Programmable nonlinear coupled mechanical lattice and local state control method

Abstract

The application discloses a programmable nonlinear coupling mechanical lattice and a local state control method. The mechanical lattice comprises a plurality of oscillator units, a passive coupling framework, a response detection unit, a control unit and a feedback execution unit. The control unit obtains the response quantity of adjacent oscillator units in real time, and generates a feedback drive according to the response strength and relative response quantity of adjacent oscillator units, so that the adjacent oscillator units form amplitude-related nonlinear coupling stiffness. By adjusting the feedback coefficient, input excitation strength and feedback coefficient spatial distribution, the programmable control of nonlinear coupling strength and spatial distribution can be realized on the fixed passive coupling framework, so that the width, migration, bias or spatial envelope control of the boundary or interface local state can be realized. The application does not need to rely on the intrinsic nonlinearity of the material or the large deformation of the structure, and has the advantages of repeatable structure, programmable parameters, flexible control and wide application range.

Description

Technical Field

[0001] This invention belongs to the technical fields of active mechanical metamaterials, mechanical lattices, vibration control and nonlinear coupling systems, specifically relating to a programmable nonlinear coupled mechanical lattice and a method for local state manipulation. Background Technology

[0002] In mechanical metamaterials, coupled oscillator chains, and related wave control systems, the coupling strength between adjacent units is a crucial parameter determining the system's modal distribution, energy transfer, local state response, and spatial distribution. In traditional mechanical lattices, the coupling between adjacent units is typically determined by springs, beams, connectors, or other passive structures. While these passive coupling methods offer advantages such as structural simplicity and good stability, their coupling strength is usually essentially fixed after fabrication or assembly. Changing the coupling parameters often requires replacing springs, adjusting the geometry, altering material parameters, or reassembling the connection structure, resulting in low adjustment efficiency, insufficient continuous adjustability, limited repeatability, and difficulty in real-time reconfiguration.

[0003] To achieve richer local state manipulation capabilities, nonlinear mechanical lattices have attracted widespread attention in recent years. Nonlinear coupling enables system parameters to change with vibration amplitude, input intensity, or local state, thereby realizing amplitude-related manipulation, local state response adjustment, and reconfigurable spatial distribution, which are difficult to achieve with traditional linear systems. However, existing nonlinear couplings typically rely on intrinsic material nonlinearity, contact nonlinearity, large geometric deformation, or complex nonlinear mechanisms. These sources of nonlinearity are often closely related to material properties, processing errors, assembly conditions, and operating amplitude range, resulting in problems such as difficulty in independently setting nonlinear intensity, difficulty in accurately programming spatial distribution, and insufficient reproducibility between different experiments.

[0004] Furthermore, existing active control methods are mostly used for single-point gain compensation, damping adjustment, or external excitation correction, and rarely directly address the construction of nonlinear interactions between coupling channels of adjacent oscillator elements. For mechanical lattices that require local state broadening, local state response migration, local state spatial envelope manipulation, or reconfigurable coupling distribution, relying solely on passive coupling frameworks or single-point feedback is insufficient to meet the programmable adjustment requirements for coupling strength, nonlinearity, and spatial distribution.

[0005] Therefore, there is an urgent need for a mechanical lattice and control method that can construct amplitude-dependent nonlinear coupling between adjacent oscillator units on the basis of a fixed passive coupling skeleton through closed-loop feedback, so that the coupling strength can not only change with the response amplitude, but also be adjusted globally, locally or spatially in a distributed manner through feedback coefficients, thereby realizing reconfigurable local state response and local state spatial envelope control. Summary of the Invention

[0006] The present invention aims to at least partially solve one of the technical problems in the related art.

[0007] Therefore, one objective of this invention is to propose a programmable nonlinear coupled mechanical crystal structure domain state control method. This method detects the response of adjacent oscillator units in real time and generates feedback drive based on the response intensity and relative displacement of the adjacent oscillator units, thereby forming a nonlinear coupling stiffness between adjacent oscillator units that varies with the response amplitude. This allows for programmable control of the nonlinear coupling strength and spatial distribution without replacing the passive coupling frame.

[0008] In a first aspect, the present invention provides a method for programmable nonlinear coupled mechanical crystal structure domain state manipulation, comprising the following steps: A mechanical lattice composed of multiple oscillator units is constructed, wherein adjacent oscillator units in the mechanical lattice are linearly coupled. Collect the generalized displacement response of adjacent oscillator elements; Based on the generalized displacement response, the relative displacement between adjacent oscillator elements is calculated, and the intensity factor is calculated, which is related to the response amplitude of adjacent oscillator elements; A feedback drive is generated based on the relative displacement and the intensity factor, and the feedback drive is applied to adjacent oscillator elements respectively, so that a nonlinear coupling is formed between adjacent oscillator elements that varies with the response amplitude. By adjusting the feedback coefficient and / or the input excitation intensity, programmable control of the nonlinear coupling strength and spatial distribution can be achieved.

[0009] Furthermore, the generalized displacement response is and The intensity factor is the sum of the squares of the displacements of adjacent oscillator elements. .

[0010] Furthermore, in a group of adjacent oscillator units, the feedback drive includes a first feedback drive acting on the i-th oscillator unit and a second feedback drive acting on the j-th oscillator unit, wherein the first feedback drive and the second feedback drive are respectively:

[0011]

[0012] in, and These are the feedback force, feedback torque, or equivalent generalized driving force applied to adjacent oscillator elements, respectively. This is the adjustable feedback coefficient between adjacent oscillator elements.

[0013] As can be seen from the above feedback-driven mechanism, the feedback effect depends simultaneously on the relative displacement between adjacent oscillator elements and the local response intensity of adjacent oscillator elements. The relative displacement term causes the feedback effect to manifest as a coupling effect between adjacent elements, while the local response intensity term gives this coupling effect an amplitude-dependent nonlinear characteristic. Therefore, the feedback-driven mechanism is equivalent to introducing amplitude-dependent nonlinear coupling between adjacent oscillator elements.

[0014] Furthermore, the nonlinear coupling stiffness corresponding to the nonlinear coupling is:

[0015] The total coupling stiffness between adjacent oscillator elements is:

[0016] in, The linear coupling stiffness between adjacent oscillator elements is provided by the passively coupled frame. The amplitude-dependent nonlinear coupling stiffness is formed by closed-loop feedback. This represents the total coupling stiffness between adjacent oscillator elements.

[0017] Furthermore, the mechanical lattice is described by the following kinetic equation:

[0018] in, For the generalized displacement vector of the mechanical lattice, This is the mass matrix or the moment of inertia matrix. Here is the damping matrix. For external excitation vectors, Let be the equivalent stiffness matrix that varies with the response state, and

[0019] in, It is a linear stiffness matrix. This is a state-dependent stiffness matrix generated by feedback. The nonlinear coupling terms in the state-dependent stiffness matrix are jointly determined by the response amplitudes of adjacent oscillator elements and the feedback coefficients. Since the closed-loop feedback acts on the coupling channels between adjacent oscillator elements, the state-dependent stiffness matrix simultaneously changes the off-diagonal coupling terms and the associated diagonal equivalent stiffness terms, thereby forming a programmable mechanical lattice that simultaneously contains coupling nonlinearity and equivalent in-situ nonlinearity.

[0020] Furthermore, the feedback coefficient It can be set using at least one of the following methods: global unified adjustment, local independent adjustment, or spatial distribution adjustment; Under the global unified adjustment mode, multiple adjacent oscillator units adopt the same or proportional feedback coefficients to achieve overall adjustment of nonlinear coupling strength; In the local independent adjustment mode, different feedback coefficients are used between different adjacent oscillator units to achieve local nonlinear coupling strength adjustment; Under the spatial distribution adjustment mode, the feedback coefficients follow a preset spatial distribution. or discrete distribution Write into the control unit to form a spatially non-uniform nonlinear coupling distribution.

[0021] Furthermore, the generalized displacement response is at least one of linear displacement, angular displacement, equivalent modal displacement, sound pressure equivalent displacement, voltage equivalent displacement, or a detection signal proportional to the above physical quantities; When the oscillator unit is a rotating oscillator, the generalized displacement response is an angular displacement or an electrical signal proportional to the angular displacement, and the feedback drive is a feedback torque; When the oscillator unit is a translational oscillator, an acoustic resonant unit, an electrical resonant unit, or an electromechanical coupling unit, the generalized displacement response is the displacement, sound pressure, voltage, charge, or equivalent modal coordinates in the corresponding system, and the feedback drive is the corresponding force, torque, electric drive, acoustic drive, or generalized driving force.

[0022] Furthermore, the mechanical lattice may include a first chain segment and a second chain segment, wherein the first chain segment and the second chain segment are connected to form an interface; At least one chain segment has a nonlinear coupling formed by feedback between adjacent oscillator units, and the other chain segment is a linear chain segment or a nonlinear chain segment with different feedback parameters; By adjusting the feedback coefficient and / or the input excitation intensity, the local state response near the interface is broadened, migrated, biased, or forms a preset spatial envelope towards the chain segment with the nonlinear coupling.

[0023] On the other hand, the present invention proposes a programmable nonlinear coupled mechanical lattice, comprising: Multiple oscillator units are used to form a mechanical lattice and generate a vibrational response; Passive coupling elements are placed between adjacent oscillator elements to provide linear coupling stiffness; An in-situ constraint unit, connected to the oscillator unit, is used to provide a restoring function for the oscillator unit; A response detection unit is used to acquire the generalized displacement response signal of at least some of the oscillator elements; The control unit, connected to the response detection unit, is used to receive the generalized displacement response signal of the adjacent oscillator unit and generate a feedback control signal based on the response intensity and relative displacement of the adjacent oscillator unit. A feedback execution unit, connected to the control unit and the oscillator unit, is used to apply feedback force, feedback torque or equivalent generalized driving force to adjacent oscillator units according to the feedback control signal; The control unit is configured to create a nonlinear coupling stiffness between adjacent oscillator units that varies with the response amplitude, and to achieve programmable control of the nonlinear coupling by adjusting the feedback coefficient and / or the input excitation intensity.

[0024] Furthermore, the oscillator unit can be at least one of the following: a rotating oscillator, a translational oscillator, a mechanical resonance unit, an acoustic resonance unit, a piezoelectric resonance unit, an electromagnetic resonance unit, or a circuit resonance unit; The response detection unit can be at least one of an angle sensor, displacement sensor, velocity sensor, acceleration sensor, microphone, piezoelectric sensor, optical displacement detector, magnetic encoder, or voltage acquisition unit. The feedback execution unit can be at least one of a motor, piezoelectric actuator, electromagnetic actuator, acoustic transducer, electrostatic actuator, current driver, or voltage driver. The control unit can be at least one of a microcontroller, digital signal processor, field-programmable gate array, embedded controller, host computer control system, or analog / digital hybrid feedback circuit.

[0025] Furthermore, the control unit may include a signal receiving module, a relative displacement calculation module, an intensity factor calculation module, a feedback coefficient setting module, and a feedback drive generation module; Among them, the signal receiving module is used to receive the generalized displacement response signal of the adjacent oscillator element; The relative displacement calculation module is used to calculate the relative displacement between adjacent oscillator elements; The intensity factor calculation module is used to calculate the local response intensity based on the generalized displacement of adjacent oscillator elements; The feedback coefficient setting module is used to set the global feedback coefficient, local feedback coefficient, or spatially distributed feedback coefficient. The feedback-driven generation module is used to generate a feedback control signal based on the relative displacement, the local response intensity, and the feedback coefficient.

[0026] Compared with the prior art, the present invention has at least the following beneficial effects: First, the present invention constructs nonlinear coupling between adjacent oscillator units through closed-loop feedback, without relying on the intrinsic nonlinearity of the material or large structural deformation, and the nonlinear intensity can be directly set by the feedback coefficient.

[0027] Second, the feedback effect of the present invention is generated based on the relative displacement and local response intensity of adjacent units, which can be equivalent to amplitude-related coupling stiffness, thereby realizing strength-related coupling control.

[0028] Third, the present invention can achieve global, local or spatially distributed nonlinear coupling control by adjusting the feedback coefficient on a fixed passive coupling frame, avoiding frequent replacement of springs, connectors or mechanical structures.

[0029] Fourth, the present invention can be used for local state response broadening, migration, biasing and local state spatial envelope control, and has the advantages of programmable parameters, reusable structure, flexible control, good repeatability and wide applicability. Attached Figure Description

[0030] Figure 1 This is a flowchart of a programmable nonlinear coupled mechanical lattice manipulation method according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the overall structure of a programmable nonlinear coupled mechanical lattice according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the principle of local nonlinear coupling between adjacent oscillator units in one embodiment of the present invention; Figure 4 This is a schematic diagram illustrating the interface local state response control effect in one embodiment of the present invention. Detailed Implementation

[0031] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be understood that the following embodiments are only for explaining the present invention and are not intended to limit the scope of protection of the present invention. Equivalent substitutions or modifications made to the structural form, parameter selection, module implementation method, and applicable objects without departing from the spirit and principles of the present invention should all fall within the scope of protection of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0032] This invention proposes a method for programmable nonlinear coupled mechanical crystal structure domain state control.

[0033] like Figure 1 As shown, the programmable nonlinear coupled mechanical crystal structure domain state manipulation method includes the following steps: The first step is to construct a mechanical lattice and a passive coupling framework, obtain basic coupling parameters under no-feedback conditions, and establish a passive dynamic model.

[0034] Specifically, a mechanical lattice composed of multiple oscillator units is first constructed. Adjacent oscillator units are connected by passive coupling units to form linear coupling; each oscillator unit provides a restoring effect through in-situ constraint units. The passive coupling units can be springs, elastic beams, flexible connectors, acoustic coupling channels, circuit coupling elements, or other structures capable of providing basic coupling between adjacent units. The in-situ constraint units can be anchor springs, elastic supports, resonant cavity restoring structures, circuit grounding branches, or other equivalent in-situ constraint structures.

[0035] Without closed-loop feedback, the closed-loop feedback channel is closed, or the feedback coefficient is set to zero, putting the mechanical lattice in a passive operating state. Subsequently, an external excitation is applied to the mechanical lattice, and the system's frequency response, free decay response, or other response data characterizing the passive dynamic properties are obtained. Based on this response data, the fundamental coupling parameters, fundamental recovery parameters, damping parameters, and equivalent inertial parameters of the mechanical lattice can be obtained, and a passive dynamic model can be established.

[0036] In one embodiment, the passive dynamic model of the mechanical lattice can be expressed as:

[0037] in, For the generalized displacement vector of the mechanical lattice, This is the mass matrix or the moment of inertia matrix. Here is the damping matrix. The basic linear stiffness matrix is ​​determined by the passively coupled elements and the in-situ constrained elements. This is the external excitation vector.

[0038] It should be noted that the aforementioned passive dynamics model is used to characterize the basic operating state before the introduction of closed-loop feedback and serves as the basis for subsequent construction of nonlinear coupling. This passive coupling framework can be designed based on the target frequency band, target mode, or target local state response characteristics, but its specific structural form does not constitute a limitation on the scope of protection of this invention.

[0039] The second step is to introduce a closed-loop feedback channel between adjacent oscillator units, generate feedback drive based on the response signal, and apply it to adjacent oscillator units.

[0040] Specifically, such as Figure 2 As shown, the mechanical lattice includes a chain structure composed of multiple oscillator units, with adjacent oscillator units connected by a linear coupling structure to form a basic passive coupling framework. Figure 2In the diagram, the left-hand chain segment is a nonlinear chain, and the right-hand chain segment is a linear chain, which connect in the middle to form an interface. The linear coupling provides basic coupling between adjacent oscillator elements, while the nonlinear chain further introduces nonlinear coupling formed by closed-loop feedback between at least some adjacent oscillator elements.

[0041] In this embodiment, the closed-loop feedback channel does not change the basic connection form of the original passively coupled frame, but rather superimposes feedback drive between adjacent oscillator units. Specifically, the response detection unit collects the displacement response signals of adjacent oscillator units in the nonlinear chain and characterizes them as the generalized displacement of the adjacent oscillator units. and The control unit obtains the relative displacement and local response intensity between adjacent oscillator elements based on the generalized displacement response, and generates a feedback control signal accordingly. The feedback execution unit applies feedback drive to the corresponding adjacent oscillator elements according to the feedback control signal, so that the feedback effect is equivalent to amplitude-dependent nonlinear coupling between adjacent oscillator elements.

[0042] Furthermore, Figure 2 The nonlinear coupling in this system is not directly generated by the intrinsic nonlinearity of the material or large structural deformation, but rather actively constructed by the closed-loop feedback channel based on the real-time response of adjacent oscillator elements. In a linear chain, the interaction between adjacent oscillator elements is mainly transmitted through passive linear coupling; in a nonlinear chain, adjacent oscillator elements simultaneously exhibit both linear coupling and nonlinear coupling formed by feedback. Therefore, the equivalent coupling strength in a nonlinear chain can vary with the local response amplitude and can be adjusted through the feedback coefficient.

[0043] In one specific embodiment, when the oscillator element is a rotating oscillator, the generalized displacement and The feedback actuator applies paired feedback torques to adjacent rotating oscillators, where the displacement is an angular displacement or an electrical signal proportional to the angular displacement. When the oscillator element is a translational oscillator, the generalized displacement is a linear displacement, and the feedback actuator applies paired feedback forces to adjacent translational oscillators. In other equivalent embodiments, the generalized displacement can also be sound pressure, voltage, charge, or equivalent modal coordinates, and the feedback drive is the equivalent generalized driving force in the corresponding physical system.

[0044] With the above settings Figure 2 The mechanical lattice shown can form an interface structure connecting linear and nonlinear chains on a fixed passively coupled framework, and adjust the local state response near the interface through closed-loop feedback coupling in the nonlinear chain, providing a structural basis for subsequent local state broadening, migration, biasing or spatial envelope control.

[0045] The third step is to adjust the feedback coefficient and the input excitation so that the coupling strength varies with the amplitude of the local response, forming amplitude-dependent nonlinear coupling.

[0046] Specifically, such as Figure 3 As shown, a local closed-loop feedback channel is set up between a group of adjacent oscillator elements. The local closed-loop feedback channel includes a response detection unit, a control unit, and a feedback execution unit, each corresponding to an adjacent oscillator element. Response detection unit , The generalized displacement responses of adjacent oscillator elements were collected separately. and The generalized displacement response is then input to the control unit. , Control unit , It can be two independent controllers, or two control channels within the same controller.

[0047] The control unit is based on the generalized displacement response of adjacent oscillator elements. and Calculate the relative displacement between adjacent oscillator elements:

[0048] And calculate the response intensity factor related to the local state response amplitude:

[0049] Subsequently, the control unit based on the feedback coefficient Relative displacement and local response intensity factor Generate feedback drive. The feedback drive acting on the i-th oscillator element and the j-th oscillator element can be written as follows:

[0050]

[0051] In other words, the feedback drive is jointly determined by the relative displacement term and the response intensity term. The relative displacement term causes the feedback to manifest as a coupling effect between adjacent oscillator elements; the response intensity term causes this coupling effect to vary with the amplitude of the local state response, thus forming an amplitude-dependent nonlinear coupling. Because and The feedback acts on two adjacent oscillator elements in opposite directions, thus the feedback effect is equivalent to a local nonlinear coupling channel between adjacent oscillator elements.

[0052] In an equivalent sense, the closed-loop feedback channel creates nonlinear coupling stiffness between adjacent oscillator elements:

[0053] The total coupling stiffness between adjacent oscillator elements is:

[0054] in, The linear coupling stiffness between adjacent oscillator elements is provided by the passively coupled frame. The amplitude-dependent nonlinear coupling stiffness is formed by closed-loop feedback. This represents the total coupling stiffness between adjacent oscillator elements.

[0055] Therefore, under the same input excitation, the feedback coefficient The larger the value, the stronger the nonlinear coupling contribution from the closed-loop feedback; under the same feedback coefficient, the larger the amplitude of the local state response, the greater the nonlinear coupling stiffness. Therefore, this invention can construct an adjustable amplitude-dependent nonlinear coupling on a fixed passive coupling frame by adjusting the feedback coefficient and the input excitation to make the coupling strength vary with the local state response.

[0056] In one embodiment, the feedback coefficients between multiple adjacent oscillator elements can use a uniform value to achieve overall adjustment of the nonlinear coupling strength. In another embodiment, the feedback coefficients between different adjacent oscillator elements can use different values ​​to achieve local nonlinear coupling strength adjustment. In yet another embodiment, the feedback coefficients can be written into the control unit according to a preset spatial distribution to form a spatially non-uniform nonlinear coupling distribution.

[0057] The fourth step is to adjust the nonlinear coupling strength and its spatial distribution on the fixed passive coupling skeleton to achieve the broadening, migration, biasing or preset spatial envelope control of the interface local state response.

[0058] Specifically, the mechanical lattice described in this invention can be configured as a hybrid chain structure or a purely nonlinear chain structure, depending on the object to be controlled. The hybrid chain structure is used to control the local state response near the interface, while the purely nonlinear chain structure is used to induce boundary local states or control boundary local responses in the absence of splicing interfaces.

[0059] In one implementation, such as Figure 4 As shown, the mechanical lattice includes a first chain segment and a second chain segment, which are connected to form an interface region. The first chain segment can be a nonlinear chain segment with closed-loop feedback nonlinear coupling, and the second chain segment can be a linear chain segment; alternatively, both the first and second chains can have closed-loop feedback channels and have different feedback coefficients, different linear coupling stiffnesses, or different spatial distributions of feedback coefficients. Thus, an adjustable interface region can be formed at the connection point of the two chain segments.

[0060] Near the interface region, the system can form a local interface response. By adjusting the feedback coefficients, input excitation intensity, or spatial distribution of the feedback coefficients in the chain segment with closed-loop feedback nonlinear coupling, the equivalent coupling environment experienced by the local response near the interface region can be changed, thereby causing the local interface response to broaden, migrate, be biased, and form a preset spatial envelope.

[0061] Specifically, when the spatial distribution of the feedback coefficients remains constant while the input excitation intensity is changed, the interface local state response can undergo spatial broadening or migration as the input intensity changes, since the nonlinear coupling stiffness is related to the local state response amplitude. When the input excitation intensity remains constant while the overall size of the feedback coefficients is changed, the overall intensity of the nonlinear coupling contribution can be adjusted, thereby changing the degree to which the local state response extends to the nonlinear chain segment. When the feedback coefficients are set according to a preset spatial distribution, a spatially non-uniform nonlinear coupling distribution can be formed on a fixed passive coupling skeleton, thereby achieving the control of the envelope shape of the local state response.

[0062] In another embodiment, the mechanical lattice can also be a purely nonlinear chain, where closed-loop feedback channels are provided or partially continuously provided between multiple adjacent oscillator units in the mechanical lattice, so that the entire chain segment or the main working region has amplitude-dependent nonlinear coupling. In this case, the formation of local states does not depend on the splicing interface between linear and nonlinear chain segments, but rather on changing the nonlinear coupling strength between adjacent oscillator units by adjusting the feedback coefficient, the input excitation intensity, or the spatial distribution of the feedback coefficient. When the nonlinear coupling strength reaches a preset control range, the originally extended or nonlocally distributed response can concentrate towards the chain end boundary region, forming a boundary local state response, thereby realizing boundary local state induction and control based on closed-loop feedback.

[0063] Therefore, this invention can be used for the manipulation of localized states at interfaces formed by the connection of linear and nonlinear segments, as well as for the induction and manipulation of boundary localized states in purely nonlinear mechanical lattices. Both of these implementations are based on a fixed passively coupled framework, using closed-loop feedback to change the nonlinear coupling strength and its spatial distribution, thereby achieving programmable control of the localized state response.

[0064] In one embodiment, the preset spatial envelope can be configured as a local, extended, platform-type, or other target spatial distribution according to actual application requirements. The specific forms of the spatial envelope described above are merely examples and do not constitute a limitation on the scope of protection of this invention.

[0065] This embodiment constructs amplitude-dependent nonlinear coupling between adjacent oscillator units through closed-loop feedback, achieving real-time programmable control of coupling stiffness and spatial distribution without altering the passive coupling framework structure. Compared to traditional passive nonlinear lattices, this embodiment offers the following advantages: It does not depend on the intrinsic nonlinearity of materials, contact nonlinearity, or large geometric deformation. The nonlinear intensity is directly set by the feedback coefficient, and the experimental repeatability is high.

[0066] It supports global unified adjustment, local independent adjustment, and spatial distribution programming, and can switch coupling characteristics without changing the mechanical structure.

[0067] It can achieve precise control of the expansion, migration, offset and spatial envelope of the interface / boundary local state, meeting the needs of multiple scenarios such as wave manipulation, energy localization and vibration isolation.

[0068] It is compatible with various oscillator units, including translational, rotational, acoustic, electrical, and electromechanical coupling types, and can be easily extended to different physical field systems.

[0069] This embodiment provides a programmable nonlinear coupled mechanical lattice, including: multiple oscillator units, passive coupling units, in-situ constraint units, response detection units, control units, and feedback execution units.

[0070] Multiple oscillator units are arranged along a predetermined direction to form a mechanical lattice. The mechanical lattice can be a one-dimensional chain structure, or it can be extended to a two-dimensional or three-dimensional lattice structure according to application requirements. Each oscillator unit can be at least one of a translational oscillator, a rotating oscillator, a mechanical resonator unit, an acoustic resonator unit, a piezoelectric resonator unit, an electromagnetic resonator unit, or a circuit resonator unit. The structural parameters, mass, or moment of inertia of each oscillator unit can be the same, or they can be set differently according to the target mode, local state, or wave control requirements.

[0071] The passive coupling unit is disposed between adjacent oscillator units to provide basic linear coupling stiffness. The passive coupling unit can be a linear elastic element, an elastic beam, a flexible connector, an acoustic coupling channel, a circuit coupling element, or other structures that can provide basic coupling between adjacent units.

[0072] The in-situ constraint unit is connected to at least a portion of the oscillator elements and is used to provide a restoring effect for the oscillator elements. The in-situ constraint unit may be connected between the oscillator elements and the fixed base or reference boundary, and is used to provide linear restoring force, restoring torque or equivalent restoring effect, so that the oscillator elements generate a vibration response near the equilibrium position.

[0073] The response detection unit is configured corresponding to at least some of the oscillator units and is used to acquire the generalized displacement response signal of the oscillator units. The response detection unit can be at least one of a displacement sensor, angle sensor, velocity sensor, acceleration sensor, microphone, piezoelectric sensor, optical displacement detector, magnetic encoder, or voltage acquisition unit. The response detection unit is signal-connected to the control unit to transmit the detected generalized displacement response signal to the control unit.

[0074] The control unit can be at least one of a microcontroller, digital signal processor, field-programmable gate array, embedded controller, host computer control system, or analog-digital hybrid feedback circuit. The control unit receives the generalized displacement response signals of adjacent oscillator elements and performs calculations based on the response intensity and relative displacement of the adjacent oscillator elements to generate corresponding feedback control signals. The control unit is configured to establish a nonlinear coupling stiffness between adjacent oscillator elements that varies with the response amplitude through closed-loop feedback, and to achieve programmable control of the nonlinear coupling strength and its spatial distribution by adjusting the feedback coefficient and / or the input excitation intensity.

[0075] The feedback execution unit is connected to the control unit and the oscillator unit, and is correspondingly arranged with at least some of the adjacent oscillator units. The feedback execution unit can be physically or functionally paralleled with the passive coupling unit. Without changing the original passive coupling frame, it applies feedback force, feedback torque, or generalized driving force to adjacent oscillator units according to the feedback control signal to equivalently construct an amplitude-dependent nonlinear coupling effect. The feedback execution unit can be at least one of a motor, piezoelectric actuator, electromagnetic actuator, acoustic transducer, electrostatic actuator, current driver, or voltage driver.

[0076] Through the above structure, this embodiment can construct amplitude-dependent nonlinear coupling on a fixed passive coupling framework without relying on intrinsic material nonlinearity, contact nonlinearity, or large structural deformation. The nonlinear coupling strength can be set by the feedback coefficient, and the coupling characteristics can be programmably reconfigured by globally unified setting, locally independent setting, or setting according to a preset spatial distribution of the feedback coefficient. This mechanical lattice can be used for the broadening, migration, biasing, and spatial envelope manipulation of interface local states or boundary local states, and is suitable for scenarios such as vibration control, wave manipulation, energy localization, and electromechanical system control.

[0077] The above are merely specific embodiments of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A method for programmable nonlinear coupled mechanical crystal structure domain state manipulation, characterized in that, Includes the following steps: A mechanical lattice composed of multiple oscillator units is constructed, wherein adjacent oscillator units in the mechanical lattice are linearly coupled. Collect the generalized displacement response of adjacent oscillator elements; Based on the generalized displacement response, the relative displacement between adjacent oscillator elements is calculated, and the intensity factor is calculated, which is related to the response amplitude of adjacent oscillator elements; A feedback drive is generated based on the relative displacement and the intensity factor, and the feedback drive is applied to adjacent oscillator elements respectively, so that a nonlinear coupling is formed between adjacent oscillator elements that varies with the response amplitude. By adjusting the feedback coefficient and / or the input excitation intensity, programmable control of the nonlinear coupling strength and spatial distribution can be achieved.

2. The programmable nonlinear coupled mechanical crystal structure domain state control method according to claim 1, characterized in that, The generalized displacement response is and The intensity factor is the sum of the squares of the displacements of adjacent oscillator elements. .

3. The programmable nonlinear coupled mechanical crystal structure domain state manipulation method according to claim 1 or 2, characterized in that, The feedback drive includes a first feedback drive acting on the i-th oscillator unit and a second feedback drive acting on the j-th oscillator unit, wherein the first feedback drive and the second feedback drive are respectively: in, and These are the feedback force, feedback torque, or generalized driving force applied to adjacent oscillator elements, respectively. This is the adjustable feedback coefficient between adjacent oscillator elements.

4. The programmable nonlinear coupled mechanical crystal structure domain state manipulation method according to claim 3, characterized in that, The nonlinear coupling stiffness corresponding to the nonlinear coupling is: The total coupling stiffness between adjacent oscillator elements is: in, The linear coupling stiffness between adjacent oscillator elements is provided by the passively coupled frame. The amplitude-dependent nonlinear coupling stiffness is formed by closed-loop feedback. This represents the total coupling stiffness between adjacent oscillator elements.

5. The method for programmable nonlinear coupled mechanical crystal structure domain state manipulation according to claim 1, characterized in that, The mechanical lattice is described by the following kinetic equation: in, For the generalized displacement vector of the mechanical lattice, This is the mass matrix or the moment of inertia matrix. Here is the damping matrix. For external excitation vectors, Let be the stiffness matrix that varies with the response state, and in, It is a linear stiffness matrix. This is the state-dependent stiffness matrix generated by feedback.

6. The method for programmable nonlinear coupled mechanical crystal structure domain state manipulation according to claim 1, characterized in that, The feedback coefficient The settings can be configured using at least one of the following methods: global unified adjustment, local independent adjustment, or spatial distribution adjustment. In the global unified adjustment mode, multiple adjacent oscillator units adopt the same or proportional feedback coefficients; In the local independent adjustment mode, different feedback coefficients are used between different adjacent oscillator units; Under the spatial distribution adjustment mode, the feedback coefficients follow a preset spatial distribution. or discrete distribution Write to the control unit.

7. The method for programmable nonlinear coupled mechanical crystal structure domain state manipulation according to claim 1, characterized in that, The generalized displacement response is at least one of linear displacement, angular displacement, equivalent modal displacement, sound pressure equivalent displacement, voltage equivalent displacement, or a detection signal proportional to the above physical quantities. When the oscillator unit is a rotating oscillator, the generalized displacement response is an angular displacement or an electrical signal proportional to the angular displacement, and the feedback drive is a feedback torque; When the oscillator unit is a translational oscillator, an acoustic resonant unit, an electrical resonant unit, or an electromechanical coupling unit, the generalized displacement response is the displacement, sound pressure, voltage, charge, or equivalent modal coordinates in the corresponding system, and the feedback drive is the corresponding force, torque, electric drive, acoustic drive, or generalized driving force.

8. The method for programmable nonlinear coupled mechanical crystal structure domain state manipulation according to claim 1, characterized in that, The mechanical lattice includes a first segment and a second segment, wherein the first segment and the second segment are connected to form an interface; In this embodiment, at least one link segment has a nonlinear coupling formed by feedback between adjacent oscillator units, and the other link segment is a linear link segment or a nonlinear link segment with different feedback parameters. By adjusting the feedback coefficient and / or the input excitation intensity, the local state response near the interface is broadened, migrated, biased, or forms a preset spatial envelope towards the chain segment with the nonlinear coupling.

9. A programmable nonlinear coupled mechanical lattice, characterized in that, include: Multiple oscillator units are used to form a mechanical lattice and generate a vibrational response; Passive coupling elements are placed between adjacent oscillator elements to provide linear coupling stiffness; An in-situ constraint unit, connected to the oscillator unit, is used to provide a restoring function for the oscillator unit; A response detection unit is used to acquire the generalized displacement response signal of at least some of the oscillator elements; The control unit, connected to the response detection unit, is used to receive the generalized displacement response signal of the adjacent oscillator unit and generate a feedback control signal based on the response intensity and relative displacement of the adjacent oscillator unit. A feedback execution unit, connected to the control unit and the oscillator unit, is used to apply feedback force, feedback torque or generalized driving force to adjacent oscillator units according to the feedback control signal; The control unit is configured to create a nonlinear coupling stiffness between adjacent oscillator units that varies with the response amplitude, and to achieve programmable control of the nonlinear coupling by adjusting the feedback coefficient and / or the input excitation intensity.

10. The programmable nonlinear coupled mechanical lattice according to claim 9, characterized in that, The oscillator unit is at least one of the following: a rotating oscillator, a translational oscillator, a mechanical resonance unit, an acoustic resonance unit, a piezoelectric resonance unit, an electromagnetic resonance unit, or a circuit resonance unit. The response detection unit is at least one of the following: angle sensor, displacement sensor, velocity sensor, acceleration sensor, microphone, piezoelectric sensor, optical displacement detector, magnetic encoder, or voltage acquisition unit; The feedback execution unit is at least one of a motor, a piezoelectric actuator, an electromagnetic actuator, an acoustic transducer, an electrostatic actuator, a current driver, or a voltage driver. The control unit is at least one of a microcontroller, digital signal processor, field-programmable gate array, embedded controller, host computer control system, or analog / digital hybrid feedback circuit.

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