Large-inertia and large-load vehicle-mounted rotating shaft stability control method

Abstract

The invention discloses a large-inertia and large-load vehicle-mounted rotating shaft stability control method, which relates to the technical field of servo turntables, and comprises the following steps: mounting rotating permanent magnets capable of synchronously rotating in a rotating shaft, and controlling the viscous force of the rotating permanent magnets by using a magnetic field to realize adjustable damping characteristics; the magnetic field of the rotary permanent magnet penetrates through the enameled coil, and induced current is generated on the coil to provide viscous force for the rotary permanent magnet; the viscous force of the rotating permanent magnet is controlled by regulating and controlling the magnitude of the current in the coil; limiting permanent magnets are arranged on the two sides of the rotating permanent magnet and can restrain rotation of the rotating permanent magnet, the distance between the limiting permanent magnets and the rotating permanent magnet is changed, and the viscous force is adjusted; an accelerometer and a gyroscope are arranged on the rotating shaft, the rotating state of the rotating shaft is monitored in real time, and data support is provided for adjusting coil current and limiting the distance of the permanent magnet.

Description

Technical Field

[0001] The invention relates to the technical field of servo turntables, and in particular to a vehicle-mounted rotating shaft stabilization control method with large inertia and large load. Background Art

[0002] In the prior art, stable control of large inertia and large load shafts usually relies on mechanical damping devices, such as hydraulic dampers or friction brakes. These devices generate damping force through mechanical contact, but have obvious disadvantages. First, mechanical contact causes wear of components, increases the frequency of maintenance and replacement, and increases operating costs. Second, the damping force of mechanical damping is difficult to adjust accurately, has a slow response speed, and cannot adapt to rapidly changing loads and inertia. In addition, the reliability of mechanical devices is limited by materials and structures, and is easily affected by the external environment, reducing the overall stability of the system. Some improved systems attempt to introduce electromagnetic damping, but the design is complex and costly, and there is a lack of effective backup solutions when key components fail, resulting in insufficient system reliability. At the same time, traditional control systems usually lack real-time monitoring and adaptive adjustment capabilities, cannot perform precise control according to the real-time status of the shaft, and are difficult to effectively suppress mechanical vibrations caused by large inertia and large loads. Summary of the invention

[0003] In order to overcome the defects of the above-mentioned prior art, the present invention provides the following technical solutions: a method for stabilizing a large inertia and large load vehicle-mounted shaft, comprising the following steps: S1, installing a rotating permanent magnet that can rotate synchronously with the shaft in the shaft, and using the magnetic field to control the viscosity of the rotating permanent magnet to achieve the characteristic of adjusting the damping; S2, the magnetic field of the rotating permanent magnet during the rotation process will pass through the enameled coil, forming an induced current on the enameled coil, thereby providing a viscosity for the rotating permanent magnet; S3, controlling the rotation of the rotating permanent magnet by adjusting the size of the current inside the enameled coil. Viscosity force; S4. Setting limiting permanent magnets on both sides of the rotating permanent magnet that can constrain the rotation of the rotating permanent magnet, so that the magnetic field of the limiting permanent magnet can pass through the rotating permanent magnet and magnetically constrain the rotating permanent magnet; S5. Changing the distance between the two limiting permanent magnets to the rotating permanent magnet, thereby adjusting the viscosity of the limiting permanent magnet to the rotating permanent magnet and realizing the characteristic of adjusting damping; S6. Setting an accelerometer and a gyroscope on the rotating shaft to monitor the rotation state of the rotating shaft in real time, and providing data support for adjusting the current passing through the enameled coil and the distance between the two limiting permanent magnets.

[0004] Preferably, it also includes a rotating support body, in which a limiting iron core tube is fixedly provided, and a rotating permanent magnet embedded body is rotationally matched with the axial position of the inner side of the limiting iron core tube, and the rotating permanent magnet embedded body is fixed to the rotating shaft; a plurality of rotating permanent magnets are embedded in a circular array at the circumferential position inside the rotating permanent magnet embedded body; an enameled coil is provided on the inner side of the limiting iron core tube so that the magnetic field of the rotating permanent magnet passes through the enameled coil, and a lubricating sleeve is sleeved on the circumferential surface of the rotating permanent magnet embedded body, and the outer surface of the lubricating sleeve is provided with lubricating grease.

[0005] Preferably, two symmetrically arranged bearing support side plates are fixed on the two side surfaces of the rotating support body, a bearing is embedded in the middle of the bearing support side plate, the inner ring of the bearing is fixed to the rotating shaft, and the outer ring of the bearing is fixed to the bearing support side plate, which plays the role of supporting the rotating shaft; the rotating shaft and the rotating permanent magnet embedded body are fixed by a spline shaft, the spline shaft and the rotating permanent magnet embedded body are continuously matched in a spline manner, and the spline shaft and the rotating shaft are matched in a fixed manner.

[0006] Preferably, two limiting permanent magnets are symmetrically and slidingly arranged inside the rotating support body. The limiting permanent magnets cooperate with the rotating permanent magnets magnetically, and the distance between the limiting permanent magnets and the rotating permanent magnets can be adjusted to change the magnetic force of the limiting permanent magnets on the rotating permanent magnets.

[0007] Preferably, the rotating support body and the two bearing support side plates are fixed on the support frame body, an adjustment support panel is fixed inside the support frame body, four adjustment guide rods are fixed on the adjustment support panel, and one end of the adjustment guide rod away from the adjustment support panel is also fixed to the support frame body; an adjustment drive frame is slidably installed on the four adjustment guide rods.

[0008] Preferably, a regulating screw is rotatably provided between the regulating support panel and the supporting frame body, a second transmission chain plate is fixed to one end of the regulating screw rod close to the regulating guide rod, the second transmission chain plate is rotatably matched with the regulating support panel, a servo motor is also fixed on the supporting frame body, a first transmission chain plate is fixed on the output shaft of the servo motor, and the first transmission chain plate and the second transmission chain plate are connected by a chain drive.

[0009] Preferably, a regulating connecting rod is movably connected to the regulating driving frame, and the end of the regulating connecting rod away from the regulating driving frame is movably connected to the side of the limiting permanent magnet. There is an angle between the regulating connecting rod and the regulating support panel. When the regulating driving frame moves axially along the regulating guide rod, the limiting permanent magnet can be driven to move radially along the rotating permanent magnet embedded body through the regulating connecting rod.

[0010] Preferably, side dust cover plates are fixed to the two side surfaces of the support frame body, and support connecting plates are fixed to two end surfaces of the support frame body and the two side dust cover plates, and threaded through holes are arranged on the support connecting plates.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention realizes adjustable damping force by installing a rotating permanent magnet that can rotate synchronously with the rotating shaft and using a magnetic field to control the viscosity of the rotating permanent magnet. This design effectively suppresses mechanical vibration caused by large inertia and large load, and improves the stability and reliability of the system. Compared with the traditional mechanical damping device, the magnetic damping method has no mechanical contact, reduces wear and maintenance costs, and prolongs the service life of the equipment; (2) During the rotation of the rotating permanent magnet of the present invention, its magnetic field passes through the enameled coil, generates an induced current on the coil, and provides viscosity for the rotating permanent magnet. By adjusting the current inside the enameled coil, the intensity of the damping force can be accurately controlled. This electromagnetic induction control method has a fast response speed and flexible adjustment, can adapt to different loads and inertia changes, and improves the dynamic response performance of the system; (3) In the case of damage to the enameled coil, the system of the present invention is also provided with a magnetic constraint mechanism for limiting the permanent magnet and the rotating permanent magnet. By adjusting the distance between the limiting permanent magnet and the rotating permanent magnet, the magnetic constraint force can be changed, and the damping adjustment function can be continued. This redundant design ensures that the system can still operate normally when some components fail, and enhances the reliability and fault tolerance of the system; (4) The present invention installs an accelerometer and a gyroscope on the shaft to monitor the rotation state of the shaft in real time. The controller adjusts the current inside the enameled coil and limits the distance between the permanent magnets in real time based on the data collected by the sensor to form a closed-loop control system. This method improves the control accuracy and response speed of the system and ensures the stable operation of the shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the supporting connecting plate structure of the present invention.

[0013] Figure 2 It is a schematic diagram of the overall structure of the present invention.

[0014] Figure 3 It is a structural schematic diagram of the servo motor of the present invention.

[0015] Figure 4 It is a schematic diagram of the structure of the regulating connecting rod of the present invention.

[0016] Figure 5 This is a schematic diagram of the structure of the permanent magnet of the present invention.

[0017] Figure 6 This is a schematic diagram of the structure of the core tube according to the present invention.

[0018] In the figure: 101-support frame body; 102-side dust cover; 103-regulating support panel; 104-regulating drive frame; 105-bearing support side plate; 106-rotating support body; 107-regulating guide rod; 108-regulating connecting rod; 109-regulating screw rod; 110-servo motor; 111-limiting permanent magnet; 112-first transmission tooth plate; 113-chain; 114-second transmission tooth plate; 115-bearing; 116-limiting iron core tube; 117-rotating shaft; 118-spline shaft; 119-rotating permanent magnet; 120-rotating permanent magnet embedded body; 121-enamel coil; 122-support connecting plate; 123-lubricating sleeve. DETAILED DESCRIPTION

[0019] The following is combined with Figure 1-Figure 6 The technical solution of the present invention is further illustrated by specific implementation methods.

[0020] The present invention provides a vehicle-mounted shaft stability control method with large inertia and large load, comprising the following steps: S1, installing a rotating permanent magnet 119 that can rotate synchronously with the rotating shaft 117 in the rotating shaft 117, and using the magnetic field to control the viscosity of the rotating permanent magnet 119 to achieve the characteristic of adjusting the damping; S2, the magnetic field of the rotating permanent magnet 119 during the rotation process will pass through the enameled coil 121, and form an induced current on the enameled coil 121, thereby providing a viscosity for the rotating permanent magnet 119; S3, controlling the viscosity of the rotating permanent magnet 119 by adjusting the size of the current inside the enameled coil 121; S4, 9, limiting permanent magnets 111 are set on both sides of the rotating permanent magnet 119 to constrain the rotation of the rotating permanent magnet 119, and the magnetic field of the limiting permanent magnet 111 can pass through the rotating permanent magnet 119 to magnetically constrain the rotating permanent magnet 119; S5, changing the distance between the two limiting permanent magnets 111 and the rotating permanent magnet 119, thereby adjusting the viscosity of the limiting permanent magnet 111 on the rotating permanent magnet 119 to achieve the characteristic of adjusting damping; S6, arranging an accelerometer and a gyroscope on the rotating shaft 117 to monitor the rotation state of the rotating shaft 117 in real time, and providing data support for adjusting the current passing through the enameled coil 121 and the distance between the two limiting permanent magnets 111.

[0021] It also includes a rotating support body 106, in which a limiting iron core tube 116 is fixedly provided, and a rotating permanent magnet embedded body 120 is rotationally matched with the axial position of the inner side of the limiting iron core tube 116, and the rotating permanent magnet embedded body 120 is fixed to the rotating shaft 117; a plurality of rotating permanent magnets 119 are embedded in a circular array at the circumferential position inside the rotating permanent magnet embedded body 120; an enameled coil 121 is provided on the inner side of the limiting iron core tube 116, so that the magnetic field of the rotating permanent magnet 119 passes through the enameled coil 121, and a lubricating sleeve 123 is sleeved on the circumferential surface of the rotating permanent magnet embedded body 120, and the outer surface of the lubricating sleeve 123 is provided with lubricating grease. Two symmetrically arranged bearing support side plates 105 are fixed on the two sides of the rotating support body 106. A bearing 115 is embedded in the middle of the bearing support side plate 105. The inner ring of the bearing 115 is fixed to the rotating shaft 117, and the outer ring of the bearing 115 is fixed to the bearing support side plate 105, which plays the role of supporting the rotating shaft 117. The rotating shaft 117 is fixed to the rotating permanent magnet embedded body 120 through a spline shaft 118. The spline shaft 118 and the rotating permanent magnet embedded body 120 continue to cooperate in a spline manner, and the spline shaft 118 and the rotating shaft 117 are fixedly cooperated. Two limiting permanent magnets 111 are also symmetrically slidably arranged inside the rotating support body 106. The limiting permanent magnets 111 and the rotating permanent magnets 119 are magnetically matched, and the distance between the limiting permanent magnets 111 and the rotating permanent magnets 119 can be adjusted to change the magnetic force of the limiting permanent magnets 111 on the rotating permanent magnets 119. The rotating support body 106 and the two bearing support side plates 105 are fixed on the support frame body 101. A control support panel 103 is fixed inside the support frame body 101. Four control guide rods 107 are fixed on the control support panel 103. The end of the control guide rod 107 away from the control support panel 103 is also fixed to the support frame body 101. The control drive frame 104 is slidably mounted on the four control guide rods 107. A control screw rod 109 is rotatably arranged between the control support panel 103 and the support frame body 101. The end of the control screw rod 109 close to the control guide rod 107 is fixed with a second transmission toothed disc 114. The second transmission toothed disc 114 is rotatably matched with the control support panel 103. A servo motor 110 is also fixed on the support frame body 101. The output shaft of the servo motor 110 is fixed with a first transmission toothed disc 112. The first transmission toothed disc 112 and the second transmission toothed disc 114 are connected by a chain 113. A regulating link 108 is movably connected to the regulating drive frame 104, and the end of the regulating link 108 away from the regulating drive frame 104 is movably connected to the side of the limiting permanent magnet 111. There is an angle between the regulating link 108 and the regulating support panel 103. When the regulating drive frame 104 moves axially along the regulating guide rod 107, the regulating link 108 can drive the limiting permanent magnet 111 to move radially along the rotating permanent magnet embedment 120.Side dust cover plates 102 are fixed to two side surfaces of the support frame body 101 , and support connecting plates 122 are fixed to two end surfaces of the support frame body 101 and the two side dust cover plates 102 . The support connecting plates 122 are provided with threaded through holes.

[0022] The working principle of a large inertia and large load vehicle-mounted shaft stability control method disclosed in the present invention is as follows: a rotating permanent magnet 119 that can rotate synchronously with the rotating shaft 117 is installed in the rotating shaft 117, and the magnetic field is used to control the viscosity of the rotating permanent magnet 119 to achieve the characteristic of adjusting the damping; the magnetic field of the rotating permanent magnet 119 during the rotation process will pass through the enameled coil 121, and an induced current will be formed on the enameled coil 121, thereby providing viscosity for the rotating permanent magnet 119; the viscosity of the rotating permanent magnet 119 is controlled by adjusting the size of the current inside the enameled coil 121; this method can effectively suppress mechanical vibration caused by large inertia and large load. In the case where the enameled coil 121 is damaged, the limiting permanent magnets 111 that can constrain the rotation of the rotating permanent magnet 119 are arranged on both sides of the rotating permanent magnet 119, and the magnetic field of the limiting permanent magnet 111 can pass through the rotating permanent magnet 119, and magnetically constrain the rotating permanent magnet 119; the distance between the two limiting permanent magnets 111 and the rotating permanent magnet 119 is changed, so as to adjust the viscosity of the limiting permanent magnet 111 on the rotating permanent magnet 119, and realize the characteristic of adjusting the damping. This method can also effectively suppress mechanical vibrations caused by large inertia and large loads. An accelerometer and a gyroscope are arranged on the rotating shaft 117 to monitor the rotation state of the rotating shaft 117 in real time, and provide data support for adjusting the current passing through the enameled coil 121 and the distance between the two limiting permanent magnets 111. The sensor module collects the dynamic data of the system in real time, including acceleration, angular velocity, and force conditions; the controller processes the collected data, and the controller uses the data to calculate the current that can pass through the enameled coil 121 in real time, as well as the distance between the two limiting permanent magnets 111, to achieve stable control of the shaft 117 (to adapt to different loads and inertia changes, and maintain the stability of the shaft 117). Then the data is uploaded to the cloud regularly for statistics and analysis, thereby adjusting the control processing capabilities so that the system can be continuously optimized and adjusted.

[0023] In order to adjust the distance between the two limiting permanent magnets 111 and the rotating permanent magnet 119, it is necessary to control the rotation state of the output shaft of the servo motor 110 through the controller. The output shaft of the servo motor 110 will drive the first transmission chain plate 112 to rotate, and the first transmission chain plate 112 will drive the second transmission chain plate 114 to rotate through the chain 113. The second transmission chain plate 114 will drive the regulating screw 109 to rotate, and the regulating screw 109 will drive the regulating drive frame 104 to slide on the regulating guide rod 107. At this time, the regulating drive frame 104 will drive the limiting permanent magnet 111 to move along the radial direction of the rotating shaft 117 on the rotating support body 106 through the regulating connecting rod 108, thereby changing the distance between the limiting permanent magnet 111 and the rotating permanent magnet 119, thereby changing the magnetic constraint strength of the limiting permanent magnet 111 on the rotating permanent magnet 119.

Claims

1. A method for stabilizing a large inertia and large load vehicle shaft, characterized in that: The following steps are involved: S1. A rotating permanent magnet (119) capable of rotating synchronously with the rotating shaft (117) is installed in the rotating shaft (117), and the viscosity of the rotating permanent magnet (119) is controlled by using a magnetic field to achieve a damping adjustment characteristic; S2. The magnetic field of the rotating permanent magnet (119) during rotation passes through the enameled coil (121), forming an induced current on the enameled coil (121), thereby providing a viscous force for the rotating permanent magnet (119); S3, controlling the sticking force on the rotating permanent magnet (119) by regulating the magnitude of the current inside the enameled coil (121); S4. Disposing limiting permanent magnets (111) capable of constraining the rotation of the rotating permanent magnet (119) on both sides of the rotating permanent magnet (119), wherein the magnetic field of the limiting permanent magnet (111) can pass through the rotating permanent magnet (119), thereby magnetically constraining the rotating permanent magnet (119); S5, changing the distance between the two limiting permanent magnets (111) and the rotating permanent magnet (119), thereby adjusting the viscosity of the limiting permanent magnets (111) on the rotating permanent magnet (119), thereby achieving the characteristic of adjusting the damping; S6. An accelerometer and a gyroscope are arranged on the rotating shaft (117) to monitor the rotation state of the rotating shaft (117) in real time, and to provide data support for adjusting the current passing through the enameled coil (121) and the distance between the two limiting permanent magnets (111).

2. The method for stabilizing axles of a vehicle with large inertia and large load according to claim 1, characterized in that: The invention also comprises a rotating support body (106), wherein a limiting iron core tube (116) is fixedly arranged in the rotating support body (106), a rotating permanent magnet embedding body (120) is rotationally matched at the axial position inside the limiting iron core tube (116), and the rotating permanent magnet embedding body (120) is fixed to the rotating shaft (117); a plurality of rotating permanent magnets (119) are embedded in a circular array at the circumferential position inside the rotating permanent magnet embedding body (120); an enameled coil (121) is arranged on the inner side of the limiting iron core tube (116), so that the magnetic field of the rotating permanent magnet (119) passes through the enameled coil (121); a lubricating sleeve (123) is sleeved on the circumferential surface of the rotating permanent magnet embedding body (120), and lubricating grease is arranged on the outer surface of the lubricating sleeve (123).

3. The method for stabilizing axles of a vehicle with large inertia and large load according to claim 2, characterized in that: Two symmetrically arranged bearing support side plates (105) are fixed to two side surfaces of the rotating support body (106); a bearing (115) is embedded in the middle of the bearing support side plate (105); an inner ring of the bearing (115) is fixed to the rotating shaft (117); and an outer ring of the bearing (115) is fixed to the bearing support side plate (105), thereby supporting the rotating shaft (117); The rotating shaft (117) and the rotating permanent magnet embedded body (120) are fixed via a spline shaft (118); the spline shaft (118) and the rotating permanent magnet embedded body (120) are continuously matched in a spline manner; and the spline shaft (118) and the rotating shaft (117) are matched in a fixed manner.

4. The method for controlling the stability of a large inertia and large load vehicle shaft according to claim 3, characterized in that: Two limiting permanent magnets (111) are also symmetrically and slidably arranged inside the rotating support body (106). The limiting permanent magnets (111) and the rotating permanent magnets (119) cooperate with each other in magnetic force. The distance between the limiting permanent magnets (111) and the rotating permanent magnets (119) can be adjusted to change the magnitude of the magnetic force of the limiting permanent magnets (111) on the rotating permanent magnets (119).

5. The method for controlling the stability of a large inertia and large load vehicle shaft according to claim 4, characterized in that: The rotating support body (106) and the two bearing support side plates (105) are all fixed on the support frame body (101); a regulating support panel (103) is fixed inside the support frame body (101); four regulating guide rods (107) are fixed on the regulating support panel (103); one end of the regulating guide rod (107) away from the regulating support panel (103) is also fixed to the support frame body (101); and a regulating drive frame (104) is slidably mounted on the four regulating guide rods (107).

6. The method for stabilizing axles of a vehicle with large inertia and large load according to claim 5, characterized in that: A regulating screw rod (109) is rotatably arranged between the regulating support panel (103) and the support frame body (101); a second transmission toothed disc (114) is fixed to one end of the regulating screw rod (109) close to the regulating guide rod (107); the second transmission toothed disc (114) and the regulating support panel (103) are rotatably matched; a servo motor (110) is also fixed to the support frame body (101); a first transmission toothed disc (112) is fixed to an output shaft of the servo motor (110); and the first transmission toothed disc (112) and the second transmission toothed disc (114) are connected in transmission via a chain (113).

7. The method for controlling the stability of a large inertia and large load vehicle shaft according to claim 6, characterized in that: A regulating connecting rod (108) is movably connected to the regulating driving frame (104); one end of the regulating connecting rod (108) away from the regulating driving frame (104) is movably connected to the side of the limiting permanent magnet (111); an angle is formed between the regulating connecting rod (108) and the regulating support panel (103); when the regulating driving frame (104) moves axially along the regulating guide rod (107), the limiting permanent magnet (111) can be driven by the regulating connecting rod (108) to move radially along the rotating permanent magnet embedding body (120).

8. The method for controlling the stability of a large inertia and large load vehicle shaft according to claim 7, characterized in that: Side dust cover plates (102) are fixed to two side surfaces of the support frame body (101), and support connecting plates (122) are fixed to two end surfaces of the support frame body (101) and the two side dust cover plates (102), and threaded through holes are provided on the support connecting plates (122).

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