WO2020155636A1 - 主动转动惯量驱动控制系统 - Google Patents

主动转动惯量驱动控制系统 Download PDF

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Publication number
WO2020155636A1
WO2020155636A1 PCT/CN2019/105646 CN2019105646W WO2020155636A1 WO 2020155636 A1 WO2020155636 A1 WO 2020155636A1 CN 2019105646 W CN2019105646 W CN 2019105646W WO 2020155636 A1 WO2020155636 A1 WO 2020155636A1
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Prior art keywords
inertia
moment
control system
housing
control
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PCT/CN2019/105646
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English (en)
French (fr)
Inventor
张春巍
王昊
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Qingdao University of Technology
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Qingdao University of Technology
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Application filed by Qingdao University of Technology filed Critical Qingdao University of Technology
Priority to KR1020207023884A priority Critical patent/KR102259052B1/ko
Priority to EP19909621.5A priority patent/EP3730713B1/en
Priority to JP2020541745A priority patent/JP6899492B2/ja
Priority to CA3091739A priority patent/CA3091739C/en
Priority to US16/985,179 priority patent/US10962076B2/en
Publication of WO2020155636A1 publication Critical patent/WO2020155636A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
    • E04H9/0215—Bearing, supporting or connecting constructions specially adapted for such buildings involving active or passive dynamic mass damping systems
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H9/00—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate
    • E04H9/02—Buildings, groups of buildings or shelters adapted to withstand or provide protection against abnormal external influences, e.g. war-like action, earthquake or extreme climate withstanding earthquake or sinking of ground
    • E04H9/021—Bearing, supporting or connecting constructions specially adapted for such buildings
    • E04H9/023—Bearing, supporting or connecting constructions specially adapted for such buildings and comprising rolling elements, e.g. balls, pins
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00—Vibration-dampers; Shock-absorbers
    • F16F7/10—Vibration-dampers; Shock-absorbers using inertia effect
    • F16F7/1005—Vibration-dampers; Shock-absorbers using inertia effect characterised by active control of the mass
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2232/00—Nature of movement
    • F16F2232/02—Rotary

Definitions

  • the invention relates to the field of vibration suppression in a system, and in particular to an active moment of inertia drive control system.
  • the structure will vibrate under the action of these dynamic loads, which will generally cause Fatigue and reliability problems can cause structural damage and failure in severe cases, causing casualties and property losses.
  • dynamic loads such as earthquakes
  • the structure will collapse and be damaged and cannot be used anymore, or even if the structure has not collapsed, the internal equipment, decoration, and installation system cannot be used after being damaged. , And even cause secondary disasters, which caused huge safety threats and economic property losses to users.
  • vibration control technology has been rapidly developed in recent years. Not only in the field of civil engineering, vibration control technology is also a hot spot in the fields of aerospace, automotive, machinery, marine engineering, and military engineering.
  • vibration control technology is also a hot spot in the fields of aerospace, automotive, machinery, marine engineering, and military engineering.
  • vibration control technology is also a hot spot in the fields of aerospace, automotive, machinery, marine engineering, and military engineering.
  • proper installation of vibration control devices in the structure can effectively reduce the dynamic response of the structure, reduce structural damage or fatigue damage, so as to meet people's needs for structural safety and comfort, and achieve safety, economy, and safety. Reasonable balance of reliability.
  • a large number of studies have shown that the application of vibration control technology in civil engineering has significant effects and important significance. It can not only prevent or reduce structural damage, improve the disaster prevention performance of the structure, ensure the safety of people’s lives and properties, but also extend the life of the structure. Reduce the maintenance cost of the structure, and greatly meet people's requirements for the comfort of the structure under extreme conditions.
  • the structure vibration control technology of civil engineering is mainly divided into the following four aspects: active control, passive control, semi-active control and hybrid control.
  • active control passive control
  • passive control technology has been relatively mature.
  • the devices used for passively tuned energy absorption mainly include tuned mass dampers and tuned liquid dampers, etc., which have been applied in many civil engineering structures.
  • the principle of TMD control is to make the sub-structure resonate with the main structure by adjusting the frequency of the sub-structure, that is, the damper, and the main structure, that is, the controlled structure, and dissipate the vibration energy of the main structure through the internal damping mechanism of the sub-structure, thereby reducing the main structure Dynamic response to achieve the purpose of vibration control.
  • the movement form of the structure has complex and diverse characteristics, usually composed of a combination of translation and torsion swing.
  • the TMD system when used to control the swing of the suspension quality system, it is found that when the suspension direction of the structure is consistent with the direction of the swing motion, the TMD system can play an effective control role regardless of the initial offset or the simple harmonic load excitation input;
  • the TMD system is used for the shimmy control of the structure in another direction, that is, when the suspension direction of the structure and its shimmy movement direction are perpendicular to each other, no matter how to adjust the system parameters (such as structure pendulum length, control system position, etc.), the TMD system will not work.
  • the application of existing structural vibration control devices/systems in the field of civil engineering plays an indispensable role, and is of great significance for protecting the lives and property of structural users.
  • the existing structural vibration control devices/systems mainly exhibit the following deficiencies: First, the translational TMD control device can only control the translational motion of the structure and is invalid for the control of the swing vibration; second, the translational AMD control Although the device can control the swing vibration, the control efficiency is extremely low and cannot meet the requirements of use; third, the passive moment of inertia tuned damper is effective for the control of the swing vibration movement, but it requires complex frequency modulation for the structure itself. Complicated structures have low control efficiency, poor effect, low robustness, low controllability, and small application range.
  • the present invention was produced under this background.
  • the main purpose of the present invention is to provide an active moment of inertia drive control system to solve the ineffectiveness of the prior art translational TMD on the control of the swing vibration; the translational AMD has low control efficiency and poor effect; passively tuned moment of inertia damper Control the problems of low robustness, complex frequency modulation technology, and small application range.
  • An active moment of inertia drive control system which includes an output carrier, a drive assembly and a moment of inertia disk;
  • the output carrier includes a partition plate and a shell, the partition plate is fixed on the inner wall of the shell, and the shell is connected to the controlled structure;
  • One end of the drive assembly is fixed on the housing, and the other end is fixed on the partition.
  • the end of the drive assembly is connected with the output shaft, the output shaft extends out of the housing, and the other end of the output shaft is connected with the moment of inertia disk;
  • the moment of inertia disc is a disc or ring with a certain mass.
  • the drive assembly includes a driver, a transmission and an encoder, the output end of the driver is connected with the transmission, the transmission is externally connected with an output shaft, the driver, the transmission and the encoder are coaxially connected, and the driver and the transmission have the same contour.
  • the driver is a stepper motor or a servo motor.
  • the drive assembly is fixed on the housing and the partition through a flange bracket.
  • the output shaft is connected with the moment of inertia disk through a flange.
  • the moment of inertia disk is parallel to the rotating surface of the controlled structure, and the drive assembly is connected perpendicularly to the moment of inertia disk.
  • sensors are installed on the controlled structure to collect state data of the controlled structure.
  • the transmission is a reducer.
  • controller which is connected to the encoder, sensor and driver circuit, receives signals from the encoder and sensor, and transmits control signals to the driver to control the driving direction and speed of the inertia disk by the driver.
  • the present invention breaks the traditional passive control structure vibration method, adopts active control technology, and can actively control the rotation state of the moment of inertia disk according to the real-time status information of the controlled structure, and then realize the difference through the output torque of the controlled structure The control effect.
  • the system uses a drive assembly to achieve the output of control force, without the need for a complicated frequency modulation design process, and at the same time get rid of the problem of inability to achieve control due to technical limitations of frequency modulation, and has a wider application range;
  • Figure 1 is a schematic diagram of the overall structure of the present invention.
  • Figure 2 is a schematic diagram of the composition of the drive assembly
  • Figure 3 is a front view of the connection of the present invention applied to a simple pendulum model
  • Figure 4 is a side view of the connection used in the single pendulum model of the present invention.
  • Figure 5 is a schematic diagram of the state of use of the present invention in the inverted pendulum
  • the above drawings include the following reference signs: 1. Housing; 2. Partition; 3. Drive assembly; 31. Encoder; 32. Drive; 33. Transmission; 4. Moment of inertia disc; 5. Output shaft ; 6. Controlled structure; 7. Flange bracket; 8. Flange plate.
  • the active moment of inertia drive control system of the present invention includes an output carrier, a drive assembly 3 and a moment of inertia disk 4;
  • the output carrier includes a partition plate 2 and a housing 1.
  • the partition plate is fixed on the inner wall of the housing, and the housing is connected to the controlled structure 6; the controlled structure is equipped with a sensor, the sensor is a photoelectric shaft angle encoder, angular acceleration
  • the sensor or gyroscope is used to collect the state data of the controlled structure. The sensor needs to ensure that it can collect the swing angle and the swing angular acceleration data of the system's gyration vibration.
  • the sensor to detect the state of the controlled structure can be a photoelectric encoder, which is arranged at the hanging point to collect the pendulum structure's swing angle and pendulum angular acceleration data.
  • One end of the drive assembly is fixed on the housing, and the other end is fixed on the partition.
  • the end of the drive assembly is connected to the output shaft 5, which extends out of the housing and is connected to the moment of inertia disk;
  • the drive assembly includes a driver 32 and a transmission 33 and encoder 31, what the present invention requires is not a high speed output but a force output, so the transmission adopts a reducer to reduce the speed to meet the force output.
  • the output end of the driver is connected with the transmission, the transmission is externally connected with the output shaft, the driver, the transmission and the encoder are coaxially connected, and the driver and the transmission have the same contour;
  • the driver is a stepper motor or a servo motor, and the drive assembly passes through a flange bracket 7 Fixed on the shell and the partition, the output shaft is connected with the moment of inertia disk through the flange plate 8.
  • the moment of inertia disc is a disc or ring with a certain mass; the material is usually a metal material or other materials with higher density.
  • the moment of inertia disc is parallel to the rotating surface of the controlled structure, and the drive assembly is connected perpendicularly to the moment of inertia disc.
  • the present invention also includes a controller.
  • the controller is connected to the encoder, sensor and driver circuit on the driver, receives signals from the encoder connected to the driver and the sensor connected to the controlled structure, and transmits control signals to the driver to control the driver pair
  • the driving direction and rotation speed, control and transmission of the rotational inertia disc are in the prior art, which involves simple signal transmission and processing functions, and will not be repeated here.
  • the force of the system is generated by the rotation of the rotational inertia disk driven by the drive assembly.
  • the main partition is transmitted to the shell and acts on the controlled structure.
  • the force passes through the drive assembly.
  • the components are transferred to the shell and then act on the controlled structure.
  • the invention can also be connected to the inverted pendulum to control the swing of the inverted pendulum.
  • the sensor collects the oscillating motion state of the controlled structure, that is, the oscillating angle and the oscillating angular acceleration data, and transmits the structure state data to the controller.
  • the controller determines whether active control is required. When the structure rotates and the oscillating motion data exceeds the previous setting When the threshold is set, the controller controls the drive to move, and the drive assembly starts to move.
  • the drive can control the rotation of the moment of inertia disk according to the real-time measured structure motion state, and the reaction force generated by the rotation of the moment of inertia disk acts on the shell. Furthermore, it is transmitted to the controlled structure connected with the casing to restrain the swing of the controlled structure.
  • An encoder is installed coaxially at the end of the drive, which collects the rotation of the drive in real time and feeds it back to the controller to realize the closed-loop control device of the controller, the controlled structure and the drive.
  • the drive can be changed in real time
  • the rotation of the controlled moment of inertia disc adjusts the control torque acting on the controlled structure, adjusts the size of the drive energy output, controls the vibration of the structure, and ensures higher control efficiency.
  • the basic principle of the present invention comes from the basic concept of mechanics: force and force couple cannot be equivalent to each other. In some cases, the motion characteristics of the controlled object determine that the form of rotational motion must be controlled by torque. Therefore, traditional control devices that use force or linear motion will fail.
  • the present invention proposes a suitable structure or system for rotation or torsion or rotation. Active control device for swing motion control.
  • the application of the present invention is not limited to the shimmy (single pendulum) motion control of the suspension structure under the action of gravity; the flutter control and buffeting control of the long-span suspension bridge under the action of wind load; the wind and seismic vibration control of the civil engineering structure, the vehicle Pitch motion control under the excitation of road irregularities, roll, pitch and yaw motion control of ship or offshore platform structure under the combined excitation of wind, wave and current, and fixed-axis rotation motion control of rigid bodies around space axes.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vibration Prevention Devices (AREA)
  • Buildings Adapted To Withstand Abnormal External Influences (AREA)
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Abstract

本发明涉及系统中振动的抑制领域，具体而言，涉及一种主动转动惯量驱动控制系统，其包括出力载体、驱动总成以及转动惯量盘；出力载体包括隔板以及壳体，隔板固定在壳体内壁上，壳体连接在被控结构端部；驱动总成一端固定在壳体上，另一端固定在隔板上，驱动总成端部连接出力轴，出力轴伸出到壳体外，出力轴的另一端与转动惯量盘连接；转动惯量盘为一定质量的圆盘或者圆环，该发明所涉及的主动转动惯量驱动控制系统解决了现有技术中平动TMD对回转摆振运动控制失效；平动AMD控制效率低、效果较差；被动调谐转动惯量阻尼器控制适用鲁棒性低、调频技术复杂、适用范围小等的问题。

Description

主动转动惯量驱动控制系统 技术领域
本发明涉及系统中振动的抑制领域，具体而言，涉及一种主动转动惯量驱动控制系统。
背景技术
近年来，随着经济的发展和社会的进步，人们对生活空间的要求也不断提高，国家在基础设施方面的投入不断增大。国家在土木工程的投入越来越大，高速公路、铁路、桥梁、高层建筑、大跨度空间结构等不断兴建。除此之外，人们还探索开发更广阔的空间，向“深海”、“深空”探索，海洋平台、宇宙空间站等结构也发展迅速。这些空间结构，在施工以及后期运行使用过程中，都不可避免地受到各种荷载的作用，包括静荷载和动荷载。在结构的使用过程中，对结构影响较大的往往是动载作用，如地震、风、浪、流、冰、爆炸等，结构在这些动力荷载的作用下会产生振动，一般情况下会引起疲劳与可靠性问题，严重时会造成结构的破坏失效，造成人员伤亡及财产损失。结构在使用过程中，遭受动载作用后，如地震作用，结构产生倒塌破坏，无法继续使用，或者即使结构没有倒塌，但其内部的设备设施、装饰装修、安装系统受到破坏之后也无法继续使用，甚至造成次生灾害，这给使用人员造成了巨大的安全威胁和经济财产损失。
另一方面，随着经济的发展和技术的不断进步，人们对结构的要求已不再仅仅局限于可用，还在结构安全性、耐久性等方面提出了更高的要求。人们在结构的使用过程中，结构物不仅需要确保人们的生命安全，还需要满足人们对舒适度等方面的要求。如，高层结构在风荷载作用下，会产生振动，在没有减隔振措施的情况下，处于高层的使用者会感到结构物的晃动，风力较大的情况下，结构物内部的设备设施甚至会受到由结构物振动引起的破坏，这不仅无法满足人们对结构物的舒适要求，也对经济财产造成威胁。
为了解决由结构物振动引起的各种问题，消除或减轻由外部荷载引起的振动，振动控制技术近年来得到了迅速的发展。不仅是在土木工程领域，振动控制技术在航空航天、汽车、机械、海洋工程、军事工程等领域也是热点方向。 对于土木工程结构，在结构中恰当地安装振动控制装置能够有效地减轻结构的动力响应，减轻结构的破坏或者疲劳损伤，从而满足人们对结构的安全、舒适等需求，达到安全性、经济性、可靠性的合理平衡。大量研究表明，振动控制技术在土木工程的应用具有显著的效果和重要的意义，不仅可以防止或减轻结构的破坏，提高结构的防灾性能，保证人们的生命财产安全，还可以延长结构寿命，降低结构的维护成本，极大限度的满足人们对结构在极端条件下的舒适度要求。
土木工程结构振动控制技术主要分为以下四个方面：主动控制、被动控制、半主动控制以及混合控制。其中，被动控制技术的研究已经较为成熟，其中用于被动调谐吸能的装置主要包括调谐质量阻尼器和调谐液体阻尼器等，已经在诸多土木工程结构中得到了应用。TMD控制的原理是通过调整子结构即阻尼器的频率与主结构即受控结构一致或相近，使子结构与主结构共振，通过子结构内部阻尼机制耗散主结构振动能量，从而消减主结构动力响应，达到振动控制的目的。大量的研究和实际应用已经表明，例如：美国波士顿60层的John Hancock大楼、马来西亚吉隆坡的双子塔、中国台北101大楼均安装了TMD振动控制装置，通过在后期的应用证明了被动控制TMD系统具有稳定、良好的控制效果。
结构的运动形式具有复杂多样的特性，通常由平动以及扭转摆动组合而成。然而采用TMD系统控制悬吊质量体系摆动问题时发现：当结构悬挂方向与其摆振运动方向一致时，无论是在初始偏移还是简谐荷载激励输入下，TMD系统都能发挥有效的控制作用；当把TMD系统用于结构另一个方向摆振控制即当结构悬挂方向与其摆振运动方向相互垂直时，无论怎样调整系统参数(如结构摆长、控制系统位置等)，TMD系统始终无法工作。经过大量的理论分析和试验探索，提出了平动TMD控制系统只能控制结构的平动运动而对回转摆振控制无效的结论。经过学者的研究表明，其根本原因在于此时TMD、TLD等被动控制系统处于离心状态而失去作用，系统质量块(或TLD水箱中的水)根本不运动，甚至主动质量阻尼器/驱动器(英文名Active Mass Damper/Driver，AMD)控制系统主动控制力因需要克服质量块重力分量而使其控制效率大大折扣。然而具有回转摆振运动特性的结构运动形式极为常见，如：悬吊结构的摆动；不规则建筑在风荷载作用下的扭转摆振；海洋平台在海浪、风、冰等耦合作用下的扭转摆振等。 因此需要设计一种特殊的结构振动/运动控制系统，使其可以自动克服(或摆脱)重力场对控制系统自身的影响(离心力作用)，或者使控制系统自身的工作/运动规律与重力场解耦，系统自振不受重力影响，以上两个方面均可以达到使控制系统充分运动起来的目的，从而发挥控制系统对结构运动/振动的有效控制作用。
综上所述，现有的结构振动控制装置/系统在土木工程领域的应用具有不可或缺的作用，并且对保障结构使用者的生命和财产具有非常重要的意义。但是现有的结构振动控制装置/系统主要表现出以下几方面的不足：第一，平动TMD控制装置只能控制结构的平动运动而对回转摆振控制无效；第二，平动AMD控制装置虽然可以控制回转摆振，但是控制效率极低，无法满足使用要求；第三，被动转动惯量调谐阻尼器对回转摆振运动控制有效，但是其需要针对结构自身进行复杂的调频，对某些复杂结构控制效率较低，效果不佳，存在鲁棒性低，可控性低，适用范围小等缺点。
本发明就是在这样的背景下产生的。
发明内容
本发明的主要目的在于提供一种主动转动惯量驱动控制系统，以解决现有技术中平动TMD对回转摆振运动控制失效；平动AMD控制效率低、效果较差；被动调谐转动惯量阻尼器控制适用鲁棒性低、调频技术复杂、适用范围小等的问题。
为了实现上述目的，本发明采用以下的技术方案：
一种主动转动惯量驱动控制系统，其包括出力载体、驱动总成以及转动惯量盘；出力载体包括隔板以及壳体，隔板固定在壳体内壁上，壳体连接在被控结构上；
驱动总成一端固定在壳体上，另一端固定在隔板上，驱动总成端部连接出力轴，出力轴伸出到壳体外，出力轴的另一端与转动惯量盘连接；
转动惯量盘为一定质量的圆盘或者圆环。
进一步的，驱动总成包括驱动器、变速器以及编码器，驱动器输出端和变速器连接，变速器外连出力轴，驱动器、变速器以及编码器同轴连接，驱动器与变速器外形轮廓相同。
进一步的，所述驱动器为步进电机或者伺服电机。
进一步的，驱动总成通过法兰支架固定在壳体和隔板上。
进一步的，出力轴通过法兰盘与转动惯量盘连接。
进一步的，所述转动惯量盘平行于被控结构旋转面，驱动总成与转动惯量盘垂直连接。
进一步的，被控结构上安装有传感器，用于采集被控结构的状态数据。
进一步的，变速器为减速器。
进一步的，还包括控制器，控制器与编码器、传感器以及驱动器线路连接，接收编码器以及传感器的信号，并传递控制信号给驱动器，控制驱动器对转动惯量盘的驱动方向以及转速。
本发明具有以下有益效果：
(1)本发明打破传统的被动控制结构振动的方式，采用主动控制技术，可以根据被控结构的实时状态信息主动控制转动惯量盘的转动状态，进而通过对被控结构输出力矩的大小实现不同的控制效果。
(2)该系统采用驱动总成，实现控制力的输出，无需进行复杂的调频设计过程，同时也摆脱了由于调频的技术限制而无法实现控制的问题，适用范围更广；
(3)该系统具有更大的鲁棒性，不受结构形式变化以及外部荷载作用的变化而使控制效果受到过大影响。
附图说明
图1是本发明整体结构示意图；
图2是驱动总成组成示意图；
图3是本发明应用于单摆模型中的使用连接正视图；
图4是本发明应用于单摆模型中的使用连接侧视图；
图5是本发明在倒立摆中的使用状态示意图；
其中，上述附图包括以下附图标记：1、壳体；2、隔板；3、驱动总成；31、编码器；32、驱动器；33、变速器；4、转动惯量盘；5、出力轴；6、被控结构；7、法兰支架；8、法兰盘。
具体实施方式
下面结合附图对本发明作进一步说明。
以本发明应用在单摆结构模型结构中为例进行说明：
如图1-5所示，本发明所述的主动转动惯量驱动控制系统包括出力载体、驱动总成3以及转动惯量盘4；
出力载体包括隔板2以及壳体1，隔板固定在壳体内壁上，壳体连接在被控结构6上；被控结构上安装有传感器，所述传感器为光电轴角编码器、角加速度传感器或陀螺仪，用于采集被控结构的状态数据，传感器需要保证可以采集到系统回转摆振的摆角、摆角加速度数据。
以单摆结构模型为基本力学模型原型，检测此被控结构状态的传感器可选用光电编码器，光电编码器布置于吊点处，用来采集单摆结构的摆角及摆角加速度数据。
驱动总成一端固定在壳体上，另一端固定在隔板上，驱动总成端部连接出力轴5，出力轴伸出到壳体外，与转动惯量盘连接；驱动总成包括驱动器32、变速器33以及编码器31，本发明所需求的不是高转速输出而是力的输出，因此变速器采用减速器以减小转速满足力的输出。驱动器输出端与和变速器连接，变速器外连出力轴，驱动器、变速器以及编码器同轴连接，驱动器与变速器外形轮廓相同；所述驱动器为步进电机或者伺服电机，驱动总成通过法兰支架7固定在壳体和隔板上，出力轴通过法兰盘8与转动惯量盘连接。
转动惯量盘为一定质量的圆盘或者圆环；材料通常为金属材料或者密度较高的其他材料，转动惯量盘平行于被控结构旋转面，驱动总成与转动惯量盘垂直连接。
本发明还包括控制器，控制器与驱动器上的编码器、传感器以及驱动器线路连接，接收驱动器上连接的编码器以及被控结构上连接的传感器的信号，并传递控制信号给驱动器，控制驱动器对转动惯量盘的驱动方向以及转速，控制以及传输部分为现有技术，涉及简单的信号传输以及处理功能，在此不做赘述。
系统的作用力通过驱动总成带动转动惯量盘旋转产生，主要隔板传递给出外壳，作用在被控结构上，还有一部分由于驱动总成与出力子系统外壳的直接连接，力通过驱动总成传递给壳体，进而作用在被控结构上。
本发明同样可以连接在倒立摆上，控制倒立摆的摆动。
本发明的使用过程如下所述：
传感器采集被控结构的摆振运动状态即摆角以及摆角加速度数据，并把结构状态数据传送给控制器，控制器判断是否需要进行主动控制，当结构发生回转摆振运动数据超出之前所设定的阈值的时候，控制器控制驱动器动作，驱动总成开始动作，驱动器可以根据实时测量的结构运动状态，控制转动惯量盘发生回转转动，转动惯量盘转动产生的反作用力作用在壳体上，进而给传递给与壳体连接的被控结构上，抑制被控结构的摆动。驱动器末端同轴安装有编码器，实时采集驱动器的转动情况，反馈给控制器，实现控制器与被控结构以及驱动器的闭环控制装置，通过实时采集被控结构的摆动幅度以及频率，实时更改驱动器控制的转动惯量盘的转动，调节作用在被控结构上的控制力矩，调节驱动能源输出大小，控制结构的振动，保证较高的控制效率。
本发明的基本原理来自力学基本概念：力和力偶不能相互等效。某些情况下受控对象的运动特征决定了转动运动形式必须由力矩来控制，因此传统的以出力方式或线性运动的控制装置均将失效，本发明提出适合结构或体系发生转动或扭转或回转摆振运动控制的主动控制装置。
本发明的应用不局限于悬挂结构在重力作用下的摆振(单摆)运动控制；大跨度悬索桥梁在风荷载作用下的颤振控制、抖振控制；土木工程结构的抗风抗震振动控制，车辆在道路不平顺激励下的俯仰运动控制，船舶或海洋平台结构在风浪流等联合激励作用下的横摇、纵摇以及首摇等运动控制，刚体绕空间轴的定轴转动运动控制等领域。
当然，上述内容仅为本发明的较佳实施例，不能被认为用于限定对本发明的实施例范围。本发明也并不仅限于上述举例，本技术领域的普通技术人员在本发明的实质范围内所做出的均等变化与改进等，均应归属于本发明的专利涵盖范围内。

Claims (9)

  1. 一种主动转动惯量驱动控制系统，其特征在于，包括出力载体、驱动总成(3)以及转动惯量盘(4)；
    出力载体包括隔板(2)以及壳体(1)，隔板(2)固定在壳体(1)内壁上，壳体(1)连接在被控结构(6)上；
    驱动总成(3)一端固定在壳体(1)上，另一端固定在隔板(2)上，驱动总成(3)端部连接出力轴(5)，出力轴(5)另一端伸出到壳体(1)外，与转动惯量盘(4)连接；
    转动惯量盘(4)为一定质量的圆盘或者圆环。
  2. 根据权利要求1所述的主动转动惯量驱动控制系统，其特征在于，驱动总成(3)包括驱动器(32)、变速器(33)以及编码器(31)，驱动器(32)输出端与和变速器(33)连接，变速器(33)外连出力轴(5)，驱动器(32)、变速器(33)以及编码器(31)同轴连接，驱动器(32)与变速器(33)外形轮廓相同。
  3. 根据权利要求2所述的主动转动惯量驱动控制系统，其特征在于，所述驱动器(32)为步进电机或者伺服电机。
  4. 根据权利要求1所述的主动转动惯量驱动控制系统，其特征在于，驱动总成(3)通过法兰支架(7)固定在壳体(1)和隔板(2)上。
  5. 根据权利要求1所述的主动转动惯量驱动控制系统，其特征在于，出力轴(5)通过法兰盘(8)与转动惯量盘(4)连接。
  6. 根据权利要求1所述的主动转动惯量驱动控制系统，其特征在于，所述转动惯量盘(4)平行于被控结构(6)旋转面，驱动总成(3)与转动惯量盘(4)垂直连接。
  7. 根据权利要求2所述的主动转动惯量驱动控制系统，其特征在于，被控结构(6)上安装有传感器，用于采集被控结构(6)的状态数据。
  8. 根据权利要求2所述的主动转动惯量驱动控制系统，其特征在于，变速器(33)为减速器。
  9. 根据权利要求7所述的主动转动惯量驱动控制系统，其特征在于，还包括控制器，控制器与编码器(31)、传感器以及驱动器(32)线路连接，接收编码器(31)以及传感器的信号，并传递控制信号给驱动器(32)，控制驱动器(32)对转动惯量盘(4)的驱动方向以及转速。
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