Integrated active damper

Abstract

The invention provides an integrated active damper, and relates to the technical field of mechanical structure swing control. The damper comprises a box body, and a momentum wheel, a motor, a motor supporting structure, a control module, a control module supporting structure, a flange coupling, a battery and an adaptive clamp which are arranged in the box body, the momentum wheel is fixedly connected with the motor through a flange coupling; the motor is fixed on the motor supporting structure; the control module is fixed on the control module supporting structure; the motor supporting structure, the control module supporting structure and the battery are all fixed on the rear cover of the box body; the adaptive clamp is fixedly installed on the rear cover of the box body, and the adaptive clamp is connected with the vibration structure. The damper controls the rotating speed of the momentum wheel by controlling the rotating speed of the motor. The damper is easy and convenient to use and high in adaptability, a mathematical model corresponding to the device does not need to be analyzed, and the damper also has certain wide applicability.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical structure vibration control, and particularly relates to an integrated active damper. Background Art

[0002] With the lightweight design of structures and the increase in size, the vibration problems faced by various structures are becoming increasingly prominent. The lightweight design reduces the mass of the structure and its stiffness, resulting in a lower natural frequency and making it more vulnerable to external excitation and vibration. Cable-stayed bridges, antennas, solar panels, tower crane booms, etc., due to their large size and uneven mass distribution, will produce large vibration responses under the influence of external factors such as wind loads and seismic actions. Traditional dampers face many challenges in dealing with these vibration problems. Traditional dampers such as hydraulic dampers and spring dampers have fixed damping characteristics and cannot be adjusted in real time according to the vibration situation, making it difficult to meet the control requirements in complex vibration environments. In addition, due to the limitations of their structure and operating principles, traditional dampers are difficult to effectively address the challenges of limited installation space and limited load capacity. Therefore, the development of a new type of damper device with high-efficiency vibration suppression and its control method is of great significance for solving the problems existing in the prior art. The present invention aims to provide an integrated active damper and its vibration suppression control method to meet the requirements of modern engineering structure vibration control and improve the safety, reliability, and service life of structural vibrations.

[0003] In the prior art, no effective solutions have been formed for the above problems. The prior art is as follows:

[0004] A cable vibration control device and vibration control method described in CN202510019556.3. The device includes a velocity-type damping unit and a tuned mass damping unit. The velocity-type damping unit and the tuned mass damping unit are arranged near the cable-beam anchorage end of the cable. Two velocity dampers are symmetrically arranged on both sides of the cable surface; both ends of the velocity damper are respectively connected to the cable and the ground. This damper must be installed at both ends, with one end placed on the relatively stable main structure and the other end placed on the vibrating structure, which poses high requirements for installation and is not suitable for other fields.

[0005] A pendulum device and a control algorithm for quickly suppressing the pendulum swing described in ZL201910528752.8. The pendulum structure is connected to a pedestal bearing through a connecting device, and the rotation angle thereof is converted into an analog signal by an optical encoder for computer acquisition and recording. The moving slider is connected to the stepping motor through a synchronous belt and a synchronous pulley and is controlled by the stepping motor to move on the pendulum structure. This device suppresses the vibration of the vibrating structure by moving the slider, which requires a long stroke and poses challenges to the implementation and popularization of the suppression device. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an integrated active damper aiming at the deficiencies of the above-mentioned existing technologies. The integrated active damper has a certain applicability and can be widely applied to various vibrating structures, including: cable-stayed bridge cables, antennas, solar panels, tower crane booms, etc.

[0007] To solve the above technical problems, the technical solution adopted by the present invention is: the present invention provides an integrated active damper, which includes a box body, and a flywheel, a motor, a motor support structure, a control module, a control module support structure, a flange coupling, a battery and an adapter fixture arranged in the box body; the box body includes a front cover and a rear cover fixedly connected to each other;

[0008] The flywheel is fixedly connected to the motor through a flange coupling; the motor is fixed on the motor support structure; the control module is fixed on the control module support structure; the motor support structure, the control module support structure and the battery are all fixed on the rear cover of the box body; the adapter fixture is fixedly installed on the rear cover of the box body, and the adapter fixture is connected to the vibrating structure.

[0009] Further, the control module includes a microcontroller, a six-axis motion tracking sensor and a Bluetooth module that are electrically connected to each other; the six-axis motion tracking sensor is used to collect the vibration angular velocity of the vibrating structure and transmit it to the microcontroller; the microcontroller calculates the real-time vibration frequency of the vibrating structure according to the built-in formula, determines the rotational speed of the flywheel, and then controls the rotational speed of the motor. The motor drives the flywheel to rotate to suppress the vibration of the vibrating structure; the Bluetooth module is connected to the microcontroller and transmits the data collected and calculated by the microcontroller to the remote control terminal.

[0010] Further, the adapter fixture includes an antenna fixture and a plate structure fixture, and the antenna fixture and the plate structure fixture are respectively connected to the antenna and the plate structure.

[0011] Furthermore, the integrated active damper controls the rotational speed of the motor through the microcontroller, and then realizes the control of the rotational speed of the flywheel to suppress vibration, including the following steps:

[0012] Step 1: Collect the vibration angular velocity of the vibrating structure with a window length of 2N + 3 through the six-axis motion tracking sensor, and transmit the vibration angular velocity information to the microcontroller in the form of an electrical signal. The microcontroller calculates the real-time vibration frequency of the vibrating structure according to the built-in formula;

[0013] A frequency estimator based on the least squares method is used to identify the instantaneous frequency of the vibrating structure. The vibration angular velocity collected at the kth time is defined as and The corresponding vibration frequency is ω(t k )

[0014] The vibration angular velocity at time t is expressed as:

[0015]

[0016] wherein, is the amplitude, is the phase angle;

[0017] Subsequently, a data window with a length of 2N + 3 is selected to obtain the vibration angular velocity from time t k-(2N+2) to time t k At this time,

[0018] According to formula (1), we have:

[0019]

[0020] wherein, Δt represents the sampling time interval;

[0021] Combined with formula 2, we further obtain:

[0022]

[0023] All the collected vibration angular velocities are written in vector form:

[0024]

[0025] wherein,

[0026] The real-time vibration frequency ω(t k ) of the vibration structure is expressed as:

[0027]

[0028] wherein, ω(t k ) represents the real-time vibration frequency of the vibration structure, t k represents the time, ψ(t k ) represents the vibration angular velocity of the vibration structure collected at time t k , ψ - (t k ) represents the array composed of the vibration angular velocities ψ(t k-(2N+2) ) from time t k-2 to time t k-(2N+2) ),..., ψ(t k-2 ), ψ + (t k ) represents the array composed of the vibration angular velocities ψ(t k-2N ) from time t k to time t k-2N ),..., ψ(t k ), ψ(t k) represents the vibration angular velocity ψ(t k-(2N+1) from time t k-1 to time t k-(2N+1) ),..., ψ(t k-1 ), and the array N is a constant, and Δt represents the sampling time interval;

[0029] Step 2: Use the time-delay algorithm to calculate the momentum wheel speed and the energy input of the momentum wheel, and determine the relationship between the energy input from the momentum wheel to the vibration structure and the delay parameter;

[0030] The momentum wheel speed using the time-delay algorithm is expressed as

[0031]

[0032] where is the momentum wheel speed, is the vibration angular velocity of the vibration structure; α is a proportionality coefficient used to control the range of the momentum wheel speed; ε is the delay parameter; ω is the instantaneous frequency of the vibration response;

[0033] The selection of the proportionality coefficient α is restricted by the maximum allowable speed of the motor and the maximum vibration angular velocity of the vibration structure, and satisfies the condition

[0034] The energy input E from the momentum wheel to the vibration structure within one period is given by the following formula

[0035]

[0036] where I is the moment of inertia of the momentum wheel;

[0037] Substituting formulas (1) and (6) into formula (7) gives

[0038]

[0039] Thus, it is inferred that the energy input from the momentum wheel to the vibration structure has a harmonic relationship with the delay parameter;

[0040] Step 3: Use the delay parameter ε in the state with the highest vibration suppression efficiency in Step 2 to calculate the momentum wheel speed in the vibration suppression state;

[0041] The momentum wheel speed in the vibration suppression state is shown by the following formula:

[0042]

[0043] where θ(t k ) is the momentum wheel speed in the vibration suppression state;

[0044] Step 4: Perform input saturation processing on the speed command of the momentum wheel to obtain the reference speed of the momentum wheel;

[0045] The saturation function used for performing input saturation processing on the speed command of the momentum wheel is defined as follows:

[0046]

[0047] Wherein, is the reference speed of the momentum wheel, SAT is the saturation function, is the minimum speed of the motor;

[0048] Step 5: Control the motor through the microcontroller to output at the reference rotational speed of the momentum wheel calculated in Step 4, so as to drive the momentum wheel to rotate to suppress vibration.

[0049] The beneficial effects produced by adopting the above technical solution are as follows: The present invention provides an integrated active damper. First, the vibration angular velocity of the vibrating structure is collected by a six-axis motion tracking sensor, then the real-time vibration frequency of the structure is collected according to the adaptive control method for suppressing vibration, and then the motor speed is controlled by the control module, so as to drive the rotation of the momentum wheel, and further complete the rotational speed control of the momentum wheel. According to the real-time change of the magnitude of the collected vibration frequency, the real-time rotational speed of the momentum wheel is controlled, and further the suppression of vibration is realized. Compared with the prior art, the proposed new integrated active damper can be used in cooperation with different adapter jigs, and is not limited by environmental and size factors, and has wide applicability, and is applicable to different antennas and plate structures; the damper is easy to use and has strong self-adaptability, and does not require the mathematical model corresponding to the analysis device, and also has a certain wide application, and its efficiency of suppressing vibration control is higher, and it has certain significance in terms of technical breakthrough. Brief Description of the Drawings

[0050] Figure 1 is a schematic diagram of the overall structure of an integrated active damper provided in Embodiment 1 of the present invention;

[0051] Figure 2 are schematic diagrams of the respective structures of the integrated active damper provided in Embodiment 1 of the present invention;

[0052] Figure 3 is a schematic diagram of the plate structure jig provided in Embodiment 1 of the present invention;

[0053] Figure 4 is a schematic diagram of the antenna jig provided in Embodiment 1 of the present invention;

[0054] Figure 5 is a schematic diagram of the integrated active damper applied to an antenna provided in Embodiment 3 of the present invention;

[0055] Figure 6Schematic diagram of the integrated active damper provided in Embodiment 3 of the present invention applied to a plate structure;

[0056] Figure 7 Schematic diagram of the antenna vibration response collected by the first integrated active damper applied to the antenna and the rotational speed of the momentum wheel provided in Embodiment 3 of the present invention;

[0057] Figure 8 Schematic diagram of the antenna vibration response collected by the second integrated active damper applied to the antenna and the rotational speed of the momentum wheel provided in Embodiment 3 of the present invention;

[0058] Figure 9 Schematic diagram of the vibration response of the plate structure collected by the integrated active damper applied to the plate structure and the rotational speed of the momentum wheel provided in Embodiment 3 of the present invention.

[0059] In the figure: 1. Integrated active damper; 2. Plate structure fixture; 3. Antenna fixture; 4. Box body; 5. Flange coupling; 6. Momentum wheel; 7. Motor; 8. Motor support structure; 9. Control module; 10. Control module support structure; 11. Battery; 12. Plate structure; 13. Antenna. Detailed implementation manners

[0060] The following combines the drawings and embodiments to further describe in detail the specific implementation manners of the present invention. The following embodiments are used to illustrate the present invention, but are not used to limit the scope of the present invention.

[0061] Embodiment 1:

[0062] As Figures 1-4 shown, this embodiment records an integrated active damper. The integrated active damper 1 includes a box body 4 and a momentum wheel 6, a motor 7, a motor support structure 8, a control module 9, a control module support structure 10, a flange coupling 5, a battery 11 and an adapter fixture arranged in the box body 4; the box body 4 includes a front cover and a rear cover which are fixedly connected to each other;

[0063] The momentum wheel 6 is fixedly connected to the motor 7 through the flange coupling 5, so that the output of the motor 7 can act on the momentum wheel 6. The motor 7 is fixed on the motor support structure 8. The control module 9 is fixed on the control module support structure 10. The motor support structure 8, the control module support structure 10 and the battery 11 are all fixed on the rear cover of the box body 4. The adapter fixture is fixedly installed on the rear cover of the box body 4, and the adapter fixture is connected to the vibration structure. The above fixed connection methods are all completed by bolts.

[0064] The control module 9 includes an STM32F103RCT6 microcontroller, an MPU6050 six-axis motion tracking sensor, and a CC2541 Bluetooth module that are electrically connected to each other. The MPU6050 six-axis motion tracking sensor is used to collect the vibration angular velocity of the vibrating structure and transmit it to the STM32F103RCT6 microcontroller. The STM32F103RCT6 microcontroller calculates the real-time vibration frequency of the vibrating structure according to the built-in formula, determines the rotation speed of the momentum wheel, and then controls the rotation speed of the motor. The motor drives the momentum wheel to rotate to suppress the vibration of the vibrating structure. The CC2541 Bluetooth module is connected to the STM32F103RCT6 microcontroller and transmits the data collected and calculated by the STM32F103RCT6 microcontroller to the remote control terminal.

[0065] In this embodiment, the adapter fixture includes a plate structure fixture 2 and an antenna fixture 3, and the plate structure fixture 2 and the antenna fixture 3 are respectively connected to the plate structure 12 and the antenna 13.

[0066] Embodiment 2:

[0067] This embodiment describes an integrated active damper vibration suppression method, which controls the rotation speed of the motor through a microcontroller, and then realizes the control of the rotation speed of the momentum wheel to suppress vibration, including the following steps:

[0068] Step 1: Collect the vibration angular velocity of the vibrating structure with a window length of 2N + 3 through a six-axis motion tracking sensor, and transmit the vibration angular velocity information to the microcontroller in the form of an electrical signal. The microcontroller calculates the real-time vibration frequency of the vibrating structure according to the built-in formula;

[0069] Adopt a frequency estimator based on the least squares method to identify the instantaneous frequency of the vibrating structure. The vibration velocity collected at the kth time is defined as And The corresponding vibration frequency is ω(t k );

[0070] The vibration angular velocity at time t can be approximately expressed as:

[0071]

[0072] Among them, is the amplitude, is the phase angle;

[0073] Subsequently, select a data window with a length of 2N + 3 to obtain the vibration angular velocity from time t k-(2N+2) to time t k The vibration angular velocity at the moment

[0074] According to formula (1), there is:

[0075]

[0076] Among them, Δt represents the sampling time interval;

[0077] Combined with Equation 2, it is further obtained that:

[0078]

[0079] There are an additional 2N + 1 formulas similar to the above formula, which can be written in vector form:

[0080]

[0081] Among them,

[0082] The 2N + 1 ω(t k ) values are obtained through the 2N + 1 equalities shown above; in order to obtain the optimal solution of ω(t k ), the objective function can be expressed as:

[0083]

[0084] In order to obtain the extreme value of this objective function, there is:

[0085]

[0086] By solving the above formula, ω(t k ) can be expressed as

[0087]

[0088] Among them, ω(t k ) represents the real-time vibration frequency of the vibrating structure, t k represents the moment, ψ(t k ) represents the vibration angular velocity of the vibrating structure collected at time t k , ψ - (t k ) represents the array composed of the vibration angular velocities ψ(t k-(2N+2) ) from time t k-2 to t k-(2N+2) ),..., ψ(t k-2 ); ψ + (t k ) represents the array composed of the vibration angular velocities ψ(t k-2N ) from time t k to t k-2N ),..., ψ(t k ); ψ(t k ) represents the array composed of the vibration angular velocities ψ(t k-(2N+1) ) from time t k-1The vibration angular velocity ψ(t k-(2N+1) ),..., ψ(t k-1 ), an array where N is a constant and Δt represents the sampling time interval;

[0089] Step 2: Use the time-delay algorithm to calculate the momentum wheel speed and the energy input of the momentum wheel, and determine the relationship between the energy input from the momentum wheel to the vibration structure and the delay parameter;

[0090] The momentum wheel speed using the time-delay algorithm is expressed as:

[0091]

[0092] where, is the momentum wheel speed, is the vibration angular velocity of the vibration structure; α is a proportionality coefficient used to control the range of the momentum wheel speed; ε is the delay parameter; ω is the instantaneous frequency of the vibration response;

[0093] The selection of the proportionality coefficient α is restricted by the maximum allowable speed of the motor and the maximum vibration angular velocity of the vibration structure , satisfying the condition The maximum allowable speed of the motor can be obtained from the manufacturer, while the maximum vibration angle of the vibration structure needs to be estimated empirically based on the specific vibration structure and the installation position of the damper.

[0094] The energy input E from the momentum wheel to the vibration structure within one cycle is given by the following formula:

[0095]

[0096] where I is the moment of inertia of the momentum wheel;

[0097] Substituting formulas (1) and (8) into formula (9) gives:

[0098]

[0099] It is inferred from formula (10) that the energy input from the momentum wheel to the vibration structure has a harmonic relationship with the delay parameter ε; when ε is set to 0.75 and the optimal delay time is 1.5π / ω, the energy dissipation is the largest and the vibration suppression efficiency is the highest.

[0100] Step 3: Use the delay parameter ε in the state with the highest vibration suppression efficiency in Step 2 to calculate the momentum wheel speed in the vibration suppression state, as shown in formula (11):

[0101]

[0102] where, θ(tk ) To suppress the rotational speed of the momentum wheel under vibration conditions;

[0103] Step 4: Perform input saturation processing on the speed command of the momentum wheel to obtain the reference speed of the momentum wheel;

[0104] Generally, the proportionality coefficient α can ensure that the maximum rotational speed of the momentum wheel remains within the maximum allowable speed of the motor. However, in order to prevent instability in the collected signals, which could lead to the rotational speed of the momentum wheel exceeding the maximum allowable speed, input saturation processing is performed on the speed command. This ensures that the operation is within the motor constraints and prevents potential instability of the vibrating structure. The mathematical definition of the saturation function is as follows:

[0105]

[0106] where, is the reference speed of the momentum wheel, SAT is the saturation function, is the minimum speed of the motor;

[0107] Step 5: Control the motor through the microcontroller to output at the reference rotational speed of the momentum wheel calculated in Step 4 to drive the momentum wheel to rotate and suppress vibration.

[0108] Embodiment 3:

[0109] In this embodiment, two vibrating structures, namely an antenna and a cantilever plate, are used as examples to further illustrate the effectiveness and efficiency of the present invention in quickly controlling vibration.

[0110] The schematic diagram of applying two integrated active dampers to the antenna in this embodiment is as Figure 5 shown. Among them, the two integrated active dampers are respectively vertically installed on the antenna 13.

[0111] In this embodiment, two integrated active dampers are applied to the cantilever plate, as Figure 6 shown. Among them, the two integrated active dampers are parallelly installed on the plate structure 12 through the plate structure fixture 2, and the plate structure 12 can be components such as a cantilever plate.

[0112] The actual parameters are as follows:

[0113] The overall diameter of the integrated active damper is 13.6 cm, the height is 10.6 cm, the diameter of the built-in momentum wheel is 10.3 cm, the length of the antenna is 137 cm, and the length, width, and thickness of the cantilever plate are 650 cm, 200 cm, and 0.2 cm respectively. α is set to 100.

[0114] The vibration responses collected by the two integrated active dampers applied to the antenna and the rotation of the momentum wheel are as Figure 7 and Figure 8 shown. As shown byFigure 7 and 8 It can be seen that the integrated active damper proposed by the present invention can well suppress the vibrations in two directions of the antenna, and the amplitudes are reduced from the original 0.338 rad / s and 0.141 rad / s to 0.170 rad / s and 0.069 rad / s respectively, and the suppression efficiencies are 49.7% and 52.5% respectively.

[0115] The vibration responses collected by the two integrated active dampers applied to the cantilever plate and the rotation of the momentum wheel are as Figure 9 shown. As shown in Figure 9 It can be seen that the integrated active damper proposed by the present invention can well suppress the vibration of the cantilever plate, and the amplitude is reduced from the original 0.179 rad / s to 0.021 rad / s, and the suppression efficiency is 88.3%.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope defined by the claims of the present invention.

Claims

1. An integrated active damper, characterized in that: It includes a box body, a momentum wheel, a motor, a motor support structure, a control module, a control module support structure, a flange coupling, a battery, and an adapter fixture arranged inside the box body; the box body includes a front cover and a rear cover which are fixedly connected to each other; The momentum wheel and the motor are fixedly connected through the flange coupling; the motor is fixed on the motor support structure; the control module is fixed on the control module support structure; the motor support structure, the control module support structure, and the battery are all fixed on the rear cover of the box body; the adapter fixture is fixedly installed on the rear cover of the box body and is connected to the vibration structure.

2. The integrated active damper according to claim 1, wherein: The control module includes a microcontroller, a six-axis motion tracking sensor, and a Bluetooth module that are electrically connected to each other; the six-axis motion tracking sensor is used to collect the vibration angular velocity of the vibration structure and transmit it to the microcontroller; the microcontroller calculates the real-time vibration frequency of the vibration structure according to the built-in formula, determines the rotation speed of the momentum wheel, and then controls the rotation speed of the motor. The motor drives the momentum wheel to rotate to suppress the vibration of the vibration structure; the Bluetooth module is connected to the microcontroller and transmits the data collected and calculated by the microcontroller to the remote control terminal.

3. The integrated active damper according to claim 2, wherein: The adapter fixture includes an antenna fixture and a board structure fixture, and the antenna fixture and the board structure fixture are respectively connected to the antenna and the board structure.

4. An integrated active damper according to claim 2, characterized in that: Controlling the rotation speed of the motor through the microcontroller, and then realizing the control of the rotation speed of the momentum wheel to suppress vibration, includes the following steps: Step 1: The six-axis motion tracking sensor collects the vibration angular velocity of the vibration structure with a window length of 2N + 3, and transmits the vibration angular velocity information to the microcontroller in the form of an electrical signal. The microcontroller calculates the real-time vibration frequency of the vibration structure according to the built-in formula. Step 2: The time-delay algorithm is used to calculate the rotation speed of the momentum wheel and the energy input of the momentum wheel, and determine the relationship between the energy input from the momentum wheel to the vibration structure and the delay parameter. Step 3: The delay parameter ε in the state with the highest vibration suppression efficiency in Step 2 is used to calculate the rotation speed of the momentum wheel in the vibration suppression state. Step 4: The input saturation processing is performed on the speed command of the momentum wheel to obtain the reference speed of the momentum wheel. Step 5: The microcontroller controls the motor to output at the reference rotation speed of the momentum wheel calculated in Step 4, so as to drive the momentum wheel to rotate to suppress vibration.

5. An integrated active damper according to claim 4, characterized in that: The said Step 1 includes: A frequency estimator based on the least squares method is used to identify the instantaneous frequency of a vibrating structure. The angular velocity of vibration collected at the k-th time is defined as and The corresponding vibration frequency is ω(t k ); The vibration angular velocity at time t is expressed as: Among them, is the amplitude, is the phase angle; Subsequently, a data window with a length of 2N + 3 is selected to obtain the vibration angular velocity at time t k-(2N+2) to t k According to formula (1), we have:​ where Δt represents the sampling time interval; Combined with Formula 2, further obtain: All the collected vibration angular velocities are written in vector form: Among them, The real-time vibration frequency ω(t of the vibration structure k ) is expressed as: where, ω(t k ) represents the real-time vibration frequency of the vibrating structure, t k represents the time instant, ψ(t k ) represents the angular velocity of vibration of the vibrating structure collected at time instant t k , ψ - (t k ) represents the array composed of the angular velocities of vibration ψ(t k-(2N+2) ) to ψ(t k-2 ) from time instant t k-(2N+2) to t k-2 ),..., ψ(t + ), ψ k (t k-2N ) represents the array composed of the angular velocities of vibration ψ(t k ) to ψ(t k-2N ) from time instant t k to t k ), ψ(t k-(2N+1) ) represents the array of the angular velocities of vibration ψ(t k-1 ) to ψ(t k-(2N+1) ) from time instant t k-1 ), N is a constant, and Δt represents the sampling time interval.

6. An integrated active damper according to claim 5, characterized in that: The said Step 2 includes: The rotation speed of the momentum wheel using the time-delay algorithm is expressed as Among them, is the rotational speed of the momentum wheel, is the angular velocity of vibration of the vibration structure; α is a proportionality coefficient used to control the range of the rotational speed of the momentum wheel; ε is a delay parameter; ω is the instantaneous frequency of the vibration response; The selection of the proportionality coefficient α is restricted by the maximum allowable speed of the motor and the maximum angular velocity of vibration of the vibration structure and satisfies the condition The energy input E from the momentum wheel to the vibration structure within one period is given by the following formula where I is the moment of inertia of the momentum wheel; Substitute Formulas (1) and (6) into Formula (7) to get: Thus, it is inferred that the energy input from the momentum wheel to the vibration structure has a harmonic relationship with the delay parameter.

7. An integrated active damper according to claim 6, characterized in that: The rotation speed of the momentum wheel in the vibration suppression state described in Step 3 is shown in the following formula: Among them, θ(t k ) is the rotational speed of the momentum wheel under the vibration suppression state.

8. An integrated active damper according to claim 7, characterized in that: The saturation function used for the input saturation processing of the speed command of the momentum wheel described in Step 4 is defined as follows: wherein, is the reference speed of the momentum wheel, SAT is the saturation function, is the minimum speed of the motor.

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