Gear-rack type magnetorheological fluid semi-active inerter damping device

Abstract

The application discloses a gear and rack type magnetorheological fluid semi-active inertial damper device, which comprises a shell, a screw rod, a nut and left and right transmission assemblies, left and right flywheels, left and right hydraulic cavities, corresponding left and right pistons, a magnetorheological fluid flow channel and an electromagnetic control assembly. The relative movement of the two connecting ends of the shell synchronously drives the left and right transmission assemblies through the screw rod-nut mechanism, so that the left and right flywheels rotate and the left and right pistons move in the same direction. The effective pressure areas of the left and right pistons are equal, the volume changes of the two effective liquid cavities are equal and opposite, and the volume complementation is realized. The electromagnetic control assembly generates an adjustable magnetic field in the magnetic control flow channel section, so as to change the yield stress and flow impedance of the magnetorheological fluid, and make the inertial damper effect of the mechanical flywheel and the hydraulic pressure effect of the magnetorheological fluid synchronously form a composite damping output in the same two-port motion chain. The device is compact in structure, controllable in damping and clear in volume compensation, and is suitable for semi-active vibration control occasions such as vehicle suspensions and buildings.

Description

Technical Field

[0001] This invention belongs to the field of two-port transmission control and semi-active vibration reduction technology, specifically relating to a gear and rack type magnetorheological fluid semi-active inertial capacitance vibration reduction device, which can be used in vehicle suspension systems, rail vehicle vibration reduction, building structure vibration reduction and other engineering applications requiring coordinated control of two-port inertial capacitance and damping. Background Technology

[0002] An inertia container is a two-port mechanical element whose output force is proportional to the relative acceleration between the two ports. Using mechanisms such as gears and racks, ball screws, or hydraulic converters, inertia containers can achieve a large equivalent mass coefficient with minimal physical mass, thus finding wide application in vehicle suspensions, building structures, and other mechanical vibration control systems.

[0003] Magnetorheological fluids are intelligent fluids that are fast-responding, reversible, and continuously adjustable. Their yield stress and flow resistance vary with the strength of the applied magnetic field, enabling magnetorheological dampers to achieve semi-active damping regulation with low power consumption, fast response, and power failure safety.

[0004] In existing technologies, one approach separates the mechanical capacitive element and the magnetorheological damping element, while another attempts to integrate capacitive and magnetorheological damping functions into a single device. Although both capacitive force and adjustable damping force can be considered, such combinations generally suffer from the following drawbacks:

[0005] 1. The structure is large in size and the hydraulic connection is complex, making it difficult to meet the installation requirements of vehicles or buildings with limited space;

[0006] 2. The lack of a clear transmission relationship between mechanical inertial-capacitive action and magnetorheological-hydraulic action, driven synchronously by the same input motion, limits the coordinated formation of composite dynamic actions;

[0007] 3. The volume compensation relationship of the working cavity is unclear, which often leads to negative pressure, cavitation, or pressure shock;

[0008] 4. The characterization of fluid pressure drop confuses the three components of inertia, viscosity, and yield, making it difficult for adjustment strategies to distinguish between changes in damping and changes in equivalent inertial capacity.

[0009] Therefore, there is an urgent need for a compact two-port inertial-capacitive damping device that can generate mechanical inertial-capacitive action and magnetorheological hydraulic action synchronously from the relative motion of the same two ports, and make the working fluid chamber related to the magnetorheological fluid circulation form a mutually matched volume change during the motion, so as to reduce the structural redundancy caused by the combination of independent inertial-capacitive elements and damping elements, and ensure that the magnetorheological fluid can flow stably back and forth between the two working fluid chambers. Summary of the Invention

[0010] The purpose of this invention is to overcome the shortcomings of the prior art and provide a gear and rack type magnetorheological fluid semi-active inertial capacitive vibration damping device to solve the problems of insufficient coordination between mechanical inertial capacitive path and magnetorheological hydraulic path, limited structural integration, and unclear compensation relationship of working fluid chamber volume in existing related devices.

[0011] The technical solution adopted by this invention to solve its technical problem is: providing a gear and rack type magnetorheological fluid semi-active inertial capacitive vibration damping device, comprising:

[0012] The housing has a first connecting end and a second connecting end, and the second connecting end is fixedly connected to the housing.

[0013] A lead screw reciprocates axially relative to the housing and is restricted from rotating about its own axis; the first connecting end is connected to the lead screw;

[0014] The nut engages with the lead screw and is axially limited relative to the housing;

[0015] The left and right transmission components are driven synchronously by the same nut; each transmission component includes a reversing transmission mechanism, a third gear, and a rack meshing with the third gear;

[0016] The left and right flywheels are respectively coaxially fixed to their corresponding third gears;

[0017] The left and right pistons are connected to their respective racks;

[0018] The left and right hydraulic cavities respectively accommodate the left and right pistons, and are respectively defined by the corresponding pistons and the inner walls of the hydraulic cavities to form a first effective liquid cavity and a second effective liquid cavity. The first and second effective liquid cavities are filled with magnetorheological fluid. The effective pressure-bearing areas of the left and right pistons are equal, and they produce linear displacements of equal magnitude and in the same direction, so that the volume changes of the first and second effective liquid cavities are equal in magnitude and opposite in direction.

[0019] A magnetorheological fluid flow channel connects the first effective liquid chamber and the second effective liquid chamber, and includes at least one section of a magnetically controlled flow channel;

[0020] An electromagnetic control component is used to apply an adjustable magnetic field to the magnetorheological channel to change the yield stress and flow resistance of the magnetorheological fluid flowing through the magnetorheological channel.

[0021] In a preferred embodiment of the present invention, the lead screw is restricted from rotating about its own axis by an anti-rotation guide and is slidably engaged with the housing by a guide sealing assembly; the nut is rotatably supported on the housing by a bearing assembly and is restricted from moving along the axis of the lead screw by the housing.

[0022] In a preferred embodiment of the present invention, the shafts of the third gears of the left and right transmission components are rotatably supported on the housing, and the left and right flywheels are respectively installed on the axial extension ends of the corresponding third gear shafts. The rotational inertia of the left and right flywheels is converted into the basic mechanical inertia between the first connection end and the second connection end through the transmission relationship of the corresponding left and right transmission components.

[0023] In a preferred embodiment of the present invention, the reversing transmission mechanism includes a driving reversing gear and a driven reversing gear; the driving reversing gear is connected to the nut in a transmission connection, the driven reversing gear meshes with the corresponding driving reversing gear, and the third gear is coaxially fixedly connected to the corresponding driven reversing gear.

[0024] In a preferred embodiment of the present invention, the left and right pistons are respectively connected to the corresponding racks via their respective connecting rods, the racks are linearly guided by guide members, and the connecting rods are provided with sliding seals at the end caps of the left and right hydraulic cavities.

[0025] In a preferred embodiment of the present invention, the magnetorheological fluid flow channel includes at least one of a circular tube disposed on the outside of the housing, an annular channel disposed within the wall of the housing, a serpentine tube, or a flat channel.

[0026] In a preferred embodiment of the present invention, the magnetorheological fluid flow channel includes two or more magnetically controlled flow channels connected in parallel. One end of each magnetically controlled flow channel is connected to the first effective liquid cavity, and the other end is connected to the second effective liquid cavity. Each magnetically controlled flow channel is equipped with an electromagnetic coil whose excitation current can be adjusted independently. Each electromagnetic coil adopts an independent or shared magnetic conductive structure.

[0027] In a preferred embodiment of the present invention, the magnetically controlled flow channel has a preset flow channel length, equivalent flow cross-sectional area and magnetic field action length. In the equivalent dynamic model adopted, its pressure drop consists of three parts: fluid inertial pressure drop, viscous pressure drop and yield pressure drop.

[0028] In a preferred embodiment of the present invention, the left and right hydraulic cavities respectively form non-effective cavities on the side of the left and right pistons away from the corresponding effective hydraulic cavities; the non-effective cavities of the left and right hydraulic cavities are respectively connected to their respective compensation cavities or low-pressure cavities, or respectively connected to the external atmosphere through breather valves, and can be optionally equipped with flexible diaphragm cavities, accumulators or pressure limiting bypass valves. The pressure limiting bypass valve opens when the hydraulic circuit pressure exceeds a preset threshold to compensate for the thermal expansion of the magnetorheological fluid and limit the peak pressure.

[0029] In a preferred embodiment of the present invention, the electromagnetic control component includes an electromagnetic coil and a magnetic conductor. The magnetic conductor includes a magnetic sleeve sleeved around the outer periphery of the electromagnetic coil and a magnetic end magnetically connected to the magnetic sleeve and disposed near the magnetically controlled flow channel. The magnetic end magnetically connected to the magnetic sleeve together forms a magnetic circuit opening facing the magnetically controlled flow channel.

[0030] In a preferred embodiment of the present invention, a sensor assembly, a controller, and a current driver are also included;

[0031] The sensor assembly is used to collect state quantities such as relative displacement, relative velocity, or relative acceleration between the first connection end and the second connection end;

[0032] The controller calculates the target output force or target damping parameters based on the state variables, and determines the excitation current command according to the pre-calibrated mapping relationship between the excitation current and the device output characteristics.

[0033] The current driver outputs excitation current to the electromagnetic control component according to the excitation current command, thereby realizing closed-loop semi-active control.

[0034] In the power-off state, the electromagnetic control component does not receive excitation current, and the device relies on the basic mechanical inertia and capacitance generated by the left and right flywheels and the intrinsic flow impedance of the magnetorheological fluid to form a passive output.

[0035] Compared with the prior art, this technical solution has the following advantages:

[0036] (1) Synchronous coupling of the same chain. The relative motion between the first connection end and the second connection end is converted by the lead screw and nut, which simultaneously drives the left and right flywheels to rotate and the left and right pistons to reciprocate. This allows the mechanical flywheel inertial capacitive action and the magnetorheological fluid hydraulic action to be generated synchronously from the same two-port motion input, rather than using independent inertial containers and dampers in simple series or parallel connection.

[0037] (2) Complementary effective liquid chamber volumes. The left and right pistons have equal effective pressure-bearing areas and produce linear displacements of equal size and in the same direction under the action of the left and right transmission components. By arranging the first and second effective liquid chambers in relation to the piston movement direction, the two effective liquid chambers form equal and opposite volume changes, thereby establishing a closed magnetorheological fluid reciprocating cycle, which can reduce the risk of negative pressure, cavitation and pressure pulsation caused by mismatch in chamber volume.

[0038] (3) Mechanical inertia and hydraulic output of the magnetically controlled flow channel are formed simultaneously. The left and right flywheels provide basic mechanical inertia, and the magnetorheological fluid generates fluid inertia and flow resistance in the flow channel connecting the two effective liquid chambers. By adjusting the magnetic field strength of the magnetically controlled flow channel, the yield stress and flow resistance of the magnetorheological fluid can be changed, thereby adjusting the composite dynamic output of the device.

[0039] (4) The magnetorheological fluid and the mechanical meshing area are isolated from each other. The rack drives the corresponding piston through the connecting rod or connecting arm and is sealed at the end cover of the hydraulic cavity, so that the meshing area of ​​the gear and rack is separated from the working chamber of the magnetorheological fluid, thereby reducing the risk of mechanical wear debris entering the working circuit of the magnetorheological fluid. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall structure of a gear and rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to the present invention.

[0041] Figure 2 This is a schematic diagram of the power transmission and compound output path of the flywheel and piston synchronously driven by the same transmission chain in the device of the present invention.

[0042] Figure 3 This is a schematic diagram of the effective liquid chamber volume complementarity and magnetorheological fluid circulation of the device of the present invention.

[0043] Figure 4 This is a schematic diagram of the magnetically controlled flow channel of the device of the present invention.

[0044] Figure 5 This is a schematic diagram of the semi-active control process of the device of the present invention.

[0045] The following are the labels in the diagram: 1-First connecting end; 2-Second connecting end; 3-Lead screw; 4-Nut; 5-Housing; 6L-Left driving reversing gear, 6R-Right driving reversing gear; 7L-Left driven reversing gear, 7R-Right driven reversing gear; 8L-Left third gear, 8R-Right third gear; 9L-Left rack, 9R-Right rack; 10L-Left piston, 10R-Right piston; 11L-First effective liquid chamber, 11R-Second effective liquid chamber; 12-Magnetorheological fluid flow channel; 13-Electromagnetic coil; 14-Magnetic conductor; 141-Magnetic conductor end; 15L-Left flywheel, 15R-Right flywheel; 16-Bearing assembly; 17-Anti-rotation guide; 18-Guide sealing assembly. Detailed Implementation

[0046] It should be noted that the terms "left," "right," etc., indicating orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] Example 1

[0048] This embodiment describes a gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device, the overall structure of which is as follows: Figure 1 The system includes a housing 5, a first connecting end 1, a second connecting end 2, a lead screw 3, a nut 4, left and right transmission assemblies, left and right hydraulic chambers, a magnetorheological fluid flow channel 12, an electromagnetic coil 13, a magnetic conductor 14, left and right flywheels (left flywheel 15L and right flywheel 15R), a bearing assembly 16, an anti-rotation guide 17, and a guide sealing assembly 18. The first connecting end 1 is fixedly connected to the lead screw 3, and the second connecting end 2 is fixedly connected to the housing 5. The first connecting end 1 and the second connecting end 2 are respectively connected to two external relatively moving components.

[0049] The first connecting end 1 and the second connecting end 2 are respectively connected to external components, realizing two ports. When the device is working, the relative displacement between the first connecting end 1 and the second connecting end 2 drives the lead screw 3 to perform axial reciprocating linear motion relative to the housing 5.

[0050] Lead screw and nut drive: Lead screw 3 is arranged along the axis of the housing. Lead screw 3 is slidably engaged with housing 5 through guide sealing assembly 18, and its rotation around its own axis is restricted by anti-rotation guide 17. The anti-rotation guide 17 can be a spline guide sleeve, guide slider, non-circular cross-section guide, or formed by a non-rotational connection structure between the first connecting end and the external component.

[0051] Nut 4 and lead screw 3 form a helical pair. Nut 4 is axially limited by housing 5 and rotatably supported inside housing 5 by bearing assembly 16 capable of withstanding axial and radial loads about the lead screw axis. Bearing assembly 16 may include thrust bearings, angular contact bearings, tapered roller bearings, or combinations thereof. Thus, when lead screw 3 moves axially relative to housing 5, nut 4 rotates about the lead screw axis, thereby realizing the conversion from linear motion to rotational motion.

[0052] Gear and rack drive with flywheel inertia: The left driving reversing gear 6L and the right driving reversing gear 6R are fixedly connected or driven to the nut 4, and the two driving reversing gears rotate synchronously with the nut 4. The driven reversing gears 7L and 7R mesh with the corresponding driving reversing gears, converting the rotational motion along the screw axis into rotational motion along the shaft of the third gear; the third gears 8L and 8R are coaxially fixedly connected with the corresponding driven reversing gears and mesh with the corresponding racks 9L and 9R, converting the rotational motion into the reciprocating linear motion of the rack.

[0053] The shafts of the left third gear 8L and the right third gear 8R are rotatably supported on the housing 5 via gear bearings or support seats, and flywheels 15L and 15R are respectively mounted on their axial extension ends. The rotational inertia of the flywheels is converted into the basic inertial mass coefficient between the first connecting end 1 and the second connecting end 2 via the gear and rack transmission chain. The conversion factor from relative linear velocity to flywheel angular velocity. The moment of inertia of a single flywheel is represented by its fundamental mass coefficient. It can be represented as When flywheels are installed on both the left and right sides, the basic inertia coefficient (the sum of the inertia of both sides) is... It is the sum of the converted values ​​of each side, that is , Let k represent the moment of inertia of the i-th flywheel. ω,i This represents the conversion coefficient from the relative linear velocity to the angular velocity of the i-th side flywheel.

[0054] Dual-piston structure and hydraulic chamber: The left rack 9L drives the left piston 10L via a connecting rod or connecting arm, and the right rack 9R drives the right piston 10R via a connecting rod or connecting arm. The racks are guided and supported by rack guides, slider guides, or linear bearings to withstand the lateral forces generated by the rack and pinion meshing, ensuring that the connecting rod or piston rod primarily bears the axial push-pull force. A sliding seal is installed where the connecting rod or connecting arm passes through the end cap of the hydraulic chamber; alternatively, the rack and piston rod can be integrally formed and guided by the end cap seal. This structure isolates the rack meshing area from the magnetorheological fluid working chamber, preventing the transmission tooth surface from directly entering the hydraulic working chamber and reducing the risk of wear debris contaminating the magnetorheological fluid.

[0055] The left hydraulic chamber is formed by the left piston 10L and the corresponding cylinder, creating a first effective liquid chamber 11L. The right hydraulic chamber is formed by the right piston 10R and the corresponding cylinder, creating a second effective liquid chamber 11R. The sides of the left piston 10L and right piston 10R opposite to their respective effective liquid chambers form non-effective chambers. These non-effective chambers are connected to a compensation chamber or a low-pressure chamber, or connected to the external atmosphere via a breather valve and dust filter, or isolated from the compensation chamber by a flexible diaphragm, to prevent the compression of the medium within the non-effective chambers from affecting the volume complementarity between the first and second effective liquid chambers. The positions of the first and second effective liquid chambers can be set according to the device installation direction and piston movement direction, as long as they form an equal and opposite volume change relationship during operation. The first and second effective liquid chambers are filled with magnetorheological fluid. The effective pressure-bearing areas of the pistons on both sides are equal, and a gear and rack mechanism ensures equal piston displacement.

[0056] like Figure 3 As shown, if the effective pressure-bearing areas of the left piston and the right piston are respectively and The corresponding displacements are respectively and The volume change of the first effective liquid cavity Volume change of the second effective liquid chamber It can be represented as , .when and When, satisfy This forms a closed-loop fluid circulation with volume compensation.

[0057] Magnetorheological fluid circulation loop: The first effective liquid chamber and the second effective liquid chamber are connected through the magnetorheological fluid flow channel 12. Taking the movement of the first connecting end 1 relative to the second connecting end 2 in the first direction as an example, the nut 4 rotates and drives the gear rack transmission on both sides. The left piston 10L compresses the first effective liquid chamber, and the magnetorheological fluid flows into the second effective liquid chamber through the magnetorheological fluid flow channel 12; at the same time, the right piston 10R increases the volume of the second effective liquid chamber to accommodate the magnetorheological fluid flowing in from the first effective liquid chamber. When moving in the opposite direction, the liquid circulation direction is reversed.

[0058] The magnetorheological fluid flow channel 12 is a circular coil wound around the outside of the housing 5, serving as the only controlled flow path between the first and second effective liquid chambers under normal operating conditions. Positioning the main pressure drop area on the outside of the housing increases the magnetic field's effective length and heat dissipation area, and also facilitates maintenance or replacement of the magnetically controlled flow channel. In other embodiments, the magnetorheological fluid flow channel 12 can also be configured as an internal channel within the housing wall or a modular valve block flow channel.

[0059] Electromagnetic control and magnetorheological effects: such as Figure 4 As shown, the electromagnetic coil 13 and the magnetically conductive component 14 constitute an electromagnetic control assembly. The magnetically conductive component 14 includes a magnetically conductive sleeve fitted around the outer periphery of the electromagnetic coil 13, and a magnetically conductive end 141 magnetically connected to the magnetically conductive sleeve and disposed near the magnetically controlled flow channel. The magnetically conductive sleeve provides a low-resistivity return path for the magnetic flux generated by the electromagnetic coil 13. The magnetically conductive end 141 is disposed near the magnetically controlled flow channel and, together with the magnetically conductive sleeve, forms a magnetic circuit opening or working gap facing the magnetically controlled flow channel, allowing the magnetic field to pass through or act on the magnetorheological fluid flowing through the magnetically controlled flow channel. The excitation current of the electromagnetic coil 13 is adjusted. It can change the yield stress of magnetorheological fluids. and flow resistance.

[0060] To avoid simply equating damping changes with inertial mass changes, this embodiment uses the pressure drop of the magnetically controlled flow channel. Decomposed into fluid inertial pressure drop related to the rate of change of volumetric flow rate Viscous pressure drop related to volumetric flow rate and yield voltage drop related to excitation current The three parts can be represented as:

[0061]

[0062] in, Let t be the volumetric flow rate and t be the time. The hydraulic inertia coefficient, The equivalent flow resistance related to current, The yield pressure drop coefficient is related to the flow channel geometry and the length of the magnetic field. For magnetorheological fluid under excitation current Yield stress under action, It is used to characterize the change in the direction of yield pressure drop with respect to the flow direction during reciprocating flow of magnetorheological fluids.

[0063] Equivalent hydraulic pressure of hydraulic branch It can be represented as:

[0064]

[0065] in For the effective area of ​​the piston, This represents the pressure drop. The hydraulic pressure, after being converted through the rack, third gear, reversing gear, and lead screw and nut transmission chain, together with the flywheel's foundation inertial capacities, forms the output force at both ends of the device. If we let... The relative speed between the first connecting end and the second connecting end, If the acceleration is relative, then the output force F of the device can be expressed as:

[0066]

[0067] Among them, the inertial capacitive component is The equivalent damping force component is The equivalent yield force component is , The basic inertia coefficient provided for the flywheel, I represents the equivalent dynamic inertial-capacitive component, characterized by both fluid inertial pressure drop and magnetically controlled flow pattern, within the calibrated excitation frequency range. ω represents the excitation current. This is the equivalent damping coefficient. This is the equivalent yield force.

[0068] Bench Calibration and Parameter Identification: The above model shows that the excitation current mainly changes the yield pressure drop and viscous pressure drop of the magnetorheological fluid, thereby adjusting the controllable pressure drop of the magnetically controlled flow channel. Considering fluid inertia, effective flow cross-section, unyielding plug region, and fluid-structure interaction, the mapping relationship between excitation current, excitation frequency, and equivalent dynamic inertial-capacitive components can be obtained through multi-frequency sinusoidal excitation bench tests or parameter identification. This mapping relationship can be used to select the appropriate excitation current when the controller calculates the target output force or target damping parameters. The above calibration method is used to illustrate how the equivalent dynamic parameters of the device are obtained, and does not limit the present invention to specific test equipment, specific excitation waveforms, or specific parameter identification algorithms.

[0069] This invention does not directly equate the increase in viscosity with the increase in physical mass, but instead uses pressure drop decomposition and equivalent kinetic parameter identification as the support for the magnetically controlled inertial-capacitive component.

[0070] Control system: such as Figure 5 As shown, the device can be configured with sensor components, a controller, and a current driver. The sensor components may include a vehicle body acceleration sensor, wheel-side acceleration sensors, suspension relative displacement sensors, a relative velocity estimation module, a relative acceleration estimation module, a fluid chamber pressure sensor, or a force sensor. The controller calculates the target output force based on the collected state variables. Or target damping parameters And based on the pre-calibrated mapping relationship between the excitation current and the device output characteristics, Determine the excitation current command, where It indicates operating parameters such as road surface grade, vehicle speed, temperature, or device operating status.

[0071] The current driver limits the excitation current to ensure that it meets the requirements. The current is output to the electromagnetic coil 13. The control strategy can employ ceiling damping control, floor damping control, LQR control, model predictive control, fuzzy control, or reinforcement learning control. The control algorithm itself is not the only limitation of the structural protection of this invention; any control method that can adjust the excitation current of the electromagnetic coil based on the vibration state to change the output characteristics of the magnetically controlled flow channel can be applied to the device of this invention.

[0072] Example 2

[0073] The difference between this embodiment and Embodiment 1 is that a single-stage bevel gear direct reversing is used, with both the driving and driven reversing gears being bevel gears. The driving reversing gear rotates coaxially with the nut, and the driven reversing gear meshes with the driving reversing gear in the cross-axis direction. A third gear is mounted on the driven reversing gear shaft, meshing with the rack and driving the rack to reciprocate. A flywheel is mounted on the extension end of the third gear shaft, which is rotatably supported on the housing via bearings or a support seat. This embodiment has a shorter transmission chain and is suitable for applications with limited installation space and lower requirements for the adjustment range of the basic inertia coefficient.

[0074] Example 3

[0075] The difference between this embodiment and Embodiment 1 is that a dual-channel parallel magnetorheological fluid circuit is used. The magnetorheological fluid flow channel includes two parallel magnetically controlled channels. One end of each magnetically controlled channel is connected to the first effective liquid chamber, and the other end is connected to the second effective liquid chamber. When the magnetorheological fluid flows in reverse, the inlet and outlet functions of each magnetically controlled channel are switched. Each magnetically controlled channel can be equipped with an independent electromagnetic coil and a magnetically conductive component, or they can share a common magnetically conductive structure. The magnetically conductive component may include a magnetically conductive sleeve fitted around the outer periphery of the corresponding electromagnetic coil and a magnetically conductive end located near the magnetically controlled channel. The pipe diameter, effective length, cross-sectional shape, and magnetic field length of the two channels can be the same or different. By independently controlling the excitation current of each channel, graded damping adjustment, continuous damping adjustment, or redundant fault tolerance can be achieved.

[0076] Example 4

[0077] In vehicle suspension applications, the first connecting end 1 can be connected to the body side components, and the second connecting end 2 can be connected to the wheel side control arm or steering knuckle side components; it can also be arranged in the opposite direction according to the installation direction. The reverse arrangement does not affect the two-port action relationship formed by the relative motion input between the first connecting end 1 and the second connecting end 2.

[0078] In this embodiment, the first connection end 1 of the device is connected to the vehicle side component, and the second connection end 2 is connected to the wheel side component or the suspension control arm. The controller takes at least one of the following as state inputs: vehicle acceleration, suspension dynamic deflection, tire dynamic load estimate, relative speed, relative acceleration, or fluid chamber pressure. Based on the goals of comfort and handling stability, it calculates the target output force and adjusts the excitation current of the electromagnetic coil to enable the device to achieve semi-active vibration control under different road surface and vehicle speed conditions.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device, characterized in that, include: The housing has a first connecting end and a second connecting end, and the second connecting end is fixedly connected to the housing. A lead screw reciprocates axially relative to the housing and is restricted from rotating about its own axis; the first connecting end is connected to the lead screw; The nut engages with the lead screw and is axially limited relative to the housing; The left and right transmission components are driven synchronously by the same nut; each transmission component includes a reversing transmission mechanism, a third gear, and a rack meshing with the third gear; The left and right flywheels are respectively coaxially fixed to their corresponding third gears; The left and right pistons are connected to their respective racks; The left and right hydraulic cavities respectively accommodate the left and right pistons, and are respectively defined by the corresponding pistons and the inner walls of the hydraulic cavities to form a first effective liquid cavity and a second effective liquid cavity. The first and second effective liquid cavities are filled with magnetorheological fluid. The effective pressure-bearing areas of the left and right pistons are equal, and they produce linear displacements of equal magnitude and in the same direction, so that the volume changes of the first and second effective liquid cavities are equal in magnitude and opposite in direction. A magnetorheological fluid flow channel connects the first effective liquid chamber and the second effective liquid chamber, and includes at least one section of a magnetically controlled flow channel; An electromagnetic control component is used to apply an adjustable magnetic field to the magnetorheological channel to change the yield stress and flow resistance of the magnetorheological fluid flowing through the magnetorheological channel.

2. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The lead screw is restricted from rotating around its own axis by an anti-rotation guide and is slidably engaged with the housing by a guide sealing assembly; the nut is rotatably supported on the housing by a bearing assembly and is restricted from moving along the axis of the lead screw by the housing.

3. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The shafts of the third gears of the left and right transmission components are rotatably supported on the housing. The left and right flywheels are respectively installed on the axial extension ends of the corresponding third gear shafts. The rotational inertia of the left and right flywheels is converted into the basic mechanical inertia between the first connection end and the second connection end through the transmission relationship of the corresponding left and right transmission components.

4. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The reversing transmission mechanism includes a driving reversing gear and a driven reversing gear; the driving reversing gear is connected to the nut, the driven reversing gear meshes with the corresponding driving reversing gear, and the third gear is coaxially fixed to the corresponding driven reversing gear.

5. The gear-rack type magnetorheological fluid semi-active capacitive vibration damping device according to claim 1, characterized in that: The left and right pistons are connected to their respective racks via their connecting rods. The racks are guided linearly by guide members, and the connecting rods are provided with sliding seals at the end caps of the left and right hydraulic cavities.

6. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The magnetorheological fluid flow channel includes at least one of the following: a circular tube disposed on the outside of the housing, an annular channel disposed within the wall of the housing, a serpentine tube, or a flat channel.

7. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The magnetorheological fluid flow channel includes two or more parallel magnetically controlled flow channels. One end of each magnetically controlled flow channel is connected to the first effective liquid cavity, and the other end is connected to the second effective liquid cavity. Each magnetically controlled flow channel is equipped with an electromagnetic coil whose excitation current can be adjusted independently. Each electromagnetic coil adopts an independent or shared magnetic conductive structure.

8. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The left and right hydraulic cavities form non-effective cavities on the side of the left and right pistons away from the corresponding effective hydraulic cavities; the non-effective cavities of the left and right hydraulic cavities are respectively connected to their respective compensation cavities or low-pressure cavities, or respectively connected to the external atmosphere through breather valves.

9. The gear-rack type magnetorheological fluid semi-active inertial capacitive vibration damping device according to claim 1, characterized in that: The electromagnetic control component includes an electromagnetic coil and a magnetic conductor. The magnetic conductor includes a magnetic sleeve sleeved around the outer periphery of the electromagnetic coil and a magnetic end magnetically connected to the magnetic sleeve and disposed near the magnetically controlled flow channel. The magnetic end magnetically connected to the magnetic sleeve together forms a magnetic circuit opening facing the magnetically controlled flow channel.

10. A gear-rack type magnetorheological fluid semi-active capacitive vibration damping device according to claim 1, characterized in that: It also includes sensor components, controllers, and current drivers; The sensor assembly is used to collect state quantities such as relative displacement, relative velocity, or relative acceleration between the first connection end and the second connection end; The controller calculates the target output force or target damping parameters based on the state variables, and determines the excitation current command according to the pre-calibrated mapping relationship between the excitation current and the device output characteristics. The current driver outputs excitation current to the electromagnetic control component according to the excitation current command, thereby realizing closed-loop semi-active control. In the power-off state, the electromagnetic control component does not receive excitation current, and the device relies on the basic mechanical inertia and capacitance generated by the left and right flywheels and the intrinsic flow impedance of the magnetorheological fluid to form a passive output.

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