Particle damping and electromagnetic suspension mixed vibration isolation test platform and working method thereof

Abstract

The invention relates to a particle damping and electromagnetic suspension mixed vibration isolation test platform and a working method thereof. The platform is divided into an upper platform part and a lower platform part, the upper platform part comprises an upper supporting frame, an electromagnet and a suspension vibration sensor, the suspension vibration sensor monitors the suspension vibration condition of the upper platform part and collects signals, and the signals are transmitted to a suspension vibration controller and drive the electromagnet to generate response electromagnetic force for active vibration reduction; suspension vibration isolation is achieved; the platform lower portion comprises a lower supporting frame, a hollow groove, damping particles and a vibration sensor, the vibration sensor monitors the suspension vibration condition of the platform lower portion, the vibration controller calculates the rigidity and damping which should be achieved, the number of the damping particles is controlled to change the rigidity and damping of the platform lower portion, and particle damping vibration attenuation is achieved. Compared with the prior art, the full-band vibration energy attenuation and vibration isolation device has the advantages of achieving full-band vibration energy attenuation and vibration isolation, being good in vibration isolation effect, stable, high in integration degree, high in flexibility, high in practicability and the like.

Description

Technical Field

[0001] The invention relates to the field of vibration isolation technology, and in particular to a vibration isolation test platform combining particle damping and electromagnetic suspension and a working method thereof. Background Art

[0002] At present, since vibration of high-power electrical equipment is difficult to avoid, the research and development of vibration reduction equipment is very important for vibration reduction and noise reduction, and absorption of vibration energy. The main method currently used is to install damping patches on the equipment installation platform according to the vibration estimation results, and absorb the vibration energy by increasing the platform damping;

[0003] For example, the invention patent with publication number CN110206846A discloses a dual-frequency damping vibration isolation platform, which uses two vibration isolation materials with different natural frequency ranges in a stacked combination, which not only reduces the natural frequency of the damping vibration isolation platform, but also increases the stability of the damping vibration isolation platform and enhances the vibration isolation effect of the damping vibration isolation platform.

[0004] However, this method not only fails to cover the full frequency band of vibration energy, but also fails to adaptively adjust according to changes in vibration amplitude and frequency. Therefore, vibration amplification may even occur at certain vibration frequencies.

[0005] Electromagnetic suspension technology is an active suspension vibration control technology. In the past, it was often used to control the suspension vibration of maglev trains during operation. It uses electromagnetic force to achieve contactless coupling between the electromagnet and the lower mechanical structure. It has the characteristics of good vibration reduction effect, active adjustment of stiffness and damping, and can be applied to complex working environments.

[0006] For example, the invention patent with publication number CN112594315A discloses a magnetic levitation vibration isolator, which is arranged between the stator and the mover of the magnetic levitation vibration isolation system. The electromagnetic permanent magnet module of the proposed magnetic levitation vibration isolator controls the suspension stability and suppresses the vibration through electromagnetic force. The magnitude of the electromagnetic force can be adjusted according to the vibration conditions, so that vibration control of different frequencies and fast response can be achieved; since the electromagnetic permanent magnet module provides the main bearing capacity through permanent magnetic force, the loss of electromagnetic force can be reduced, thereby reducing the energy consumption of the magnetic levitation vibration isolator.

[0007] However, considering that the electromagnetic suspension vibration control technology is particularly effective in isolating low-frequency vibrations, its isolation effect on high-frequency vibrations is quite weak in comparison. Summary of the invention

[0008] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and to provide a vibration isolation test platform and a working method thereof that mixes particle damping and electromagnetic suspension.

[0009] The purpose of the present invention can be achieved by the following technical solutions:

[0010] According to one aspect of the present invention, a vibration isolation test platform that combines particle damping and electromagnetic suspension is provided, which uses an upper support frame for suspension vibration isolation and a lower support frame for particle damping vibration reduction to perform multi-stage vibration energy reduction.

[0011] The platform is divided into two parts: the upper platform and the lower platform. The upper platform is arranged above the lower platform, and the two parts are not connected.

[0012] The upper part of the platform includes an upper support frame 2, an electromagnet 1, and a suspension vibration sensor 5 for suspension vibration isolation;

[0013] The upper part of the platform is supported by an upper support frame 2, and electromagnets 1 are symmetrically arranged on both sides of the upper part of the platform, and suspension vibration sensors 5 are symmetrically arranged on both sides of the upper part of the platform;

[0014] The lower part of the platform includes a lower support frame 6, a hollow groove 4, damping particles 3, and a vibration sensor 7, which are used for particle damping vibration reduction;

[0015] The lower part of the platform is supported by a lower support frame 6, vibration sensors 7 are symmetrically arranged on both sides of the lower part of the platform, and a hollow groove 4 is arranged at the lower part of the platform, and damping particles 3 are filled in the groove.

[0016] As a preferred technical solution, the electromagnets 1 are fixed to the upper part of the platform by bolts, and each two are connected in series as a group and arranged horizontally.

[0017] As a preferred technical solution, the damping particles 3 are detachably installed in the hollow groove.

[0018] As a preferred technical solution, the shape of the damping particles 3 includes a sphere or a tetrahedron, so as to ensure that the damping particles (3) have good fluidity in the hollow groove inside the lower support frame.

[0019] As a preferred technical solution, the suspension vibration sensor 5 is connected to the suspension vibration controller; and the vibration sensor 7 is connected to the vibration controller.

[0020] According to another aspect of the present invention, a working method of a vibration isolation test platform of a particle damping and electromagnetic suspension hybrid is provided. The method is applied to a vibration isolation test platform of a particle damping and electromagnetic suspension hybrid as described above to perform multi-stage vibration isolation when subjected to vibration excitation. The method steps include:

[0021] S1, monitoring the suspension vibration of the upper part of the platform through the suspension vibration sensor, collecting signals, and transmitting the signals to the suspension vibration controller;

[0022] S2, using the suspension vibration controller to calculate the control current through the signal transmitted in S1;

[0023] S3, driving the electromagnet by the control current to generate a response electromagnetic force for active vibration reduction;

[0024] S4. After the vibration of the upper part of the platform is reduced, the suspension vibration of the lower part of the platform is monitored by the vibration sensor and the monitoring signal is collected;

[0025] S5, inputting the collected monitoring signal into the vibration controller to calculate the stiffness and damping to be achieved;

[0026] S6. The number of damping particles is controlled by the calculated stiffness and damping, and the damping particles are output and recovered; thereby changing the stiffness and damping of the lower part of the platform to achieve vibration reduction.

[0027] As a preferred technical solution, the signals in S1 include 4 suspension gap signals and 2 acceleration signals; the 4 suspension gap signals are redundant with each other, and the 2 acceleration signals are redundant with each other.

[0028] As a preferred technical solution, an acceleration loop is added to the algorithm when calculating the control current in S2:

[0029]

[0030] Among them, k a1 , k a2 is the acceleration loop gain, a is the vertical motion acceleration of the upper frame, The acceleration signal is obtained by differentiating the gap twice.

[0031] As a preferred technical solution, the specific process of the stiffness and damping calculated in S5 and S6 to control the number of damping particles is as follows:

[0032] The required number of damping particles is calculated based on the maximum difference between the vibration displacement of the lower support frame and the target vibration displacement and the physical properties of the filled material, and the number of damping particles is increased or decreased.

[0033] Furthermore, the physical properties of the filled material include elastic modulus, damping coefficient and related dimensions.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] 1. The vibration isolation test platform of the present invention is divided into two parts: the upper part of the platform and the lower part of the platform. The upper part of the platform includes an upper support frame, an electromagnet, and a suspension vibration sensor for suspension vibration isolation; the lower part of the platform includes a lower support frame, a hollow groove, damping particles, and a vibration sensor for particle damping vibration reduction; a multi-stage vibration reduction technology is adopted. When the upper support frame is excited, the electromagnetic suspension vibration isolation technology is first used for vibration isolation. If the effect of complete isolation is not achieved, the particle damping technology is further used in the lower support frame to attenuate the vibration energy. Similarly, when the lower support frame is excited, the vibration energy is first attenuated based on the particle damping technology, and then the vibration isolation is performed based on the electromagnetic suspension vibration isolation technology, so as to achieve the optimal vibration isolation effect.

[0036] 2. The present invention combines the advantages of electromagnetic suspension vibration isolation technology and particle damping vibration energy attenuation technology. It performs multi-stage vibration isolation when subjected to vibration excitation, can achieve full-band vibration energy attenuation and vibration isolation, and has a good vibration isolation effect. It also uses 4 suspension gap signals and 2 vibration signals. The 4 suspension gap signals are redundant with each other, and the 2 acceleration signals are redundant with each other, which improves the reliability of the system.

[0037] 3. In the present invention, the material and radius of the damping particles are changed according to the actual vibration conditions, and the shapes include spheres or tetrahedrons to ensure that the damping particles have good fluidity in the hollow filling grooves inside the lower support frame, thereby effectively improving the particle damping vibration isolation technology. Compared with the original passive vibration reduction structure, the particle damping vibration reduction technology proposed in this patent can adjust the stiffness and damping of the support frame in real time according to the actual vibration conditions, thereby further improving the vibration isolation performance of the support frame.

[0038] 4. In the present invention, the required number of damping particles is calculated according to the maximum difference between the vibration displacement of the lower support frame and the target vibration displacement and the physical properties of the filled material, and the number of damping particles is increased or decreased, thereby changing the stiffness damping of the lower part of the platform to achieve vibration reduction. There is no need to change the previous working mode of traditional electromagnetic suspension active control and damping particle addition, but only needs to improve the existing mode, and realize integrated redundancy in terms of space installation and reliability, and perform effective statistics in terms of damping particle number control, which has the characteristics of high integration, strong flexibility, convenient loading and unloading, and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 It is a schematic structural diagram of a vibration isolation test platform that combines particle damping and electromagnetic suspension in the present invention;

[0040] Figure 2 It is a schematic diagram of the structure of a vibration isolation test platform that combines particle damping and electromagnetic suspension in the present invention;

[0041] Figure 3It is a flow chart of the damping particle counting-output-recovery process in the present invention. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0043] Example

[0044] Since the frequency distribution of equipment vibration is uncertain, it is necessary to consider the vibration components of different frequency bands based on actual conditions to evaluate the vibration isolation effect.

[0045] In this embodiment, considering the excellent vibration isolation performance of electromagnetic suspension vibration control in the low-frequency band, the high-frequency vibration isolation effect is relatively weak in comparison, and the active control particle damping vibration reduction technology is introduced to further combine the vibration attenuation effect of the lower support frame to actively adjust the stiffness and damping of the support frame, so that the designed double-layer vibration isolation platform can isolate and attenuate the vibration components of different frequency bands in the upper and lower layers in terms of vibration suppression, thereby achieving the effect of multi-stage vibration attenuation isolation.

[0046] In this embodiment, a vibration isolation test platform that combines particle damping and electromagnetic suspension is used. In this experimental platform, when the upper support frame is subjected to vibration excitation, the upper support frame is controlled by the suspension control system to achieve a stable suspension state, and the vibration energy can be reduced through the magnetic coupling field. Due to the magnetic coupling effect, the vibration is not completely reduced when it is transmitted to the lower support frame, so particle damping can be used to further reduce vibration. At this time, the energy that the lower support frame continues to transmit downward can be guaranteed to be the lowest, thereby ensuring that the vibration noise interference generated by the electromechanical equipment on the platform to the surrounding equipment is the lowest.

[0047] In this embodiment, if Figure 1 As shown, the platform is divided into two parts, the upper platform part and the lower platform part. The upper platform part is arranged above the lower platform part, and the two parts are not connected.

[0048] In this embodiment, when not working, the upper support frame lands on the lower support frame. When working normally, the upper support frame and the lower support frame are suspended with a certain gap through magnetic coupling, and it can be considered to have a certain limit between the upper and lower parts to constrain the relative position during normal working.

[0049] In this embodiment, the upper part of the platform includes an upper support frame 2, an electromagnet 1, and a suspension vibration sensor 5 for suspension vibration isolation; the upper part of the platform is supported by the upper support frame 2, and the electromagnet 1 is symmetrically arranged on both sides of the upper part of the platform, and the suspension vibration sensor 5 is symmetrically arranged on both sides of the upper part of the platform;

[0050] In this embodiment, the lower part of the platform includes a lower support frame 6, a hollow groove 4, damping particles 3, and a vibration sensor 7, which are used for particle damping and vibration reduction; the lower part of the platform is supported by the lower support frame 6, and the vibration sensors 7 are symmetrically arranged on both sides of the lower part of the platform. A hollow groove 4 is arranged in the lower part of the platform, and the damping particles 3 are filled in the groove.

[0051] In this embodiment, the electromagnet 2 is fixed to the upper part of the platform by bolts, and each two are connected in series to form a suspension point and arranged horizontally, and a suspension vibration sensor is configured at one end of each two electromagnets to measure the suspension and vibration of the upper support frame in real time. In addition, the suspension vibration sensor synchronously measures 4 gap signals and 2 vibration signals, which are transmitted to the magnetic controller via the serial port for control current calculation.

[0052] In this embodiment, the material and radius of the damping particles 3 are changed according to the actual vibration conditions, and the shapes thereof include spheres or tetrahedrons to ensure that the damping particles 3 have good fluidity in the hollow filling grooves inside the lower support frame.

[0053] In this embodiment, the suspension vibration sensor 5 is connected to the suspension vibration controller; the vibration sensor 7 is connected to the vibration controller; a power switch is provided in the suspension vibration controller for generating electromagnetic force to realize active vibration reduction.

[0054] In this embodiment, the electromechanical equipment that needs to be subjected to vibration reduction and noise reduction is installed on the upper part of the platform, and the vibration isolation is performed by using the working method of the vibration isolation test platform mixed with particle damping and electromagnetic suspension. The method uses a vibration isolation test platform mixed with particle damping and electromagnetic suspension to work, and performs multi-stage vibration isolation when subjected to vibration excitation. The method steps include:

[0055] S1. Monitor the suspension vibration of the upper part of the platform through the suspension vibration sensor, collect signals, and send the signals to the suspension vibration controller through the serial port; realize the suspension control of the upper support frame and the above equipment through the suspension vibration control system, and perform vibration control considering the vibration conditions of the upper support frame and the above equipment, and realize the non-mechanical contact between the upper support frame and the lower support frame through the suspension non-contact method.

[0056] In this embodiment, the signal includes 4 suspension gap signals and 2 acceleration signals; when the suspension sensor collects data, it uses analog electrical signals that can represent the 4 gap signals and the 2 acceleration signals to send them to the controller, and the 4 suspension gap signals are redundant with each other, and the 2 acceleration signals are redundant with each other. When a channel of the gap signal or the acceleration signal fails, the system can continue to work.

[0057] S2, using the suspension vibration controller to calculate the control current through the signal transmitted in S1;

[0058] In this embodiment, when the electromechanical equipment arranged on the upper part of the upper support frame is used as a vibration excitation source, the vibration isolation platform is normally started. The suspension vibration sensor measures the suspension gap between the upper / lower support frames and the vibration of the upper support frame, and sends it to the controller through the serial port for control current calculation, such as Figure 2 As shown. The basic current calculation formula in the PID (proportion integration differentiation) control algorithm is:

[0059]

[0060] Among them, k p ,k i ,k d are the coupling gains of different links respectively, s and s0 are the actual suspension gap and the expected suspension gap respectively.

[0061] In this embodiment, in order to effectively control the vibration, an acceleration loop is added to the algorithm when calculating the control current:

[0062]

[0063] Among them, k a1 , k a2 is the acceleration loop gain, a is the vertical motion acceleration of the upper frame, The acceleration signal is obtained by differentiating the gap twice.

[0064] S3, driving the electromagnet by the control current to generate a response electromagnetic force for active vibration reduction;

[0065] S4. After the vibration of the upper part of the platform is reduced, the suspension vibration of the lower part of the platform is monitored by the vibration sensor and the monitoring signal is collected;

[0066] In this embodiment, when the vibration isolation performance meets the requirements, the particle damping system of the lower support frame does not work. When the vibration isolation performance does not meet the requirements, on the one hand, the upper support frame suspension vibration control system further performs vibration control, and on the other hand, the particle damping system of the lower support frame works in combination with the vibration state, outputs or recovers a corresponding number of damping particles, changes the stiffness of the lower support frame, and combines the above two methods to improve the full-band vibration isolation performance of the system in the range of 10 to 10kHz.

[0067] In this embodiment, when the equipment arranged on the upper support frame transmits vibration downward as a vibration excitation source, after the above-mentioned electromagnetic suspension control system performs contactless vibration isolation, some high-frequency vibration components are still transmitted to the lower support frame through the coupling electromagnetic force. The hollow frame in the lower support frame can further attenuate the vibration energy by filling particle damping.

[0068] S5, inputting the collected monitoring signal into the vibration controller to calculate the stiffness and damping to be achieved;

[0069] S6. The number of damping particles is controlled by the calculated stiffness and damping, and the damping particles are output and recovered; thereby the stiffness and damping of the lower part of the platform are reduced to achieve vibration reduction.

[0070] In this embodiment, the required number of damping particles is calculated based on the maximum difference between the vibration displacement of the lower support frame and the target vibration displacement and the physical properties of the filled material, and the number of damping particles is increased or decreased. The physical properties of the filled material include elastic coefficient, damping coefficient and related dimensions.

[0071] In this embodiment, the lower support frame is provided with a particle damping output and recovery channel, and the damping particles are output and recovered by matching the corresponding number of damping particles with the stiffness and damping required by the lower support frame. Figure 3 When the vibration reduction effect is met, the channel is closed. When the vibration reduction effect does not meet the requirements, the channel is opened according to the calculation and statistical results of the damping particles to increase or decrease the damping particles.

[0072] In summary, compared with the existing technology, this method can better control the vibration of the entire frequency band, and can actively adjust it in combination with a certain characteristic frequency to achieve more refined active control.

[0073] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A vibration isolation test platform combining particle damping and electromagnetic suspension, characterized in that: The platform is divided into two parts: the upper platform and the lower platform. The upper platform is arranged above the lower platform, and the two parts are not connected. The upper part of the platform comprises an upper support frame (2), an electromagnet (1), and a suspension vibration sensor (5) for suspension vibration isolation; The upper part of the platform is supported by an upper support frame (2), electromagnets (1) are symmetrically arranged on both sides of the upper part of the platform, and suspended vibration sensors (5) are symmetrically arranged on both sides of the upper part of the platform; The lower part of the platform comprises a lower support frame (6), a hollow groove (4), damping particles (3), and a vibration sensor (7), which are used for particle damping and vibration reduction; The lower part of the platform is supported by a lower support frame (6), vibration sensors (7) are symmetrically arranged on both sides of the lower part of the platform, and a hollow groove (4) is arranged at the lower part of the platform, and damping particles (3) are filled in the groove.

2. A particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 1, characterized in that: The electromagnets (1) are fixed to the upper part of the platform by bolts, and every two of them are connected in series as a group and arranged transversely.

3. The particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 1 is characterized in that: The damping particles (3) are detachably mounted in the hollow groove.

4. A particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 3, characterized in that: The damping particles (3) are shaped like a sphere or a tetrahedron, so as to ensure that the damping particles (3) have good fluidity in the hollow groove inside the lower support frame.

5. The particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 1 is characterized in that: The suspension vibration sensor (5) is connected to the suspension vibration controller; and the vibration sensor (7) is connected to the vibration controller.

6. A working method of a vibration isolation test platform combining particle damping and electromagnetic suspension, characterized in that: The method is applied to a vibration isolation test platform that combines particle damping and electromagnetic suspension as described in any one of claims 1 to 5, and performs multi-stage vibration isolation when subjected to vibration excitation. The method steps include: S1, monitoring the suspension vibration of the upper part of the platform through the suspension vibration sensor, collecting signals, and transmitting the signals to the suspension vibration controller; S2, using the suspension vibration controller to calculate the control current through the signal transmitted in S1; S3, driving the electromagnet by the control current to generate a response electromagnetic force for active vibration reduction; S4. After the upper part of the platform is de-vibrated, the suspension vibration of the lower part of the platform is monitored by a vibration sensor and monitoring signals are collected; S5, inputting the collected monitoring signal into the vibration controller to calculate the stiffness and damping to be achieved; S6. The number of damping particles is controlled by the calculated stiffness and damping, and the damping particles are output and recovered; thereby changing the stiffness and damping of the lower part of the platform to achieve vibration reduction.

7. The working method of the particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 6 is characterized in that: The signals in S1 include 4 suspension gap signals and 2 acceleration signals; the 4 suspension gap signals are redundant with each other, and the 2 acceleration signals are redundant with each other.

8. The working method of the particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 6 is characterized in that: When calculating the control current in S2, an acceleration loop is added to the PID control algorithm, and the calculation formula of the control current is: Among them, k a1 , k a2 is the acceleration loop gain, a is the vertical motion acceleration of the upper frame, The acceleration signal is obtained by differentiating the gap twice.

9. The working method of the particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 6 is characterized in that: The specific process of controlling the number of damping particles based on the stiffness and damping calculated in S5 and S6 is as follows: The required number of damping particles is calculated based on the maximum difference between the vibration displacement of the lower support frame and the target vibration displacement and the physical properties of the filled material, and the number of damping particles is increased or decreased.

10. The working method of the particle damping and electromagnetic suspension hybrid vibration isolation test platform according to claim 9 is characterized in that: The physical properties of the filled material include elastic modulus, damping coefficient and related dimensions.

Images