Magnetic-control variable-rigidity variable-damping semi-active low-frequency vibration reduction device for solar panel

Abstract

The invention relates to a solar panel magnetic control variable-rigidity variable-damping semi-active low-frequency vibration reduction device which comprises magnetic control joints installed between a central rigid body and solar panels and between a plurality of adjacent solar panels. The magnetic control joint comprises a stator assembly, a rotor assembly and a folding beam assembly. A coil module is arranged in the stator assembly; the rotor assembly comprises a main shaft, a permanent magnet and a copper sheet module, and the copper sheet module is installed between the coil modules; two ends of the stator assembly are connected with the folding beam assembly. The main shaft passes through the stator assembly and is connected with the folding beam assembly. By integrating the adjustable electromagnetic negative stiffness module, the folding beam positive stiffness module and the eddy current damping module, the inherent frequency and the vibration amplitude of the solar panel are reduced, and magnetic control joint variable parameter semi-active vibration control is achieved. Compared with the prior art, the invention has the advantages of light weight, low power consumption, simple control method, integrated structure and function, electromagnetic direct drive and the like.

Description

Technical Field

[0001] The present invention relates to the field of vibration control of space flexible structures, and particularly to a magnetically controlled variable stiffness and variable damping semi-active low-frequency vibration damping device for solar panels. Background Art

[0002] Solar panels are important components for power supply of space vehicles and have been developing towards the direction of "large, light, and flexible" in recent years. Due to characteristics such as light weight, low stiffness, weak damping, and multi-body connection, in the space microgravity environment, solar panels are extremely vulnerable to external interference and generate vibrations that are difficult to eliminate. Such vibrations can, at the least, affect the normal operation of the satellite, reducing the pointing accuracy and observation resolution of the satellite; at the worst, pose a serious threat to the safety of the satellite.

[0003] Currently, the vibration control of solar panels mainly includes passive control, active control, and semi-active control. The damper on the Hubble Space Telescope is a typical application of passive vibration damping for solar panels. A titanium alloy viscoelastic damper is installed between the root of the panel and the drive shaft, and the shear deformation of the damping layer is used to dissipate vibration energy to suppress in-plane and out-of-plane low-frequency bending vibrations. Although the passive control method can achieve certain vibration suppression effects, due to its poor adaptability to variable working conditions and inflexible control, it is difficult to meet the control requirements of space flexible structure vibrations. Especially in the case of low-frequency vibrations, where the vibration amplitude is large and the vibration bandwidth is small, it is difficult for this method to achieve low-frequency large-amplitude vibration suppression below 1 Hz. Compared with passive control, active control has the advantages of flexible control and strong adaptability. In recent years, researchers have used piezoelectric intelligent structures to suppress the vibrations generated by solar panels. The panel is bound to actuators and sensors. The deformation of the panel is sensed by the sensors, and the actuators are used to eliminate or reduce the deformation of the panel, thereby suppressing the vibration of the panel. However, although piezoelectric materials have advantages in micro-amplitude driving, there are certain limitations in the realization of their driving and control in large stroke. At the same time, the surface of the panel is covered with solar cells, and piezoelectric sheets are not allowed to be installed arbitrarily. Semi-active vibration control, which lies between passive control and active control, is a variable parameter control technology for vibration systems. According to the input changes and output requirements, the stiffness and damping characteristics of the system can be adjusted to achieve excellent vibration isolation performance. At the same time, the required actuators are inexpensive, consume low energy, and their volume and weight are acceptable.

[0004] Currently, there is some research on the vibration control of flexible robotic arms based on traditional motors. However, there is less research on the vibration control of solar panel systems with magnetically controlled joints. Compared with flexible robotic arms, solar panels have a smaller aspect ratio of length to width, stronger bending-torsion coupling vibrations, more complex low-frequency vibration characteristics, greater difficulty in low-frequency control, and require more actuators and sensors. In addition, due to the relatively complex structure of traditional motors, intermediate transmission components such as gear reduction mechanisms are often required, so it is difficult to achieve micro-amplitude driving and fast response.

[0005] After retrieval, the application publication number CN108443382A discloses a main - passive composite vibration isolator using electromagnetic negative stiffness and its control method, specifically discloses that: the vibration isolator includes a housing, a force - transmitting rod, a cross - beam spring plate, an annular mover, a permanent magnet, a stator, a fixed iron core, a working air gap, a coil skeleton and an exciting coil; the permanent magnet generates a static bias magnetic flux; when the exciting coil is energized, an exciting magnetic flux is generated and superposed with the bias magnetic flux, and this superposed magnetic flux generates an electromagnetic stress in the working air gap between the surface of the annular mover and the surface of the stator and acts on the annular mover, causing the annular mover to move in the vertical direction, and the force - transmitting rod connected to the annular mover also moves in the vertical direction; the cross - beam spring plate connects the force - transmitting rod to the upper housing and the cross - beam spring plate connects the force - transmitting rod to the lower housing; by detecting the output displacement of the force - transmitting rod and feeding it back to the vibration isolator, active closed - loop control is realized. However, this prior art only targets vibration isolation in the translational direction and cannot achieve vibration isolation in the rotational direction.

[0006] In summary, how to design a structure - function integrated vibration control component with magneto - controlled variable stiffness and variable damping characteristics along the relative rotation direction between multiple solar panels is a technical problem to be solved. Summary of the Invention

[0007] The purpose of the present invention is to overcome the defects of the above - mentioned prior art that it is difficult to achieve low - frequency vibration reduction and cannot achieve vibration isolation in the rotational direction, and to provide a magneto - controlled variable stiffness and variable damping semi - active low - frequency vibration reduction device for solar panels.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] According to one aspect of the present invention, there is provided a magneto - controlled variable stiffness and variable damping semi - active low - frequency vibration reduction device for solar panels, which only includes magneto - controlled joints installed between the central rigid body and the solar panels, and between adjacent multiple solar panels;

[0010] It is characterized in that the magneto - controlled joint includes a folding beam assembly, a stator assembly and a rotor assembly; the rotor assembly includes a main shaft and a rotating member installed on the main shaft; the stator assembly is internally provided with a coil module, and two adjacent coils in the coil module form a coil group, and the winding directions of adjacent coil groups are opposite; both ends of the stator assembly are connected to the folding beam assembly, and the main shaft passes through the stator assembly and is connected to the folding beam assembly;

[0011] The rotating member includes a copper sheet module and a permanent magnet, the copper sheet module is installed between the coil modules, and the permanent magnet is located on one side of the coil module.

[0012] As a preferred technical solution, the folding beam is in a shape of a capital "J", with one end fixedly connected to the inner surface of the outer connection ring and the other end fixedly connected to the outer edge of the inner connection disk; a plurality of folding beams form a centrally symmetric figure.

[0013] As a preferred technical solution, a square hole is provided at the center of the inner connection disk, and the main shaft passes through the square hole and is matched with the square hole.

[0014] As a preferred technical solution, the stator assembly further includes a stator connecting piece, an outer cylinder and a bearing; the stator connecting piece is installed at both ends of the outer cylinder, the coil module is installed inside the outer cylinder, the bearing is installed inside the stator connecting piece, and the main shaft passes through the inner ring of the bearing.

[0015] As a preferred technical solution, there are two coil modules, which are arranged axially, and the copper sheet module is located between the two coil modules.

[0016] As a preferred technical solution, the coil module further includes a coil support frame; the coil group includes a plurality of coils and a plurality of coil hubs; the plurality of coil hubs are evenly distributed along the circumference on the coil support frame, and both ends of the coil hub are respectively embedded in two coil support frames; the coil is wound around the coil hub; the main shaft passes through the middle of the coil support frame.

[0017] As a preferred technical solution, a threaded section is provided in the middle of the main shaft, and the copper sheet module includes a copper sheet, an axial fixing piece for the copper sheet and a circumferential fixing piece for the copper sheet; the axial fixing piece for the copper sheet and the circumferential fixing piece for the copper sheet are screwed on the threaded section, a first groove is provided on the circumferential fixing piece for the copper sheet, a second groove is provided on the copper sheet, the first groove is matched with the second groove, and the copper sheet is located between the axial fixing piece for the copper sheet and the circumferential fixing piece for the copper sheet.

[0018] As a preferred technical solution, the rotating member further includes a metal turntable, a permanent magnet, a key and a rotor connecting piece; the permanent magnet is installed inside the metal turntable, the two metal turntables are respectively connected to both ends of the main shaft through keys, the copper sheet module penetrates to the middle of the main shaft, the two rotor connecting pieces are respectively installed at both ends of the main shaft, and the folding beam assembly is located between the rotor connecting piece and the permanent magnet.

[0019] As a preferred technical solution, the metal turntable is fixed on the main shaft through a shaft shoulder and a key; the inside of the metal turntable is divided into a plurality of centrally symmetric regions, and a permanent magnet is embedded in each region, and the magnetic pole directions of adjacent permanent magnets are opposite.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1) The present invention realizes semi-active control by integrating positive and negative stiffness regulation and variable damping functions; the folding beam assembly connects the stator assembly and the main shaft of the rotor assembly. When an external disturbance causes relative rotation between the stator assembly and the main shaft, the folding beam undergoes elastic deformation, thereby generating a restoring moment to provide the basic positive stiffness for the system. By adjusting the magnitude and direction of the current in the coil, the axial electromagnetic field intensity and direction can be conveniently and quickly adjusted, and interact with the axial permanent magnetic field generated by the permanent magnet, thereby realizing the dynamic regulation of negative stiffness. Further, by combining positive and negative stiffness, quasi-zero stiffness is achieved, the natural frequency of the solar panel system is reduced, and low-frequency vibration damping of the solar panel is realized. The copper sheet module is installed between the coil modules. The copper sheet module cuts the magnetic lines of force generated by the coil modules, and the rotor assembly generates an eddy current damping torque opposite to its rotation direction. By adjusting the magnetic field intensity, the dynamic regulation of the damping torque can be realized, the vibration amplitude can be reduced, and the low-frequency vibration damping effect can be improved.

[0022] 2) Magnetically controlled variable stiffness and variable damping semi-active control, which lies between passive control and active control, is a variable parameter control technology for vibration systems. According to the change of the system input and the requirements for the system output, the torsional stiffness of the joint is changed by adjusting the current magnitude, thereby causing the vibration frequency band of the system to migrate, and finally achieving a certain vibration damping effect. In addition, the joint mechanism has the advantages of light weight, low power consumption, simple control method, etc., and can suppress the low-frequency large-amplitude vibration of the flexible solar panel only through the joint mechanism, without adding any intelligent structure on the surface of the solar panel, meeting the special requirements and limitations in the vibration control of flexible structures of spacecraft.

[0023] 3) The magnetically controlled joint adopts the idea of electromagnetic direct drive. The output shaft of the joint is directly coupled with the load for drive output, eliminating the traditional intermediate transmission link, and maximizing the elimination of errors such as elastic deformation, transmission clearance, and friction vibration during the drive process, and can realize the precise and rapid adjustment of the stiffness / damping of the magnetically controlled joint.

[0024] 4) The folding beam of the present invention is in a shape of "ji", providing high-efficiency torque support on the one hand, and providing positive stiffness on the other hand by combining its compact structural design and geometric nonlinear characteristics. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a schematic diagram of the present invention installed on a solar panel;

[0026] Figure 2 is a schematic diagram of the overall structure of the present invention;

[0027] Figure 3 is a schematic diagram of the structure of the folding beam assembly of the present invention;

[0028] Figure 4 is a schematic diagram of the structure of the stator assembly of the present invention;

[0029] Figure 5 Schematic diagram of the coil module structure of the present invention;

[0030] Figure 6 Schematic diagram of the rotor assembly structure of the present invention;

[0031] Figure 7 Schematic diagram of the copper sheet module structure of the present invention;

[0032] As indicated by the reference numerals in the figure:

[0033] 1. Central rigid body, 2. Magneto - controlled joint, 3. Solar panel, 4. Rotor assembly, 5. Folding beam assembly, 6. Stator assembly, 7. Outer connection ring, 8. Folding beam, 9. Inner connection disk, 10. Stator connecting piece, 11. Outer cylinder, 12. Coil module, 13. Bearing, 14. Coil support frame, 15. Coil, 16. Coil hub, 17. Metal turntable, 18. Main shaft, 19. Copper sheet module, 20. Permanent magnet, 21. Key, 22. Rotor connecting piece, 23. Threaded section, 24. Axial fixing piece for copper sheet, 25. Copper sheet, 26. Circumferential fixing piece for copper sheet. Specific embodiments

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0035] As Figure 1 shown, the present invention provides a magneto - controlled variable - stiffness and variable - damping semi - active low - frequency vibration reduction device for solar panels, and this device only includes the magneto - controlled joint 2. One or more solar panels 3 are installed on both sides of the central rigid body 1. Between the central rigid body 1 and the solar panels 3, and between adjacent solar panels 3, they are all connected through the magneto - controlled joint 2. The present invention has the characteristics of integrated structure and function. As a structural member, it provides rigid support for adjacent solar panels 3; as a functional member, its stiffness / damping can be actively adjusted, which can solve the challenging problem of difficult control of large - amplitude low - frequency vibration of flexible solar panels 3 in space.

[0036] As Figure 2 shown, the magneto - controlled joint 2 includes a folding beam assembly 5, a stator assembly 6 and a rotor assembly 4.

[0037] As Figure 3As shown in the figure, the folding beam assembly 5 is integrally 3D printed with epoxy resin and includes an outer connection ring 7, folding beams 8, and an inner connection disk 9. The inner connection disk 9 is located inside the outer connection ring 7 and is concentric with the outer connection ring 7. There are four folding beams 8 in total, which are symmetrically distributed around the center. The folding beams 8 are in the shape of a capital "J". The outer ends are fixedly connected to the inner surface of the outer connection ring 7, and the inner ends are fixedly connected to the outer edge of the inner connection disk 9. The outer connection ring 7 is fixed to the stator connection member 10 by bolts. The inner connection disk 9 cooperates with the main shaft 18 through a central square hole to form circumferential positioning. When external interference causes relative rotation between the inner connection disk 9 and the outer connection ring 7, the folding beams 8 undergo elastic deformation, thereby generating a restoring moment to provide the basic positive stiffness for the system.

[0038] As Figure 4 shown in the figure, the stator assembly 6 includes a stator connection member 10, an outer cylinder 11, a coil module 12, and a bearing 13. The stator connection member 10 is installed at both ends of the outer cylinder 11. The coil module 12 is installed inside the outer cylinder 11. The bearing 13 is installed inside the stator connection member 10. The stator connection member 10 also serves as an end cover. The inner hole of it has an interference fit with the outer ring of the bearing 13. The main shaft 18 passes through the inner ring of the bearing 13.

[0039] As Figure 5 shown in the figure, the coil module 12 includes coils 15, coil hubs 16, and a coil support frame 14. The coil hubs 16 are made of electrolytic iron DT4E for electrical engineering. Eight coil hubs 16 are evenly distributed along the circumference on the coil support frame 14. Both ends of the coil hubs 16 are respectively embedded into the two coil support frames 14. The coils 15 are wound around the coil hubs 16. The main shaft 18 passes through the middle of the coil support frame 14. Two adjacent coils 15 form a group of coils 15. The winding directions of the four groups of coils 15 are in turn: clockwise, counterclockwise, clockwise, counterclockwise. The axial electromagnetic field generated by the coil module 12 interacts with the axial permanent magnetic field generated by the permanent magnets 20 to achieve negative stiffness regulation. During operation, by adjusting the magnitude and direction of the current in the coils 15, the magnetic field strength and direction of the electromagnetic field can be quickly adjusted, thereby achieving dynamic regulation of negative stiffness.

[0040] There are two coil modules 12 in total, which are arranged axially. Two intervals are formed between the copper sheet module 19 and the two permanent magnets 20. The two coil modules 12 are respectively located in the two intervals.

[0041] As Figure 6 shown in the figure, the rotor assembly 4 includes a metal turntable 17, a main shaft 18, a copper sheet module 19, permanent magnets 20, a key 21, and a rotor connection member 22. The metal turntable 17 is made of electrolytic iron DT4E for electrical engineering.

[0042] A metal turntable 17 is installed at each end of the main shaft 18 and is axially and circumferentially fixed by a shaft shoulder and a key 21. The metal turntable 17 is divided into four centrally symmetric regions, and four axially magnetized sector permanent magnets 20 are embedded in each region. The magnetic pole directions of adjacent permanent magnets 20 are opposite to ensure a controllable coupling with the electromagnetic field of the coil module 12. The copper sheet module 19 passes through the middle of the main shaft 18. Two rotor connectors 22 are respectively installed at both ends of the main shaft 18. From one end to the other end of the main shaft 18, there are in sequence: rotor connector 22, metal turntable 17, copper sheet module 19, metal turntable 17, and rotor connector 22. The rotor assembly 4 is symmetric about a plane perpendicular to the main shaft 18 and passing through the center of the main shaft 18. The folding beam assembly 5 is located between the rotor connector 22 and the permanent magnet 20.

[0043] As Figure 7 shown, the copper sheet module 19 includes a copper sheet 25, a copper sheet axial fixing member 24, and a copper sheet circumferential fixing member 26; a threaded section 23 is provided in the middle of the main shaft 18. A first groove is provided on the copper sheet circumferential fixing member 26, and a second groove is provided on the copper sheet 25. The first groove and the second groove cooperate with each other. The copper sheet 25 is located between the copper sheet axial fixing member 24 and the copper sheet circumferential fixing member 26. The specific assembly process is as follows: First, screw the copper sheet circumferential fixing member 26 onto the threaded section 23 of the main shaft 18; then, insert the copper sheet 25 with a guiding groove axially along the main shaft 18 and engage it with the copper sheet circumferential fixing member 26; finally, tighten the copper sheet axial fixing member 24 and the copper sheet circumferential fixing member 26 to firmly install the copper sheet 25 on the main shaft 18. The copper sheet module 19 is located between two coil modules 12. The copper sheet 25 cuts the magnetic lines of force generated by the coil module 12, and the rotor assembly 4 will generate an eddy current damping torque opposite to its rotation direction.

[0044] The present invention realizes semi - active control by integrating positive and negative stiffness adjustment and variable damping functions. Among them, the negative stiffness is realized by the interaction between the axial electromagnetic field generated by the coil module 12 and the axial permanent magnetic field generated by the permanent magnet 20. The positive stiffness is realized by the folding beam assembly 5, and the variable damping is realized by the interaction between the copper sheet module 19 and the coil module 12. Further, by combining the positive and negative stiffnesses, the system exhibits a quasi - zero stiffness characteristic, reducing the natural frequency of the solar panel 3 system and realizing low - frequency vibration reduction of the solar panel 3. The following details each function.

[0045] Adjustable electromagnetic negative stiffness module: The negative stiffness implementation component has the characteristics of small volume, high magnetic efficiency, and a detachable coil 15 layout. The interaction between the axial electromagnetic field generated by the coil 15 and the axial permanent magnetic field generated by the permanent magnet 20 is used to realize the negative stiffness characteristic. The negative stiffness characteristic can be dynamically changed by adjusting the magnitude of the current loaded on the coil 15.

[0046] Folding beam positive stiffness module: On the one hand, it provides efficient moment support through the folding beam assembly 5. On the other hand, combined with its compact structural design and geometric nonlinear characteristics, the negative stiffness and positive stiffness cancel each other out to reduce the natural frequency of the system and achieve low-frequency vibration reduction of the solar panel 3.

[0047] Eddy current damping module: A copper sheet 25 is inserted into the air-gap magnetic field. The copper sheet 25 cuts the magnetic lines of force generated by the coil module 12, and the rotor assembly 4 will generate an eddy current damping torque opposite to its rotation direction. By adjusting the magnetic field strength, the dynamic adjustment of the damping torque can be realized, the vibration amplitude can be reduced, and the low-frequency vibration reduction effect can be improved.

[0048] In addition, the magnetically controlled joint 2 adopts the idea of electromagnetic direct drive. The output shaft of the joint is directly coupled with the load for drive output, eliminating the traditional intermediate transmission link. Errors such as elastic deformation, transmission clearance, and friction vibration during the drive process are eliminated to the greatest extent, and the stiffness / damping of the magnetically controlled joint 2 can be accurately and quickly adjusted. By actuating multiple magnetically controlled joints 2 simultaneously, the low-frequency large-amplitude vibration generated by the solar panel 3 under multi-source excitation in space is suppressed, thereby reducing the coupling effect between the solar wing and the satellite body.

[0049] Magnetically controlled variable stiffness and variable damping semi-active control, which lies between passive control and active control, is a variable parameter control technology for vibration systems. According to the change of the system input and the requirements for the system output, the joint torsional stiffness is changed by adjusting the current magnitude, thereby causing the vibration frequency band of the system to shift, and finally achieving a certain vibration reduction effect. In addition, the joint mechanism is small in size, light in weight, low in power consumption, simple in control method, and can suppress the low-frequency large-amplitude vibration of the flexible solar panel only through the joint mechanism. There is no need to add any intelligent structure on the surface of the solar panel, meeting the special requirements and limitations in the vibration control of flexible structures of spacecraft.

[0050] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A magneto-controlled variable stiffness and variable damping semi-active low-frequency vibration damping device for a solar panel, which device only includes a magneto-controlled joint (2) installed between a central rigid body (1) and a solar panel (3), and between adjacent solar panels (3). It is characterized in that The magneto-controlled joint (2) includes a folding beam assembly (5), a stator assembly (6) and a rotor assembly (4); the rotor assembly (4) includes a main shaft (18) and a rotating member installed on the main shaft (18); a coil module (12) is provided inside the stator assembly (6), and two adjacent coils (15) in the coil module (12) form a coil group, and the winding directions of adjacent coil groups are opposite; both ends of the stator assembly (6) are connected to the folding beam assembly (5), and the main shaft (18) passes through the stator assembly (6) and is connected to the folding beam assembly (5). The rotating member includes a copper sheet module (19) and a permanent magnet (20), the copper sheet module (19) is installed between the coil modules (12), and the permanent magnet (20) is located on one side of the coil module (12).

2. The semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel according to claim 1, characterized in that, The folding beam assembly (5) includes an outer connection ring (7), a folding beam (8) and an inner connection disk (9), the inner connection disk (9) is located inside the outer connection ring (7) and is concentric with the outer connection ring (7), and the folding beam (8) connects the outer connection ring (7) and the inner connection disk (9). The main shaft (18) passes through the inner connection disk (9), and the outer connection ring (7) is fixed on the end face of the stator assembly (6).

3. A semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel, according to claim 2, characterized in that The folding beam (8) is in a shape of "J", one end is fixedly connected to the inner surface of the outer connection ring (7), and the other end is fixedly connected to the outer edge of the inner connection disk (9); a plurality of folding beams (8) form a centrosymmetric figure.

4. A semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel, characterized in that, A square hole is provided in the center of the inner connection disk (9), and the main shaft (18) passes through the square hole and is matched with the square hole.

5. A semi-active low-frequency vibration damping device with variable stiffness and variable damping for a solar panel controlled by magnetic field according to claim 1, characterized in that, The stator assembly (6) further includes a stator connecting piece (10), an outer cylinder (11) and a bearing (13); the stator connecting piece (10) is installed at both ends of the outer cylinder (11), the coil module (12) is installed inside the outer cylinder (11), the bearing (13) is installed in the stator connecting piece (10), and the main shaft (18) passes through the inner ring of the bearing (13).

6. The semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel according to claim 1, characterized in that, There are two coil modules (12) arranged axially, and the copper sheet module (19) is located between the two coil modules (12).

7. A semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel, characterized in that, The coil module (12) further includes a coil support frame (14); the coil (15) group includes a plurality of coils (15) and a plurality of coil hubs (16); a plurality of the coil hubs (16) are evenly distributed along the circumference on the coil support frame (14), and both ends of the coil hub (16) are respectively embedded in two coil support frames (14); the coil (15) is wound around the coil hub (16); the main shaft (18) passes through the middle of the coil support frame (14).

8. A semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel, characterized in that, A threaded section (23) is provided in the middle of the spindle (18). The copper sheet module (19) includes a copper sheet (25), an axial fixing member (24) for the copper sheet, and a circumferential fixing member (26) for the copper sheet. The axial fixing member (24) for the copper sheet and the circumferential fixing member (26) for the copper sheet are screwed onto the threaded section (23). A first groove is provided on the circumferential fixing member (26) for the copper sheet, and a second groove is provided on the copper sheet (25). The first groove and the second groove cooperate with each other. The copper sheet (25) is located between the axial fixing member (24) for the copper sheet and the circumferential fixing member (26) for the copper sheet.

9. A semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel, characterized in that, The rotating member further includes a metal turntable (17), a permanent magnet (20), a key (21), and a rotor connecting member (22). The permanent magnet (20) is installed inside the metal turntable (17). The two metal turntables (17) are respectively connected to both ends of the spindle (18) through the key (21). The copper sheet module (19) penetrates to the middle of the spindle (18). The two rotor connecting members (22) are respectively installed at both ends of the spindle (18). The folding beam assembly (5) is located between the rotor connecting member (22) and the permanent magnet (20).

10. A semi-active low-frequency vibration damping device with magnetically controlled variable stiffness and variable damping for a solar panel, characterized in that, The metal turntable (17) is fixed to the spindle (18) through a shoulder and a key (21). The interior of the metal turntable (17) is divided into a plurality of centrally symmetric regions, and a permanent magnet (20) is embedded in each region. The magnetic pole directions of adjacent permanent magnets (20) are opposite.

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