Damping-controllable low-impact inerter vibration reduction device and control method

Abstract

The invention discloses a damping-controllable low-impact inerter vibration reduction device and a control method, the damping-controllable low-impact inerter vibration reduction device comprises a low-impact inerter, a shell, a ball screw device and a controllable electromagnetic damper, the sudden change working condition of instantaneous reversing of a traditional inerter often induces obvious impact, and then the vibration reduction performance is deteriorated. Therefore, the invention provides the double-flywheel inerter structure with different rotating directions, and the double flywheels work independently, so that the problem that large impact is generated due to sudden change of reversing is effectively solved. Besides, the controllable electromagnetic damper and the low-impact inerter are integrally designed, the inerter overcomes the defect that the damper cannot change the inherent frequency of a system and can provide large inerter, a control method is provided, the controllable electromagnetic damper can be adjusted to output expected electromagnetic damping force according to the needed ideal torque, and the electromagnetic damping force can be adjusted to be larger than that of the low-impact inerter. Therefore, the vibration damping device can obtain more excellent vibration damping performance.

Description

Technical Field

[0001] The present invention relates to the technical field of shock absorbers, and in particular to a low-impact inertia container shock absorber with controllable damping and a control method thereof. Background Art

[0002] Inertia tank is a double-end mechanical vibration reduction element commonly used in mechanical vibration reduction systems, such as automobile suspension systems, train suspension systems, aircraft landing gear systems, etc. Its vibration reduction principle is to convert reciprocating vibration energy into inertial energy for storage, and it can change the natural frequency of the system, and has a better vibration reduction effect on low-frequency vibration reduction. However, during the vibration reduction process, the inertia tank needs to reciprocate and there are frequent commutation mutations, which will lead to inertial impact, thereby reducing the vibration reduction performance of the system. This phenomenon has become a common technical problem of current mechanical inertia tanks.

[0003] Variable damping is one of the current mainstream vibration reduction control technologies. According to different system states, real-time adjustment and matching of the optimal damping of the system can achieve ideal vibration reduction effects, especially in the resonant frequency band of the system. According to different principles, advanced vibration reduction devices such as damping continuously adjustable dampers, magnetorheological dampers, and electromagnetic dampers have been derived. However, the real-time adjustment of the damping characteristics of the system cannot change the natural frequency of the system, which has certain limitations on the vibration reduction performance in the low-frequency band. The above-mentioned characteristics of the inertial container can just make up for this disadvantage.

[0004] In summary, it is of great significance to solve the impact problem in the vibration reduction process of inertial container, develop a low-impact inertial container vibration reduction control technology with controllable damping, and invent high-performance low-frequency vibration reduction. Summary of the invention

[0005] In order to solve the above problems, the present invention provides a low-impact inertial vibration reduction device with controllable damping and a control method. The inertial device adopts a double flywheel structure with different rotation directions, which can effectively solve the problem of inertial shock caused by frequent reversal of the flywheel caused by the reciprocating motion of the inertial device during operation. According to the design concept of functional integration, the controllable electromagnetic damper and the double flywheel inertial structure with different rotation directions are integrated and designed, effectively giving play to the advantages of the controllable electromagnetic damper in real-time damping control, and taking advantage of the inertial device's ability to change the natural frequency of the system, a more excellent vibration reduction performance can be obtained.

[0006] To achieve the above object, the technical solution of the present invention is:

[0007] A low-impact inertial vibration reduction device with controllable damping includes an inertial device, a housing, a ball screw device, and a controllable electromagnetic damper; the inertial device is composed of a screw, a screw nut, two one-way needle roller clutch bearings with different installation directions fixed together with a flywheel by fastening screws, and rotating parts such as angular contact ball bearings and needle roller thrust bearings that rotate together with the screw nut. The screw is installed on the suspension system through a hanging ear. Under the action of external excitation, the screw shaft produces reciprocating linear motion, and the ball in the screw nut drives the nut to rotate. Assuming that the rotation direction defined by the one-way needle roller clutch bearing 1 is clockwise, the one-way needle roller clutch bearing 2 is opposite to it due to the different installation directions. If the screw nut rotates clockwise, the one-way needle roller clutch bearing 2 is fixed together with the screw nut to rotate, the one-way needle roller clutch bearing 1 rotates idly, and the flywheel 1 does not rotate. When the screw nut rotates counterclockwise, the situation is opposite. The rotational motion of the nut is converted into the unidirectional rotational motion of the two flywheels, and the rotating parts on the double flywheels and the screw nut are defined as the first inertia container and the second inertia container. The two inertia containers work independently. When one inertia container works, the other cannot work, which solves the problem of inertial impact caused by frequent reversal mutations of the flywheel caused by the reciprocating motion of the inertia container when working.

[0008] The shell includes a shell body, an end cover, and a lifting lug. The shell body and the shell cover are connected by ordinary hexagonal bolts. The controllable electromagnetic damper is fixed to the shell cover by hexagonal cylindrical screws. The lifting lug is fixed to the end cover and is installed on the suspension system through the lifting lug. The shell is a protective device. The inertial device and the variable damping device are placed in the shell to protect the internal devices from external physical damage, and can prevent the influence of environmental factors such as dust, moisture, corrosive gas, temperature change, ultraviolet rays, etc., so as to extend the service life of the shock absorber.

[0009] The ball screw device includes a screw, a screw nut, a lifting lug and a screw housing. The lifting lug is welded and fixed to the screw and is installed on the suspension system through the lifting lug so that vibration can be transmitted to the ball screw device. The screw housing is welded and fixed to the bearing end cover to protect the screw from external physical damage.

[0010] The controllable electromagnetic damper is composed of a protective shell part, a lead screw and a linear motor, etc. The side of the shell close to the motor is fixed to the end cover by bolts, and the lead screw, linear motor, etc. are placed in the protective shell to prevent debris from entering the controllable electromagnetic damper, thereby extending the service life of the controllable electromagnetic damper; the stator and the stator shell in the linear motor are fixed together, the winding is wound inside the stator, and a permanent magnet is placed in the optical axis part of the lead screw. The lead screw serves as the mover of the linear motor. When the lead screw performs a linear motion, an induced current is generated inside the device due to cutting the magnetic flux lines, and a corresponding electromagnetic damping force is generated, which provides resistance to movement, dissipates the vibration energy of the system, and achieves vibration reduction.

[0011] The present invention provides a control method for a low-impact inertial container vibration reduction device with controllable damping. When the system vibrates, the first inertial container and the second inertial container work independently, and the control principles are the same. Herein, the control steps when the first inertial container works are introduced:

[0012] H1: Based on the state of the system obtained by the sensor, the controller calculates the expected shock absorber output force and converts it into The expected torque can be calculated as follows: d is the desired torque, F d is the expected force, r g is the transmission ratio of the ball screw pair. The desired force obtained is compared with the electromagnetic damping force that the controllable electromagnetic damper can output. The desired current is calculated based on the desired force. After adjusting the equivalent resistance to adjust the current of the damping device to the ideal current, the desired force F is output. d ;

[0013] After adjusting the equivalent resistance, the damping device current I t in I min ~I max The corresponding damping coefficient c t In c min ~c max between;

[0014] H2: Set five judgment factors m1, m2, m3, m4, m5, among which:

[0015]

[0016] m2=c 1d -c max

[0017] m3=c 2d -c max

[0018] m4=c 1d -c min

[0019] m5=c 2d -c min

[0020] in: is the first differential value of the rotation angle of the flywheel, is the first differential value of the rotation angle of the screw nut, c max is the maximum damping that the variable damping device can output, c min It is the minimum damping that the variable damping device can output;

[0021] H3: Determine whether m1 is less than 0. If so, the system dynamics equation is dynamics equation 1, otherwise it is dynamics equation 2;

[0022] The kinetic equation 1 is:

[0023]

[0024] Where b = b 1 +b 2 , b 1 is the inertia of the inertial device other than the flywheel, b 2 is the inertia of the flywheel;

[0025] The kinetic equation 2 is:

[0026]

[0027] H4: Determine whether m2 is greater than 0. If so, adjust the damping of the damping device output dynamics model 1 to the maximum. Otherwise, execute step H6;

[0028] H5: Determine whether m3 is greater than 0. If so, adjust the damping of the damping device output dynamics model 2 to the maximum. Otherwise, execute step H7;

[0029] H6: Determine whether m4 is greater than 0. If so, the damping device is adjusted according to the expected damping value, otherwise the damping is adjusted to the minimum;

[0030] H7: Determine whether m5 is greater than 0. If so, the damping device is adjusted according to the expected damping value, otherwise the damping is adjusted to the minimum;

[0031] H8: After the damping device obtains the desired moment, the desired damping coefficient is calculated as:

[0032]

[0033] In the formula, c 1d is the expected damping coefficient of the damping device in dynamic model 1, F 1d is the desired force output by the damping device, c 2d is the expected damping coefficient of the damping device in dynamic model 2, F 2d is the desired force output by the damping device;

[0034] H9: After the desired force of the damping device is obtained as described above, the desired current of the damping device is obtained through calculation. After adjusting the corresponding equivalent resistance, the damping device outputs the desired force to achieve the vibration reduction effect and complete the control.

[0035] Beneficial results of the present invention:

[0036] (1) The damping controllable low-impact inertial device and control method provided by the present invention can convert the rotational motion of the screw nut into unidirectional rotation of two flywheels by utilizing two one-way needle roller clutch bearings with different installation directions when the vehicle vibrates, so that the two inertial devices can work independently and will not cause sudden reversal of the flywheel due to the change of working direction, thereby effectively reducing the reversal shock caused by the change of working direction of the inertial device during operation.

[0037] (2) The damping controllable low-impact inertial container vibration reduction device and control method provided by the present invention integrate the inertial container and the controllable electromagnetic damper into one system. The controllable electromagnetic damper can be used to adjust the optimal damping of the matching system in real time, and the inertial container can be used to make up for the deficiency of the controllable electromagnetic damper in low-frequency vibration reduction. The advantages of the two devices in vibration reduction can be fully utilized. After the two devices are integrated, more excellent vibration reduction performance can be achieved.

[0038] (3) The damping controllable low-impact inertia container vibration reduction device and its control method provided by the present invention have the ability to perform dynamic regulation according to the real-time state of the system, and output the desired force that meets the requirements by accurately controlling the controllable electromagnetic damper. With the help of semi-active control strategy, the device can achieve results similar to active control, effectively reducing costs and energy consumption, significantly improving vibration reduction performance, and achieving a more excellent vibration reduction effect.

[0039] (4) The low-impact inertial container vibration reduction device with controllable damping provided by the present invention can significantly reduce the switching impact caused by the frequent switching of the inertial container, effectively avoid the occurrence of dynamic breakdown of the inertial container, greatly improve the reliability and service life of the vibration reduction device, and ensure that it can stably and efficiently exert its vibration reduction performance during long-term use. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the accompanying drawings, in which:

[0041] Figure 1 The schematic diagram of the structure of the low-impact inertia container vibration reduction device with controllable damping is shown;

[0042] Figure 2 It is a schematic diagram of the three-dimensional structure of a low-impact inertia container vibration reduction device with controllable damping;

[0043] Figure 3 This is a schematic diagram of the explosion structure of a low-impact inertia container;

[0044] Figure 4 is a schematic diagram of a ball screw device;

[0045] Figure 5 It is a schematic diagram of the principle of a one-way needle roller clutch bearing;

[0046] Figure 6 This is the control strategy diagram.

[0047] In the figure: 1. ball screw; 2. screw protection housing; 3. No. 1 bearing end cover; 4. No. 1 shell; 5. fastening screw; 6. No. 1 one-way needle roller clutch bearing; 7. No. 2 one-way needle roller clutch bearing; 8. gasket; 9. No. 1 ordinary hexagonal bolt; 10. No. 2 bearing end cover; 11. No. 2 shell; 12. end cover; 13. ear one; 14. permanent magnet; 15. winding; 16. stator housing; 17. angular contact ball bearing; 18. screw nut; 19. flywheel one; 20. flywheel two; 21. needle roller thrust bearing; 22. thrust washer; 23. No. 2 ordinary hexagonal bolt; 24. ear two. Specific implementation plan

[0048] In order to make the technical solution of the present invention better understood by those skilled in the art or other fields, the specific implementation methods of the present invention are further described below.

[0049] Combination Figures 1 to 6 The present invention provides a low-impact inertial device with controllable damping, including an inertial device, a housing, a ball screw device, and a controllable electromagnetic damper. The inertial device uses a double flywheel structure with different rotation directions, and uses a fastening screw 5 to fix two one-way needle roller clutch bearings 6 and 7 with different installation directions with flywheels 19 and 20. The inertial device also includes a screw nut 18, two angular contact ball bearings 17, three needle roller thrust bearings 21, etc. The screw device is mounted on the suspension system through a lifting lug 13 and a lifting lug 24. Under the action of external excitation, the ball screw device converts the linear reciprocating motion generated by the vibration of the suspension system into a rotary motion. Assuming that the first one-way needle roller clutch bearing 6 is specified to rotate in a clockwise direction, the second one-way needle roller clutch bearing 7 is installed in the opposite direction to the first one-way needle roller clutch bearing 6, and its rotation direction is also opposite to that of the first one-way needle roller clutch bearing 6. When the lead screw nut rotates clockwise, the No. 2 one-way needle roller clutch bearing 7 and the flywheel 19 are fixed together with the lead screw nut and rotate, while the No. 1 one-way needle roller clutch bearing 6 and the flywheel 19 are in idling. When the lead screw nut rotates counterclockwise, the situation is opposite. The rotational motion of the nut is converted into two one-way rotational motions through two one-way needle roller clutch bearings with different installation directions. The two flywheels and the rotating parts on the lead screw nut are defined as the first inertia container and the second inertia container. The two inertia containers work independently. When one inertia container works, the other cannot work.

[0050] The housing is a protective device. Placing the inertial device and the controllable electromagnetic damper in the housing can protect the internal device from external physical damage, thereby extending the service life of the shock absorber. Specifically, it includes a No. 1 housing body 4 and a No. 1 bearing end cover 3, etc. The No. 1 housing body 4 and the No. 1 bearing end cover 3 are connected by a No. 2 ordinary hexagonal bolt 23, and the No. 1 housing body 4 and the No. 2 bearing end cover 10 are connected by a No. 1 ordinary hexagonal bolt 9. The controllable electromagnetic damper is fixed to the end cover 12 by a hexagon socket cylindrical screw, and the second ear 13 is welded and fixed to the end cover 12, and is installed on the suspension system through the ear 13.

[0051] The ball screw device is connected to the suspension system. When the suspension system vibrates under the action of external excitation, the screw moves linearly, and the balls in the screw nut drive the nut to rotate, and then the screw nut drives other rotating parts to rotate synchronously. The ball screw device specifically includes a screw 1, a screw nut 18 and a second lug 24. The second lug 24 is welded and fixed on the screw 1, and the ball screw device is installed on the suspension system through the second lug 24. A certain number of permanent magnets 14 are placed on the optical axis of the screw, and the screw shaft is used as a mover of the linear motor to play a corresponding role.

[0052] The controllable electromagnetic damper includes a protective shell part, a lead screw and a linear motor. The protective shell is fixed by a No. 2 shell body 11 and an end cover 12 through ordinary hexagonal bolts. A certain number of permanent magnets 14 placed on the optical axis part of the lead screw 1 are used as the mover of the linear motor. The stator and the stator shell 16 in the linear motor are fixed together. There is a winding 15 in the stator. Under the action of road surface excitation, the lead screw produces linear motion, and the coil in the stator cuts the magnetic flux lines to generate induced current and generate corresponding electromagnetic damping force. The current in the coil can be adjusted by adjusting the equivalent resistance of the coil at both ends of the stator, thereby adjusting the damping size. When the equivalent resistance of the coil is adjusted to the minimum, the current in the coil is maximum, and the corresponding damping is also maximum. When the equivalent resistance of the coil is adjusted to the maximum, the current in the coil is minimum, and the corresponding damping is also minimum.

[0053] A control method for a low-impact inertial container vibration reduction device with controllable damping. The control method is that when the system vibrates, since the first inertial container and the second inertial container work independently, their control principles are the same. Herein, the control steps when the first inertial container works are introduced:

[0054] H1: Based on the state of the system obtained by the sensor, the controller calculates the expected shock absorber output force and converts it into The expected torque can be calculated as follows: d is the desired torque, F d is the expected force, r gis the transmission ratio of the ball screw pair. The desired force obtained is compared with the electromagnetic damping force that the electromagnetic damping device can output. The desired current is calculated based on the desired force. After adjusting the equivalent resistance to adjust the current of the damping device to the ideal current, the desired force F is output. d ;

[0055] After adjusting the equivalent resistance, the damping device current I t in I min ~I max The corresponding damping coefficient c t In c min ~c max between;

[0056] H2: Set five judgment factors m1, m2, m3, m4, m5, among which:

[0057]

[0058] m2=c 1d -c max

[0059] m3=c 2d -c max

[0060] m4=c 1d -c min

[0061] m5=c 2d -c min

[0062] in: is the first differential value of the rotation angle of the flywheel, is the first differential value of the rotation angle of the screw nut, c max is the maximum damping that the variable damping device can output, c min It is the minimum damping that the variable damping device can output.

[0063] H3: Determine whether m1 is less than 0. If so, the system dynamics equation is dynamics equation 1, otherwise it is dynamics equation 2.

[0064] The kinetic equation 1 is:

[0065]

[0066] Where b = b 1 +b 2 , b 1 is the inertia of the inertial device other than the flywheel, b 2 is the inertia of the flywheel;

[0067] The kinetic equation 2 is:

[0068]

[0069] H4: Determine whether m2 is greater than 0. If so, adjust the damping of the damping device output dynamics model 1 to the maximum. Otherwise, execute step H6;

[0070] H5: Determine whether m3 is greater than 0. If so, adjust the damping of the damping device output dynamics model 2 to the maximum. Otherwise, execute step H7;

[0071] H6: Determine whether m4 is greater than 0. If so, the damping device is adjusted according to the expected damping value, otherwise the damping is adjusted to the minimum;

[0072] H7: Determine whether m5 is greater than 0. If so, the damping device is adjusted according to the expected damping value, otherwise the damping is adjusted to the minimum;

[0073] H8: After the damping device obtains the desired force, the desired damping coefficient is calculated as:

[0074]

[0075] In the formula, c 1d is the expected damping coefficient of the damping device in dynamic model 1, F 1d is the desired force output by the damping device, c 2d is the expected damping coefficient of the damping device in dynamic model 2, F 2d is the desired force output by the damping device;

[0076] H9: After the desired force of the damping device is obtained as described above, the desired current of the damping device is obtained through calculation. After adjusting the corresponding equivalent resistance to obtain the desired current, the damping device outputs the desired force to achieve the vibration reduction effect and complete the control.

[0077] The embodiments of the present invention are described in detail above, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions and variations made to these implementation cases without departing from the principles and spirit of the present invention are still within the scope of protection of the present invention.

Claims

1. A low-impact inertial container vibration reduction device with controllable damping, characterized in that: It includes an inertia device, a housing, a ball screw device, and a controllable electromagnetic damper; the inertia device adopts a double flywheel structure with different rotation directions, and uses fastening screws to fix two one-way needle roller clutch bearings with opposite installation directions to the flywheel. Assuming that the rotation direction of the one-way needle roller clutch bearing 1 is clockwise, the one-way needle roller clutch bearing 2 is opposite to it due to the different installation directions, if the screw nut rotates clockwise, the one-way needle roller clutch bearing 2 and the screw nut are fixed together and rotate, the one-way needle roller clutch bearing 1 rotates idly, and the flywheel 1 does not rotate. When the screw nut rotates counterclockwise, the situation is reversed, and the rotational motion of the nut is converted into the unidirectional rotational motion of the two flywheels. The rotating parts on the double flywheel and the screw nut are defined as the first inertia container and the second inertia container. The two inertia containers work independently. When one inertia container works, the other cannot work; the controllable electromagnetic The damper consists of a protective shell, a lead screw and a linear motor. The side of the shell close to the motor is fixed to the end cover by bolts. The lead screw, linear motor, etc. are placed in the protective shell to prevent debris from entering the controllable electromagnetic damper, thereby extending the service life of the controllable electromagnetic damper. The stator and stator shell in the linear motor are fixed together, the winding is wound inside the stator, and a permanent magnet is placed on the optical axis of the lead screw. The lead screw serves as the mover of the linear motor. When the lead screw moves linearly, an induced current is generated inside the device due to cutting the magnetic flux lines, generating corresponding electromagnetic damping force. The current in the coil can be adjusted by adjusting the equivalent resistance of the coil at both ends of the stator, thereby adjusting the damping size. When the coil equivalent resistance is adjusted to the minimum, the current in the coil is the maximum, and the corresponding damping is also the maximum. When the coil equivalent resistance is adjusted to the maximum, the current in the coil is the minimum, and the corresponding damping is also the minimum.

2. The vibration damping device according to claim 1, characterized in that: The inertia device consists of a screw, a screw nut, a pair of flywheels with different rotation directions, and rotating parts including an angular contact ball bearing and a needle roller thrust bearing that rotate together with the screw nut. Among them, two one-way needle roller clutch bearings with different installation directions are fixed together with the flywheel by fastening screws. The screw is installed on the suspension system through a lifting lug. Under the action of external excitation, the screw shaft generates reciprocating linear motion, and the ball in the screw nut drives the nut to rotate. In this process, the one-way needle roller clutch bearing uses its own mechanical properties to convert the rotational motion of the nut into unidirectional rotational motion of the two flywheels.

3. A control method for a low-impact inertial vessel vibration reduction device with controllable damping, characterized in that: When the system vibrates, the first and second inertia containers work independently, and their control principles are the same. Here are the control steps when the first inertia container is working: H1: Based on the sensor to obtain the state of the system, the controller calculates the expected shock absorber output force, according to the conversion formula The expected torque can be calculated as follows: d is the desired torque, F d is the expected force, r g is the transmission ratio of the ball screw pair. The desired torque is compared with the electromagnetic damping torque that the electromagnetic damping device can output. The desired current is calculated based on the desired torque. After adjusting the equivalent resistance to adjust the current of the damping device to the ideal current, the desired force F is output. d ; After adjusting the equivalent resistance, the damping device current I t in I min ~I max The corresponding damping coefficient c t In c min ~c max between; H2: Set five judgment factors m1, m2, m3, m4, and m5, among which: m2=c 1d -c max m3=c 2d -c max m4=c 1d - c min m5=c 2d -c min in: is the first differential value of the flywheel's rotation angle, is the first differential value of the rotation angle of the screw nut, c max is the maximum damping that the variable damping device can output, c min It is the minimum damping that the variable damping device can output; H3: Determine whether m1 is less than 0. If so, the system dynamics equation is dynamics equation 1, otherwise it is dynamics equation 2; The kinetic equation 1 is: Where b = b1 + b2, b1 is the inertia of the inertial components other than the flywheel, and b2 is the inertia of the flywheel; The kinetic equation 2 is: H4: Determine whether m2 is greater than 0. If so, adjust the damping device to output the maximum damping in the dynamic model 1. Otherwise, execute step H6. H5: Determine whether m3 is greater than 0. If so, adjust the damping device to output the maximum damping in the dynamic model 2. Otherwise, execute step H7. H6: Determine whether m4 is greater than 0. If so, the damping device is adjusted according to the desired damping value; otherwise, the damping is adjusted to the minimum value. H7: Determine whether m5 is greater than 0. If so, the damping device is adjusted according to the desired damping value; otherwise, the damping is adjusted to the minimum value. H8: After the damping device obtains the desired torque, the desired damping coefficient is calculated as: Where c 1d is the expected damping coefficient of the damping device in dynamic model 1, F 1d is the desired force output by the damping device, c 2d is the expected damping coefficient of the damping device in dynamic model 2, F 2d The desired force output by the damping device; H9: After obtaining the desired force of the damping device as described above, the desired current of the damping device is calculated. After adjusting the corresponding equivalent resistance, the damping device outputs the desired force to achieve the vibration reduction effect and complete the control.

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