A monitoring and driving integrated electromagnetic actuator for active vibration control

Abstract

This invention discloses an integrated monitoring and driving electromagnetic actuator for active vibration control, belonging to the field of active vibration control technology. The electromagnetic actuator includes a base assembly, a housing assembly, a mover assembly, and a coil assembly. The mover assembly includes a permanent magnet, a yoke, a connecting block, a magnetic cylinder, and a support sleeve. An air gap is formed between the inner wall of the magnetic cylinder and the outer peripheral surfaces of the permanent magnet and the yoke. The coil assembly includes a drive coil, a monitoring coil, and a coil holder. The coil holder is fixed to an end cap and extends into the air gap. The coil holder has a drive winding area and a monitoring winding area. The drive coil is wound in the drive winding area, and the monitoring coil is wound in the monitoring winding area. The monitoring coil is located radially inside the drive coil and is independent and electrically isolated from it. This invention enables real-time monitoring of the electromagnetic actuator's own operating status, which helps reduce added mass, simplify the structure, and improve integration and reliability.

Description

Technical Field

[0001] This invention belongs to the field of active vibration control technology, specifically relating to an integrated electromagnetic actuator for monitoring and driving active vibration control. Background Technology

[0002] Vibration is widespread in various mechanical equipment, precision instruments, and engineering structures. Excessive vibration can not only affect the operating accuracy and service life of equipment, but also reduce system stability. Compared with passive vibration isolation technology, active vibration control technology can apply control force in real time according to the vibration state of the controlled object. It has the advantages of strong adaptability, flexible control, and good low-frequency vibration suppression effect, and has been widely studied and applied in precision manufacturing, aerospace, vehicle engineering, and mechanical equipment.

[0003] An actuator (also known as a control unit) is a key component in an active vibration control system. Its function is to apply corresponding control forces to the controlled object according to control laws. Electromagnetic actuators have advantages such as fast response speed, relatively simple structure, good controllability of output force, and high reliability, and are therefore often used in active vibration control systems. During the operation of an electromagnetic actuator, the motion state of the actuator's mover directly affects the accuracy and stability of the control force output, and thus affects the control effect of the entire active control system. Therefore, real-time monitoring of the working state of the electromagnetic actuator's mover is an important aspect of ensuring the stable operation of the active vibration control system.

[0004] In existing technologies, to obtain the motion state of the mover of an electromagnetic actuator, an accelerometer is typically installed on the mover, and the electrical signal output by the accelerometer is used to determine whether the mover's motion is normal. However, this method requires adding an independent sensor inside the actuator or on the mover component, which not only increases the structural complexity, assembly difficulty, and manufacturing cost of the actuator, but may also introduce additional mass into the mover, affecting its dynamic response performance. Furthermore, the sensor and its leads are susceptible to impact, fatigue, wear, or loose connections during the long-term reciprocating motion of the actuator, leading to decreased monitoring reliability and thus adversely affecting the stable operation of the active vibration control system.

[0005] Therefore, in view of the problems of complex structure, high integration difficulty, large added mass, high cost and insufficient long-term reliability of existing electromagnetic actuator mover motion state monitoring methods, there is an urgent need to propose an integrated monitoring and driving electromagnetic actuator that can monitor the working state of the electromagnetic actuator mover in real time without the need for additional acceleration sensors. Summary of the Invention

[0006] The purpose of this invention is to provide an integrated monitoring and driving electromagnetic actuator for active vibration control. Without the need for an additional acceleration sensor, a monitoring signal characterizing the motion state of the mover is acquired by a monitoring coil located inside the actuator, thereby achieving real-time monitoring of the working state of the electromagnetic actuator itself.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] An integrated monitoring and driving electromagnetic actuator for active vibration control includes:

[0009] A base assembly, comprising a base, a guide rod, and a spring;

[0010] A housing assembly, comprising an end cap and a housing, the housing being connected to the base;

[0011] A moving part assembly includes a permanent magnet, a yoke, a connecting block, a magnetic cylinder, and a support sleeve. The yoke is disposed at the axial end of the permanent magnet, and the permanent magnet and the yoke are disposed in the central region of the magnetic cylinder. The permanent magnet, the yoke, the connecting block, and the magnetic cylinder are fixedly connected to form the moving part assembly, and an air gap is formed between the inner wall of the magnetic cylinder and the outer peripheral surfaces of the permanent magnet and the yoke. The support sleeve is fixedly connected to the magnetic cylinder and is sleeved on the corresponding guide rod, so that the moving part assembly reciprocates relative to the base assembly and the housing assembly along the guide rod.

[0012] A coil assembly includes a drive coil, a monitoring coil, and a coil holder. The coil holder is fixed to the end cap and extends into the air gap. The coil holder has a drive winding area and a monitoring winding area. The drive coil is wound in the drive winding area, and the monitoring coil is wound in the monitoring winding area. The monitoring coil is located radially inside the drive coil, and the monitoring coil and the drive coil are independent of each other and electrically isolated.

[0013] When the moving part moves relative to the coil part, the monitoring coil and the permanent magnet generate relative motion and output an induced voltage, which is used to characterize the motion state of the moving part.

[0014] Furthermore, the number of turns of the monitoring coil is less than the number of turns of the driving coil.

[0015] Furthermore, the drive coil is provided with a drive lead for receiving control current, and the monitoring coil is provided with a monitoring lead for outputting induced voltage. The drive lead and the monitoring lead are set independently of each other.

[0016] Furthermore, the permanent magnet is sandwiched between the two yokes, and the permanent magnet, the yokes and the magnetic cylinder are coaxially arranged; the magnetic cylinder is provided with an axially penetrating central through hole, and the inner wall of the central through hole forms the air gap between the outer peripheral surface of the permanent magnet and the yoke, and the coil holder is suspended in the air gap.

[0017] Furthermore, the connecting block is provided with a limiting groove that cooperates with the coil retainer; the connecting block, the permanent magnet and the yoke are provided with coaxially arranged fastening holes, and the connecting block, the permanent magnet and the yoke are axially locked and fixed by fasteners.

[0018] Furthermore, multiple support sleeves are provided, each located at a corner of the magnetic cylinder, and each support sleeve is provided with a guide hole for the guide rod to pass through.

[0019] Furthermore, the spring includes a first spring and a second spring, which are respectively sleeved on the guide rod. The first spring abuts between the support sleeve and the base, and the second spring abuts between the support sleeve and the end cap.

[0020] Furthermore, it also includes a monitoring signal processing unit connected to the monitoring coil. The monitoring signal processing unit includes a monitoring coil voltage acquisition module, a signal conditioning module, and a mover state determination module. The monitoring coil voltage acquisition module is used to acquire the induced voltage output by the monitoring coil. The signal conditioning module is used to condition the induced voltage. The mover state determination module is used to determine the motion state of the mover assembly based on the conditioned voltage signal.

[0021] Furthermore, the mover state determination module is used to determine whether the mover assembly is in the expected motion state based on the amplitude, frequency, phase, or trend of the conditioned voltage signal.

[0022] The present invention also provides a vibration active control system, including the above-mentioned integrated monitoring and driving electromagnetic actuator.

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

[0024] This invention provides a monitoring coil that is independent of and electrically isolated from the drive coil inside the electromagnetic actuator. The induced voltage generated by the monitoring coil when it moves relative to the permanent magnet characterizes the motion state of the mover assembly, enabling the electromagnetic actuator to monitor its own state while performing the drive function.

[0025] This invention eliminates the need to install an additional acceleration sensor on the actuator mover, thereby reducing added mass, assembly complexity and manufacturing costs, and reducing the risk of loosening, fatigue or failure of external sensors and their leads under long-term vibration.

[0026] This invention integrates the drive coil and the monitoring coil onto the same coil cage by setting a drive winding area and a monitoring winding area on the coil cage. The structure is compact and does not occupy additional installation space, which is beneficial to improving the integration and reliability of the electromagnetic actuator in the vibration active control system.

[0027] This invention can determine whether the mover assembly is in the expected motion state by monitoring the induced voltage output of the coil, providing a basis for the active vibration control system to judge and control the working state of the electromagnetic actuator itself in real time. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the integrated monitoring and driving electromagnetic actuator of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the integrated monitoring and driving electromagnetic actuator of the present invention after the outer shell is hidden;

[0030] Figure 3 This is a top view of the integrated monitoring and driving electromagnetic actuator of the present invention;

[0031] Figure 4 for Figure 3 AA section view;

[0032] Figure 5 This is a bottom view of the coil holder of the present invention;

[0033] Figure 6 for Figure 5 BB cross-sectional view;

[0034] Figure 7 This is a schematic diagram of the lead-out terminals of the driving coil and the monitoring coil of the present invention;

[0035] Figure 8 This is a schematic diagram illustrating the principle of voltage generation by the monitoring coil in this invention.

[0036] Figure 9 This is a block diagram illustrating the principle of the monitoring signal processing unit of the present invention.

[0037] The annotations in the attached figures are explained as follows:

[0038] 1. Wiring hole; 2. Housing; 3. End cap; 4. Coil holder; 5. Drive coil; 6. Magnetic cylinder; 7. Connecting block; 8. Base; 9. Spring; 10. Support sleeve; 11. Guide rod; 12. Yoke; 13. Permanent magnet; 14. Monitoring coil; 15. Fastener. Detailed Implementation

[0039] The present invention will now be further described with reference to the accompanying drawings.

[0040] Example 1:

[0041] like Figures 1 to 9 As shown, this embodiment provides an integrated electromagnetic actuator for monitoring and driving vibration active control, including a base assembly, a housing assembly, a mover assembly, and a coil assembly.

[0042] The base assembly includes a base 8, a guide rod 11, and a spring 9. The base 8 has a positioning hole for mounting the guide rod 11. One end of the guide rod 11 is fixed to the base 8, and the other end is connected to the end cap 3. The spring 9 is sleeved on the guide rod 11 and provides elastic support and reset for the actuator assembly. The base 8 also has a mounting through hole for fixing the electromagnetic actuator to an external structure or mounting base.

[0043] In this embodiment, as Figure 2 and Figure 4 As shown, the guide rod 11 is vertically mounted on the base 8, and the spring 9 is sleeved on the outer periphery of the guide rod 11. The spring 9 can be a helical compression spring, with its two axial ends respectively abutting against the corresponding support structure to provide axial elastic force for the mover assembly.

[0044] In this embodiment, as Figure 2 As shown, spring 9 includes a first spring and a second spring, which are respectively sleeved on the guide rod 11. The first spring abuts between the support sleeve 10 and the base 8, and the second spring abuts between the support sleeve 10 and the end cap 3. The first spring and the second spring together provide bidirectional elastic support for the moving part assembly, causing the moving part assembly to reciprocate around the equilibrium position during operation. The number and arrangement of the springs can be adjusted according to specific application requirements.

[0045] The housing assembly includes an end cap 3 and a housing 2. The end cap 3 is located on the upper part of the actuator and is connected to the base 8 via a guide rod 11. The housing 2 covers the actuator and is fixedly connected to the base 8, serving to protect the internal structure of the actuator. The housing 2 has a wiring hole 1 for leading out the connecting wires of the drive coil 5 and the monitoring coil 14.

[0046] In this embodiment, the outer shell 2 and the base 8 can be fixedly connected by bolts, welding, or snap-fit ​​to ensure that the outer shell 2 does not undergo relative displacement during operation, thereby ensuring the stability of the internal air gap and the normal operation of the actuator. The end cover 3 is provided with a through hole for the guide rod 11 to pass through and a mounting structure for connecting to the coil retainer 4.

[0047] The moving part assembly includes a permanent magnet 13, a yoke 12, a magnetic cylinder 6, a connecting block 7, a support sleeve 10, and a fastener 15.

[0048] like Figure 4As shown, a permanent magnet 13 is sandwiched between two yokes 12, and the permanent magnet 13 and yokes 12 are integrally positioned in the central region of the magnetic cylinder 6. The yokes 12 and the magnetic cylinder 6 together form a magnetically conductive structure, used to concentrate and guide the magnetic field generated by the permanent magnet 13 to form a magnetic field distribution that meets the working requirements. The permanent magnet 13, yokes 12, and connecting block 7 are axially locked and fixed by fasteners 15, and the magnetic cylinder 6 is fixedly connected to the connecting block 7, thereby forming a moving part structure that can move as a whole.

[0049] The permanent magnet 13 is magnetized in the axial direction (i.e., along the direction of the guide rod 11). The yoke 12 is disposed at both ends of the permanent magnet 13 in the axial direction and is used to guide the magnetic flux generated by the permanent magnet 13 to the air gap region.

[0050] The magnetic cylinder 6 has an axial through hole at its center, and an air gap is formed between the inner wall of the axial through hole and the outer peripheral surfaces of the permanent magnet 13 and the yoke 12. This air gap is used to accommodate the coil holder 4 and the drive coil 5 and monitoring coil 14 wound on the coil holder 4, and forms the working magnetic field region where the drive coil 5 interacts with the permanent magnet 13.

[0051] The connecting block 7 is provided with a limiting groove (preferably a circular groove) that matches the coil holder 4. This limiting groove provides clearance space for the coil holder 4 and can limit the coil holder 4 to a certain extent, thereby improving the installation stability of the drive coil 5 and the monitoring coil 14 during operation.

[0052] In a preferred embodiment, an annular air gap is formed between the magnetic cylinder 6, the permanent magnet 13, and the yoke 12, and the coil holder 4 is suspended within this air gap. The drive coil 5 and the monitoring coil 14 are fixedly mounted with the coil holder 4, while the mover assembly consisting of the permanent magnet 13, the yoke 12, the magnetic cylinder 6, and the connecting block 7 can reciprocate relative to the coil holder 4.

[0053] In a preferred embodiment, a coaxial through hole (fastening hole) is provided at the center of the connecting block 7, the permanent magnet 13, and the yoke 12. The fastener 15 passes through the coaxial through hole to axially lock and fix the connecting block 7, the permanent magnet 13, and the yoke 12. This structure can improve the overall connection strength of the mover assembly and limit the relative displacement of the permanent magnet 13 and the yoke 12 in the radial direction.

[0054] The support sleeve 10 is located at the corner of the magnetic cylinder 6 and is fixedly connected to the magnetic cylinder 6. The support sleeve 10 is provided with a guide hole for the guide rod 11 to pass through, so that the mover assembly can reciprocate relative to the base 8 and the end cover 3 along the guide rod 11. The end of the support sleeve 10 may also be provided with a groove for accommodating the spring 9, so as to limit the position of the spring 9 and reduce the offset or deformation of the spring 9 in the non-axial direction.

[0055] In a preferred embodiment, such as Figure 2 As shown, the support sleeve 10 is a square support sleeve, and four of them are fixed to the four corners of the magnetic cylinder 6. Each square support sleeve 10 is provided with a guide hole, through which the guide rod 11 passes and connects to the end cover 3 and the base 8 respectively. Through the above structure, the guide rod 11 can not only connect the end cover 3 and the base 8, but also guide and limit the movement direction of the mover assembly, so that the mover assembly reciprocates in a predetermined direction. The square cross-section of the square support sleeve 10 helps to prevent the support sleeve from rotating on the guide rod, thereby improving the stability of the mover assembly movement.

[0056] The coil assembly includes a coil holder 4, a drive coil 5, and a monitoring coil 14. The coil holder 4 is fixed to the end cap 3 and extends at least partially into the air gap formed between the magnetic cylinder 6 and the permanent magnet 13. The coil holder 4 has a drive winding area and a monitoring winding area. The drive coil 5 is wound in the drive winding area, and the monitoring coil 14 is wound in the monitoring winding area. This allows the monitoring coil 14 to be integrated inside the actuator without requiring an additional acceleration sensor on the actuator assembly.

[0057] The drive coil 5 generates an electromagnetic force (Ampere force) with the permanent magnet 13 after a control current is applied. The reaction force of this electromagnetic force drives the movement of the mover assembly. The monitoring coil 14 is independent and electrically isolated from the drive coil 5 and is used to generate an induced voltage when the mover assembly moves relative to the coil assembly.

[0058] like Figure 6 and Figure 7 As shown, in this embodiment, the drive coil 5 and the monitoring coil 14 share the coil holder 4, but they are independent windings. The drive coil 5 has a drive lead for receiving control current, and the monitoring coil 14 has a monitoring lead for outputting induced voltage. The drive lead and the monitoring lead are independently configured. With the above structure, the drive coil 5 is mainly used to generate driving force, and the monitoring coil 14 is mainly used to generate induced voltage signals related to the motion state of the mover assembly.

[0059] In this embodiment, the drive coil 5 can be configured as two sets, respectively wound around the upper and lower parts of the coil holder 4; the monitoring coil 14 is disposed in a local area of ​​the coil holder 4 and located radially inside the drive coil 5. With the above structure, the drive coil 5 is mainly used to generate driving force, and the monitoring coil 14 is mainly used to generate induced voltage signals related to the motion state of the mover assembly.

[0060] The number of turns of the monitoring coil 14 is less than that of the drive coil 5 to reduce its impact on the output power of the drive coil 5. The resistance and number of turns of the monitoring coil 14 can be matched and designed according to the requirements of induced voltage acquisition, coil installation space, and actuator output force requirements.

[0061] like Figure 5 As shown, in this embodiment, the coil holder 4 is a cylindrical structure, and its outer wall has winding areas distributed along the axial direction. Figure 6 and Figure 7 As shown, the drive coil 5 and the monitoring coil 14 share the coil holder 4, but they are independent coils and are electrically isolated from each other. The drive coil 5 has a drive lead for receiving control current, and the monitoring coil 14 has a monitoring lead for outputting induced voltage. The drive lead and the monitoring lead are independently configured. The drive lead and the monitoring lead can be led out to the wiring hole 1 through independent shielded wires to avoid electromagnetic interference of the drive current signal to the monitoring voltage signal.

[0062] The monitoring coil 14 is located radially inside the drive coil 5, meaning it is closer to the central axis of the coil holder 4 (closer to the permanent magnet 13), while the drive coil 5 is located radially outside the monitoring coil 14. The monitoring coil 14 and the drive coil 5 are arranged coaxially. Placing the monitoring coil 14 radially inside the drive coil 5 helps to reduce the circumference of the monitoring coil 14, thereby reducing resistance and space occupation.

[0063] The number of turns in the monitoring coil 14 is less than the number of turns in the drive coil 5. Preferably, the number of turns in the monitoring coil 14 is 1 / 20 to 1 / 5 of the number of turns in the drive coil 5. The number of turns, wire diameter, and resistance value of the monitoring coil 14 can be matched and designed according to the requirements for induced voltage acquisition, coil installation space, and actuator output force requirements. A smaller number of turns in the monitoring coil 14 helps to reduce its impact on the output force of the drive coil 5.

[0064] The working principle of this invention is as follows:

[0065] like Figure 8 As shown, the magnetic field generated by the permanent magnet 13 forms a predetermined magnetic circuit via the yoke 12 and the magnetic cylinder 6. When a control current is applied to the drive coil 5, an electromagnetic force (Ampere force) is generated. The reaction force of this electromagnetic force drives the mover assembly, composed of the permanent magnet 13, the yoke 12, the magnetic cylinder 6, and the connecting block 7, to reciprocate along the direction of the guide rod 11. During the movement of the mover assembly relative to the monitoring coil 14, the monitoring coil 14 outputs an induced voltage U. i , Figure 8 Medium: U i ν represents the induced voltage output by monitoring coil 14, and v represents the direction of motion of the moving part relative to monitoring coil 14.

[0066] During the reciprocating motion of the mover assembly, since the monitoring coil 14 is fixedly mounted on the coil holder 4, and the permanent magnet 13, yoke 12, and magnetic cylinder 6 move with the mover assembly, an induced voltage is generated in the monitoring coil 14 according to the principle of electromagnetic induction. This induced voltage is related to the motion state of the mover assembly relative to the monitoring coil 14. Therefore, by collecting the induced voltage output by the monitoring coil 14, a monitoring signal characterizing the motion state of the mover assembly can be obtained, and based on this, it can be determined whether the electromagnetic actuator itself is in the expected motion state.

[0067] Specifically, the drive coil 5 and the monitoring coil 14 share the coil cage 4, but they are independent coils and maintain electrical isolation. The drive coil 5 receives control current and generates driving force, while the monitoring coil 14 outputs the induced voltage caused by relative motion. By analyzing the amplitude, frequency, phase, or trend of the output voltage of the monitoring coil 14, it can be determined whether the actuator assembly moves according to the expected state, thereby achieving real-time monitoring of the working state of the electromagnetic actuator itself.

[0068] like Figure 9 As shown, this embodiment may further include a monitoring signal processing unit connected to the monitoring coil 14. The monitoring signal processing unit may include a monitoring coil voltage acquisition module, a signal conditioning module, and a mover state determination module. The induced voltage output by the monitoring coil 14 is input to the monitoring coil voltage acquisition module. After being amplified, filtered, denoised, converted from analog to digital, or having features extracted by the signal conditioning module, it is input to the mover state determination module. The mover state determination module compares the amplitude, frequency, phase, or trend of the conditioned voltage signal with a preset threshold or preset state characteristics, and outputs the mover state determination result.

[0069] In one optional embodiment, when the induced voltage signal output by the monitoring coil 14 deviates from a preset range, or when its amplitude, frequency, phase, or trend of change does not match the control input of the drive coil 5, the mover state judgment module can determine that the mover assembly has a motion abnormality. The motion abnormality may include mover jamming, insufficient motion amplitude, delayed response, coil failure, or abnormal connection. The mover state judgment result can serve as the basis for the vibration active control system to adjust the control current of the drive coil 5 or to provide fault indication. Therefore, this invention enables real-time monitoring of the working state of the electromagnetic actuator itself without the need for additional accelerometers.

[0070] In one optional implementation, the signal conditioning module may include a preamplifier circuit, a low-pass filter circuit, and an analog-to-digital converter circuit connected in sequence; the mover state determination module may be implemented using a microcontroller, DSP, or FPGA processor.

[0071] Example 2:

[0072] The difference between this embodiment and Embodiment 1 is that the lead-out method of the monitoring coil 14 is different.

[0073] In this embodiment, the drive lead of the drive coil 5 and the monitoring lead of the monitoring coil 14 are led out through the same wiring hole 1 on the housing 2. However, they are led out using independent shielded wires, and a separation structure (such as an insulating sleeve or a partition plate) is provided at the wiring hole 1 to avoid electromagnetic interference between the drive current signal and the monitoring voltage signal. This method helps to reduce the number of openings on the housing 2 and improve the sealing and protection level of the actuator.

[0074] Example 3:

[0075] This embodiment provides a vibration active control system, including the integrated monitoring and driving electromagnetic actuator as described in Embodiment 1 or Embodiment 2. The vibration active control system further includes a controller, a power amplifier, and an error sensor. The controller generates a control signal based on the vibration signal from the error sensor, which is amplified by the power amplifier and input to the drive coil 5 to drive the actuator assembly to apply a control force. The induced voltage output from the monitoring coil 14 is processed by the monitoring signal processing unit and fed back to the controller to determine whether the electromagnetic actuator's operating state is normal, thereby realizing closed-loop monitoring and control of the vibration active control system.

[0076] The present invention provides an integrated monitoring and driving electromagnetic actuator for active vibration control, which integrates driving and status monitoring functions into a single actuator structure. Compared with the method of separately mounting an acceleration sensor on the mover, the present invention eliminates the need for an independent sensor and its mounting structure, reducing added mass, assembly complexity, and manufacturing costs, and minimizing the risk of sensor and its leads loosening or failing under long-term vibration conditions. Furthermore, the monitoring coil 14 is located inside the actuator, resulting in a compact overall structure that does not occupy additional installation space, thus meeting the requirements of real-time status monitoring of the electromagnetic actuator in active vibration control systems.

[0077] 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. A monitoring and driving integrated electromagnetic actuator for active vibration control, characterized by, include: A base assembly, comprising a base, a guide rod, and a spring; A housing assembly, comprising an end cap and a housing, the housing being connected to the base; A moving part assembly includes a permanent magnet, a yoke, a connecting block, a magnetic cylinder, and a support sleeve. The yoke is disposed at the axial end of the permanent magnet, and the permanent magnet and the yoke are disposed in the central region of the magnetic cylinder. The permanent magnet, the yoke, the connecting block, and the magnetic cylinder are fixedly connected to form the moving part assembly, and an air gap is formed between the inner wall of the magnetic cylinder and the outer peripheral surfaces of the permanent magnet and the yoke. The support sleeve is fixedly connected to the magnetic cylinder and is sleeved on the corresponding guide rod, so that the moving part assembly reciprocates relative to the base assembly and the housing assembly along the guide rod. A coil assembly includes a drive coil, a monitoring coil, and a coil holder. The coil holder is fixed to the end cap and extends into the air gap. The coil holder has a drive winding area and a monitoring winding area. The drive coil is wound in the drive winding area, and the monitoring coil is wound in the monitoring winding area. The monitoring coil is located radially inside the drive coil, and the monitoring coil and the drive coil are independent of each other and electrically isolated. When the moving part moves relative to the coil part, the monitoring coil and the permanent magnet generate relative motion and output an induced voltage, which is used to characterize the motion state of the moving part.

2. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 1, wherein The number of turns of the monitoring coil is less than the number of turns of the drive coil.

3. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 1, wherein The drive coil is provided with a drive lead for receiving control current, and the monitoring coil is provided with a monitoring lead for outputting induced voltage. The drive lead and the monitoring lead are set independently of each other.

4. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 1, wherein The permanent magnet is sandwiched between the two yokes, and the permanent magnet, the yokes and the magnetic cylinder are coaxially arranged; the magnetic cylinder has an axially penetrating central through hole, and the inner wall of the central through hole forms the air gap between the outer peripheral surface of the permanent magnet and the yoke, and the coil holder is suspended in the air gap.

5. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 4, wherein The connecting block is provided with a limiting groove that cooperates with the coil retainer; the connecting block, the permanent magnet and the yoke are provided with coaxially arranged fastening holes, and the connecting block, the permanent magnet and the yoke are axially locked and fixed by fasteners.

6. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 5, wherein Multiple support sleeves are provided, each located at a corner of the magnetic cylinder, and each support sleeve is provided with a guide hole for the guide rod to pass through.

7. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 6, characterized in that, The spring includes a first spring and a second spring, which are respectively sleeved on the guide rod. The first spring abuts between the support sleeve and the base, and the second spring abuts between the support sleeve and the end cap.

8. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 1, wherein It also includes a monitoring signal processing unit connected to the monitoring coil. The monitoring signal processing unit includes a monitoring coil voltage acquisition module, a signal conditioning module, and a mover state judgment module. The monitoring coil voltage acquisition module is used to acquire the induced voltage output by the monitoring coil. The signal conditioning module is used to condition the induced voltage. The mover state judgment module is used to judge the motion state of the mover assembly based on the conditioned voltage signal.

9. The integrated monitoring and driving electromagnetic actuator for active vibration control according to claim 8, wherein The mover state determination module is used to determine whether the mover assembly is in the expected motion state based on the amplitude, frequency, phase, or trend of the conditioned voltage signal.

10. A vibration active control system characterized by comprising: Including the integrated monitoring and driving electromagnetic actuator as described in any one of claims 1-9.

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