An active torque drive control system based on the principle of rotation

Abstract

The application discloses a kind of active torque drive control systems based on rotation principle, including first motor, first rotating shaft, rotating component, sensor and controller, first motor is used to set in controlled object, first rotating shaft is rotatably arranged on the controlled object, rotating component is arranged on first rotating shaft, and first motor and first rotating shaft are drivingly connected.First, the torsional angle of controlled object is detected by sensor, the torsional angle received is processed by controller, and corresponding control instruction is output to first motor according to processing result, to control first motor to drive first rotating shaft to rotate, so that first rotating shaft drives rotating component to rotate, so that rotating component can generate the torque that offsets the torsional vibration of controlled object.The torque generated by rotating component is transmitted to controlled object through first rotating shaft to offset the torsional vibration generated by controlled object, so as to improve the stability of controlled object.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bridge engineering, in particular to an active torque driving control system based on the rotation principle. BACKGROUND

[0002] In the prior art, when the train is running on the bridge, once the train encounters the track irregularity of the bridge, the vibration of the train will be caused, and the vibrating train will react on the track, and long-term vibration will cause the deformation of the track. The greater the deformation of the track, the greater the vibration of the train on the track, thereby indirectly intensifying the vibration of the train on the bridge, and in severe cases, the bridge will collapse.

[0003] In order to solve the above problems, the vibration control of the bridge usually adopts the passive control mode of the damper, but the damper can only output the linear control force, which is equivalent to that the damper can only control the horizontal vibration and the vertical vibration of the bridge, and cannot control the torsional vibration of the bridge. The damper also has the following defects: 1. The tensile strength of the damper is limited, and the damper is prone to fracture when the train and the bridge resonate. 2. The damper is prone to high-temperature emulsification under high-frequency reciprocating action when controlling the vibration of the bridge, which leads to unstable control performance. And due to the coupling effect between the displacement and the swing angle of the tuned mass damper, it cannot be used for vibration forms with rotation characteristics, so it often fails when controlling the torsional vibration of the bridge. 3. The damper is prone to chaos when controlling the torsional vibration of the bridge, and has different control effects under different excitation frequencies, but under a certain excitation frequency, the tuned damper not only has no control effect on the vibration of the bridge, but also intensifies the vibration of the bridge, thereby failing to produce the expected effect. SUMMARY

[0004] The main purpose of the present application is to provide an active torque driving control system based on the rotation principle, which aims to solve the technical problem that the damper in the prior art cannot effectively solve the torsional vibration of the bridge, resulting in poor stability of the bridge.

[0005] In order to solve the above technical problems, the technical scheme provided by the present application is:

[0006] The application discloses a driving control system based on a rotation principle, which comprises a first motor, a first rotating shaft, a rotating assembly, a sensor and a controller, the first motor is arranged on an object to be controlled, the first rotating shaft is rotatably arranged on the object to be controlled, the rotating assembly is arranged on one end of the first rotating shaft away from the object to be controlled, the first motor is in transmission connection with the first rotating shaft, the sensor is connected with the controller and the first motor, the sensor is used for detecting a torsion angle of the object to be controlled and sending the torsion angle to the controller, the controller is used for processing the received torsion angle and outputting corresponding control instructions to the first motor according to a processing result, so that the first motor drives the first rotating shaft to rotate, and the first rotating shaft drives the rotating assembly to rotate.

[0007] The driving control system based on the rotation principle further comprises a first transmission assembly, the first motor and the first rotating shaft are in transmission connection through the first transmission assembly.

[0008] The first transmission assembly comprises a first gear and a second gear, the first gear is sleeved on the first rotating shaft, the first motor has a second rotating shaft, the second gear is sleeved on the second rotating shaft, and the first gear and the second gear are in meshing transmission connection.

[0009] The number of the first motor and the second gear is multiple, the multiple first motors are arranged on the object to be controlled, the multiple second gears are arranged on the multiple first motors in one-to-one correspondence, and the multiple second gears are in meshing transmission connection with the first gear.

[0010] The rotating assembly comprises a rotating piece, a second motor, a second rotating shaft and a rotating disc, the rotating piece is arranged on one end of the first rotating shaft away from the object to be controlled, the second motor is arranged on one side of the rotating piece away from the first rotating shaft, the second rotating shaft is rotatably arranged on one side of the rotating piece away from the first rotating shaft, and the rotating disc is arranged on one end of the second rotating shaft away from the rotating piece, the second motor and the rotating disc are in transmission connection, and the controller is further used for controlling the second motor to drive the rotating disc to rotate according to the processing result.

[0011] The rotating piece comprises a rotating seat and a rotating arm arranged on the rotating seat, the rotating seat is arranged on one end of the first rotating shaft away from the object to be controlled, the second motor is arranged on one side of the rotating arm away from the first rotating shaft, and the second rotating shaft is rotatably arranged on one side of the rotating seat away from the first rotating shaft.

[0012] The rotating arms and the second motors are multiple in number, the multiple rotating arms are arranged at intervals on the rotating seat, the multiple second motors are arranged one by one on the side, opposite to the first rotating shaft, of the multiple rotating arms, and each second motor is in transmission connection with the rotating disc.

[0013] The active torque driving control system based on the rotation principle further comprises a base, the base is used for being installed in the controlled object, the first motor is arranged on the base, and the first rotating shaft is rotatably arranged on the base.

[0014] The base comprises a mounting seat and a connecting arm arranged on the mounting seat, one end of the connecting arm, away from the mounting seat, is connected with the inner wall of the controlled object, the first motor is arranged on the mounting seat, and the first rotating shaft is rotatably arranged on the mounting seat.

[0015] The multiple connecting arms are arranged at intervals on the mounting seat, and one end of each connecting arm, away from the mounting seat, is connected with the inner wall of the controlled object.

[0016] Compared with the prior art, the application has the following beneficial effects:

[0017] The first rotating shaft is arranged on the controlled object, the torsion angle of the controlled object is detected through the sensor first, and the torsion angle is sent to the controller, the received torsion angle is processed by the controller, and the corresponding control instruction is output to the first motor according to the processing result, so as to control the first motor to drive the first rotating shaft to rotate, so that the first rotating shaft drives the rotating assembly to rotate, so that the rotating assembly can generate a torque to offset the torsional vibration of the controlled object. The torque generated by the rotating assembly is transmitted to the controlled object through the first rotating shaft to offset the torsional vibration generated by the controlled object, thereby improving the stability of the controlled object. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of the drawings shown.

[0019] Fig. 1 is a schematic diagram of an active torque driving control system based on the rotation principle according to an embodiment of the present application.

[0020] Fig. 2is a partial sectional view of a main torque drive control system based on the principle of rotation according to an embodiment of the present application.

[0021] Fig. 3 is a partial schematic view of a main torque drive control system based on the principle of rotation according to an embodiment of the present application.

[0022] 100, a main torque drive control system based on the principle of rotation; 1, a first motor; 011, a second rotating shaft; 2, a first rotating shaft; 3, a rotating assembly; 31, a rotating piece; 311, a rotating seat; 312, a rotating arm; 32, a second motor; 321, a fourth rotating shaft; 33, a third rotating shaft; 34, a rotating disc; 4, a sensor; 5, a controller; 6, an object to be controlled; 7, a first transmission assembly; 71, a first gear; 72, a second gear; 8, a first bearing; 9, a second bearing; 10, a connecting piece; 11, a second transmission assembly; 111, a third gear; 12, a base; 121, a mounting seat; 122, a connecting arm; 13, a first fixing piece; 14, a second fixing piece. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0024] It should be noted that all directionality indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directionality indications also change accordingly.

[0025] In addition, the description of "first", "second" and the like in the present application is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In addition, "and / or" throughout the text includes three solutions, taking A and / or B as an example, including A technical solution, B technical solution, and A and B simultaneously meet the technical solution; in addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person of ordinary skill in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the protection scope required by the present application.

[0026] As Figs. 1-3As shown, the embodiment provides a rotary principle-based active torque driving control system 100, which comprises a first motor 1, a first rotating shaft 2, a rotating assembly 3, a sensor 4 and a controller 5. The first motor 1 is arranged on a controlled object 6. The first rotating shaft 2 is rotatably arranged on the controlled object 6. The rotating assembly 3 is arranged on an end of the first rotating shaft 2 away from the controlled object 6. The first motor 1 is in transmission connection with the first rotating shaft 2. The controller 5 is connected with the sensor 4 and the first motor 1 respectively. The sensor 4 is used to detect a torsion angle of the controlled object 6 and send the torsion angle to the controller 5. The controller 5 is used to process the received torsion angle and output corresponding control instructions to the first motor 1 according to the processing result, so as to control the first motor 1 to drive the first rotating shaft 2 to rotate, thereby driving the rotating assembly 3 to rotate.

[0027] The first rotating shaft 2 of the application is arranged on the controlled object 6. The torsion angle of the controlled object 6 is detected by the sensor 4 and sent to the controller 5. The received torsion angle is processed by the controller 5, and corresponding control instructions are output to the first motor 1 according to the processing result, so as to control the first motor 1 to drive the first rotating shaft 2 to rotate, thereby driving the rotating assembly 3 to rotate, so that the rotating assembly 3 can generate a torque to offset the torsional vibration of the controlled object 6. The torque generated by the rotating assembly 3 is transmitted to the controlled object 6 through the first rotating shaft 2 to offset the torsional vibration of the controlled object 6, thereby improving the stability of the controlled object 6.

[0028] In the embodiment, the rotary principle refers to that the rotating assembly 3 can generate a torque opposite to the torsion direction of the controlled object 6 when rotating, so as to offset the torque of the torsional vibration of the controlled object 6. The application can make the torque generated by the rotating assembly 3 be adjusted in real time under the cooperation of the sensor 4 and the controller 5, so as to offset the torque of the torsional vibration of the controlled object 6 in real time.

[0029] In the embodiment, the controlled object 6 is a bridge.

[0030] In the embodiment, the first motor 1 is a torque motor, which can generate a large torque, so that the rotating assembly 3 can quickly generate a torque to offset the torsional vibration of the controlled object 6.

[0031] In the embodiment, the sensor 4 is arranged on the controlled object 6, and the controller 5 is arranged on the first motor 1.

[0032] The active torque driving control system 100 based on the rotation principle further comprises a first transmission assembly 7. The first motor 1 and the first rotating shaft 2 are in transmission connection through the first transmission assembly 7. When the first transmission assembly 7 is damaged, only the damaged first transmission assembly 7 needs to be replaced, without the need to replace the first motor 1 and / or the first rotating shaft 2, thereby reducing the replacement cost of the active torque driving control system 100 based on the rotation principle.

[0033] The first transmission assembly 7 comprises a first gear 71 and a second gear 72. The first gear 71 is sleeved on the first rotating shaft 2. The first motor 1 has a second rotating shaft 011. The second gear 72 is sleeved on the second rotating shaft 011. The first gear 71 and the second gear 72 are in meshing transmission connection. The first motor 1 drives the second rotating shaft 011 to rotate. The second rotating shaft 011 drives the second gear 72 to rotate. The second gear 72 drives the first gear 71 to rotate. The first gear 71 drives the first rotating shaft 2 to rotate, so that the first rotating shaft 2 drives the rotating assembly 3 to rotate. The first transmission assembly 7 is provided as the first gear 71 and the second gear 72 in meshing transmission, so that the structure of the first transmission assembly 7 is simple and the cost is low. Moreover, the transmission efficiency of the first gear 71 and the second gear 72 is high, which can further accelerate the rotation of the first motor 1 and the first rotating shaft 2.

[0034] The number of the first motor 1 and the second gear 72 is multiple. The multiple first motors 1 are arranged on the controlled object 6 respectively. The multiple second gears 72 are arranged on the multiple first motors 1 respectively in one-to-one correspondence. The multiple second gears 72 are in meshing transmission connection with the first gear 71. Through the cooperation of the multiple first motors 1 and the multiple second gears 72, the rotation of the first rotating shaft 2 can be accelerated, so that the first rotating shaft 2 can drive the rotating assembly 3 to quickly generate a torque to offset the torsional vibration of the controlled object 6.

[0035] The multiple first motors 1 are arranged around the first rotating shaft 2.

[0036] The number of the first motor 1 and the second gear 72 is four.

[0037] The active torque driving control system 100 based on the rotation principle further comprises a first bearing 8. The first bearing 8 is arranged on the controlled object 6. The first rotating shaft 2 is connected with the first bearing 8, so that the first rotating shaft 2 is arranged on the controlled object 6 in a rotatable manner.

[0038] The rotating assembly 3 comprises a rotating part 31, a second motor 32, a third rotating shaft 33 and a rotating disc 34. The rotating part 31 is arranged on the end of the first rotating shaft 2 away from the controlled object 6. The second motor 32 is arranged on the side of the rotating part 31 away from the first rotating shaft 2. The third rotating shaft 33 is rotatably arranged on the side of the rotating part 31 away from the first rotating shaft 2. The rotating disc 34 is arranged on the end of the third rotating shaft 33 away from the rotating part 31. The second motor 32 is in transmission connection with the rotating disc 34. The controller 5 is further configured to control the second motor 32 to drive the rotating disc 34 to rotate according to the processing result. The controller 5 controls the second motor 32 to drive the rotating disc 34 to rotate, which can accelerate the rotation of the rotating disc 34, so that the rotating disc 34 can quickly generate a torque to offset the torsional vibration of the controlled object, thereby improving the control effect and efficiency of the active torque driving control system 100 based on the rotation principle.

[0039] The rotating part 31 comprises a rotating seat 311 and a rotating arm 312 arranged on the rotating seat 311. The rotating seat 311 is arranged on the end of the first rotating shaft 2 away from the controlled object 6. The second motor 32 is arranged on the side of the rotating arm 312 away from the first rotating shaft 2. The third rotating shaft 33 is rotatably arranged on the side of the rotating seat 311 away from the first rotating shaft 2.

[0040] The number of the rotating arms 312 and the second motors 32 is multiple. The multiple rotating arms 312 are arranged on the rotating seat 311 in a spaced manner. The multiple second motors 32 are arranged on the side of the multiple rotating arms 312 away from the first rotating shaft 2 in a one-to-one correspondence. Each second motor 32 is in transmission connection with the rotating disc 34. The multiple second motors 32 can drive the corresponding third rotating shaft 33 to rotate, so that the third rotating shaft 33 can drive the rotating disc 34 to quickly generate a torque to offset the torsional vibration of the controlled object 6, thereby further improving the real-time generation of torque of the active torque driving control system 100 based on the rotation principle.

[0041] The number of the rotating arms 312 and the second motors 32 is four.

[0042] The active torque driving control system 100 based on the rotation principle further comprises a second bearing 9. The second bearing 9 is arranged on the side of the rotating seat 311 away from the first rotating shaft 2. The third rotating shaft 33 is connected with the second bearing 9, so that the third rotating shaft 33 is rotatably arranged on the side of the rotating seat 311 away from the first rotating shaft 2.

[0043] The active torque driving control system 100 based on the rotation principle further comprises a connecting piece 10. The rotating part 31 and the end of the first rotating shaft 2 away from the controlled object 6 are connected through the connecting piece 10. The connecting piece 10 can improve the reliability of the connection between the rotating part 31 and the end of the first rotating shaft 2 away from the controlled object 6.

[0044] In the embodiment, the second motor 32 is a high-speed motor, and the high-speed motor has a faster rotating speed. It can be understood that the high-speed motor refers to a motor with a rotating speed of more than 10,000 r / min.

[0045] The rotating disc 34 is in any one of a circular shape, a square shape, and an elliptical shape.

[0046] The active torque driving control system 100 based on the rotation principle further comprises a second transmission assembly 11, and the second motor 32 and the rotating disc 34 are drivingly connected through the second transmission assembly 11.

[0047] The transmission assembly comprises a third gear 111, the second motor 32 has a fourth rotating shaft 321, the third gear 111 is sleeved on the fourth rotating shaft 321, and the rotating disc 34 is provided with a ring of gear teeth on an outer wall thereof, and the third gear 111 and the rotating disc 34 are in meshing driving connection.

[0048] The number of the third gears 111 is multiple, and the multiple third gears 111 are one-to-one correspondingly arranged on the multiple fourth rotating shafts 321, and each third gear 111 is in meshing driving connection with the rotating disc 34.

[0049] The number of the third gears 111 is four.

[0050] The active torque driving control system 100 based on the rotation principle further comprises a base 12, the base 12 is used for being installed in the controlled object 6, the first motor 1 is arranged on the base 12, and the first rotating shaft 2 is rotatably arranged on the base 12. The base 12 is installed in the controlled object 6, so that the torque generated by the rotating assembly 3 can be transmitted to the controlled object 6 through the first rotating shaft 2 and the base 12 in sequence, and the torque generated by the rotating disc 34 can better offset the torsional vibration generated by the controlled object 6, thereby improving the stability of the controlled object 6.

[0051] The base 12 comprises a mounting seat 121 and a connecting arm 122 arranged on the mounting seat 121, one end of the connecting arm 122 away from the mounting seat 121 is connected with an inner wall of the controlled object 6, the first motor 1 is arranged on the mounting seat 121, and the first rotating shaft 2 is rotatably arranged on the mounting seat 121.

[0052] In the embodiment, the connecting arm 122 is in a flat strip structure, compared with a plate-shaped connecting arm 122 with a larger area, such an arrangement can not only reduce the cost, but also reduce the weight of the active torque driving control system 100 based on the rotation principle, thereby reducing the load of the active torque driving control system 100 based on the rotation principle on the controlled object 6, and further improving the safety of the controlled object 6.

[0053] The number of the connecting arms 122 is multiple, the multiple connecting arms 122 are arranged at intervals on the mounting seat 121, and the end of each connecting arm 122 away from the mounting seat 121 is connected with the inner wall of the controlled object 6. The multiple connecting arms 122 not only can improve the connection reliability of the mounting seat 121 and the controlled object 6, but also can transmit the torque generated by the rotating assembly 3 to different parts of the controlled object 6 respectively, so that the torque generated by the rotating assembly 3 can better offset the torsional vibration generated by the controlled object 6, thereby improving the stability of the controlled object 6.

[0054] The number of the connecting arms 122 is three.

[0055] The active torque driving control system 100 based on the rotation principle further comprises a first fixing member 13, the first fixing member 13 is detachably arranged on the base 12, the first motor 1 is arranged on the end of the first fixing member 13 away from the base 12, and the first rotating shaft 2 is rotatably arranged on the end of the first fixing member 13 away from the base 12. By assembling or disassembling the first fixing member 13, the first motor 1 and the first rotating shaft 2 can be installed on or disassembled from the base 12, thereby improving the assembling and disassembling efficiency of the active torque driving control system 100 based on the rotation principle.

[0056] The first bearing 8 is arranged on the side of the first fixing member 13 away from the base 12, and the first rotating shaft 2 is connected with the first bearing 8.

[0057] The active torque driving control system 100 based on the rotation principle further comprises a second fixing member 14, the second fixing member 14 is arranged on the first fixing member 13, and the first motor 1 is arranged on the side of the second fixing member 14 away from the first fixing member 13.

[0058] Working principle:

[0059] When the controlled object 6 generates torsional vibration, the torsional angle of the controlled object 6 is monitored in real time through the sensor 4, and the torsional angle is sent to the controller 5. The controller 5 receives the torsional angle sent by the sensor 4, processes the torsional angle through the built-in algorithm, and outputs the corresponding control instruction to the first motor 1 and the second motor 32 according to the processing result. The first motor 1 drives the first rotating shaft 2 to rotate, so that the first rotating shaft 2 drives the rotating part 31 to generate rotary motion. The second motor 32 drives the fourth rotating shaft 321 to generate rotary motion, so that the fourth rotating shaft 321 drives the second transmission assembly 11 to rotate, so that the second transmission assembly 11 drives the rotating disc 34 to accelerate rotation, thereby increasing the control effect and control efficiency, so that the rotating part 31 and the rotating disc 34 jointly generate a torque opposite to the torsional direction of the controlled object 6. The torque generated by the rotating disc 34 is transmitted to the controlled object 6 through the third rotating shaft 33, the rotating part 31 and the first rotating shaft 2 in turn; the torque generated by the rotating part 31 is transmitted to the controlled object 6 through the first rotating shaft 2 in turn, so as to jointly offset the torsional vibration generated by the controlled object 6, thereby improving the stability of the controlled object 6.

[0060] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields, or the like within the inventive concept of the present application, using the content of the present application specification and drawings, is included in the patent protection scope of the present application.

Claims

1. A positive torque drive control system based on the principle of revolution, characterized by, The application relates to a driving control system based on the principle of rotation, which comprises a first motor, a first rotating shaft, a rotating assembly, a sensor and a controller, the first motor is arranged on a controlled object, the first rotating shaft is rotatably arranged on the controlled object, the rotating assembly is arranged on one end of the first rotating shaft away from the controlled object, the first motor and the first rotating shaft are in transmission connection, the controller is connected with the sensor and the first motor respectively, the sensor is used for detecting a torsion angle of the controlled object and sending the torsion angle to the controller, the controller is used for processing the received torsion angle and outputting corresponding control instructions to the first motor according to a processing result, so as to control the first motor to drive the first rotating shaft to rotate, thereby driving the rotating assembly to rotate. The rotating assembly comprises a rotating part, a second motor, a second rotating shaft and a rotating disc, the rotating part is arranged on one end of the first rotating shaft away from the controlled object, the second motor is arranged on one side of the rotating part away from the first rotating shaft, the second rotating shaft is rotatably arranged on one side of the rotating part away from the first rotating shaft, and the rotating disc is arranged on one end of the second rotating shaft away from the rotating part, the second motor and the rotating disc are in transmission connection, and the controller is further used for controlling the second motor to drive the rotating disc to rotate according to the processing result. The rotating part comprises a rotating seat and a rotating arm arranged on the rotating seat, the rotating seat is arranged on one end of the first rotating shaft away from the controlled object, the second motor is arranged on one side of the rotating arm away from the first rotating shaft, and the second rotating shaft is rotatably arranged on one side of the rotating seat away from the first rotating shaft. The number of the rotating arms and the second motors is both plural, the rotating arms are arranged on the rotating seat at intervals, the second motors are arranged on one side of the rotating arms away from the first rotating shaft in one-to-one correspondence, and each second motor is in transmission connection with the rotating disc.

2. The active torque drive control system based on the principle of rotation according to claim 1, characterized in that, The driving control system based on the principle of rotation further comprises a first transmission assembly, the first motor and the first rotating shaft are in transmission connection through the first transmission assembly.

3. The active torque drive control system based on the principle of rotation according to claim 2, characterized in that, The first transmission assembly comprises a first gear and a second gear, the first gear is sleeved on the first rotating shaft, the first motor has a second rotating shaft, the second gear is sleeved on the second rotating shaft, and the first gear and the second gear are in meshing transmission connection.

4. The active torque drive control system based on the principle of rotation according to claim 3, characterized in that, The number of the first motors and the second gears is both plural, the first motors are arranged on the controlled object respectively, the second gears are arranged on the first motors in one-to-one correspondence, and the second gears are all in meshing transmission connection with the first gear.

5. The active torque drive control system based on the principle of rotation according to claim 1, characterized in that, The driving control system based on the principle of rotation further comprises a base, the base is used for being mounted in the controlled object, the first motor is arranged on the base, and the first rotating shaft is rotatably arranged on the base.

6. The active torque drive control system based on the principle of rotation according to claim 5, characterized in that, The base comprises a mounting seat and connecting arms arranged on the mounting seat, one end of the connecting arms away from the mounting seat is connected with the inner wall of the object to be controlled, the first motor is arranged on the mounting seat, and the first rotating shaft is rotatably arranged on the mounting seat.

7. The active torque drive control system based on the principle of rotation according to claim 6, characterized in that, The number of the connecting arms is multiple, the multiple connecting arms are arranged on the mounting seat at intervals, and one end of each connecting arm away from the mounting seat is connected with the inner wall of the object to be controlled.

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