阅读说明：本技术 一种主动式非线性宽频吸振器及其调控方法 (Active nonlinear broadband vibration absorber and regulating and controlling method thereof ) 是由 周振华 唐驿宇 戴志辉 周民瑞 刘志强 刘鑫 于 2021-07-26 设计创作，主要内容包括：本发明公开了一种主动式非线性宽频吸振器及其调控方法,主动式非线性宽频吸振器,它包括底板和吸振模块；吸振模块包括支撑机构、吸振质量块和调节机构,支撑机构包括第一安装座、垂直弹性件和第二安装座,第一安装座设置于底板上,垂直弹性件的一端与第一安装座相连、另一端与第二安装座相连,吸振质量块设置于第二安装座上,调节机构包括水平弹性件,调节机构设置于底板上,水平弹性件与第二安装座相连,调节机构用于产生垂直方向的非线性力进而动态调整支撑机构的刚度；吸振模块通过底板与主系统连接。可抑制在谐振频率处主系统的响应峰值,消除谐振频率处两侧的新的共振峰。通过动态调整吸振器的刚度,达到宽频吸振的效果,且结构简单。(The invention discloses an active nonlinear broadband vibration absorber and a regulation and control method thereof, wherein the active nonlinear broadband vibration absorber comprises a bottom plate and a vibration absorbing module; the vibration absorption module comprises a supporting mechanism, a vibration absorption mass block and an adjusting mechanism, the supporting mechanism comprises a first mounting seat, a vertical elastic piece and a second mounting seat, the first mounting seat is arranged on the bottom plate, one end of the vertical elastic piece is connected with the first mounting seat, the other end of the vertical elastic piece is connected with the second mounting seat, the vibration absorption mass block is arranged on the second mounting seat, the adjusting mechanism comprises a horizontal elastic piece, the adjusting mechanism is arranged on the bottom plate, the horizontal elastic piece is connected with the second mounting seat, and the adjusting mechanism is used for generating a nonlinear force in the vertical direction so as to dynamically adjust the rigidity of the supporting mechanism; the vibration absorption module is connected with the main system through the bottom plate. The response peak of the main system at the resonance frequency can be suppressed, and new resonance peaks at both sides of the resonance frequency can be eliminated. The broadband vibration absorption effect is achieved by dynamically adjusting the rigidity of the vibration absorber, and the structure is simple.)

1. An active nonlinear broadband vibration absorber is characterized in that: the vibration absorption device comprises a bottom plate and a vibration absorption module;

the vibration absorption module comprises a supporting mechanism, a vibration absorption mass block and an adjusting mechanism,

the supporting mechanism comprises a first mounting seat, a vertical elastic piece and a second mounting seat, the first mounting seat is arranged on the bottom plate, one end of the vertical elastic piece is connected with the first mounting seat, the other end of the vertical elastic piece is connected with the second mounting seat,

the vibration absorbing mass block is arranged on the second mounting seat,

the adjusting mechanism comprises a horizontal elastic piece, the adjusting mechanism is arranged on the bottom plate, the horizontal elastic piece is connected with the second mounting seat, and the adjusting mechanism is used for generating a nonlinear force in the vertical direction so as to dynamically adjust the rigidity of the supporting mechanism;

the vibration absorption module is connected with the main system through the bottom plate.

2. The active nonlinear broadband vibration absorber according to claim 1, wherein: the first mounting seat comprises a seat plate and a guide post, and is detachably connected with the bottom plate through the seat plate; the second mounting seat comprises a top plate and a bottom column, and a threaded hole is formed in the top plate; the vertical elastic part is a spring, one end of the vertical elastic part is sleeved on the guide pillar, and the other end of the vertical elastic part is sleeved outside the bottom pillar; the vibration absorption mass block is connected to the threaded hole of the top plate through a screw rod.

3. The active nonlinear broadband vibration absorber according to claim 1, wherein: the bottom plate is a rectangular plate, the supporting mechanism is arranged at the center of the length direction of the bottom plate, and the pair of adjusting mechanisms are symmetrically arranged on two sides of the supporting mechanism.

4. The active nonlinear broadband vibration absorber according to claim 1, wherein: the adjusting mechanism comprises a horizontal spring and a stroke adjusting component; the stroke adjusting assembly comprises a spring frame, and the spring frame reciprocates along the water direction; one end of the horizontal spring is connected with the second mounting seat, and the other end of the horizontal spring is connected with the spring frame.

5. The active nonlinear broadband vibration absorber according to claim 4, wherein: the stroke adjusting assembly further comprises a stepping motor, a coupler, a screw rod and a bearing seat; the stepping motor and the bearing seat are arranged on the bottom plate, one end of the screw rod is connected with an output shaft of the stepping motor through a coupler, and the other end of the screw rod is connected with the bearing seat; the spring frame is in threaded connection with the screw rod.

6. The active nonlinear broadband vibration absorber according to claim 5, wherein: the spring frame comprises a nut seat, a vertical plate and a horizontal column, the bottom end of the vertical plate is connected with the nut seat, the horizontal column is connected to the side face of the vertical plate, and the spring frame is in threaded connection with the lead screw through the nut seat.

7. The active nonlinear broadband vibration absorber according to claim 1, wherein: the anti-tilting mechanism comprises a spring piece and a leaf spring support, wherein one end of the spring piece is connected with the bottom surface of the second mounting seat, the other end of the spring piece is connected with the leaf spring support, and the leaf spring support is connected to the bottom plate; and the pair of anti-tilting components are symmetrically arranged at two sides of the second mounting seat and are vertically arranged with the adjusting mechanism.

8. The active nonlinear broadband vibration absorber according to claim 5, wherein: the device also comprises a stepping motor driver, a controller, an acceleration sensor and a displacement sensor; the displacement sensor is fixed on the bottom plate and used for acquiring a displacement signal of the main system; the acceleration sensor is used for acquiring an acceleration signal of external excitation; the controller analyzes and processes the collected acceleration signal and displacement signal, and transmits a control signal to the stepping motor driver to realize the control of the stepping motor.

9. A method for controlling an active nonlinear broadband vibration absorber according to any one of claims 1 to 8, comprising the steps of:

s1: obtaining three main system frequency response curves according to the stiffness coefficient and the initial length of the horizontal spring, the stiffness coefficient, the mass ratio and the damping ratio of the vertical elastic part;

s2: dividing the excitation frequency into four sections by taking an abscissa value corresponding to an intersection point between the three frequency response curves as a frequency control threshold, and storing section data in a controller;

s3: the external excitation acceleration of the main system is obtained in real time through an acceleration sensor, Fourier transform is carried out through a controller, the interval of the external excitation acceleration is judged, and the external excitation acceleration is output to a stepping motor driver after data processing;

s4: the stepping motor driver receives a signal of the controller, and controls the stepping motor to work to change the nonlinear stiffness of the horizontal spring in the vertical direction, so that the main system is positioned in a corresponding frequency response curve;

s5: and judging whether the displacement of the main system correspondingly meets the expected requirement or not through the data of the displacement sensor, if so, finishing the step, and if not, jumping to S1.

10. The method as claimed in claim 8, wherein the number of frequency response curves is set according to actual conditions, and the frequency response curves are divided according to the intersection point of each frequency response curve to obtain a plurality of different frequency intervals.

Technical Field

The invention relates to the technical field of vibration control, in particular to an active nonlinear broadband vibration absorber and a regulation and control method thereof.

Background

For precision instruments and equipment, vibration can reduce the precision and smoothness of machining, increase the fatigue wear of components, and affect the quality and production efficiency of products. In order to reduce the harm caused by vibration, the vibration absorber is always the key point of research in the engineering field. The vibration absorber can be divided into an active type and a passive type according to whether external energy is required to be provided during working, and the active type vibration absorber can change the vibration absorption frequency range of the active type vibration absorber according to the change of external excitation frequency and can adapt to more complex working conditions. The domestic patent No. 200510094882.3 discloses a frequency-shift vibration absorber of a magnetorheological elastomer and a control method thereof, and the working principle is that the elastic modulus of the magnetorheological elastomer is changed under the action of a changing magnetic field, so as to control the rigidity of the magnetorheological elastomer and realize the adjustment of the natural frequency of the vibration absorber. Although the above patent can realize broadband vibration absorption in a certain frequency range, the vibration absorption of the main system is completed by using a linear system, which results in that a coupling system formed by the vibration absorber system and the main system has two natural frequencies, thereby leading to introducing new resonance peaks at two sides near the resonance frequency of the original system and reducing the vibration absorption effect of the vibration absorber.

Disclosure of Invention

Therefore, the technical problem to be solved by the present invention is to overcome the above-mentioned defects in the prior art, and to provide an active nonlinear broadband vibration absorber and a method for adjusting and controlling the same.

The invention provides an active nonlinear broadband vibration absorber, which comprises a bottom plate and a vibration absorbing module, wherein the bottom plate is provided with a plurality of grooves; the vibration absorption module comprises a supporting mechanism, a vibration absorption mass block and an adjusting mechanism, the supporting mechanism comprises a first mounting seat, a vertical elastic piece and a second mounting seat, the first mounting seat is arranged on the bottom plate, one end of the vertical elastic piece is connected with the first mounting seat, the other end of the vertical elastic piece is connected with the second mounting seat, the vibration absorption mass block is arranged on the second mounting seat, the adjusting mechanism comprises a horizontal elastic piece, the adjusting mechanism is arranged on the bottom plate, the horizontal elastic piece is connected with the second mounting seat, and the adjusting mechanism is used for generating a nonlinear force in the vertical direction so as to dynamically adjust the rigidity of the supporting mechanism; the vibration absorption module is connected with the main system through the bottom plate.

The first mounting seat comprises a seat plate and a guide post, and is detachably connected with the bottom plate through the seat plate; the second mounting seat comprises a top plate and a bottom column, and a threaded hole is formed in the top plate; the vertical elastic part is a spring, one end of the vertical elastic part is sleeved on the guide pillar, and the other end of the vertical elastic part is sleeved outside the bottom pillar; the vibration absorption mass block is connected to the threaded hole of the top plate through a screw rod.

The bottom plate is a rectangular plate, the supporting mechanism is arranged at the center of the length direction of the bottom plate, and the pair of adjusting mechanisms are symmetrically arranged on two sides of the supporting mechanism.

The adjusting mechanism comprises a horizontal spring and a stroke adjusting component; the stroke adjusting assembly comprises a spring frame, and the spring frame reciprocates along the water direction; one end of the horizontal spring is connected with the second mounting seat, and the other end of the horizontal spring is connected with the spring frame.

The stroke adjusting assembly further comprises a stepping motor, a coupler, a screw rod and a bearing seat; the stepping motor and the bearing seat are arranged on the bottom plate, one end of the screw rod is connected with an output shaft of the stepping motor through a coupler, and the other end of the screw rod is connected with the bearing seat; the spring frame is in threaded connection with the screw rod.

The spring frame comprises a nut seat, a vertical plate and a horizontal column, the bottom end of the vertical plate is connected with the nut seat, the horizontal column is connected to the side face of the vertical plate, and the spring frame is in threaded connection with the lead screw through the nut seat.

In one embodiment, the anti-tilting assembly comprises a spring plate and a spring plate bracket, wherein one end of the spring plate is connected with the bottom surface of the second mounting seat, and the other end of the spring plate is connected with the spring plate bracket which is connected to the bottom plate; and the pair of anti-tilting components are symmetrically arranged at two sides of the second mounting seat and are vertically arranged with the adjusting mechanism.

In one embodiment, it further comprises a stepper motor driver, a controller, an acceleration sensor, and a displacement sensor; the displacement sensor is fixed on the bottom plate and used for acquiring a displacement signal of the main system; the acceleration sensor is used for acquiring an acceleration signal of external excitation; the controller analyzes and processes the collected acceleration signal and displacement signal, and transmits a control signal to the stepping motor driver to realize the control of the stepping motor.

The invention also provides a regulation and control method of the active nonlinear broadband vibration absorber, which comprises the following steps:

s1: obtaining three main system frequency response curves according to the stiffness coefficient and the initial length of the horizontal spring, the stiffness coefficient, the mass ratio and the damping ratio of the vertical elastic part;

s2: dividing the excitation frequency into four sections by taking an abscissa value corresponding to an intersection point between the three frequency response curves as a frequency control threshold, and storing section data in a controller;

s3: the external excitation acceleration of the main system is obtained in real time through an acceleration sensor, Fourier transform is carried out through a controller, the interval of the external excitation acceleration is judged, and the external excitation acceleration is output to a stepping motor driver after data processing;

s4: the stepping motor driver receives a signal of the controller, and controls the stepping motor to work to change the nonlinear stiffness of the horizontal spring in the vertical direction, so that the main system is positioned in a corresponding frequency response curve;

s5: and judging whether the displacement of the main system correspondingly meets the expected requirement or not through the data of the displacement sensor, if so, finishing the step, and if not, jumping to S1.

The number of the frequency response curves is set according to the requirements of actual working conditions, and the frequency curves are divided according to the intersection point of each frequency response curve to obtain a plurality of different frequency intervals.

The invention provides an active nonlinear broadband vibration absorber and a regulation and control method thereof. By adopting the nonlinear vibration absorption, the response peak value of the main system at the resonant frequency can be effectively inhibited, and new resonant peaks at two sides of the resonant frequency are eliminated without influencing frequency response curves at other frequencies. The vibration absorber can also track external excitation frequency, has a good suppression effect on the displacement response of the main system all the time by dynamically adjusting the rigidity of the vibration absorber, achieves the effect of broadband vibration absorption, and is simple in structure and convenient to control.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a perspective view of a first preferred embodiment of the present invention.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a schematic layout of a second preferred embodiment of the present invention.

Fig. 4 is a schematic diagram of the present invention.

Fig. 5 is a division diagram of the excitation frequency interval of the main system according to the present invention.

Fig. 6 is a flowchart of a method for controlling an active nonlinear broadband vibration absorber according to the present invention.

Reference numerals:

1. a base plate;

2. a support mechanism; 21. a first mounting seat; 22. a vertical elastic member; 23. a second mounting seat;

3. a vibration absorbing mass block;

4. an adjustment mechanism; 41. a horizontal spring; 42. a stroke adjustment assembly; 421. a spring holder; 422. a stepping motor; 423. a coupling; 424. a screw rod; 425. a bearing seat;

5. an anti-roll assembly; 51. a spring plate; 52. a leaf spring bracket;

6. a stepper motor driver;

7. a controller;

8. an acceleration sensor;

9. and a displacement sensor.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example 1

As shown in fig. 1, the present embodiment provides an active nonlinear broadband vibration absorber, which includes a base plate 1 and a vibration absorbing module, wherein the vibration absorbing module includes a supporting mechanism 2, a vibration absorbing mass 3, an adjusting mechanism 4 and an anti-roll assembly 5.

In practice, the bottom plate 1 may be designed as a rectangular plate, the bottom surface of which is used to connect with the main system and the top surface of which is used to mount the vibration absorbing module.

As shown in fig. 1 and 2, the vibration absorbing module includes a supporting mechanism 2, a vibration absorbing mass 3, an adjusting mechanism 4, and an anti-roll component 5, the supporting mechanism 2 is disposed in the length direction of the base plate 1, the vibration absorbing mass 3 is mounted on the top of the supporting mechanism 2, a pair of adjusting mechanisms 4 are symmetrically disposed on both sides of the supporting mechanism 2 along the X axis, and a pair of anti-roll components 5 are symmetrically disposed on both sides of the supporting mechanism 2 along the Y axis.

The support mechanism 2 includes a first mount 21, a vertical elastic member 22, and a second mount 23. The first mounting seat 21 comprises a seat plate and a guide post, and the first mounting seat is locked with the bottom plate through a fastener; the second mounting seat 23 comprises a top plate and a bottom column, and a threaded hole is formed in the top plate; the vertical elastic member 22 is a spring, one end of which is sleeved on the guide post and is fixedly connected with the seat plate, and the other end of which is sleeved outside the bottom post and is fixedly connected with the top plate. The vibration absorbing mass block 3 is connected with the threaded hole of the top plate through a screw rod.

The adjustment mechanism 4 includes a horizontal spring 41 and a stroke adjustment assembly 42. One end of the horizontal spring is connected to the second mounting seat 23, and the other end is connected to the stroke adjustment assembly 42. The stroke adjusting assembly 42 comprises a spring frame 421, a stepping motor 422, a coupler 423, a screw rod 424 and a bearing block 425; the stepping motor 422 and the bearing seat 425 are installed on the base plate 1, one end of the screw rod 424 is connected with an output shaft of the stepping motor 422 through the coupling 423, and the other end of the screw rod is connected with the bearing seat 425. The spring frame 421 includes a nut seat, a vertical plate and a horizontal column, the bottom end of the vertical plate is connected to the nut seat, the horizontal column is connected to the side surface of the vertical plate, the spring frame is in threaded connection with the lead screw 424 through the nut seat, and is connected to the horizontal spring 41 through the horizontal column and the vertical plate. When the adjustment mechanism is specifically arranged, the pair of adjustment mechanisms are respectively arranged on the left side and the right side of the second mounting seat 23, so as to generate a nonlinear force in the vertical direction.

The anti-roll assembly 5 comprises a spring plate 51 and a leaf spring bracket 52, wherein one end of the spring plate 51 is connected with the bottom surface of the second mounting seat 23, the other end of the spring plate is connected with the leaf spring bracket, and the leaf spring bracket 52 is connected with the bottom plate; the pair of anti-roll components 5 are symmetrically arranged at two sides of the second mounting seat 23 to prevent the vibration absorbing mass block 3 from inclining forwards and backwards in the working state, so that the working stability of the vibration absorber is ensured.

In the initial state, the horizontal springs and the leaf springs on the two sides are in the horizontal state, are parallel to the bottom plate and are not bent in the vertical direction. When the rigidity-adjustable vibration absorption module is in an initial state, the spring frames are perpendicular to the base plate.

After the embodiment is put into use, when the stepping motor on the right side rotates, the stepping motor can drive the screw rod on the side and the coupler to rotate. At this time, the spring frame can perform a translational movement to the left or the right (the translational direction is related to the rotation direction of the right stepping motor), so that the horizontal spring on the side is stretched or compressed. The left adjustment mechanism functions in the same manner as the right.

The adjustment of the nonlinear force of the system is realized, the rigidity of the vibration absorber is further dynamically adjusted, and the adjustment of the working frequency range of the vibration absorber is completed. By adopting the nonlinear vibration absorption, the response peak value of the main system at the resonant frequency can be effectively inhibited, and new resonant peaks at two sides of the resonant frequency are eliminated without influencing frequency response curves at other frequencies. The invention can realize the tracking of the external excitation frequency, and the vibration absorber has a good inhibition effect on the displacement response of the main system all the time by dynamically adjusting the rigidity of the vibration absorber, thereby achieving the effect of broadband vibration absorption, and having simple structure and convenient control.

Example 2

As shown in fig. 3, in this embodiment, a control module is added on the basis of the first embodiment. The control module comprises a stepping motor driver 6, a controller 7, an acceleration sensor 8 and a displacement sensor 9, the acceleration sensor 8 is connected with external environment excitation, the controller 7 is connected with the acceleration sensor 8, the stepping motor driver 6 is connected with the controller 7, and the stepping motor is respectively connected with the stepping motor driver 6. The displacement sensor 9 is used for collecting displacement signals of the main system, the acceleration sensor 8 is used for collecting acceleration signals of external excitation, the controller 7 analyzes and processes the collected acceleration signals and displacement signals, and control signals are transmitted to the stepping motor driver 6 to control the stepping motor.

Example 3

The embodiment provides a method for adjusting and controlling an active nonlinear broadband vibration absorber, as shown in fig. 4, 5, and 6, the method includes the following steps:

s1: obtaining three main system frequency response curves according to the stiffness coefficient and the initial length of the left horizontal spring, the stiffness coefficient and the initial length of the right horizontal spring, and the stiffness coefficient, the mass ratio and the damping ratio of the vertical elastic part;

s2: dividing the excitation frequency into four sections by taking an abscissa value corresponding to an intersection point between the three frequency response curves as a frequency control threshold, and storing section data in a controller;

s3: the external excitation acceleration of the main system is obtained in real time through an acceleration sensor, Fourier transform is carried out through a controller, the interval of the external excitation acceleration is judged, and the external excitation acceleration is output to a stepping motor driver after data processing;

s4: the stepping motor driver receives the signal of the controller and controls the two stepping motors to rotate corresponding ring speeds according to corresponding directions, so that the nonlinear stiffness of the two horizontal springs in the vertical direction is changed, and the main system is positioned in a corresponding frequency response curve.

S5: and judging whether the displacement of the main system correspondingly meets the expected requirement or not through the data of the displacement sensor, if so, finishing the step, and if not, jumping to S1.

The number of the frequency response curves can be set according to the requirements of actual working conditions, and the frequency curves are divided according to the intersection point of each frequency response curve to obtain a plurality of different frequency intervals.

In this example, the parameters selected are shown in the following table:

the interval section data comprises four frequency intervals: [0, 2.5], [2.5, 7], [7, 11], [11, 17.5 ]. The rotation numbers of the left stepping motor and the right stepping motor are respectively A1, A2, A3 and A4, and the rotation directions are B1, B2, B3 and B4. The number of the frequency response curves can be set according to the requirements of actual working conditions, each frequency response curve is provided with the rotation turns and the direction of the left-side stepping motor and the right-side stepping motor which correspond to the frequency response curves, and then the frequency response curves are divided according to the intersection points of the frequency response curves. Therefore, according to the proposed steps, a plurality of different frequency intervals and corresponding rotation turns and directions of the stepping motor can be obtained according to the working condition requirements.

The vibration absorber can acquire an acceleration signal of external excitation through an acceleration sensor in an actual working environment, then the acceleration signal is subjected to Fourier transform processing in a controller to obtain main frequency components of the external excitation, a main system frequency response curve is selected according to a divided frequency interval, control signals corresponding to the number of turns and the direction of a stepping motor are output to a stepping motor driver, the stepping motor driver is used for controlling the stepping motor, meanwhile, a displacement sensor is used for acquiring the displacement response of the main system, the controller judges whether the displacement response of the main system meets expected requirements or not, and if not, the frequency response curve is selected again according to the divided frequency interval.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.