Variable stiffness and variable damping device

Abstract

The present application provides a variable stiffness variable damping device. The variable stiffness variable damping device comprises a support frame, a frame node, a variable stiffness component and a variable damping component; the support frame is fixed on the floor bottom plate; the frame node comprises an upper node fixed on the floor top plate, a left node and a right node installed on the support frame and capable of sliding left and right, and a lower node fixed on the floor bottom plate; the variable stiffness component comprises four groups of springs, the two ends of each group of springs are respectively fixed on the upper node, the right node, the lower node and the left node in sequence and form a diamond structure; the variable damping component comprises four groups of magnetorheological dampers, the two ends of each group of magnetorheological dampers are respectively fixed on the upper node, the right node, the lower node and the left node in sequence and also form a diamond structure; the stiffness of the variable stiffness variable damping device is adjusted by the angle between the spring and the horizontal direction of the support frame; the damping of the variable stiffness variable damping device is adjusted by the external current of the magnetorheological damper.

Description

Technical Field

[0001] The present application belongs to the field of civil engineering and vibration control, and specifically relates to a variable stiffness and variable damping device. Background Art

[0002] Vibration control technology can be divided into three categories: passive control, active control, and semi-active control, depending on whether external energy is required. Passive control is to install some control devices that do not require external energy in the structure, such as isolators, energy absorbers, vibration absorbers, etc., to reduce the vibration response of the structure by changing the dynamic characteristics of the structure or increasing the damping of the structure. Active control is to use external energy to suppress the vibration of the structure by monitoring the vibration state of the structure, calculating and applying control force. Semi-active control is to use a small amount of external energy to achieve structural vibration control by adjusting the parameters of the control device, such as variable stiffness or variable damping.

[0003] Semi-active control technology has the advantages of simple structure, good control effect, low energy consumption and high reliability. It is a vibration control technology with broad development prospects. Variable stiffness control is a commonly used semi-active control technology. It adjusts the natural frequency of the structure by changing the stiffness of the structure to avoid resonance with the frequency of external excitation, thereby reducing the vibration response of the structure. Variable damping control is another common semi-active control technology. It can change the damping characteristics of the device according to external excitation or control signals, thereby achieving structural vibration control.

[0004] At present, semi-active control technology has been widely used in the fields of machinery, aviation, aerospace, etc., but in the field of civil engineering, especially in bridges, high-rise buildings, seismic isolation structures, etc., there is still a lack of systematic research and practice. Therefore, the development of a semi-active device suitable for vibration control of civil engineering structures has important theoretical significance and practical value. Summary of the invention

[0005] The purpose of the present application is to provide a variable stiffness and variable damping device, which can independently adjust stiffness and damping according to external excitation and control signals to achieve semi-active vibration control; can achieve continuous variable stiffness and damping, and achieve a larger range of stiffness and damping changes to adapt to different working conditions and needs; is suitable for vibration control of civil engineering structures, and has the advantages of simple structure, good control effect, low energy consumption, high reliability, and continuously variable stiffness and damping.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] A variable stiffness variable damping device comprises: a support frame fixed to a floor bottom plate; a frame node comprising an upper node fixed to a floor top plate, a left node and a right node installed on the support frame and capable of sliding left and right, and a lower node fixed to the floor bottom plate; a variable stiffness assembly comprising four groups of springs, wherein two ends of each group of springs are respectively fixed to the upper node, the right node, the lower node and the left node in sequence to form a rhombus structure; a variable damping assembly comprising four groups of magnetorheological dampers, wherein two ends of each group of magnetorheological dampers are respectively fixed to the upper node, the right node, the lower node and the left node in sequence to form a rhombus structure; wherein the stiffness of the variable stiffness variable damping device is adjusted by the angle between the spring and the horizontal direction of the support frame; and the damping of the variable stiffness variable damping device is adjusted by the external current of the magnetorheological damper.

[0008] Optionally, the variable damping component and the variable stiffness component are arranged in parallel.

[0009] Optionally, the support frame includes two support frame vertical rods and one support frame cross rod; the two support frame vertical rods are respectively fixed to the floor bottom plate through their bottom ends; the left and right ends of the support frame cross rod are respectively fixed to the top ends of the two support frame vertical rods; the left node and the right node both have central openings and are respectively passed through the support frame cross rod, and the left node and the right node can slide left and right along the support frame cross rod.

[0010] Optionally, a stepping electric rod is arranged between the left node and the right node to control the positions of the left node and the right node on the cross bar of the support frame, and then the angle between the spring and the cross bar of the support frame is adjusted by changing the positions of the left node and the right node on the cross bar of the support frame to adjust the stiffness of the variable stiffness and variable damping device.

[0011] Optionally, anti-collision springs and viscous dampers are installed between the left node and the left support frame vertical rod and between the right node and the right support frame vertical rod, and the anti-collision springs and the viscous dampers are connected in parallel.

[0012] Optionally, a negative stiffness spring is provided between the upper node and the lower node; the negative stiffness spring is formed by pre-stressing a steel spring.

[0013] Optionally, the support frame cross bar is made of piezoelectric quartz crystal; when the left node and the right node slide left and right on the support frame cross bar, pressure is applied to the piezoelectric quartz crystal at different positions of the support frame cross bar, causing the piezoelectric quartz crystal to generate electrical energy.

[0014] Optionally, the variable stiffness and variable damping device further includes a self-powered component; the self-powered component includes the support frame crossbar and an electric energy collection device; the electric energy collection device is suitable for storing the electric energy generated by the piezoelectric quartz crystal.

[0015] Optionally, the variable stiffness and variable damping device further includes a monitoring and control system; the monitoring and control system is connected to the electric energy collection device; and the electric energy stored in the electric energy collection device can be used by the monitoring and control system.

[0016] Optionally, the variable stiffness and variable damping device also includes a monitoring and control system and a first acceleration sensor and a second acceleration sensor respectively connected to the monitoring and control system; the first acceleration sensor and the second acceleration sensor are respectively installed on the floor top plate and the floor bottom plate, and are both suitable for collecting monitoring signals of the structure; the monitoring and control system is suitable for identifying the structural system state based on the monitoring signal and calculating the stiffness and damping of the variable stiffness and variable damping device, and then adjusting the positions of the left node and the right node on the support frame cross bar through the stiffness to adjust the angle between the spring and the support frame cross bar, and adjusting the external current of the magnetorheological damper based on the damping.

[0017] This application adopts the above solution, which has at least the following beneficial effects:

[0018] For example, the variable stiffness and variable damping device provided in the present application can simultaneously adjust the stiffness and damping according to external excitation and signals to achieve semi-active vibration control.

[0019] For another example, the variable stiffness and variable damping device provided in the present application can achieve continuous variable stiffness and damping, and realize a wider range of stiffness and damping changes, thereby adapting to different working conditions and needs.

[0020] For another example, the variable stiffness and variable damping device provided in the present application can achieve real-time vibration state monitoring and control signal generation through the synergy of sensors and controllers, thereby improving control accuracy and efficiency.

[0021] For another example, the variable stiffness and variable damping device provided in the present application is suitable for structural vibration control in the field of civil engineering. It can achieve good control effects under a suitable control algorithm and can improve the seismic performance and adaptability of the structure.

[0022] For another example, the variable stiffness and variable damping device provided in the present application can generate electrical energy through the piezoelectric effect for use by the control system, thereby achieving the characteristic of self-power supply.

[0023] For another example, the variable stiffness and variable damping device provided in the present application is suitable for vibration control of civil engineering structures, and has the advantages of simple structure, good control effect, low energy consumption, high reliability, and continuously variable stiffness and damping. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 A two-dimensional structural schematic diagram of the variable stiffness and variable damping device in an open state in an embodiment of the present application;

[0025] Figure 2 A three-dimensional schematic diagram of a variable stiffness component of the variable stiffness and variable damping device in an embodiment of the present application;

[0026] Figure 3 A schematic diagram of a two-dimensional structure of a variable stiffness and variable damping device in a closed state in an embodiment of the present application;

[0027] Figure 4 This is a schematic diagram of a variable stiffness and variable damping device installed in a structure in an embodiment of the present application.

[0028] Figure markings: 100-variable stiffness and variable damping device, 1-floor top plate, 2-floor bottom plate, 3-magnetorheological damper, 4-spring, 5-negative stiffness spring, 6-support frame cross bar, 7-anti-collision spring, 8-left node, 9-stepping electric rod, 10-support frame, 11-upper node, 12-lower node, 13-first acceleration sensor, 14-second acceleration sensor, 15-electric energy collection device, 16-controller, 17-viscous damper, 18-support frame vertical rod, 19-right node. DETAILED DESCRIPTION

[0029] In order to make the purpose, features and beneficial effects of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is understood that the specific implementation methods described below are only used to explain the present application, rather than to limit the present application. In addition, the description of the same or similar parts in different embodiments and the description of the parts, features, effects, etc. belonging to the prior art may be omitted.

[0030] In addition, for the convenience of description, the drawings may only show parts related to the present application rather than all structures. Also, the same or similar reference numerals may be used in the drawings to refer to the same or similar components in different embodiments.

[0031] Figure 1 A two-dimensional structural schematic diagram of the variable stiffness and variable damping device in an open state in an embodiment of the present application; Figure 2 A three-dimensional schematic diagram of a variable stiffness component of the variable stiffness and variable damping device in an embodiment of the present application; Figure 3A schematic diagram of a two-dimensional structure of a variable stiffness and variable damping device in a closed state in an embodiment of the present application; Figure 4 This is a schematic diagram of a variable stiffness and variable damping device installed in a structure in an embodiment of the present application.

[0032] Reference Figures 1 to 4 The variable stiffness variable damping device 100 provided in the embodiment of the present application includes a support frame 10, a frame node, a variable stiffness component, and a variable damping component.

[0033] In some embodiments, the support frame 10 may include two support frame vertical bars 18 and a support frame cross bar 6. The two support frame vertical bars 18 are respectively fixed to the floor slab 2 by welding or bolting at their bottom ends, and the two ends of the support frame cross bar 6 are respectively fixed to the top ends of the two support frame vertical bars 18.

[0034] In some embodiments, the framework nodes include four nodes: an upper node 11 , a right node 19 , a lower node 12 , and a left node 8 .

[0035] In some embodiments, the upper node 11 is fixed on the lower surface of the floor top plate 1, the left node 8 and the right node 19 both have central openings and are respectively passed through the supporting frame cross bar 6, and the left node 8 and the right node 19 can slide left and right along the supporting frame cross bar 6, and the lower node 12 is fixed on the floor bottom plate 2.

[0036] In some embodiments, a stepping electric rod 9 is disposed between the left node 8 and the right node 19 so as to control the positions of the left node 8 and the right node 19 through the stepping electric rod 9 .

[0037] In some embodiments, the variable stiffness assembly includes four springs 4, and two ends of the four springs 4 are respectively fixed on the upper node 11, the right node 19, the lower node 12 and the left node 8, and the four springs 4 are fixed on the four nodes to form a diamond structure.

[0038] In some embodiments, the diamond-shaped structures may be arranged symmetrically along the center of the device 100 .

[0039] In some embodiments, the spring 4 of the variable stiffness assembly can be snap-connected to the four nodes of the upper node 11, the right node 19, the lower node 12 and the left node 8 through a reserved buckle form.

[0040] In some embodiments, anti-collision springs 7 and viscous dampers 17 are installed between the left node 8 and the left support frame vertical rod 18, and between the right node 19 and the right support frame vertical rod 18, and the anti-collision springs 7 and the viscous dampers 17 are connected in parallel. In this way, it is possible to prevent the left node 8, the right node 19 and the support frame vertical rod 18 from colliding when the structure is deformed too much, play a buffering and limiting role, and further provide restoring force and damping force under large deformation.

[0041] In some embodiments, the stiffness variation of the device 100 can be adjusted by changing the angle between the spring and the support frame crossbar 6, and the stiffness can be continuously variable.

[0042] Reference Figure 2 In other embodiments, the variable stiffness assembly may further include eight springs 4. In a specific implementation, the eight springs 4 are fixed in groups of two on the upper node 11, the right node 19, the lower node 12 and the left node 8, and also form a diamond structure. In this way, the overall stiffness of the device 100 can be further improved.

[0043] In some other embodiments, the variable stiffness assembly may further include twelve springs 4, sixteen springs 4, twenty springs 4, etc., and the twelve springs 4, sixteen springs 4, twenty springs 4, etc. are respectively fixed in groups of three, four, five, etc. on the upper node 11, the right node 19, the lower node 12, and the left node 8 in sequence to form a diamond structure. In this way, the overall stiffness of the device 100 can be further improved.

[0044] In some embodiments, the variable damping assembly may include four magnetorheological dampers 3, and the two ends of the four magnetorheological dampers 3 are respectively fixed on the upper node 11, the right node 19, the lower node 12 and the left node 8, and the four magnetorheological dampers 3 are fixed on the four nodes to form a diamond structure.

[0045] In some embodiments, the magnetorheological dampers 3 and springs 4 fixed on four nodes may be arranged in parallel.

[0046] In a specific implementation, the interior of the magnetorheological damper 3 is filled with a magnetorheological fluid, and the viscosity of the magnetorheological fluid changes with the change of the external current and the magnetic field strength. When the magnetic field strength is low, the viscosity of the magnetorheological fluid is low, and the damping force of the magnetorheological damper 3 is small; when the magnetic field strength is high, the viscosity of the magnetorheological fluid is high, and the damping force of the magnetorheological damper 3 is large.

[0047] After the angle between the spring of the variable stiffness assembly and the crossbar 6 of the support frame is determined, the damping characteristics of the magnetorheological damper 3 are changed by changing the applied current to change the magnetic field strength, so as to achieve continuous variable damping.

[0048] In some embodiments, any known technical means in the art may be used to apply current to the magnetorheological damper 3. For example, a wire may be passed through the magnetorheological damper 3 to energize it, and the current flowing into the magnetorheological fluid may be changed, thereby changing the magnetic field intensity generated by the magnetorheological fluid itself.

[0049] In some embodiments, the device 100 further includes a negative stiffness spring 5. The negative stiffness spring 5 can be formed by pre-stressing a steel spring, and its two ends are respectively fixed at the upper node 11 and the lower node 12. In this way, when the displacement is small, negative stiffness can be provided to prevent the stiffness of the device 100 from changing too fast and amplifying the acceleration response of the structure; when the displacement is large, positive stiffness can be provided to increase the upper limit of the stiffness of the entire device 100, thereby further reducing the dynamic response of the structure.

[0050] In some embodiments, the device 100 further comprises a self-powered component. The self-powered component may comprise a support frame crossbar 6 made of piezoelectric quartz crystal and an electrical energy collection device 15 .

[0051] In some embodiments, the support frame crossbar 6 can be made of piezoelectric quartz crystal. In a specific implementation, the left node 8 and the right node 19 can slide left and right on the support frame crossbar 6, thereby applying pressure at different positions of the support frame crossbar 6, thereby generating electrical energy and storing it in the electrical energy collection device 15, realizing the self-powered characteristic.

[0052] In some embodiments, the device 100 further includes a monitoring control system. The monitoring control system is connected to the electric energy collection device 15, and the electric energy stored in the electric energy collection device 15 can be used by the monitoring control system.

[0053] In some embodiments, the monitoring control system is also connected to the stepping electric rod 9. The monitoring control system can control the stepping electric rod 9 to change the positions of the left node 8 and the right node 19, thereby changing the angle between the variable stiffness component and the variable damping component and the support frame crossbar 6, thereby changing the overall stiffness and damping of the device 100.

[0054] In some embodiments, the monitoring control system may include a controller 16. The controller 16 may be connected to the stepping electric rod 9 to control the stepping electric rod 9 to change the positions of the left node 8 and the right node 19.

[0055] In some embodiments, the monitoring control system may further include a first acceleration sensor 13 and a second acceleration sensor 14 respectively connected to the controller 16. The first acceleration sensor 13 is installed on the floor top plate 1, and the second acceleration sensor 14 is installed on the floor bottom plate 2. The first acceleration sensor 13 and the second acceleration sensor 14 are both suitable for collecting monitoring signals of the structure, and transmit the collected monitoring signals to the controller 16 respectively by wired or wireless means, and the controller 16 identifies the state of the structural system in real time based on the monitoring signals, and calculates the optimal stiffness and damping of the device 100 in real time.

[0056] In some embodiments, the monitoring signals collected by the first acceleration sensor 13 and the second acceleration sensor 14 may include the displacement, velocity, and acceleration of the controlled structure. The controller 16 is adapted to identify the vibration state of the controlled structure according to these monitoring signals, and may generate corresponding control signals, i.e., current signals, according to a preset control algorithm, so as to control the stepping electric rod 9 and the external current respectively through the control signals, thereby controlling the extension and retraction of the stepping electric rod 9, and the strength of the external current and the magnetic field, and further controlling the stiffness and damping of the device 100.

[0057] In a specific implementation, the preset control algorithm may adopt a semi-active control algorithm known in the art, such as LQG, sliding mode control, fuzzy control, etc., which is not limited here.

[0058] In a specific implementation, the application of the control algorithm requires installing multiple sensors, namely a first acceleration sensor 13 and a second acceleration sensor 14, in the controlled structure to monitor the system status of the controlled structure to ensure that the control system is effective, thereby ensuring the shock absorption effect of the device 100.

[0059] In the embodiment of the present application, through the coordinated action of the first acceleration sensor 13, the second acceleration sensor 14 and the controller 16, real-time vibration state monitoring and control signal generation are achieved, which can effectively improve control accuracy and efficiency.

[0060] In a specific implementation, the stiffness and damping values ​​that need to be changed in the variable stiffness and variable damping device can be obtained according to the vibration state and the control algorithm, and a corresponding control signal can be generated according to the current size and direction required by the driving device to achieve these changes.

[0061] The open state of the device 100 is referred to Figure 1 As shown, in this state, the length of the stepping electric rod 9 is extended, the angle between the variable stiffness component and the support frame cross bar 6 reaches the minimum, and the overall stiffness of the device 100 is maximized.

[0062] The closed state of the device 100 is referred to Figure 3As shown, in this state, the length of the stepping electric rod 9 is shortened, the angle between the variable stiffness component and the supporting frame crossbar 6 reaches the maximum, and the overall stiffness of the device 100 is minimum. At this time, the damping of the structure can still be independently changed by changing the external current to change its magnetic field strength.

[0063] In order to facilitate understanding of the variable stiffness and variable damping device 100 provided in the embodiment of the present application, the working process of the variable stiffness and variable damping device 100 is described below.

[0064] Reference Figure 4 The variable stiffness and variable damping device 100 of the embodiment of the present application is installed between the layers of the structure, and corresponding acceleration sensors including a first acceleration sensor 13 and a second acceleration sensor 14 are installed on each layer of the structure. The monitoring signals collected by the acceleration sensors are processed by the controller 16 to analyze and identify the state of the structural system. At the same time, a suitable control algorithm such as LQG, sliding mode control, fuzzy control, etc. is selected to calculate the optimal stiffness value and the optimal damping ratio in real time according to the identified structural system state and the monitoring signals collected by the acceleration sensors, so as to control the stepping electric rod 9 to extend or shorten and reach the optimal length, thereby realizing the stiffness change of the device 100. At the same time, the external current is controlled to change the magnetic field strength and damping characteristics of the magnetorheological damper 3, thereby realizing the damping change of the device 100.

[0065] By adopting the technical solution provided in the embodiment of the present application, when the structure is subjected to external excitation, the device 100 can monitor the state of the structural system in real time, and can also achieve optimal stiffness and damping changes under the control of a preset control algorithm, thereby minimizing the impact of the external excitation on the structure.

[0066] At the same time, under disasters such as earthquakes, the structure will produce a large inter-story displacement angle. In this case, the left node 8 and the right node 19 will continuously move left and right on the support frame cross bar 6, and generate pressure on the piezoelectric quartz crystal of the support frame cross bar 6 at different positions of the support frame cross bar 6, thereby generating a potential difference and current. The generated energy can be stored in the power collection device 15 for use by the monitoring and control system.

[0067] Although specific embodiments of the present application have been described above, these embodiments are not intended to limit the scope of the present application, even when only a single embodiment is described with respect to specific features. The feature examples provided in the present application are intended to be illustrative rather than limiting, unless otherwise stated. In specific implementations, the technical features of one or more dependent claims may be combined with the technical features of the independent claim, based on actual needs and where technically feasible, and the technical features of the corresponding claims may be combined in any appropriate manner rather than just by the specific combinations listed in the claims.

[0068] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application. Therefore, the protection scope of the present application shall be subject to the scope defined by the claims.

Claims

1. A variable stiffness and variable damping device (100), characterized in that: include: A supporting frame (10) fixed to the floor bottom plate (2); A frame node, comprising an upper node (11) fixed to the floor top plate (1), a left node (8) and a right node (19) mounted on the support frame (10) and capable of sliding left and right, and a lower node (12) fixed to the floor bottom plate (2); A variable stiffness component, comprising four groups of springs (4), wherein two ends of each group of springs (4) are respectively fixed to the upper node (11), the right node (19), the lower node (12) and the left node (8) in sequence to form a diamond structure; A variable damping assembly, comprising four groups of magnetorheological dampers (3), wherein two ends of each group of magnetorheological dampers (3) are respectively fixed to the upper node (11), the right node (19), the lower node (12) and the left node (8) in sequence and also form a diamond structure; The stiffness of the variable stiffness variable damping device (100) is adjusted by the angle between the spring (4) and the support frame (10) in the horizontal direction; the damping of the variable stiffness variable damping device is adjusted by the external current of the magnetorheological damper (3); The support frame (10) comprises two support frame vertical rods (18) and a support frame cross rod (6); the two support frame vertical rods (18) are respectively fixed to the floor bottom plate (2) through their bottom ends; the left and right ends of the support frame cross rod (6) are respectively fixed to the top ends of the two support frame vertical rods (18); the left node (8) and the right node (19) both have central openings and are respectively penetrated on the support frame cross rod (6), and the left node (8) and the right node (19) can slide left and right along the support frame cross rod (6); The invention also comprises a monitoring control system and a first acceleration sensor (13) and a second acceleration sensor (14) respectively connected to the monitoring control system; the first acceleration sensor (13) and the second acceleration sensor (14) are respectively installed on the floor top plate (1) and the floor bottom plate (2), and are both suitable for collecting monitoring signals of the structure; the monitoring control system is suitable for identifying the state of the structural system based on the monitoring signals and calculating the stiffness and damping of the variable stiffness variable damping device (100), and then adjusting the positions of the left node (8) and the right node (19) on the support frame cross bar (6) through the stiffness to adjust the angle between the spring (4) and the support frame cross bar (6), and adjusting the external current of the magnetorheological damper (3) based on the damping.

2. The variable stiffness variable damping device (100) according to claim 1, characterized in that: The variable damping component is arranged in parallel with the variable stiffness component.

3. The variable stiffness variable damping device (100) according to claim 1, characterized in that: A stepping electric rod (9) is provided between the left node (8) and the right node (19) to control the positions of the left node (8) and the right node (19) on the support frame cross bar (6), and the angle between the spring (4) and the support frame cross bar (6) is adjusted by changing the positions of the left node (8) and the right node (19) on the support frame cross bar (6), so as to adjust the stiffness of the variable stiffness variable damping device (100).

4. The variable stiffness variable damping device (100) according to claim 1, characterized in that: Anti-collision springs (7) and viscous dampers (17) are installed between the left node (8) and the left support frame vertical rod (18), and between the right node (19) and the right support frame vertical rod (18), and the anti-collision springs (7) and the viscous dampers (17) are connected in parallel.

5. The variable stiffness variable damping device (100) according to claim 1 or 2, characterized in that: A negative stiffness spring (5) is provided between the upper node (11) and the lower node (12); the negative stiffness spring (5) is formed by pre-stressing a steel spring.

6. The variable stiffness variable damping device (100) according to claim 1, characterized in that: The support frame cross bar (6) is made of piezoelectric quartz crystal; when the left node (8) and the right node (19) slide left and right on the support frame cross bar (6), pressure is applied to the piezoelectric quartz crystal at different positions of the support frame cross bar (6), causing the piezoelectric quartz crystal to generate electrical energy.

7. The variable stiffness variable damping device (100) according to claim 6, characterized in that: It also includes a self-powered component; the self-powered component includes the support frame crossbar (6) and an electric energy collection device (15); the electric energy collection device (15) is suitable for storing the electric energy generated by the piezoelectric quartz crystal.

8. The variable stiffness variable damping device (100) according to claim 7, characterized in that: It also includes a monitoring and control system; the monitoring and control system is connected to the electric energy collection device (15); the electric energy stored in the electric energy collection device (15) can be used by the monitoring and control system.

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