A multi-leg vibration damping device, a vibration damping method, and a computer storage medium

Abstract

The application discloses a multi-leg damping device, a damping method and a computer storage medium, and relates to the technical field of damping devices, and aims to improve the flexibility and application range of damping and effectively avoid the dependence on other vibration data in the process of determining the adjustment instruction, and ensure the control accuracy of the damping result. The multi-leg damping device comprises a plurality of damping support legs, the plurality of damping support legs are arranged in a damping area of a damping platform, and the spacing between at least one damping support leg and the plurality of damping support legs adjacent to the at least one damping support leg is not completely the same. The multi-leg damping device further comprises at least one controller, each damping support leg is provided with a data acquisition unit and an actuator. The data acquisition unit is used for collecting vibration data in real time. The controller is used for determining the adjustment instruction of each damping support leg according to the vibration data. The actuator is used for damping control of the damping support leg according to the adjustment instruction. The damping support leg can be arranged at any position according to actual needs, the flexibility and application range of damping are improved, the dependence on other vibration data in the process of determining the adjustment instruction is effectively avoided, and the control accuracy of the damping result is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vibration management, and in particular to a multi-leg vibration reduction device, a vibration reduction method and a computer storage medium. BACKGROUND

[0002] Currently, during the operation of industrial equipment, vibration not only affects the stability of the equipment, but also can seriously affect product quality, especially in the field of semiconductor manufacturing, even a small vibration can cause damage or performance degradation of precision devices.

[0003] However, the current mainstream vibration reduction system performs data fitting on multiple support legs to achieve overall vibration control. Therefore, in the process of vibration reduction in the prior art, all legs are relied on for collaborative control, and due to the complex vibration coupling relationship between the support legs, especially when the center of mass and the center of gravity of the equipment are deviated, the control force will generate additional torque interference between the support legs, increasing the local vibration amplitude and making it difficult to accurately control the vibration reduction effect.

[0004] Therefore, in the process of vibration reduction in the prior art, the sensitivity of vibration reduction is insufficient and the local control precision is reduced due to the dependence on overall collaboration. SUMMARY

[0005] Embodiments of the present application provide a multi-leg vibration reduction device, a vibration reduction method and a computer storage medium, aiming to solve the problem of low pertinence and low efficiency of vibration reduction in the prior art in the process of vibration reduction.

[0006] To solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0007] A multi-leg vibration reduction device, comprising a plurality of vibration reduction support legs, the plurality of vibration reduction support legs being arranged in a vibration reduction area of a vibration reduction platform;

[0008] Wherein, the multi-leg vibration reduction device further comprises at least one controller, each vibration reduction support leg is provided with a data acquisition unit and an actuator; the data acquisition unit is used for real-time acquisition of vibration data; the controller is used for determining the adjustment instruction of each vibration reduction support leg according to the vibration data; the actuator is used for vibration reduction control of the vibration reduction support leg according to the adjustment instruction.

[0009] Optionally, the distance between at least one vibration reduction support leg and the plurality of vibration reduction support legs adjacent thereto in the device is not completely the same.

[0010] A vibration reduction method, comprising:

[0011] Obtaining vibration data of a multi-leg vibration reduction device;

[0012] determine an adjustment instruction of each damping support leg according to the vibration data;

[0013] damping control of each damping support leg according to the adjustment instruction.

[0014] Optionally, before obtaining the vibration data of the multi-leg damping device, the method further comprises:

[0015] performing regional screening on the damping platform based on a preset screening rule to determine a region to be damped;

[0016] determining a layout and a number of the damping support legs according to the detected vibration data of the region to be damped;

[0017] The preset screening rule comprises at least one of a simulation analysis and measured data fusion rule, a load region screening rule, an environmental vibration sensitivity screening rule, a historical damping data screening rule, and a specified region screening rule entered by a user; and the layout comprises at least one of a symmetrical layout, a polygonal layout, a special-shaped layout, and an irregular layout.

[0018] Optionally, the determining of the layout and the number of the damping support legs according to the detected vibration data of the region to be damped comprises:

[0019] calculating a vibration transmissibility curve of the region to be damped according to the detected vibration data;

[0020] dynamically adjusting the layout and the number of the damping support legs according to the vibration transmissibility curve until the vibration transmissibility reaches a preset threshold interval.

[0021] Optionally, the determining of the adjustment instruction of each damping support leg according to the vibration data comprises:

[0022] performing a difference operation between the vibration data and a preset damping target to obtain a deviation signal;

[0023] performing feedback calculation according to the deviation signal to generate the adjustment instruction.

[0024] Optionally, the determining of the adjustment instruction of each damping support leg according to the vibration data comprises:

[0025] performing a difference operation between the vibration data and a preset damping target to obtain a deviation signal;

[0026] performing collaborative feedback calculation according to the deviation signal and dynamic response parameters of the damping support legs to generate an adjustment instruction that takes into account both damping effect and response speed;

[0027] The dynamic response parameters include a damping coefficient, a stiffness gain and a phase compensation threshold, and are used to determine an adjustment threshold and a response priority of the damping support leg.

[0028] Optionally, the damping adjustment of each damping support leg according to the adjustment instruction comprises:

[0029] The damping support leg is subjected to damping processing based on the adjustment instruction, and current vibration data of the damping support leg are collected in real time;

[0030] When it is judged according to the current vibration data and a preset damping target that the damping support leg does not meet the vibration suppression requirement, the adjustment instruction is updated according to the current vibration data and the preset damping target, and the damping support leg is re-adjusted according to the updated adjustment instruction until the damping support leg meets the vibration suppression requirement.

[0031] Optionally, the adjustment instruction of each damping support leg is determined according to the vibration data, and further comprises:

[0032] It is judged according to the vibration data whether the damping support leg has a fault;

[0033] When there is a fault damping support leg, an alarm signal is sent.

[0034] A computer readable storage medium has a computer program stored thereon, and the computer program is loaded by a processor to execute the steps in the damping method described above.

[0035] In the embodiment of the application, the vibration data are collected in real time by the data acquisition unit, so that the vibration state information of different regions of the damping platform can be obtained in time; the corresponding adjustment instruction is generated by the controller according to the real-time vibration data, so that the pertinence of the adjustment instruction can be ensured, the damping support leg at the position can quickly respond to the vibration change and perform accurate regulation and control, and the dynamic adaptability and stability of the damping support leg under complex working conditions are effectively improved; in addition, the damping support leg can be arranged at any position according to actual needs, so that the flexibility and application range of damping are greatly improved; since the damping support legs at different positions do not affect each other, the dependence on other vibration data in the process of determining the adjustment instruction is effectively avoided, and the control accuracy of the damping result is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0037] Figure 1 A structural schematic diagram of one embodiment of the multi-leg damping device provided by the embodiment of the present application is shown in FIG. 1.

[0038] Figure 2 A three-dimensional structural schematic diagram of one embodiment of the damping platform provided by the embodiment of the present application is shown in FIG. 2.

[0039] Figure 3 A structural schematic diagram of one embodiment of the damping system provided by the embodiment of the present application is shown in FIG. 3.

[0040] Figure 4 A flow schematic diagram of one embodiment of the damping method provided by the embodiment of the present application is shown in FIG. 4.

[0041] Figure 5 A result schematic diagram of one embodiment of the symmetric layout provided by the embodiment of the present application is shown in FIG. 5.

[0042] Figure 6 A result schematic diagram of one embodiment of the polygonal layout provided by the embodiment of the present application is shown in FIG. 6.

[0043] Figure 7 A result schematic diagram of one embodiment of the special-shaped layout provided by the embodiment of the present application is shown in FIG. 7. DETAILED DESCRIPTION

[0044] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0045] In the following description, specific embodiments of the present application will be described with reference to steps and symbols executed by one or more computers, unless otherwise specified. Therefore, these steps and operations will be mentioned several times by computers, and the computer execution referred to herein includes the operation of the computer processing unit represented by the electronic signal in a structured form. This operation transforms the data or maintains it at the location in the memory system of the computer, which can reconfigure or otherwise change the operation of the computer in a manner known to those skilled in the art. The data structure maintained by the data is the physical location of the memory, which has specific characteristics defined by the data format. However, the principles of the present application are described in the above description, which does not represent a limitation, and those skilled in the art will understand that the various steps and operations described below can also be implemented in hardware.

[0046] The term "module" or "unit" used herein can be regarded as a software object executed on the operating system. Different components, modules, engines and services described herein can be regarded as implementation objects on the operating system. The apparatus and method described herein are preferably implemented in software, but can also be implemented in hardware, both of which are within the scope of the present application.

[0047] The embodiment of the present application provides a multi-leg damping device, a damping method and a computer storage medium.

[0048] Please refer to Figure 1 , Figure 1 The structural schematic diagram of an embodiment of the multi-leg damping device provided by the embodiment of the present application is specifically shown in the figure, and the multi-leg damping device 100 comprises a plurality of damping support legs 101, and the plurality of damping support legs 101 are arranged in a damping area of a damping platform.

[0049] The multi-leg damping device 100 further comprises at least one controller (not shown in the figure), each damping support leg 101 is provided with a data acquisition unit 111 and an actuator 112; the data acquisition unit 111 is used for collecting vibration data in real time; the controller is used for determining an adjustment instruction of each damping support leg 101 according to the vibration data; and the actuator 112 is used for damping control of the damping support leg 101 according to the adjustment instruction.

[0050] It should be noted that the damping platform is a bearing structure for placing equipment or components that need to be damped, which can be a steel plate or a concrete base, and the form is flexibly designed according to the actual application scene, which is not limited here.

[0051] The damping support leg 101 refers to a structural component for supporting the damping platform and the equipment on the damping platform to realize vibration suppression, which is used for consuming energy and suppressing vibration, and the core function is to reduce or eliminate structural vibration, impact and noise caused by external force or self-motion. Please refer to Figure 2 , Figure 2 The three-dimensional structural schematic diagram of an embodiment of the damping system provided by the embodiment of the present application is shown in the figure, and the damping system comprises a bottom plate 10 and a top plate 20 arranged in opposite intervals and a damping support leg 101 arranged between the bottom plate 10 and the top plate 20.

[0052] The bottom plate 10 can be fixedly connected with the ground or the foundation structure, or the bottom plate 10 can also be the ground itself, which is not limited herein; the top plate 20 can be fixedly connected with the damping platform, or the top plate 20 can also be the damping platform itself, which is not limited herein; the equipment requiring damping treatment, which is not shown, can be a precision instrument, an industrial machine tool, a medical device, or a foundation structure of a high-rise building, and can also be a bridge, a rail transit facility, and other large engineering structures sensitive to vibration, which is not limited herein; the damping support leg 101 is fixed between the bottom plate 10 and the top plate 20 through an adjustable connection mode, and can also be stably installed through welding or bolt connection, and the specific connection mode is determined according to actual needs, which is not limited herein.

[0053] The data acquisition unit 111 is a sensor for collecting vibration data of the damping support leg 101 in real time, wherein the vibration data of the damping support leg 101 can be vibration displacement, vibration velocity, or vibration acceleration data of a region where the damping support leg 101 and the damping platform are in contact with each other, and can also be vibration displacement, vibration velocity, or vibration acceleration data of the damping support leg 101 itself, and can also be vibration displacement, vibration velocity, or vibration acceleration data of the ground, which is not limited herein, so as to reflect the vibration state of the region where the damping support leg 101 is located or the region that can be controlled, so as to timely control the vibration.

[0054] The controller refers to a device capable of determining the adjustment instruction of the damping support leg 101 according to the vibration data, wherein a preset control strategy is stored, and the controller can be a programmable logic controller (PLC), a digital signal processor (DSP), a field programmable gate array (FPGA), a chip, a single-chip microcomputer, and other hardware units capable of realizing data processing and control functions, which is not limited herein. The preset control strategy can specifically include PID control, fuzzy control, adaptive control, or intelligent optimization algorithm, and can also be other control strategies entered according to actual needs, such as neural network control or sliding mode control, which is not limited herein.

[0055] The actuator 112 is a component for damping control of the damping support leg 101 according to the adjustment instruction, and can be an air spring, a voice coil motor, and other execution hardware units, which is not limited herein.

[0056] In the embodiment of the present application, the vibration data is collected in real time by the data acquisition unit 111, so that the vibration state information of different regions of the vibration reduction platform can be obtained in time; the corresponding adjustment instruction is generated by the controller according to the real-time vibration data, so that the pertinence of the adjustment instruction can be ensured, and the vibration reduction support leg 101 at this position can quickly respond to the vibration change and perform accurate regulation and control, thereby effectively improving the dynamic adaptability and stability of the vibration reduction support leg 101 under complex working conditions; in addition, the vibration reduction support leg 101 can be arranged at any position according to actual needs, thereby greatly improving the flexibility and application range of vibration reduction; since the vibration reduction support legs 101 at different positions do not affect each other, the dependence on other vibration data in the process of determining the adjustment instruction is effectively avoided, and the control accuracy of the vibration reduction result is ensured.

[0057] Further, in a specific vibration reduction scene, the spacing between at least one vibration reduction support leg 101 and the plurality of vibration reduction support legs 101 adjacent thereto is not completely the same.

[0058] The arrangement mode with different spacings can avoid regular transmission of vibration resonance effect between the support legs, thereby improving the overall stability of the system; and since the spacing between the vibration reduction support legs is not fixedly limited, the arrangement flexibility of the vibration reduction support legs is greatly improved, so as to adapt to different scene requirements.

[0059] In the embodiment, since the spacing between at least one vibration reduction support leg 101 and the plurality of vibration reduction support legs 101 adjacent thereto is not completely the same, an asymmetric arrangement between the vibration reduction support legs is formed, which can inhibit the resonance risk; and since the vibration reduction support legs at different positions do not affect and depend on each other, the dependence on other vibration data in the process of determining the adjustment instruction is effectively avoided, and the control accuracy of the vibration reduction result is ensured.

[0060] Further, in order to accurately determine the layout of each vibration reduction support leg 101 and improve the pertinence and effectiveness of vibration reduction, simulation testing of the multi-leg vibration reduction device is required before vibration reduction operation, please refer to Figure 3 , Figure 3 The structure diagram of the second embodiment of the multi-leg vibration reduction device provided by the embodiment of the present application, specifically, the multi-leg vibration reduction device 100 further comprises:

[0061] A plurality of external sensors 301 are arranged at different positions of the vibration reduction platform, for obtaining detection vibration data at the position;

[0062] A detection controller (not shown) is signal-connected with the plurality of external sensors 301, for determining the layout of the vibration reduction support leg 101 according to the detection vibration data at different positions.

[0063] It should be noted that the external sensor 301 does not completely coincide with the setting position of the damping support leg 101, and the arrangement is more flexible, and the vibration response characteristics of different areas of the damping platform can be independently detected.

[0064] The external sensor 301 is a hardware unit for collecting the vibration transmissibility of the damping platform in different areas, and can specifically include an acceleration sensor, a displacement sensor, a speed sensor, a laser vibration meter, a piezoelectric accelerometer, a multi-axis IC piezoelectric accelerometer, an embedded speed sensor, and the like, which is not limited here.

[0065] The detection controller is a core component for overall control of the layout of the damping support leg 101 in the multi-leg damping device 100, is responsible for comprehensive analysis and processing according to the multi-point vibration data collected by each external sensor 301, and determines the optimal damping support leg 101 installation position and quantity configuration through a preset layout optimization algorithm; the built-in logic can dynamically adjust the layout strategy in combination with the equipment operating conditions, the vibration transmission path and the distribution of key sensitive areas, and improve the overall damping efficiency of the system. In addition, in order to improve the utilization rate of the detection controller, the detection controller can be connected to the damping platform in a detachable manner, and after the layout scheme of the damping support leg 101 is determined, it can be detached for damping debugging of other equipment, thereby effectively reducing the system cost. Correspondingly, the external sensor 301 and the detection controller appear in groups, and then the external sensor 301 can also be connected to the damping platform in a detachable manner, and can be detached as a whole after completing the vibration data collection and layout optimization, which is not limited here.

[0066] In the embodiment of the application, by arranging a plurality of external sensors 301 at different positions of the damping platform, the vibration conditions of each position of the damping platform during the simulation process can be accurately obtained, and local vibration state omission caused by single-point monitoring can be avoided; the detection controller adjusts the layout of the damping support leg 101 at the corresponding position according to the vibration conditions at different positions, realizes key control of the vibration sensitive area, and balances the overall and local damping requirements.

[0067] The present application provides a damping method, please refer to Figure 4 , Figure 4 The flowchart of an embodiment of the damping method provided by the embodiment of the present application comprises:

[0068] S401: Obtain vibration data of a multi-leg damping device;

[0069] It should be noted that the vibration data includes vibration acceleration, displacement and / or frequency characteristics of the region provided with the damping support legs in the multi-leg damping device, and can also be dynamic response vibration data of the damping platform or the ground corresponding to the region where the damping support legs are located under external excitation, which is not limited herein; the vibration data can reflect the vibration of the region provided with the damping support legs in the multi-leg damping device.

[0070] S402: determining the adjustment instruction of each damping support leg according to the vibration data;

[0071] S403: damping control of each damping support leg according to the adjustment instruction.

[0072] In the embodiment of the application, by obtaining the vibration data of the damping support legs of the multi-leg damping device at different positions in real time, the vibration state of the damping support legs at different positions can be dynamically perceived; the adjustment instruction of each damping support leg is determined according to the vibration data, and each damping support leg is independently controlled based on the adjustment instruction, since the adjustment instruction is generated based on the vibration state of the damping support leg at this position, the pertinence of the adjustment instruction can be ensured, the adjustment action can meet the logical requirements of vibration suppression, blind adjustment can be avoided, and the pertinence of damping can be improved.

[0073] In a specific embodiment, in S401, in order to improve the pertinence of damping, before obtaining the vibration data of the multi-leg damping device, it further includes: performing regional screening on the damping platform based on a preset screening rule to determine a to-be-damped region; determining the layout and number of damping support legs according to the detected vibration data of the to-be-damped region; wherein the preset screening rule includes at least one of a simulation analysis and measured data fusion rule, a load area screening rule, an environmental vibration sensitivity screening rule, a historical damping data screening rule, and a specified region screening rule entered by a user; the layout includes at least one of a symmetrical layout, a polygonal layout, a special-shaped layout, and an irregular layout.

[0074] It should be noted that the simulation analysis and measured data fusion rule means that the vibration transmission characteristics of each region are simulated and analyzed by establishing a finite element model of the damping platform combined with vibration monitoring data in actual operation, so as to identify regions prone to resonance or having a high vibration transmission rate, and the regions are taken as to-be-damped regions.

[0075] The load area screening rule specifically means that based on the static detection vibration data of the damping platform, i.e., the load distribution and weight concentration degree on the damping platform, regions carrying large loads or having concentrated loads are preferentially identified and screened as to-be-damped regions.

[0076] The environmental vibration sensitivity screening rule refers to prioritizing the screening of highly sensitive areas that require focused vibration reduction based on the sensitivity of specific areas on the vibration reduction platform (such as areas containing precision instruments, high-precision equipment, or critical components with extremely low vibration tolerance).

[0077] The historical vibration reduction data screening rule refers to analyzing the execution records of historical vibration reduction measures and identifying areas that repeatedly trigger vibration reduction requirements or whose vibration reduction effects fail to meet standards as areas to be affected by vibration reduction.

[0078] The input-defined area filtering rules refer to allowing users to manually specify specific areas of interest through the input interface. In other words, the system can filter specific areas according to the user's actual needs, thereby improving the system's flexibility and applicability.

[0079] Furthermore, this application can also use multiple rules for cross-filtering (such as prioritizing the identification of critical load-bearing areas, vibration-sensitive areas, and user-specified areas) to accurately pinpoint the core areas that truly require vibration reduction, thus avoiding ineffective processing of non-critical areas, which will not be elaborated here.

[0080] In summary, this embodiment achieves accurate identification of the area to be vibration-damped by combining multi-dimensional preset rules such as simulation, load-bearing area, environmental vibration sensitivity, historical vibration reduction data, and inputting a specified area.

[0081] In one specific embodiment, the arrangement of the multiple vibration-damping support legs includes at least one of the following: symmetrical arrangement, polygonal arrangement, irregular arrangement, and non-irregular arrangement. Please refer to [link / reference]. Figures 5-7 , Figure 5 This is a schematic diagram showing the result of an embodiment of the symmetrical layout provided by the present invention. Figure 6 This is a schematic diagram showing the result of an embodiment of the polygonal layout provided by the present invention. Figure 7 This is a schematic diagram illustrating an embodiment of the irregular layout provided by the present invention. The square portions with numbers represent the installation positions of the vibration-damping support legs. The numbers correspond to the different support leg numbers, used to distinguish their spatial coordinates and functional attributes within the overall layout. Obviously, vibration-damping support legs can also be set at any position on the vibration-damping platform according to actual needs, to adapt to complex equipment base structures or local mass eccentricity; this is not limited here.

[0082] After determining the area to be vibration-damped, the layout and number of vibration-damping support legs are determined based on the vibration data detected in the area. This includes: calculating the vibration transmissibility curve of the area to be vibration-damped based on the vibration data; and dynamically adjusting the layout and number of vibration-damping support legs based on the vibration transmissibility curve until the vibration transmissibility reaches a preset threshold range.

[0083] It should be noted that the vibration transmissibility is the amplitude ratio of the output end vibration response (displacement, speed or acceleration) to the input end vibration excitation, which can quantify the transmission efficiency of vibration energy in the system. By taking the vibration transmissibility as the control target, the control strategy is more accurately directed to the vibration reduction demand, avoiding the deviation of the vibration reduction effect.

[0084] In a specific embodiment, when the vibration transmissibility curve presents significant fluctuations and the local peak value exceeds the preset threshold value, it indicates that there is a risk of resonance or insufficient local stiffness in this area, and the angle of the vibration reduction support leg needs to be adjusted and re-measured until the vibration transmissibility curve tends to be flat and each frequency band is lower than the preset threshold value interval; in addition, if all angles cannot reduce the vibration transmissibility to the threshold value interval, the number of vibration reduction support legs needs to be increased.

[0085] In this embodiment, according to the unevenness of the load distribution of different areas of the vibration reduction platform, the layout of the vibration reduction support legs is dynamically adjusted, which specifically includes the arrangement position, arrangement number and arrangement density of the vibration reduction support legs, such as increasing the arrangement number in the key area and appropriately reducing the arrangement number in the edge or light load area, so as to realize the optimal allocation of resources, which not only improves the response accuracy and efficiency of vibration reduction, but also effectively reduces the equipment redundancy investment and energy consumption cost, and enhances the scientificity and economy of the overall vibration reduction strategy.

[0086] In a specific embodiment, in S402, the adjustment instructions of each vibration reduction support leg are determined according to the vibration data, including: subtracting the vibration data from the preset vibration reduction target to obtain a deviation signal; and performing feedback calculation based on the deviation signal to generate the adjustment instructions.

[0087] In this embodiment, by calculating the deviation between the vibration data and the preset vibration reduction target, a closed-loop feedback control mechanism is constructed, which can iteratively adjust according to the actual effect, improving the control accuracy; the feedback calculation based on the deviation signal to generate the adjustment instructions can improve the pertinence of the adjustment instructions, so that the adjustment of the vibration reduction support leg is more timely and accurate, thereby making the current vibration transmissibility quickly approach and stabilize in the target range, improving the vibration reduction response speed and stability.

[0088] On the other hand, in order to adapt to the adjustment capability of the vibration reduction support leg, the adjustment instructions of each vibration reduction support leg are determined according to the vibration data, including: subtracting the vibration data from the preset vibration reduction target to obtain a deviation signal; and performing collaborative feedback calculation based on the deviation signal and the dynamic response parameters of the vibration reduction support leg to generate adjustment instructions that take into account the suppression effect and response speed; wherein the dynamic response parameters include damping coefficient, stiffness gain and phase compensation threshold, which are used to determine the adjustment threshold and response priority of the vibration reduction support leg.

[0089] It should be noted that the damping support leg has limited damping capacity, and therefore, by combining the damping coefficient, the stiffness gain, the phase compensation threshold and other dynamic response parameters for damping control, the damping support leg can be accurately controlled in terms of the threshold and response priority, and system instability or response lag caused by excessive adjustment can be avoided.

[0090] In this embodiment, the adjustment instruction generated based on the cooperative feedback calculation of the deviation signal and the dynamic response parameter not only meets the damping requirement, but also optimizes the adjustment time and amplitude through dynamic parameters, thereby avoiding response lag caused by single pursuit of suppression effect or excessive adjustment problem caused by single pursuit of response speed.

[0091] In a specific embodiment, in S403, the damping adjustment of each damping support leg according to the adjustment instruction includes: damping processing of the damping support leg based on the adjustment instruction, and real-time acquisition of current vibration data of the damping support leg; when it is judged that the damping support leg does not meet the vibration suppression requirement according to the current vibration data and the preset damping target, the adjustment instruction is updated according to the current vibration data and the preset damping target, and the damping support leg is dynamically adjusted again according to the updated adjustment instruction until the damping support leg meets the vibration suppression requirement.

[0092] In this embodiment, by comparing the real-time acquired current vibration data with the preset damping target, a closed-loop feedback is formed, which not only can dynamically identify the adjustment effectiveness and improve the real-time performance of the damping effect, but also can dynamically update the adjustment instruction to accurately adapt to the actual vibration of the damping support leg, improve the accuracy of damping, and ensure that the vibration suppression requirement is finally met.

[0093] Further, according to the vibration data, the adjustment instruction of each damping support leg is determined, which further includes: judging whether the damping support leg has a fault according to the vibration data; and when there is a fault damping support leg, an alarm signal is sent.

[0094] In this embodiment, by comparing the vibration data change trend of the damping support leg with the historical working conditions, abnormal fluctuation characteristics can be identified, and then it can be judged whether the damping support leg has a response lag, damping failure or sensor abnormality and other faults; once a fault is identified, the system immediately sends an alarm signal to prompt the staff to repair in time.

[0095] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by related hardware controlled by the instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0096] To this end, the embodiment of the present application provides a computer readable storage medium, which stores a computer program, and the computer program is loaded by a processor to execute steps in any vibration reduction method provided by the embodiment of the present application. For example, the computer program loaded by the processor can execute the following steps:

[0097] Obtaining vibration data of the multi-leg vibration reduction device; determining an adjustment instruction of each vibration reduction support leg according to the vibration data; and adjusting and controlling each vibration reduction support leg according to the adjustment instruction; wherein the spacing between at least one vibration reduction support leg and the vibration reduction support legs adjacent thereto is not completely the same.

[0098] The specific implementation of each operation can refer to the foregoing embodiments, and will not be described here.

[0099] The computer readable storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0100] Since the computer program stored in the computer readable storage medium can execute steps in any vibration reduction method provided by the embodiment of the present application, the beneficial effects of any vibration reduction method provided by the embodiment of the present application can be achieved, which will be described in detail in the foregoing embodiments, and will not be described here.

[0101] The foregoing describes in detail the multi-leg vibration reduction device, the vibration reduction method and the computer storage medium provided by the embodiment of the present application. The principle and implementation mode of the present application are described by applying specific examples in this paper. The foregoing embodiment is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range will be changed. In conclusion, the content of the specification should not be understood as a limitation of the present application.

Claims

1. A multi-legged vibration damping device, characterized by, The multiple damping support legs are arranged in a damping area to be damped of the damping platform; The multiple-leg damping device further comprises at least one controller, each damping support leg is provided with a data acquisition unit and an actuator; the controller is used for region screening of the damping platform based on a preset screening rule, determining the damping area to be damped, and determining the layout and number of the damping support legs according to the detected vibration data of the damping area to be damped; the data acquisition unit is used for real-time acquisition of the vibration data of the damping area to be damped; the controller is further used for determining the adjustment instruction of each damping support leg according to the vibration data; and the actuator is used for damping regulation and control of the damping support leg according to the adjustment instruction.

2. The multi-legged vibration attenuation device of claim 1, wherein, The multiple-leg damping device comprises: The spacing between at least one damping support leg and multiple damping support legs adjacent thereto is not completely the same.

3. A vibration damping method characterized by, The method applied to the multiple-leg damping device of claim 1 or 2 comprises: Region screening of the damping platform based on a preset screening rule to determine the damping area to be damped; Determination of the layout and number of the damping support legs according to the detected vibration data of the damping area to be damped; Acquisition of vibration data of the multiple-leg damping device; Determination of the adjustment instruction of each damping support leg according to the vibration data; Damping regulation and control of each damping support leg according to the adjustment instruction.

4. The vibration damping method according to claim 3, characterized by The preset screening rule comprises at least one of simulation analysis and measured data fusion rule, load area screening rule, environmental vibration sensitivity screening rule, historical damping data screening rule, and typed specified area screening rule; and the layout comprises at least one of symmetrical layout, polygonal layout, special-shaped layout, and irregular layout.

5. The vibration reduction method according to claim 3, characterized by, The determination of the layout and number of the damping support legs according to the detected vibration data of the damping area to be damped comprises: Calculation of the vibration transmissibility curve of the damping area to be damped according to the detected vibration data; Dynamic feedback adjustment of the layout and number of the damping support legs according to the vibration transmissibility curve until the vibration transmissibility reaches a preset threshold interval.

6. The vibration reduction method according to claim 3, characterized by The determination of the adjustment instruction of each damping support leg according to the vibration data comprises: Difference between the vibration data and a preset damping target to obtain a deviation signal; Feedback calculation according to the deviation signal to generate the adjustment instruction.

7. The vibration reduction method according to claim 3, characterized by, The determination of the adjustment instruction of each damping support leg according to the vibration data comprises: Difference between the vibration data and a preset damping target to obtain a deviation signal; Coordinated feedback calculation according to the deviation signal and dynamic response parameters of the damping support leg to generate an adjustment instruction that takes into account the suppression effect and response speed; The dynamic response parameters comprise damping coefficient, stiffness gain, and phase compensation threshold, and are used for determining the adjustment threshold and response priority of the damping support leg.

8. The vibration reduction method according to claim 3, characterized by, The damping regulation and control of each damping support leg according to the adjustment instruction comprises: Damping processing of the damping support leg based on the adjustment instruction, and real-time acquisition of the current vibration data of the damping support leg; When it is judged according to the current vibration data and the preset vibration reduction target that the vibration reduction support leg does not meet the vibration suppression requirement, the adjustment instruction is updated according to the current vibration data and the preset vibration reduction target, and the vibration reduction support leg is dynamically adjusted again according to the updated adjustment instruction until the vibration reduction support leg meets the vibration suppression requirement.

9. The vibration reduction method according to claim 3, characterized by, The adjustment instruction of each vibration reduction support leg is determined according to the vibration data, and the adjustment instruction of each vibration reduction support leg comprises: It is judged according to the vibration data whether the vibration reduction support leg has a fault; When there is a fault vibration reduction support leg, an alarm signal is sent.

10. A computer-readable storage medium, characterized in that, A computer program is stored thereon, and the computer program is loaded by a processor to execute the steps in the vibration reduction method of any one of claims 3-9.

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