Electromagnetic damper type self-powered active / semi-active vibration reduction system and method thereof

Abstract

The application provides an electromagnetic damper type self-powered active / semi-active vibration reduction system and a method thereof, comprising a linear-rotation conversion device, an energy conversion device and a load, wherein the linear-rotation conversion device adopts a gear rack or a ball screw; the energy conversion device adopts a permanent magnet synchronous motor; the load is configured as a three-phase voltage type PWM rectifier and a battery; when the system works in an active mode, motor control force is solved by rolling optimization in a model predictive controller according to detected structural displacement, speed, voltage and current feedback information; when the system works in a semi-active mode, analog inertia force, stiffness force and damping force are calculated according to feedback signals, each bridge arm of the three-phase voltage type PWM rectifier is turned on and turned off to realize control of the motor, vibration is suppressed, and the energy of the vibration is recovered to the battery.

Description

Technical Field

[0001] This invention relates to the field of structural vibration reduction device technology, and more particularly to an electromagnetic damper-type self-powered active / semi-active vibration reduction system and method thereof. Background Technology

[0002] Against the backdrop of green, energy-saving, and sustainable development, the full utilization of mechanical vibration energy, which is widely distributed in nature, has attracted increasing attention and research from scholars. Mechanical vibration energy is widely present in ubiquitous scenarios such as the suspension devices of automobile shock absorption systems, the vibrating rails of rail transit, the human body in motion, civil engineering structures vibrating under wind loads, and the constantly undulating waves of the ocean. In order to promote energy conservation and emission reduction and give full play to the advantages of green energy, it is necessary to make full use of this green energy.

[0003] To extract mechanical vibration energy, devices such as triboelectric nanogenerators, piezoelectric nanogenerators, and electromagnetic generators can be used. Electromagnetic generators generally offer higher power levels of energy harvesting. Electromagnetic generators typically convert rotational energy into electrical energy, while vibration energy is generally translational motion. This necessitates mechanical devices like ball screws to convert translational motion into rotational motion. Combining ball screws with motors can function as mechanical dampers. This allows the motor to operate in generator mode, extracting vibration energy. According to the second type of electromechanical analogy theory, it can equivalently simulate a "tunable mechanical damper" with a certain stiffness-damping-inertia mass, thus showing great promise for vibration reduction control.

[0004] Vibrations in some structures can have adverse effects, necessitating the development of vibration damping devices to suppress these vibrations. High-performance vehicles are equipped with devices such as active air suspension to suppress vehicle vibrations and provide a superior driving experience. However, the air compressor consumes a significant amount of energy during the system's pressurization and adjustment process. While these active control devices offer excellent performance, their high energy consumption is a concern. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides an electromagnetic damper-type self-powered active / semi-active vibration reduction system and method. This invention offers a lightweight, self-powered vibration reduction control device that, while achieving structural vibration reduction, can also recover vibration energy, realizing semi-active control of the vibration reduction system; simultaneously, the recovered energy can be used for structural vibration reduction, achieving active control of structural vibration, thus possessing significant theoretical and practical value.

[0006] The technical means employed in this invention are as follows:

[0007] An electromagnetic damper-type self-powered active / semi-active vibration reduction system includes: a linear-to-rotation conversion device, an energy conversion device, and its load, wherein:

[0008] The linear-rotation conversion device adopts a gear rack or a ball screw;

[0009] The energy conversion device employs a permanent magnet synchronous motor;

[0010] The load is configured as a three-phase voltage-type PWM rectifier and a battery;

[0011] When the system is operating in active mode, the motor control force is solved by rolling optimization in the model predictive controller based on the detected structural displacement, velocity, voltage, and current feedback information.

[0012] When the system operates in semi-active mode, it calculates simulated inertial force, stiffness force and damping force based on feedback signals, controls the switching on and off of each bridge arm of the three-phase voltage-type PWM rectifier to control the motor, suppress vibration, and recover the vibration energy into the battery.

[0013] Furthermore, in the linear-rotation conversion device:

[0014] Vibration acts between the nut and the device base, pushing the nut to move linearly relative to the lead screw. The lead screw converts the linear motion of the nut into the rotational motion of the lead screw, which in turn drives the motor rotor to rotate.

[0015] Furthermore, the system also includes a detection device, which comprises a motor encoder, a current sensor, and a voltage sensor, wherein:

[0016] The motor encoder is used to detect the rotor speed;

[0017] The current sensor is used to detect the three-phase stator current;

[0018] The voltage sensor is used to detect the DC bus voltage.

[0019] Furthermore, when the system is operating in active mode, H is used. ∞ The controller solves the state feedback control law offline; by setting the H of the transfer function from disturbance w1 to the modulated output Z1. ∞ Norm ||T wz (s)|| ∞ Offline solution of linear matrix inequalities (LMI) to find feasible state feedback gain K1.

[0020] Furthermore, when the system operates in active mode, the motor control force is solved through rolling optimization in the model predictive controller based on the detected structural displacement, velocity, and voltage and current feedback information, including:

[0021] Define system variables as follows:

[0022]

[0023] The original system and the reference system are defined as follows:

[0024]

[0025]

[0026] Define the error as follows:

[0027] E O =XX r ,

[0028] Define the error system as follows:

[0029] u = u o +u r u r =K1 T X r ,

[0030] The power of energy recovery is calculated using the following formula:

[0031]

[0032] Model predictive control is used to calculate the output force in active mode. The optimization objective of model predictive control is to maximize energy recovery within a certain prediction time range, and the constraint is that the error between the system trajectory and the reference trajectory is bounded.

[0033] The upper and lower bounds of the error are updated in real time based on the system energy, and the target value of the system energy E is set. r When the system energy is higher than the set value, the error boundary is narrowed to improve system performance; when the system energy is lower than the set value, the error boundary is widened to provide more room for energy recovery and reduce system performance; when the system gradually stabilizes, the system energy will fluctuate slightly around the set value to reach the critical working condition for self-powering.

[0034] The optimization problem for model prediction is defined as follows:

[0035]

[0036]

[0037] u min ≤u o ≤u max

[0038] e min ≤e1≤e max

[0039] The error boundary adjustment law is set as follows:

[0040] e max =-e min

[0041] e max =e0+k p (EE r )

[0042] Model predictive control obtains u o Then, add the reference control input u r The final control input, namely the motor control force F, can then be obtained. ctrl =u=u o +u r .

[0043] Furthermore, when the system operates in semi-active mode, it calculates simulated inertial force, stiffness force, and damping force based on feedback signals, and controls the switching on and off of each bridge arm of the three-phase voltage-type PWM rectifier to control the motor, thereby suppressing vibration and recovering the vibration energy into the battery. This includes:

[0044] Define the form of the control output force as follows:

[0045]

[0046] c u =c0+k p (EE r )+k i ∫(EE r )

[0047] Among them, c u This is the simulated equivalent damping coefficient, where c0 is the given initial value of the equivalent damping coefficient, and E... rThis is a given target system energy value. To accurately control the system energy level, a proportional-integral (PI) control loop for system energy error is introduced into the equivalent damping coefficient. When the system energy is higher than the set value, the system will automatically select a high-damping value with higher energy consumption; when the system energy is lower than the set value, the system will select a low-damping value with lower energy consumption or higher energy recovery. Through the automatic control of the PI loop, the system energy level is gradually brought to the preset set value, and the overall power of the system approaches 0, reaching the self-powered boundary operation state. The system can then operate sustainably under certain good performance conditions. When damping, stiffness, and inertia all need to be adjusted, the PI loop automatically adjusts the damping first, and then adjusts the inertia and stiffness in sequence.

[0048] For surface-mounted three-phase permanent magnet synchronous motors, the form of control output force is defined as follows:

[0049]

[0050] Where, p n It is the number of pole pairs of the motor, i q It is the q-axis component of the stator current, ψ f It is a permanent magnet flux chain;

[0051] After calculating F ctrl Subsequently, based on the vector control method of the three-phase permanent magnet synchronous motor, the q-axis current is tracked and controlled by a proportional-integral controller, and the switching signal generated by the vector control is used to control the three-phase voltage-type PWM rectifier to generate the corresponding current.

[0052] This invention also provides a design method for the above-mentioned electromagnetic damper-type self-powered active / semi-active vibration reduction system, comprising:

[0053] Construct an electromagnetic damper model:

[0054] When simulating a damper using a permanent magnet synchronous motor (PMSM), the PMSM can be considered to be operating in a power generation state. Considering the bidirectional energy flow required by both the PMSM and the battery, a three-phase voltage-source PWM rectifier is used as a bridge to connect the energy loops between the motor side and the battery side. The model of the three-phase back electromotive force generated by the PMSM in the dq coordinate system is as follows:

[0055]

[0056] Applying the constructed electromagnetic damper model to the aforementioned electromagnetic damper-type self-powered active / semi-active vibration reduction system, we have:

[0057]

[0058]

[0059] Where m, c, and k represent the mass, damping, and stiffness of the structure, respectively. x represents the acceleration, velocity, and displacement of the structure, respectively, and F represents the displacement. w For external disturbance excitation, F ctrl P represents the control force output by the motor; P is the power of the system. Integrating P yields the energy E of the system. 2 R represents the thermal energy loss term of the system energy, i is the motor current, R is the loss term coefficient, and i is the internal resistance of the motor.

[0060] Select work mode:

[0061] When the electromagnetic damper operates in semi-active mode, the motor output force is set to... Where, m u ,c u ,k u For the equivalent mass, damping, and stiffness coefficients of the motor simulation, m u ,c u ,k u The parameters are adjusted in real time according to the system energy level;

[0062] When the electromagnetic damper operates in active mode, assuming that external disturbances within a certain time range can be obtained in advance, H is selected. ∞ The controller serves as a reference controller, obtaining H within a certain time range. ∞ Displacement trajectory of the reference structure under control;

[0063] The error between the structural displacement and the reference structural displacement is defined as e. A model predictive controller is selected to optimize the system energy target within a certain time prediction range. The optimization constraint is that the error e always remains within a certain boundary range, thereby ensuring that the performance constraints of the structure are met.

[0064] The error boundary range is adjusted in real time based on the system energy. When the system energy is high, the boundary constraints are tightened to focus on high performance. When the system energy is low, the error boundary constraints are relaxed to focus on the energy recovered by the system.

[0065] Compared with the prior art, the present invention has the following advantages:

[0066] 1. The electromagnetic damper-type self-powered active / semi-active vibration reduction system provided by this invention can recover vibration energy while completing structural vibration reduction, thus realizing semi-active control of the vibration reduction system; at the same time, the recovered energy can be used for structural vibration reduction, thus realizing active control of structural vibration, which has important theoretical value and practical significance.

[0067] 2. This invention designs an electromagnetic damper-based self-powered active / semi-active vibration reduction system and provides a corresponding three-phase voltage-type PWM rectifier and battery load. When electromagnetic dampers are applied to structural vibration control, there are two objectives: energy recovery and vibration reduction performance control. Considering factors such as safety, the system can switch between semi-active and active modes. When operating in semi-active mode, system damping parameters can be adjusted in real time to achieve optimal damping coefficients under self-powered conditions, while the system energy level can reach a predetermined value, ensuring energy-saving and sustainable operation. When operating in active mode, the control output force can be adjusted in real time according to the structural state, ensuring that the structural displacement always meets certain dynamic performance constraints. The performance constraints can be adjusted in real time with the system energy storage level, achieving excellent system performance while maintaining self-powered operation.

[0068] Based on the above reasons, this invention can be widely applied in fields such as structural vibration damping devices. Attached Figure Description

[0069] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 The circuit equivalent diagram of the electromagnetic damper type vibration absorber provided by the present invention.

[0071] Figure 2 A schematic diagram of a single-degree-of-freedom active / semi-active electromagnetic damper for vibration reduction provided by the present invention.

[0072] Figure 3 The structural displacement diagram provided by this invention for semi-active control.

[0073] Figure 4 The structural displacement diagram provided by this invention when no control is applied.

[0074] Figure 5 The control force curve diagram for semi-active control provided by the present invention.

[0075] Figure 6 The system energy curve diagram for semi-active control provided by the present invention.

[0076] Figure 7 The system power curve for semi-active control provided by the present invention.

[0077] Figure 8The structural displacement curve provided by this invention during active control.

[0078] Figure 9 The system energy curve diagram for active control provided by the present invention.

[0079] Figure 10 The system control force curve diagram provided by the present invention for active control. Detailed Implementation

[0080] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0081] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0082] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0083] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0084] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0085] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0086] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0087] This invention provides an electromagnetic damper-type self-powered active / semi-active vibration reduction system, such as... Figure 2 As shown, it includes: a linear-to-rotation conversion device, an energy conversion device, and its load, wherein:

[0088] The linear-rotation conversion device adopts a gear rack or a ball screw;

[0089] The energy conversion device employs a permanent magnet synchronous motor;

[0090] The load is configured as a three-phase voltage-type PWM rectifier and a battery;

[0091] When the system is operating in active mode, the motor control force is solved by rolling optimization in the model predictive controller based on the detected structural displacement, velocity, voltage, and current feedback information.

[0092] When the system operates in semi-active mode, it calculates simulated inertial force, stiffness force and damping force based on feedback signals, controls the switching on and off of each bridge arm of the three-phase voltage-type PWM rectifier to control the motor, suppress vibration, and recover the vibration energy into the battery.

[0093] In a specific implementation, as a preferred embodiment of the present invention, in the linear-rotation conversion device:

[0094] Vibration acts between the nut 14 and the device base 12, pushing the nut 14 to move linearly relative to the lead screw 13. The lead screw 13 converts the linear motion of the nut 14 into the rotational motion of the lead screw 13, which in turn drives the motor rotor to rotate.

[0095] In specific implementation, as a preferred embodiment of the present invention, please refer to [reference needed]. Figure 2 The system further includes a detection device, which comprises a motor encoder 21, a current sensor 22, and a voltage sensor 23, wherein:

[0096] The motor encoder 21 is used to detect the rotor speed;

[0097] The current sensor 22 is used to detect the three-phase stator current;

[0098] The voltage sensor 23 is used to detect the DC bus voltage.

[0099] In a specific implementation, as a preferred embodiment of the present invention, when the system operates in active mode, the method of continuously optimizing the solution of the motor control force in the model predictive controller based on the detected structural displacement, velocity, and voltage and current feedback information includes:

[0100] Define system variables as follows:

[0101]

[0102] The original system and the reference system are defined as follows:

[0103]

[0104]

[0105] Define the error as follows:

[0106] E O =XX r ,

[0107] Define the error system as follows:

[0108] u = u o +ur u r =K1 T X r ,

[0109] The power of energy recovery is calculated using the following formula:

[0110]

[0111] Model predictive control is used to calculate the output force in active mode. The optimization objective of model predictive control is to maximize energy recovery within a certain prediction time range, and the constraint is that the error between the system trajectory and the reference trajectory is bounded.

[0112] The upper and lower bounds of the error are updated in real time based on the system energy, and the target value of the system energy E is set. r When the system energy is higher than the set value, the error boundary is narrowed to improve system performance; when the system energy is lower than the set value, the error boundary is widened to provide more room for energy recovery and reduce system performance; when the system gradually stabilizes, the system energy will fluctuate slightly around the set value to reach the critical working condition for self-powering.

[0113] The optimization problem for model prediction is defined as follows:

[0114]

[0115]

[0116] u min ≤u o ≤u max

[0117] e min ≤e1≤e max

[0118] The error boundary adjustment law is set as follows:

[0119] e max =-e min

[0120] e max =e0+k p (EE r )

[0121] Model predictive control obtains u o Then, add the reference control input u r The final control input, namely the motor control force F, can then be obtained. ctrl =u=u o +u r .

[0122] In a specific implementation, as a preferred embodiment of the present invention, when the system operates in semi-active mode, it calculates simulated inertial force, stiffness force, and damping force based on feedback signals, and controls the switching on and off of each bridge arm of the three-phase voltage-type PWM rectifier to control the motor, thereby suppressing vibration and recovering the vibration energy into the battery. This includes:

[0123] For the self-powered tuner damper in semi-active mode, the damping coefficient is necessary. Therefore, it can simulate equivalent damping alone, or equivalent damping and equivalent stiffness, or equivalent damping and equivalent inertia, or simultaneously. When operating in semi-active mode, this explanation uses adjusting the equivalent damping coefficient as an example.

[0124] Define the form of the control output force as follows:

[0125]

[0126] c u =c0+k p (EE r )+k i ∫(EE r )

[0127] Among them, c u This is the simulated equivalent damping coefficient, where c0 is the given initial value of the equivalent damping coefficient, and E... r This is a given target system energy value. To accurately control the system energy level, a proportional-integral (PI) control loop for system energy error is introduced into the equivalent damping coefficient. When the system energy is higher than the set value, the system will automatically select a high-damping value with higher energy consumption; when the system energy is lower than the set value, the system will select a low-damping value with lower energy consumption or higher energy recovery. Through the automatic control of the PI loop, the system energy level is gradually brought to the preset set value, and the overall power of the system approaches 0, reaching the self-powered boundary operation state. The system can then operate sustainably under certain good performance conditions. When damping, stiffness, and inertia all need to be adjusted, the PI loop automatically adjusts the damping first, and then adjusts the inertia and stiffness in sequence.

[0128] For surface-mounted three-phase permanent magnet synchronous motors, the form of control output force is defined as follows:

[0129]

[0130] Where, p n It is the number of pole pairs of the motor, i q It is the q-axis component of the stator current, ψ f It is a permanent magnet flux chain;

[0131] After calculating F ctrl Subsequently, based on the vector control method of the three-phase permanent magnet synchronous motor, the q-axis current is tracked and controlled by a proportional-integral controller, and the switching signal generated by the vector control is used to control the three-phase voltage-type PWM rectifier to generate the corresponding current.

[0132] This invention also provides a design method for the above-mentioned electromagnetic damper-type self-powered active / semi-active vibration reduction system, comprising:

[0133] Construct an electromagnetic damper model:

[0134] When simulating a damper using a permanent magnet synchronous motor (PMSM), the PMSM can be considered to be operating in a generator state. To store the electrical energy generated by the damper, energy storage components such as capacitors and batteries are required. Considering the bidirectional energy flow required between the PMSM and the battery, a three-phase voltage-source PWM rectifier is used as a bridge to connect the energy loops on the motor and battery sides. Therefore, the equivalent circuit diagram of the electromagnetic damper is as follows: Figure 1 The three-phase equivalent power source on the left side of the diagram represents the three-phase back electromotive force generated by a permanent magnet synchronous motor. Its model in the dq coordinate system is as follows:

[0135]

[0136] The constructed electromagnetic damper model is applied to the electromagnetic damper-type self-powered active / semi-active vibration reduction system, such as... Figure 2 As shown, we have:

[0137]

[0138]

[0139] Where m, c, and k represent the mass, damping, and stiffness of the structure, respectively. x represents the acceleration, velocity, and displacement of the structure, respectively, and F represents the displacement. w For external disturbance excitation, F ctrl The motor output control force is P; the system power is P, and integrating P yields the system energy E (in actual operation, E can be selected as the electrical state of the energy storage device), i 2 R represents the thermal energy loss term of the system energy, i is the motor current, R is the loss term coefficient, and i is the internal resistance of the motor.

[0140] Select work mode:

[0141] When the electromagnetic damper operates in semi-active mode, the motor output force is set to... Where, m u ,c u ,k u For the equivalent mass, damping, and stiffness coefficients of the motor simulation, mu ,c u ,k u The parameters are adjusted in real time according to the system energy level;

[0142] When the electromagnetic damper operates in active mode, assuming that external disturbances within a certain time range can be obtained in advance, H is selected. ∞ The controller serves as a reference controller, obtaining H within a certain time range. ∞ Displacement trajectory of the reference structure under control;

[0143] The error between the structural displacement and the reference structural displacement is defined as e. A model predictive controller is selected to optimize the system energy target within a certain time prediction range. The optimization constraint is that the error e always remains within a certain boundary range, thereby ensuring that the performance constraints of the structure are met.

[0144] The error boundary range is adjusted in real time based on the system energy. When the system energy is high, the boundary constraints are tightened to focus on high performance; when the system energy is low, the error boundary constraints are relaxed to give the energy recovery target a larger adjustment range, at which point the focus is more on the energy recovered by the system. Generally speaking, the system will gradually adjust the error boundary constraints to reach a boundary state where the energy is just enough to be self-sufficient, in order to achieve better performance under self-powered conditions.

[0145] Simulation experiments on structural displacement, control output force, system energy, and system power were conducted in the MATLAB / Simulink environment using the method described in this invention. The simulation results are as follows: Figures 3-10 As shown.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electromagnetic damper-type self-powered active / semi-active vibration reduction system, characterized in that, include: Linear-rotation conversion device, energy conversion device and its load, wherein: The linear-rotation conversion device adopts a gear rack or a ball screw; The energy conversion device employs a permanent magnet synchronous motor; The load is configured as a three-phase voltage-type PWM rectifier and a battery; When the system operates in active mode, the motor control force is solved through rolling optimization in the model predictive controller based on the detected feedback information. This feedback information includes structural displacement, velocity, voltage, and current. The model predictive controller balances system performance and energy recovery by adjusting the error boundary range in real time. When the system energy is higher than a set value, the error boundary is narrowed to improve performance; when the system energy is lower than a set value, the error boundary is widened to increase the energy recovery space. This includes: Define system variables as follows: , The original system and the reference system are defined as follows: Define the error as follows: ， , Define the error system as follows: ， ， , The power of energy recovery is calculated using the following formula: Model predictive control is used to calculate the output force in active mode. The optimization objective of model predictive control is to maximize energy recovery within a certain prediction time range, and the constraint is that the error between the system trajectory and the reference trajectory is bounded. The upper and lower bounds of the error are updated in real time based on the system energy, and the target value of the system energy is set. When the system energy is higher than the set value, the error boundary is narrowed to improve system performance; when the system energy is lower than the set value, the error boundary is widened to provide more room for energy recovery and reduce system performance; when the system gradually stabilizes, the system energy will fluctuate slightly around the set value to reach the critical working condition for self-powering. The optimization problem for model prediction is defined as follows: The error boundary adjustment law is set as follows: Model predictive control is obtained Then, add reference control input. This yields the final control input, namely the motor control force. ; When the system operates in semi-active mode, it calculates simulated inertial force, stiffness force, and damping force based on feedback signals, and controls the switching on and off of each bridge arm of the three-phase voltage-type PWM rectifier to control the motor, thereby suppressing vibration and recovering the vibration energy into the battery. The semi-active mode automatically adjusts the equivalent damping coefficient through a proportional-integral circuit to make the system energy level reach a preset value, achieving a self-powered boundary operation state.

2. The electromagnetic damper-type self-powered active / semi-active vibration reduction system according to claim 1, characterized in that, In the linear-rotation conversion device: Vibration acts between the nut and the device base, pushing the nut to move linearly relative to the lead screw. The lead screw converts the linear motion of the nut into the rotational motion of the lead screw, which in turn drives the motor rotor to rotate.

3. The electromagnetic damper-type self-powered active / semi-active vibration reduction system according to claim 1, characterized in that, The system also includes a detection device, which comprises a motor encoder, a current sensor, and a voltage sensor, wherein: The motor encoder is used to detect the rotor speed; The current sensor is used to detect the three-phase stator current; The voltage sensor is used to detect the DC bus voltage.

4. The electromagnetic damper-type self-powered active / semi-active vibration reduction system according to claim 1, characterized in that, When the system is operating in active mode, use The controller solves the state feedback control law offline; by setting a disturbance To the modulated output The transfer function norm Offline solution of linear matrix inequalities (LMI) to find feasible state feedback gain. .

5. The electromagnetic damper-type self-powered active / semi-active vibration reduction system according to claim 1, characterized in that, When the system operates in semi-active mode, it calculates simulated inertial force, stiffness force, and damping force based on feedback signals, and controls the switching on and off of each bridge arm of the three-phase voltage-type PWM rectifier to control the motor, thereby suppressing vibration and recovering the vibration energy into the battery. This includes: Define the form of the control output force as follows: in, It is the simulated equivalent damping coefficient. It is a given initial value for the equivalent damping coefficient. This is a given target system energy value. To accurately control the system energy level, a proportional-integral (PI) control loop for system energy error is introduced into the equivalent damping coefficient. When the system energy is higher than the set value, the system will automatically select a high-damping value with higher energy consumption; when the system energy is lower than the set value, the system will select a low-damping value with lower energy consumption or higher energy recovery. Through the automatic control of the PI loop, the system energy level is gradually brought to the preset set value, and the overall power of the system approaches 0, reaching the self-powered boundary operation state. The system can then operate sustainably under certain good performance conditions. When damping, stiffness, and inertia all need to be adjusted, the PI loop automatically adjusts the damping first, and then adjusts the inertia and stiffness in sequence. For surface-mounted three-phase permanent magnet synchronous motors, the form of control output force is defined as follows: ； in, It is the number of pole pairs of the motor. It is the q-axis component of the stator current. It is a permanent magnet flux chain; In the calculation Subsequently, based on the vector control method of the three-phase permanent magnet synchronous motor, the q-axis current is tracked and controlled by a proportional-integral controller, and the switching signal generated by the vector control is used to control the three-phase voltage-type PWM rectifier to generate the corresponding current.

6. A design method for a self-powered active / semi-active vibration reduction system based on any one of claims 1-5, characterized in that, include: Construct an electromagnetic damper model: When simulating a damper using a permanent magnet synchronous motor (PMSM), the PMSM can be considered to be operating in a power generation state. Considering the bidirectional energy flow required by both the PMSM and the battery, a three-phase voltage-source PWM rectifier is used as a bridge to connect the energy loops between the motor side and the battery side. The model of the three-phase back electromotive force generated by the PMSM in the dq coordinate system is as follows: Applying the constructed electromagnetic damper model to the aforementioned electromagnetic damper-type self-powered active / semi-active vibration reduction system, we have: in, These are the structure's mass, damping, and stiffness, respectively. These are the structure's acceleration, velocity, and displacement, respectively. External disturbance excitation, To provide control force for the motor output; For the system power, The energy of the system can be obtained by integration. , The term representing the heat loss of the system's energy. This is the motor current. Here is the coefficient for the loss term, and here is the internal resistance of the motor. Select work mode: When the electromagnetic damper operates in semi-active mode, the motor output force is set to... ,in, The equivalent mass, damping, and stiffness coefficients for the motor simulation. The parameters are adjusted in real time according to the system energy level; When the electromagnetic damper operates in active mode, assuming that external disturbances within a certain time range can be detected in advance, the following selection is made: The controller serves as a reference controller, obtaining a certain time range. Displacement trajectory of the reference structure under control; The error between the structural displacement and the reference structural displacement is defined as follows: A model predictive controller is selected to optimize the system energy target within a certain time prediction range, with the optimization constraint being the error. It is always kept within a certain boundary range to ensure that the performance constraints of the structure are met; The error boundary range is adjusted in real time based on the system energy. When the system energy is high, the boundary constraints are tightened to focus on high performance. When the system energy is low, the error boundary constraints are relaxed to focus on the energy recovered by the system.

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