A mobile load transfer device active-passive combined damping system

Abstract

The application discloses a mobile load transfer device active and passive combined damping system, which comprises a mobile load transfer device, a mounting table, a passive damping device, an active damping device and a damping control system, the active damping device comprises horizontal dampers and vertical dampers, the damping control system comprises sensors and control components, the mobile load transfer device active and passive combined damping system has the beneficial effects that high-frequency vibration can be reduced through the passive damping device, the damping control system controls the active damping device, thereby inhibiting low-frequency vibration, the horizontal dampers can effectively reduce horizontal vibration impact generated during frequent start and stop, and the vertical dampers can effectively inhibit vertical vibration excitation caused by road bumps, and the control algorithm of the control components adopts a fuzzy control algorithm, can calculate in real time according to external vibration input conditions, intelligently control the output of the active damping device, and realize efficient inhibition of vibration.

Description

Technical Field

[0001] This invention relates to the technical field of auxiliary transportation devices for mobile power transmission and transformation equipment, specifically to a combined active and passive vibration reduction system for a mobile load transfer device. Background Technology

[0002] Mobile load transfer units are special electrical equipment that can replace busbars to transfer power to downstream loads in emergency situations, maintaining the power supply needs of the area. Traditional temporary power supply methods involve building temporary substations using civil engineering and electromechanical installation, which is labor-intensive, costly, and inefficient. Mobile load transfer units, on the other hand, offer flexible transportation and do not require on-site installation, providing significant advantages over traditional methods, thus creating a large market demand.

[0003] Mobile load transfer units involve fixing the combined electrical equipment to a vehicle, characterized by frequent transport and the absence of bolts connecting the vehicle to the ground. Mechanical shocks during transport and vibrations during operation can easily damage the equipment. Therefore, minimizing vibration damage and ensuring reliable operation are problems that need to be addressed. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a combined active and passive vibration reduction system for a mobile load transfer device, which is achieved through the following technical solutions.

[0005] A combined active and passive vibration reduction system for a mobile load transfer device includes a mobile load transfer device, a mounting platform, a passive vibration reduction device, an active vibration reduction device, and a vibration reduction control system.

[0006] The mobile load transfer device is fixed on the mounting platform;

[0007] The passive vibration damping device array is arranged on the underside of the mounting platform, between the mounting platform and the vehicle body;

[0008] The active vibration damping device is arranged between the mounting platform and the periphery of the vehicle body. The active vibration damping device actively controls the vibration based on the vibration signal using a fuzzy algorithm.

[0009] The vibration reduction control system includes sensors and control components. The sensors are arranged on a mobile load transfer device and connected to the control components via transmission lines. The control components process the signals collected by the sensors and convert them into commands that are transmitted to the actuators inside the active vibration reduction device.

[0010] Furthermore, the passive vibration damping device is cylindrical.

[0011] Furthermore, the active vibration damping device includes a horizontal vibration damper and a vertical vibration damper. The horizontal vibration damper is disposed on the left and right sides of the mounting platform along the vehicle's running direction, and its two ends are respectively connected to the vehicle body and the mounting platform. The vertical vibration damper is disposed on the front and rear sides of the mounting platform perpendicular to the vehicle's running direction, and its two ends are respectively connected to the vehicle body and the mounting platform.

[0012] Furthermore, the sensor is a voltage output type accelerometer.

[0013] Furthermore, the control component includes a power supply circuit, a DA conversion circuit, a clock circuit, an AD conversion circuit, and a controller. The analog signal collected by the sensor is converted into a discrete signal that can be processed by the controller via the AD conversion circuit. The processed signal is then converted into an analog signal that can be read by the actuator via the DA conversion circuit.

[0014] Furthermore, the horizontal shock absorber includes a horizontal top block, a spring, a piston rod, a sleeve, a hydraulic servo valve, and a horizontal base. The horizontal base is fixed to the body of the vehicle, the sleeve is fixed to the horizontal base, the hydraulic servo valve is disposed inside the horizontal base, the input end of the piston rod is connected to the hydraulic servo valve, the top of the piston rod is connected to the horizontal top block, and the piston rod is slidably connected to the sleeve. The spring is sleeved on the outside of the piston rod, and the hydraulic servo valve is the actuator of the horizontal shock absorber.

[0015] Furthermore, the vertical vibration damper includes a vertical top block, a housing, a cast steel body, an electromagnetic coil, and a vertical base. The vertical base is fixed to the vehicle body, the housing is fixed to the vertical base, the cast steel body is slidably connected inside the housing, and electromagnetic coils are fixedly connected inside the housing on the upper and lower sides of the cast steel body. The vertical top block is fixed to the upper surface of the cast steel body by a support rod, and the vertical top block is fixedly connected to the lower surface of the mounting platform. The electromagnetic coil is the actuating element of the vertical vibration damper.

[0016] Furthermore, the control algorithm of the control unit adopts a fuzzy control algorithm, and the specific steps of the fuzzy control algorithm are as follows:

[0017] S1: Clear input / output quantity;

[0018] The data collected by the accelerometer is used as input, and the action data of the actuator is used as output to determine a clear distribution range of input and output quantities;

[0019] S2: Fuzzy membership function;

[0020] The specific values ​​of the input and output quantities are fuzzed using a membership function and distributed into sets of different ranges.

[0021] S3: Fuzzy control rules;

[0022] Based on different sets of input quantities, establish fuzzy control rules between the input quantity set and the output quantity set;

[0023] S4: Fuzzy logic reasoning;

[0024] By combining logical reasoning formulas, a fuzzy result for the input quantity is obtained;

[0025] S5: Smooth out the output blur;

[0026] The center-of-gravity method is used to clarify the results derived from logical reasoning.

[0027] Furthermore, a support frame is fixedly connected to the mounting platform, and the mobile load transfer device is fixedly connected to the support frame.

[0028] Furthermore, the passive vibration damping device is made of rubber.

[0029] The beneficial effects of this invention are that the passive vibration damping device can reduce high-frequency vibration, while the vibration damping control system controls the active vibration damping device to suppress low-frequency vibration. The combination of these two systems achieves full-frequency vibration control of the mobile load transfer device, effectively protecting its safe and stable transportation. The horizontal vibration damper effectively reduces horizontal vibration impacts caused by frequent starts and stops during transportation, preventing damage to the mobile load transfer device. The vertical vibration damper effectively suppresses vertical vibration excitation caused by road bumps, protecting the mobile load transfer device. The control algorithm of the control component in this invention adopts a fuzzy control algorithm, which does not rely on a precise mathematical model of the controlled object. The system's input and output quantities use logical control laws, and the system description uses natural empirical language. Vibration during the transportation of mobile load transfer devices presents problems such as nonlinearity, time-varying nature, transient nature, and complex vibration models. Fuzzy algorithms offer superior robustness, strength, and fault tolerance. This can effectively improve the efficiency of the active vibration damping system and enhance the vibration reduction effect.

[0030] The active vibration reduction fuzzy control algorithm described above can be used to calculate in real time based on external vibration input, and intelligently control the output of the active vibration reduction device to achieve efficient vibration suppression. Attached Figure Description

[0031] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 Axonometric drawing of the active and passive combined vibration reduction system of a mobile load transfer device according to the present invention;

[0033] Figure 2 : A schematic diagram showing the distribution of the passive vibration damping device and the active vibration damping device described in this invention;

[0034] Figure 3 : A schematic diagram of the structure of the horizontal vibration damper described in this invention;

[0035] Figure 4 : A schematic diagram of the vertical vibration damper described in this invention;

[0036] Figure 5 : A schematic diagram illustrating the division of labor between the passive vibration damping device and the active vibration damping device of this invention;

[0037] Figure 6 : Active control flowchart of this invention;

[0038] Figure 7 : Flowchart of the fuzzy algorithm of this invention.

[0039] The attached figures are labeled as follows:

[0040] 1-Mobile load transfer device, 2-Mounting platform, 21-Support frame, 3-Passive vibration damping device, 4-Active vibration damping device, 401-Horizontal vibration damper, 4011-Horizontal top block, 4012-Spring, 4013-Piston rod, 4014-Sleeve, 4015-Hydraulic servo valve, 4016-Horizontal base, 402-Vertical vibration damper, 4021-Vertical top block, 4022-Housing shell, 4023-Cast steel body, 4024-Electromagnetic coil, 4025-Vertical base, 501-Sensor, 502-Control components. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1-7 As shown, the present invention has the following specific embodiments.

[0043] Example 1

[0044] A mobile load transfer device with combined active and passive vibration reduction system, such as Figure 1 and Figure 2As shown, it includes a mobile load transfer device 1, a mounting platform 2, a passive vibration damping device 3, an active vibration damping device 4, and a vibration control system; a support frame 21 is fixed on the mounting platform 2, the mobile load transfer device 1 is fixed inside the support frame 21, the passive vibration damping device 3 is arranged in an array between the lower side of the mounting platform 2 and the body of the transport vehicle, the passive vibration damping device 3 is made of rubber, the active vibration damping device 4 is arranged between the mounting platform 2 and the periphery of the body of the transport vehicle, the active vibration damping device 4 achieves active control of vibration based on the vibration signal through a fuzzy algorithm;

[0045] The vibration reduction control system includes a sensor 501 and a control component 502. The sensor 501 is arranged on the mobile load transfer device 1 and is connected to the control component 502 through a transmission line. The control component 502 processes the signals collected by the sensor 501 and converts them into commands to be transmitted to the actuators inside the active vibration reduction device 4.

[0046] Preferably, the passive vibration damping device 3 is cylindrical, and in an optional embodiment, 12 passive vibration damping devices 3 are provided.

[0047] Preferably, the active vibration damping device 4 includes horizontal vibration dampers 401 and vertical vibration dampers 402. The horizontal vibration dampers 401 are arranged on the front and rear sides along the vehicle's running direction, and there are four in total. The two ends of the horizontal vibration dampers 401 are respectively connected to the vehicle body and the mounting platform 2. The vertical vibration dampers 402 are arranged on the front and rear sides perpendicular to the vehicle's running direction, and there are six in total. The two ends of the vertical vibration dampers 402 are respectively connected to the vehicle body and the bottom of the mounting platform 2.

[0048] Preferably, a plurality of sensors 501 are provided on the mobile load transfer device 1, and the sensors 501 are voltage output type acceleration sensors.

[0049] Preferably, the control unit 502 includes a power supply circuit, a DA conversion circuit, a clock circuit, an AD conversion circuit, and a controller. The analog signal collected by the sensor 501 is converted into a discrete signal that can be processed by the controller via the AD conversion circuit. The processed signal is then converted into an analog signal that can be read by the actuator via the DA conversion circuit.

[0050] In this embodiment:

[0051] like Figure 5 and 6 As shown, during the transportation of the mobile load transfer device 1 by the transport vehicle, the vibration generated by external excitation can be divided into high-frequency vibration and low-frequency vibration.

[0052] For high-frequency vibration, the present invention uses a passive vibration isolation method to suppress vibration. The passive vibration damping device 3 located at the bottom of the mounting platform 2 can effectively absorb high-frequency vibration. The passive vibration damping device 3 is a damping type vibration damper, specifically a rubber vibration damper.

[0053] For low-frequency vibration, this invention employs an active vibration damping method to suppress vibration. Sensor 501 outputs vibration acceleration signals from the mobile load transfer device 1, namely horizontal acceleration signals and vertical acceleration signals. For the vertical acceleration signal, after processing by control component 502, a corresponding control signal is output to the actuator in vertical damper 402. Vertical damper 402 generates a vertical displacement opposite to that of the mobile load transfer device, thereby canceling vertical vibration. For the horizontal acceleration signal, after processing by control component 502, a corresponding current signal is output to the actuator in horizontal damper 401. Horizontal damper 401 generates a force opposite to that of the mobile load transfer device by controlling hydraulic pressure, thereby suppressing horizontal vibration.

[0054] Example 2

[0055] The horizontal shock absorber 401 includes a horizontal top block 4011, a spring 4012, a piston rod 4013, a sleeve 4014, a hydraulic servo valve 4015, and a horizontal base 4016. The horizontal base 4016 is fixed to the body of the vehicle. The sleeve 4014 is fixed to the horizontal base 4016. The hydraulic servo valve 4015 is disposed inside the horizontal base 4016. The input end of the piston rod 4013 is connected to the hydraulic servo valve 4015. The top of the piston rod 4013 is connected to the horizontal top block 4011, and the piston rod 4013 is slidably connected to the sleeve 4014. The spring 4012 is sleeved on the outside of the piston rod 4013. The hydraulic servo valve 4015 is the actuating element of the horizontal shock absorber 401.

[0056] In this embodiment:

[0057] like Figure 3 As shown, the control signal output by the control component 502 is sent to the hydraulic servo valve 4015, thereby controlling the valve port size of the hydraulic servo valve 4015 to control the flow rate between the oil tank and the piston rod 4013, generating different oil pressures to suppress vibration.

[0058] The advantages of using hydraulic actuators as horizontal vibration damping devices are as follows: during the vehicle's start-up and stop phases, transient excitations occur in the horizontal direction with high intensity; and hydraulic actuators use hydraulic oil, which has high damping force and short dynamic response time, making them suitable for this application.

[0059] Example 3

[0060] The vertical vibration damper 402 includes a vertical top block 4021, a housing 4022, a cast steel body 4023, an electromagnetic coil 4024, and a vertical base 4025. The vertical base 4025 is fixed to the body of the vehicle. The housing 4022 is fixed to the vertical base 4025. The cast steel body 4023 is slidably connected inside the housing 4022. The electromagnetic coil 4024 is fixed inside the housing 4022 on both the upper and lower sides of the cast steel body 4023. The vertical top block 4021 is fixed to the upper surface of the cast steel body 4023 by a support rod. The vertical top block 4021 is fixedly connected to the lower surface of the mounting platform 2. The electromagnetic coil 4024 is the actuating element of the vertical vibration damper 402.

[0061] In this embodiment:

[0062] like Figure 4 As shown, the control signal output by the control component 502 is connected to the electromagnetic coil 4024, which converts the input alternating current signal into an alternating electromagnetic field. The cast steel body 4023 inside the outer shell 4022 moves up and down under the action of the electromagnetic field, generating a variable force to suppress external vibration.

[0063] When the substation is far from the vehicle body, the positive magnetic field attracts the cast rigid body 4023, reducing the vibration effect; when the substation is close to the vehicle body, the negative magnetic field repels the cast rigid body 4023, reducing the vibration effect.

[0064] The advantages of using electromagnetic actuators as vertical vibration damping devices are as follows: During vehicle transportation, vertical vibration excitation caused by road bumps is very frequent. The working range of the electromagnetic actuator is in a suspended state, the key components have high wear resistance, and the overall device has a long service life. It is suitable for vibration damping applications involving long-term and frequent vibration.

[0065] Example 4

[0066] The control algorithm of the control unit 502 adopts a fuzzy control algorithm. The specific steps of the fuzzy control algorithm are as follows:

[0067] S1: Clear input / output quantity;

[0068] The input and output quantities are determined. The data collected by the accelerometer 501 is used as the input, defined as acceleration deviation 'a' and deviation change 'ac', respectively. The action data of the actuator is used as the output, defined as 'n'. The clear distribution ranges of 'a', 'ac', and 'n' are determined. Among them, the action data of the actuator is the magnitude of the force exerted by the actuator, specifically including the flow rate or pressure of the hydraulic servo valve 4015 and the magnitude of the magnetic field generated by the electromagnetic coil 4024.

[0069] S2: Fuzzy membership function;

[0070] The specific values ​​of the input and output quantities are fuzzified using membership functions, distributing them into sets of different ranges. Specifically, based on the clear distribution intervals of the input and output quantities, the three specific quantities are mapped to seven fuzzy subsets using the triangular membership function method to obtain fuzzy quantities. The fuzzy subsets are defined as: Positive Large (ZB), Positive Medium (ZM), Positive Small (ZS), Zero (OO), Negative Small (FS), Negative Medium (FZ), and Negative Large (FD). The input variables a and ac, and the output variable n all use triangular membership functions.

[0071] S3: Fuzzy control rules;

[0072] Based on different sets of input quantities, fuzzy control rules are established between the sets of input quantities and output quantities, thereby obtaining the fuzzy output quantity.

[0073] The input fuzzy quantities obtained in the previous step belong to different subsets, and the output fuzzy quantities also belong to different subsets. It is necessary to establish a relationship between the subsets of input and output quantities, i.e., fuzzy control rules, to obtain the output fuzzy quantities from the input fuzzy quantities. Here, the purpose of vibration reduction is to minimize the vibration amplitude of the mobile load transfer device. The input and output quantities should also follow the above objectives. For example, when the acceleration and velocity detected by sensor 501 are both positive, the substation tends to move away from the vehicle body. A negative force should be applied to make it move closer to the vehicle body. That is, when both a and ac are positive (ZB), n should be negative (FD). When the acceleration and velocity are negative, the substation tends to move back towards the vehicle body. A small negative force should be applied to accelerate its movement away from the vehicle body. That is, when a is positive (ZB) and ac is positive (ZS), n should be negative (FS). Other rules are similar. Both input quantities have 7 fuzzy subsets, totaling 7x7=49 cases. A total of 49 fuzzy control rules can be established, resulting in 49 fuzzy output quantities.

[0074] S4: Fuzzy logic reasoning;

[0075] Combining the Mamdani algorithm, the total output of fuzzy logic reasoning is: Where R j The smaller value is the intersection of the input and output fuzzy values. U is the minimum value of the intersection of the input quantities, and U is the maximum value of the union. To reduce computation, fuzzy logic reasoning can be performed only on the activated control rules, incorporating the input and output quantities into the effective control rules, and then calculating U. * .

[0076] S5: Smooth out the output blur;

[0077] The result obtained above is an ambiguous quantity and cannot be directly used as a control signal. Therefore, it needs to be clarified. Here, the commonly used centroid method is used to process the result, clarifying the result derived from logical reasoning.

[0078] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to any specific implementation. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A combined active and passive vibration reduction system for a mobile load transfer device, characterized in that: Includes mobile load transfer devices, mounting platforms, passive vibration damping devices, active vibration damping devices, and vibration damping control systems; The mobile load transfer device is fixed on the mounting platform; The passive vibration damping device array is arranged on the underside of the mounting platform, between the mounting platform and the vehicle body; The active vibration damping device is arranged between the mounting platform and the periphery of the vehicle body. The active vibration damping device actively controls the vibration based on the vibration signal using a fuzzy algorithm. The vibration reduction control system includes sensors and control components. The sensors are arranged on a mobile load transfer device and connected to the control components via transmission lines. The control components process the signals collected by the sensors and convert them into commands to be transmitted to the actuators inside the active vibration reduction device. The active vibration damping device includes horizontal vibration dampers and vertical vibration dampers. The horizontal vibration dampers are arranged on the left and right sides of the mounting platform along the vehicle's running direction, and the two ends of the horizontal vibration dampers are respectively connected to the vehicle body and the mounting platform. The vertical vibration dampers are arranged on the front and rear sides of the mounting platform perpendicular to the vehicle's running direction, and the two ends of the vertical vibration dampers are respectively connected to the vehicle body and the mounting platform. The horizontal shock absorber includes a horizontal top block, a spring, a piston rod, a sleeve, a hydraulic servo valve, and a horizontal base. The horizontal base is fixed to the body of the vehicle, the sleeve is fixed to the horizontal base, the hydraulic servo valve is disposed inside the horizontal base, the input end of the piston rod is connected to the hydraulic servo valve, the top of the piston rod is connected to the horizontal top block, and the piston rod is slidably connected to the sleeve. The spring is sleeved on the outside of the piston rod, and the hydraulic servo valve is the actuator of the horizontal shock absorber. The vertical vibration damper includes a vertical top block, a housing, a cast steel body, an electromagnetic coil, and a vertical base. The vertical base is fixed to the vehicle body, the housing is fixed to the vertical base, the cast steel body is slidably connected inside the housing, and electromagnetic coils are fixedly connected inside the housing on the upper and lower sides of the cast steel body. The vertical top block is fixed to the upper surface of the cast steel body by a support rod, and the vertical top block is fixedly connected to the lower surface of the mounting platform. The electromagnetic coil is the actuating element of the vertical vibration damper.

2. The combined active and passive vibration reduction system for a mobile load transfer device according to claim 1, characterized in that: The passive vibration damping device is cylindrical.

3. The combined active and passive vibration reduction system for a mobile load transfer device according to claim 1, characterized in that: The sensor is a voltage output type accelerometer.

4. The combined active and passive vibration reduction system for a mobile load transfer device according to claim 1, characterized in that: The control component includes a power supply circuit, a DA conversion circuit, a clock circuit, an AD conversion circuit, and a controller. The analog signal collected by the sensor is converted into a discrete signal that can be processed by the controller via the AD conversion circuit. The processed signal is then converted into an analog signal that can be read by the actuator via the DA conversion circuit.

5. The combined active and passive vibration reduction system for a mobile load transfer device according to claim 1, characterized in that: The control algorithm of the control unit adopts a fuzzy control algorithm, and the specific steps of the fuzzy control algorithm are as follows: S1: Clear input / output quantity; The data collected by the accelerometer is used as input, and the action data of the actuator is used as output to determine a clear distribution range of input and output quantities; S2: Fuzzy membership function; The specific values ​​of the input and output quantities are fuzzed using a membership function and distributed into sets of different ranges. S3: Fuzzy control rules; Based on different sets of input quantities, fuzzy control rules are established between the input quantity set and the output quantity set, thereby obtaining the output fuzzy quantity; S4: Fuzzy logic reasoning; By combining logical reasoning formulas, a fuzzy result for the input quantity is obtained; S5: Smooth out the output blur; The center-of-gravity method is used to clarify the results derived from logical reasoning.

6. The combined active and passive vibration reduction system for a mobile load transfer device according to claim 1, characterized in that: A support frame is fixedly connected to the mounting platform, and the mobile load transfer device is fixedly connected to the support frame.

7. The combined active and passive vibration reduction system for a mobile load transfer device according to claim 1, characterized in that: The passive vibration damping device is made of rubber.

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