridge, existing technology requires two systems, which is relatively costly. Furthermore, the vibration excitation device used in existing resonance methods is massive and immobile, severely limiting its performance and usability.

[0005] Therefore, in order to solve the problems of bridge vibration excitation and suppression in the prior art, an integrated vibration excitation and suppression device and a mobile system thereof are proposed. Summary of the Invention

[0006] In order to solve the problem that vibration excitation and vibration suppression in the prior art require two independent systems, which is costly, an embodiment of the present invention provides an integrated vibration excitation and vibration suppression device.

[0007] In order to achieve the above-mentioned purpose, a technical solution provided by one embodiment of the present invention is as follows: A vibration excitation and vibration suppression integrated device comprises: a guide column arranged in a vertical direction; a mass block, the mass block comprising a guide hole, the mass block being sleeved on the guide column through the guide hole; an excitation drive mechanism, which can selectively contact the mass block to drive the mass block to move up and down along the guide column; a vibration suppression drive mechanism, which can selectively contact the mass block to suppress the mass block from moving up and down along the guide column; when the vibration excitation and vibration suppression integrated device is in an excitation state, the vibration excitation drive mechanism contacts the mass block and the vibration suppression drive mechanism is disengaged from the mass block; when the vibration excitation and vibration suppression integrated device is in a vibration suppression state, the vibration suppression drive mechanism contacts the mass block and the excitation drive mechanism is disengaged from the mass block; when the vibration excitation and vibration suppression integrated device is in a free state, the vibration suppression drive mechanism is disengaged from the mass block.

[0008] As a further improvement of the present invention, the integrated vibration excitation and suppression device further includes a limit block, which is fixedly arranged on the guide column and is used to limit the lower limit position of the movement of the mass block.

[0009] As a further improvement of the present invention, the excitation drive mechanism includes: an excitation support column, which is used to contact and support the mass block; and an elastic energy storage drive part, which is connected to the excitation support column and is used to drive the excitation support column to generate reciprocating motion in the vertical direction.

[0010] As a further improvement of the present invention, the elastic energy storage drive unit includes a hydraulic cylinder, a servo motor or a servo cylinder.

[0011] As a further improvement of the present invention, the device also includes a vibration suppression feedback module, which includes: a grating ruler for measuring the displacement of the vibration suppression drive mechanism; a grating ruler drive unit connected to the grating ruler for driving the grating ruler to generate displacement in the up and down directions.

[0012] As a further improvement of the present invention, the vibration suppression feedback module maintains consistent movement amplitude and movement frequency with the vibration suppression drive mechanism.

[0013] As a further improvement of the present invention, the vibration suppression drive mechanism includes: a vibration suppression support column, which is used to contact and support the mass block; and a linear motor, which is connected to the vibration suppression support column and is used to drive the vibration suppression support column to generate vertical displacement movement.

[0014] As a further improvement of the present invention, the vibration suppression drive mechanism also includes an electromagnetic damping adjustment unit, which includes: three resistors connected in parallel and respectively connected to the three phases of the linear motor, and the resistance values of the three resistors are equal; a resistance sliding platform, which is electrically connected to the three resistors at the same time; the resistance values of the three resistors connected to the three phases of the linear motor change with the movement position of the resistance sliding platform.

[0015] An embodiment of the present invention further provides a mobile system. The mobile system includes: any one of the aforementioned integrated vibration excitation and vibration suppression devices; a mobile device in which the integrated vibration excitation and vibration suppression device is disposed, wherein movement of the mobile device can change the position of the integrated vibration excitation and vibration suppression device; and a control device connected to the integrated vibration excitation and vibration suppression device for controlling the integrated vibration excitation and vibration suppression device.

[0016] As a further improvement of the present invention, the moving system further includes a hydraulic device for lifting the moving device to separate the moving device from the bridge deck.

[0017] The present invention has the following advantages:

[0018] The integrated vibration excitation and suppression device provided in an embodiment of the present invention includes both a vibration excitation drive mechanism and a vibration suppression drive mechanism. The vibration excitation drive mechanism and the vibration suppression drive mechanism each have different contact and motion relationships with the mass block, enabling the integrated vibration excitation and suppression device to transition between three states. This device integrates excitation and suppression, effectively saving costs and maintaining a simple structure. The mobile system provided in an embodiment of the present invention disposes the integrated vibration excitation and suppression device on a mobile device, enabling the device to be repositioned, further expanding the geographical application breadth of the integrated vibration excitation and suppression device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 Schematic diagram of the structure of the vibration excitation and suppression integrated device in the free state in the first embodiment of the present invention;

[0021] Figure 2 for Figure 1 A schematic structural diagram of the vibration excitation and suppression integrated device in an excitation state in an embodiment;

[0022] Figure 3 for Figure 1 A schematic structural diagram of the vibration excitation and vibration suppression device in the embodiment in the vibration suppression state;

[0023] Figure 4 A schematic diagram of electrical connection between an electromagnetic damping adjustment unit and a linear motor provided by an embodiment of the present invention;

[0024] Figure 5 for Figure 4 A schematic structural diagram of the electromagnetic damping adjustment unit in the embodiment;

[0025] Figure 6 for Figure 1 Schematic diagram of the vibration suppression principle in the vibration excitation and vibration suppression integrated device in the embodiment;

[0026] Figure 7 A schematic diagram of a mobile system provided by an embodiment of the present invention.

[0027] Description of the symbols in the accompanying drawings:

[0028] 100. Integrated vibration excitation and suppression device 1. Mass block

[0029] 2(11), guide column 1-1(1-2), guide hole 5(8), vibration suppression drive mechanism

[0030] 51(81), vibration suppression support column 4(9), excitation drive mechanism 41(91), excitation support column

[0031] 42 (92), elastic energy storage drive unit 52 (82), linear motor 500, electromagnetic damping adjustment unit

[0032] 3(10), limit block 6, grating ruler 7, grating ruler drive unit

[0033] 501, contact piece 503, slide 505, motor

[0034] 30, power generation device 20, control device 40, moving device

[0035] 12. Support platform 200, mobile platform DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions in the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of the present invention. In the present invention, the up and down direction along the paper is defined as the vertical direction, and the left and right direction along the paper is defined as the horizontal direction.

[0037] The embodiment of the present invention provides a device that integrates vibration excitation and vibration suppression. Figures 1 to 3 As shown, a vibration excitation and vibration suppression integrated device 100 includes a guide column 2, a mass block 1, a vibration suppression drive mechanism 5, and a vibration excitation drive mechanism 4. The guide column 2, the vibration suppression drive mechanism 5, and the vibration excitation drive mechanism 4 can be integrally mounted on a support platform 12.

[0038] In this embodiment, guide post 2 is arranged in a vertical orientation. Mass block 1 is the moving component of the integrated vibration excitation and suppression device 100 used to generate vibrations. Mass block 1 is provided with a guide hole 1-1, through which mass block 1 is mounted on guide post 2. The inner diameter of guide hole 1-1 is slightly larger than the outer diameter of guide post 2, ensuring that there is no interference between the two during the movement of mass block 1 along guide post 2.

[0039] The excitation drive mechanism 4 can selectively contact the mass block 1 to drive the mass block 1 to move up and down along the guide column 2. The vibration suppression drive mechanism 5 can selectively contact the mass block 1 to suppress the mass block 1 from moving up and down along the guide column 2.

[0040] like Figure 1 As shown, when the vibration excitation and vibration suppression integrated device 100 is in a free state, the vibration suppression drive mechanism 5 is separated from the mass block 1, and the vibration excitation drive mechanism 4 is separated from the mass block 1. Figure 2 As shown, when the vibration excitation and vibration suppression integrated device 100 is in the excitation state, the excitation drive mechanism 4 is in contact with the mass block 1, and the vibration suppression drive mechanism 5 is separated from the mass block 1. Figure 3 As shown, when the vibration excitation and vibration suppression integrated device 100 is in the vibration suppression state, the vibration suppression driving mechanism 5 is in contact with the mass block 1 , and the vibration excitation driving mechanism 4 is separated from the mass block 1 .

[0041] Furthermore, the vibration excitation and suppression integrated device 100 further includes a limit block. The limit block 3 is fixedly arranged on the guide column 2 and is used to limit the lower limit position of the movement of the mass block 1. Figure 1 As shown, when the integrated vibration excitation and suppression device 100 is in a free state, the limit block 3 can also be used to support the mass block 1.

[0042] Continue to refer Figures 1 to 3 The excitation drive 4 includes an excitation support column 41 and an elastic energy storage drive unit 42. The excitation support column 41 is used to contact and support the mass block 1. The elastic energy storage drive unit 42 is connected to the excitation support column 41 and is used to drive the excitation support column 41 to generate reciprocating motion in the vertical direction. Figure 2 As shown, when the integrated vibration excitation and suppression device 100 is in the excitation state, the elastic energy storage drive unit 42 starts and drives the excitation support column 41 to contact the mass block 1; the elastic energy storage drive unit 42 then drives the excitation support column 41 to generate reciprocating motion in the vertical direction, thereby driving the mass block 1 to reciprocate in the vertical direction, that is, the integrated vibration excitation and suppression device 100 is excited. By setting the frequency of the elastic energy storage drive unit 42 to the excitation frequency required for the bridge, it can be accurately ensured that the excitation frequency generated by the integrated vibration excitation and suppression device 100 is the required frequency. The elastic energy storage drive unit 42 includes a hydraulic cylinder, a servo motor or a servo cylinder. In Figure 2 In the embodiment, the elastic energy storage driving part 42 is a hydraulic cylinder, which can realize up and down movement with a controllable motion curve through a hydraulic servo controller.

[0043] Continue to refer Figures 1 to 3 The vibration suppression drive mechanism 5 includes a vibration suppression support column 51 and a linear motor 52. The vibration suppression support column 51 is used to contact and support the mass block 1. The linear motor 2 is connected to the vibration suppression support column 51 and is used to drive the vibration suppression support column 51 to generate vertical displacement movement. After the excitation operation is completed, the excitation drive 4 retracts to a position away from the mass block 1; the linear motor 2 drives the vibration suppression support column 51 upward to contact and support the mass block 1, causing the mass block 1 to stop vibrating.

[0044] In the embodiment of the present invention, the number of guide posts 2 can be one or more. When there is one guide post 2, the guide post 2 is arranged at the center of the mass block 1; when there are multiple guide posts 2, the guide posts 2 are arranged symmetrically about the center of the mass block 1 to ensure the stability of the overall structure of the integrated excitation and suppression device 100. Figure 1 As shown, in this embodiment, the integrated excitation and vibration suppression device 100 includes two guide columns, namely guide column 2 and guide column 11. Since the characteristics of guide column 11 are the same as those of guide column 2, this article only describes guide column 2 as a detailed embodiment, and no longer repeats the guide column 11, guide hole 1-2, and limit block 10.

[0045] In the embodiment of the present invention, the number of the vibration suppression drive mechanism 5 can be one or more. When there are multiple vibration suppression drive mechanisms 5, the multiple vibration suppression drive mechanisms 5 are symmetrically arranged about the center position of the mass block 1 to ensure the stability of the vibration suppression device 100 during the vibration suppression process. Figure 1As shown, in this embodiment, the integrated vibration excitation and vibration suppression device 100 includes two vibration suppression drive mechanisms, namely the vibration suppression drive mechanism 5 and the vibration suppression drive mechanism 8. Since the characteristics of the vibration suppression drive mechanism 5 are the same as those of the vibration suppression drive mechanism 8, this article only describes the vibration suppression drive mechanism 5 as a detailed embodiment, and does not repeat the vibration suppression drive mechanism 8, the vibration suppression support column 81, and the linear motor 82.

[0046] In the embodiment of the present invention, the number of the excitation drive mechanism 4 can be one or more. When there are multiple excitation drive mechanisms 4, the multiple excitation drive mechanisms 4 are symmetrically arranged about the center position of the mass block 1 to ensure the stability of the excitation and suppression integrated device 100 during the excitation process. Figure 1 As shown, in this embodiment, the integrated excitation and vibration suppression device 100 includes two excitation drive mechanisms, namely the excitation drive mechanism 4 and the excitation drive mechanism 9. Since the characteristics of the excitation drive mechanism 4 are the same as those of the excitation drive mechanism 9, this article only describes the excitation drive mechanism 4 as a detailed embodiment, and no longer repeats the excitation drive mechanism 9, the excitation support column 91, and the elastic energy storage drive unit 92.

[0047] like Figure 4 As shown, the vibration suppression drive mechanism 5 also includes an electromagnetic damping adjustment unit 500. The electromagnetic damping adjustment unit 500 includes three resistors and a sliding platform. The three resistors are R1, R2 and R3, which are connected in parallel to each other and are respectively connected to the three phases of the linear motor 52. Preferably, the three resistors R1, R2 and R3 are connected to the three phases of the linear motor 52 in a heart-shaped connection. Among them, the resistance values of R1, R2 and R3 are equal. The resistance sliding platform is electrically connected to the three resistors R1, R2 and R3 at the same time; the resistance values of the three resistors R1, R2 and R3 connected to the three phases of the linear motor 52 change with the movement position of the resistance sliding platform. The electromagnetic damping adjustment unit 500 can effectively adjust the driving input signal of the vibration suppression drive mechanism 5, thereby stably controlling the vibration suppression movement of the vibration suppression drive mechanism 5.

[0048] like Figure 5 As shown, the resistance sliding platform includes a contact piece 501, a slide 503, and a motor 505. The contact piece 501 electrically contacts the three resistors R1, R2, and R3 synchronously and in parallel. One end of the contact piece 501 is fixedly connected to the slide 503. The motor 505 drives the slide 503 to move horizontally, thereby driving the contact piece 501 to move horizontally, thereby changing the resistance of the three resistors R1, R2, and R3 connected to the three phases of the linear motor 52.

[0049] Continue to refer Figures 1 to 3Preferably, the integrated excitation and suppression device 100 also includes a vibration suppression feedback module. In this embodiment, the vibration suppression feedback module includes a grating ruler 6 and a grating ruler drive unit 7. The grating ruler 6 is used to measure the displacement of the vibration suppression drive mechanism 5. The grating ruler drive unit 7 is connected to the grating ruler 6 and is used to drive the grating ruler 6 to generate displacement in the up and down directions. Among them, the vibration suppression feedback module maintains the same motion amplitude and motion frequency as the vibration suppression drive mechanism 5. That is, when the vibration suppression drive mechanism 5 is in contact with the mass block 1, the grating ruler 6 is also in contact with the mass block 1; when the vibration suppression drive mechanism 5 moves upward or downward, the grating ruler drive unit 7 also drives the grating ruler 7 to move upward or downward with the same motion amplitude and motion frequency.

[0050] According to the principles of vibration (as shown in Formula 1), the movement of the mass block 1 belongs to forced vibration in mechanics. In addition to the inherent characteristics of the integrated excitation and suppression device 100, the amplitude of the forced vibration also depends on the excitation force amplitude F0 and the frequency w.

[0051]

[0052] Where x is the vibration displacement of mass block 1, F0 is the amplitude of the exciting force, w is the exciting frequency, k is the spring stiffness of the device 100 itself, and w n is the natural frequency of the device 100. As can be seen from Formula 1, by adjusting the amplitude and frequency of the exciting force of the vibration suppression device, the vibration suppression goal can be quickly achieved.

[0053] refer to Figure 6 FIG. 1 is a schematic diagram of the vibration suppression principle in an integrated excitation and suppression device 100 according to an embodiment of the present invention. The mass block 1 is connected to a spring and a damper. The excitation force amplitude of the spring and the frequency of the damper can be adaptively adjusted according to the current vibration of the mass block 1, thereby achieving a rapid vibration suppression effect on the mass block. In this embodiment, the vibration suppression feedback module, the vibration suppression drive mechanism 5, and the mass block 1 form a tuned mass damper. The vibration suppression feedback module allows for rapid phase and frequency adjustment, while the vibration suppression drive mechanism 5 allows for rapid adjustment of the excitation force amplitude, thereby achieving a rapid vibration suppression function.

[0054] The integrated vibration excitation and suppression device 100 provided in this embodiment of the present invention includes both a vibration excitation drive mechanism 4 and a vibration suppression drive mechanism 5. These mechanisms have different contact and motion relationships with the mass 1, enabling the integrated vibration excitation and suppression device 100 to transition between three states. Furthermore, the device integrates both excitation and suppression, effectively reducing costs and simplifying its structure.

[0055] like Figure 7As shown, an embodiment of the present invention further provides a mobile system 200. The mobile system 200 includes a vibration excitation and vibration suppression integrated device 100, a mobile device 40 and a control device 20.

[0056] The integrated vibration excitation and suppression device 100 is any of the above-mentioned integrated vibration excitation and suppression devices. The integrated vibration excitation and suppression device 100 is set in the mobile device 40. The mobile device 40 moves to change the position of the integrated vibration excitation and suppression device 100. Figure 6 In this embodiment, the mobile device 40 is a truck with a container, and the vibration excitation and suppression integrated device 100 is arranged in the container.

[0057] The control device 20 is connected to the integrated vibration excitation and suppression device 100 and is used to control the integrated vibration excitation and suppression device 100. The control device 20 can be a centralized control center comprising multiple CPUs and displays, or it can simply be a controller. The control device 20 is also located in the mobile device 40. Preferably, the mobile system 200 also includes a power generation device 30. The power generation device 30 generates electricity for use by the control device 20 and the integrated vibration excitation and suppression device 100. The power generation device 30 is also located in the mobile device 40.

[0058] The vibration excitation mobile system provided by the embodiment of the present invention sets the integrated vibration excitation and suppression device 100 on the mobile device 40, which can change the position of the integrated vibration excitation and suppression device 100, further expanding the geographical application breadth of the integrated vibration excitation and suppression device 100.

[0059] In a preferred embodiment, the mobile system 200 further includes a hydraulic device (not shown). The hydraulic device is used to lift the mobile device 40 to separate it from the bridge deck. When the mobile device 40 moves the integrated vibration excitation and suppression device 100 to a predetermined position on the bridge deck, the hydraulic device lifts the mobile device 40 to a position where the mobile device 10 is free from the bridge deck. This prevents the structure of the mobile device 40 (such as the vehicle's built-in spring and damping system) from affecting the vibration frequency, ensuring that the vibration generated by the integrated vibration excitation and suppression device 100 is transmitted to the bridge as much as possible.

[0060] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0061] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A device integrating excitation and suppression, characterized in that: The integrated vibration excitation and suppression device comprises: A guide column is arranged in a vertical direction; A mass block, the mass block comprising a guide hole, the mass block being sleeved on the guide post through the guide hole; an excitation drive mechanism, selectively contacting the mass block and configured to drive the mass block to move up and down along the guide post; a vibration suppression drive mechanism, selectively contacting the mass block to suppress the mass block from moving up and down along the guide post; When the integrated vibration excitation and vibration suppression device is in an excitation state, the excitation drive mechanism is in contact with the mass block, and the vibration suppression drive mechanism is separated from the mass block; when the integrated vibration excitation and vibration suppression device is in a vibration suppression state, the vibration suppression drive mechanism is in contact with the mass block, and the excitation drive mechanism is separated from the mass block; when the integrated vibration excitation and vibration suppression device is in a free state, the vibration suppression drive mechanism is separated from the mass block, and the excitation drive mechanism is separated from the mass block; The vibration suppression drive mechanism includes a vibration suppression support column for supporting the mass block, a linear motor for driving the vibration suppression support column to generate vertical movement, and an electromagnetic damping adjustment unit. The electromagnetic damping adjustment unit includes three resistors connected in parallel and respectively connected to the three phases of the linear motor and a resistance sliding platform electrically connected to the three resistors at the same time. The resistance values of the three resistors are equal, and the resistance values of the three resistors connected to the three phases of the linear motor change with the movement position of the resistance sliding platform.

2. The device for integrating excitation and suppression according to claim 1, characterized in that: The integrated vibration excitation and suppression device further includes a limit block, which is fixedly arranged on the guide column and is used to limit the lower limit position of the movement of the mass block.

3. The device for integrated excitation and suppression of vibration according to claim 1, characterized in that: The excitation drive mechanism includes: an excitation support column, configured to contact the mass block and support the mass block; The elastic energy storage driving unit is connected to the vibration support column and is used to drive the vibration support column to generate reciprocating motion in the vertical direction.

4. The device for integrating vibration excitation and suppression according to claim 3, characterized in that: The elastic energy storage driving unit includes a hydraulic cylinder, a servo motor or a servo cylinder.

5. The device for integrating vibration excitation and suppression according to claim 1, characterized in that: The device further includes a vibration suppression feedback module, which includes: a grating ruler, used for measuring the displacement of the vibration suppression drive mechanism; The grating ruler driving unit is connected to the grating ruler and is used to drive the grating ruler to generate displacement in the up and down directions.

6. The integrated vibration excitation and suppression device according to claim 5, characterized in that: The vibration suppression feedback module maintains consistent movement amplitude and movement frequency with the vibration suppression drive mechanism.

7. A mobile system, characterized in that: The mobile system comprises: A vibration excitation and vibration suppression integrated device according to any one of claims 1 to 6; A moving device, wherein the integrated vibration excitation and vibration suppression device is provided in the moving device, and the position of the integrated vibration excitation and vibration suppression device can be changed by moving the moving device; A control device is connected to the integrated vibration excitation and vibration suppression device and is used to control the integrated vibration excitation and vibration suppression device.

8. A mobile system according to claim 7, characterized in that: The moving system further comprises a hydraulic device for lifting the moving device to separate the moving device from the bridge deck.

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