Inerter-adjustable semi-active inerter device based on deformable cylinder

Abstract

The inertial-mass-adjustable semi-active inerter device comprises a ball screw assembly, one end of a ball screw is connected with a cylindrical flywheel, the cylindrical flywheel comprises a central rotating shaft, and a first mounting bracket and a second mounting bracket are arranged on the central rotating shaft; a plurality of guide sliding grooves are uniformly formed in the first mounting bracket in the circumferential direction of the central rotating shaft, guide sliding blocks are arranged in the guide sliding grooves, the guide sliding blocks are fixedly connected with the arc-shaped shell, and supporting points for driving sliding are arranged on the guide sliding blocks; a driving motor is arranged on the second mounting bracket and is connected with an adjusting gear through a transmission gear, and a plurality of curve guide rail grooves for driving fulcrums to move are uniformly formed in the surface of the adjusting gear along the center; and the driving motor drives the adjusting gear to rotate and drives the arc-shaped shell to slide to regulate and control the inertia. According to the invention, the inertia coefficient can be adjusted in a large range, and higher response speed and more flexible structural adaptability are achieved in a dynamic vibration environment.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering structure vibration reduction, and particularly relates to an inertia adjustable semi-active inertance device based on a deformable cylinder Background Art

[0002] The concept of "inertance" was first introduced by Kwamata into building structure vibration reduction and realized in the form of a liquid pump. In 2002, Smith clearly put forward the theoretical definition of inertance. Inertance is a device that can generate a resistance force proportional to the relative acceleration at both ends of the device, and the proportionality coefficient is called inert mass, with the unit of kilogram. Due to its ability to effectively improve the dynamic performance of the vibration system, inertance has quickly become a research hotspot in the field of vibration reduction technology.

[0003] The implementation methods of inertance mainly include: ball screw type, hydraulic and hydrodynamic type, rack and pinion type, etc. The ball screw type realizes the inertance characteristics by converting linear motion into rotational motion; the hydraulic and hydrodynamic type utilizes the inertia of the fluid to generate the inertance effect; the rack and pinion type realizes the inertance function through mechanical meshing. The inert mass generated by the above devices is constant, and the parameters cannot be dynamically adjusted after manufacturing, which limits their applicability in complex random working conditions, especially difficult to meet the adaptation requirements of high-performance vibration reduction systems for multi-band vibration.

[0004] In the prior art, in the patent with the application number 201410650452.4, a ball screw type inertance device with a mechanically variable inertance coefficient is disclosed. A variable lead screw is used to replace the traditional constant lead screw. By adjusting the size of the lead of the screw, the conversion efficiency of the linear relative acceleration at both ends of the device into the rotational acceleration of the flywheel is changed, so as to realize the mechanical variation of the inertance coefficient. Its inertance coefficient is highly correlated with the displacement history of the inertance device, and it is impossible to realize the fast and independent adjustment of inert mass and displacement in vibration control, which limits its application effect in the dynamic vibration environment.

[0005] In the patent with the application number 201910645172.7, a variable inertance and variable damping shock absorber is disclosed. A driving motor is used to adjust the position of the inertance mass block in the device, so as to adjust the centroid position of the rotating element and change the moment of inertia of the shock absorber to realize the dynamic adjustment of the inert mass. It has the risk of device rotation eccentricity, resulting in excessive eccentric stress on the rotating bearing, which is not conducive to reducing the device cost and improving the structural stability

[0006] In the patent with the application number 201810648784.7, a semi-active inertial mass with an online continuously controllable inertial capacity is disclosed. A servo motor is used to adjust the position of the force-applying push rod, and the principle of a labor-saving lever is adopted to change the distance between the mass block and the rotating shaft, thereby changing the moment of inertia of the flywheel. It is necessary to introduce a lever mechanism, which increases the volume of the device and limits its application in structures with limited installation space and lightweight tuned vibration absorption devices. Moreover, since the inertial mass adjustment is only achieved by relying on the mass block, its adjustable range is limited and it is difficult to meet the requirements for a large change in inertial mass in large structures. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to provide an inertial mass adjustable semi-active inertial mass device based on a deformable cylinder, which can not only achieve a wide range of adjustable inertial mass coefficients, but also has a higher response speed and more flexible structural adaptability in a dynamic vibration environment.

[0008] To solve the above technical problems, the present invention provides an inertial mass adjustable semi-active inertial mass device based on a deformable cylinder, including a ball screw. One end of the ball screw is arranged in a screw stroke chamber, and the other end is connected to a cylindrical flywheel. The ball screw and the screw stroke chamber are driven by cooperation of a ball nut and balls.

[0009] The cylindrical flywheel includes a central rotating shaft, on which a first mounting bracket and a second mounting bracket are arranged, and the central rotating shaft is fixedly connected to the ball screw.

[0010] A plurality of guiding chutes are uniformly arranged on the first mounting bracket along the circumferential direction of the central rotating shaft. A guiding slider is arranged in the guiding chute, and the guiding slider is fixedly connected to an arc-shaped outer shell. A fulcrum for driving the sliding is arranged on the guiding slider.

[0011] A driving motor is arranged on the second mounting bracket. The driving motor is connected to an adjusting gear through a transmission gear. The adjusting gear is connected to the central rotating shaft through a mounting bearing. A plurality of curve guide grooves are uniformly opened on the surface of the adjusting gear along the center. The fulcrum is arranged in the corresponding curve guide groove.

[0012] The driving motor drives the adjusting gear to rotate, and the rotation of the adjusting gear drives the arc-shaped outer shell to slide for inertial mass regulation.

[0013] Furthermore, a conductive slip ring is arranged on the central rotating shaft, and the conductive slip ring is used to supply power for the driving motor and transmit signals.

[0014] Furthermore, an encoder is arranged in the driving motor, and the encoder is used to detect the rotation angle of the driving motor and judge the displacement state of the arc-shaped outer shell through the rotation angle.

[0015] Further, the first mounting bracket includes an upper positioning bracket and a lower positioning bracket, two guiding sliders are arranged on the arc-shaped housing, and guiding chutes are arranged on the upper positioning bracket and the lower positioning bracket corresponding to the two guiding sliders respectively.

[0016] Further, the second mounting bracket is arranged between the upper positioning bracket and the lower positioning bracket, a mass balance block is further arranged on the second mounting bracket, and the mass balance block and the driving motor are arranged on both sides of the central rotating shaft and in the same radial direction.

[0017] Further, the fulcrum is arranged at one end of the guiding slide rail far away from the arc-shaped housing, an avoidance opening is formed in the guiding chute corresponding to the fulcrum, and the fulcrum passes through the avoidance opening and is arranged in the corresponding curve guide rail groove.

[0018] Further, a plurality of the arc-shaped housings are combined to form a cylindrical structure.

[0019] Further, a first lifting lug is arranged at one end of the lead screw stroke chamber, a second lifting lug is arranged at one end of the central rotating shaft, and a ball bearing is arranged between the central rotating shaft and the second lifting lug.

[0020] Further, the method for regulating the inertance includes the following steps:

[0021] Step 1) Input the desired inertance by the user;

[0022] Step 2) Compare the desired inertance with the overall minimum inertance and the overall maximum inertance of the device to determine the set value of the motor rotation angle;

[0023] When it is less than or equal to the overall minimum inertance of the device, set the motor rotation angle to 0;

[0024] When it is greater than or equal to the overall maximum inertance of the device, set the motor rotation angle to the maximum value;

[0025] When it is greater than the overall minimum inertance of the device and less than the overall maximum inertance of the device, calculate the actual value of the motor rotation angle;

[0026] Step 3) Calculate the required execution rotation angle of the driving motor according to the set value of the motor rotation angle and the current rotation angle of the driving motor;

[0027] Step 4) The driving motor outputs rotation according to the execution rotation angle, drives the adjusting gear to rotate through the transmission gear, and drives the guiding slider and the arc-shaped housing to move after the adjusting gear rotates, so as to adjust the overall inertance of the device.

[0028] Further, the formula for calculating the motor rotation angle is as follows:

[0029] J(θ)=J screw +J mottor +JG1 +J G2 +J gear +N·J fly +N·m fly ·(r fly0 +g(θ)) 2 ;

[0030] Among them, N is the number of arc-shaped outer shells, and J screw is the moment of inertia of the ball screw relative to the central rotating shaft; J motor is the total moment of inertia of the drive motor and the second mounting bracket relative to the central rotating shaft; J G1 and J G2 are the moments of inertia of the upper positioning bracket and the lower positioning bracket in the first mounting bracket relative to the central rotating shaft respectively; J gear is the moment of inertia of the adjusting gear relative to the central rotating shaft; m fly is the mass of the arc-shaped outer shell; J fly is the moment of inertia of the arc-shaped outer shell about its own centroid; r fly0 is the distance from the central axis of the arc-shaped outer shell itself to the contact point between the fulcrum and the curve guide groove;

[0031] r = g(θ), where r is the distance from a certain point on the curve guide rail to the center of the adjusting gear, θ is the angle between the line connecting this point and the center and the horizontal axis, that is, the rotation angle of the adjusting gear, the center is the coordinate origin, and the line connecting the center and the initial position of the curve guide groove is the horizontal axis;

[0032] The relationship between the rotation angle θ of the adjusting gear and the rotation angle θ b of the transmission gear is: r gear,1 is the radius of the adjusting gear, r gear,2 is the radius of the transmission gear, is the transmission ratio of the adjusting gear and the transmission gear.

[0033] Advantages of the present invention:

[0034] 1. It has an online inertia-mass adjustment in a large range; compared with the traditional inertia-capacity device with a single flywheel or a fixed lever-slider mechanism, the present application relies on the deformable modular cylinder outer shell and the overall flywheel structure design to provide a larger inertia-mass and adjustment range, so as to linearly adapt to various working conditions.

[0035] 2. The energy efficiency utilization rate is significantly improved; by using the cooperation of the adjusting gear and the transmission gear, the drive motor only needs to provide the necessary driving force during the adjustment stage; when the flywheel reaches the target deformation, the self-locking ability of the drive motor can keep the adjusting gear fixed, so as to maintain the stability of the overall structure, without continuously consuming additional energy and without adding a complex self-locking structure.

[0036] 3. Compact structure and higher space utilization rate; through the cooperation of the arc-shaped housing and the central rotating shaft, an effective cavity can be formed. The cavity is used to accommodate mechanisms such as motors, drivers, and part of the control circuits, making the system more compact. And during use, the arc-shaped housing can also form an effective protection mechanism for the interior.

[0037] 4. Enhanced mechanical stability and service life; the arc-shaped housing adopts a symmetrical design, effectively reducing the eccentric force that occurs when the flywheel rotates at high speed, and reducing the lateral force and vibration on the bearing. The combined transmission method of the ball bearing and the ball screw can reduce friction and wear, and extend the service life of key components.

[0038] 5. Scalability and easy operation; the use of a conductive slip ring ensures the effective transmission of electricity and signals between the rotating components and the external system, simplifying the connection wire harness and signal channel settings. The entire device is modularly designed, facilitating disassembly, installation, and maintenance, reducing the manual operation intensity, and lowering the production and operation and maintenance costs.

[0039] 6. Versatility applicable to multiple scenarios; the deformable cylinder inertial capacitance design of the present invention can be widely applied to vibration reduction of large engineering structures, active / semi-active vibration control, energy recovery, and other electromechanical control occasions. It can still maintain fast and stable inertial capacitance adjustment under complex environments such as multi-band and non-linear vibrations, with stronger applicability. Description of the Drawings

[0040] Figure 1 is the overall structural schematic diagram of the present invention;

[0041] Figure 2 is the exploded structural schematic diagram of the cylinder flywheel of the present invention;

[0042] Figure 3 is the structural schematic diagram of the inertial capacitance device in the adjusted and opened state of the present invention;

[0043] Figure 4 is the present invention Figure 3 axial schematic diagram of the cylinder flywheel in the present invention;

[0044] Figure 5 is the flowchart of the closed-loop control of the cylinder flywheel of the present invention;

[0045] Figure 6 is the flowchart of the inertial mass regulation of the present invention;

[0046] Figure 7 is the structural schematic diagram of the adjusting gear of the present invention;

[0047] Figure 8 is the structural schematic diagram of the arc-shaped housing of the present invention. Detailed Embodiments

[0048] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and be able to implement it, but the embodiments cited do not limit the present invention.

[0049] Referring to Figures 1 to 4 As shown, an embodiment of the inertia adjustable semi-active inertance device based on a deformable cylinder of the present invention includes a ball screw 1. One end of the ball screw is arranged in a screw stroke chamber 2, and the other end is connected to a cylindrical flywheel 3. The ball screw and the screw stroke chamber are in transmission cooperation through a ball nut 4 and balls, realizing the conversion of the linear motion of the ball nut driven by the screw stroke chamber into the rotational motion of the ball screw; the rotational motion of the ball screw can drive the cylindrical flywheel to rotate synchronously.

[0050] The above-mentioned cylindrical flywheel includes a central rotating shaft 5. A first mounting bracket and a second mounting bracket 7 are arranged on the central rotating shaft. The central rotating shaft is fixedly connected to the ball screw; a plurality of guiding sliding grooves 8 are uniformly arranged on the first mounting bracket along the circumferential direction of the central rotating shaft. A guiding slider 9 is arranged in the guiding sliding groove. The guiding slider is fixedly connected to an arc-shaped outer shell 10. A fulcrum 11 for driving the sliding is arranged on the guiding slider; the guiding slider can reciprocally move along the guiding direction of the guiding sliding groove, and its sliding power is mainly formed by the force transmission through the fulcrum. The inner hole of the guiding sliding groove can be a rectangular structure, and the guiding slider has the same structure as it. The two cooperate to form an anti-rotation effect.

[0051] A driving motor 12 is arranged on the second mounting bracket. The driving motor is connected to an adjusting gear 14 through a transmission gear 13. The adjusting gear is connected to the central rotating shaft through a mounting bearing. A plurality of curve guide grooves 15 are uniformly opened on the surface of the adjusting gear along the center. The fulcrum is arranged in the corresponding curve guide groove. Since the guiding slider can only move along the guiding direction of the guiding sliding groove, during the rotation of the adjusting gear, the curve guide groove can squeeze the fulcrum, forcing the fulcrum to displace, thereby achieving the effect of pushing the fulcrum to move, that is, the guiding slider moves in the guiding sliding groove, so that the arc-shaped outer shell can adjust the distance relative to the central rotating shaft, and different inertias are formed at different distances for adjustment.

[0052] Specifically, the driving motor drives the transmission gear to rotate, the transmission gear drives the adjusting gear to rotate. The rotation of the adjusting gear can change the position of the curve guide groove, drive the fulcrum to move, and thus drive the arc-shaped outer shell to slide, so as to adjust the inertia. When the driving motor does not act, the driving motor has a self-locking ability, that is, the transmission gear will not rotate. When the transmission gear is fixed and does not rotate, the adjusting gear will not rotate either, that is, the relative position between the fulcrum and the curve guide groove will not change, that is, the effect of locking the position of the arc-shaped outer shell is achieved.

[0053] One end of the above-mentioned lead screw stroke chamber is provided with a first lifting lug 21, and one end of the central rotating shaft is provided with a second lifting lug 22, which is convenient for installation. A ball bearing 23 is arranged between the central rotating shaft and the second lifting lug. The ball bearing can reduce friction and wear between the central rotating shaft and the second lifting lug during the rotation of the central rotating shaft, ensuring the stable operation of the device. And this design enables the cylindrical flywheel to maintain stability during high-speed rotation and extends the overall service life.

[0054] A conductive slip ring 16 is arranged on the above-mentioned central rotating shaft. The conductive slip ring is used to provide electricity for the driving motor and signal transmission. When the central rotating shaft rotates, the inner ring of the conductive slip ring keeps synchronous with it, while the outer ring remains stationary. The inner ring is connected to the driving motor through an electric wire, and the outer ring is directly connected to an external power supply and a control module, ensuring that the driving motor always obtains external power supply and signal transmission.

[0055] In order to accurately obtain the adjustment state of the overall inertia mass, an encoder is arranged in the driving motor. The encoder is used to detect the rotation angle of the driving motor, and the displacement state of the arc-shaped housing is judged through the rotation angle. Refer to Figure 5 As shown, specifically, the control module can adjust the working state of the driving motor in real time according to this, ensuring the precise control and fast response of the flywheel inertia mass, and realizing the online continuous adjustment of the inertia capacity through closed-loop control.

[0056] The above-mentioned first mounting bracket includes an upper positioning bracket 17 and a lower positioning bracket 18. Two guiding sliders are arranged on the arc-shaped housing, and guiding chutes are arranged on the corresponding upper positioning bracket and lower positioning bracket for the two guiding sliders. Through the cooperation of the upper positioning bracket and the lower positioning bracket, the arc-shaped housing can be better guided. And the setting of the double guiding sliders can ensure the stability of the arc-shaped housing during rotation and reduce vibration. The second mounting bracket is arranged between the upper positioning bracket and the lower positioning bracket. The driving motor on the second mounting bracket can be hidden and protected inside a plurality of arc-shaped housings. A mass balance block 19 is also arranged on the second mounting bracket. The mass balance block and the driving motor are arranged on both sides of the central rotating shaft and in the same radial direction, which can effectively maintain the mass balance during rotation and reduce vibration. In order to effectively improve the stability of the fulcrum for force transmission, the fulcrum is arranged at one end of the guiding slide rail far away from the arc-shaped housing, and an avoidance opening 20 is opened on the guiding chute corresponding to the fulcrum. The fulcrum passes through the avoidance opening and is arranged in the corresponding curve guide rail groove, with a simple and reliable structure.

[0057] A plurality of arc-shaped housings cooperate to form a cylindrical structure. Refer to Figure 1 As shown, when the arc-shaped housing contracts and moves to the minimum position, a plurality of arc-shaped housings approach or abut against each other. When the arc-shaped housing expands and moves to the maximum position, a plurality of arc-shaped housings move away from each other and are evenly distributed. Refer to Figure 3 As shown.

[0058] Through the above device design, efficient inertial utilization and precise adjustment can be achieved. In this application, the driving motor is arranged at a position far from the central rotating shaft, and transmission gears and adjustment gears with different sizes are used as the transmission system to achieve precise deformation control of the arc-shaped housing (i.e., the cylinder). To ensure that the cylindrical flywheel maintains mechanical balance during deformation and avoids eccentric rotation, the driving motor with a small-sized transmission gear and the mass balance block are symmetrically installed on the second mounting bracket, supplemented by the symmetrical first mounting bracket and the arc-shaped housing. The driving motor with the transmission gear is equipped with an encoder, which is interconnected with the adjustment gear through gear meshing to achieve effective position sensing and ensure the efficiency and stability of power transmission. In addition, both the first mounting bracket and the second mounting bracket are coaxially and fixedly connected to the central rotating shaft to ensure that the overall deformable cylindrical flywheel rotates synchronously with the central rotating shaft.

[0059] This application also discloses a method for regulating the inertance. Referring to Figures 6 to 8 as shown, taking four arc-shaped housings as an example, first initialize the device, and the user inputs the desired inertance; then compare the desired inertance with the overall minimum inertance and the overall maximum inertance of the device to determine the set value of the motor rotation angle.

[0060] Specifically, to ensure that the deformable cylindrical flywheel always maintains symmetry during deployment, the 4 curve guides are symmetrically arranged relative to the center of the circle. Taking one of the curve guides as an example, its functional expression can be described in the polar coordinate system as follows:

[0061] r = g(θ) (0.1)

[0062] where the center of the circle is the origin of coordinates, and the line connecting the center of the circle and the initial position of the curve guide is the horizontal axis. r is the distance from a certain point on the curve guide to the center of the circle, and θ is the angle between the line connecting this point and the center of the circle and the horizontal axis.

[0063] Considering the initialization situation, set the angle zero point in the encoder of the driving motor to the moment when the cylindrical flywheel is at the initial position of the curve guide groove, that is, when the overall device is at the minimum inertance.

[0064] Let the radius of the large gear be r gear,1 , and the radius of the small gear be r gear,2 , then the transmission ratio of the large gear to the small gear is:

[0065] Therefore, the relationship between the rotation angle θ of the adjustment gear and the rotation angle θ b of the transmission gear can be expressed as:

[0066]

[0067] Assume that the moment of inertia of the ball screw relative to the central rotating shaft is J screw, the total moment of inertia of the drive motor with a belt drive gear, the mass balance block, and the second mounting bracket about the central rotating shaft is J motor , the moments of inertia of the upper positioning bracket and the lower positioning bracket relative to the central rotating shaft are J G1 and J G2 , the moment of inertia of the adjusting gear relative to the central rotating shaft is J gear . The masses of the four arc-shaped outer shells (i.e., symmetric components) of the cylindrical flywheel are all m fly , and the moment of inertia about their own mass centers is J fly . Therefore, the relationship between the total inertia-mass of the device and the rotation angle θ of the adjusting gear can be expressed as:

[0068] J(θ) = J screw + J motor + J G1 + J G2 + J gear + 4·J fly + 4·m fly ·(r fly0 + g(θ)) 2 (0.3)

[0069] where r fly0 is the distance from the central axis of the arc-shaped outer shell itself to the contact point of the curve guide groove, as Figure 8 shown. r is the distance between the contact point of the cylindrical flywheel and the curve guide and the central rotating shaft, specifically as shown in formula (0.1).

[0070] Substituting formula (0.2) into (0.3), the relationship between the total inertia-mass of the device and the angle θ b in the drive motor encoder can be obtained:

[0071]

[0072] When the angle θ b = 0 in the encoder, the total inertia-mass of the device reaches the minimum value:

[0073] J min = J screw + J motor + J G1 + J G2 + J gear + 4·J fly + 4·m fly ·(r fly0 + r 0 ) 2 (0.4)

[0074] When the angle θ b = θb,max in the encoder, the total inertia-mass of the device reaches the maximum value:

[0075]

[0076] Therefore, when the desired inertance is less than or equal to the overall minimum inertance of the device (the value obtained by using Equation 0.4), the motor rotation angle θb is set to 0;

[0077] When the desired inertance is greater than or equal to the overall maximum inertance of the device (the value obtained by using Equation 0.5), the motor rotation angle θb is set to the maximum value, i.e., θb,max;

[0078] When the desired inertance is greater than the overall minimum inertance of the device and less than the overall maximum inertance of the device, the actual value of the motor rotation angle is calculated, i.e., the motor rotation angle θb is calculated by using Equation (0.3). Specifically, the value of the desired inertance is used as J(θ b ) for formula calculation;

[0079] Subsequently, the required execution rotation angle of the drive motor is calculated by subtracting the current rotation angle of the drive motor (when initialized for the first calculation, the current rotation angle is 0, i.e., the motor rotation angle recorded by the encoder in the drive motor is 0) from the set value of the motor rotation angle (i.e., θb after the above judgment and calculation). Whether the subtracted value is negative or positive represents that the drive motor needs to rotate forward or backward;

[0080] Finally, the drive motor outputs rotation according to the execution rotation angle, drives the adjustment gear to rotate through the transmission gear, and drives the guide slider and the arc-shaped housing to move after the adjustment gear rotates, so as to adjust the overall inertance of the device.

[0081] The adjusted current rotation angle is obtained by the encoder and used as the current rotation angle value of the drive motor for the next calculation of the execution rotation angle.

[0082] Based on the above device design and adjustment method, the advantages of this application are as follows: 1. The ball screw is utilized to provide additional rotational inertia. The ball screw not only serves as a part of the transmission mechanism but also, by being coaxially fixed with the cylindrical flywheel, provides additional rotational inertia through its own rotation. 2. The layout of the control components away from the central rotating shaft. The control components such as the drive motor are arranged at positions away from the central rotating shaft of the flywheel, which not only makes full use of the additional mass generated by these components during high-speed rotation but also optimizes the overall mass distribution of the flywheel, improving the inertial characteristics and stability of the system. 3. The variable inertia mechanism based on the mass balance block and symmetry design ensures that the eccentricity generated during the deformation of the cylinder body is effectively offset, significantly reducing the lateral force on the bearing and enhancing the stability and durability of the device in a high-speed rotation or vibration environment. 4. The deformation of the cylinder body is achieved through a flat adjustment gear with a curved guide groove, and control components such as the drive motor are integrated inside the flywheel, minimizing the space occupied by the deformation mechanism to the greatest extent. This compact design not only simplifies the device structure but also facilitates the realization of efficient vibration reduction and inertia adjustment in a limited installation space. 5. The conductive slip ring technology is adopted to ensure that the motor in rotational motion can continuously and stably obtain external power. The inner ring of the conductive slip ring is coaxially fixed with the flywheel, and the outer ring remains stationary, which not only simplifies the power connection method but also improves the maintainability and reliability of the device. 6. An encoder is integrated inside the drive motor to detect the motor rotation angle or speed, and then infer the real-time deformation state of the flywheel cylinder body. This method does not require the installation of additional complex displacement or angle sensors, greatly simplifying the structure of the measurement system, reducing the hardware cost and the risk of failure, and at the same time ensuring the accuracy and efficiency of the flywheel deformation adjustment.

[0083] The above-described embodiments are merely preferred embodiments cited to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention.

Claims

1. A semi-active inertia device with adjustable inertia based on a deformable cylinder, characterized in that: It includes a ball screw, one end of which is arranged in a screw travel chamber, and the other end is connected to a cylindrical flywheel, and the ball screw and the screw travel chamber are driven by a ball nut and a ball; The cylindrical flywheel comprises a central rotating shaft, a first mounting bracket and a second mounting bracket are arranged on the central rotating shaft, and the central rotating shaft is fixedly connected to the ball screw; A plurality of guide slots are evenly arranged on the first mounting bracket along the circumference of the central rotating shaft, a guide slider is arranged in the guide slot, the guide slider is fixedly connected to the arc-shaped housing, and a fulcrum for driving the slide is arranged on the guide slider; The second mounting bracket is provided with a driving motor, the driving motor is connected to the adjusting gear through a transmission gear, the adjusting gear is connected to the central rotating shaft through a mounting bearing, a plurality of curved guide grooves are evenly opened on the surface of the adjusting gear along the center, and the fulcrum is arranged in the corresponding curved guide groove; The driving motor drives the adjusting gear to rotate, and the rotation of the adjusting gear drives the arc-shaped housing to slide to adjust the inertia.

2. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: A conductive slip ring is arranged on the central rotating shaft, and the conductive slip ring is used to provide power for the driving motor and signal transmission.

3. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: An encoder is arranged inside the driving motor, and the encoder is used to detect the rotation angle of the driving motor, and judge the displacement state of the arc-shaped housing through the rotation angle.

4. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: The first mounting bracket comprises an upper positioning bracket and a lower positioning bracket. Two guide slide blocks are arranged on the arc-shaped housing. The upper positioning bracket and the lower positioning bracket corresponding to the two guide slide blocks are both provided with guide sliding grooves.

5. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 4, characterized in that: The second mounting bracket is arranged between the upper positioning bracket and the lower positioning bracket. A mass balancing block is also arranged on the second mounting bracket. The mass balancing block and the driving motor are arranged on both sides of the central rotating shaft and are located in the same radial direction.

6. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: The fulcrum is arranged on one end of the guide rail away from the arc-shaped housing, and an escape opening is provided on the guide groove corresponding to the fulcrum. The fulcrum passes through the escape opening and is arranged in the corresponding curved guide groove.

7. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: A plurality of the arc-shaped shells cooperate to form a cylindrical structure.

8. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: A first lifting lug is arranged at one end of the screw travel chamber, a second lifting lug is arranged at one end of the central rotating shaft, and a ball bearing is arranged between the central rotating shaft and the second lifting lug.

9. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 1, characterized in that: The method of inertia regulation includes the following steps: Step 1) The user inputs the desired inertia; Step 2) comparing the expected inertia with the overall minimum inertia and the overall maximum inertia of the device to determine the set value of the motor angle; When it is less than or equal to the overall minimum inertia of the device, the motor angle is set to 0; When it is greater than or equal to the overall maximum inertia of the device, the motor rotation angle is set to the maximum value; When it is greater than the overall minimum inertia of the device and less than the overall maximum inertia of the device, the actual value of the motor rotation angle is calculated; Step 3) calculating the execution angle required for the drive motor according to the set value of the motor angle and the current angle of the drive motor; Step 4) The driving motor rotates according to the execution angle output, and drives the adjusting gear to rotate through the transmission gear. After the adjusting gear rotates, it drives the guide slider and the arc-shaped shell to move to adjust the overall inertia of the device.

10. The semi-active inertia device with adjustable inertia based on a deformable cylinder as claimed in claim 9, characterized in that: The formula for calculating the motor angle is as follows: J(θ)=J screw +J motor +J G1 +J G2 +J gear +N·J fly +N·m fly ·(r fly0 +g(θ)) 2 4 Where N is the number of arc shells, J screw J is the moment of inertia of the ball screw relative to the central axis; motor J is the total moment of inertia of the drive motor and the second mounting bracket relative to the central rotating shaft; G1 and J G2 are the moments of inertia of the upper positioning bracket and the lower positioning bracket in the first mounting bracket relative to the central rotating shaft; J gear To adjust the rotational inertia of the gear relative to the central shaft; m fly is the mass of the curved shell; J fly is the moment of inertia of the arc shell about its own center of mass; r fly0 It is the distance from the central axis of the arc-shaped housing to the contact point between the fulcrum and the curved guide groove; r = g(θ), r is the distance from a point on the curved guide to the center of the adjusting gear, θ is the angle between the line connecting the point and the center of the circle and the horizontal axis, that is, the rotation angle of the adjusting gear, the center of the circle is the origin of the coordinates, and the line connecting the center of the circle and the initial position of the curved guide groove is the horizontal axis; The rotation angle θ of the adjustment gear and the rotation angle θ of the transmission gear b The relationship is: r gear,1 To adjust the radius of the gear, r gear,2 is the radius of the transmission gear, To adjust the transmission ratio of gears and transmission gears.

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