Adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant

Abstract

The present invention belongs to the field of vibration control technology, and the present invention relates to an adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant, the system comprising: a multi-stage electromagnetic transducer, generating control force; a circuit module, comprising a rechargeable power supply connected in sequence, an active control circuit composed of two pairs of MOSFETs, and a transducer control circuit composed of N, N≥2 groups of electromagnetic transducer control circuits connected in series, each group of electromagnetic transducer control circuits consisting of a pair of MOSFETs and a coil winding; a sensor module, detecting vibration information, external excitation information and power supply voltage; a control module, adjusting the electromagnetic conversion constant of the multi-stage electromagnetic transducer according to the external excitation information and the power supply voltage; adjusting the current flowing through the multi-stage electromagnetic transducer according to the electromagnetic conversion constant, vibration information and external excitation information, so that the multi-stage electromagnetic transducer generates control force. The present invention can enable the electromagnetic vibration reduction system to maintain a relatively stable output voltage of the electromagnetic transducer under different external excitations.

Description

Technical Field

[0001] The invention belongs to the field of vibration reduction technology, and relates to electromagnetic vibration reduction technology, and specifically to an adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant. Background Art

[0002] The vibration hazards caused by dynamic loads are extensive, including reduced vehicle comfort, damage and collapse of infrastructure caused by earthquakes and typhoons, etc. In order to protect the main structure and reduce the vibration caused by dynamic loads, various vibration reduction technologies have been put into operation. Vibration reduction technologies mainly include passive vibration reduction, semi-active vibration reduction and active vibration reduction. Among them, active vibration reduction is to collect information from sensors, use control algorithms to calculate the optimal control force based on the collected information, and apply control force through actuators to reduce vibration. Compared with passive vibration reduction and semi-active vibration reduction, active vibration reduction has the best vibration reduction effect. However, the traditional active vibration reduction system has a complex structure and high energy consumption, and has not yet been widely used in the field of vibration reduction.

[0003] In recent years, electromagnetic vibration reduction methods have received increasing attention in the field of structural vibration reduction. Compared with traditional vibration reduction devices, electromagnetic vibration reduction systems have many unique advantages: (1) During the vibration reduction process, mechanical energy can be converted into electrical energy through motors, and the electrical energy can be stored through connected circuits. (2) The mechanical properties of the electromagnetic vibration reduction system can be effectively adjusted through circuit elements (i.e., circuit impedance).

[0004] At present, the key components in the electromagnetic vibration reduction system - electromagnetic transducers are mostly permanent magnet motors available on the market, whose electromagnetic conversion constants are fixed. When the working conditions of the main structure change, the external excitation will fluctuate greatly, resulting in a large fluctuation range of the motor's induced electromotive force. However, the circuit modules in the electromagnetic vibration reduction system require a relatively stable voltage to maintain normal functions. This contradiction has caused great limitations on the design of the electromagnetic vibration reduction system. Therefore, the electromagnetic vibration reduction system using a fixed electromagnetic conversion constant is difficult to apply to complex and changeable practical applications. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides an adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant, which can enable the electromagnetic vibration reduction system to maintain a relatively stable output voltage of the electromagnetic transducer under different external excitations and keep the power supply voltage in the circuit module matching.

[0006] In a first aspect, the present invention provides an adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant, comprising:

[0007] Multi-stage electromagnetic transducers to generate control forces to dampen vibrating structures;

[0008] The circuit module comprises a rechargeable power source, an active control circuit and a transducer control circuit which are connected in sequence; the active control circuit is an H-bridge circuit composed of two pairs of MOSFETs; the transducer control circuit is composed of N, N≥2 groups of electromagnetic transducer control circuits connected in series, each group of electromagnetic transducer control circuits is composed of a MOSFET connected in series with a coil winding and then connected in parallel with another MOSFET;

[0009] A sensor module for detecting vibration information of the vibrating structure, external excitation information, and a rechargeable power supply voltage;

[0010] The control module is configured to generate a control signal according to the external excitation information and the rechargeable power supply voltage. Sign- K em ij, i=1,2,N, j=1,2, controls the on and off of MOSFET in each group of electromagnetic transducer control circuits, adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer; generates control signals based on the electromagnetic conversion constant, vibration information and external excitation information Sign-H k, k=1, 2, controls the PWM duty cycle of the MOSFET in the active control circuit and adjusts the current flowing through the multi-stage electromagnetic transducer so that the multi-stage electromagnetic transducer produces the optimal control force.

[0011] In some embodiments, the control module is further configured to: generate a control signal to control the current direction of the circuit module according to the vibration information and the external excitation information, so as to charge and discharge the rechargeable power supply.

[0012] In some embodiments, in the active control circuit, the first pair of MOSFETs is composed of a first MOSFET and a second MOSFET, and the second pair of MOSFETs is composed of a third MOSFET and a fourth MOSFET; the first MOSFET and the second MOSFET are connected in series, the third MOSFET and the fourth MOSFET are connected in series, the first MOSFET and the third MOSFET are connected to the positive electrode of the rechargeable power source, and the second MOSFET and the fourth MOSFET are connected to the negative electrode of the rechargeable power source; one end of the transducer control circuit is connected to the middle connection point of the first MOSFET and the second MOSFET, and the other end of the transducer control circuit is connected to the middle connection point of the third MOSFET and the fourth MOSFET; the first control signal Sign-H 1Control the duty cycle of the first MOSFET and the fourth MOSFET , the second control signal Sign-H 2 Control the duty cycle of the second MOSFET and the third MOSFET , within a PWM cycle T=1 / f, + =1, f is the PWM frequency.

[0013] In some embodiments, a specific method for generating a control signal according to the electromagnetic conversion constant, vibration information and external excitation information is:

[0014] The optimal control force is calculated through the control algorithm based on the vibration structure's own attribute parameters, vibration information and external excitation information ;

[0015] According to the optimal control force, the expected current is calculated by formula (1): ;

[0016] (1)

[0017] In the formula, is the induced electromotive force of the multi-stage electromagnetic transducer, is the electromagnetic conversion constant, is the displacement of the sprung mass, is the displacement of the unsprung mass or the ground, is the velocity of the sprung mass, is the velocity of the unsprung mass or the ground, The control force generated by the multi-stage electromagnetic transducer, is the current flowing through the multi-stage electromagnetic transducer;

[0018] The first control signal is calculated according to the expected current through formula (2): Sign-H Duty cycle of 1 ;

[0019] (2)

[0020] In the formula, is the rechargeable power supply voltage, is the total resistance of the circuit module;

[0021] According to the first control signal Sign-H Duty cycle of 1 Calculate the second control signal Sign-H Duty cycle of 2 ;

[0022] According to the duty cycle and duty cycle Generate a first control signal Sign-H 1 and the second control signal Sign-H 2.

[0023] In some embodiments, the specific method of controlling the current direction of the circuit module is as follows: if the induced electromotive force of the multi-stage electromagnetic transducer is positive, that is, the positive electrode of the multi-stage electromagnetic transducer is connected to the first MOSFET and the second MOSFET, and the negative electrode of the multi-stage electromagnetic transducer is connected to the third MOSFET and the fourth MOSFET, within a PWM cycle, when the first control signal is in a high-level effective period, the current direction of the control circuit module flows from the positive electrode of the multi-stage electromagnetic transducer to the positive electrode of the rechargeable power supply to charge the rechargeable power supply; when the second control signal is in a high-level effective period, the current direction of the control circuit module flows from the positive electrode of the multi-stage electromagnetic transducer to the positive electrode of the rechargeable power supply to charge the rechargeable power supply. The negative electrode of the power supply discharges the rechargeable power supply; if the induced electromotive force of the multi-stage electromagnetic transducer is negative, that is, the positive electrode of the multi-stage electromagnetic transducer is connected to the third MOSFET and the fourth MOSFET, and the negative electrode of the multi-stage electromagnetic transducer is connected to the first MOSFET and the second MOSFET, within a PWM cycle, when the first control signal is in a high-level effective period, the current direction of the control circuit module flows from the positive electrode of the multi-stage electromagnetic transducer to the positive electrode of the rechargeable power supply, and the rechargeable power supply is discharged; when the second control signal is in a high-level effective period, the current direction of the control circuit module flows from the positive electrode of the multi-stage electromagnetic transducer to the negative electrode of the rechargeable power supply, and the rechargeable power supply is charged.

[0024] In some embodiments, a specific method for adjusting the electromagnetic conversion constant of the multi-level electromagnetic transducer according to the external excitation information and the rechargeable power supply voltage is:

[0025] defining fuzzy subsets and determining fuzzy subset membership functions, the fuzzy subsets include external excitation fuzzy subsets, rechargeable power supply voltage fuzzy subsets and electromagnetic conversion constant fuzzy subsets;

[0026] A fuzzy control rule table is generated based on the fuzzy subset, with the external excitation and the rechargeable power supply voltage as input and the desired electromagnetic conversion constant as output;

[0027] According to the external excitation information and the rechargeable power supply voltage, the corresponding electromagnetic conversion constant is searched in the fuzzy control rule table to obtain the expected electromagnetic conversion constant;

[0028] Generates control signal based on desired electromagnetic conversion constant Sign-K em ij, i=1,2,N, j=1,2, control the on and off of MOSFET in each group of electromagnetic transducer control circuits, and adjust the electromagnetic conversion constant of the multi-stage electromagnetic transducer to the desired electromagnetic conversion constant;

[0029] The method for controlling the on-off of the MOSFET in each set of electromagnetic transducer control circuits is as follows: when the MOSFET connected in series with the coil winding is turned on and the other MOSFET is turned off, the coil winding is connected to the circuit to work; when the MOSFET connected in series with the coil winding is turned off and the other MOSFET is turned on, the coil winding is disconnected from the circuit.

[0030] In some embodiments, a passive vibration reduction element is further included, wherein the passive vibration reduction element generates a control force to reduce vibration of the vibrating structure when the multi-stage electromagnetic transducer fails.

[0031] In some embodiments, the passive vibration reduction element includes at least one of an elastic element and a damping element.

[0032] In some embodiments, the sensor module comprises:

[0033] A first sensor module, used for detecting vibration information of the vibrating structure;

[0034] A second sensor module is used to detect external excitation information of the vibrating structure;

[0035] The third sensor module is used to detect the voltage of the rechargeable power supply.

[0036] In a second aspect of the present invention, there is provided an adaptive electromagnetic vibration reduction method with an adjustable electromagnetic conversion constant, which adopts the adaptive electromagnetic vibration reduction system with an adjustable electromagnetic conversion constant as described in the first aspect of the present invention, and is characterized in that it comprises the following steps:

[0037] Data collection steps: real-time monitoring of vibration information of the vibration mechanism, external excitation information and rechargeable power supply voltage;

[0038] Electromagnetic conversion constant adjustment step: Generate control signal based on external excitation information and rechargeable power supply voltage Sign-K em ij, i=1,2,N, j=1,2, controls the on and off of MOSFET in each group of electromagnetic transducer control circuits, and adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer;

[0039] Control force generation step: Generate control signal based on electromagnetic conversion constant, vibration information and external excitation information Sign-H k, k=1,2, controls the PWM duty cycle of the MOSFET in the active control circuit to adjust the current flowing through the multi-stage electromagnetic transducer so that the multi-stage electromagnetic transducer produces optimal control force.

[0040] Compared with the prior art, the advantages and positive effects of the present invention are:

[0041] (1) The adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant provided by the present invention can adjust the electromagnetic conversion constant of the multi-stage electromagnetic transducer under different external excitations, maintain the relative stability of the output voltage of the multi-stage electromagnetic transducer, adapt to different external working conditions, and enable the multi-stage electromagnetic transducer to generate the theoretical optimal control force, thereby achieving the desired vibration reduction effect.

[0042] (2) The adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant provided by the present invention can control the current direction of the circuit module by adjusting the electromagnetic conversion constant, so that the rechargeable power supply can be charged and discharged, thereby realizing energy collection with high energy collection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic structural diagram of an adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant according to an embodiment of the present invention;

[0044] Figure 2 A circuit schematic diagram of an adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant according to an embodiment of the present invention;

[0045] Figure 3 is a schematic diagram of a transducer control circuit according to an embodiment of the present invention;

[0046] Figure 4 It is a schematic diagram of a low electromagnetic conversion constant of a transducer control circuit according to an embodiment of the present invention;

[0047] Figure 5 It is a principle diagram of the electromagnetic conversion constant in the transducer control circuit according to the embodiment of the present invention;

[0048] Figure 6 It is a schematic diagram of a high electromagnetic conversion constant of a transducer control circuit according to an embodiment of the present invention;

[0049] Figure 7 It is a schematic structural diagram of a linear multi-stage electromagnetic transducer according to an embodiment of the present invention;

[0050] Figure 8 It is a schematic diagram of the transverse cross-sectional structure of the cylindrical multi-stage electromagnetic transducer according to an embodiment of the present invention;

[0051] Fig. 9 It is a schematic diagram of the longitudinal cross-section structure of the cylindrical multi-stage electromagnetic transducer according to an embodiment of the present invention;

[0052] Fig.10 A membership function diagram of the external stimulus described in an embodiment of the present invention;

[0053] Fig.11 A membership function diagram of the rechargeable power supply voltage according to an embodiment of the present invention;

[0054] Fig.12 A membership function diagram of the electromagnetic conversion constant described in an embodiment of the present invention;

[0055] Fig.13 It is a schematic structural diagram of an adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant according to other embodiments of the present invention;

[0056] Fig.14 This is a schematic structural diagram of a quarter vehicle suspension system according to Embodiment 1 of the present invention;

[0057] Fig.15 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 800N / A at a vehicle speed of 60km / h in Example 1 of the present invention;

[0058] Fig.16 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 1200N / A at a vehicle speed of 60km / h in Example 1 of the present invention;

[0059] Fig.17 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 500N / A at a vehicle speed of 60km / h in Example 1 of the present invention;

[0060] Fig.18 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 800N / A at a vehicle speed of 60km / h in Example 1 of the present invention;

[0061] Fig.19 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 1200N / A at a vehicle speed of 30km / h in Example 1 of the present invention;

[0062] Fig. 20 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 1200N / A at a vehicle speed of 30km / h in Example 1 of the present invention;

[0063] Fig.21 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 800N / A at a vehicle speed of 30km / h in Example 1 of the present invention;

[0064] Fig. 22 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 800N / A at a vehicle speed of 90km / h in Example 1 of the present invention;

[0065] Fig.23 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 500N / A at a vehicle speed of 90km / h in Example 1 of the present invention;

[0066] Fig.24 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system is 500N / A at a vehicle speed of 90km / h in Example 1 of the present invention;

[0067] Fig.25 It is a structural schematic diagram of a bridge cable vibration reduction model in the second embodiment of the present invention;

[0068] Fig.26 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system in the second embodiment of the present invention is 800N / A;

[0069] Fig. 27 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system in the second embodiment of the present invention is 800N / A;

[0070] Fig.28 This is a comparison diagram of the theoretical control force and the actual control force when the electromagnetic conversion constant of the electromagnetic vibration reduction system in the second embodiment of the present invention is 1200N / A;

[0071] Fig.29 This is a system energy collection diagram when the electromagnetic conversion constant of the electromagnetic vibration reduction system in the second embodiment of the present invention is 500N / A.

[0072] In the figure, 1. multi-stage electromagnetic transducer, 101. permanent magnet, 102. coil winding, 103. rotor bracket, 104. rotor end cover, 105. shaft, 106. stator bracket, 107. stator end cover 2. circuit module, 201. rechargeable power supply, 202. MOSFET, 3. sensor module, 301. sensor one, 302. sensor two, 4. control module, 5. sprung mass body, 6. ground, 7. passive vibration reduction element, 701. elastic element, 702. damping element, 8. unsprung mass body, 9. support spring, 10. bridge cable. DETAILED DESCRIPTION

[0073] The present invention will be described in detail below by way of exemplary embodiments in conjunction with the accompanying drawings. However, it should be understood that, without further description, elements, structures and features in one embodiment may also be beneficially combined in other embodiments.

[0074] See also Figure 1 , 2 The first aspect of the present invention provides an adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant, comprising:

[0075] A multi-stage electromagnetic transducer 1 generates a control force to reduce vibration of the vibrating structure;

[0076] The circuit module 2 includes a rechargeable power source 201, an active control circuit and a transducer control circuit connected in sequence; the active control circuit is an H-bridge circuit composed of two pairs of MOSFETs 202; the transducer control circuit is composed of N, N≥2 groups of electromagnetic transducer control circuits connected in series, each group of electromagnetic transducer control circuits is composed of a MOSFET 202 connected in series with a coil winding 102 and then connected in parallel with another MOSFET 202;

[0077] A sensor module 3, used to detect vibration information of the vibration structure, external excitation information and a rechargeable power supply voltage;

[0078] The control module 4 is configured to generate a control signal according to the external excitation information and the rechargeable power supply voltage. Sign- K em ij, i=1,2,N, j=1,2, control the on and off of MOSFET202 in each group of electromagnetic transducer control circuits, adjust the electromagnetic conversion constant of the multi-stage electromagnetic transducer 1; generate a control signal according to the electromagnetic conversion constant, vibration information and external excitation information Sign-H k, k=1, 2, controls the PWM duty cycle of MOSFET202 in the active control circuit, adjusts the current flowing through the multi-stage electromagnetic transducer 1, and enables the multi-stage electromagnetic transducer 1 to generate optimal control force.

[0079] The adaptive electromagnetic vibration reduction system described in the above embodiment of the present invention detects the vibration information of the vibration mechanism, the external excitation information and the rechargeable power supply voltage through the sensor module 3, and transmits them to the control module 4. The control module 4 generates a control signal according to the received information, the external excitation signal and the rechargeable power supply voltage. Sign-K em ij, controls the on and off of MOSFET202 in each group of electromagnetic transducer control circuits, adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer 1, and generates a control signal according to the electromagnetic conversion constant, vibration information and external excitation information Sign-H k, k=1, 2, controls the PWM duty cycle of MOSFET202 in the active control circuit, adjusts the current flowing through the multi-stage electromagnetic transducer 1, and makes the multi-stage electromagnetic transducer 1 produce the optimal control force. By adjusting the electromagnetic conversion constant, the multi-stage electromagnetic transducer 1 outputs a relatively stable voltage under different external excitations, ensuring that the electromagnetic vibration reduction system produces the desired theoretical control force, thereby achieving the expected vibration control effect.

[0080] It should be noted that the multi-stage electromagnetic transducer 1 is the key executive component in the adaptive electromagnetic vibration reduction system described in the above embodiment of the present invention, and is the basis for achieving high-precision control force tracking and high-efficiency energy conversion. The multi-stage electromagnetic transducer 1 is similar to a traditional permanent magnet motor, and is mainly composed of a permanent magnet 101, a coil winding 102 and a MOSFET 202. The principle is: the relative movement between the permanent magnet 101 and the coil winding 102 generates an induced electromotive force, and the current in the coil winding 102 generates a control force in the magnetic field and feeds it back to the vibrating structure for vibration reduction. The induced electromotive force and the control force are expressed as:

[0081] (1)

[0082] In the formula, is the induced electromotive force of the multi-stage electromagnetic transducer, is the electromagnetic conversion constant, is the displacement of the sprung mass, is the displacement of the unsprung mass or the ground, is the velocity of the sprung mass, is the velocity of the unsprung mass or the ground, The control force generated by the multi-stage electromagnetic transducer, is the current flowing through the multi-stage electromagnetic transducer.

[0083] Unlike traditional permanent magnet motors, the electromagnetic conversion constant of traditional permanent magnet motors is fixed, while the electromagnetic conversion constant of the multi-stage electromagnetic transducer 1 in the present invention is adjustable, which can maintain the relative stability of the output voltage under complex working conditions, thereby ensuring the stability of the vibration reduction performance of the electromagnetic vibration reduction system.

[0084] Specifically, see Figure 2 In some embodiments, in the active control circuit, the first pair of MOSFETs 202 is composed of a first MOSFET MOS-H1 and a second MOSFET MOS-H2, and the second pair of MOSFETs 202 is composed of a third MOSFET MOS-H3 and a fourth MOSFET MOS-H4; the first MOSFET MOS-H1 and the second MOSFET MOS-H2 are connected in series, the third MOSFET MOS-H3 and the fourth MOSFET MOS-H4 are connected in series, the first MOSFET MOS-H1 and the third MOSFET MOS-H3 are connected to the positive electrode of the rechargeable power source 201, and the second MOSFET MOS-H2 and the fourth MOSFET MOS-H4 are connected to the negative electrode of the rechargeable power source 201; one end of the transducer control circuit is connected to the middle connection point of the first MOSFET MOS-H1 and the second MOSFET MOS-H2, and the other end of the transducer control circuit is connected to the middle connection point of the third MOSFET MOS-H3 and the fourth MOSFET MOS-H4; the first control signal Sign-H 1Control the duty cycle of the first MOSFET MOS-H1 and the fourth MOSFET MOS-H4 , the second control signal Sign-H 2 Control the duty cycle of the second MOSFET MOS-H2 and the third MOSFET MOS-H3 , within a PWM cycle T=1 / f, + =1, f is the PWM frequency. The four MOSFETs 202 in the active control circuit form an H-bridge circuit, and the current flowing through the multi-stage electromagnetic transducer 1 can be controlled by controlling the duty cycle of the H-bridge circuit, thereby controlling the multi-stage electromagnetic transducer 1 to generate the optimal control force expected by the electromagnetic vibration reduction system.

[0085] The principle of the active control circuit is as follows:

[0086] To avoid short circuit, Figure 2 Medium control signal Sign-H 1 and control signal Sign-H 2 cannot be at high level at the same time, the two signals should be switched on and off alternately. Sign-H Duty cycle of 1 and control signals Sign-H 2 The duty cycle of the control Should meet + =1. According to Kirchhoff's voltage law, in each PWM cycle:

[0087] (2)

[0088] (3)

[0089] In the formula, is the rechargeable power supply voltage; is the total resistance of the circuit module, including the internal resistance of the multi-stage electromagnetic transducer , wiring and other components’ resistance; is the inductance of the multi-stage electromagnetic transducer; For time, For control signal Sign-H 1 is the high level valid duration, It is the duration of one PWM cycle.

[0090] In each extremely short PWM cycle, the current In steady state, the current The change of can be regarded as zero. Therefore, the current of each PWM cycle is for:

[0091] (4)

[0092] From formulas (1) and (4), the control force generated by the multi-stage electromagnetic transducer 1 is obtained as follows:

[0093] (5)

[0094] Specifically, in some embodiments, see Figure 3, the multi-level electromagnetic transducer 1 adopts a three-level electromagnetic transducer. The transducer control circuit of the three-level electromagnetic transducer is composed of 3 groups of electromagnetic transducer control circuits connected in series. The first group of electromagnetic transducer control circuits is composed of MOSFET MOS1-2 connected in series with the coil winding M1 and then connected in parallel with MOSFET MOS1-1. The second group of electromagnetic transducer control circuits is composed of MOSFET MOS2-2 connected in series with the coil winding M2 and then connected in parallel with MOSFET MOS2-1. The third group of electromagnetic transducer control circuits is composed of MOSFET MOS3-2 connected in series with the coil winding M3 and then connected in parallel with MOSFET MOS3-1. It should be noted that each pair of MOSFET202 controls a coil winding 102, for example: MOS1-1 and MOS1-2 control the coil winding M1 to be connected or disconnected. Among them, each pair of MOSFET202 will only turn on one of them and turn off the other at the same time. For example, when MOS1 - 2 is turned on and MOS1 - 1 is turned off, the coil winding M1 can be connected to the circuit to work. On the contrary, when MOS1 - 2 is turned off and MOS1 - 1 is turned on, the coil winding M1 is disconnected. Figure 4-6 The circuit schematic diagram of the three-level electromagnetic transducer is respectively conducting one set of coil windings, two sets of coil windings and three sets of coil windings. When one set of coil windings is conducted, the electromagnetic conversion constant of the three-level electromagnetic transducer is a low electromagnetic conversion constant. When two sets of coil windings are conducted, the electromagnetic conversion constant of the three-level electromagnetic transducer is a medium electromagnetic conversion constant. When three sets of coil windings are conducted, the electromagnetic conversion constant of the three-level electromagnetic transducer is a high electromagnetic conversion constant.

[0095] It should be noted that the linear multi-stage electromagnetic transducer (see Figure 7 ) and cylindrical multi-stage electromagnetic transducers (see Figure 8 , Fig. 9 ), so as to increase the application scope of the multi-stage electromagnetic transducer 1.

[0096] Specifically, for external excitations under different working conditions, in order to ensure that the electromagnetic vibration reduction system can maintain stable vibration reduction performance and acquisition efficiency when dealing with complex working conditions, in some embodiments, the electromagnetic conversion constant of the multi-stage electromagnetic transducer 1 is adjusted according to the external excitation information and the rechargeable power supply voltage by a fuzzy control method, and the specific method is as follows:

[0097] S1. Define fuzzy subsets and determine fuzzy subset membership functions. The fuzzy subsets include external excitation fuzzy subsets, rechargeable power supply voltage fuzzy subsets, and electromagnetic conversion constant fuzzy subsets. The membership function diagrams of external excitation, rechargeable power supply voltage, and electromagnetic conversion constant are shown in Fig.10 , Fig.11 , Fig.12 .

[0098] Specifically, the external excitation fuzzy subsets include: small excitation (SU), medium excitation (MU), large excitation (BU); the rechargeable power supply voltage fuzzy subsets include: small voltage (SV), medium voltage (MV), large voltage (BV); the electromagnetic conversion constant fuzzy subsets include: very small (VSK), small (SK), medium (MK), large (BK), and very large (VBK).

[0099] S2. Generate a fuzzy control rule table based on the fuzzy subset, with the external excitation and the rechargeable power supply voltage as input and the expected electromagnetic conversion constant as output. The fuzzy control rule table is shown in Table 1.

[0100] Table 1

[0101]

[0102] S3, according to the external excitation information and the rechargeable power supply voltage, searching the corresponding electromagnetic conversion constant in the fuzzy control rule table to obtain the desired electromagnetic conversion constant;

[0103] S4. Generate a control signal based on the desired electromagnetic conversion constant Sign-K em ij, i=1,2,N, j=1,2, control the on and off of MOSFET202 in each group of electromagnetic transducer control circuits, and adjust the electromagnetic conversion constant of the multi-stage electromagnetic transducer 1 to the desired electromagnetic conversion constant.

[0104] Specifically, the method for controlling the on and off of the MOSFET202 in each group of electromagnetic transduction control circuits is as follows: when the MOSFET202 connected in series with the coil winding 102 is turned on and the other MOSFET202 is turned off, the coil winding 102 is connected to the circuit to work; when the MOSFET202 connected in series with the coil winding 102 is turned off and the other MOSFET202 is turned on, the coil winding 102 is disconnected from the circuit.

[0105] Specifically, in some embodiments, a specific method for generating a control signal according to the electromagnetic conversion constant, the vibration information and the external excitation information is:

[0106] S1. Calculate the optimal control force through the control algorithm based on the vibration structure's own attribute parameters, vibration information and external excitation information ;

[0107] S2. Calculate the expected current according to the optimal control force using formula (1) ;

[0108] S3, according to the expected current The first control signal is calculated by formula (4): Sign-H Duty cycle of 1 for:

[0109] (6)

[0110] S4: According to the first control signal Sign-H Duty cycle of 1 Calculate the second control signal Sign-H Duty cycle of 2 ;

[0111] According to the duty cycle and duty cycle Generate a first control signal Sign-H 1 and the second control signal Sign-H 2.

[0112] It should be noted that due to , therefore, the control force range of the electromagnetic vibration reduction system of the present invention is:

[0113] (7)

[0114] From formula (7), we can see that the control force that the electromagnetic vibration reduction system can generate is Range and external excitation, circuit parameters ( and ) and the electromagnetic conversion constant. Therefore, the fixed electromagnetic conversion constant can only track the theoretical optimal control force under a part of the external excitation, while the adaptive electromagnetic vibration system with adjustable electromagnetic conversion constant of the present invention can adjust the electromagnetic conversion constant, so as to adapt to different external working conditions, so that the electromagnetic vibration reduction system can generate the optimal control force, thereby achieving the desired vibration reduction effect.

[0115] In some embodiments, the control module 4 is further configured to generate a control signal according to the vibration information and the external excitation information to control the current direction of the circuit module 2 so as to charge and discharge the rechargeable power source 201 .

[0116] In some embodiments, the specific method of controlling the current direction of the circuit module 2 is: Figure 2, if the induced electromotive force of the multi-level electromagnetic transducer 1 is positive, that is, the positive electrode of the multi-level electromagnetic transducer 1 is connected to the first MOSFET MOS-H1 and the second MOSFET MOS-H2, and the negative electrode of the multi-level electromagnetic transducer 1 is connected to the third MOSFET MOS-H3 and the fourth MOSFET MOS-H4, within a PWM cycle, when the first control signal is in a high-level effective period, the current direction of the control circuit module 2 flows from the positive electrode of the multi-level electromagnetic transducer 1 to the positive electrode of the rechargeable power supply 201, charging the rechargeable power supply 201; when the second control signal is in a high-level effective period, the current direction of the control circuit module 2 flows from the positive electrode of the multi-level electromagnetic transducer 1 to the negative electrode of the rechargeable power supply 201, discharging the rechargeable power supply 201; if the induced electromotive force of the multi-level electromagnetic transducer 1 is negative, that is, the positive electrode of the multi-level electromagnetic transducer 1 is connected to the third MOSFET MOS-H3 and the fourth MOSFET MOS-H4, and the negative electrode of the multi-level electromagnetic transducer 1 is connected to the first MOSFET MOS-H1 and the second MOSFET MOS-H2 is connected. During a PWM cycle, when the first control signal is at a high level and effective, the current direction of the control circuit module 2 flows from the positive electrode of the multi-stage electromagnetic transducer 1 to the positive electrode of the rechargeable power supply 201, so as to discharge the rechargeable power supply 201. During a period when the second control signal is at a high level and effective, the current direction of the control circuit module 2 flows from the positive electrode of the multi-stage electromagnetic transducer 1 to the negative electrode of the rechargeable power supply 201, so as to charge the rechargeable power supply 201.

[0117] It should be noted that in a very short PWM cycle, the current in the circuit remains constant, but the current varies in time. and time During this period, the rechargeable power source 201 will be charged and discharged respectively. For control signal Sign-H 2 is the high level effective duration. During the vibration control process, the energy collection or dissipation depends on the time and time The relative time. The average output power P in one PWM cycle is:

[0118] (8)

[0119] From formula (4) and formula (8), we can get:

[0120] (9)

[0121] It can be seen from formula (9) that the amount of energy collected by the electromagnetic vibration reduction system is related to the system internal resistance and the electromagnetic conversion constant. When the control force and internal resistance are the same, the larger the electromagnetic conversion constant, the smaller the current required to generate the theoretical control force, the less heat energy dissipated by the internal resistance, and the more energy collected by the circuit. Therefore, the energy collection efficiency using a fixed electromagnetic conversion constant is limited. Compared with the traditional electromagnetic vibration reduction system with a fixed electromagnetic conversion constant, the adaptive electromagnetic vibration reduction system with an adjustable electromagnetic conversion constant of the present invention can collect more energy on the basis of meeting the vibration reduction requirements by adjusting the electromagnetic conversion constant through a multi-stage electromagnetic transducer 1, thereby improving the energy collection efficiency.

[0122] In some embodiments, see Fig.13 The electromagnetic vibration reduction system described in the above embodiment of the present invention further includes a passive vibration reduction element 7, which generates a control force to reduce vibration of the vibrating structure when the multi-stage electromagnetic transducer 1 fails. The passive vibration reduction element 7 is provided, and when the multi-stage electromagnetic transducer 1 fails, the passive vibration reduction element 7 generates a control force to reduce vibration of the vibrating structure, thereby ensuring that the electromagnetic vibration reduction system described in the present invention can work normally and improving system reliability.

[0123] In some embodiments, the passive vibration reduction element 7 includes at least one of an elastic element and a damping element. When an elastic element is used as the passive vibration reduction element 7, the elastic characteristics of the elastic element are used to absorb and disperse the impact generated by external excitation. When a damping element is used as the passive vibration reduction element 7, vibration and impact are reduced by the damping characteristics of the damping element.

[0124] In some embodiments, the sensor module 3 includes:

[0125] A first sensor module, used for detecting vibration information of the vibrating structure;

[0126] A second sensor module is used to detect external excitation information of the vibrating structure;

[0127] The third sensor module is used to detect the voltage of the rechargeable power supply.

[0128] The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant in the embodiment of the present invention can make the electromagnetic vibration reduction system suitable for complex working conditions and different application occasions. Under different excitations, the electromagnetic conversion constant can be adjusted to maintain the relative stability of the output voltage of the multi-stage electromagnetic transducer, ensuring that the electromagnetic vibration reduction system generates the desired theoretical control force, thereby achieving the expected vibration control effect. In addition, by adjusting the electromagnetic conversion constant, the energy collection efficiency of the system can be improved, and more energy can be collected.

[0129] A second embodiment of the present invention provides an adaptive electromagnetic vibration reduction method with an adjustable electromagnetic conversion constant, which adopts the adaptive electromagnetic vibration reduction system with an adjustable electromagnetic conversion constant described in the first embodiment of the present invention, and is characterized in that it includes the following steps:

[0130] S1, data acquisition step: real-time monitoring of vibration information of the vibration mechanism, external excitation information and rechargeable power supply voltage;

[0131] S2, electromagnetic conversion constant adjustment step: generating a control signal according to external excitation information and rechargeable power supply voltage Sign-K em ij, i=1,2,N, j=1,2, controls the on and off of MOSFET202 in each group of electromagnetic transducer control circuits, and adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer 1;

[0132] S3, control force generation step: generating a control signal based on electromagnetic conversion constants, vibration information and external excitation information Sign-H k, k=1, 2, controls the PWM duty cycle of MOSFET202 in the active control circuit to adjust the current flowing through the multi-stage electromagnetic transducer 1 so that the multi-stage electromagnetic transducer 1 produces the optimal control force.

[0133] The adaptive electromagnetic vibration reduction method with adjustable electromagnetic conversion constant in the embodiment of the present invention generates a control signal Sign- K em ij and control signal Sign-H The method of k is the same as the adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant described in the above embodiment, and will not be described in detail here.

[0134] The adaptive electromagnetic vibration reduction method with adjustable electromagnetic conversion constant in the embodiment of the present invention can make the electromagnetic vibration reduction system suitable for complex working conditions and different application occasions. Under different excitations, the electromagnetic conversion constant can be adjusted to maintain the relative stability of the output voltage of the multi-stage electromagnetic transducer, ensuring that the electromagnetic vibration reduction system generates the desired theoretical control force, thereby achieving the expected vibration control effect. In addition, by adjusting the electromagnetic conversion constant, the energy collection efficiency of the system can be improved, and more energy can be collected.

[0135] In order to verify the effectiveness of the adaptive electromagnetic vibration reduction system and method with adjustable electromagnetic conversion constant described in the above embodiments of the present invention, the following specific embodiments are used for description.

[0136] Example 1: Take the 1 / 4 vehicle suspension system as an example. Fig.14The electromagnetic vibration reduction system device with adjustable electromagnetic conversion constant of the present invention is installed in the vehicle suspension so that it is arranged in parallel with the suspension system of the vehicle. The electromagnetic vibration reduction system of the present invention is installed between the sprung mass body (i.e., the vehicle body) 5 and the unsprung mass body (i.e., the vehicle chassis) 8, wherein the active vibration reduction element is a multi-stage electromagnetic transducer 1, and the passive vibration reduction element 7 includes an elastic element (such as a suspension spring) 701 and a damping element 702.

[0137] The motion control equation of the 1 / 4 vehicle suspension is:

[0138]

[0139]

[0140] In the formula, m s and m u Represent the mass of the vehicle body and chassis respectively, k s and k t denote the stiffness of the suspension and pneumatic tire, respectively, c s is the suspension damping, and are the displacement of the sprung mass (i.e. the vehicle body) and the displacement of the unsprung mass (i.e. the vehicle chassis), It is the road roughness incentive.

[0141] In this embodiment, m s =424.5kg, m u =60.4kg, k s =60kN / m, k t =181kN / m, c s =1000N·s / m.

[0142] Define the state variables:

[0143]

[0144] in, are the relative displacement of the suspension, the absolute velocity of the sprung mass, the tire deflection, and the absolute velocity of the unsprung mass. Therefore, the state space expression of the system is:

[0145]

[0146] in, , , , ,

[0147]

[0148] The LQR algorithm is used as the active control algorithm, where:

[0149]

[0150]

[0151]

[0152] Fig.15 and Fig.16 The electromagnetic vibration reduction system is at a speed of 60km / h. 800N / A and The figure shows the comparison between the theoretical control force and the actual control force of 1200N / A. When the actual control force is 800N / A, the theoretical control force can be completely tracked. When the control force is 1200N / A, there is a large deviation between the actual control force and the theoretical control force. The reason is When it is too large, the motor induced electromotive force will not match the rechargeable power supply voltage, causing the active control circuit to be unable to generate the expected current, resulting in a deviation between the actual control force and the theoretical control force.

[0153] From formula (1), we can see that when the theoretical control force fctrl is constant, The larger it is, the smaller the required current iopt is, the less energy the resistor consumes in formula (7), and the more energy the system can collect. Fig.17 and Fig.18 It is an electromagnetic vibration reduction system at a speed of 60km / h The energy harvesting effect diagram of the system when the power is 500N / A and 800N / A. When the actual control force is 500N / A and 800N / A, the actual control force can track the theoretical control force. When is small, the system as a whole behaves as energy dissipation and cannot harvest energy to achieve self-powered active vibration control. When it is larger, the system as a whole behaves as energy harvesting, capable of achieving self-powered active vibration control and storing excess energy in the rechargeable power source 201 .

[0154] The road input excitation received by a vehicle when driving on the road is related to the vehicle speed. The greater the vehicle speed, the greater the amplitude of the road input excitation, and the smaller the vehicle speed, the smaller the amplitude of the road input excitation. Fig.19 It is an electromagnetic vibration reduction system at a vehicle speed of 30km / h The comparison chart of actual control force and theoretical control force at 1200N / A shows that the actual control force can basically track the theoretical control force at this time. Fig. 20 and Fig.21 They are The energy collection diagram of the system under 1200N / A and 800N / A shows that When the system is 1200N / A, it can collect more energy. Therefore, when the road input excitation decreases, it can be appropriately increased while ensuring the vibration reduction performance. To improve the energy harvesting efficiency, it complies with the fuzzy control rules designed in Table 1.

[0155] Fig. 22 It is an electromagnetic vibration reduction system at a vehicle speed of 90km / h This is a comparison chart of the actual control force and theoretical control force of 800N / A. It can be seen that the electromagnetic vibration reduction system cannot track and generate the theoretical control force at this time. Fig.23 and Fig.24 The electromagnetic vibration reduction system is at a vehicle speed of 90km / h. The actual control force and theoretical control force comparison chart of 500N / A and the energy collection chart can realize theoretical control force tracking and self-powered vibration reduction. Therefore, when the road input excitation increases, in order to ensure the vibration reduction performance, it is necessary to reduce The theoretical control force is generated by tracking, which conforms to the fuzzy control rules designed in Table 1.

[0156] Example 2: Take the bridge cable as an example. Fig.25 The electromagnetic vibration reduction system of the present invention is installed near the ground end of the bridge cable 10, one end of which is fixed on the ground 6 and the other end is installed on the bridge cable 10. The characteristic parameters of the bridge cable 10 include the cable tension T , mass per unit length m , Damping coefficient per unit length c , Total length L , flexural stiffness EI , and the installation location of the electromagnetic vibration reduction system x c .

[0157] The vibration control equation of the bridge cable 10 is:

[0158]

[0159] in, express t Time location x The lateral displacement at u ( t ) is the control force generated by the electromagnetic vibration reduction system, For location x Place and time t External incentives, is the Dirac function. The two ends of the cable are consolidated, that is, η (0 , t ) = (0 , t ) = η ( L, t ) = ( L, t ) = 0.

[0160] The stiffness matrix K of the cable is:

[0161]

[0162] in:

[0163]

[0164]

[0165]

[0166]

[0167] The mass matrix M of the cable is:

[0168]

[0169] in, is the n-th order identity matrix.

[0170] Using the LQR active control algorithm, R is 10-4, and the Q matrix is:

[0171]

[0172] The relevant parameters are: cable length is 122m, cable diameter is 11.9cm, unit length mass is 51.8kg / m, cable tension is 3150kN, and Young's modulus is 2 10 11 N / m 2 .

[0173] Fig.26 Demonstrated the vibration control of bridge cables Comparison chart of the actual control force generated by the electromagnetic vibration reduction system at 800N / A and the theoretical control force calculated by LQR.

[0174] Fig. 27 Demonstrated the vibration control of bridge cables The energy harvesting performance of the electromagnetic vibration reduction system at 800N / A can achieve self-powering of the system.

[0175] Fig.28 Demonstrated the vibration control of bridge cables The comparison chart of the actual control force generated by the electromagnetic vibration reduction system when the force is 1200N / A and the theoretical control force calculated by LQR shows that there is a large deviation between the actual control force generated by the electromagnetic vibration reduction system and the theoretical control force.

[0176] Fig.29 Demonstrated the vibration control of bridge cables The energy harvesting performance of the electromagnetic vibration reduction system is 500 N / A. At this time, the system cannot achieve self-power supply and needs to consume the electrical energy in the rechargeable power supply 201.

[0177] Above Figure 26-29 , which verifies that the electromagnetic vibration reduction system of the present invention can also adjust the electromagnetic conversion constant in the application of bridge cable to ensure the generation of theoretical control force, achieve the desired vibration reduction performance, and improve the energy collection efficiency.

[0178] The above embodiments are used to explain the present invention rather than to limit the present invention. Any modification and change made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.

Claims

1. An adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant, characterized in that: include: Multi-stage electromagnetic transducers to generate control forces to dampen vibrating structures; A circuit module comprises a rechargeable power supply, an active control circuit and a transducer control circuit connected in sequence; the active control circuit is an H-bridge circuit composed of two pairs of MOSFETs; the transducer control circuit is composed of N, N≥2 groups of electromagnetic transducer control circuits connected in series, each group of electromagnetic transducer control circuits is composed of a MOSFET connected in series with a coil winding and then connected in parallel with another MOSFET; in the active control circuit, the first pair of MOSFETs is composed of a first MOSFET and a second MOSFET, and the second pair of MOSFETs is composed of a third MOSFET and a fourth MOSFET; the first MOSFET and the second MOSFET are connected in series, the third MOSFET and the fourth MOSFET are connected in series, the first MOSFET and the third MOSFET are connected to the positive electrode of the rechargeable power supply, and the second MOSFET and the fourth MOSFET are connected to the negative electrode of the rechargeable power supply; one end of the transducer control circuit is connected to the middle connection point of the first MOSFET and the second MOSFET, and the other end of the transducer control circuit is connected to the middle connection point of the third MOSFET and the fourth MOSFET; a first control signal Sign-H 1Control the duty cycle of the first MOSFET and the fourth MOSFET , the second control signal Sign-H 2 Control the duty cycle of the second MOSFET and the third MOSFET , within a PWM cycle T=1 / f, + =1, f is the PWM frequency; A sensor module for detecting vibration information of the vibrating structure, external excitation information, and a rechargeable power supply voltage; The control module is configured to generate a control signal according to the external excitation information and the rechargeable power supply voltage. Sign-K em ij, i=1,2,N, j=1,2, controls the on and off of MOSFET in each group of electromagnetic transducer control circuits, adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer; generates control signals based on the electromagnetic conversion constant, vibration information and external excitation information Sign-H k, k=1, 2, controls the PWM duty cycle of the MOSFET in the active control circuit, adjusts the current flowing through the multi-stage electromagnetic transducer, and makes the multi-stage electromagnetic transducer produce the optimal control force; The method for controlling the on-off of the MOSFET in each set of electromagnetic transducer control circuits is as follows: when the MOSFET connected in series with the coil winding is turned on and the other MOSFET is turned off, the coil winding is connected to the circuit to work; when the MOSFET connected in series with the coil winding is turned off and the other MOSFET is turned on, the coil winding is disconnected from the circuit.

2. The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in claim 1, characterized in that: The control module is also configured to generate a control signal according to the vibration information and the external excitation information to control the current direction of the circuit module so as to charge and discharge the rechargeable power supply.

3. The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in claim 1, characterized in that: The specific method of generating a control signal according to the electromagnetic conversion constant, vibration information and external excitation information is: The optimal control force is calculated through the control algorithm based on the vibration structure's own attribute parameters, vibration information and external excitation information ; Calculate the expected current based on the optimal control force The calculation formula is: In the formula, is the induced electromotive force of the multi-stage electromagnetic transducer, is the electromagnetic conversion constant, is the displacement of the sprung mass, is the displacement of the unsprung mass or the ground, is the velocity of the sprung mass, is the velocity of the unsprung mass or the ground, The control force generated by the multi-stage electromagnetic transducer, is the current flowing through the multi-stage electromagnetic transducer; Calculate the first control signal according to the expected current Sign-H Duty cycle of 1 The calculation formula is: In the formula, is the rechargeable power supply voltage, is the total resistance of the circuit module; According to the first control signal Sign-H Duty cycle of 1 Calculate the second control signal Sign-H Duty cycle of 2 ; According to the duty cycle and duty cycle Generate a first control signal Sign-H 1 and the second control signal Sign-H 2.

4. The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in claim 1, characterized in that: The specific method of adjusting the electromagnetic conversion constant of the multi-level electromagnetic transducer according to the external excitation information and the rechargeable power supply voltage is: defining fuzzy subsets and determining fuzzy subset membership functions, the fuzzy subsets include external excitation fuzzy subsets, rechargeable power supply voltage fuzzy subsets and electromagnetic conversion constant fuzzy subsets; A fuzzy control rule table is generated based on the fuzzy subsets, taking the external excitation and the rechargeable power supply voltage as input and taking the desired electromagnetic conversion constant as output; According to the external excitation information and the rechargeable power supply voltage, the corresponding electromagnetic conversion constant is searched in the fuzzy control rule table to obtain the expected electromagnetic conversion constant; Generates control signal based on desired electromagnetic conversion constant Sign-K em ij, i=1,2,N, j=1,2, controls the on and off of the MOSFET in each group of electromagnetic transducer control circuits, and adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer to the desired electromagnetic conversion constant.

5. The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in claim 1, characterized in that: The invention also comprises a passive vibration reduction element, which generates a control force to reduce vibration of the vibrating structure when the multi-stage electromagnetic transducer fails.

6. The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in claim 5, characterized in that: The passive vibration reduction element includes at least one of an elastic element and a damping element.

7. The adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in claim 1, characterized in that: The sensor module comprises: A first sensor module, used for detecting vibration information of the vibrating structure; A second sensor module is used to detect external excitation information of the vibrating structure; The third sensor module is used to detect the voltage of the rechargeable power supply.

8. An adaptive electromagnetic vibration reduction method with adjustable electromagnetic conversion constant, using the adaptive electromagnetic vibration reduction system with adjustable electromagnetic conversion constant as claimed in any one of claims 1 to 7, characterized in that: The following steps are involved: Data collection steps: real-time monitoring of vibration information of the vibration mechanism, external excitation information and rechargeable power supply voltage; Electromagnetic conversion constant adjustment step: Generate control signal based on external excitation information and rechargeable power supply voltage Sign- K em ij, i=1,2,N, j=1,2, controls the on and off of MOSFET in each group of electromagnetic transducer control circuits, and adjusts the electromagnetic conversion constant of the multi-stage electromagnetic transducer; Control force generation step: Generate control signal based on electromagnetic conversion constant, vibration information and external excitation information Sign- H k, k=1,2, controls the PWM duty cycle of the MOSFET in the active control circuit to adjust the current flowing through the multi-stage electromagnetic transducer so that the multi-stage electromagnetic transducer produces optimal control force.

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