A bidirectional adaptive inertial-capacitive damping composite device and control method

Abstract

A bidirectional adaptive inertial-capacitive damping composite device and control method are disclosed, comprising a housing, a main shaft, and two unidirectional rotary transmission components. The main shaft passes through the housing and can be excited by a controlled structure to perform linear reciprocating motion relative to the housing along its axis. The two unidirectional rotary transmission components are driven by the main shaft, converting the linear reciprocating motion of the main shaft into rotational motion in the opposite direction. The device also includes two magnetorheological dampers and a controller. The two magnetorheological dampers are respectively connected to the two unidirectional rotary transmission components to achieve controllable torque transmission. The controller controls the on / off timing and current magnitude of the two magnetorheological dampers according to the torque transmission direction of the unidirectional rotary transmission components, achieving bidirectional flexible switching and stepless adjustment of the equivalent inertial capacity by adjusting the transmitted torque to meet the vibration reduction requirements of the controlled structure. This invention achieves bidirectional adaptive intelligent switching, stepless adjustment of the equivalent inertial capacity, and synergistic matching of inertial capacity and damping, thereby improving vibration reduction performance.

Description

Technical Field

[0001] This invention relates to the field of vibration reduction, and in particular to a bidirectional adaptive inertial-capacitive damping composite device and control method. Background Technology

[0002] Inertial containers, as mechanical components at both ends that can amplify inertial forces, have shown great potential in fields such as vehicle suspension and building vibration isolation. Ball screw inertial containers have been widely studied due to their high transmission efficiency, but they have an inherent drawback: when the direction of external excitation changes, the flywheel needs to commutate rapidly, which will generate a huge impact torque, seriously affecting the system's stability and component life.

[0003] To address this issue, existing technologies have developed low-impact inertial container vibration damping devices with controllable damping. These devices employ two unidirectional needle roller bearings with different mounting orientations, which engage with a flywheel. A mechanical structure forces the two flywheels to work alternately during forward and reverse rotation, thereby avoiding the reversing impact of a single flywheel.

[0004] However, this plan has obvious shortcomings:

[0005] 1. Passive and rigid switching: The switching of its flywheel relies entirely on the mechanical characteristics of the one-way bearing. It is a passive and rigid process, and it is impossible to actively control the switching timing and switching force. Even at high speeds, minor impacts and wear may still occur.

[0006] 2. Fixed and unadjustable inertia value: The rotational inertia of the flywheel is fixed, which means that the equivalent inertia value of the device cannot be adjusted in real time according to the actual working conditions, thus limiting the space for its performance optimization.

[0007] 3. Limited functionality: This solution primarily addresses impact issues and is ill-suited for complex vibration control requirements. Summary of the Invention

[0008] The main objective of this invention is to overcome the shortcomings of existing technologies that employ passive rigid switching and have fixed inertial capacitance values. It proposes a bidirectional adaptive inertial capacitance damping composite device and control method, which achieves bidirectional adaptive intelligent switching, stepless adjustment of equivalent inertial capacitance, and coordinated matching of inertial capacitance and damping by optimizing structural design and control logic, thereby improving vibration reduction performance.

[0009] The present invention adopts the following technical solution:

[0010] A bidirectional adaptive inertial-capacitive damping composite device includes a housing, a main shaft, and two unidirectional rotary transmission components. The main shaft passes through the housing and can be excited by a controlled structure to perform linear reciprocating motion relative to the housing along its axis. The two unidirectional rotary transmission components are driven by the main shaft and convert the linear reciprocating motion of the main shaft into rotational motion in the opposite direction. The device also includes two magnetorheological dampers and a controller. The two magnetorheological dampers are respectively coupled to the two unidirectional rotary transmission components to achieve controllable torque damping and transmission. The controller controls the on / off timing and current magnitude of the two magnetorheological dampers according to the torque transmission direction of the unidirectional rotary transmission components, thereby adjusting the damping torque to achieve flexible switching of bidirectional torque transmission and stepless adjustment of equivalent inertial capacity to meet the vibration reduction requirements of the controlled structure.

[0011] The unidirectional rotary transmission assembly includes a lead screw nut and a unidirectional bearing. The lead screw nut is sleeved on the main shaft and threaded to it to convert the linear reciprocating motion of the main shaft into rotary motion. The inner ring of the unidirectional bearing is connected to the lead screw nut, and the outer ring is connected to the magnetorheological damper.

[0012] The two unidirectional rotary transmission components transmit torque in one direction and rotate freely in the opposite direction, and the torque transmission directions of the two unidirectional bearings are set in opposite directions; so that when the main shaft moves in a single direction along the axis, it drives the unidirectional rotary transmission component on the corresponding side to transmit torque, while the unidirectional rotary transmission component on the other side rotates freely.

[0013] The magnetorheological damper includes a sealed inner cavity, a control coil, and a flywheel. The flywheel is located inside the sealed inner cavity and is connected to a unidirectional rotational transmission assembly. A shear damping gap filled with magnetorheological fluid is formed between the outer edge of the flywheel and the inner wall of the sealed inner cavity. The controller is electrically connected to the control coil. By adjusting the current, the shear yield strength of the magnetorheological fluid is changed, generating a continuously adjustable shear damping torque on the outer edge of the flywheel, thereby changing the rotational inertial response of the flywheel and realizing stepless adjustment of the equivalent inertial capacitance value of the device.

[0014] A bidirectional adaptive inertial-capacitive damping composite control method, implemented using the aforementioned bidirectional adaptive inertial-capacitive damping composite device, includes the following steps:

[0015] When the controlled structure vibrates and drives the main shaft to reciprocate along the axis, when the main shaft moves linearly in the positive direction of its axis, it drives the corresponding first unidirectional rotary transmission component to rotate in the first rotation direction. The controller applies an excitation current to the corresponding first magnetorheological damper, so that the first magnetorheological damper works to achieve controllable torque transmission; at the same time, it controls the second magnetorheological damper to be de-energized so that the second magnetorheological damper does not produce a damping effect and does not transmit torque.

[0016] When the main shaft vibrates in the opposite direction to the controlled structure, causing the second unidirectional rotary transmission component to switch to the second rotation direction, the controller controls the first magnetorheological damper to be de-energized according to a predetermined sequence, so that the first magnetorheological damper stops its damping effect and does not transmit torque; and applies an excitation current to the second magnetorheological damper, so that the second magnetorheological damper works to achieve torque transmission, thereby realizing flexible switching of the bidirectional torque transmission path.

[0017] The controller performs target damping force estimation and tracking control of the magnetorheological damper based on the Bouc-Wen model. The specific steps are as follows:

[0018] First, status acquisition is performed. The controller receives sensor signals in real time to obtain the relative displacement of the spindle relative to the housing. and relative velocity ;

[0019] Next, theoretical damping estimation is performed. The controller has a pre-set Bouc-Wen damping force calculation model to calculate the theoretical damping force that the magnetorheological damper can provide under the current state. The calculation formula is as follows:

[0020] ;

[0021] in, The viscous damping coefficient is... This is the stiffness coefficient. The hysteresis strength coefficient, This represents the zero-force equilibrium position of the magnetorheological damper; hysteresis displacement. The evolution equation is:

[0022] ;

[0023] In the formula, For relative velocity, This is the parameter for adjusting the hysteresis loop width. This is the hysteresis loop height adjustment parameter. Let A be the hysteresis displacement, A be the proportionality coefficient, and n be the curve smoothing coefficient. The velocity corresponding to the hysteresis displacement;

[0024] Finally, the excitation current is output. The controller calculates the total target damping force required by the controlled structure, combined with the theoretical damping force. By looking up a table in reverse, the target excitation current required at the moment is calculated, and the current command is output to the magnetorheological damper currently participating in torque transmission, so as to achieve precise dynamic tracking of the damping torque.

[0025] During the process of flexibly switching the bidirectional torque transmission path, the controller executes the following smooth transition control strategy:

[0026] Commutation dead zone control: The controller presets a commutation speed threshold. When the absolute value of the relative speed of the spindle is detected to be less than or equal to the preset commutation speed threshold, the system is determined to be in a commutation transient. At this time, the controller controls the excitation current of the first magnetorheological damper and the second magnetorheological damper to be reduced to zero or the reference standby current state to avoid interference or lock-up of the mechanical transmission components.

[0027] Smooth transition of excitation current: When the absolute value of the relative speed of the main shaft is detected to be greater than the preset commutation speed threshold and the direction of motion has been reversed, for the magnetorheological damper that has been switched to a new working state, the controller uses a ramp function to control its excitation current to rise smoothly to the target output current value according to a preset slope, so as to achieve smooth establishment of damping torque.

[0028] As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0029] 1. In this invention, a structure employing two sets of unidirectional rotary transmission components in conjunction with a magnetorheological damper enables flexible switching of the corresponding torque transmission path during the reciprocating motion of the main shaft. During operation, only the magnetorheological damper participates in torque transmission and energy regulation, while the other magnetorheological damper idles, which helps reduce motion interference and improves the stability of structural operation. Compared to conventional passive unidirectional structures, it can improve the commutation impact problem to a certain extent.

[0030] 2. In this invention, the equivalent inertial capacitance value is continuously adjustable by adjusting the excitation current of the magnetorheological damper. Changes in the excitation current can correspondingly change the magnitude of the damping torque, thereby adjusting the rotational inertial response of the flywheel. Compared with the traditional fixed inertial capacitance structure, this invention can broaden the adaptation range of the inertial capacitance parameters and improve the adaptability to different vibration excitations.

[0031] 3. In this invention, differentiated control can be implemented according to the vibration frequency characteristics of the controlled structure. Under high-frequency excitation, the focus can be on enhancing the inertial capacitance effect to suppress vibration transmission, while under low-frequency excitation, the focus can be on enhancing the damping effect to dissipate vibration energy, which helps to improve the vibration reduction adaptability of the device under complex working conditions.

[0032] 4. In this invention, the adjustable inertial capacitance structure and the adjustable damping structure are integrated into one unit. By coordinating the adjustment of the working parameters of the magnetorheological damper through the controller, dynamic matching of the inertial capacitance characteristics and damping characteristics can be achieved, which is beneficial to optimizing the overall vibration reduction effect and improving the control accuracy and adaptability of the device under variable vibration conditions.

[0033] 5. In this invention, by introducing commutation dead zone control and excitation current smooth transition strategy during the bidirectional torque transmission path switching process, the excitation current of the magnetorheological damper is reduced at the moment of main shaft commutation, which can effectively avoid interference and lock-up of mechanical transmission components; at the same time, the use of ramp function to achieve smooth establishment of excitation current can reduce commutation impact and improve the smoothness of device operation and control stability. Attached Figure Description

[0034] Figure 1 This is a structural diagram of the device of the present invention;

[0035] Figure 2 This is a partial structural diagram of the device of the present invention;

[0036] Figure 3 Assembly drawing of main spindle and lead screw nut;

[0037] Figure 4 This is a flowchart of the method of the present invention;

[0038] in:

[0039] 10. Outer shell; 11. End cap; 12. Partition plate; 20. Main shaft; 21. Lead screw nut; 22. Lifting lug; 30. One-way rotary transmission assembly; 30a. First one-way rotary transmission assembly; 30b. Second one-way rotary transmission assembly; 31. One-way bearing; 32. Screw; 40. Magnetorheological damper; 40a. First magnetorheological damper; 40b. Second magnetorheological damper; 41. Control coil; 42. Flywheel; 43. Shear damping gap; 44. Sealed inner cavity.

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Detailed Implementation

[0041] The present invention will be further described below through specific embodiments.

[0042] See Figures 1 to 3 A bidirectional adaptive inertial-capacitive damping composite device is mainly used to suppress the reciprocating vibration of a controlled structure and improve its operational stability. Its specific structure includes a housing 10, a main shaft 20, two unidirectional rotary transmission components 30, two magnetorheological dampers 40, and a controller. These components work together to achieve flexible switching of bidirectional vibration and adjustment of inertial-capacitive damping.

[0043] The main shaft 20 passes through the end cap 11 at one end of the outer casing 10 and is slidably fitted with the outer casing 10, ensuring that the main shaft 20 can be excited by the vibration of the external structure and reciprocate linearly along its axis relative to the outer casing 10, thus transmitting the vibration energy of the external structure to the inside of the device. A partition 12 is provided inside the outer casing 10 to divide the internal cavity. The main shaft 20 passes through this partition 12. A chamber for installing a unidirectional rotary transmission assembly 30 and a magnetorheological damper 40 is formed between the end cap 11 on the side where the lifting lug 22 of the main shaft 20 is located and the partition 12.

[0044] Two unidirectional rotary transmission components 30 are arranged sequentially along the axial direction of the main shaft 20, sleeved on the outer periphery of the main shaft 20 and in transmission cooperation with the main shaft 20. They convert the linear reciprocating motion of the main shaft 20 into a rotary motion in the opposite direction. At the same time, by utilizing their own unidirectional torque transmission characteristics, they ensure that when the main shaft 20 moves in a single direction, only one set of components participates in torque transmission, while the other set of components is in an idle state, thus avoiding mutual interference between the two sets of components.

[0045] Two magnetorheological dampers 40 are respectively connected to two unidirectional rotary transmission components 30 to achieve controllable torque transmission. The controller is electrically connected to the two magnetorheological dampers 40 and controls the on / off sequence and current magnitude of the two magnetorheological dampers 40 according to the torque transmission direction of the unidirectional rotary transmission component 30. By adjusting the damping torque, flexible switching of bidirectional torque transmission and stepless adjustment of equivalent inertial capacitance are achieved to meet the vibration reduction requirements of the controlled structure.

[0046] Controlled structures are various carriers that require vibration suppression, including vehicle suspension systems, precision machine tool beds, and other structures or equipment that require vibration control. The core requirement is to improve operational stability, working accuracy, and driving comfort by suppressing vibration, and to avoid adverse effects caused by continuous vibration.

[0047] Taking a vehicle suspension system as an example, one end of the main shaft 20 is provided with a hanger 22 connected to the vibration end of the suspension system; the end cap 11 of the outer casing 10 near the other end of the main shaft 20 is provided with a hanger 22, which is fixed relative to the frame or body. During vehicle operation, road surface excitation causes the suspension system to reciprocate, which in turn drives the main shaft 20 to perform axial linear reciprocating motion relative to the outer casing 10 through the hanger 22, providing continuous vibration input to the device. Inside the device, the vibration energy is absorbed by an inertial-capacitive mechanism composed of a unidirectional rotary transmission component 30, and the vibration energy is dissipated by magnetorheological damping, thereby attenuating the suspension amplitude, suppressing vibration transmission, and improving ride comfort.

[0048] To convert the linear reciprocating motion of the main shaft 20 into rotational motion that can be subjected to inertial capacitance and damping, the unidirectional rotary transmission assembly 30 includes a lead screw and nut 21, which is located in a cavity within the housing 10. The lead screw and nut 21 adopts a ball screw or ordinary lead screw structure, is sleeved on the main shaft 20 and forms a threaded engagement with it. When the main shaft 20 performs linear reciprocating motion with the vibration of the controlled structure, it drives the lead screw and nut 21 to generate corresponding rotational motion through thread engagement, thereby realizing the conversion of linear motion into rotational motion.

[0049] The unidirectional rotary transmission assembly 30 also includes a unidirectional bearing 31. The inner ring of the unidirectional bearing 31 is connected to the lead screw nut 21, and the outer ring is fixedly connected to the rotating component of the magnetorheological damper 40. The unidirectional bearing 31 and the rotating component of the magnetorheological damper 40 are relatively fixed. During the rotation of the lead screw nut 21, the unidirectional bearing 31 can achieve unidirectional locking torque transmission and free rotation in the reverse direction, so that the rotating component of the magnetorheological damper 40 rotates synchronously with the lead screw nut 21 only in the set direction, and does not transmit torque in the reverse direction, thereby avoiding bidirectional motion interference and ensuring the stable operation of the inertial capacitive mechanism.

[0050] Both unidirectional rotary transmission components 30 adopt a working mode of unidirectional torque transmission and reverse idling, and the torque transmission directions of the unidirectional bearings 31 inside them are arranged in opposite directions. This configuration allows the main shaft 20 to move linearly along a single direction of the axis under the drive of the controlled structure, with only one set of unidirectional rotary transmission components 30 being locked by the lead screw nut 21 to drive the rotating parts of the corresponding magnetorheological damper 40 to rotate to form an inertial capacitance effect; the other set of unidirectional rotary transmission components 30 is in an idling state and does not participate in torque transmission and energy storage.

[0051] The magnetorheological damper 40 operates based on the controllable rheological properties of the magnetorheological fluid and mainly includes a sealed inner cavity 44, a control coil, and a flywheel 42. The flywheel 42, as the rotating component of the magnetorheological damper 40, is located within the sealed inner cavity 44 and coaxially connected to the one-way bearing 31. An interference fit is used between the two to achieve reliable transmission, and screws can be used for positioning assistance. An annular shear damping gap 43 is formed between the outer edge of the flywheel 42 and the inner wall of the sealed inner cavity 44, and the shear damping gap 43 is filled with magnetorheological fluid.

[0052] When no excitation current is applied to the control coil, the magnetorheological fluid has good fluidity and low rotational resistance to the flywheel 42. When the excitation current is applied to the control coil, a corresponding magnetic field is formed in the gap. The shear yield strength of the magnetorheological fluid increases with the increase of the magnetic field strength, thereby generating a continuously adjustable shear damping torque at the outer edge of the flywheel 42.

[0053] The controller is electrically connected to the control coil. By adjusting the current, the shear yield strength of the magnetorheological fluid is changed, generating a continuously adjustable shear damping torque on the outer edge of the flywheel 42, thereby changing the rotational inertia response of the flywheel 42 and achieving stepless adjustment of the equivalent inertia capacitance.

[0054] The aforementioned shear resistance can directly alter the acceleration response of the flywheel 42 as it moves with the lead screw nut 21, macroscopically manifested as stepless adjustment of the device's equivalent inertial capacitance value. Under the coordinated control of the controller, the device can achieve dynamic matching of inertial capacitance and damping characteristics according to the real-time vibration frequency of the controlled structure, thereby improving its vibration reduction adaptability under complex vibration conditions.

[0055] In this embodiment, through the above-described structure and control method, the device can flexibly adjust the damping torque and equivalent inertial capacity according to the actual vibration state of the controlled structure. While achieving effective absorption and dissipation of vibration energy, it can also achieve coordinated matching of inertial capacity and damping, thereby improving the vibration reduction effect and response speed, effectively suppressing vibration amplitude, improving structural stability, and having a compact overall structure, reliable operation, and stronger adaptability.

[0056] This embodiment also proposes a bidirectional adaptive inertial-capacitive damping composite control method. This method is based on the aforementioned bidirectional adaptive inertial-capacitive damping composite device. For ease of description of the control process, the two sets of unidirectional rotary transmission components 30 are defined as the first unidirectional rotary transmission component 30a and the second unidirectional rotary transmission component 30b, respectively. The two corresponding magnetorheological dampers 40 are defined as the first magnetorheological damper 40a and the second magnetorheological damper 40b. The first rotation direction and the second rotation direction can be clockwise and counterclockwise, respectively, with opposite directions of rotation.

[0057] See Figure 4 The method in this embodiment specifically includes the following:

[0058] The controlled structure vibrates and drives the main shaft 20 to reciprocate along its axis. When the main shaft 20 moves linearly in the positive direction along its axis, it drives the corresponding first unidirectional rotary transmission component 30a to rotate in the first rotation direction through the lead screw nut 21. The flywheel 42, which is driven and cooperates with this component, rotates together. At this time, the controller applies an excitation current to the corresponding first magnetorheological damper 40a, so that the first magnetorheological damper 40a is put into operation, forming a controllable damping torque on the flywheel, and realizing the controllable transmission of torque. At the same time, the controller controls the second magnetorheological damper 40b to be de-energized, so that it does not produce a damping effect, and the corresponding flywheel 42 is in an idling state and does not transmit torque.

[0059] When the main shaft 20 vibrates in the opposite direction to the controlled structure, causing the second unidirectional rotary transmission component 30b to switch to the second rotation direction, the flywheel 42, which is coupled with it, rotates synchronously. The controller de-energizes the first magnetorheological damper 40a according to a predetermined sequence, so that it does not produce a damping effect, and the corresponding flywheel 42 resumes idling without transmitting torque; and applies an excitation current to the second magnetorheological damper 40b, so that it forms a controllable damping torque on the flywheel, realizing the controllable transmission of torque and the flexible switching of the bidirectional torque transmission path.

[0060] During the flexible switching of the bidirectional torque transmission path, considering the zero-crossing speed of the spindle when changing the direction of linear motion and the backlash of the mechanical transmission components, the controller's control logic incorporates a commutation dead zone and smooth transition strategy:

[0061] Commutation dead zone control: The controller presets a speed threshold close to zero. When the controller detects the absolute value of the relative speed of the spindle... At this time, the system determines that it is in the commutation transient dead zone. Within this zone, the controller keeps both the first and second magnetorheological dampers in a power-off standby state or an extremely low reference current state. This can quickly eliminate the residual shear yield stress of the magnetorheological fluid and prevent mechanical interference and system lock-up of the two sets of unidirectional rotary transmission components under small displacement oscillations.

[0062] Excitation current smooth transition: When the absolute value of the relative speed of the spindle is detected to be greater than the preset commutation speed threshold, i.e. When the direction of motion has reversed, the controller determines that the commutation is complete. At this point, for the newly engaged magnetorheological damper, the controller does not use a step-like current jump, but instead uses a ramp function to control its excitation current to smoothly rise to the target adjustment value according to a preset slope. By using a soft-start current, the damping torque of the flywheel is gradually established, thereby completely eliminating the impact torque generated by the flywheel due to rapid commutation and rigid engagement, and improving the stability of the device operation.

[0063] During this process, the controller dynamically adjusts the excitation current of the magnetorheological damper 40, which participates in torque transmission, based on the real-time vibration state of the controlled structure (obtained through a set vibration sensor). This continuously controls the output amplitude of the damping torque to adjust the rotational resistance of the flywheel 42 in real time, ultimately achieving stepless adjustment of the device's equivalent inertial capacity. The larger the excitation current, the greater the torque transmitted by the damping, and the stronger the inertial effect exhibited by the flywheel 42 during acceleration or deceleration, resulting in a larger equivalent inertial capacity. The equivalent inertial capacity satisfies the following relationship:

[0064] ;

[0065] in, This is the equivalent inertia capacity value. For actual quality, The moment of inertia of the unidirectional rotary transmission component. This represents the equivalent radius of the inertial container.

[0066] In this embodiment, the controller performs target damping force estimation and tracking control of the magnetorheological damper based on the Bouc-Wen model. The specific steps are as follows:

[0067] First, status acquisition is performed. The controller receives sensor signals in real time to obtain the relative displacement of the spindle relative to the housing. and relative velocity ;

[0068] Next, theoretical damping estimation is performed. The controller has a pre-set Bouc-Wen damping force calculation model to calculate the theoretical damping force that the magnetorheological damper can provide under the current state. The calculation formula is as follows:

[0069] ;

[0070] in, The viscous damping coefficient is... This is the stiffness coefficient. The hysteresis strength coefficient, This represents the zero-force equilibrium position of the magnetorheological damper; hysteresis displacement. The evolution equation is:

[0071] ;

[0072] In the formula, For relative velocity, This is the parameter for adjusting the hysteresis loop width. This is the hysteresis loop height adjustment parameter. Let A be the hysteresis displacement, A be the proportionality coefficient, and n be the curve smoothing coefficient. The velocity corresponds to the hysteresis displacement.

[0073] Finally, the excitation current is output. The controller calculates the total target damping force required by the controlled structure, combined with the theoretical damping force calculated in the second step. By looking up a table in reverse, the target excitation current required at the moment is calculated, and the current command is output to the magnetorheological damper currently participating in torque transmission, so as to achieve precise dynamic tracking of the damping torque.

[0074] Furthermore, the controller also achieves optimal matching of inertia and damping based on preset control algorithms (such as PID control, fuzzy control, or adaptive control).

[0075] When the vibration signal is in a high-frequency excitation state, the controller increases the excitation current of the magnetorheological damper 40 to improve the equivalent inertial capacitance of the device and use the inertial capacitance effect to suppress high-frequency vibration.

[0076] When the vibration signal is in a low-frequency excitation state, the controller increases the excitation current of the magnetorheological damper 40 to improve the damping torque and use the damping dissipation effect to suppress low-frequency vibration.

[0077] In this embodiment, by using the above-mentioned adaptive switching control strategy based on vibration frequency, the inertial capacitance vibration isolation effect can be enhanced during high-frequency vibration, and the damping energy dissipation effect can be enhanced during low-frequency vibration. This enables the inertial capacitance and damping to work adaptively and collaboratively according to real-time operating conditions, effectively isolating the transmission of high-frequency vibration and rapidly attenuating low-frequency large-amplitude vibration, thereby improving the overall structure's vibration reduction performance and dynamic stability. At the same time, it broadens the applicable operating conditions range and has the advantages of rapid response, precise adjustment, and strong adaptive capability.

[0078] In this invention, the terms "first," "second," and "third," etc., are used only to distinguish similar objects and are not necessarily used to describe a specific order or sequence, nor should they be construed as indicating or implying relative importance. The use of terms such as "upper," "lower," "left," "right," "front," and "rear" to indicate orientation or positional relationships is based on the orientation or positional relationships shown in the accompanying drawings and is only for the convenience of describing the invention, not to indicate or imply that the device referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the scope of protection of this invention. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0079] Furthermore, in the description of this application, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0080] The above are merely specific embodiments of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using this concept shall be considered as infringing upon the protection scope of the present invention.

Claims

1. A bidirectional adaptive inertial-capacitive damping composite device, comprising a housing, a main shaft, and two unidirectional rotary transmission components; the main shaft passes through the housing and can be excited by a controlled structure to perform linear reciprocating motion relative to the housing along its axis; the two unidirectional rotary transmission components are in transmission cooperation with the main shaft, and convert the linear reciprocating motion of the main shaft into rotational motion in opposite directions; characterized in that, It also includes two magnetorheological dampers and a controller. The two magnetorheological dampers are respectively paired with the two unidirectional rotary transmission components to achieve controllable torque damping and transmission. The controller controls the on / off timing and current magnitude of the two magnetorheological dampers according to the torque transmission direction of the unidirectional rotary transmission components. By adjusting the damping torque, it achieves flexible switching of bidirectional torque transmission and stepless adjustment of equivalent inertia capacity to meet the vibration reduction requirements of the controlled structure. During the process of flexibly switching the bidirectional torque transmission path, the controller executes the following smooth transition control strategy: Commutation dead zone control: The controller presets a commutation speed threshold. When the absolute value of the relative speed of the spindle is detected to be less than or equal to the preset commutation speed threshold, the system is determined to be in a commutation transient. At this time, the controller controls the excitation current of the first magnetorheological damper and the second magnetorheological damper to be reduced to zero or the reference standby current state to avoid interference and lock-up of the mechanical transmission components. Smooth transition of excitation current: When the absolute value of the relative speed of the main shaft is detected to be greater than the preset commutation speed threshold and the direction of motion has been reversed, for the magnetorheological damper that has been switched to a new working state, the controller uses a ramp function to control its excitation current to rise smoothly to the target output current value according to a preset slope, so as to achieve smooth establishment of damping torque.

2. The bidirectional adaptive inertial-capacitive damping composite device as described in claim 1, characterized in that, The unidirectional rotary transmission assembly includes a lead screw nut and a unidirectional bearing. The lead screw nut is sleeved on the main shaft and threaded to it to convert the linear reciprocating motion of the main shaft into rotary motion. The inner ring of the unidirectional bearing is connected to the lead screw nut, and the outer ring is connected to the magnetorheological damper.

3. The bidirectional adaptive inertial-capacitive damping composite device as described in claim 2, characterized in that, The two unidirectional rotary transmission components transmit torque in one direction and rotate freely in the opposite direction, and the torque transmission directions of the two unidirectional bearings are set in opposite directions; so that when the main shaft moves in a single direction along the axis, it drives the unidirectional rotary transmission component on the corresponding side to transmit torque, while the unidirectional rotary transmission component on the other side rotates freely.

4. The bidirectional adaptive inertial-capacitive damping composite device as described in claim 2, characterized in that, The magnetorheological damper includes a sealed inner cavity, a control coil, and a flywheel. The flywheel is located inside the sealed inner cavity and is connected to a unidirectional rotational transmission assembly. A shear damping gap filled with magnetorheological fluid is formed between the outer edge of the flywheel and the inner wall of the sealed inner cavity. The controller is electrically connected to the control coil. By adjusting the current, the shear yield strength of the magnetorheological fluid is changed, generating a continuously adjustable shear damping torque on the outer edge of the flywheel, thereby changing the rotational inertial response of the flywheel and realizing stepless adjustment of the equivalent inertial capacitance value of the device.

5. A bidirectional adaptive inertial-capacitive damping composite control method, characterized in that, The method employs a bidirectional adaptive inertial-capacitive damping composite device as described in any one of claims 1 to 4, comprising the following steps: When the controlled structure vibrates and drives the main shaft to reciprocate along the axis, when the main shaft moves linearly in the positive direction of its axis, it drives the corresponding first unidirectional rotary transmission component to rotate in the first rotation direction. The controller applies an excitation current to the corresponding first magnetorheological damper, so that the first magnetorheological damper works to achieve controllable torque transmission; at the same time, it controls the second magnetorheological damper to be de-energized so that the second magnetorheological damper does not produce a damping effect and does not transmit torque. When the main shaft vibrates in the opposite direction to the controlled structure, causing the second unidirectional rotary transmission component to switch to the second rotation direction, the controller controls the first magnetorheological damper to be de-energized according to a predetermined sequence, so that the first magnetorheological damper stops its damping effect and does not transmit torque; and applies an excitation current to the second magnetorheological damper, so that the second magnetorheological damper works to achieve torque transmission, thereby realizing flexible switching of the bidirectional torque transmission path.

6. The bidirectional adaptive inertial-capacitive damping composite control method as described in claim 5, characterized in that, The controller continuously controls the transmitted damping torque by adjusting the magnitude of the excitation current applied to the magnetorheological damper, thereby achieving stepless adjustment of the equivalent inertia capacitance; the equivalent inertia capacitance satisfies the following relationship: ； in, This is the equivalent inertia capacitance value. For actual quality, The moment of inertia of the unidirectional rotary transmission component. This represents the equivalent radius of the inertial container.

7. The bidirectional adaptive inertial-capacitive damping composite control method as described in claim 5, characterized in that, The controller is also used to receive vibration signals from the controlled structure and, according to a preset control algorithm, adjust the excitation current of the magnetorheological damper currently participating in torque transmission to achieve optimal matching between inertial capacitance and damping. When the vibration signal is in a high-frequency excitation state, the controller increases the excitation current of the magnetorheological damper to improve the equivalent inertial capacitance of the device and use the inertial capacitance effect to suppress high-frequency vibration. When the vibration signal is in a low-frequency excitation state, the controller increases the excitation current of the magnetorheological damper to improve the damping torque and use the damping dissipation effect to suppress low-frequency vibration.

8. The bidirectional adaptive inertial-capacitive damping composite control method as described in claim 5, characterized in that, The controller performs target damping force estimation and tracking control of the magnetorheological damper based on the Bouc-Wen model. The specific steps are as follows: First, status acquisition is performed. The controller receives sensor signals in real time to obtain the relative displacement of the spindle relative to the housing. and relative velocity ; Next, theoretical damping estimation is performed. The controller has a pre-set Bouc-Wen damping force calculation model to calculate the theoretical damping force that the magnetorheological damper can provide under the current state. The calculation formula is as follows: ； in, The viscous damping coefficient is... This is the stiffness coefficient. The hysteresis strength coefficient, This represents the zero-force equilibrium position of the magnetorheological damper; hysteresis displacement. The evolution equation is: ； In the formula, For relative velocity, This is the parameter for adjusting the hysteresis loop width. This is the hysteresis loop height adjustment parameter. Let A be the hysteresis displacement, A be the proportionality coefficient, and n be the curve smoothing coefficient. The velocity corresponding to the hysteresis displacement; Finally, the excitation current is output. The controller calculates the total target damping force required by the controlled structure, combined with the theoretical damping force. By looking up a table in reverse, the target excitation current required at the moment is calculated, and the current command is output to the magnetorheological damper currently participating in torque transmission, so as to achieve precise dynamic tracking of the damping torque.

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