Vibration sensing and control integrated intelligent vibration control device and method

Abstract

The invention provides a vibration sensing and control integrated intelligent vibration control device and method, and belongs to the field of mechanical vibration control, the vibration sensing and control integrated intelligent vibration control device comprises a base, the interior of the base is a cavity with a protruding structure, and a stepped iron core and a rigidity adjustable unit are installed in the cavity; a vibration sensing unit is installed between the protruding structure and the step-shaped iron core, the step-shaped iron core is sleeved with a coil frame, a magnet exciting coil is wound on the coil frame, and a rigidity adjustable unit is embedded in a gap between the outer edge of the upper portion of the step-shaped iron core and the inner edge of the upper portion of the base. The rigidity adjustable unit is a magnetorheological elastomer; the vibration sensing unit comprises a magneto-rheological elastomer with copper foil electrodes attached to the upper surface and the lower surface, and insulating films are attached to the outer portions of the two copper foil electrodes. The vibration frequency of the equipment to be damped is sensed in real time, the self-rigidity parameter is regulated and controlled according to a control algorithm so as to adapt to the change of the vibration frequency, broadband vibration control is achieved, and the excellent self-adaptability is achieved.

Description

Technical Field

[0001] This invention belongs to the field of mechanical vibration control, specifically relating to an intelligent vibration control device and method that integrates vibration sensing and control. Background Technology

[0002] Vibration problems are widespread in civil engineering, aerospace, and other fields, and seriously affect the service life of buildings and the accuracy of precision instruments. Vibration control mainly includes three methods: passive control, active control, and semi-active control. Passive control targets specific frequency bands and has poor adaptability. Active control acquires the excitation signal and controls the actuator to output a force opposite to the excitation force to suppress vibration. Active control methods effectively suppress vibration over a wide frequency range. However, active control methods require high energy consumption and complex sensor schemes, and their reliability is difficult to guarantee due to response speed limitations. Semi-active control methods bridge the gap between passive and active vibration control, combining the best performance of both. Compared to passive methods, it has better adaptability and robustness; compared to active methods, it offers lower cost and fault tolerance. Semi-active vibration control utilizes the principle of controllable stiffness, allowing real-time adjustment of stiffness to match the frequency of external excitation, thus achieving excellent vibration control performance over a wide frequency range.

[0003] Magnetorheological elastomers (MEEs), as smart materials, possess a storage modulus that can be rapidly and reversibly changed by modulating an external magnetic field, making them ideal for designing semi-active vibration control devices. Therefore, MEEs can be used as stiffness-adjustable elastic elements in vibration control devices, adjusting their parameters in real time to adapt to external excitation and achieving wide-band vibration control. However, current MEE vibration control devices only perform vibration control and lack real-time vibration sensing capabilities; their control effectiveness heavily relies on external sensors to perceive the external excitation state. However, in underwater applications, sensor installation often faces challenges such as difficulty in placement in confined spaces, reduced reliability due to salt spray environments and temperature variations. Therefore, the limitation of separate sensor and vibration control installation restricts the system's intelligence level, necessitating the development of adaptive intelligent vibration control devices that integrate state sensing and vibration control to truly achieve integrated vibration sensing and control. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent vibration control device and method that integrates vibration sensing and control. It integrates vibration sensing capabilities into the body of the intelligent vibration control device, enabling it to sense parameters such as vibration frequency in real time without the need for external components, and further realize adaptive vibration control.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] An intelligent vibration control device integrating vibration sensing and control includes: a base, the interior of which is a cavity with a raised structure, a stepped iron core and a stiffness adjustable unit installed in the cavity, a vibration sensing unit installed between the raised structure and the stepped iron core, a coil frame sleeved on the stepped iron core, an excitation coil wound on the coil frame, and a stiffness adjustable unit embedded in the gap between the upper outer edge of the stepped iron core and the upper inner edge of the base;

[0007] The stiffness-adjustable unit is a magnetorheological elastic body;

[0008] The vibration sensing unit includes a magnetorheological elastomer with copper foil electrodes attached to its upper and lower surfaces, and an insulating film is attached to the outside of the two copper foil electrodes.

[0009] Furthermore, the vibration sensing unit is connected to the vibration signal acquisition system, which acquires vibration signals.

[0010] Furthermore, the magnetorheological elastomer is a silicone rubber doped with 10%~20% carbonyl iron powder by mass.

[0011] Furthermore, the magnetorheological elastomer is annular in shape.

[0012] Furthermore, the coil frame has a connecting hole in the middle and is fixed to the stepped iron core at the top.

[0013] Furthermore, the coil frame is made of aluminum alloy with low magnetic permeability.

[0014] Furthermore, the base has a through hole on its side for the wires of the vibration sensing unit to be led out.

[0015] Furthermore, both the base and the stepped iron core are made of high-permeability electrical pure iron.

[0016] Furthermore, the excitation coil is uniformly wound on the coil frame to provide a controllable magnetic field of 300mT~500mT for the stiffness adjustable unit.

[0017] The present invention may also include:

[0018] A smart vibration control method integrating vibration sensing and control, using the aforementioned smart vibration control device, includes the following steps:

[0019] First, vibration signals are collected through a vibration sensing unit;

[0020] Secondly, the frequency of the vibration signal is obtained through Fourier transform;

[0021] Then, the natural frequency of the intelligent vibration control device is compared with the frequency of the vibration signal. If the natural frequency of the intelligent vibration control device is less than the frequency of the vibration signal, the control current in the coil is increased, the magnetic field passing through the magnetorheological elastic body is increased, and the natural frequency of the intelligent vibration control device increases until it is equal to the frequency of the vibration signal.

[0022] Finally, when the natural frequency of the intelligent vibration control device matches the frequency of the vibration signal, the vibration direction of the stepped iron core is opposite to the excitation frequency, thus canceling the vibration force and achieving vibration control of the equipment.

[0023] The beneficial effects of this invention are as follows:

[0024] The device of this invention senses the vibration state of the equipment in real time through the piezoresistive principle of magnetorheological elastomers and dynamically adjusts its own stiffness parameters according to the control algorithm to achieve wideband adaptive vibration suppression.

[0025] This invention has vibration self-sensing capability, utilizing the piezoresistive principle of magnetorheological elastomers to sense vibration frequency in real time; it also has wideband vibration control effect, adjusting the parameters of its own stiffness adjustable unit in real time based on the vibration signal collected by its own sensing unit, matching the dynamic changes of external excitation, and exhibiting excellent wideband vibration control characteristics. Attached Figure Description

[0026] Appendix Figure 1 This is a schematic diagram of the structure of the present invention;

[0027] Appendix Figure 2 This is a schematic diagram of the structure of the stiffness-adjustable unit of the present invention;

[0028] Appendix Figure 3 It is attached Figure 2 The main view;

[0029] Appendix Figure 4 It is attached Figure 3 Top view;

[0030] Appendix Figure 5 This is a schematic diagram of the stepped iron core of the present invention;

[0031] Appendix Figure 6 It is attached Figure 5 The main view;

[0032] Appendix Figure 7 It is attached Figure 6 Top view;

[0033] Appendix Figure 8 This is a schematic diagram of the vibration sensing unit of the present invention;

[0034] Appendix Figure 9 This is an exploded view of the vibration sensing unit of the present invention;

[0035] Appendix Figure 10 This is a schematic diagram of the coil frame structure of the present invention;

[0036] Appendix Figure 11 It is attached Figure 10 The main view;

[0037] Appendix Figure 12 It is attached Figure 11 Top view;

[0038] Appendix Figure 13 This is a schematic diagram of the excitation coil of the present invention;

[0039] Appendix Figure 14 This is a schematic diagram of the base structure in this invention;

[0040] Appendix Figure 15 It is attached Figure 5 The main view;

[0041] Appendix Figure 16 It is attached Figure 6 Top view;

[0042] Appendix Figure 17 This is a schematic diagram of the vibration control principle in this invention.

[0043] In the attached diagram: 1 is the stiffness adjustable unit; 2 is the stepped iron core; 3 is the vibration sensing unit; 4 is the coil frame; 5 is the excitation coil; 6 is the base; 7 is the vibration signal acquisition system; 8 is the copper foil electrode; and 9 is the insulating film. Detailed Implementation

[0044] The present invention will now be further described with reference to the accompanying drawings.

[0045] Example 1:

[0046] This invention provides an intelligent vibration control device integrating vibration sensing and control, as shown in the attached figure. Figure 1 As shown, it includes: a base 6, the interior of which is a cavity with a raised structure, a stepped iron core 2 and a stiffness adjustable unit 1 installed in the cavity, a vibration sensing unit 3 installed between the raised structure and the stepped iron core 2, a coil frame 4 sleeved on the stepped iron core 2, an excitation coil 5 wound on the coil frame 4, and the stiffness adjustable unit 1 embedded in the gap between the upper outer edge of the stepped iron core 2 and the upper inner edge of the base 6.

[0047] The vibration sensing unit uses conductive electrodes attached to the upper and lower surfaces of the anisotropic magnetorheological elastomer and is wrapped with an insulating film to improve the contact stability between the conductive electrodes and the magnetorheological elastomer.

[0048] The vibration sensing unit 3 is connected to the vibration signal acquisition system 7, which acquires vibration signals.

[0049] The coil frame 4 is made of a material with low magnetic permeability to ensure that the magnetic field passes through the stiffness adjustable unit as much as possible.

[0050] As attached Figure 2-4 As shown, the stiffness-adjustable unit 1 is a magnetorheological elastomer; the magnetorheological elastomer is annular and serves as a stiffness-adjustable unit, changing its stiffness under magnetic field control. The magnetorheological elastomer is silicone rubber doped with 10%~20% carbonyl iron powder by mass, preferably 20% by mass.

[0051] As attached Figure 5-7 As shown, Figure 3 As shown, the stepped iron core is made of a material with good magnetic permeability, and there are 4 through holes on the upper part for fixing the coil frame.

[0052] As attached Figure 8-9 As shown, the vibration sensing unit 3 includes a magnetorheological elastomer with copper foil electrodes 8 attached to its upper and lower surfaces. An insulating film 9 is attached to the outside of the two copper foil electrodes 8. The vibration sensing unit senses the vibration mode signal in real time based on the piezoresistive principle.

[0053] The vibration sensing unit uses conductive electrodes attached to the upper and lower surfaces of anisotropic magnetorheological elastomer, and further uses an insulating film to wrap copper foil electrodes to improve the contact stability between the electrodes and the magnetorheological elastomer.

[0054] As attached Figure 10-13 As shown, the coil frame 4 has a connecting hole in the middle and is fixed to the stepped iron core 2 at the top. The coil frame 4 is made of a material with low magnetic permeability. It has a connecting hole in the middle to accommodate the stepped iron core, and four threaded holes at the top to fix it to the stepped iron core with screws. The excitation coil is evenly wound on the coil frame.

[0055] Preferably, the excitation coil 5 is made of copper wire, which is uniformly wound on the coil frame to provide a controllable magnetic field of 300mT~500mT for the stiffness adjustable unit.

[0056] Preferably, the coil frame is made of an aluminum alloy with low magnetic permeability.

[0057] As attached Figure 14-16 As shown, the base is cylindrical with a hollow structure in the middle, and has a protrusion at the bottom to support the vibration sensing unit. Through holes are opened on the side for the wires from the vibration sensing unit to be led out.

[0058] Both the base 6 and the stepped iron core 2 are made of materials with high magnetic permeability, such as high magnetic permeability electrical pure iron, preferably DT4C electrical pure iron.

[0059] Furthermore, the encapsulation method and piezoresistive principle of the vibration sensing unit 3 are described in detail: Copper foil electrodes 8 are attached to the upper and lower surfaces of the magnetorheological elastomer, and a polyurethane film 9 is used to wrap the copper foil electrodes 8. This avoids electrostatic interference and ensures that the copper foil 9 is in close contact with the magnetorheological elastomer 1, improving the contact stability between the electrodes and the magnetorheological elastomer. The piezoresistive principle of the anisotropic magnetorheological elastomer: Under external pressure, the anisotropic magnetorheological elastomer deforms under the action of force, causing a change in the distance between conductive particles (graphene, magnetic particles), which in turn leads to the reorganization of conductive pathways within the material. For example, when the material is subjected to pressure, the distance between conductive particles decreases, resulting in more conductive pathways, and the material macroscopically exhibits a decrease in resistance. Conversely, when the material is subjected to tension, the material macroscopically exhibits an increase in resistance. Therefore, the change in external pressure can be reflected by the resistance of the material.

[0060] The signal acquisition process of the vibration sensing unit is described in detail: A fixed resistor is connected in series with the sensing unit. According to the piezoresistive principle, the change in external pressure can be reflected by the resistance of the sensing unit. Therefore, a microcontroller is used to collect the voltage across the fixed resistor. According to Ohm's law, the change in external pressure can be obtained, thus completing the acquisition of the vibration signal.

[0061] In this embodiment, the magnetorheological elastomer is a silicone rubber doped with 10%~20% carbonyl iron powder by mass.

[0062] The stiffness-adjustable unit can adjust its stiffness under the drive of an external magnetic field. In practical applications, the device parameters can be designed according to vibration control requirements, as shown below:

[0063]

[0064]

[0065] In the formula: f is the natural frequency of the intelligent vibration control device, k eq denoted as E1, where m is the equivalent stiffness of the intelligent vibration control device, m is the total mass of the stepped iron core, copper wire, and coil frame, G1 is the shear storage modulus of the stiffness-adjustable unit, A1 is the shear bearing area of ​​the stiffness-adjustable unit, E2 is the compressive storage modulus of the vibration sensing unit, h1 is the thickness of the stiffness-adjustable unit, A2 is the compressive bearing area of ​​the vibration sensing unit, and h2 is the thickness of the vibration sensing unit.

[0066] The assembly process is as follows:

[0067] First, the excitation coil 5 is evenly wound onto the aluminum coil frame 4 and then fitted onto the stepped iron core 2, securing it with bolts. Next, the packaged vibration sensing unit 3 is placed on the protruding position of the base 6. Then, the stepped iron core 2 with the coil is placed above the electrical pure iron base 6, with the stepped iron core 2 and the electrical pure iron base 6 clamping the vibration sensing unit 3. Finally, an anisotropic magnetorheological elastomer is attached between the iron core and the base shell, and vibration signals are collected by the vibration signal acquisition system 7.

[0068] Example 2:

[0069] This embodiment also provides an intelligent vibration control method integrating vibration sensing and control, applying the aforementioned intelligent vibration control device, as shown in the attached diagram. Figure 17 As shown, the method includes the following steps:

[0070] First, vibration signals are collected through vibration sensing unit 3;

[0071] Secondly, the frequency of the vibration signal is obtained through Fourier transform;

[0072] Then, the natural frequency of the intelligent vibration control device is compared with the frequency of the vibration signal. If the natural frequency of the intelligent vibration control device is less than the frequency of the vibration signal, the control current in the coil is increased, the magnetic field passing through the magnetorheological elastic body is increased, and the natural frequency of the intelligent vibration control device increases until it is equal to the frequency of the vibration signal.

[0073] Finally, when the natural frequency of the intelligent vibration control device matches the frequency of the vibration signal, the vibration direction of the stepped iron core is opposite to the excitation frequency, thus canceling the vibration force and realizing the vibration control of the equipment.

[0074] In practical applications, the mechanical properties of magnetorheological elastomers can be selected based on the vibration characteristics of the equipment.

[0075]

[0076]

[0077]

[0078] In the formula: f is the natural frequency of the intelligent vibration control device, k eq denoted as E1, where m is the equivalent stiffness of the intelligent vibration control device, m is the total mass of the stepped iron core, copper wire, and coil frame, G1 is the shear storage modulus of the stiffness-adjustable unit, A1 is the shear bearing area of ​​the stiffness-adjustable unit, E2 is the compressive storage modulus of the vibration sensing unit, h1 is the thickness of the stiffness-adjustable unit, A2 is the compressive bearing area of ​​the vibration sensing unit, and h2 is the thickness of the vibration sensing unit.

[0079] The performance of the intelligent vibration control device integrating vibration sensing and control is evaluated by indicators such as frequency recognition accuracy, vibration reduction bandwidth, and vibration acceleration level. Vibration testing is carried out in accordance with GBT2423.10-2019.

[0080] Specifically, the intelligent vibration control device was mounted on a test bench on a ship's propulsion shaft using a 3D-printed fixture. An DH151 piezoelectric accelerometer was used to collect acceleration signals from the exciter and the end of the propulsion shaft. Fourier transforms were then used, and an STM32 microcontroller was used to acquire the resistance changes. Test results showed that the waveform of the intelligent vibration control device's resistance exhibited an approximately sinusoidal change within the 1-100Hz range, and the frequency of the resistance signal matched the excitation frequency, verifying that the intelligent vibration control device could accurately sense the frequency of the excitation signal. Furthermore, the intelligent vibration control device possessed adaptive external excitation capabilities, achieving effective vibration control over a wide frequency range (43Hz-65Hz), representing 200% of the vibration reduction bandwidth of passive control methods.

[0081] This invention utilizes the piezoresistive principle of anisotropic magnetorheological elastomers to sense the vibration frequency of the equipment being vibration-damped in real time. Simultaneously, it adjusts its own stiffness parameters according to a control algorithm to adapt to changes in vibration frequency, achieving wideband vibration control. This invention has advantages such as high integration and adjustable parameters. Particularly noteworthy is its ability to detect the natural frequency shift under dynamic changes in excitation or equipment parameters, sensing the equipment's vibration response in real time and matching the dynamic changes in parameters, demonstrating excellent adaptability.

[0082] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent vibration control device integrating vibration sensing and control, characterized in that, include: The base (6) has a cavity with a raised structure inside. A stepped iron core (2) and a stiffness adjustable unit (1) are installed in the cavity. A vibration sensing unit (3) is installed between the raised structure and the stepped iron core (2). A coil frame (4) is fitted on the stepped iron core (2). An excitation coil (5) is wound on the coil frame (4). The stiffness adjustable unit (1) is filled in the gap between the upper outer edge of the stepped iron core (2) and the upper inner edge of the base (6). The stiffness-adjustable unit (1) is a magnetorheological elastic body; The vibration sensing unit (3) includes a magnetorheological elastomer with copper foil electrodes (9) attached to its upper and lower surfaces, and an insulating film (8) is attached to the outside of the two copper foil electrodes (9).

2. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, The vibration sensing unit (3) is connected to the vibration signal acquisition system (7), which acquires vibration signals.

3. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, The magnetorheological elastomer is a silicone rubber doped with carbonyl iron powder at a mass fraction of 10%~20%.

4. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, The magnetorheological elastomer is ring-shaped.

5. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, The coil frame (4) has a connecting hole in the middle and is fixed on the stepped iron core (2) at the top.

6. The intelligent vibration control device integrating vibration sensing and control according to claim 5, characterized in that, The coil frame is made of aluminum alloy with low magnetic permeability.

7. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, The base (6) has a through hole on its side for the wires of the vibration sensing unit to be led out.

8. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, Both the base (6) and the stepped iron core (2) are made of high-permeability electrical pure iron.

9. The intelligent vibration control device integrating vibration sensing and control according to claim 1, characterized in that, The excitation coil (5) is uniformly wound on the coil frame (4) to provide a controllable magnetic field of 300mT~500mT for the stiffness adjustable unit (1).

10. An intelligent vibration control method integrating vibration sensing and control, characterized in that, The method of using the intelligent vibration control device according to any one of claims 1-9 includes the following steps: First, vibration signals are collected through the vibration sensing unit (3); Secondly, the frequency of the vibration signal is obtained through Fourier transform; Then, the natural frequency of the intelligent vibration control device is compared with the frequency of the vibration signal. If the natural frequency of the intelligent vibration control device is less than the frequency of the vibration signal, the control current in the coil is increased, the magnetic field passing through the magnetorheological elastic body is increased, and the natural frequency of the intelligent vibration control device increases until it is equal to the frequency of the vibration signal. Finally, when the natural frequency of the intelligent vibration control device matches the frequency of the vibration signal, the vibration direction of the stepped iron core is opposite to the excitation frequency, thus canceling the vibration force and achieving vibration control of the equipment.

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