Active and passive hybrid vibration isolation test platform and working method thereof

Abstract

The invention relates to an active and passive hybrid vibration isolation test platform and a working method thereof. The active-passive hybrid vibration isolation test platform is composed of a main body device, a vibration sensing device, a vibration control device and an active-passive hybrid vibration isolation device. The active and passive hybrid vibration isolation devices are symmetrically arranged on the two sides of the armature and comprise supports, particle dampers and electromagnets, the electromagnets are supported above the armature through the supports, the supports are of hollow structures, damping particles are filled in the supports, and coils are wound on the electromagnets. A suspension controller in the active vibration isolation module controls the current of an electromagnet coil so as to attenuate a low-frequency vibration signal and realize active vibration control; and under the combined action of particle damping in the passive vibration reduction module, medium-frequency and high-frequency vibration signals are attenuated, and passive vibration control is realized. Compared with the prior art, the device has the advantages that the adjusting range of elasticity and damping parameters is expanded, and the vibration isolation stability is improved.

Description

Technical Field

[0001] The invention relates to the technical field of vibration isolation equipment, and in particular to an active-passive hybrid vibration isolation test platform and a working method thereof. Background Art

[0002] With the rapid development of modern science and technology, higher and higher requirements are put forward for vibration conditions. In order to ensure the normal operation of mechanical systems, various vibration control technologies have been developed for vibration control. According to whether the vibration control method has external energy input, it can be divided into passive vibration control technology and active vibration control technology.

[0003] Passive vibration control technology has a simple structure and low cost. It does not require an external power supply or a control system during operation and has been widely used. However, once the design and installation are completed, the output characteristic parameters of the system (stiffness, damping, etc.) cannot be adjusted according to the actual working conditions, and it cannot solve the problem of medium and low frequency vibration. Active vibration control technology uses sensors to measure various state signals of the system (gap, acceleration, etc.), and through feedback, the controller generates a control signal to control the vibration reduction device to generate a vibration reduction force that offsets the vibration force. It has a significant control effect on low frequency vibration, but its system is complex and has poor control effect on medium and high frequency vibration. Summary of the invention

[0004] The purpose of the present invention is to provide an active-passive hybrid vibration isolation test platform and a working method thereof in order to overcome the defects of the above-mentioned prior art.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] According to one aspect of the present invention, an active-passive hybrid vibration isolation test platform is provided, the platform comprising a main device, a vibration sensing device, a vibration control device and an active-passive hybrid vibration isolation device;

[0007] Among them, the main device includes a mounting plate 6, a connector 7 and an armature 9; the vibration sensing device is a suspension sensor 2, which is fixed on the armature 9 and is used to sense vibration; the vibration control device is a suspension controller, which communicates with the vibration sensing device and the active and passive hybrid vibration isolation device and is used to provide control during the active vibration isolation process; the active and passive hybrid vibration isolation device is symmetrically arranged on both sides of the armature 9, and the device includes a bracket 3, a particle damping 4 and an electromagnet 5. The bracket 3 supports the electromagnet 5 above the armature 9. The bracket 3 is a hollow structure filled with damping particles. A coil 8 is wound around the electromagnet 5 to achieve active and passive hybrid vibration isolation.

[0008] As a preferred technical solution, in the main device, the mounting plate 6 is connected and fixed directly above the armature 9 via the connector 7 , and the electromechanical device is a vibration source, which is located on the mounting plate 6 .

[0009] As a preferred technical solution, in its vibration sensing device, the suspension sensor 2 is fixedly installed on the surface of the armature 9, between the electromagnet 5 and the armature 9, and includes an acceleration sensor and a gap sensor. The acceleration sensor is used to collect the lateral acceleration signal and longitudinal acceleration signal of the armature 9, and the gap sensor is used to collect the gap signal of the gap between the armature 9 and the electromagnet 5.

[0010] As a preferred technical solution, in the vibration control device, the suspension controller is placed outside the platform, receives sensor signals through wired or wireless communication, and adjusts the coil current according to the signals.

[0011] As a preferred technical solution, in the active-passive hybrid vibration isolation device, the damping particles are a mixture of hard particles and semi-hard particles.

[0012] According to another aspect of the present invention, an active-passive hybrid vibration isolation method is provided. The method is applied to an active-passive hybrid vibration isolation test platform as described above. When the vibration generated by the electromechanical equipment installed on the mounting plate 6 is transmitted to the bracket 3, the suspension controller in the active vibration isolation module controls the coil current of the electromagnet 5 to attenuate the low-frequency vibration signal to achieve active vibration control; the particle damping 4 in the passive vibration reduction module works together to attenuate the medium and high frequency vibration signals to achieve passive vibration control.

[0013] As a preferred technical solution, the specific process of active vibration control is as follows: when the suspension gap between the electromagnet 5 and the armature 9 changes, the electromagnetic suction force and the gravity generated by the armature 9 are no longer balanced. At this time, the suspension sensor 2 samples to obtain a sampling signal, and the sampling signal is transmitted to the suspension controller after high-pass filtering. The suspension control algorithm is used in the suspension controller to obtain a control current by calculating the adopted signal. The electromagnetic suction force is changed by controlling the current, thereby offsetting the vibration force, so that the electromagnetic suction force and gravity are balanced again, thereby realizing active vibration control.

[0014] As a preferred technical solution, the sampling signals include a gap signal of the gap between the armature 9 and the electromagnet 5 , a current signal of the coil 8 on the electromagnet 5 , a longitudinal acceleration signal of the armature 9 , and a lateral acceleration signal of the armature 9 .

[0015] As a preferred technical solution, the suspension control algorithm is a PID control algorithm.

[0016] As a preferred technical solution, the specific formula for calculating the control current using the PID control algorithm is:

[0017] i=k1(δ-δ0)+k2∫(δ-δ0)+k3∫a+k4∫b

[0018] Among them, i is the control current calculated by the suspension controller, δ-δ0 is the suspension gap deviation, a is the vertical acceleration signal, b is the lateral acceleration signal, k1, k2, k3, and k4 are feedback coefficients respectively.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. In the present invention, the active and passive hybrid vibration isolation device is symmetrically arranged on both sides of the armature. The device includes a bracket, particle damping and an electromagnet. The bracket supports the electromagnet above the armature. The bracket is a hollow structure filled with damping particles. A coil is wound around the electromagnet to achieve active and passive hybrid vibration isolation. The active and passive vibration isolation technologies are combined to expand the adjustment range of elasticity and damping parameters, thereby providing the best performance under general working conditions.

[0021] 2. In the present invention, when the vibration generated by the electromechanical equipment installed on the mounting plate is transmitted to the bracket, the suspension controller in the active vibration isolation module controls the current of the electromagnet coil to attenuate the low-frequency vibration signal to achieve active vibration control; the particle damping in the passive vibration reduction module works together to attenuate the medium and high frequency vibration signals to achieve passive vibration control. Under extreme working conditions, the stability of the present invention is also guaranteed, thereby improving the comprehensive performance of the vibration isolation device.

[0022] 3. In the present invention, when the suspension gap between the electromagnet and the armature changes, the electromagnetic suction force and the gravity generated by the armature are no longer balanced. At this time, the suspension sensor samples to obtain a sampling signal, and the sampling signal is transmitted to the suspension controller after high-pass filtering. The suspension control algorithm is used in the suspension controller to calculate the control current by using the signal. The electromagnetic suction force is changed by the control current, thereby offsetting the vibration force, so that the electromagnetic suction force and the gravity are balanced again, and active vibration control is realized. The active vibration process is contactless, mechanical friction-free, and the electromagnetic force and support parameters are controllable and adjustable with the change of the control parameters, which enhances the scope of application of the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the active and passive hybrid vibration isolation test platform in the present invention;

[0024] Figure 2 It is a schematic diagram of the process flow of the active and passive hybrid vibration isolation method in the present invention;

[0025] In the figure, 1 is a base, 2 is a suspension sensor, 3 is a bracket, 4 is a particle damper, 5 is an electromagnet, 6 is a mounting plate, 7 is a connector, 8 is a coil, and 9 is an armature. DETAILED DESCRIPTION

[0026] 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.

[0027] With the rapid development of modern science and technology, higher and higher requirements are put forward for vibration conditions. In order to ensure the normal operation of mechanical systems, various vibration control technologies have been developed for vibration control. According to whether the vibration control method has external energy input, it can be divided into passive vibration control technology and active vibration control technology.

[0028] Passive vibration control technology has a simple structure and low cost. It does not require an external power supply or a control system during operation. It has been widely used. However, once the design and installation are completed, the output characteristic parameters of the system (stiffness, damping, etc.) cannot be adjusted according to the actual working conditions, and the problem of medium and low frequency vibration cannot be solved. Active vibration control technology uses sensors to measure various state signals of the system (gap, acceleration, etc.), and generates control signals through feedback to control the vibration reduction device to generate a vibration reduction force that offsets the vibration force. It has a significant control effect on low frequency vibration, but its system is complex and has poor control effect on medium and high frequency vibration. Particle collision damper is a damper that consumes vibration energy by collision between particles under external vibration excitation. It has the advantages of high vibration frequency, simple structure and long life. Electromagnetic suspension vibration isolation, as an active vibration control technology, can overcome the shortcomings of passive vibration isolation. It has the advantages of no contact, no mechanical friction, and electromagnetic force and support parameters (stiffness, damping, etc.) can be controlled and adjusted with the change of control parameters. Therefore, how to well combine particle damping passive vibration isolation technology and non-contact vibration isolation based on electromagnetic suspension technology and propose a reasonable structure and control design has become an important technical problem that needs to be solved urgently in this technical field.

[0029] Example 1

[0030] In this embodiment, an active-passive hybrid vibration isolation test platform is used, which is composed of a main device, a vibration sensing device, a vibration control device and an active-passive hybrid vibration isolation device;

[0031] Among them, the main device includes a mounting plate 6, a connector 7 and an armature 9; the vibration sensing device is a suspension sensor 2, which is fixed on the armature 9 and is used to sense vibration; the vibration control device is a suspension controller, which communicates with the vibration sensing device and the active and passive hybrid vibration isolation device and is used to provide control during the active vibration isolation process; the active and passive hybrid vibration isolation device is symmetrically arranged on both sides of the armature 9, and the device includes a bracket 3, a particle damping 4 and an electromagnet 5. The bracket 3 supports the electromagnet 5 above the armature 9. The bracket 3 is a hollow structure filled with damping particles. A coil 8 is wound around the electromagnet 5 to achieve active and passive hybrid vibration isolation.

[0032] In its main device, the mounting plate 6 is connected and fixed to the top of the armature 9 through the connector 7, and the electromechanical device is the vibration source, which is located on the mounting plate 6. In its vibration sensing device, the suspension sensor 2 is fixedly installed between the electromagnet 5 and the armature 9, including an acceleration sensor and a gap sensor. In its vibration control device, the suspension controller is placed outside the platform, receives the sensor signal through wired or wireless communication, and adjusts the coil current according to the signal. In its active and passive hybrid vibration isolation device, the damping particles are a mixture of hard particles and semi-hard particles.

[0033] In this embodiment, the structure of the active-passive hybrid vibration isolation test platform is as follows: Figure 1 As shown, it includes: an active vibration isolation part (electromagnetic suspension device), which is based on electromagnetic suspension technology and mainly consists of four parts: an armature 9, an electromagnet 5, a coil 8 wound on the electromagnet 5, and a suspension sensor 2. The current on the coil 8 of the electromagnet 5 is adjusted in real time according to the gap sensor signal to achieve an active vibration isolation effect; a passive vibration isolation part (particle damping 4 bracket 3), which is mainly composed of a bracket 3, the internal structure of the bracket 3 is hollow, and a particle damping 4 device is formed by filling fine particles in the internal cavity of the bracket 3 to achieve a passive vibration isolation effect. The bracket 3 is fixed on the base 1, and the electromagnet 5 is placed above the armature 9 through the bracket 3. The armature 9 is directly placed on the base 1. The suspension sensor 2 is installed between the electromagnet 5 and the armature 9 to monitor the vibration. In order to ensure redundancy, the suspension sensor 2 collects 2 gap signals, 2 current signals, 2 longitudinal acceleration signals, and 2 lateral acceleration signals. The suspension controller is connected to the electromagnetic coil 8 and the suspension sensor 2.

[0034] In this embodiment, the working principle of the active-passive hybrid vibration isolation test platform is as follows: Figure 2As shown, specifically: when the electromechanical equipment arranged on the mounting plate 6 generates vibration interference, the vibration isolation platform is started. The suspension controller calculates the control current according to the vertical acceleration change value and the lateral acceleration change value between the armature 9, the electromagnet 5 and the bracket 3 measured by the suspension sensor 2, and changes the electromagnetic suction force by changing the coil current to offset the vibration force, so that the electromagnetic suction force and the gravity are balanced again, and active vibration control is realized to control low-frequency vibration. Due to electromagnetic coupling, the vibration generated by the electromechanical equipment arranged on the mounting plate 6 will be transmitted to the bracket 3. The active vibration isolation module composed of the electromagnetic suspension device can effectively control low-frequency vibration. The interior of the bracket 3 is a multi-unit hollow structure. By filling the internal cavity of the bracket 3 with a mixture of hard particles and semi-hard particles, a passive vibration reduction module based on multi-unit multi-particle damping 4 is formed to attenuate medium and high frequency vibrations. The designed vibration isolation platform combines electromagnetic suspension technology with particle damping 4 technology to achieve an expansion of the adjustment range of elasticity and damping parameters.

[0035] In summary, the active-passive hybrid vibration isolation test platform is based on electromagnetic suspension technology and particle collision damper, combining active and passive vibration isolation technologies, and expanding the adjustment range of elasticity and damping parameters, thereby providing the best performance under general working conditions. At the same time, under extreme working conditions, the stability of the invention is also guaranteed, thereby improving the comprehensive performance of the vibration isolation device.

[0036] Example 2

[0037] According to another aspect of the present invention, an active-passive hybrid vibration isolation method is provided. The method is applied to an active-passive hybrid vibration isolation test platform as described above. When the vibration generated by the electromechanical equipment installed on the mounting plate 6 is transmitted to the bracket 3, the suspension controller in the active vibration isolation module controls the coil current of the electromagnet 5 to attenuate the low-frequency vibration signal to achieve active vibration control; the particle damping 4 in the passive vibration reduction module works together to attenuate the medium and high frequency vibration signals to achieve passive vibration control.

[0038] An active-passive hybrid vibration isolation test platform, characterized in that it includes a mounting plate 6, an active vibration isolation part, a passive vibration isolation part and a base 1; the active vibration isolation module (electromagnetic suspension device) is mainly composed of an electromagnet 5, a coil 8 wound on the electromagnet 5, a suspension sensor 2 and a suspension controller; the passive control module (particle damping 4 bracket 3) is mainly composed of a bracket 3 that is hollow inside and filled with particles. When the electromechanical equipment arranged on the mounting plate 6 generates vibration interference, the vibration isolation platform starts.

[0039] In this embodiment, the specific process of active vibration control is as follows: when the suspension gap between the electromagnet 5 and the armature 9 changes, the electromagnetic suction force and the gravity generated by the armature 9 are no longer balanced. At this time, the suspension sensor 2 samples to obtain a sampling signal, and the sampling signal is transmitted to the suspension controller after high-pass filtering. The suspension control algorithm is used in the suspension controller to obtain a control current by using the signal calculation. The electromagnetic suction force is changed by controlling the current, thereby offsetting the vibration force, so that the electromagnetic suction force and gravity are balanced again, thereby realizing active vibration control.

[0040] In this embodiment, the sampling signals include 2 gap signals, 2 current signals, 2 longitudinal acceleration signals and 2 lateral acceleration signals.

[0041] In this embodiment, the suspension controller calculates the control current based on the vertical acceleration signal and the lateral acceleration signal of the suspension sensor 2 obtained by high-pass filtering, and adopts the PID control algorithm as the suspension control algorithm. The control current is:

[0042] i=k1(δ-δ0)+k2∫(δ-δ0)+k3∫a+k4∫b

[0043] Among them, i is the control current calculated by the suspension controller, δ-δ0 is the suspension gap deviation, a is the vertical acceleration signal, b is the lateral acceleration signal, k1, k2, k3, and k4 are feedback coefficients respectively.

[0044] In this embodiment, due to electromagnetic coupling, the vibration generated by the electromechanical equipment installed on the mounting plate 6 will be transmitted to the bracket 3. The active vibration isolation module composed of the electromagnetic suspension device can effectively control the low-frequency vibration. The interior of the bracket 3 is a multi-unit hollow structure. By filling the internal cavity of the bracket 3 with particulate matter, a passive vibration reduction module based on multi-unit multi-particle damping 4 is formed to attenuate medium and high frequency vibrations.

[0045] In this embodiment, in order to broaden the vibration reduction frequency band of the passive vibration isolation module and enhance the vibration reduction effect, the particles filled in the internal cavity of the bracket 3 are a mixture of hard particles and semi-hard particles. The two particles work together to automatically adjust the particle collision behavior according to the actual vibration conditions.

[0046] In summary, the active-passive hybrid vibration isolation method is based on electromagnetic suspension technology and particle collision damper, combining active and passive vibration isolation technologies, and realizing the expansion of the adjustment range of elasticity and damping parameters, thereby providing the best performance under general working conditions. At the same time, under extreme working conditions, the stability of the present invention is also guaranteed, thereby improving the comprehensive performance of the vibration isolation device.

[0047] 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. An active-passive hybrid vibration isolation test platform, characterized in that: The platform consists of a main device, a vibration sensing device, a vibration control device and an active-passive hybrid vibration isolation device; The main body device comprises a mounting plate (6), a connecting body (7) and an armature (9); The vibration sensing device is a suspension sensor (2) fixed on the armature (9) and used for sensing vibration; The vibration control device is a suspension controller that communicates with the vibration sensing device and the active-passive hybrid vibration isolation device and is used to provide control during active vibration isolation; The active-passive hybrid vibration isolation device is symmetrically arranged on both sides of an armature (9). The device comprises a bracket (3), a particle damper (4) and an electromagnet (5). The bracket (3) supports the electromagnet (5) above the armature (9). The bracket (3) is a hollow structure filled with damping particles. A coil (8) is wound around the electromagnet (5) to achieve active-passive hybrid vibration isolation.

2. The active-passive hybrid vibration isolation test platform according to claim 1, characterized in that: In the main device, the mounting plate (6) is connected and fixed to the upper part of the armature (9) via the connecting body (7), and the electromechanical device is a vibration source and is located on the mounting plate (6).

3. The active-passive hybrid vibration isolation test platform according to claim 1 is characterized in that: In the vibration sensing device, a suspension sensor (2) is fixedly mounted on the surface of the armature (9), between the electromagnet (5) and the armature (9), and comprises an acceleration sensor and a gap sensor, wherein the acceleration sensor is used to collect a lateral acceleration signal and a longitudinal acceleration signal of the armature (9), and the gap sensor is used to collect a gap signal of the gap between the armature (9) and the electromagnet (5).

4. The active-passive hybrid vibration isolation test platform according to claim 1, characterized in that: In the vibration control device, the suspension controller is placed outside the platform, receives sensor signals through wired or wireless communication, and adjusts the coil current according to the signals.

5. The active-passive hybrid vibration isolation test platform according to claim 1 is characterized in that: In the active-passive hybrid vibration isolation device, the damping particles are a mixture of hard particles and semi-hard particles.

6. An active-passive hybrid vibration isolation method, characterized in that: The method is applied to an active-passive hybrid vibration isolation test platform as described in any one of claims 1 to 5. When the vibration generated by the electromechanical equipment installed on the mounting plate (6) is transmitted to the bracket (3), the suspension controller in the active vibration isolation module controls the current of the electromagnet (5) coil (8) to attenuate the low-frequency vibration signal to achieve active vibration control; the particle damping (4) in the passive vibration reduction module works together to attenuate the medium and high frequency vibration signals to achieve passive vibration control.

7. The active-passive hybrid vibration isolation method according to claim 6, characterized in that: The specific process of the active vibration control is as follows: when the suspension gap between the electromagnet (5) and the armature (9) changes, the electromagnetic suction force and the gravity generated by the armature (9) are no longer balanced. At this time, the suspension sensor (2) samples to obtain a sampling signal, and the sampling signal is transmitted to the suspension controller after high-pass filtering. In the suspension controller, a suspension control algorithm is used to calculate a control current by using the signal. The electromagnetic suction force is changed by the control current, thereby offsetting the vibration force, so that the electromagnetic suction force and the gravity are balanced again, thereby realizing active vibration control.

8. The active-passive hybrid vibration isolation method according to claim 6, characterized in that: The sampling signals include a gap signal of the gap between the armature (9) and the electromagnet (5), a current signal of the coil (8) on the electromagnet (5), a longitudinal acceleration signal of the armature (9) and a lateral acceleration signal of the armature (9).

9. The active-passive hybrid vibration isolation method according to claim 6, characterized in that: The suspension control algorithm is a PID control algorithm.

10. The active-passive hybrid vibration isolation method according to claim 9, characterized in that: The specific formula for calculating the control current using the PID control algorithm is: i=k1(δ-δ0)+k2∫(δ-δ0)+k3∫a+k4∫b Among them, i is the control current calculated by the suspension controller, δ-δ0 is the suspension gap deviation, a is the vertical acceleration signal, b is the lateral acceleration signal, k1, k2, k3, and k4 are feedback coefficients respectively.

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