阅读说明：本技术 减振执行器 (Vibration damping actuator ) 是由 白先旭 吕壮壮 于 2021-10-22 设计创作，主要内容包括：本说明书提供的减振执行器,利用磁体系统或弹簧系统将可控大小的负刚度特性引入到半主动系统中,从而在半主动执行器(可控阻尼执行器)的基础上耦合可控负刚度执行器。所述减振执行器基于半主动执行器(可控阻尼执行器)与可控负刚度执行器的耦合集成,来实现主动执行器的四象限力学特性,在保证半主动执行器(可控阻尼执行器)振动控制系统低功耗、低成本、稳定可靠和结构简单的基础上,提高半主动系统的减振效果,将半主动系统隔离振动的效果提高到了接近主动系统的水平。(The vibration reduction actuator provided by the specification utilizes a magnet system or a spring system to introduce the negative stiffness characteristic with controllable magnitude into a semi-active system, so that a controllable negative stiffness actuator is coupled on the basis of the semi-active actuator (controllable damping actuator). The vibration reduction actuator realizes the four-quadrant mechanical property of the active actuator based on the coupling integration of the semi-active actuator (controllable damping actuator) and the controllable negative stiffness actuator, improves the vibration reduction effect of the semi-active system on the basis of ensuring the low power consumption, low cost, stability, reliability and simple structure of the vibration control system of the semi-active actuator (controllable damping actuator), and improves the vibration isolation effect of the semi-active system to the level close to that of the active system.)

1. A vibration damping actuator comprising:

the controllable damping actuator is used for realizing the adjustment of damping based on a control signal of the control system during operation; and

and the controllable negative stiffness actuator is connected with the controllable damping actuator, and the adjustment of the negative stiffness is realized at least based on the control signal during the operation.

2. The vibration reducing actuator of claim 1 operatively connecting a first object and a second object, wherein when said first object vibrates in a vibration direction relative to said second object,

the controllable damping actuator applies a damping force to the first and second objects, the controllable negative stiffness actuator applies an additional force to the first and second objects, the damping force being in an opposite direction to the additional force, and

and the vibration reduction actuator adjusts the magnitudes of the damping and the negative stiffness based on the control signal, so that the resultant force of the damping force and the additional force is the same as or opposite to the vibration direction.

3. The vibration damping actuator of claim 1 wherein said controllable damping actuator comprises at least one of an electro/magneto rheological shock absorber, an electronically controlled valve shock absorber, an energy regenerative shock absorber, an air spring and a semi-active inerter.

4. The vibration damping actuator of claim 1 wherein the controllable negative stiffness actuator comprises a controllable negative stiffness assembly comprising at least one of:

a magnetic mechanism that adjusts magnitude and direction of a magnetic field based on the control signal to form and adjust the negative stiffness in a direction of vibration when operating; and

the controllable negative stiffness spring mechanism comprises at least one spring with controllable stiffness distributed at a preset included angle with the vibration direction, so that the negative stiffness is formed in the vibration direction, and the negative stiffness is adjusted based on the control signal during operation.

5. The vibration reducing actuator of claim 4 wherein the magnetic mechanism comprises:

the magnetic pole distribution direction of the first magnetic device is parallel to the vibration direction; and

the second magnetic device is connected with the first magnetic device in a sliding mode along the vibration direction and is consistent with the magnetic pole distribution direction of the first magnetic device,

at least one of the first magnetic device and the second magnetic device is an electromagnet, and the electromagnet changes the magnitude and the direction of a magnetic field based on the control signal when in operation, so that the adjustment of the negative stiffness is realized.

6. The vibration reducing actuator of claim 5 wherein said first magnetic means comprises:

two magnetic bodies which are fixedly connected and are oppositely arranged at intervals along the vibration direction, the magnetic poles are distributed in the same direction,

and the second magnetic device is positioned between the two magnetic bodies, mutually attracts the two magnetic bodies along the vibration direction, and moves between the two magnetic bodies, when the second magnetic device is positioned at the central position of the two magnetic bodies, the second magnetic device is in a balance position, the resultant force of the two magnetic bodies on the second magnetic device is zero, and when the second magnetic device vibrates and deviates from the balance position along the vibration direction relative to the two magnetic bodies, the resultant force of the two magnetic bodies on the second magnetic device is consistent with the vibration direction of the second magnetic device, so that the magnetic mechanism has the negative stiffness.

7. The vibration damping actuator according to claim 6 wherein both of said two magnetic bodies are permanent magnets and said second magnetic means is said electromagnet.

8. The vibration reducing actuator of claim 5 wherein said first magnetic means comprises:

at least one circular magnetic body which is fixedly connected and arranged oppositely at intervals along the vibration direction, and the magnetic poles are distributed in the same direction,

the second magnetic device is positioned in the ring of the at least one annular magnetic body and is coaxial with the ring, the second magnetic device and the first magnetic device attract each other along the radial direction of the ring, when the center of the second magnetic device in the vibration direction is consistent with the center of the first magnetic device in the vibration direction, the second magnetic device is in a balance position, the resultant force of the first magnetic device on the second magnetic device is zero, and when the second magnetic device vibrates and deviates from the balance position along the vibration direction relative to the first magnetic device, the resultant force of the first magnetic device on the second magnetic device is consistent with the vibration direction of the second magnetic device, so that the magnetic mechanism has the negative stiffness.

9. The vibration reducing actuator according to claim 8 wherein said at least one annular magnetic body is a permanent magnet and said second magnetic means is said electromagnet.

10. The vibration damping actuator according to claim 4 wherein said controllable negative stiffness actuator further comprises:

a first cylinder; and

a first piston rod slidably connected to the first cylinder in the vibration direction,

wherein the controllable negative stiffness assembly is connected with the first cylinder and the first piston rod respectively.

11. The vibration damping actuator as set forth in claim 10 wherein said controllable damping actuator comprises:

a second cylinder containing damping fluid;

the second piston is positioned in the second cylinder body and is in sliding connection with the second cylinder body along the vibration direction, and the first cylinder body and the first piston rod are respectively connected with the second cylinder body and the second piston; and

and the controllable damping assembly is connected with at least one of the second cylinder and the second piston, and realizes the adjustment of the damping based on the control signal during operation, and when the second piston and the second cylinder vibrate relatively, the controllable damping assembly applies a damping force with controllable magnitude opposite to the vibration direction of the second cylinder and the second piston to the second cylinder and the second piston.

12. The vibration reducing actuator of claim 11 wherein the damping fluid is a magnetorheological fluid and the controllable damping assembly comprises:

an electromagnetic coil mounted on the second cylinder or the second piston, electrically connected to the control system when in operation, and controlling a current passing through the electromagnetic coil based on the control signal,

when the controllable damping component operates, the current passing through the electromagnetic coil is controlled based on the control signal, so that the strength of a magnetic field is controlled, the viscosity and the fluidity of the magnetorheological fluid are changed, and the damping is adjusted.

13. The vibration damping actuator of claim 12 wherein said controllable damping assembly further comprises:

and the iron core is arranged in the electromagnetic induction coil.

14. The vibration damping actuator of claim 12 wherein said controllable damping assembly further comprises:

and the coil support comprises a wire slot, and the electromagnetic coil is wound in the wire slot.

15. The vibration reducing actuator of claim 12 wherein said electromagnetic coil is mounted on said second piston and is opposed to said second cylinder in a direction perpendicular to said direction of vibration, and wherein a magnetorheological fluid gap exists between said second piston and said second cylinder.

16. The vibration damping actuator according to claim 12, wherein said electromagnetic coil is mounted on said second piston and opposed to said second cylinder in said vibration direction;

the controllable damping assembly further includes a base plate mounted on the second cylinder opposite the electromagnetic coil.

17. The vibration damping actuator of claim 12 wherein said electromagnetic coil is mounted on said second cylinder;

the controllable damping assembly further includes a bottom plate mounted on the second cylinder opposite the second piston.

18. The vibration damping actuator of claim 11 wherein said controllable damping assembly comprises:

an electric control valve arranged on the second piston and electrically connected with the control system during operation,

when the second piston vibrates relative to the second cylinder body along the vibration direction, the damping liquid flows back and forth on two sides of the second piston through the electric control valve, and the control system controls the current passing through the electric control valve based on the control signal so as to adjust the damping.

19. The vibration reducing actuator of claim 4 wherein the controllable negative rate spring mechanism comprises:

the first spring is arranged along the vibration direction and comprises a first end and a second end;

the second spring is arranged along the direction which forms the preset angle with the vibration direction, one end of the second spring is connected with the first end, and the other end of the second spring is fixedly connected with the second end; and

a third spring which is arranged symmetrically with the second spring, one end of the third spring is connected with the first end, the other end of the third spring is fixedly connected with the second end,

the preset angle is a right angle or an acute angle, at least one of the second spring and the third spring is the spring with controllable stiffness, the spring is electrically connected with the control system during operation, when the second spring and the third spring are compressed to a direction perpendicular to the vibration direction, only the first spring provides bearing force in the vibration direction, the second spring and the third spring can provide the negative stiffness in the vibration direction, and the control system controls the spring stiffness of the controllable stiffness based on the control signal to realize adjustment of the negative stiffness.

20. The vibration damping actuator of claim 1 wherein said controllable negative stiffness actuator, when operated, further effects adjustment of a positive stiffness and said positive stiffness based on said control signal.

Technical Field

The present description relates to the field of vibration control and isolation, and in particular, to a vibration reduction actuator.

Background

When a human or an object is in a vibration environment for a long time, the vibration environment may adversely affect the human or the object. Especially, in the driving process of the vehicle, the excessive vibration amplitude and vibration acceleration not only affect the physical health of users in the vehicle, but also can damage the building or bridge structure, and reduce the safety and service life of the building or bridge structure. Therefore, it is important to reduce the influence of vibration. Vibration reduction systems are commonly employed in the prior art to reduce and isolate vibrations. Common damping systems are divided into passive systems, semi-active systems and active systems. The passive system has simple structure and low cost, but the self parameters can not be adjusted, the vibration reduction effect is poorer, and the passive system is only optimal under a certain specific condition, so the use scene is limited. The active system can generate acting force with adjustable size and direction, can realize mechanical control in four quadrant ranges in a force-excitation velocity diagram, and has good vibration damping performance. But the active system is difficult to popularize due to the factors of large energy consumption, complex structure, overhigh cost and the like. The semi-active system is arranged between the passive system and the active system, has the advantages of adjustable parameters and good vibration damping performance compared with the passive system, has the advantages of simple structure, high reliability, low power consumption, low cost and the like compared with the active system, and has wide application prospect.

However, in the prior art, the semi-active system adopts the damping adjustable shock absorber as the semi-active actuator, which can only realize the adjustment of the damping force and cannot realize the adjustment of the direction of the damping force. Therefore, the semi-active system can only provide controllable mechanical properties in a limited range in the first quadrant and the third quadrant of the force-excitation velocity diagram, and cannot realize the reverse forces in the second quadrant and the fourth quadrant, so that the semi-active system cannot realize the optimal performance in a full frequency band, and the damping performance is also inferior to that of the active system.

Therefore, it is necessary to provide a new vibration damping actuator with simple structure, low power consumption and high vibration damping performance, which has the advantages of high reliability, simple structure and low energy consumption of the semi-active actuator, and also has the advantage of high vibration damping performance of the active actuator.

Disclosure of Invention

The present specification provides a new vibration damping actuator having a simple structure, low power consumption and high vibration damping performance.

The present specification provides a vibration damping actuator, including a controllable damping actuator and a controllable negative stiffness actuator, where the controllable damping actuator realizes the adjustment of damping based on a control signal of a control system when operating; the controllable negative stiffness actuator is connected with the controllable damping actuator, and the adjustment of the negative stiffness is realized at least based on the control signal during operation.

In some embodiments, the vibration reduction actuator is operatively connected to a first object and a second object, the controllable damping actuator applies a damping force to the first object and the second object when the first object vibrates in a vibration direction relative to the second object, the controllable negative stiffness actuator applies an additional force to the first object and the second object, the damping force being in an opposite direction to the additional force, and the vibration reduction actuator adjusts the magnitudes of the damping and the negative stiffness based on the control signal such that the combined force of the damping force and the additional force is in the same or opposite direction to the vibration direction.

In some embodiments, the controllable damping actuator comprises at least one of an electro/magneto-rheological shock absorber, an electronically controlled valve shock absorber, a regenerative shock absorber, an air spring, and a semi-active inerter.

In some embodiments, the controllable negative stiffness actuator comprises a controllable negative stiffness assembly comprising at least one of a magnetic mechanism and a controllable negative stiffness spring mechanism, the magnetic mechanism operative to adjust a magnitude and direction of a magnetic field based on the control signal to create and adjust the negative stiffness in a direction of vibration; the controllable negative stiffness spring mechanism comprises at least one spring with controllable stiffness, wherein the spring with controllable stiffness is distributed in a preset included angle with the vibration direction, so that the negative stiffness is formed in the vibration direction, and the negative stiffness is adjusted based on the control signal during operation.

In some embodiments, the magnetic mechanism comprises a first magnetic device and a second magnetic device, and the magnetic pole distribution direction of the first magnetic device is parallel to the vibration direction; the second magnetic device is connected with the first magnetic device in a sliding mode along the vibration direction and is consistent with the magnetic pole distribution direction of the first magnetic device, at least one of the first magnetic device and the second magnetic device is an electromagnet, and the size and the direction of a magnetic field are changed based on the control signal when the electromagnet operates, so that the negative stiffness is adjusted.

In some embodiments, the first magnetic device comprises two magnetic bodies fixedly connected and arranged at intervals along the vibration direction, the magnetic poles are distributed in the same direction, the second magnetic device is positioned between the two magnetic bodies, mutually attracting the two magnetic bodies along the vibration direction and moving between the two magnetic bodies, when the second magnetic device is positioned at the central position of the two magnetic bodies, the second magnetic device is in a balance position, the resultant force of the two magnetic bodies to the second magnetic device is zero, when the second magnetic device vibrates in the vibration direction with respect to the two magnetic bodies away from the equilibrium position, the resultant force of the two magnetic bodies on the second magnetic device coincides with the vibration direction of the second magnetic device, so that the magnetic mechanism has the negative stiffness.

In some embodiments, the two magnetic bodies are both permanent magnets and the second magnetic device is the electromagnet.

In some embodiments, the first magnetic device includes at least one annular magnetic body, the at least one annular magnetic body is fixedly connected and disposed at an interval along the vibration direction, and the magnetic poles are distributed in the same direction, the second magnetic device is located in the ring of the at least one annular magnetic body and is coaxial with the ring, the second magnetic device and the first magnetic device attract each other along the radial direction of the ring, when the center of the second magnetic device in the vibration direction is the same as the center of the first magnetic device in the vibration direction, the second magnetic device is in a balanced position, the resultant force of the first magnetic device on the second magnetic device is zero, and when the second magnetic device vibrates in the vibration direction relative to the first magnetic device and deviates from the balanced position, the resultant force of the first magnetic means on the second magnetic means is in accordance with the vibration direction of the second magnetic means, thereby giving the magnetic mechanism the negative stiffness.

In some embodiments, the at least one annular magnetic body is a permanent magnet and the second magnetic device is the electromagnet.

In some embodiments, the controllable negative stiffness actuator further comprises a first cylinder and a first piston rod, the first piston rod is connected with the first cylinder in a sliding manner along the vibration direction, wherein the controllable negative stiffness assembly is respectively connected with the first cylinder and the first piston rod.

In some embodiments, the controllable damping actuator comprises a second cylinder containing a damping fluid, a second piston, and a controllable damping assembly; the second piston is positioned in the second cylinder body and is in sliding connection with the second cylinder body along the vibration direction, wherein the first cylinder body and the first piston rod are respectively connected with the second cylinder body and the second piston; the controllable damping assembly is connected with at least one of the second cylinder and the second piston, and realizes the adjustment of the damping based on the control signal during operation, and when the second piston and the second cylinder vibrate relatively, the controllable damping assembly applies a damping force with controllable magnitude opposite to the vibration direction of the second cylinder and the second piston.

In some embodiments, the damping fluid is a magnetorheological fluid, the controllable damping assembly includes an electromagnetic coil, and the electromagnetic coil is mounted on the second cylinder or the second piston, and is electrically connected to the control system during operation, and controls the current passing through the electromagnetic coil based on the control signal, wherein the controllable damping assembly controls the current passing through the electromagnetic coil based on the control signal during operation, so as to control the strength of the magnetic field, change the viscosity and the fluidity of the magnetorheological fluid, and further realize the adjustment of the damping.

In some embodiments, the controllable damping assembly further comprises a core mounted within the electromagnetic coil.

In some embodiments, the controllable damping assembly further comprises a coil support comprising a wire slot in which the electromagnetic coil is wound.

In some embodiments, the electromagnetic coil is mounted on the second piston and is opposite to the second cylinder in a direction perpendicular to the vibration direction, and a magnetorheological fluid gap exists between the second piston and the second cylinder.

In some embodiments, the electromagnetic coil is mounted on the second piston and is opposed to the second cylinder in the vibration direction; the controllable damping assembly further includes a base plate mounted on the second cylinder opposite the electromagnetic coil.

In some embodiments, the solenoid is mounted on the second cylinder; the controllable damping assembly further includes a bottom plate mounted on the second cylinder opposite the second piston.

In some embodiments, the controllable damping assembly includes an electronic control valve mounted on the second piston and electrically connected to the control system during operation, and when the second piston vibrates in the vibration direction relative to the second cylinder, the damping fluid flows back and forth on both sides of the second piston through the electronic control valve, and the control system controls the current passing through the electronic control valve based on the control signal, thereby adjusting the damping.

In some embodiments, the controllable negative rate spring mechanism comprises a first spring, a second spring, and a third spring, the first spring disposed along the vibration direction and comprising a first end and a second end; the second spring is arranged along the direction which forms the preset angle with the vibration direction, one end of the second spring is connected with the first end, and the other end of the second spring is fixedly connected with the second end; the third spring and the second spring are symmetrically arranged, one end of the third spring is connected with the first end, the other end of the third spring is fixedly connected with the second end, the preset angle is a right angle or an acute angle, at least one of the second spring and the third spring is the spring with controllable stiffness, the third spring is electrically connected with the control system during operation, when the second spring and the third spring are compressed to a direction perpendicular to the vibration direction, only the first spring provides bearing force in the vibration direction, the second spring and the third spring can provide negative stiffness in the vibration direction, and the control system controls the spring stiffness of the controllable stiffness based on the control signal to realize adjustment of the negative stiffness.

In some embodiments, the controllable negative stiffness actuator, when operated, further effects adjustment of positive stiffness and the positive stiffness based on the control signal.

According to the technical scheme, the vibration reduction actuator provided by the specification utilizes a magnet system or a spring system to introduce the negative stiffness characteristic with controllable magnitude into a semi-active system, so that the controllable negative stiffness actuator is coupled on the basis of the semi-active actuator (controllable damping actuator). The vibration reduction actuator realizes the four-quadrant mechanical property of the active actuator based on the coupling integration of the semi-active actuator (controllable damping actuator) and the controllable negative stiffness actuator, improves the vibration reduction effect of the semi-active system on the basis of ensuring the low power consumption, low cost, stability, reliability and simple structure of the vibration control system of the semi-active actuator (controllable damping actuator), and improves the vibration isolation effect of the semi-active system to the level close to that of the active system. The vibration reduction actuator is a pseudo-active actuator which can achieve an active control effect on the structure of a semi-active actuator.

The vibration reduction actuator can achieve the following beneficial effects:

1. the vibration reduction actuator provided by the specification forms a controllable negative stiffness actuator by combining a group of magnetic devices or springs arranged in the same pole, so that a negative stiffness characteristic related to a stroke is introduced, the negative stiffness characteristic is combined with a semi-active system such as a magneto-rheological damper, and the like, and the combined vibration reduction actuator can generate a driving force by itself, so that the vibration reduction performance of the combined vibration reduction actuator is higher than that of the semi-active system;

2. the controllable negative stiffness actuator of the vibration reduction actuator provided by the specification can obtain the negative stiffness with controllable magnitude by changing the current magnitude in the electromagnet or changing the spring stiffness in the spring system, so that the controllability of the vibration reduction actuator is further improved, and the vibration control effect is improved; the controllable negative stiffness actuators with different structures are combined with the semi-active system to form various structural forms of the vibration reduction actuator, and the application field of the vibration reduction actuator is expanded;

3. the vibration reduction actuator provided by the specification has the vibration reduction effect close to that of an active system, and has lower energy consumption and cost than the active system, so that the vibration reduction actuator works more stably and reliably; compared with a common semi-active system, the vibration isolation effect of the vibration attenuation actuator is obviously improved, so that the vibration attenuation actuator can be suitable for more scenes, including the vibration isolation of certain objects sensitive to vibration;

4. the negative stiffness characteristic introduced into the vibration reduction actuator provided by the specification can adjust the overall stiffness of the vibration isolation system, so that the effective frequency range of vibration reduction is expanded;

5. the vibration reduction actuator provided by the specification is compact in structure, convenient to install, convenient to apply and popularize, and capable of being improved on the basis of a semi-active system (such as a magneto-rheological vibration absorber, a controllable electric control valve type vibration absorber and the like) of an existing vehicle, so that the vibration reduction performance of a vehicle suspension system is improved.

Other functions of the vibration damping actuator provided in the present specification will be partially set forth in the following description. The following numerical and exemplary descriptions will be readily apparent to those of ordinary skill in the art in view of the description. The inventive aspects of the vibration reducing actuators provided herein can be fully explained by the practice or use of the methods, devices and combinations described in the detailed examples below.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 illustrates a schematic diagram of the operation of a vibration damping actuator provided in accordance with an embodiment of the present disclosure;

FIG. 2 illustrates a force versus excitation speed diagram provided in accordance with embodiments herein;

FIG. 3A illustrates a simplified structural diagram of a vibration damping actuator provided in accordance with embodiments herein;

FIG. 3B illustrates a simplified structural diagram of another damping actuator provided in accordance with embodiments herein;

FIG. 3C illustrates a simplified structural diagram of another vibration damping actuator provided in accordance with embodiments herein;

FIG. 3D illustrates a simplified structural diagram of another vibration damping actuator provided in accordance with embodiments herein;

FIG. 4 illustrates a schematic structural view of a vibration damping actuator provided in accordance with an embodiment of the present disclosure;

FIG. 5 illustrates a schematic structural view of another vibration damping actuator provided in accordance with embodiments herein;

FIG. 6 illustrates a schematic structural view of another vibration damping actuator provided in accordance with embodiments herein;

FIG. 7 illustrates a schematic structural view of another vibration damping actuator provided in accordance with embodiments herein;

FIG. 8 illustrates a schematic structural view of another vibration damping actuator provided in accordance with embodiments herein;

FIG. 9A illustrates a schematic structural view of another vibration damping actuator provided in accordance with embodiments herein; and

fig. 9B shows a partial enlarged view I of fig. 9A.

Detailed Description

The following description is presented to enable any person skilled in the art to make and use the present description, and is provided in the context of a particular application and its requirements. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present description. Thus, the present description is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the claims.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. For example, as used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," and/or "including," when used in this specification, are intended to specify the presence of stated integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

These and other features of the present specification, as well as the operation and function of the elements of the structure related thereto, and the combination of parts and economies of manufacture, may be particularly improved upon in view of the following description. Reference is made to the accompanying drawings, all of which form a part of this specification. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the specification. It should also be understood that the drawings are not drawn to scale.

The vibration reduction actuator provided by the specification introduces controllable negative stiffness characteristics on the basis of a semi-active system, and combines the controllable damping actuator with the controllable negative stiffness actuator to realize the four-quadrant mechanical characteristics of the active actuator. The vibration reduction actuator provided by the specification improves the vibration reduction effect of a semi-active actuator (controllable damping actuator) on the basis of ensuring low power consumption, low cost, stability, reliability and simple structure of a vibration control system of the semi-active actuator, and improves the vibration isolation effect of the semi-active system to the level close to that of the active system. That is, the vibration damping actuator provided in the present specification is a semi-active actuator that can achieve the vibration damping effect of an active system. For convenience of description, the semi-active actuator capable of achieving the damping effect of the active system provided in the specification is defined as a pseudo-active actuator.

For convenience of description, we first explain terms that will appear in the following description as follows:

a negative stiffness; when the object is deformed by an external force, the object generates a force in the same direction as the deformation direction. Negative stiffness is opposite to positive stiffness.

Fig. 1 shows a schematic diagram of the working principle of a damping actuator 001 provided according to an embodiment of the present disclosure. The vibration damping actuator 001 can be applied to any vibration damping scene, not only to a suspension system of a vehicle, but also to vibration, protection and utilization systems of buildings, bridges, precision measurement and the like. As shown in fig. 1, the first object 010 and the second object 020 can be connected to both ends of the damping actuator 001 during operation. The first object 010 and the second object 020 may be two free objects that can relatively move in the vibration direction. The vibration damping actuator 001 can perform the vibration damping and vibration isolating function between the first object 010 and the second object 020. The first object 010 and the second object 020 may be objects in which vibration may exist in an arbitrary scene. For example, in a vehicle, the first object 010 and the second object 020 may be a vehicle chassis and a vehicle body, respectively. As another example, in a bridge system, the first object 010 and the second object 020 may be a beam structure and a pillar structure, respectively, and so on. The vibration direction may be a relative movement direction of the first object 010 and the second object 020 when the vibration occurs. For example, in a vehicle, the vibration direction of the vehicle chassis and the vehicle body may be a vertical direction. In some embodiments, the vibration direction may also be a horizontal direction, an oblique direction, and the like. The vibration direction is not limited in this specification, and the vibration direction may be any direction.

As shown in fig. 1, the vibration damping actuator 001 may comprise a controllable damping actuator 200 and a controllable negative stiffness actuator 400. In FIG. 1C represents damping and K represents negative stiffness. The stiffness refers to the ability of a structure to resist deformation. The two ends of the controllable damping actuator 200 can be directly or indirectly connected with the first object 010 and the second object 020 to provide a controllable magnitude of damping force between the first object 010 and the second object 020. When the first object 010 and the second object 020 vibrate relatively, the damping force of the controllable damping actuator 200 on the first object 010 is opposite to the moving direction of the first object 010 vibrating relative to the second object 020 (i.e. the speed direction of the first object 010 relative to the second object 020). The damping force of the controllable damping actuator 200 on the second object 020 is opposite to the moving direction of the second object 020 relative to the first object 010 vibration (i.e. the speed direction of the second object 020 relative to the first object 010). The controllable damping actuator 200 is electrically connectable to a control system (not shown in fig. 1) during operation to effect adjustment of damping based on control signals from the control system to effect control of the magnitude of the damping force.

The two ends of the controllable negative stiffness actuator 400 can be directly or indirectly connected with the first object 010 and the second object 020 to provide an additional force between the first object 010 and the second object 020 with controllable magnitude. The controllable negative stiffness actuator 400 may produce a negative stiffness characteristic when the first object 010 and the second object 020 vibrate relatively. The additional force of the negative stiffness controllable negative stiffness actuator 400 on the first object 010 is in the same direction as the movement of the first object 010 in relation to the vibrations of the second object 020. The additional force of the controllable negative stiffness actuator 400 on the second object 020 is in the same direction as the motion direction of the second object 020 with respect to the vibration of the first object 010. Wherein the direction of the additional force is opposite to the direction of the damping force. The controllable negative stiffness actuator 400 is electrically connectable to the control system during operation to enable adjustment of the negative stiffness based on a control signal from the control system to enable control of the magnitude of the additional force.

When the first object 010 vibrates in the vibration direction relative to the second object 020, the vibration reduction actuator 001 may adjust the magnitudes of the damping and the negative stiffness based on the control signal to control the magnitudes of the damping force and the additional force, so that the resultant force of the damping force and the additional force is the same as or opposite to the vibration direction, and thus the vibration actuator 001 may realize a mechanical control characteristic in a four-quadrant in a force-excitation velocity diagram, and on the basis of ensuring low power consumption, low cost, stability and reliability and simple structure of the vibration control system of the controllable damping actuator 200 (semi-active actuator), the vibration reduction effect of the semi-active system is improved, and the vibration isolation effect of the semi-active system is improved to a level close to that of the active system.

FIG. 2 illustrates a force versus excitation speed diagram provided in accordance with embodiments of the present description. The horizontal axis of the force-excitation speed diagram may represent the excitation speed V experienced by the vibration damping actuator 001, and the vertical axis may represent the output force F of the vibration damping actuator 001. The output force of the vibration damping actuator 001 is the resultant force of the damping force and the additional force. When the direction of the excitation speed V is a positive direction, the excitation speed V is a positive value. When the direction of the excitation speed V is a negative direction, the excitation speed V is a negative value. When the direction of the output force F coincides with the direction of the excitation speed V, the output force F is a positive value. When the direction of the output force F is opposite to the direction of the excitation speed V, the output force F is a negative value. The mechanical control in the four quadrants of the force-excitation velocity diagram may be: when the vibration damping actuator 001 is subjected to an excitation speed V in a positive direction or a negative direction, the direction of the output force F may coincide with the direction of the excitation speed V to realize mechanical control in the first quadrant 1 and the third quadrant 3 in the force-excitation speed diagram; when the vibration damping actuator 001 is subjected to an excitation speed V in a positive or negative direction, the direction of the output force F may be opposite to the direction of the excitation speed V to achieve mechanical control in the second quadrant 2 and the fourth quadrant 4 in the force-excitation speed diagram. For example, when the vibration damping actuator 001 receives an excitation speed V in a positive direction, the control system adjusts the magnitudes of the damping force and the additional force so that the damping force is greater than the additional force, and at this time, the output force F is also in the positive direction, thereby realizing the mechanical control in the first quadrant 1 in the force-excitation speed diagram. For another example, when the vibration damping actuator 001 receives an excitation speed V in a positive direction, the control system adjusts the magnitudes of the damping force and the additional force, so that when the damping force is smaller than the additional force, the output force F is in a negative direction, thereby implementing the mechanical control in the fourth quadrant 4 in the force-excitation speed diagram. For another example, when the vibration damping actuator 001 receives an excitation speed V in a negative direction, the control system adjusts the magnitudes of the damping force and the additional force so that the output force F is also in the negative direction when the damping force is greater than the additional force, thereby implementing the mechanical control in the third quadrant 3 in the force-excitation speed diagram. For another example, when the vibration damping actuator 001 receives an excitation speed V in a negative direction, the control system adjusts the magnitudes of the damping force and the additional force, so that when the damping force is smaller than the additional force, the output force F is in a positive direction, thereby implementing the mechanical control in the second quadrant 2 in the force-excitation speed diagram.

The controllable damping actuator 200 may be at least one of an electro/magneto-rheological shock absorber, an electronically controlled valve type shock absorber, an energy feedback type shock absorber, an air spring, and a semi-active inerter. As shown in FIG. 1, controllable damping actuator 200 may include a second cylinder 210, a second piston 230, and a controllable damping assembly 250.

The second cylinder 210 may contain a damping fluid therein. The damping fluid may provide the damping force. The type of damping fluid may also be different depending on the type of controllable damping actuator 200. We will describe the damping fluid in detail in the following description.

The second piston 230 may be located in the second cylinder 210 to be slidably coupled to the second cylinder 210 in the vibration direction. The second cylinder 210 and the second piston 230 can relatively move in the vibration direction. The second cylinder 210 and the second piston 230 may be directly or indirectly connected with the first object 010 and the second object 020.

The controllable damping assembly 250 may be connected with at least one of the second cylinder 210 and the second piston 230. In some embodiments, the controllable damping assembly 250 may be mounted on the second cylinder 210. In some embodiments, a controllable damping assembly 250 may also be mounted on the second piston 230. The controllable damping assembly 250 may be electrically connected to the control system during operation and effect adjustment of the damping based on the control signal. When the second piston 230 and the second cylinder 210 vibrate relatively, the controllable damping assembly 250 applies a damping force with a controllable magnitude to the second cylinder 210 and the second piston 230 opposite to the vibration direction thereof. Specifically, when the second piston 230 vibrates relatively to the second cylinder 210, the controllable damping assembly 250 may apply a damping force to the second piston 230 of a controllable magnitude opposite to the direction of vibration of the second piston 230 relative to the second cylinder 210. Conversely, the controllable damping assembly 250 may apply a damping force to the second cylinder 210 that is controllable in magnitude opposite to the direction of vibration of the second cylinder 210 relative to the second piston 230.

As shown in FIG. 1, controllable negative stiffness actuator 400 may include a first cylinder 410, a first piston rod 430, and a controllable negative stiffness assembly 450.

The first piston rod 430 may be slidably coupled to the first cylinder 410 in the vibration direction. The first cylinder 410 and the first piston rod 430 are relatively movable in the vibration direction. The first cylinder 410 and the first piston rod 430 may be directly or indirectly connected with the first object 010 and the second object 020.

The controllable negative stiffness assembly 450 may be connected with the first cylinder 410 and the first piston rod 430. The controllable negative stiffness assembly 450 is electrically connectable to the control system during operation, and is capable of generating the negative stiffness characteristic based at least on the control signal, and effecting an adjustment of the negative stiffness based on the control signal. When the first piston rod 430 and the first cylinder 410 vibrate relatively, the controllable negative stiffness assembly 450 applies an additional force to the first piston rod 430 and the first cylinder 410, the additional force having the same controllable magnitude as the vibration direction of the first piston rod 430 and the first cylinder 410. Specifically, when the first piston rod 430 vibrates relatively to the first cylinder 410, the controllable negative stiffness assembly 450 may apply an additional force to the first piston rod 430 with a controllable magnitude in the same vibration direction of the first piston rod 430 with respect to the first cylinder 410. Conversely, the controllable negative stiffness assembly 450 may apply an additional force to the first cylinder 410 that is controllable in magnitude as the direction of vibration of the first cylinder 410 relative to the first piston rod 430.

The controllable damping actuator 200 may be coupled to a controllable negative stiffness actuator 400. The connections may be direct connections or indirect connections. The indirect connection may be the indirect connection between the controllable damping actuator 200 and the controllable negative stiffness actuator 400 through other devices, such as the first object 010 or the second object 020. The first cylinder 410 and the first piston rod 430 may be connected with the second cylinder 210 and the second piston 230, respectively. In some embodiments, the first cylinder 410 may be connected with the second cylinder 210, and the first piston rod 430 may be connected with the second piston 230. In some embodiments, the first cylinder 410 may be connected with the second piston 230, and the first piston rod 430 may be connected with the second cylinder 210. For convenience of illustration, the first cylinder 410 is connected to the second cylinder 210, and the first piston rod 430 is connected to the second piston 230. When the first cylinder 410 is connected to the second cylinder 210, the first cylinder 410 and the second cylinder 210 may be integrally formed or may be separated and fixedly connected. The fixed connection can be one or more of threaded connection, welding, riveting, bonding, clamping and the like. When the first piston rod 430 is connected to the second piston 230, the first piston rod 430 and the second piston 230 may be integrally formed, or may be a split structure, and are fixedly connected. The fixed connection can be one or more of threaded connection, welding, riveting, bonding, clamping and the like.

Controllable negative stiffness actuator 400 may be any configuration that provides a negative stiffness characteristic. In some embodiments, controllable negative stiffness actuator 400 may be a magnetic mechanism. In particular, the controllable negative stiffness assembly 450 may be the magnetic mechanism. The magnetic mechanism can adjust the size and the direction of a magnetic field based on the control signal during operation, so that the attractive force or the mutual repulsive force generated by the magnetic field in the vibration direction is utilized to form and adjust the negative rigidity in the vibration direction. In some embodiments, controllable negative stiffness actuator 400 may also be a controllable negative stiffness spring mechanism. In particular, the controllable negative stiffness assembly 450 may be the controllable negative stiffness spring mechanism. The controllable negative stiffness spring mechanism can comprise at least one spring with controllable stiffness distributed at a preset included angle with the vibration direction so as to form the negative stiffness in the vibration direction. The controllable negative stiffness spring mechanism is capable of achieving adjustment of the negative stiffness based on the control signal during operation.

FIG. 3A illustrates a simplified structural diagram of a vibration damping actuator 001 provided in accordance with embodiments herein; FIG. 3B illustrates a simplified structural diagram of another damping actuator 001 provided in accordance with embodiments herein; FIG. 3C illustrates a simplified structural diagram of another damping actuator 001 provided in accordance with embodiments herein; fig. 3D shows a schematic diagram of another damping actuator 001 provided in accordance with embodiments herein. Among them, the controllable negative stiffness assembly 450 in the controllable negative stiffness actuator 400 in the vibration damping actuator 001 shown in fig. 3A to 3C is the magnetic mechanism. The controllable negative stiffness assembly 450 in the controllable negative stiffness actuator 400 in the vibration damping actuator 001 shown in fig. 3D is the controllable negative stiffness spring mechanism.

As shown in fig. 3A-3C, the magnetic mechanism (i.e., controllable negative stiffness assembly 450) may include a first magnetic device 452 and a second magnetic device 454.

The first magnetic means 452 may generate a magnetic field. The magnetic poles of the first magnetic means 452 may be distributed in a direction parallel to the vibration direction. For example, when the vibration direction is a vertical direction, the N pole and the S pole of the first magnetic device 452 are also distributed along the vertical direction.

The second magnetic means 454 may also generate a magnetic field. The direction of the magnetic poles of the second magnetic means 454 is identical to the direction of the magnetic poles of the first magnetic means 452. That is, the direction of the N pole of the second magnetic means 454 coincides with the direction of the N pole of the first magnetic means 452, and the direction of the S pole of the second magnetic means 454 coincides with the direction of the S pole of the first magnetic means 452. The second magnetic means 454 may be slidably coupled to the first magnetic means 452 in the vibration direction, thereby varying the distance from the first magnetic means 452 in the vibration direction to produce the negative stiffness.

The first and second magnetic means 452 and 454 may be installed on the first cylinder 410 and the first piston rod 430, respectively. In some embodiments, the first magnetic means 452 may be mounted inside the first cylinder 410 and the second magnetic means 454 may be mounted on the first piston rod 430. In some embodiments, the first magnetic means 452 may be mounted on the first piston rod 430 and the second magnetic means 454 may be mounted inside the first cylinder 410. In the vibration damping actuator shown in fig. 3A to 3C, the first magnetic device 452 may be mounted inside the first cylinder 410, and the second magnetic device 454 may be mounted on the first piston rod 430.

At least one of the first magnetic means 452 and the second magnetic means 454 is an electromagnet. The electromagnet can change the size and the direction of a magnetic field based on the control signal when in operation, so that the negative rigidity is adjusted. In some embodiments, the first magnetic means 452 may be a permanent magnet and the second magnetic means 454 may be the electromagnet. In some embodiments, the first magnetic means 452 and the second magnetic means 454 may both be said electromagnets. The first magnetic means 452 may be said electromagnet and the second magnetic means 454 may be said permanent magnet. In the vibration damping actuator shown in fig. 3A to 3C, the first magnetic device 452 is described as the permanent magnet, and the second magnetic device 454 is described as the electromagnet. At this time, the electromagnet may include an iron core 454-1 and an electromagnetic coil 454-2. Solenoid 454-2 may be electrically coupled to the control system and configured to adjust the magnitude of current through solenoid 454-2 based on the control signal to control the strength of the magnetic field of solenoid 454-2 to achieve the adjustment of the negative stiffness.

In some embodiments, the first magnetic means 452 and the second magnetic means 454 may be aligned along the vibration direction to generate an attractive force in the vibration direction to generate the negative stiffness, as shown in fig. 3A. The first magnetic means 452 may comprise two magnetic bodies 452-1. For convenience of description, the two magnetic bodies 452-1 are both permanent magnets, and the second magnetic device 454 is described as an example of the electromagnet.

The two magnetic bodies 452-1 are relatively fixedly connected and are relatively arranged at intervals along the vibration direction, and the magnetic pole distribution directions are consistent, that is, the N pole directions and the S pole directions of the two magnetic bodies 452-1 are consistent. When the two magnetic bodies 452-1 are mounted on the first cylinder 410, the two magnetic bodies 452-1 may be respectively mounted at both ends of the first cylinder 410 in the vibration direction and fixed relatively, thereby achieving a relative interval arrangement in the vibration direction. When the two magnetic bodies 452-1 are mounted on the first piston rod 430, the two magnetic bodies 452-1 may also be mounted at two ends of the first piston rod 430 along the vibration direction, respectively, and fixed relatively, so as to realize a relative interval arrangement along the vibration direction.

The second magnetic means 454 may be located between the two magnetic bodies 452-1 to attract the two magnetic bodies 452-1 to each other along the vibration direction. The second magnetic means 454 is movable between the two magnetic bodies 452-1 when operated. When the second magnetic means 454 is located at the center of the two magnetic bodies 452-1, the two magnetic bodies 452-1 are located at the same distance from the second magnetic means 454, and the attraction force to the second magnetic means 454 is also the same and cancel each other. At this point, the second magnetic means 454 is in an equilibrium position. The resultant force of the two magnetic bodies 452-1 to the second magnetic device 454 is zero. When the first object 010 and the second object 020 vibrate relatively, relative vibration is caused between the first cylinder 410 and the first piston rod 430. The second magnetic device 454 and the two magnetic bodies 452-1 also vibrate relatively in the vibration direction. At this time, when the second magnetic device 454 is deviated from the equilibrium position, the distances between the two magnetic bodies 452-1 and the second magnetic device 454 are not uniform. The resultant force of the two magnetic bodies 452-1 on the second magnetic means 454 coincides with the direction of vibration of the second magnetic means 454 with respect to the two magnetic bodies 452-1, thereby giving the magnetic mechanism the negative stiffness.

In some embodiments, the first and second magnetic devices 452 and 454 may be aligned in a direction perpendicular to the vibration direction to generate an attractive force in the direction perpendicular to the vibration direction and a repulsive force in the vibration direction, thereby generating the negative stiffness, as shown in fig. 3B and 3C. First magnetic means 452 may comprise at least one annular magnetic body 452-3. For convenience of description, the at least one annular magnetic body 452-3 is a permanent magnet, and the second magnetic device 454 is an electromagnet.

At least one of the annular magnetic bodies 452-3 may be fixedly connected to each other and disposed at intervals along the vibration direction, and the magnetic poles are arranged in the same direction. That is, the N-pole direction and the S-pole direction of at least one of the annular magnetic bodies 452-3 coincide with each other. At least one annular magnetic body 452-3 may be attached to the first cylinder 410 or the first piston rod 430.

The second magnetic means 454 may be located within and coaxial with the annulus of the at least one toroidal magnetic body 452-3. The second magnetic means 454 and the first magnetic means 452 are mutually attracted in the radial direction of said circular ring. When the center of the second magnetic means 454 in the vibration direction coincides with the center of the first magnetic means 452 in the vibration direction, the second magnetic means 454 is in the equilibrium position. At this time, the resultant force of the first magnetic means 452 to the second magnetic means 454 is zero. When the first object 010 and the second object 020 vibrate relatively, relative vibration is caused between the first cylinder 410 and the first piston rod 430. The second magnetic device 454 and the at least one annular magnetic body 452-3 also vibrate relatively in the vibration direction. At this time, the second magnetic means 454 is deviated from the equilibrium position, and a repulsive force in the vibration direction is generated between the first magnetic means 452 and the second magnetic means 454. The resultant force of the first magnetic means 452 on the second magnetic means 454 coincides with the direction of vibration of the second magnetic means 454 relative to the at least one annular magnetic body 452-3, thereby imparting the negative stiffness to the magnetic mechanism.

In some embodiments, the number of the at least one annular magnetic body 452-3 is 1, as shown in FIG. 3B. In some embodiments, the at least one annular magnetic body 452-3 is plural in number, as shown in fig. 3C. When there are a plurality of annular magnetic bodies 452-3, the plurality of annular magnetic bodies 452-3 may be disposed at intervals along the vibration direction, and the central axes of the plurality of annular magnetic bodies 452-3 may coincide with each other. The plurality of annular magnetic bodies 452-3 may be uniformly distributed or non-uniformly distributed along the vibration direction. The plurality of annular magnetic bodies 452-3 can realize nonlinear controllable negative stiffness of the vibration actuator 001 in any long stroke range, and the application range of the vibration actuator 001 is expanded.

As shown in fig. 3D, the controllable negative rate spring mechanism (i.e., controllable negative rate assembly 450) may include a first spring 456, a second spring 457, and a third spring 458.

The first spring 456 may be disposed along the vibration direction. The first spring 456 may include a first end 456-1 and a second end 456-2. The first and second ends 456-1 and 456-2 may be connected to the first cylinder 410 and the first piston rod 430, respectively. In the embodiment shown in FIG. 3D, the second end 456-2 may be coupled to the first cylinder 410. First end 456-1 may be coupled to first piston rod 430 and, thus, to controllable damping actuator 200.

The second springs 457 may be disposed in a direction at the predetermined angle to the vibration direction. One end of the second spring 457 may be connected to the first end 456-1 and the other end may be fixedly connected to the second end 456-2. In the embodiment shown in fig. 3D, the other end of the second spring 457 may be connected to the first cylinder 410 to achieve a fixed connection to the second end 456-2. Wherein the preset angle is a right angle or an acute angle.

The third spring 458 may be disposed symmetrically with the second spring 457 with respect to the first spring 456. One end of the third spring 458 may be connected to the first end 456-1. The other end of the third spring 458 may be coupled to the first cylinder 410 to be fixedly coupled to the second end 456-2.

At least one of the second spring 457 and the third spring 458 is the controllable rate spring. The spring with controllable stiffness is electrically connected with the control system when in operation so as to realize the control of the stiffness. As shown in fig. 3D, one ends of the first, second, and third springs 456, 457, and 458 are commonly connected to a point O (first end 456-1). When the second and third springs 457, 458 are compressed to a direction perpendicular to the vibration direction (horizontal direction as shown in fig. 3D), only the first spring 456 provides a bearing force in the vibration direction (vertical direction as shown in fig. 3D). The second and third springs 457, 458 do not affect the restoring force. The second and third springs 457, 458 may provide the negative stiffness in the vibration direction (vertical direction as shown in fig. 3D). The control system controls the stiffness of the controllable stiffness spring based on the control signal to effect adjustment of the negative stiffness. Controllable damping actuator 200 is connected to first end 456-1 (point O) to couple the controllable damping to the controllable negative stiffness.

It should be noted that the controllable damping actuator 200 in the vibration damping actuator 001 shown in fig. 3A to 3D may be any one of the controllable damping actuators 200 described in this specification.

Fig. 4 shows a schematic structural diagram of a vibration damping actuator 001 provided according to an embodiment of the present specification. Wherein, the controllable damping actuator 200 and the controllable negative stiffness actuator 400 can be connected in the vertical direction. The controllable damping assembly 250 may be a magnetorheological damper 250 a. At this time, the damping fluid is a magnetorheological fluid. The controllable negative stiffness assembly 450 may be the magnetic mechanism 450 a.

As shown in fig. 4, the entire structure of the vibration damping actuator 001 takes the shape of a cylinder. The first cylinder block 410 may be connected with the second cylinder block 210 in the vibration reduction direction (vertical direction). The second cylinder block 210 may be located at an upper portion of the first cylinder block 410 so as to divide the vibration damping actuator 001 into an upper space 211 and a lower space 411. The upper space 211 is a cavity of the second cylinder 210. The lower space 411 is a cavity of the first cylinder 410. The upper space 211 may be used to mount a controllable damping assembly 250, i.e., a magnetorheological damper 250 a. The lower space 411 may be used to arrange the controllable negative stiffness assembly 450, i.e. the magnetic mechanism 450 a. The first cylinder 410 and the second cylinder 210 may be integrally formed, or may be separate structures and fixedly connected.

As shown in fig. 4, the second cylinder 210 may include a cylinder 212 and an end cap 214. The end cap 214 encloses the cylinder body 212 to form an upper space 211. The end cap 214 is secured in a sealing engagement with the upper portion of the cylinder 212 by an interference fit. The second piston 230 may include a piston rod 231 and a piston 236. The bottom end of the piston rod 231 may be threadedly coupled to the piston 236. The upper end face of the piston 236 is drilled with a threaded hole which is matched with the external thread of the piston rod 231, so that the assembly reliability of the piston and the piston is ensured. The first piston rod 430 may be fixedly connected with the piston rod 231 and thus with the piston 236. In some embodiments, the piston rod 231 has an internal bore 231-1 formed in the middle thereof for receiving electrical wires.

The lug structure at the bottom of the first cylinder 410 and the top of the piston rod 231 is used to connect the vibration damping actuator 001 to the first object 010 and the second object 020. When the first object 010 and the second object 020 vibrate relatively along the vibration direction, the piston rod 231 drives the first piston rod 430 to vibrate relatively along the vibration direction relative to the first cylinder 410 and the second cylinder 210. In order to ensure that the moving direction of the piston rod 231 and the first piston rod 430 with respect to the first and second cylinders 410 and 210 is the vibration direction, the first cylinder 410 is provided with a first guide groove 413. The second cylinder 210 is provided with a second guide groove 213. The first guide groove 413 and the second guide groove 213 are coaxial and extend in the vibration direction. The first piston rod 430 is matched with the first guide groove 413, and the piston rod 231 is matched with the second guide groove 213. Wherein the second guide groove 213 is opened in the end cap 214. And a second guide groove 213 through which the piston rod 231 can pass, and a second guide groove 213. In some embodiments, a sliding bearing 003 is disposed in the first guide groove 413 and the second guide groove 213. The sliding bearing 003 guides and lubricates the movement of the piston rod 231 and the first piston rod 430.

In some embodiments, a packing 005 is installed between the second guide groove 213 and the piston rod 231 in order to ensure sealability. The sealing ring 005 ensures the sealing effect of the magnetorheological fluid filled in the cavity. In some embodiments, a sealing ring 005 is also provided on the circumferential surface where the cylinder 212 and the end cap 214 are engaged to prevent leakage of the magnetorheological fluid. In some embodiments, the interface between the end cap 214 and the cylinder 212 is stepped. A packing 005 is installed between the bottom of the upper space 211 of the cylinder body 212 and the first piston rod 430 to prevent the magnetorheological fluid charged in the upper space 211 from leaking into the lower space 411.

The upper space 211 may be used to mount the magnetorheological damper 250 a. As previously described, in some embodiments, the controllable damping assembly 250 may be mounted on the second cylinder 210. In some embodiments, a controllable damping assembly 250 may also be mounted on the second piston 230. In the damper actuator 001 shown in fig. 4, a magnetorheological damper 250a is mounted on the piston 236. The magnetorheological damper 250a may include an electromagnetic coil 251. In some embodiments, the magnetorheological damper 250a may further include a coil bracket 253 and a core 252. To distinguish from the electromagnet in the second magnetic means 454, we define the electromagnetic coil 251 as the second electromagnetic coil 251 and the iron core 252 as the second iron core 252.

The second electromagnetic coil 251 may be installed on the second cylinder 210 or the second piston 230. In the damper actuator 001 shown in fig. 4, a second electromagnetic coil 251 is mounted on the piston 236 in the second piston 230. The second electromagnetic coil 251 can be electrically connected with the control system during operation, and can control the current passing through the second electromagnetic coil 251 based on the control signal, so as to control the strength of the magnetic field, change the viscosity and the fluidity of the magnetorheological fluid, and further realize the adjustment of the damping.

In some embodiments, the magnetorheological damper 250a may further include a coil bracket 253. The coil support 253 may include a wire chase. The wire groove may be located at an outer portion of the coil support 253 and recessed toward an inner portion of the coil support 253 in a groove-like structure. The second electromagnetic coil 251 is wound in the wire groove. The wire groove can increase the number of winding turns of the second electromagnetic coil 251 and can ensure the regularity of the second electromagnetic coil 251. The coil support 253 is mounted on the second cylinder 210 or the second piston 230. Specifically, the coil support 253 is mounted on the same member as the second electromagnetic coil 251. In the vibration damping actuator 001 shown in fig. 4, the coil support 253 is mounted on the piston 236 in the second piston 230. In some embodiments, the coil support 253 has a small radial hole formed therein for receiving a wire. The electrical wires of the second electromagnetic coil 251 may be sequentially passed through the radial small holes of the coil support 253 and the inner hole 231-1 of the piston rod 231 to be connected to external wires.

In some embodiments, the magnetorheological damper 250a may further include a second core 252. The second core 252 may be installed in the second electromagnetic coil 251. The coil support 253 is provided with a coaxial through hole inside. The second core 252 is inserted into the through hole of the coil support 253 with the upper and lower end surfaces aligned, thereby enhancing the magnetic properties of the magnetic field formed by the second electromagnetic coil 251. A screw hole is opened at the center of the second core 25 for connection with the piston rod 231. The coil support 253 and the second core 252 are fixed at a middle position of the piston 236.

As shown in fig. 4, magnetorheological fluid is filled in the upper space 211 of the cylinder block 212. The second electromagnetic coil 251 may be opposed to the second cylinder 210 in a direction perpendicular to the vibration direction. A magnetorheological fluid gap exists between the piston 236 of the second piston 230 and the cylinder 212. At this time, the magnetorheological damper 250a operates in the shear-flow hybrid mode. The second electromagnetic coil 251 generates an excitation magnetic field after being energized, and the excitation magnetic field passes through the fluid gap between the piston 236 and the cylinder 212 via the second iron core 252. The control system controls the strength of the magnetic field by changing the magnitude of the current introduced into the second electromagnetic coil 251, so that the viscosity and the fluidity of the magnetorheological fluid in the gap are changed, and the magnitude of the generated damping force is further changed.

The lower space 411 may be used to arrange the controllable negative stiffness assembly 450, i.e. the magnetic mechanism 450 a. As previously described, the magnetic mechanism 450a may include a first magnetic device 452 and a second magnetic device 454. The first magnetic means 452 may comprise two magnetic bodies 452-1. The two magnetic bodies 452-1 may be permanent magnets. Two magnetic bodies 452-1 may be fixedly installed at the top and bottom of the lower space 411 of the vibration-damping actuator 001, respectively. The second magnetic means 454 is located between the two magnetic bodies 452-1 and is fixedly coupled to the first piston rod 430. The second magnetic means 454 may be an electromagnet. Second magnetic means 454 may include an electromagnetic coil 454-2 and an iron core 454-1. To distinguish from the magnetorheological damper 250a, we define electromagnetic coil 454-2 and core 454-1 as first electromagnetic coil 454-2 and first core 454-1, respectively. As shown in fig. 4, the first piston rod 430 is connected to the second piston 230 through the magnetic body 452-1. Therefore, the two magnetic bodies 452-1 and the second magnetic device 454 have a ring shape. The two magnetic bodies 452-1 and the second magnetic device 454 have the same magnetic pole distribution direction. In some embodiments, a sliding bearing 003 is installed between the first piston rod 430 and the two magnetic bodies 452-1 fixed to the cylinder 212 to reduce friction at the time of the relative movement. The sliding connection between the first piston rod 430 and the first cylinder 410 ensures the coaxiality of the second magnetic device 454 and the cylinder 212 during the up-and-down movement, and plays a good guiding role in the movement of the second magnetic device 454.

When the second magnetic device 454 is located at the center between the two magnetic bodies 452-1, the resultant force applied to the second magnetic device 454 is zero. The second magnetic means 454 is now in an equilibrium position. When the second magnetic means 454 moves upward or downward from the equilibrium position, the resultant force of the two magnetic bodies 452-1 to the second magnetic means 454 coincides with the moving direction thereof, thereby making the second magnetic means 454 and the first piston rod 430 have a negative stiffness characteristic. The top of the first piston rod 430 is fixedly coupled to the piston 236 so that the negative stiffness characteristic created by the magnetic mechanism 450a is transferred to the second piston 230. The damping characteristics of the magnetorheological damper 250a are superimposed with the negative stiffness characteristics of the magnetic mechanism 450a to obtain the characteristics of the damper actuator 001.

Fig. 5 shows a schematic structural diagram of another vibration damping actuator 001 provided according to an embodiment of the present description. Wherein, the controllable damping actuator 200 and the controllable negative stiffness actuator 400 can be connected in the vertical direction. The controllable damping assembly 250 may be a magnetorheological damper 250 b. At this time, the damping fluid is a magnetorheological fluid. The controllable negative stiffness assembly 450 may be the magnetic mechanism 450 a. The structures of the first cylinder 410, the first piston rod 430, and the second cylinder 210 and the second piston 230 in fig. 5 may be the same as those in fig. 4, and are not described again.

As shown in FIG. 5, the upper space 211 may be used to mount a magnetorheological damper 250 b. The upper space 211 is filled with magnetorheological fluid. As previously described, in some embodiments, the controllable damping assembly 250 may be mounted on the second cylinder 210. In some embodiments, a controllable damping assembly 250 may also be mounted on the second piston 230. In the damper actuator 001 shown in fig. 5, a magnetorheological damper 250b is mounted on the piston 236. The magnetorheological damper 250b may include a second electromagnetic coil 251 and a coil bracket 253.

The coil support 253 is fixedly installed in the upper space 211 of the cylinder 212. The second electromagnetic coil 251 is wound on the coil support 253. A gap is left between the coil holder 253 and the cylinder 212. During the up-and-down movement of the piston 236, the magnetorheological fluid flows in the gap between the cylinder 212 and the coil bracket 253. The control system changes the viscosity of the magnetorheological fluid by changing the current introduced into the second electromagnetic coil 251, so as to generate controllable damping force.

Two magnetic bodies 452-1 are respectively mounted on the top and bottom of the lower space 411 of the cylinder 212. Both the magnetic bodies 452-1 are permanent magnets. A second magnetic means 454 is provided between the two magnetic bodies 452-1 to be movable up and down. The second magnetic means 454 is an electromagnet. The moving direction of the second magnetic means 454 is ensured by the sliding connection between the first piston rod 430 and the first guide groove 413 and the sliding connection between the piston rod 231 and the second guide groove 213. The control system can generate a negative stiffness with variable magnitude by changing the magnitude of the current passed to first electromagnetic coil 454-2 in second magnetic device 454.

Fig. 6 shows a schematic structural diagram of another vibration damping actuator 001 provided according to an embodiment of the present specification. Wherein, the controllable damping actuator 200 and the controllable negative stiffness actuator 400 can be connected in the vertical direction. The controllable damping assembly 250 may be a magnetorheological damper 250 c. At this time, the damping fluid is a magnetorheological fluid. The controllable negative stiffness assembly 450 may be the magnetic mechanism 450 a. The structures of the first cylinder 410, the first piston rod 430, and the second cylinder 210 and the second piston 230 in fig. 5 may be the same as those in fig. 4, and are not described again.

As shown in FIG. 6, the upper space 211 of the cylinder 212 may be used to mount the MR damper 250 c. The upper space 211 is filled with magnetorheological fluid. As previously described, in some embodiments, the controllable damping assembly 250 may be mounted on the second cylinder 210. In some embodiments, a controllable damping assembly 250 may also be mounted on the second piston 230. In the damper actuator 001 shown in fig. 6, a magnetorheological damper 250c is mounted on the cylinder 212. The magnetorheological damper 250c may include a second electromagnetic coil 251. The magnetorheological damper 250c may further include a sole plate 259.

The second electromagnetic coil 251 may be installed on the second cylinder 210 or the second piston 230. In the vibration damping actuator 001 shown in fig. 6, the second electromagnetic coil 251 is mounted in the cylinder 212. Bottom plate 259 may be mounted at the bottom of cylinder 212 opposite piston 236. The second electromagnetic coil 251 may be operatively electrically connected to the control system. When a current is applied to the second electromagnetic coil 251, a magnetic field is generated around the second electromagnetic coil 251. The lines of magnetic induction of the magnetic field form a closed loop through the cylinder 212, the piston 236, the magnetorheological fluid between the piston 236 and the bottom plate 259.

Both ends of the piston 236 are connected to the piston rod 231 and the first piston rod 430, respectively. In the process of the up-and-down movement of the piston 236, the control system can control the magnitude of the current passing through the second electromagnetic coil 251 based on the control signal, so as to control the strength of the magnetic field, change the viscosity and the fluidity of the magnetorheological fluid between the piston 236 and the bottom plate 259, and further realize the adjustment of the damping. With the change of the magnetic field, the magnetorheological fluid can be changed from a free flowing liquid into a semi-solid or even a solid in a very short time, so that the magnetorheological fluid has different rigidity. The MR fluid is compressed as the piston 236 and the base 259 move toward each other, and the MR fluid of different stiffness generates a varying damping force. The magnetorheological damper 250c is now operating in the squeeze mode.

Fig. 7 shows a schematic structural diagram of another vibration damping actuator 001 provided according to an embodiment of the present specification. Wherein, the controllable damping actuator 200 and the controllable negative stiffness actuator 400 can be connected in the vertical direction. The controllable damping assembly 250 may be a magnetorheological damper 250 d. At this time, the damping fluid is a magnetorheological fluid. The controllable negative stiffness assembly 450 may be the magnetic mechanism 450 a. The structures of the first cylinder 410, the first piston rod 430, and the second cylinder 210 and the second piston 230 in fig. 5 may be the same as those in fig. 4, and are not described again.

As shown in FIG. 7, the upper space 211 of the cylinder 212 can be used to mount the MR damper 250 d. The upper space 211 is filled with magnetorheological fluid. As previously described, in some embodiments, the controllable damping assembly 250 may be mounted on the second cylinder 210. In some embodiments, a controllable damping assembly 250 may also be mounted on the second piston 230. In the damper actuator 001 shown in fig. 7, a magnetorheological damper 250d is mounted on the piston 236. The magnetorheological damper 250d may include a second electromagnetic coil 251 and a base plate 259.

As previously described, the second electromagnetic coil 251 may be mounted on the second cylinder 210 or the second piston 230. In the damper actuator 001 shown in fig. 7, a second electromagnetic coil 251 is mounted on the piston 236. The second electromagnetic coil 251 may be installed at the bottom of the piston 236 opposite to the bottom of the second cylinder 210 in the vibration direction. The bottom plate 259 may be installed at the bottom of the cylinder body 212 opposite to the second solenoid coil 251. The second electromagnetic coil 251 may be operatively electrically connected to the control system. When a current is applied to the second electromagnetic coil 251, a magnetic field is generated around the second electromagnetic coil 251. The lines of magnetic induction of the magnetic field form a closed loop with the magnetorheological fluid between the piston 236, the piston 236 and the bottom plate 259.

Both ends of the piston 236 are connected to the piston rod 231 and the first piston rod 430, respectively. In the process of the up-and-down movement of the piston 236, the control system can control the magnitude of the current passing through the second electromagnetic coil 251 based on the control signal, so as to control the strength of the magnetic field, change the viscosity and the fluidity of the magnetorheological fluid between the piston 236 and the bottom plate 259, and further realize the adjustment of the damping. With the change of the magnetic field, the magnetorheological fluid can be changed from a free flowing liquid into a semi-solid or even a solid in a very short time, so that the magnetorheological fluid has different rigidity. The MR fluid is compressed as the piston 236 and the base 259 move toward each other, and the MR fluid of different stiffness generates a varying damping force. The magnetorheological damper 250d is now operating in the squeeze mode.

Fig. 8 shows a schematic structural diagram of another vibration damping actuator 001 provided according to an embodiment of the present specification. Wherein, the controllable damping actuator 200 and the controllable negative stiffness actuator 400 can be connected in the vertical direction. The controllable damping assembly 250 may be a magnetorheological damper 250 e. At this time, the damping fluid is a magnetorheological fluid. The controllable negative stiffness assembly 450 may be a magnetic mechanism 450 b.

As shown in fig. 8, the first cylinder 410 and the second cylinder 210 are connected as one body. The first cylinder 410 is divided into two parts, which are respectively located at two sides of the second cylinder 210 and fixedly connected with the second cylinder 210. The cavities in the first and second cylinders 410 and 210 may be divided into an upper space 412, a lower space 411, and a middle space 216. A sealing ring 003 is installed between the cylinder 212 and the piston 236 to ensure the sealing effect of the middle space 216 and prevent the leakage of the magnetorheological fluid. A sliding bearing 003 is installed between the cylinder 212 and the piston 236.

The central space 216 is used for mounting the magnetorheological damper 250 e. Magnetorheological fluid is filled in the middle space 216. The magnetorheological damper 250e may include a second electromagnetic coil 251 and a coil bracket 253. The coil support 253 is fixedly mounted on the cylinder 212. The second electromagnetic coil 251 is wound on the coil support 253. A gap is left between the coil support 253 and the piston 236. The second electromagnetic coil 251 may be operatively electrically connected to the control system. When a current is applied to the second electromagnetic coil 251, a magnetic field is generated around the second electromagnetic coil 251. The magnetic induction lines of the magnetic field form a closed loop through the coil bracket 253, the second electromagnetic coil 251, the magnetorheological fluid between the second electromagnetic coil 251 and the piston 236. During the up-and-down movement of the piston 236, the magnetorheological fluid flows in the gap between the cylinder 212 and the coil bracket 253. The control system changes the viscosity of the magnetorheological fluid by changing the current introduced into the second electromagnetic coil 251, so as to generate controllable damping force. The MR damper 250e is now operating in shear mode.

The upper space 412 and the lower space 411 are used to mount the magnetic mechanism 450 b. Two magnetic bodies 452-1 are respectively mounted on the top of the upper space 412 and the bottom of the lower space 411. Both the magnetic bodies 452-1 are permanent magnets. A second magnetic means 454 is provided between the two magnetic bodies 452-1 to be movable up and down. The second magnetic means 454 is an electromagnet. The second magnetic means 454 may comprise two electromagnets. The two electromagnets are respectively located in the upper space 412 and the lower space 411. The two electromagnets may be connected by a piston 236. The lower end of the second magnetic means 454 may be connected with the first piston rod 430. The first piston rod 430 is slidably connected to the first cylinder 410 through the magnetic body 452-1 by a sliding bearing 003, and plays a role of lubricating and guiding the up-and-down movement of the second magnetic device 454. The control system can generate a negative stiffness with variable magnitude by changing the magnitude of the current passed to first electromagnetic coil 454-2 in second magnetic device 454.

Fig. 9A shows a schematic structural view of another vibration damping actuator 001 provided according to an embodiment of the present specification; and fig. 9B shows a partial enlarged view I of fig. 9A. Wherein, the controllable damping actuator 200 and the controllable negative stiffness actuator 400 can be connected in the vertical direction. The controllable damping assembly 250 may be an electronically controlled valve shock absorber 250 f. The controllable negative stiffness assembly 450 may be a magnetic mechanism 450 a. The first cylinder 410, the first piston rod 430, the second cylinder 210, the second piston 230, and the magnetic mechanism 450a are the same as those in fig. 4, and are not described herein again.

As shown in fig. 9A, the damping fluid is filled in the upper space 211 of the cylinder 212. The upper space 211 is used for mounting the electronically controlled valve type shock absorber 250 f. Electronically controlled valve damper 250f may include an electronically controlled valve 258. An electrically controlled valve 258 may be mounted on the piston 236 of the second piston 230. The piston 236 is provided with a return flow path 236-1 for the damping fluid to flow back and forth on the upper and lower sides of the piston 236. Electronically controlled valve 258 is operatively electrically connected to the control system. The control system is capable of controlling the current through the electrically controlled valve 258 based on the control signal, thereby effecting adjustment of the damping.

As shown in fig. 9B, the electrically controlled valve 258 may include a plunger 258-1, a third solenoid 258-2, a coil spring 258-3, and a plunger 258-4. The plunger 258-1 and the third electromagnetic coil 258-2 may be mounted on the piston 236. The fixed iron core 258-1 is connected with the movable iron core 258-4 through a coil spring 258-3. Third solenoid 258-2 is operatively electrically connected to the control system. When no current is applied to the third solenoid 258-2, the plunger 258-4 closes the return current path 236-1 under the elastic force of the coil spring 258-3. When the third electromagnetic coil 258-2 is supplied with current, the plunger 258-4 moves upward against the elastic force of the coil spring 258-3 under the action of the electromagnetic force, and opens the return flow path 236-1. The control system may control the amount of current passed to the third solenoid 258-2 based on the control signal, thereby controlling the cross-sectional area of the return path 236-1 and thereby achieving a controllable amount of damping force.

When the second piston 230 vibrates up and down in the vibration direction with respect to the second cylinder block 210, the damping fluid flows back and forth on the upper and lower sides of the piston 236 through the electrically controlled valve 258. The control system can control the amount of current passing through the third solenoid 258-2 based on the control signal to control the amount of cross-sectional area of the return flow path 236-1 to achieve the adjustment of the damping.

Two magnetic bodies 452-1 are respectively mounted on the top and bottom of the lower space 411 of the cylinder 212. Both the magnetic bodies 452-1 are permanent magnets. A second magnetic means 454 is provided between the two magnetic bodies 452-1 to be movable up and down. The second magnetic means 454 is an electromagnet. The moving direction of the second magnetic means 454 is ensured by the sliding connection between the first piston rod 430 and the first guide groove 413 and the sliding connection between the piston rod 231 and the second guide groove 213. The control system can generate a negative stiffness with variable magnitude by changing the magnitude of the current passed to first electromagnetic coil 454-2 in second magnetic device 454.

It should be noted that in the embodiments of the multiple vibration damping actuators 001 provided in the present specification, the structures of the controllable damping actuator 200 and the controllable negative stiffness actuator 400 may be combined arbitrarily.

In some embodiments, controllable negative stiffness actuator 400 is also capable of effecting, when in operation, a positive stiffness and an adjustment of the positive stiffness based on the control signal. When the controllable negative stiffness actuator 400 is the magnetic mechanism, the control system can change the direction of the current passing through the electromagnet based on the control signal, so as to control the direction of the magnetic field generated by the electromagnet, further adjust the negative stiffness to the positive stiffness, and realize the adjustment of the positive stiffness, so that the vibration reduction actuator 001 can be applied to more scenes.

The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

In conclusion, upon reading the present detailed disclosure, those skilled in the art will appreciate that the foregoing detailed disclosure can be presented by way of example only, and not limitation. Those skilled in the art will appreciate that the present specification contemplates various reasonable variations, enhancements and modifications to the embodiments, even though not explicitly described herein. Such alterations, improvements, and modifications are intended to be suggested by this specification, and are within the spirit and scope of the exemplary embodiments of this specification.

Furthermore, certain terminology has been used in this specification to describe embodiments of the specification. For example, "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. Therefore, it is emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various portions of this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined as suitable in one or more embodiments of the specification.

It should be appreciated that in the foregoing description of embodiments of the specification, various features are grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the specification, for the purpose of aiding in the understanding of one feature. This is not to be taken as an admission that any of the features are required in combination, and it is fully possible for one skilled in the art to extract some of the features as separate embodiments when reading this specification. That is, embodiments in this specification may also be understood as an integration of a plurality of sub-embodiments. And each sub-embodiment described herein is equally applicable to less than all features of a single foregoing disclosed embodiment.

Each patent, patent application, publication of a patent application, and other material, such as articles, books, descriptions, publications, documents, articles, and the like, cited herein is hereby incorporated by reference. All matters hithertofore set forth herein except as related to any prosecution history, may be inconsistent or conflicting with this document or any prosecution history which may have a limiting effect on the broadest scope of the claims. Now or later associated with this document. For example, if there is any inconsistency or conflict in the description, definition, and/or use of terms associated with any of the included materials with respect to the terms, descriptions, definitions, and/or uses associated with this document, the terms in this document are used.

Finally, it should be understood that the embodiments of the application disclosed herein are illustrative of the principles of the embodiments of the present specification. Other modified embodiments are also within the scope of this description. Accordingly, the disclosed embodiments are to be considered in all respects as illustrative and not restrictive. Those skilled in the art may implement the applications in this specification in alternative configurations according to the embodiments in this specification. Therefore, the embodiments of the present description are not limited to the embodiments described precisely in the application.