Locking type long-period self-energized pendulum type semi-active control device

Abstract

The invention provides a locking type long-period self-energy-supply swing type semi-active control device. The locking type long-period self-energy-supply swing type semi-active control device comprises a shell, a rotating shaft, a swing part, a locking actuator, a control module and an energy recovery module. The rotating shaft is rotationally connected with the shell; the swinging piece is fixedly connected with the rotating shaft; the locking actuator is used for locking the rotating shaft; the control module is mounted on the rotating shaft and comprises a data acquisition unit, a data processing unit and a controller; the data acquisition unit is used for acquiring rotating angle data of the rotating shaft; the data processing unit is electrically connected with the data acquisition unit; the controller is electrically connected with the data processing unit and the locking actuator. The energy recovery module is installed on the rotating shaft, electrically connected with the control module and used for converting mechanical energy generated by rotation of the rotating shaft into electric energy needed by work of the locking actuator. According to the control device, the controller sets the locking duration according to the control algorithm, the period of the control device can be prolonged, the period prolonging range is wide, and the better control effect on long-period or even ultra-long-period vibration is achieved.

Description

Technical Field

[0001] This application belongs to the technical field of structural engineering, and more specifically, relates to a locking type long-period self-powered pendulum semi-active control device. Background Art

[0002] With the implementation of the national strategy of "building a strong maritime country", the development of ocean engineering has been rapid, and the installed capacity of ocean engineering structures such as offshore wind turbines, ocean platforms, and offshore photovoltaics has increased rapidly. At the same time, with the development of engineering technology, ocean engineering structures have gradually moved from nearshore to far sea, and floating ocean engineering structures have become a popular development direction. Floating ocean engineering structures have the advantages of environmental protection, little impact on the coastal environment, and little impact on human life on land. Floating ocean structures are of great significance for the exploitation of deep-sea resources. In addition, floating ocean wind turbines and photovoltaic power generation also have the advantage of high power generation efficiency compared with land and nearshore areas. However, due to the complex ocean environment, ocean engineering structures will be subjected to the action of complex coupled loads, such as waves, currents, ice, wind, earthquakes, etc. The structure will vibrate under the action of the load, affecting the normal service of the structure, and even causing structural damage or failure. Among them, the wave load is the load that floating ocean engineering structures continuously bear, and its period is relatively long, usually in the range of 6 - 16 seconds. The floating structure will generate vibrations with a relatively long period under the action of the wave load, and the vibration period can be up to more than 100 seconds at most. This long-period vibration will have an adverse impact on the normal service of the structure, and will cause structural fatigue problems, greatly reducing the reliability. Therefore, a technology is needed to effectively suppress the long-period vibration problem of ocean engineering structures. In addition, the problem of long-period structural vibration not only exists in ocean engineering structures, but is also relatively common in other types of structures, such as super high-rise building structures, large-span flexible structures, and ultra-long swing structures, etc. However, traditional technologies are difficult to achieve good suppression effects on such long-period vibration problems.

[0003] In order to solve various problems caused by the vibration of structures and eliminate or reduce the vibration caused by external loads, vibration control technology has developed rapidly in recent years. It is not only a hot topic in the field of civil engineering, but also in the fields of aerospace, automotive, machinery, ocean engineering, military engineering, etc. Appropriately installing a vibration control system in a structure can effectively reduce the dynamic response of the structure, reduce structural damage or fatigue damage, so as to meet people's requirements for the safety, comfort, etc. of the structure, and achieve a reasonable balance among safety, economy, and reliability. A large number of studies have shown that the application of vibration control technology in civil engineering has significant effects and important meanings. It can not only prevent or reduce structural damage, improve the disaster prevention performance of the structure, ensure people's life and property safety, but also extend the service life of the structure, reduce the maintenance cost of the structure, and meet people's comfort requirements for the structure under extreme conditions to the greatest extent.

[0004] Structural vibration control technology is mainly divided into the following four aspects: active control, passive control, semi-active control, and hybrid control. Among them, the research on passive control technology has been relatively mature. Devices used for passive tuned energy absorption, such as Tuned Mass Damper (TMD), have been applied in many civil engineering structures. The principle of TMD control is to make the frequency of the sub-structure, i.e., the damper, the same as or close to that of the main structure, i.e., the controlled structure, so that the sub-structure resonates with the main structure, and the vibration energy of the main structure is dissipated through the internal damping mechanism of the sub-structure, thereby reducing the dynamic response of the main structure and achieving the purpose of vibration control. However, since it is difficult to tune the frequency of the tuned mass damper to be the same as the long-period vibration (low-frequency vibration) of the controlled structure, it is difficult to produce a good suppression effect on long-period vibration. Even if designed according to theory and the stroke of the damper is increased to extend the period of the damper, this will result in a huge volume of the damper, making it difficult to manufacture and install in actual engineering.

[0005] In addition, during the service process of the structure, its period (frequency) is usually not fixed. For example, for a swinging structure, the swing length of a swinging crane changes continuously during use, so the period changes continuously. The periods (frequencies) of other types of structures will also change during use. After the traditional passive control device is designed and installed according to the structure period, its period (frequency) cannot be adjusted. Once the periods (frequencies) of the control device and the controlled structure are no longer the same, even with a small deviation, the control effect of the control device will be greatly reduced. Some existing active and semi-active technologies can achieve period (frequency) adjustment to a certain extent, but the adjustment range is limited and cannot meet the needs of long-period vibration control. Moreover, the existing active and semi-active technologies rely on external electrical energy. Once the power supply fails, the control device will fail and even amplify the structural vibration, having an adverse impact on the structure.

[0006] To sum up, for the long-period vibration problem, the existing technologies mainly have the following five deficiencies: First, the existing technologies have poor control effects on the long-period vibration of structures; Second, even if the existing technologies can produce a certain control effect on long-period vibration theoretically, the control device often requires a very large stroke, resulting in a very large design volume of the device and being difficult to manufacture and install in actual engineering; Third, it is difficult for the existing passive control technologies to adjust the period (frequency) of the control device after installation and use. Once the damper and the controlled structure are out of tune, the control effect will be greatly reduced; Fourth, some existing active or semi-active technologies have the function of period (frequency) adjustment, but their adjustment range is limited and it is difficult to meet the needs of long-period vibration control; Fifth, the existing active and semi-active devices rely on external energy sources, with low stability and robustness. Summary of the Invention

[0007] The purpose of the embodiment of the present application is to provide a latching long-period self-powered pendulum semi-active control device, so as to solve the technical problems existing in the prior art that traditional control devices are difficult to effectively control the long-period vibration of structures; traditional control devices require long strokes and large volumes for long-period vibration, which are difficult to manufacture and install; traditional control devices cannot adjust the period (frequency) after design and installation.

[0008] To achieve the above object, the technical solution adopted in the present application is: to provide a latching long-period self-powered pendulum semi-active control device, including a housing, a rotating shaft, a swinging member, a latching actuator, a control module, and an energy recovery module; the rotating shaft is rotatably connected to the housing; the swinging member is fixedly connected to the rotating shaft; the latching actuator is used to lock the rotating shaft; the control module is installed on the rotating shaft, and the control module includes a data acquisition unit, a data processing unit, and a controller; the data acquisition unit is used to acquire the angular displacement data of the rotating shaft; the data processing unit is electrically connected to the data acquisition unit and is used to process the angular displacement data and obtain the angular velocity of the swinging member; the controller is electrically connected to the data processing unit and the latching actuator respectively; the energy recovery module is installed on the rotating shaft and is electrically connected to the control module; the energy recovery module is used to convert the mechanical energy generated by the rotation of the rotating shaft into electrical energy required for the operation of the latching actuator; when the angular velocity obtained by the controller is equal to 0, the controller sends a locking instruction to the latching actuator, and the swinging member stops swinging; after the controller completes the locking of the latching duration according to different control algorithms, the controller sends an unlocking instruction to the latching actuator, and the swinging member resumes swinging.

[0009] Optionally, the latching actuator is an electromagnetic brake, and the electromagnetic brake includes a friction plate and an electromagnet; the friction plate is installed on the rotating shaft; the electromagnet is installed on the housing; the electromagnet can adsorb the friction plate after being energized.

[0010] Optionally, the electromagnet is provided with a through hole, the rotating shaft passes through the through hole, and the diameter of the through hole is larger than the outer diameter of the rotating shaft; the friction plate is sleeved on the rotating shaft and is fixedly connected to the rotating shaft; there is a braking gap between the friction plate and the electromagnet.

[0011] Optionally, the plate surface of the friction plate is parallel to the swinging surface of the swinging member and perpendicular to the axis of the rotating shaft.

[0012] Optionally, the swinging member includes a simple pendulum structure and a mass body; one end of the simple pendulum structure is connected to the rotating shaft, the other end of the simple pendulum structure is connected to the mass body, and the swinging surface of the simple pendulum structure is perpendicular to the axis of the rotating shaft.

[0013] Optionally, the latching long-period self-powered pendulum semi-active control device further includes a connecting member having two mutually perpendicular connecting surfaces, one of which is connected to the rotating shaft and the other is connected to the pendulum structure.

[0014] Optionally, the energy recovery module includes an electromagnetic motor connected to the rotating shaft and electrically connected to the controller; when the rotating shaft rotates, it drives the electromagnetic motor to generate electric energy.

[0015] Optionally, the energy recovery module further includes an energy storage component disposed in the control module, the energy storage component is electrically connected to the electromagnetic motor, and the energy storage component is used to store the electric energy generated by the electromagnetic motor.

[0016] Optionally, the latching long-period self-powered pendulum semi-active control device further includes a bearing, the outer ring of the bearing is connected to the housing, and the inner ring of the bearing is connected to the rotating shaft.

[0017] Optionally, the data acquisition unit is an encoder.

[0018] The beneficial effects of the latching long-period self-powered pendulum semi-active control device provided by this application are as follows:

[0019] (1) Compared with the prior art, in this application, the latching actuator, the data acquisition unit, the data processing unit, and the controller form a latching module. The controller sets the latching duration according to the control algorithm, which can extend the period of the control device, and the period extension range is wide, and it has a better control effect on long-period or even ultra-long-period vibrations.

[0020] (2) Compared with the prior art, in this application, since the latching module can directly extend the period of the control device, it is not necessary to increase the stroke of the swinging member to directly extend its period. It can extend and adjust the period of the control device to match the period of the controlled structure when the stroke of the control device is limited and the volume is small.

[0021] (3) Compared with the prior art, in this application, the energy recovery module is provided to achieve self-power supply of the control device, and finally achieve the semi-active control effect of self-powered long period, getting rid of the dependence on external energy sources and ensuring the stability and robustness of the control device.

[0022] (4) Compared with the prior art, in this application, by adopting semi-active control technology, the period of the control device is adjusted according to the state feedback of the control device to match the period of the controlled object, which maximally ensures the control effect, and different control effects can be achieved only by adjusting the control algorithm as needed, with greater robustness. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a three-dimensional structural schematic diagram of the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application;

[0025] Figure 2 It is a top view structural schematic diagram of the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application;

[0026] Figure 3 It is a left view structural schematic diagram of the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application;

[0027] Figure 4 It is a sectional view along the Figure 3 A-A line in;

[0028] Figure 5 It is an installation schematic diagram of the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application in the controlled structure;

[0029] Figure 6 It is an installation side view of the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application in the controlled structure;

[0030] Figure 7 It is an implementation flowchart of the locking module in the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application;

[0031] Figure 8 It is a working principle diagram of the locking module in the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application;

[0032] Figure 9 It is a time history curve of the swing angle of the swinging member under the simple harmonic excitation test of the locking type long-period self-powered pendulum semi-active control device provided by the embodiment of the present application and the traditional control device.

[0033] Among them, the reference numerals in the figure:

[0034] 10 - housing;

[0035] 20 - rotating shaft;

[0036] 30 - swinging member; 31 - simple pendulum structure; 32 - mass body;

[0037] 40 - Latching actuator; 41 - Electromagnet; 42 - Friction plate;

[0038] 50 - Control module;

[0039] 60 - Electromagnetic motor;

[0040] 70 - Connecting piece;

[0041] 80 - Bearing;

[0042] 90 - Bolt;

[0043] 100 - Controlled structure. Detailed implementation manner

[0044] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.

[0045] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0046] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0047] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more unless otherwise specifically defined.

[0048] Please refer to Figure 1 and Figure 2, the latching long-period self-powered pendulum semi-active control device provided by the embodiments of the present application will be described. The latching long-period self-powered pendulum semi-active control device includes a housing 10, a rotating shaft 20, a swinging member 30, a latching actuator 40, a control module 50, and an energy recovery module; the rotating shaft 20 is rotatably connected to the housing 10; the swinging member 30 is fixedly connected to the rotating shaft 20; the latching actuator 40 is used to lock the rotating shaft 20; the control module 50 is installed on the rotating shaft 20, and the control module 50 includes a data acquisition unit, a data processing unit, and a controller; the data acquisition unit is used to acquire the angular displacement data of the rotating shaft 20; the data processing unit is electrically connected to the data acquisition unit and is used to process the angular displacement data and obtain the angular velocity of the swinging member 30; the controller is electrically connected to the data processing unit and the latching actuator 40 respectively; the energy recovery module is installed on the rotating shaft 20 and is electrically connected to the control module 50; the energy recovery module is used to convert the mechanical energy generated by the rotation of the rotating shaft 20 into the electrical energy required for the operation of the latching actuator 40.

[0049] When the angular velocity acquired by the controller is equal to 0, the controller sends a locking instruction to the latching actuator 40, and the swinging member 30 stops swinging; after the controller completes the locking of the latching duration according to different control algorithms, the controller sends an unlocking instruction to the latching actuator 40, and the swinging member 30 resumes swinging.

[0050] In this embodiment, the latching actuator 40, the data acquisition unit, the data processing unit, and the controller constitute a latching module, and the period of the control device can be extended and adjusted through the latching module; the rotating shaft 20 and the swinging member 30 constitute a control force module, and an effective control force is output through the control force module.

[0051] Compared with the prior art, in the latching long-period self-powered pendulum semi-active control device provided by the present application, the controller sets the latching duration according to the control algorithm, which can extend the period of the control device, and the period extension range is wide, and it has a better control effect on long-period and even ultra-long-period vibrations.

[0052] In the present application, since the latching module can directly extend the period of the control device, therefore, the period can be directly extended without increasing the stroke of the swinging member 30, and the period of the control device can be extended and adjusted to match the period of the controlled structure under the condition that the stroke of the control device is limited and the volume is small.

[0053] In the present application, the self-power supply of the control device is realized by setting an energy recovery module, and finally the semi-active control effect of self-power supply with a long period is realized, getting rid of the dependence on external energy sources and ensuring the stability and robustness of the control device.

[0054] In the embodiments of the present application, by adopting semi-active control technology, the period of the control device is adjusted according to the state feedback of the control device to match the period of the controlled object, which maximally ensures the control effect. Moreover, different control effects can be achieved only by adjusting the control algorithm as needed, and it has greater robustness.

[0055] In this embodiment, the data acquisition unit may specifically adopt an encoder. The encoder is located in the control module 50 and is coaxially connected to the rotating shaft 20. The encoder acquires the rotation angle data of the rotating shaft 20, and the rotation angle data may be the angle that the rotating shaft 20 rotates through within a certain period of time.

[0056] In an embodiment of the present application, please refer to Figure 2 and Figure 3 , the locking actuator 40 is an electromagnetic brake, and the electromagnetic brake includes a friction plate 42 and an electromagnet 41; the friction plate 42 is installed on the rotating shaft 20; the electromagnet 41 is installed on the housing 10; the electromagnet 41 can adsorb the friction plate 42 after being energized.

[0057] Specifically, the electromagnet 41 is fixed to the housing 10 by bolts 90; the electromagnet 41 is electrically connected to the controller, and the controller outputs an electrical signal to control the electromagnet 41 to be energized and de-energized, thereby realizing the locking and unlocking functions of the locking actuator 40.

[0058] In this embodiment, when the electromagnet 41 is energized, the electromagnet 41 generates magnetism and attracts the friction plate 42. At this time, the rotating shaft 20 cannot rotate relative to the housing 10, thereby realizing the locking of the swinging member 30; when the electromagnet 41 is de-energized, the magnetism of the electromagnet 41 disappears, the electromagnet 41 is separated from the friction plate 42, and the rotating shaft 20 can continue to rotate relative to the housing 10, thereby releasing the locking of the swinging member 30.

[0059] In an embodiment of the present application, the electromagnet 41 is provided with a through hole, the rotating shaft 20 passes through the through hole, and the diameter of the through hole is larger than the outer diameter of the rotating shaft 20; the friction plate 42 is sleeved on the rotating shaft 20 and is fixedly connected to the rotating shaft 20; there is a braking gap between the friction plate 42 and the electromagnet 41.

[0060] In this embodiment, by providing a through hole on the electromagnet 41 and the diameter of the through hole being larger than the outer diameter of the rotating shaft 20, that is, the rotating shaft 20 does not contact the electromagnet 41, it can avoid the interference of the electromagnet 41 on the rotation of the rotating shaft 20 when the locking actuator 40 is not working. It can be understood that when the rotating shaft 20 rotates, the friction plate 42 will also rotate accordingly. By setting a braking gap between the friction plate 42 and the electromagnet 41, it can avoid the interference of the electromagnet 41 on the rotation of the friction plate 42 when the locking actuator 40 is not working, thereby ensuring that the rotation of the rotating shaft 20 is not affected.

[0061] In an embodiment of the present application, the plate surface of the friction plate 42 is parallel to the swinging surface of the swinging member 30 and perpendicular to the axis of the rotating shaft 20.

[0062] It can be understood that the adsorption surface of the electromagnet 41 is also perpendicular to the axis of the rotating shaft 20, that is, the adsorption surface of the electromagnet 41 is parallel to the plate surface of the friction plate 42. When the locking actuator 40 works, the electromagnet 41 is in surface contact with the friction plate 42, making the adsorption between the electromagnet 41 and the friction plate 42 more firm and realizing the rapid locking of the rotating shaft 20.

[0063] In an embodiment of the present application, please refer to Figure 1 and Figure 3 , the swinging member 30 includes a simple pendulum structure 31 and a mass body 32; one end of the simple pendulum structure 31 is connected to the rotating shaft 20, the other end of the simple pendulum structure 31 is connected to the mass body 32, and the swinging surface of the simple pendulum structure 31 is perpendicular to the axis of the rotating shaft 20.

[0064] In an embodiment of the present application, please refer to Figure 1 and Figure 3 , the locking type long-period self-powered pendulum type semi-active control device further includes a connecting member 70. The connecting member 70 has two mutually perpendicular connecting surfaces, one of which is connected to the rotating shaft 20 and the other is connected to the simple pendulum structure 31.

[0065] In an embodiment of the present application, please refer to Figures 1 to 3 , the energy recovery module includes an electromagnetic motor 60. The electromagnetic motor 60 is connected to the rotating shaft 20 and electrically connected to the controller; when the rotating shaft 20 rotates, it drives the electromagnetic motor 60 to generate electric energy.

[0066] In this embodiment, the electromagnetic motor 60 is coaxially connected to the rotating shaft 20, and the control module 50 is installed at the tail of the electromagnetic motor 60. The controller can control the electromagnetic motor 60 to realize energy recovery.

[0067] In an embodiment of the present application, the energy recovery module further includes an energy storage member. The energy storage member is arranged in the control module 50 and is electrically connected to the electromagnetic motor 60. The energy storage member is used to store the electric energy generated by the electromagnetic motor 60.

[0068] It can be understood that the energy storage member is electrically connected to the controller, the data acquisition unit, the data processing unit and the locking actuator respectively. The electric energy generated by the electromagnetic motor 60 is stored in the energy storage member and can provide the electric energy required for the operation of the controller, the data acquisition unit, the data processing unit and the locking actuator. Specifically, the energy storage member can adopt a micro battery.

[0069] In an embodiment of the present application, please refer to Figure 3 and Figure 4, the closed - type long - period self - powered pendulum semi - active control device further includes a bearing 80. The outer ring of the bearing 80 is connected to the housing 10, and the inner ring of the bearing 80 is connected to the rotating shaft 20.

[0070] In this embodiment, by providing the bearing 80, it can play a role in supporting the rotating shaft 20. At the same time, it can also reduce the resistance when the rotating shaft 20 rotates relative to the housing 10, reduce the energy loss when the swinging member 30 swings, and is beneficial to meeting the requirements of long - period vibration control. Specifically, the bearing 80 can adopt a ball bearing.

[0071] In an embodiment of the present application, the closed - type long - period self - powered pendulum semi - active control device is installed on the controlled structure 100. Specifically, please refer to Figure 5 and Figure 6 , the housing 10 is connected to the controlled structure 100 by bolts. A linear control force is generated by the reciprocating swing of the simple pendulum structure 31 and the mass body 32 around the rotating shaft 20, and this linear control force is then transmitted to the controlled structure 100 through the housing 10.

[0072] In an embodiment of the present application, the simple pendulum structure 31 and the mass body 32 can be integrally formed, and the shape of the mass body 32 is not limited. Its specific shape can be designed according to the linear control force required by the controlled structure 100.

[0073] Please refer to Figure 7 and Figure 8 , the working principle of the closed - type long - period self - powered pendulum semi - active control device provided in this embodiment is as follows: The data acquisition unit acquires the angular displacement data of the rotating shaft 20, and the angular displacement data is processed by the data processing unit to obtain the angular velocity of the swinging member 30; the data processing unit transmits the processed angular velocity signal to the controller; the controller judges the magnitude of the angular velocity signal. When the angular velocity is not equal to 0, the swinging member 30 maintains its original state of operation; when the angular velocity is equal to 0, the controller issues a locking command, and the locking actuator 40 executes the locking (the electromagnet 41 is energized and adsorbs the friction plate 42), so as to lock the swinging member 30 and maintain the angular velocity at 0; after the controller completes the locking of the locking duration according to different control algorithms, it issues an unlocking command to make the locking actuator 40 unlock (the electromagnet 41 is de - energized and separated from the friction plate 42), so as to release the simple pendulum and restore its original motion state.

[0074] Figure 9It shows the comparison of the time history curves of the swing angle of the swing member 30 between the closed-loop long-period self-powered pendulum semi-active control device provided by the embodiment of the present application and the traditional control device under the simple harmonic excitation test. The ideal stroke of the swing angle is the time history curve that produces the best control effect on the controlled structure 100. However, in this case, the pendulum length of the simple pendulum structure 31 needs to be too long, which is not applicable to this implementation case. When the pendulum length of the simple pendulum structure 31 is fixed, the traditional control device has no locking module, and the phase difference between its swing angle stroke and the ideal stroke of the swing angle is large. At this time, no control effect can be produced, and even the vibration response of the controlled structure 100 may be amplified. The control device with a locking module is adopted in this embodiment. Due to the existence of the locking duration, its phase is basically the same as the phase of the ideal swing angle. The horizontal section of the time history in the figure is the locking occurrence period. At this time, the angular velocity of the simple pendulum remains 0 and the swing angle remains unchanged.

[0075] The closed-loop long-period self-powered pendulum semi-active control device provided by the embodiment of the present application can be applied but is not limited to the fields of vibration control of long-period and ultra-long-period, long-period vibration of floating ocean structures, long-period vibration control of super-high-rise structures, long-period vibration of large-span flexible structures, long-period vibration control of long simple pendulum structures, etc.

[0076] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A latching long-period self-powered pendulum semi-active control device, characterized in that, it includes: a housing; a rotating shaft, the rotating shaft is rotatably connected to the housing; a swinging member, the swinging member is fixedly connected to the rotating shaft; a latching actuator, the latching actuator is used to lock the rotating shaft; a control module, the control module is installed on the rotating shaft, and the control module includes a data acquisition unit, a data processing unit and a controller; the data acquisition unit is used to acquire the angular displacement data of the rotating shaft; the data processing unit is electrically connected to the data acquisition unit and is used to process the angular displacement data and obtain the angular velocity of the swinging member; the controller is electrically connected to the data processing unit and the latching actuator respectively; and an energy recovery module, the energy recovery module is installed on the rotating shaft and is electrically connected to the control module; the energy recovery module is used to convert the mechanical energy generated by the rotation of the rotating shaft into the electrical energy required for the operation of the latching actuator; wherein, when the angular velocity obtained by the controller is equal to 0, the controller sends a locking instruction to the latching actuator, and the swinging member stops swinging; after the controller completes the locking of the latching duration according to different control algorithms, the controller sends an unlocking instruction to the latching actuator, and the swinging member resumes swinging.

2. The latching long-period self-powered pendulum semi-active control device according to claim 1, characterized in that, the latching actuator is an electromagnetic brake, and the electromagnetic brake includes: a friction plate, the friction plate is installed on the rotating shaft; and an electromagnet, the electromagnet is installed on the housing; the electromagnet can adsorb the friction plate after being energized.

3. The latching long-period self-powered pendulum semi-active control device according to claim 2, characterized in that, the electromagnet is provided with a through hole, the rotating shaft passes through the through hole, and the diameter of the through hole is larger than the outer diameter of the rotating shaft; the friction plate is sleeved on the rotating shaft and is fixedly connected to the rotating shaft; there is a braking gap between the friction plate and the electromagnet.

4. The latching long-period self-powered pendulum semi-active control device according to claim 2, characterized in that, the plate surface of the friction plate is parallel to the swinging plane of the swinging member and perpendicular to the axis of the rotating shaft.

5. The latching long-period self-powered pendulum semi-active control device according to claim 1, characterized in that, the swinging member includes a simple pendulum structure and a mass body; one end of the simple pendulum structure is connected to the rotating shaft, the other end of the simple pendulum structure is connected to the mass body, and the swinging plane of the simple pendulum structure is perpendicular to the axis of the rotating shaft.

6. The latching long-period self-powered pendulum semi-active control device according to claim 5, characterized in that, the control device further includes a connecting member, the connecting member has two mutually perpendicular connecting surfaces, one of the connecting surfaces is connected to the rotating shaft, and the other connecting surface is connected to the simple pendulum structure.

7. The latching long-period self-powered pendulum semi-active control device according to claim 1, characterized in that, The energy recovery module includes an electromagnetic motor, which is connected to the rotating shaft and electrically connected to the controller; when the rotating shaft rotates, it drives the electromagnetic motor to generate electrical energy.

8. The locking type long-period self-powered pendulum semi-active control device according to claim 7, characterized in that the energy recovery module further includes an energy storage component, which is arranged in the control module, the energy storage component is electrically connected to the electromagnetic motor, and the energy storage component is used for storing the electrical energy generated by the electromagnetic motor.

9. The locking type long-period self-powered pendulum semi-active control device according to claim 1, characterized in that the control device further includes a bearing, the outer ring of the bearing is connected to the housing, and the inner ring of the bearing is connected to the rotating shaft.

10. The locking type long-period self-powered pendulum semi-active control device according to any one of claims 1-9, characterized in that the data acquisition unit is an encoder.

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