Nonlinear bidirectional active anti-shock damper

Abstract

The application belongs to the technical field of dampers, and specifically discloses a nonlinear bidirectional active anti-impact damper, which comprises a cylinder body, a load connecting plate, an elastic supporting piece and a magnetic damping assembly. The load connecting plate is floatingly installed at one axial end of the cylinder body through the elastic supporting piece. The load connecting plate is connected with a piston rod, and the end of the piston rod extends into the cylinder body. The magnetic damping assembly comprises a magnet and a coil, one of which is connected to the end of the piston rod, and the other is connected in the cylinder body. The damper further comprises a displacement sensor and a controller. The displacement sensor is used to detect the displacement data of the load connecting plate. The controller is connected with the displacement sensor and the coil respectively, and is used to control the current size of the coil, so that the coil cuts the magnetic force lines of the magnet to generate a magnetic damping force which changes nonlinearly with displacement. The damper can effectively suppress vibration impact, realize gentle anti-impact, and reduce the influence of sudden impact force on the service performance of equipment.

Description

Technical Field

[0001] This application belongs to the field of damper technology, and more specifically, relates to a nonlinear bidirectional active shock damper. Background Technology

[0002] Whether in the service of mobile equipment or in precision manufacturing, impact phenomena are ubiquitous and a key factor restricting equipment performance and precision manufacturing accuracy. For example, aircraft takeoff and landing, and recoil suppression after artillery firing generate instantaneous high speeds and large impacts, reducing the structural lifespan. In particular, low-voltage products inside ships can experience accidental activation under impact vibration, leading to discontinuous power supply interruptions. To effectively absorb and dissipate the energy of external impacts and reduce the adverse effects of impact vibration on equipment, various types of shock-resistant devices have been developed and applied in practical engineering, playing a crucial role in ensuring system performance and improving safety.

[0003] In related technologies, common shock-resistant devices include liquid dampers, air dampers, and permanent magnet dampers. These dampers often generate excessive damping forces when faced with instantaneous high-speed impacts, causing severe damage to equipment and urgently need improvement. Summary of the Invention

[0004] In view of the deficiencies or improvement needs of the existing technology, this application provides a nonlinear bidirectional active shock damper. The damping force of the damper changes smoothly and is not likely to cause serious impact to the equipment.

[0005] This application provides a nonlinear bidirectional active shock damper, specifically comprising a cylinder, a load connecting plate, an elastic support member, and a magnetic damping assembly, wherein:

[0006] The load connecting plate is floatingly mounted on one axial end of the cylinder body via an elastic support member. The load connecting plate is connected to a piston rod, the end of which extends into the cylinder body.

[0007] The magnetic damping assembly includes a magnet and a coil, one of which is connected to the piston rod end and the other is connected to the cylinder body;

[0008] The damper also includes a displacement sensor and a controller. The displacement sensor is used to detect the displacement data of the load connection plate. The controller is connected to the displacement sensor and the coil respectively. The controller is used to control the current of the coil according to the displacement data detected by the displacement sensor, so that the magnetic damping coefficient of the damper is linearly related to the displacement of the load connection plate. When the load connection plate moves with the force difference between the external force and the elastic force of the elastic support, the coil cuts the magnetic lines of force of the magnet to generate a magnetic damping force that changes nonlinearly with the displacement.

[0009] Compared with existing technologies, the technical solution conceived in this application introduces a feedback control mechanism into the damper. By actively changing the current in the coil, variable damping control is achieved, making the damping characteristic a nonlinear function that changes with displacement. In the initial displacement segment of the impact, the velocity is relatively high, but the corresponding magnetic damping coefficient is small, preventing excessive instantaneous magnetic damping force. As the displacement increases, the damping coefficient also increases, while the velocity continuously decreases, ensuring a smooth change in magnetic damping force during the buffering process and guaranteeing the smoothness of the impact resistance. Furthermore, due to the floating design of the load connection plate, the load connection plate can actively and smoothly resist impacts through the magnetic damping force generated by the magnetic damping component when subjected to forward or reverse impacts, reducing the impact of sudden impacts on equipment performance and ensuring equipment safety.

[0010] As a further preferred embodiment, the piston rod is slidably sealed to the open end of the cylinder, and the cylinder is filled with damping fluid.

[0011] As a further preferred embodiment, two positioning bushings are provided axially spaced within the cylinder body, and the magnet or coil is connected to the cylinder body through the two positioning bushings.

[0012] As a further preferred embodiment, the cylinder body is provided with two buffer limiting structures, which are respectively located at the two axial ends of the cylinder body. The end of the piston rod is located between the two buffer limiting structures, and the end of the piston rod can move to abut against either of the buffer limiting structures.

[0013] As a further preferred embodiment, the buffer limiting structure includes a limiting plate and an elastic element, the limiting plate being connected to the cylinder body via the elastic element, and the limiting plate having a limiting surface for the piston rod to abut against.

[0014] As a further preferred embodiment, multiple elastic elements are provided, and the multiple elastic elements are evenly spaced along the circumference of the cylinder body.

[0015] As a further preferred embodiment, the cylinder body is also fixed with a guide structure for guiding the limiting plate.

[0016] As a further preferred embodiment, the stiffness of the elastic element is greater than the stiffness of the elastic support element.

[0017] As a further preferred embodiment, the damping fluid is capable of flowing through the buffer limiting structure and the end of the piston rod.

[0018] As a further preferred embodiment, the open end of the cylinder is sealed with a perforated sealing end cap, the piston rod extends into the inner cavity of the cylinder along the perforation, and a sealing structure is provided between the inner wall of the perforation and the circumferential surface of the piston rod.

[0019] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages:

[0020] 1. This damper incorporates a feedback control mechanism, which achieves variable damping control by actively changing the current in the coil. This makes the damping characteristic a nonlinear function that changes with displacement. When the initial load velocity is large, it will not generate excessive damping force, thus ensuring the smoothness of the impact process. Under continuous impact, the damper can trigger a limit switch, generating a high-stiffness, high-damping effective limit switch, effectively suppressing vibration impact, reducing the impact of sudden impact force on equipment performance, and ensuring equipment safety.

[0021] 2. The damping fluid can not only achieve low stiffness and low damping vibration isolation performance of the damper under impact-free conditions with wide-gap damping structure and low-stiffness support spring, but also generate large damping force through the squeezing and shearing motion of the damping fluid when the piston rod contacts the buffer limiting structure, thus assisting the buffer limiting structure to achieve the limiting function. Attached Figure Description

[0022] Figure 1 This is a cross-sectional view of the overall structure of the nonlinear bidirectional active shock damper provided in the embodiments of this application;

[0023] Figure 2 This is a block diagram of the magnetic damping force control of the nonlinear bidirectional active shock damper as a function of displacement, provided in the embodiments of this application.

[0024] Figure 3 This is a schematic diagram showing the change of magnetic damping characteristics of the nonlinear bidirectional active shock damper provided in the embodiments of this application as a function of displacement;

[0025] Figure 4 This is a schematic diagram of the magnetic damping component provided in an embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the first buffer limiting structure provided in the embodiments of this application;

[0027] Figure 6 This is a schematic diagram of the second buffer limiting structure provided in the embodiments of this application.

[0028] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0029] 1. Cylinder body; 2. Load connecting plate; 3. Elastic support; 4. Piston rod; 5. Magnet; 6. Coil; 7. Displacement sensor; 8. Positioning bushing; 9. Damping fluid; 10. Sealing end cap; 11. Sealing ring; 12. Guide bearing; 13. First limiting plate; 14. First elastic element; 15. Second limiting plate; 16. Second elastic element; 17. Guide rod. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0031] The following is in conjunction with the appendix Figure 1-6 This application will be described in further detail.

[0032] This application discloses a nonlinear bidirectional active shock damper. (Refer to...) Figure 1 The nonlinear bidirectional active shock damper includes a cylinder 1, a load connecting plate 2, an elastic support 3, and a magnetic damping assembly. The load connecting plate 2 is floatingly mounted at one end of the cylinder 1 via the elastic support 3. A piston rod 4 is connected to the load connecting plate 2, with its end extending into the cylinder 1. The magnetic damping assembly is located inside the cylinder 1 and includes a magnet 5 and a coil 6. One of the magnet 5 and the coil 6 is connected to the end of the piston rod 4, and the other is connected inside the cylinder 1. The damper also includes a displacement sensor 7 and a controller (not shown in the figure). The displacement sensor 7 detects the displacement data of the load connecting plate 2. The controller is connected to both the displacement sensor 7 and the coil 6. The controller controls the current in the coil 6 based on the displacement data detected by the displacement sensor 7, making the magnetic damping coefficient of the damper linearly related to the displacement of the load connecting plate 2. When the load connecting plate 2 moves axially along the force difference between the external force and the elastic force of the elastic support 3, the coil 6 cuts the magnetic lines of force of the magnet 5, generating a magnetic damping force that changes nonlinearly with the displacement.

[0033] In practical applications, the magnetic damping force has a linear relationship with the velocity. The controller actively controls the current value of the coil 6 based on the monitoring value (i.e., displacement data) of the displacement sensor 7, thereby controlling the magnetic damping force at different positions of the damper and achieving nonlinear changes in the magnetic damping characteristics with displacement. In the initial displacement phase, the velocity is relatively large, but the corresponding magnetic damping coefficient is small, preventing excessive instantaneous magnetic damping force. As the displacement increases, the damping coefficient also increases, while the velocity continuously decreases, ensuring that the magnetic damping force remains relatively constant and thus guarantees a smooth change in the magnetic damping force during the buffering process.

[0034] Furthermore, two removable positioning bushings 8 are axially spaced within the cylinder body 1, and the magnet 5 or coil 6 is connected to the cylinder body 1 via the two positioning bushings 8. In some embodiments, the positioning bushings 8 are, but are not limited to, installed at the open end of the cylinder body 1 by an interference fit (i.e., Figure 1 The top end of the cylinder 1 shown) and the bottom end (i.e. Figure 1 (The bottom of cylinder 1 as described in the text).

[0035] Furthermore, in some specific embodiments, the coil 6 has a circular cross-section and is wound in a ring around the end of the piston rod 4. The magnet 5 is ring-shaped and coaxially positioned inside the cylinder 1 by two positioning bushings 8. Preferably, a large radial gap is left between the coil 6 and the magnet 5. Under this design, the two form a wide-gap damping structure to ensure that the damper has low-damping vibration isolation characteristics under impact-free conditions.

[0036] In other embodiments, when the coil 6 is connected inside the cylinder 1 and the magnet 5 is mounted on the piston rod 4, the coil 6 preferably also covers the outer periphery of the magnet 5. It should be noted that regardless of whether the coil 6 or the magnet 5 is connected inside the cylinder 1, the installation position and dimensions of the coil 6 and the magnet 5 should satisfy the requirement that the coil 6 can cut the magnetic lines of force of the magnet 5 when the load connecting plate 2 moves.

[0037] Furthermore, such as Figure 4 In the scheme shown, when the coil 6 is fixed to the end of the piston rod 4, the load connecting plate 2 and the piston rod 4 preferably have pre-reserved wiring holes. The control wire of the coil 6 is connected to the controller through the wiring holes to realize the current regulation of the coil 6. The outlet of the wiring hole is preferably sealed with a rubber ring.

[0038] Furthermore, the elastic support is preferably a support spring, and even more preferably a support spring with low stiffness characteristics.

[0039] For ease of understanding, Figure 2 A control scheme for a controller is demonstrated. In this scheme, when the load connection plate 2 is subjected to a momentary impact, the displacement signal sampled by the displacement sensor 7 is discretely converted into a long series of digital signals by an ADC (analog-to-digital converter). The ADC then inputs the digital signals into a processor, where a solver extracts the long series of digital signals. The differentiator within the controller then calculates the speed of the damper (i.e., the moving speed of the load connection plate 2) based on the extracted digital signals. The pre-built control law in the controller provides the desired magnetic damping coefficient (e.g., ...) based on the digital signals. Figure 3 As shown, when subjected to impact, the given magnetic damping coefficient is a linear function of displacement. Then, based on the velocity and damping coefficient, the damping force function is obtained. The controller then uses this damping force function, combined with pre-constructed thrust functions related to current and magnetic field strength, to inversely solve for the real-time changing current law. The solver then calculates based on the current law and generates a control signal via DAC digital-to-analog conversion. The controller then uses this control signal to control the current change in coil 6 (generally alternating current), causing the movement of coil 6 to cut the magnetic lines of force of magnet 5, thus obtaining the expected magnetic damping force that varies with displacement, achieving the damping characteristic that varies with displacement. The operating and construction principles of the differentiator, control law, etc., are existing technologies and will not be elaborated upon here.

[0040] Furthermore, the piston rod 4 slides and seals with the open end of the cylinder 1, and the cylinder 1 is filled with damping fluid 9 (i.e., Figure 1 (As shown in the shaded area), the damping fluid 9 can provide steady damping. Furthermore, to achieve a sliding seal between the piston rod 4 and the open end of the cylinder 1, a sealing unit is provided at the open end of the cylinder 1.

[0041] Specifically, the sealing unit includes a sealing end cap 10, which is sealed to the open end of the cylinder body 1. The sealing end cap 10 has a through hole through which the piston rod 4 passes axially. A sealing structure is provided between the inner circumferential wall of the through hole and the circumferential surface of the piston rod 4. The sealing structure includes, but is not limited to, a sealing ring 11. When selecting the sealing ring 11, it is preferably fixedly fitted inside the cavity of the sealing end cap 10, and the inner circumferential wall of the sealing ring 11 is in a sealed fit with the circumferential surface of the piston rod 4.

[0042] With this design, the sealing end cap 10 and the sealing ring 11 restrict the overflow of the damping fluid 9 in the inner cavity of the cylinder 1, while preventing external impurities from entering the working section of the damper, reducing the number of times the damping fluid 9 needs to be replaced, and improving the reliability of the damper's operation.

[0043] Furthermore, a guide bearing 12 can also be installed in the sealing end cover 10. The sealing end cover 10, the sealing ring 11, and the guide bearing 12 are coaxial with the piston rod 4. The inner walls of the sealing ring 11 and the guide bearing 12 are in a hole-shaft fit with the piston rod 4. The guide bearing 12 can provide a guiding function for the axial movement of the piston rod 4.

[0044] Furthermore, the inner end face of the sealing end cap 10 fits against the end face of the positioning bushing 8 at the opening end of the cylinder body 1, and the inner end of the sealing end cap 10 protrudes to form a boss that extends into the inner cavity of the cylinder body 1. The outer circumferential wall of the boss can fit against the edge of the inner circumferential wall of the positioning bushing 8.

[0045] Furthermore, in this embodiment, the displacement sensor 7 is installed between the load connecting plate 2 and the sealing end cap 10 to monitor the relative displacement between the two. In this design, by using the displacement of the damper as the input to the control processor and the magnetic damping force as the final output, the magnetic damping force that varies with displacement can be obtained.

[0046] Furthermore, this damper is also equipped with a bidirectional limiting unit, which has the characteristics of high stiffness and high damping, and can provide impact protection for piston rod 4.

[0047] Specifically, such as Figure 1As shown, the bidirectional limiting unit includes two buffer limiting structures, which are disposed within the cylinder body 1 and located at opposite axial ends of the piston rod 4. When the load connecting plate 2 is not subjected to external force (such as external impact force), the end of the piston rod 4 forms an axial gap with the two buffer limiting structures. When the load connecting plate 2 is subjected to a positive or negative external force (such as impact force), the end of the piston rod 4 can move to abut against one of the buffer limiting structures, forming bidirectional buffer protection. Generally, positive refers to the direction along the axis of the cylinder body 1 from the load connecting plate 2 towards the cylinder body 1, and negative refers to the opposite direction.

[0048] Furthermore, the buffer limiting structure includes a limiting plate and an elastic element. The limiting plate is connected to the cylinder body via the elastic element, and the limiting plate has a limiting surface for the piston rod to abut against. Furthermore, the stiffness of the elastic element is greater than the stiffness of the elastic support element.

[0049] In some embodiments, to improve performance, multiple elastic elements may be provided in the buffer limiting structure, and the multiple elastic elements should be evenly distributed at intervals along the circumference of the cylinder 1 within the cylinder 1. In some embodiments, to improve the stability of the limiting plate, a guide structure for guiding the limiting plate is also fixed inside the cylinder 1.

[0050] For ease of understanding, in this embodiment, the two buffer limiting structures are further subdivided into a first buffer limiting structure and a second buffer limiting structure, and their composition and layout are as follows:

[0051] like Figure 1 and Figure 5 As shown, the first buffer limiting structure includes a first limiting plate 13 and a first elastic member 14. The first limiting plate 13 and the first elastic member 14 are distributed along the axial direction of the cylinder body 1. The first limiting plate 13 is connected to the open end of the cylinder body 1 through the first elastic member 14. The first limiting plate 13 has a first limiting surface for the piston rod 4 to abut against.

[0052] When the load connecting plate 2 is not subjected to external force (such as external transient impact force), there is a large axial gap between the first limiting surface of the first limiting plate 13 and the head of the piston rod 4, and the two do not contact each other.

[0053] Furthermore, multiple first elastic elements 14 may be provided, and the multiple first elastic elements 14 are preferably evenly distributed within the cylinder body 1 along the circumference of the cylinder body 1. The first elastic elements 14 include, but are not limited to, springs; when using springs, one end of the spring is preferably connected to the sealing end cap 10 connected to the opening end of the cylinder body 1, and the other end is preferably connected to the first limiting plate 13. With the connection of the spring, the first limiting plate 13 is located within the positioning bushing 8 at the opening end of the cylinder body 1.

[0054] Generally, mounting holes can be provided on the first limiting plate 13 and the sealing end cover 10. A certain length is reserved at both ends of the spring as a connector. By assembling and fixing the connector into the mounting hole, the spring can be connected and installed with the sealing end cover 10 and the first limiting plate 13.

[0055] like Figure 6 As shown, the second buffer limiting structure includes a second limiting plate 15 and a second elastic member 16. The second limiting plate 15 is connected to the bottom wall end of the cylinder body 1 through the second elastic member 16 and is located in the positioning bushing 8 near the bottom wall end of the cylinder body 1. The second limiting plate 15 has a second limiting surface for the piston rod 4 to abut against.

[0056] When the load connecting plate 2 is not subjected to external force, there is a large axial gap between the second limiting surface of the second limiting plate 15 and the piston rod 4, and the two do not contact each other. The first elastic element 14 and the second elastic element 16 are preferably high-stiffness springs.

[0057] Furthermore, a guide structure for guiding the second limiting plate 15 is also fixed inside the cylinder body 1. The guide structure is preferably a guide rod 17 installed at the center of the bottom wall of the cylinder body 1. Correspondingly, the second limiting plate 15 has a through hole, and the second limiting plate 15 is sleeved around the guide rod 17 through the through hole, so that the guide rod 17 provides axial movement guidance for the second limiting rod. The second elastic element 16 includes, but is not limited to, a spring sleeved around the outer periphery of the guide rod 17.

[0058] The guide rod 17 is preferably connected to the cylinder 1 by screws. When the guide rod 17 is installed at the centerline of the cylinder 1, the piston rod 4 has a clearance hole to avoid the guide rod 17.

[0059] It is understood that in some other embodiments, multiple second elastic elements 16 may be arranged around the cylinder body 1 in a circumferential manner, and the first elastic element 14 and the second elastic element 16 may also be selected from other feasible elastic structures such as spring sheets and spring pads.

[0060] Furthermore, in some embodiments, the damper can be replaced with positioning bushings 8 of different axial lengths and support springs of different specifications to obtain different damping working displacement segments; alternatively, by replacing positioning bushings 8 of different inner diameters and support springs of different specifications, the bidirectional limiting unit can be replaced with first elastic element 14 and second elastic element 16 of different specifications to obtain different impact resistance strokes.

[0061] Overall, under this design, the damper is in the enabled state. Under no-impact conditions, it achieves low-stiffness and low-damping vibration isolation through a wide-gap damping structure, damping fluid 9, low-stiffness support springs, and nonlinear magnetic damping force based on displacement control.

[0062] Upon impact, the load connecting plate 2 drives the piston rod 4 to shift. The controller actively changes the current in the coil 6 to achieve variable damping control, ensuring that excessive damping force is not generated when the initial load velocity is high, thus guaranteeing a smooth impact process. Under continuous action, the load connecting plate 2 moves until it triggers the bidirectional limit unit, generating a high-stiffness, high-damping effective limit.

[0063] When the bidirectional limiting unit is triggered, the end of the piston rod 4 contacts the first limiting plate 13 or the second limiting plate 15. When the piston rod 4 moves to abut the first limiting plate 13, it can drive the first limiting plate 13 to move towards the opening end of the cylinder 1, and is subject to the restoring force of the first elastic element 14, thus achieving axial limiting at one end. When the piston rod 4 moves to abut the second limiting plate 15, it can drive the second limiting plate 15 to move towards the bottom wall end of the cylinder 1, and is subject to the restoring force of the second elastic element 16, thus achieving axial limiting at the other end. At the same time, when the piston rod 4 contacts the first limiting plate 13 or the second limiting plate 15, the internal flow channel of the cylinder 1 narrows, and the extrusion and shearing motion of the damping fluid 9 generates a large damping force, which assists the first elastic element 14 or the second elastic element 16 in achieving the limiting function.

[0064] After the shock is completed, the damper uses the elastic restoring force of the support spring to return the damper to its initial working position.

[0065] It should be understood that the "no-impact condition" mentioned in this application refers to the absence of instantaneous large impacts, but the presence of relatively gentle external disturbances. Even with relatively gentle external disturbances, the load connection plate 2 still exhibits displacement, and the initial velocity change of the load subjected to non-impact disturbances is more gradual compared to impact disturbances.

[0066] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0067] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0068] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0069] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0070] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A nonlinear bidirectional active shock damper, characterized in that, It includes a cylinder body (1), a load connecting plate (2), an elastic support (3), and a magnetic damping assembly, wherein: The load connecting plate (2) is floatingly mounted on one axial end of the cylinder body (1) via an elastic support member (3). The load connecting plate (2) is connected to a piston rod (4), the end of which extends into the cylinder body (1). The magnetic damping assembly includes a magnet (5) and a coil (6), one of which is connected to the end of the piston rod (4) and the other is connected inside the cylinder (1); The damper also includes a displacement sensor (7) and a controller. The displacement sensor (7) is used to detect the displacement data of the load connecting plate (2). The controller is connected to the displacement sensor (7) and the coil (6) respectively. The controller is used to control the current of the coil (6) according to the displacement data detected by the displacement sensor (7), so that the magnetic damping coefficient of the damper is linearly related to the displacement of the load connecting plate (2). When the load connecting plate (2) moves with the force difference between the external force and the elastic force of the elastic support (3), the coil (6) cuts the magnetic lines of force of the magnet (5) to generate a magnetic damping force that changes nonlinearly with the displacement. The piston rod (4) is slidably sealed to the open end of the cylinder (1), and the cylinder (1) is filled with damping fluid (9).

2. The nonlinear bidirectional active shock damper as described in claim 1, characterized in that, Two positioning bushings (8) are arranged axially in the cylinder (1), and the magnet (5) or coil (6) is connected to the cylinder (1) through the two positioning bushings (8).

3. The nonlinear bidirectional active shock damper as described in claim 1, characterized in that, The cylinder (1) is provided with two buffer limiting structures, which are respectively located at the two ends of the cylinder (1) along the axial direction. The end of the piston rod (4) is located between the two buffer limiting structures, and the end of the piston rod (4) can move to abut against either of the buffer limiting structures.

4. The nonlinear bidirectional active shock damper as described in claim 3, characterized in that, The buffer limiting structure includes a limiting plate and an elastic element. The limiting plate is connected to the cylinder (1) through the elastic element. The limiting plate has a limiting surface for the piston rod (4) to abut against.

5. The nonlinear bidirectional active shock damper as described in claim 4, characterized in that, The elastic element is provided in multiple ways, and the multiple elastic elements are evenly distributed in the cylinder (1) along the circumference of the cylinder (1).

6. The nonlinear bidirectional active shock damper as described in claim 4, characterized in that, The cylinder (1) is also fixed with a guide structure for guiding the limiting plate.

7. The nonlinear bidirectional active shock damper as described in claim 4, characterized in that, The stiffness of the elastic element is greater than that of the elastic support (3).

8. The nonlinear bidirectional active shock damper as described in claim 4, characterized in that, The damping fluid (9) can flow through the buffer limiting structure and the end of the piston rod (4).

9. The nonlinear bidirectional active shock damper as described in any one of claims 1-8, characterized in that, The cylinder body (1) is sealed with a perforated sealing end cap (10) at the open end. The piston rod (4) extends into the inner cavity of the cylinder body (1) along the perforation. A sealing structure is provided between the inner wall of the perforation and the circumferential surface of the piston rod (4).

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