An integrated three-way electromagnetic vibration absorption device, a design method and a vibration absorption control method

Abstract

The application discloses a one-piece three-way electromagnetic vibration absorption device, a design method and a vibration absorption control method. The device comprises a shell, an electromagnetic vibration absorption body and a posture adjusting system. The electromagnetic vibration absorption body is arranged in the shell. The posture adjusting system comprises a fixed base member, a working platform, permanent magnets and a magnetic field generating unit. The fixed base member is arranged at the inner bottom of the shell. The working platform is assembled at the outer periphery of the fixed base member and can pitch and swing laterally relative to the fixed base member. The permanent magnets are circumferentially spaced and arranged on the outer periphery of the working platform and can swing with the working platform. The posture adjusting magnetic field generating unit is arranged along the outer side surface of each permanent magnet. The working platform of the posture adjusting system is connected with the input end of the electromagnetic vibration absorption body. The application has the beneficial effects that the posture adjusting system drives the electromagnetic vibration absorption body to deflect and change the vibration absorption output direction, and the axial vibration absorption force vector output by a single set of actuating mechanism is decomposed to realize three-way vibration suppression.

Description

Technical Field

[0001] This invention relates to the field of vibration control engineering technology, specifically to an integrated three-dimensional electromagnetic vibration absorption device, its design method, and its vibration absorption control method. Background Technology

[0002] Vibration control, as a key issue in the field of mechanical structures, has always received widespread attention. Vibration control is divided into passive control and active control. Early passive control technology, implemented using springs and mass blocks, has a long history of development and boasts advantages such as simple structure, low cost, and high stability. However, its control effect is limited in the low-frequency range and it has poor resistance to external disturbance frequencies. Active control technology mainly consists of two parts: actuators and control algorithms. By introducing a secondary vibration source into the vibration system and controlling its output amplitude and frequency, the resulting vibration response cancels out the vibration response of the mechanical equipment, thus achieving the purpose of active control. Compared with passive control, active vibration reduction can adapt to changes in the frequency of external disturbances and has a more significant suppression effect on the low-frequency vibration characteristics of the system. Therefore, this technology has gradually gained importance.

[0003] Based on the configuration of the actuator, active control systems can be classified into pneumatic, hydraulic, electromagnetic, piezoelectric, magnetostrictive, and shape memory alloy types. Although there are many types of vibration absorbers, simultaneously meeting the requirements of rapid response, large effective stroke, and high output force in actual working conditions, while also considering factors such as size, power consumption, cost, and manufacturing difficulty, is crucial. Electromagnetic vibration absorbers are favored due to their advantages such as no contact friction, rapid response, and good controllability.

[0004] Shraz Technical University in Iran designed a dual-input, single-output nonlinear electromagnetic vibration absorber for active control. The absorber uses applied voltage and the distance between permanent magnets and electromagnets as inputs, and electromagnetic driving force as the output. It employs the least squares method to identify the nonlinear system, clarifying the mapping relationship between input voltage and output force, effectively suppressing vertical resonance in flexible plates and significantly reducing vibration amplitude. However, its design suffers from low power density and poor electromagnetic force linearity. Yonsei University in South Korea symmetrically arranges permanent magnets on both sides of a lathe's moving parts, with coils fixed on both sides of the slide rail. By controlling the direction of the current input, the direction of the electromagnetic force is changed. They also proposed a sensitivity function shaping control method, achieving integrated vibration suppression for both roughing and finishing processes. However, their design can only control vibration in a single direction, and the mover structure is complex, requiring extremely high machining and assembly precision.

[0005] Domestic universities and research institutes have also conducted extensive research on electromagnetic vibration reduction. Nanjing University of Aeronautics and Astronautics has constructed a magnetic field based on symmetrical reverse magnetized permanent magnets and reduced the mass of the magnetic ring through topology optimization. However, its scheme requires the splicing of multiple modules to achieve three-dimensional vibration reduction, and the output force is relatively small, making it only suitable for micro-vibration control scenarios in spacecraft. The 711 Research Institute of China Shipbuilding Industry Corporation has disclosed a unidirectional electromagnetic actuator that uses a wedge-shaped variable-pitch air gap to improve the nonlinearity of force output. It can achieve vertical vibration reduction of ship power equipment, but it only has uniaxial output capability and cannot cope with three-dimensional coupled vibration conditions. The whole machine occupies a large space. The Yangtze River Delta Advanced Research Institute of Harbin Engineering University has developed an integrated vibration reduction energy harvesting device. It relies on the relative motion of the vibration source mass block to achieve adjustable damping vibration reduction and vibration energy recovery. The center of gravity of the device is biased towards the energy harvesting function, and the active vibration suppression output force is limited, making it difficult to meet the vibration reduction requirements of high-power equipment under strong vibration excitation.

[0006] Overall, most electromagnetic vibration absorption schemes that can achieve three-dimensional vibration control currently adopt a multi-module spatial combination arrangement, such as arranging multiple unidirectional actuation units in a nine-square grid. When pursuing large output force, this type of scheme needs to increase the size of the components, while also avoiding magnetic field coupling interference between modules, which ultimately results in a significant increase in the overall size of the device; while prioritizing volume control will limit the upper limit of output force. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by providing an integrated triaxial electromagnetic vibration absorption device, its design method, and its vibration absorption control method, thereby solving the problem that existing active electromagnetic vibration absorption technologies cannot achieve triaxial vibration suppression.

[0008] The technical solution adopted in this invention is: an integrated three-dimensional electromagnetic vibration absorption device, comprising a housing, an electromagnetic vibration absorption body, and an attitude adjustment system; The bottom of the housing is located on the vibrating object to receive the vibration load of the vibrating object; The electromagnetic vibration absorption body is located inside the housing; The attitude adjustment system is installed inside the housing below the electromagnetic vibration absorption body; the attitude adjustment system includes a fixed base component, a working platform, a permanent magnet, and a magnetic field generating unit; The fixed base component is located at the inner bottom of the shell; the working platform is assembled on the outer periphery of the fixed base component and can pitch and swing laterally relative to the fixed base component. The permanent magnets are in multiple pieces, circumferentially spaced and installed on the outer circumferential surface of the work platform, and swing with the work platform. The attitude adjustment magnetic field generating unit is arranged correspondingly along the outer side of each permanent magnet; The working platform of the attitude adjustment system is connected to the input end of the electromagnetic vibration absorber body to adjust the tilt attitude of the electromagnetic vibration absorber body.

[0009] According to the above scheme, the electromagnetic vibration absorption body includes a fixed component and an actuating component; the fixed component includes an upper magnetic field generating unit and a lower magnetic field generating unit arranged coaxially; The upper magnetic field generating unit is fixedly connected to the lower surface of the housing; The lower magnetic field generating unit is fixed in the middle of the housing by a bracket; The actuation assembly includes a guide member, and a lower support spring, a permanent magnet yoke ferromagnetic circuit unit, and an upper support spring, which are mounted on the guide member from bottom to top and move along the axial direction of the guide member; the upper end of the guide member is connected and fixed to the upper end cover. The lower end of the guide component is connected to the working platform.

[0010] According to the above scheme, the upper magnetic field unit includes an upper coil frame and a coil wound on the upper coil frame; The lower magnetic field generating unit includes a lower coil frame and a coil wound on the lower coil frame; The coils on both the upper and lower coil frames are connected to external control currents.

[0011] According to the above scheme, the permanent magnet yoke iron magnetic circuit unit includes an upper yoke iron, an upper permanent magnet, a middle yoke iron, a lower permanent magnet, and a lower yoke iron, which are axially spaced and assembled on the guide member from top to bottom; the upper permanent magnet and the lower permanent magnet are axially magnetized, and their magnetization directions are opposite and their axial thicknesses are the same.

[0012] According to the above scheme, in the attitude adjustment magnetic field generating unit, the fixed base component includes a cylindrical platform support base and an inner platform structure fixed on the outer periphery of the platform support base; the working platform is assembled on the outer periphery of the inner platform structure; the lower end of the guide is provided with a coaxial connecting plate, and the connecting plate is fastened to the working platform.

[0013] According to the above scheme, in the attitude adjustment magnetic field generating unit, there are four permanent magnets. The four permanent magnets are evenly spaced around the outer periphery of the working platform and are all radially magnetized. Each permanent magnet is equipped with an attitude adjustment magnetic field generating unit on its outer side. The attitude adjustment magnetic field generating unit includes an attitude adjustment coil frame and an attitude adjustment coil wound on the attitude adjustment coil frame. The attitude adjustment coil is connected to a control current.

[0014] According to the above scheme, the attitude adjustment system further includes a braking mechanism, which includes a braking component, a first friction plate, a braking torsion spring, a hinge, and a second friction plate disposed on the outer periphery of the work platform; the braking component includes a fixed part and a movable part; the hinge connects the fixed part and the movable part of the braking component, the braking torsion spring is disposed at the hinge position of the hinge, and the first friction plate is disposed on the inner side of the movable part of the braking component; the braking torsion spring drives the first friction plate to press against the second friction plate.

[0015] According to the above scheme, the integrated triaxial electromagnetic vibration absorption device is also equipped with a control component, which includes a controller, and a triaxial acceleration sensor and a displacement sensor that are electrically connected to the controller respectively. The triaxial acceleration sensor is installed at the center of the bottom of the housing and is located in the hollow cavity of the fixed base component, and is used to collect the triaxial vibration acceleration signal of the vibrating object in real time. The displacement sensor is installed at the bottom of the housing below the permanent magnet and is used to detect the spatial tilt position of the working platform and determine the current attitude angle of the working platform. The controller receives detection data from the triaxial acceleration sensor and displacement sensor, calculates the required damping force and the target tilt angle of the working platform, and then outputs corresponding control current to the attitude adjustment coil of the attitude adjustment magnetic field generating unit and the coil of the electromagnetic vibration absorption body to realize the adjustment of the magnitude and direction of the damping force.

[0016] This invention also employs a three-dimensional electromagnetic vibration absorption control method, which is based on the three-dimensional electromagnetic vibration absorption device described above placed on the vibrating object. The method includes: Step 1: The triaxial vibration signal of the vibrating object is collected in real time by the triaxial accelerometer, and the displacement sensor 29 monitors the current tilt attitude signal of the working platform in real time and transmits the collected signal to the controller. Step 2: The controller calculates the three-dimensional damping target force required to counteract the vibration based on the received vibration signal; and, in conjunction with the current attitude of the working platform, calculates the target tilt angle that the working platform needs to deflect, as well as the magnitude of the axial driving force required to be output by the electromagnetic vibration absorption body. Step 3: The controller outputs control current to the attitude adjustment coil of the attitude adjustment magnetic field generating unit. The magnetic field generated by the attitude adjustment magnetic field generating unit interacts with the permanent magnet on the working platform to generate electromagnetic torque, which overcomes the locking friction of the braking mechanism and drives the working platform to deflect to the target tilt angle. Then the power is cut off, the braking mechanism locks the working platform and locks the tilt attitude. Step 4: The controller supplies driving current to the coil of the electromagnetic vibration absorber body. The upper and lower coils generate a uniform magnetic field. The magnetic field interacts with the permanent magnet yoke ferromagnetic circuit unit to generate an axial vibration damping driving force along the axis of the inclined rear guide. Step 5: The axial vibration reduction driving force is transmitted outward through the guide and the working platform. The driving force is decomposed into vertical components and two orthogonal horizontal components. The components act in opposite directions on the vibrating object to cancel the vibration. Step six: Repeat steps one through five to dynamically adjust the tilt angle of the working platform and the magnitude of the electromagnetic driving force according to the real-time changes in the vibration conditions, thereby achieving active vibration reduction.

[0017] This invention also employs a design method for an integrated three-dimensional electromagnetic vibration absorption device as described above, the method comprising the following steps: Step 1: Based on the operating conditions of the vibrating object, determine the initial absorption frequency and the required maximum output force, and use these as the design input conditions for the structural parameters. Step 2: Based on the design input conditions, design the parameters of each component of the electromagnetic vibration absorber body, including the number of coil turns installed on the upper and lower coil frames and the maximum current to be supplied. Step 3: Design the parameters of the attitude adjustment system, including the number of turns of the attitude adjustment coil and the maximum current required. Step four: Verify the overall performance of the device, and adjust the parameters according to the verification results until the verification is qualified.

[0018] The beneficial effects of this invention are as follows: 1. This invention integrates the electromagnetic vibration absorption body and the attitude adjustment system into a single housing. The attitude adjustment system drives the electromagnetic vibration absorption body to deflect and change the direction of the vibration reduction output force. The axial vibration reduction force output by a single actuation mechanism is vector-decomposed to achieve triaxial vibration suppression. This eliminates the need for a spatial arrangement of multiple unidirectional vibration reduction modules, avoiding the problem of magnetic field coupling interference between multiple modules. While ensuring the vibration reduction output force, it effectively reduces the overall size of the device and solves the technical problem of existing triaxial electromagnetic vibration absorption devices that are difficult to balance large output force and miniaturization.

[0019] 2. In this invention, the electromagnetic vibration absorption body adopts a structure in which upper and lower magnetic field generating units cooperate with permanent magnet yoke ferromagnetic circuit units; the upper and lower coil frames are coaxially arranged to form a uniform Helmholtz magnetic field, and the combination structure of double-layer permanent magnet yoke with axial reverse magnetization improves the linearity of electromagnetic driving force. The guide component provides axial limiting and guidance for the permanent magnet yoke ferromagnetic circuit unit, ensuring smooth movement of the actuating components and stable and reliable vibration reduction driving force output.

[0020] 3. In this invention, four radially magnetized permanent magnets are evenly arranged around the outside of the working platform, and four attitude adjustment coils are arranged one-to-one on the outer side of the permanent magnets. The coil modules are arranged in pairs orthogonal groups. By adjusting the magnitude and direction of the current of each attitude adjustment coil, an electromagnetic torque in the orthogonal direction can be output, thereby driving the working platform to achieve two-dimensional tilt adjustment of pitch and yaw. The structure is compact and the attitude control response speed is fast.

[0021] 4. The attitude adjustment system in this invention is equipped with a braking mechanism consisting of a hinge, a brake torsion spring, and two sets of friction plates. After the attitude adjustment coil is de-energized, the brake torsion spring can drive the first friction plate on the brake component to press against the second friction plate on the outside of the working platform, relying on friction to lock the tilt attitude of the working platform and avoid attitude drift during vibration reduction. When only the angle is adjusted, the brake is released by short-term energization, without the need for continuous energization to maintain the platform attitude, reducing power consumption and coil heating under steady-state vibration reduction conditions, and improving the long-term stability of the device.

[0022] 5. The control method of this invention sets up two independent and controllable drive systems: an electromagnetic vibration-absorbing body driven by a Helmholtz coil is responsible for vibration suppression; an orthogonally arranged attitude adjustment coil and a tile-shaped radially magnetized permanent magnet form an attitude adjustment mechanism, which outputs controllable electromagnetic torque by changing the amplitude and direction of the coil current, driving the working platform to complete pitch and lateral two-dimensional deflection within a limited angle. This method collects three-dimensional vibration signals and working platform attitude feedback signals in real time through sensors, calculates the target tilt angle and axial vibration reduction driving force, and adaptively adjusts the output direction of the vibration-absorbing body to achieve three-dimensional vibration control. It can dynamically and adaptively adjust the vibration reduction output direction and magnitude according to the changes in vibration excitation, solving the defects of existing equipment that can only reduce vibration in one direction and cannot adapt to multi-dimensional composite vibration conditions. It has strong adaptability to multi-dimensional vibration conditions. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall appearance of Embodiment 1.

[0024] Figure 2 This is a schematic diagram of the internal structure of Example 1.

[0025] Figure 3 This is a schematic diagram of the electromagnetic vibration absorption body in Example 1.

[0026] Figure 4 This is a schematic diagram of the attitude adjustment system in Example 1.

[0027] Figure 5 This is a side cross-sectional schematic diagram of the attitude adjustment system and guide component under the maximum tilt condition in Embodiment 1.

[0028] Figure 6 This is the electromagnetic vibration absorption body dynamic model.

[0029] Figure 7 This is a current model for a cylindrical permanent magnet.

[0030] Figure 8 This is a schematic diagram illustrating the working principle of the attitude adjustment system.

[0031] Figure 9 This is a schematic diagram for calculating the tilt angle of the working platform.

[0032] The components are as follows: 1. Upper cover plate; 2. Side baffle plate; 3. Lower base plate; 4. Upper coil frame; 5. Upper support spring; 6. Upper yoke; 7. Upper permanent magnet; 8. Middle yoke; 9. Lower permanent magnet; 10. Lower yoke; 11. Guide component; 12. Lower coil frame; 13. Coil; 14. Upper end cover; 15. Bolt hole; 16. Attitude adjustment coil frame; 17. Attitude adjustment coil frame support; 18. Attitude adjustment coil; 19. Platform support seat; 20. Permanent magnet; 21. Platform inner structure; 22. Working platform; 23. Second friction plate; 24. Braking component; 25. Brake torsion spring; 26. Hinge; 27. Clearance slot; 28. Three-dimensional acceleration sensor; 29. ​​Displacement sensor; 30. Lower support spring; 31. Connecting plate. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0034] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application 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. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0036] In the embodiments of this application, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples. Additionally, the term "a plurality of" indicates two or more.

[0038] like Figure 1 and Figure 2 The integrated triaxial electromagnetic vibration absorption device shown is specifically an integrated triaxial electromagnetic vibration absorption device with a changeable output force direction, including a housing, an electromagnetic vibration absorption body, and an attitude adjustment system. The bottom of the housing is located on the vibrating object to receive the vibration load of the vibrating object; The electromagnetic vibration absorption body is located inside the housing; The attitude adjustment system is installed inside the housing below the electromagnetic vibration absorption body; such as Figure 4 and Figure 5 As shown, the attitude adjustment system includes a fixed base component, a working platform 22, a permanent magnet 20, and a magnetic field generating unit; The fixed base component is located at the inner bottom of the shell; the working platform 22 is assembled on the outer periphery of the fixed base component and can pitch and swing laterally relative to the fixed base component. The permanent magnets 20 are in multiple pieces, circumferentially spaced on the outer circumferential surface of the work platform 22, and can swing with the work platform 22. The attitude adjustment magnetic field generating unit is arranged correspondingly along the outer surface of each permanent magnet 20.

[0039] The working platform 22 of the attitude adjustment system is connected to the input end of the electromagnetic vibration absorber body, adjusting the tilt attitude of the electromagnetic vibration absorber body, thereby causing the electromagnetic vibration absorber body to deflect and change the direction of the output force.

[0040] In this invention, the housing is installed on the vibrating object to receive the vibration load. The attitude adjustment system generates torque through the interaction between the magnetic field generating unit and the permanent magnet 20, which drives the working platform 22 to swing and tilt relative to the fixed base component, causing the electromagnetic vibration absorption body to deflect and change the direction of the output force. The electromagnetic vibration absorption body outputs damping force, which is decomposed into three-dimensional component forces to cancel the coupled vibration, thereby realizing integrated three-dimensional vibration absorption.

[0041] Preferably, such as Figure 2 and Figure 3 As shown, the electromagnetic vibration absorption body includes a fixed component and an actuating component; the fixed component includes an upper magnetic field generating unit and a lower magnetic field generating unit arranged coaxially; The upper magnetic field generating unit is fixedly connected to the lower surface of the housing; The lower magnetic field generating unit is fixed in the middle of the housing by a bracket; The actuation assembly includes a guide member 11, and a lower support spring 30, a permanent magnet yoke ferromagnetic circuit unit, and an upper support spring 5, which are mounted on the guide member 11 from bottom to top and can move along the axial direction of the guide member 11; the upper end of the guide member 11 is connected and fixed to the upper end cover 14. The lower end of the guide member 11 is connected to the working platform 22.

[0042] Preferably, the upper magnetic field unit includes an upper coil frame 4 and a coil 13 wound on the upper coil frame 4; The lower magnetic field generating unit includes a lower coil frame 12 and a coil 13 wound on the lower coil frame 12; Both the upper coil frame 4 and the lower coil frame 12 have coils 13 externally connected to control current. The permanent magnet yoke magnetic circuit unit includes an upper yoke 6, an upper permanent magnet 7, an intermediate yoke 8, a lower permanent magnet 9, and a lower yoke 10, which are axially spaced and assembled on the guide member 11 from top to bottom. The upper permanent magnet 7 and the lower permanent magnet 9 are axially magnetized, and their magnetization directions are opposite and their axial thicknesses are the same.

[0043] In this invention, the upper coil frame 4 and the lower coil frame 12 are of the same specifications and are arranged coaxially opposite each other; the distance between the center of the coil 13 on the upper coil frame 4 and the center of the coil 13 on the lower coil frame 12 is equal to the radius of the coil 13, thus forming a set of Helmholtz coil structures; after the coil 13 of the upper coil frame 4 and the lower coil frame 12 are energized, a uniform magnetic field can be generated in the working area between the two coil frames.

[0044] In this invention, when the working platform 22 drives the guide 11 to swing and tilt, the permanent magnet yoke ferromagnetic circuit unit tilts and deflects along with it, and the upper and lower magnetic field generating units maintain a fixed spatial position with the shell; after current is passed through the upper and lower coils 13, the Helmholtz coil structure generates a uniform magnetic field in the working area. This magnetic field interacts with the magnetic fields of the upper permanent magnet 7 and the lower permanent magnet 9 to generate an electromagnetic driving force along the axial direction of the tilted guide 11. The permanent magnet yoke ferromagnetic circuit unit reciprocates along the tilted guide 11 to output a damping force.

[0045] Preferably, in the attitude adjustment magnetic field generating unit, the fixed base component includes a cylindrical platform support 19 and a platform inner layer structure 21 fixed on the outer periphery of the platform support 19; the working platform 22 is assembled on the outer periphery of the platform inner layer structure 21 and can pitch and swing laterally relative to the platform inner layer structure 21. The lower end of the guide member 11 is provided with a coaxial connecting plate 31, which is fastened to the working platform 22 by bolts; the bottom of the connecting plate 31 is provided with an avoidance hole groove 27 to prevent the connecting plate 31 from interfering with the fixed base component during the tilting of the working platform 22.

[0046] In this invention, the permanent magnet 20 in the attitude adjustment magnetic field generating unit is a tile-shaped permanent magnet, and four permanent magnets 20 are arranged. The four permanent magnets 20 are evenly spaced around the outer circumference of the working platform 22 (which is an arc surface), and all are radially magnetized. Each permanent magnet 20 has an attitude adjustment magnetic field generating unit on its outer side. The attitude adjustment magnetic field generating unit includes an attitude adjustment coil frame 16 and an attitude adjustment coil 18 wound on the attitude adjustment coil frame 16. The attitude adjustment coil 18 is connected to a control current. By orthogonally arranging the attitude adjustment coils 18, the working platform 22 can perform attitude adjustments such as pitch swing and lateral swing.

[0047] Preferably, the attitude adjustment system further includes a braking mechanism, which includes a braking element 24, a first friction plate, a braking torsion spring 25, a hinge 26, and a second friction plate 23 disposed on the outer periphery of the working platform 22. The braking element 24 includes a fixed part and a movable part. The hinge 26 connects the fixed part and the movable part of the braking element 24. The braking torsion spring 25 is disposed at the hinge position of the hinge 26. The first friction plate is disposed on the inner side of the movable part of the braking element 24. The braking torsion spring 25 can drive the first friction plate to press the second friction plate 23 through the movable part, thereby achieving friction locking of the working platform 22.

[0048] In this invention, when the attitude adjustment coil 18 is not energized, the first friction plate on the inner side of the movable part of the brake component 24 and the second friction plate 23 attached to the outer peripheral surface of the working platform 22 are locked together by the brake torsion spring 25 and the hinge 26, ensuring that the attitude of the working platform 22 does not change.

[0049] Preferably, the integrated triaxial electromagnetic vibration absorption device is further equipped with a control component, which includes a controller, and a triaxial acceleration sensor 28 and a displacement sensor 29 that are electrically connected to the controller respectively. The triaxial acceleration sensor 28 is installed at the center of the bottom of the housing and is located in the hollow cavity of the fixed base component, and is used to collect the triaxial vibration acceleration signal of the vibrating object in real time. The displacement sensor 29 is installed at the bottom of the housing below the permanent magnet 20 and is used to detect the spatial tilt position of the working platform 22 and determine the current attitude angle of the working platform 22. The controller receives detection data from the triaxial acceleration sensor 28 and displacement sensor 29, calculates the required damping force and the target tilt angle of the working platform 22, and then outputs corresponding control current to the attitude adjustment coil 18 of the attitude adjustment magnetic field generating unit and the coil 13 of the electromagnetic vibration absorption body to realize the adjustment of the magnitude and direction of the damping output force.

[0050] A three-dimensional electromagnetic vibration absorption control method, which is based on the three-dimensional electromagnetic vibration absorption device as described above placed on the vibrating object, includes: Step 1: The triaxial vibration signal of the vibrating object is collected in real time by the triaxial accelerometer 28, and the displacement sensor 29 monitors the current tilt attitude signal of the working platform 22 in real time, and transmits the collected signals to the controller. Step 2: The controller calculates the three-dimensional damping target force required to counteract the vibration based on the received vibration signal; and calculates the target tilt angle that the working platform 22 needs to deflect, as well as the magnitude of the axial driving force required to be output by the electromagnetic vibration absorption body, in combination with the current attitude of the working platform 22. Step 3: The controller outputs control current to the attitude adjustment coil 18 of the attitude adjustment magnetic field generating unit. The magnetic field generated by the attitude adjustment magnetic field generating unit interacts with the permanent magnet 20 on the working platform 22 to generate electromagnetic torque, which overcomes the locking friction of the braking mechanism and drives the working platform 22 to deflect to the target tilt angle. Then the power is cut off, the braking mechanism locks the working platform 22 and locks the tilt attitude. Step 4: The controller supplies driving current to the coil 13 of the electromagnetic vibration absorption body. The upper and lower coils 13 generate a uniform magnetic field. The magnetic field interacts with the permanent magnet yoke ferromagnetic circuit unit to generate an axial vibration damping driving force along the axis of the inclined rear guide 11. Step 5: The axial vibration damping driving force is transmitted outward through the guide 11 and the working platform 22. The driving force is decomposed into vertical components and two orthogonal horizontal components. The components act in opposite directions on the vibrating object to cancel the vibration. Step six: Repeat steps one to five to dynamically adjust the tilt angle of the working platform 22 and the magnitude of the electromagnetic driving force according to the real-time changes in the vibration conditions, thereby achieving active vibration reduction.

[0051] In this invention, the integrated three-dimensional electromagnetic vibration absorption device adopts a forward parametric design method, taking vibration control requirements as input, and sequentially completes the design and verification of key parameters of the electromagnetic vibration absorption body and the attitude adjustment system.

[0052] according to Figure 8 , Figure 9 During vibration control, the angle between the inner structure 21 of the platform and the working platform 22 is first adjusted to 0°, and the displacement sensor 29 is zeroed. After the triaxial acceleration sensor 28 acquires the vibration signal, the signal is sent to the controller for synthesis calculation to determine the required vibration absorption angle. (Unit: °, i.e., the aforementioned target tilt angle). Subsequently, current is applied to the orthogonally arranged attitude adjustment coils 18, the braking device disengages, and the working platform 22 begins to rotate under the action of electromagnetic torque. The magnetization direction of the permanent magnet 20, the direction of the applied current, and the resulting effects are as follows: Figure 8 As shown; the magnitude of the electromagnetic torque is calculated using the following set of formulas: (1); In the system of equations (1), (Unit: N·m) represents the total electromagnetic torque acting on the platform; (Unit: N·m) represents the controllable driving torque generated by the coil current; (Unit: N·m) represents the positioning torque caused by the change in angle; (Unit: N·m / A) is the torque constant, representing the average active excitation torque output when a DC current of 1 A is applied to the attitude adjustment coil 18; (Unit: N·m / °) is the positioning torque stiffness coefficient, which represents the magnetic torque that causes the vibrating object to spontaneously return to equilibrium when there is no external force, given a change in angle. (Unit: A) represents the coil current; (Unit: °) represents the actual tilt angle of the working platform 22.

[0053] according to Figure 9 This can indicate the actual tilt angle of the working platform 22. Calculation principle: Taking the bottom center of the working platform 22 as point O, the corresponding driving directions of the orthogonally arranged attitude adjustment coils 18 are the X and Y directions, respectively. In static equilibrium, the two orthogonally arranged displacement sensors 28 (such as...) Figure 9 The radial distances of DS1 and DS2 from the center of the working platform 22 are both l The vertical distance is hWhen the working platform 22 begins to tilt, the displacement sensor 29 uses real-time distance changes to infer the current angle of the working platform 22. Let the initial spatial normal vector of the working platform 22 be... According to the Euler rotation sequence, the working platform 22 first generates a size of around the y-axis. A pitch angle (in degrees) is generated around the y-axis, and then a magnitude of... The total rotation matrix for the lateral swing angle (in degrees) is as follows: (2); (3); (4); Among them, R y R is the rotation matrix for rotating about the Y-axis by an angle α. x Let β be the rotation matrix around the X-axis, and R be the total attitude rotation matrix.

[0054] After rotation, the normal vector of the working platform 22 (dimensionless) is (5); Actual tilt angle The calculation formula is (6); In equation (6), It is the normal vector along the z-axis (dimensionless).

[0055] By continuously comparing the actual tilt angle of work platform 22 Angle of inclination to the target The controller adjusts the magnitude and direction of the current flowing through the attitude adjustment coil 18 to determine the difference. Once the corresponding angle is reached, the attitude adjustment coil 18 is de-energized, and the braking device automatically locks itself via the hinge under the action of the torsion spring. This completes one attitude adjustment process.

[0056] A design method for an integrated triaxial electromagnetic vibration absorption device as described above, the method comprising the following steps: Step 1: Determine the design input conditions.

[0057] In this invention, the initial absorption frequency is determined based on the operating conditions of the vibrating object. (Unit: Hz) and maximum required output (Unit: N), and use this as the design input condition for structural parameters.

[0058] Step two: Based on the design input conditions, design the parameters of each component of the electromagnetic vibration absorber body, including the number of turns of the upper coil frame 4, the lower coil frame 12, and the upper coil 13. And the maximum current that needs to be applied.

[0059] To ensure that the control bandwidth of the electromagnetic vibration absorber fully covers the operating frequency band, the natural frequency of the electromagnetic vibration absorber... (Unit: Hz) must be less than the starting frequency. Under normal circumstances, the difference between the two is times, that is .

[0060] According to the natural frequency formula for a single-degree-of-freedom system, the total stiffness of the support spring... (Unit: N / m; total stiffness of upper support spring 5 and lower support spring 30), total mass of the mover (Unit: kg), and the natural frequency of the vibration absorber satisfy: ; In the formula, the total mass of the mover is The sum of the masses of the upper yoke 6, upper permanent magnet 7, middle yoke 8, lower permanent magnet 9, and lower yoke 10 (in kg); the preload of the two support springs is determined based on the maximum stroke of the mover and the assembly clearance, ensuring that the springs are always under compression throughout the entire stroke of the mover, and avoiding collisions and impacts between the upper and lower yokes 10 and other components.

[0061] The upper coil frame 4 and the lower coil frame 12 form a Helmholtz structure, and the center distance between the two coils 13 is equal to the radius of the coil 13. To ensure a uniform magnetic field in the working area of ​​the mover; the number of turns of the upper coil 13 installed on the upper coil frame 4 and the lower coil frame 12. Maximum current (Unit: A) Based on maximum output (Unit: N) and the highest temperature of coil 13 (Unit: °C) The design is carried out, and the physical quantities satisfy the following relationships: ; ; In the formula, This is the effective length of coil 13 in the magnetic field (in meters). Ambient temperature (in °C). The power of coil 13 is measured in W. The area of ​​coil 13 (in m²) 2 ), The heat transfer coefficient is expressed in W / (m²·K).

[0062] Step 3: Design the parameters of the attitude adjustment system, including the number of 18 turns of the attitude adjustment coil and the maximum current required.

[0063] Determine the maximum deflection angle required for the working platform 22 based on the vibrating object. The maximum electromagnetic torque required to drive the working platform 22 to deflect is... (Unit: N·m) must not be less than the torque caused by the rotation of the electromagnetic vibration absorber body. (Unit: N·m) and positioning torque due to angle change The sum of (unit: N·m): ; ; In the formula, The total moment of inertia of the working platform 22 and the vibration-absorbing body above it (in kg·m²). The maximum angular acceleration for attitude adjustment is given (in rad / s²). Based on this, the number of 18 turns of the attitude adjustment coil and the maximum current required can be determined according to the aforementioned formula (1).

[0064] Step four: Verify the overall performance of the device, and adjust the parameters according to the verification results until the verification is qualified.

[0065] Substitute the above structural design parameters into the system dynamics model and the three-dimensional magnetic field analytical model, or perform simulation calculations using the finite element method to verify whether they meet the working requirements. If the results do not meet the requirements, iteratively adjust the parameters such as the size of each permanent magnet, the number of coil turns, and the stiffness of the supporting spring until all indicators are qualified, and complete the device design.

[0066] In step four of this invention, the performance of the device can be verified from dimensions such as magnetic field distribution, maximum output force, effective vibration absorption working range, and coil temperature rise. This part of verifying the overall performance of the device is a conventional technology in the industry and will not be described in detail here.

[0067] according to Figure 6 , Figure 7 The entire triaxial electromagnetic vibration absorption device in this invention can be simplified into a single-degree-of-freedom system vibration model excited only by electromagnetic force, as shown in Figure 6. Let the mass, stiffness, damping, and displacement of the mover be respectively... (Unit: kg) (Unit: N / m) (Unit: N·s / m) (Unit: m), the mass, stiffness, damping, and displacement of the vibrating object are respectively... (Unit: kg) (Unit: N / m) (Unit: N·s / m) (Unit: m).

[0068] Let the electromagnetic force acting on the mover be... (Unit: N) The force output by the three-dimensional electromagnetic vibration absorption device to the vibrating object is... (Unit: N) The excitation force on the vibrating object is (Unit: N), then the system dynamic equations are as follows: (7); (8); make , . , The amplitude is the complex amplitude (in meters). Given the frequency of the simple harmonic motion (in rad / s), equations (7) and (8) can be combined into the following matrix form. (9); set up: (10); The displacement can be obtained from the formula. , They are respectively: (11); The overall resonant frequency of the system can be determined by setting... Find the answer.

[0069] When the triaxial electromagnetic vibration absorption device in this invention is in ideal working condition ,at this time It can be expressed by the following formula: (12); By combining formulas (12), we can obtain the results separately. and The proportional relationship between them: (13) The electromagnetic vibration absorption body uses a ring-shaped permanent magnet to construct a magnetic field, and according to equation (13), and There is a proportional relationship between them, therefore, the current model of the upper and lower permanent magnets in the electromagnetic vibration absorber body is used to calculate the magnetic field at coil 13. The current model of the ring permanent magnet is as follows: Figure 7 As shown.

[0070] Let the magnetization vectors of the upper and lower permanent magnets be (Unit: A / m), then the surface current density of the permanent magnet can be expressed as: (14); In the formula, Outer diameter (in meters) Let the inner diameter be (in meters). Then, in cylindrical coordinates, the magnetic induction vector at any point outside the upper and lower permanent magnets can be divided into... , , The vector sum in three directions, i.e. (15); According to the right-hand rule, only the axial magnetic field in the model... There is an impact, therefore only on the axial magnetic field. (Unit: T) Further analysis: (16) In the formula: (17) The above is the theoretical basis for the electromagnetically driven electromagnetic vibration-absorbing body in this invention.

[0071] Example like Figures 1-5 The illustrated integrated three-dimensional electromagnetic vibration absorption device with changeable output direction includes a housing, an electromagnetic vibration absorption body, an attitude adjustment system, and control components.

[0072] refer to Figure 1 The housing includes an upper cover plate 1, side baffles 2, and a lower bottom plate 3; there are four side baffles 2, and each side baffle 2 is connected and fixed to the lower bottom plate 3 and the upper cover plate 1 by bolts to form a closed space.

[0073] refer to Figure 2 and Figure 3 The electromagnetic vibration absorption body includes a fixed part and an actuating part. The fixed part includes an upper coil frame 4, a lower coil frame 12, and a multi-turn coil 13 evenly wound on the upper coil frame 4 and the lower coil frame 12, respectively. The actuating part includes a guide member 11, and an upper support spring 5, an upper yoke 6, an upper permanent magnet 7, an intermediate yoke 8, a lower permanent magnet 9, a lower yoke 10, and a lower support spring 30, which are coaxially mounted on the guide member 11 from top to bottom.

[0074] refer to Figure 2 and Figure 4 The attitude adjustment system includes an attitude adjustment coil frame 16, an attitude adjustment coil frame support 17, an attitude adjustment coil 18, a platform support 19, a permanent magnet 20, an inner platform structure 21, a working platform 22, and a braking mechanism. The braking mechanism includes a brake element 24, a first friction plate, a second friction plate 23, a brake torsion spring 25, and a hinge 26.

[0075] This embodiment also includes a control component, which includes a controller and a triaxial acceleration sensor 28 and a displacement sensor 29 connected to the controller.

[0076] In this embodiment, the upper cover plate 1 and the upper coil frame 4 in the vibration absorber body are integrally formed by 3D printing technology. The lower base plate 3 is fixed with the platform support 19, the tile-shaped brake component 24, and the orthogonally arranged attitude adjustment coil frame support 17 of the attitude adjustment system, which are also integrally formed by 3D printing technology. The lower base plate 3 has an upward groove at its center for placing the triaxial acceleration sensor 28.

[0077] In this invention, such as Figure 3 In the electromagnetic vibration absorption body shown, the distance between the center of coil 13 on the upper coil frame 4 and the center of coil 13 on the lower coil frame 12 is equal to the radius of coil 13, thus forming a set of Helmholtz coil structures. When current is passed through coil 13, the actuating part is ensured to be in a uniform electromagnetic field. After calculating the required output force of the controlled object through the signal transmitted by the triaxial acceleration sensor 28, the vibration of the vibrating object is controlled by adjusting the current amplitude.

[0078] In this embodiment, both the upper support spring 5 and the lower support spring 30 are linear support springs, located at both ends of the guide member 11, respectively, to transmit the working force generated by the up-and-down movement of the yokes and the upper permanent magnet 7 and the lower permanent magnet 9. The upper support spring 5 and the lower support spring 30 have a certain preload and spring stiffness. k The appropriate configuration can be selected based on the effective vibration absorption starting frequency of the target device. The top center of the guide member 11 has an axial opening. After the lower support spring 30, lower yoke 10, lower permanent magnet 9, middle yoke 8, upper permanent magnet 7, upper yoke 6, and lower support spring 30 are installed, the protrusion of the upper end cover 14 is pressed into the hole using an interference fit for assembly. Bolt holes 15 are provided between the connecting plate 31 at the bottom of the guide member 11 and the working platform 22 for bolt fixing connections. Figure 5 As shown, when the working platform 22 reaches the maximum tilt angle, in order to prevent mechanical interference between the connecting plate 31 at the bottom of the guide 11 and the inner ring of the working platform 22, an avoidance slot 27 is opened at the bottom of the connecting plate 31.

[0079] like Figure 3 As shown, both the upper permanent magnet 7 and the lower permanent magnet 9 are annular permanent magnets, arranged symmetrically along the vertical axis of the guide member 11. Both the upper permanent magnet 7 and the lower permanent magnet 9 are axially magnetized, with opposite magnetization directions and the same axial height, providing a large magnetic force. The upper yoke 6, the middle yoke 8, and the lower yoke 10 form a closed-loop magnetic circuit, ensuring full utilization of the magnetic energy generated by the upper permanent magnet 7 and the lower permanent magnet 9.

[0080] like Figure 4The attitude adjustment system shown uses a single attitude adjustment coil 18 to adjust the lateral and pitch directions of the working platform 22 by changing the direction of the current flow. The attitude adjustment coil 18 is evenly wound on the attitude adjustment coil frame 16, which is fixed to the attitude adjustment coil frame support 17 in an interlocking manner. A single attitude adjustment coil 18, the attitude adjustment coil frame 16, and the attitude adjustment coil frame support 17 constitute an attitude adjustment coil module. In this embodiment, four attitude adjustment coil modules are provided, arranged in pairs. The driving torque axes of the two groups of attitude adjustment coil modules are orthogonally arranged; one group achieves pitch adjustment of the working platform 22, and the other group achieves lateral adjustment of the working platform 22.

[0081] refer to Figure 4 In the attitude adjustment system, the permanent magnet 20 is tile-shaped, facilitating its fit with the outer arc surface of the working platform 22. The permanent magnet 20 is magnetized radially. Below the permanent magnet 20, a displacement sensor 29 is installed to detect the spatial attitude of the working platform 22. The inner structure 21 of the platform and the working platform 22 adopt a radial joint bearing-like design, forming a sliding friction pair between them.

[0082] In this embodiment, each permanent magnet 20 is made of rare earth permanent magnet material; each yoke is made of soft magnet, such as silicon steel sheets stacked together; the inner structure 21 of the platform and the working platform 22 are made of steel; the guide 11, platform support 19, bolts, nuts and other components and structures are made of non-magnetic or weakly magnetic materials, such as resin materials used in 3D printing.

[0083] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0084] Finally, it should be noted that the above are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. However, any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An integrated three-dimensional electromagnetic vibration absorption device, characterized in that, Includes a housing, an electromagnetic vibration damping body, and an attitude adjustment system; The bottom of the housing is located on the vibrating object to receive the vibration load of the vibrating object; The electromagnetic vibration absorption body is located inside the housing; The attitude adjustment system is installed inside the housing below the electromagnetic vibration absorption body; the attitude adjustment system includes a fixed base component, a working platform, a permanent magnet, and a magnetic field generating unit; The fixed base component is located at the inner bottom of the shell; the working platform is assembled on the outer periphery of the fixed base component and can pitch and swing laterally relative to the fixed base component. The permanent magnets are in multiple pieces, circumferentially spaced and installed on the outer circumferential surface of the work platform, and swing with the work platform. The attitude adjustment magnetic field generating unit is arranged correspondingly along the outer side of each permanent magnet; The working platform of the attitude adjustment system is connected to the input end of the electromagnetic vibration absorber body to adjust the tilt attitude of the electromagnetic vibration absorber body.

2. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 1, characterized in that, The electromagnetic vibration absorption body includes a fixed component and an actuating component; the fixed component includes an upper magnetic field generating unit and a lower magnetic field generating unit arranged coaxially; The upper magnetic field generating unit is fixedly connected to the lower surface of the housing; The lower magnetic field generating unit is fixed in the middle of the housing by a bracket; The actuation assembly includes a guide member, and a lower support spring, a permanent magnet yoke ferromagnetic circuit unit, and an upper support spring, which are mounted on the guide member from bottom to top and move along the axial direction of the guide member; the upper end of the guide member is connected and fixed to the upper end cover. The lower end of the guide component is connected to the working platform.

3. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 2, characterized in that, The upper magnetic field unit includes an upper coil frame and a coil wound on the upper coil frame; The lower magnetic field generating unit includes a lower coil frame and a coil wound on the lower coil frame; The coils on both the upper and lower coil frames are connected to external control currents.

4. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 3, characterized in that, The permanent magnet yoke magnetic circuit unit includes an upper yoke, an upper permanent magnet, a middle yoke, a lower permanent magnet, and a lower yoke, which are axially spaced and assembled on the guide member from top to bottom; the upper permanent magnet and the lower permanent magnet are axially magnetized, and their magnetization directions are opposite and their axial thicknesses are the same.

5. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 4, characterized in that, In the attitude adjustment magnetic field generating unit, the fixed base component includes a cylindrical platform support base and an inner platform structure fixed to the outer periphery of the platform support base; the working platform is assembled on the outer periphery of the inner platform structure; the lower end of the guide component is provided with a coaxial connecting plate, and the connecting plate is fastened to the working platform.

6. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 5, characterized in that, In the attitude adjustment magnetic field generating unit, there are four permanent magnets, which are evenly spaced around the outer circumference of the working platform and are all radially magnetized. Each permanent magnet has an attitude adjustment magnetic field generating unit on its outer side. The attitude adjustment magnetic field generating unit includes an attitude adjustment coil frame and an attitude adjustment coil wound on the attitude adjustment coil frame. The attitude adjustment coil is connected to a control current.

7. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 6, characterized in that, The attitude adjustment system further includes a braking mechanism, which includes a braking component, a first friction plate, a braking torsion spring, a hinge, and a second friction plate disposed on the outer periphery of the work platform. The braking component includes a fixed part and a movable part. The hinge connects the fixed part and the movable part of the braking component. The braking torsion spring is disposed at the hinge position of the hinge. The first friction plate is disposed on the inner side of the movable part of the braking component. The braking torsion spring drives the first friction plate to press against the second friction plate.

8. The integrated three-dimensional electromagnetic vibration absorption device as described in claim 7, characterized in that, The integrated triaxial electromagnetic vibration absorption device is also equipped with a control component, which includes a controller and a triaxial acceleration sensor and a displacement sensor that are electrically connected to the controller respectively. The triaxial acceleration sensor is installed at the center of the bottom of the housing and is located in the hollow cavity of the fixed base component, and is used to collect the triaxial vibration acceleration signal of the vibrating object in real time. The displacement sensor is installed at the bottom of the housing below the permanent magnet and is used to detect the spatial tilt position of the working platform and determine the current attitude angle of the working platform. The controller receives detection data from the triaxial acceleration sensor and displacement sensor, calculates the required damping force and the target tilt angle of the working platform, and then outputs corresponding control current to the attitude adjustment coil of the attitude adjustment magnetic field generating unit and the coil of the electromagnetic vibration absorption body to realize the adjustment of the magnitude and direction of the damping force.

9. A three-dimensional electromagnetic vibration absorption control method, the method being implemented based on the three-dimensional electromagnetic vibration absorption device as described in claim 8, placed on the vibrating object, characterized in that... The method includes: Step 1: The triaxial vibration signal of the vibrating object is collected in real time by the triaxial accelerometer, and the displacement sensor 29 monitors the current tilt attitude signal of the working platform in real time and transmits the collected signal to the controller. Step 2: The controller calculates the three-dimensional damping target force required to counteract the vibration based on the received vibration signal; and, in conjunction with the current attitude of the working platform, calculates the target tilt angle that the working platform needs to deflect, as well as the magnitude of the axial driving force required to be output by the electromagnetic vibration absorption body. Step 3: The controller outputs control current to the attitude adjustment coil of the attitude adjustment magnetic field generating unit. The magnetic field generated by the attitude adjustment magnetic field generating unit interacts with the permanent magnet on the working platform to generate electromagnetic torque, which overcomes the locking friction of the braking mechanism and drives the working platform to deflect to the target tilt angle. Then the power is cut off, the braking mechanism locks the working platform and locks the tilt attitude. Step 4: The controller supplies driving current to the coil of the electromagnetic vibration absorber body. The upper and lower coils generate a uniform magnetic field. The magnetic field interacts with the permanent magnet yoke ferromagnetic circuit unit to generate an axial vibration damping driving force along the axis of the inclined rear guide. Step 5: The axial vibration reduction driving force is transmitted outward through the guide and the working platform. The driving force is decomposed into vertical components and two orthogonal horizontal components. The components act in opposite directions on the vibrating object to cancel the vibration. Step six: Repeat steps one through five to dynamically adjust the tilt angle of the working platform and the magnitude of the electromagnetic driving force according to the real-time changes in the vibration conditions, thereby achieving active vibration reduction.

10. A design method for an integrated three-dimensional electromagnetic vibration absorption device as described in any one of claims 1 to 9, characterized in that, The method includes the following steps: Step 1: Based on the operating conditions of the vibrating object, determine the initial absorption frequency and the required maximum output force, and use these as the design input conditions for the structural parameters. Step 2: Based on the design input conditions, design the parameters of each component of the electromagnetic vibration absorber body, including the number of coil turns installed on the upper and lower coil frames and the maximum current to be supplied. Step 3: Design the parameters of the attitude adjustment system, including the number of turns of the attitude adjustment coil and the maximum current required. Step four: Verify the overall performance of the device, and adjust the parameters according to the verification results until the verification is qualified.

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