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CN102005890B - Resonance type electromagnetic actuator - Google Patents

  • ️Wed Nov 21 2012

CN102005890B - Resonance type electromagnetic actuator - Google Patents

Resonance type electromagnetic actuator Download PDF

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Publication number
CN102005890B
CN102005890B CN2010105102094A CN201010510209A CN102005890B CN 102005890 B CN102005890 B CN 102005890B CN 2010105102094 A CN2010105102094 A CN 2010105102094A CN 201010510209 A CN201010510209 A CN 201010510209A CN 102005890 B CN102005890 B CN 102005890B Authority
CN
China
Prior art keywords
permanent magnet
main body
electromagnetic actuator
moving
fixedly connected
Prior art date
2010-10-18
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
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CN2010105102094A
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CN102005890A (en
Inventor
陆洋
顾仲权
洪亮
游小亮
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Nanjing University of Aeronautics and Astronautics
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Nanjing University of Aeronautics and Astronautics
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2010-10-18
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2010-10-18
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2012-11-21
2010-10-18 Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
2010-10-18 Priority to CN2010105102094A priority Critical patent/CN102005890B/en
2011-04-06 Publication of CN102005890A publication Critical patent/CN102005890A/en
2012-11-21 Application granted granted Critical
2012-11-21 Publication of CN102005890B publication Critical patent/CN102005890B/en
Status Expired - Fee Related legal-status Critical Current
2030-10-18 Anticipated expiration legal-status Critical

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  • 229920000742 Cotton Polymers 0.000 claims abstract description 5
  • 238000006073 displacement reaction Methods 0.000 claims abstract description 4
  • 229910052761 rare earth metal Inorganic materials 0.000 claims description 6
  • 150000002910 rare earth metals Chemical class 0.000 claims description 6
  • 238000009434 installation Methods 0.000 claims description 3
  • 230000009467 reduction Effects 0.000 claims description 3
  • 230000002093 peripheral effect Effects 0.000 claims 1
  • 238000013016 damping Methods 0.000 description 3
  • 238000010586 diagram Methods 0.000 description 2
  • 230000000694 effects Effects 0.000 description 2
  • 230000004044 response Effects 0.000 description 2
  • 238000004804 winding Methods 0.000 description 2
  • XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
  • 230000009286 beneficial effect Effects 0.000 description 1
  • 230000005540 biological transmission Effects 0.000 description 1
  • 230000008859 change Effects 0.000 description 1
  • 238000006243 chemical reaction Methods 0.000 description 1
  • 239000002131 composite material Substances 0.000 description 1
  • 239000000428 dust Substances 0.000 description 1
  • 230000005672 electromagnetic field Effects 0.000 description 1
  • 230000005674 electromagnetic induction Effects 0.000 description 1
  • 230000004907 flux Effects 0.000 description 1
  • 230000007774 longterm Effects 0.000 description 1
  • 238000004519 manufacturing process Methods 0.000 description 1
  • 239000000463 material Substances 0.000 description 1
  • 238000000034 method Methods 0.000 description 1
  • 230000008569 process Effects 0.000 description 1
  • 238000007789 sealing Methods 0.000 description 1
  • 238000004904 shortening Methods 0.000 description 1
  • 239000002520 smart material Substances 0.000 description 1

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Abstract

一种共振型电磁式作动器,属电磁作动器技术领域。它包括金属外罩(4),还包括激振器主体(6)、导柱(2)、运动质量块(9);激振器主体(6)上固连有导磁柱(5),还固连有套于导磁柱(5)外围的环形永磁体(11);运动质量块(9)上布有调频质量块(3);上述导柱(2)、激振器主体(6)和运动质量块(9)固连在一起,通过弹簧组(8)支撑;并通过直线轴承(1)安装,由直线轴承(1)限制径向位移;上述金属外罩(4)上端还固连有缠绕漆包线圈(7)的柱形套筒(12),柱形套筒(12)向下套于环形永磁体(11)与导磁柱(5)中间;上述金属外罩(4)内壁贴有吸音棉(10)。本发明在较小功率电源驱动下就能产生大载荷控制力。

A resonance type electromagnetic actuator belongs to the technical field of electromagnetic actuators. It includes a metal cover (4), and also includes a vibrator main body (6), a guide post (2), and a moving mass block (9); a magnetic guide post (5) is fixedly connected to the vibrator main body (6), and An annular permanent magnet (11) set on the periphery of the magnetic guide column (5) is fixedly connected; a frequency modulation mass (3) is arranged on the moving mass (9); the above-mentioned guide column (2), the main body of the vibrator (6) It is fixedly connected with the moving mass block (9) and supported by the spring group (8); it is also installed through the linear bearing (1), and the radial displacement is limited by the linear bearing (1); the upper end of the above-mentioned metal cover (4) is also fixedly connected There is a cylindrical sleeve (12) wound with an enamelled coil (7), and the cylindrical sleeve (12) is placed downwards between the annular permanent magnet (11) and the magnetic conduction column (5); the inner wall of the metal outer cover (4) is pasted There are sound-absorbing cotton (10). The invention can generate a large load control force under the drive of a small power supply.

Description

共振型电磁式作动器Resonant Electromagnetic Actuator

所属技术领域 Technical field

本发明属于电磁作动器技术领域,本发明可作为作动器应用于直升机、飞机、航天器、船舶等的振动主动控制系统中。  The invention belongs to the technical field of electromagnetic actuators and can be used as an actuator in active vibration control systems of helicopters, airplanes, spacecraft, ships and the like. the

技术背景 technical background

作为振动控制领域的重要分支之一,振动主动控制发展迅速,应用于精密仪器、航空航天、交通运输及机械等许多场合且效果突出。作动器则是振动主动控制系统中关键的一部分,其主要作用是按照确定的控制律对控制对象施加控制力,以按所需方式改变系统的响应。  As one of the important branches in the field of vibration control, active vibration control develops rapidly and is used in many occasions such as precision instruments, aerospace, transportation and machinery with outstanding effects. The actuator is a key part of the active vibration control system. Its main function is to exert control force on the control object according to the determined control law, so as to change the response of the system in the desired way. the

用于振动主动控制的作动器按结构形式主要可以分为液压式作动器、电磁式作动器和智能材料作动器。其中电磁式作动器的主要优点是:作用频带宽、反应灵敏、结构重量适中、作动器布置方便等,但是其也存在一些缺点,如:存在潜在的电磁场干扰问题以及长时间使用后磁性损耗问题。  Actuators used for active vibration control can be mainly divided into hydraulic actuators, electromagnetic actuators and smart material actuators according to their structural forms. Among them, the main advantages of the electromagnetic actuator are: wide frequency range, sensitive response, moderate structural weight, convenient actuator layout, etc., but it also has some disadvantages, such as: potential electromagnetic field interference and magnetic field after long-term use. loss problem. the

现有电磁式作动器多数采用电磁力直接驱动运动转子产生控制力,在专利“申请专利号:3220055.2,公开日:2004.04.21,公开号:CN2613092”中提出一种串接式高能电磁作动器,它的振子由两块或两块以上的高强磁铁和两块外侧导磁板及一块或一块以上的中间导磁板按“外侧导磁板—高强磁铁—中间导磁板—高强磁铁—高强磁铁—外侧导磁板”的顺序串联而成,布置在振子中间的导磁板的厚度比振子最外端导磁板的厚度大,任意两块相邻的磁铁同极相对地夹住其间的中间导磁板。线圈保持架、电磁线圈和导磁外筒粘固成一体,穿心螺栓和片状弹簧从两端连接振子和导磁外筒。由于磁路缩短、磁阻降低、导磁板数量增多,可布置的电磁线圈有效匝数大大增加,使作动器的控制力大幅度增加,磁铁用量、驱动电流强度、材料成本和体积减少。  Most of the existing electromagnetic actuators use electromagnetic force to directly drive the moving rotor to generate control force. In the patent "application patent number: 3220055.2, publication date: 2004.04.21, publication number: CN2613092", a series-connected high-energy electromagnetic actuator is proposed. The actuator, its vibrator consists of two or more high-strength magnets, two outer magnetic plates and one or more middle magnetic plates according to "outer magnetic plates-high-strength magnets-middle magnetic plates-high-strength magnets —High-strength magnets—outer magnetic plates” are connected in series. The thickness of the magnetic plate arranged in the middle of the vibrator is larger than that of the outermost magnetic plate of the vibrator. Any two adjacent magnets are clamped with the same poles facing each other. The middle magnetically conductive plate therebetween. The coil holder, the electromagnetic coil and the magnetically permeable outer cylinder are cemented into one body, and the through-hole bolts and leaf springs connect the vibrator and the magnetically permeable outer cylinder from both ends. Due to the shortening of the magnetic circuit, the reduction of the reluctance, and the increase in the number of magnetically conductive plates, the effective number of turns of the electromagnetic coil that can be arranged is greatly increased, so that the control force of the actuator is greatly increased, and the amount of magnet, driving current intensity, material cost and volume are reduced. the

在专利“申请专利号:200310107922.4,公开日:2004.09.15,公开号:CN1529407”中提出一种双永磁体并联型非接触式电磁作动器,它主要由上部的电磁铁组件、下部永磁体组件及导磁构基础构件组成,其特点是,电磁铁组件的铁芯上置有控制绕组和泊位绕组;永磁体组件是主要由两块永磁体并联组成;由铁芯、电磁铁组件和永磁体组件的作用面之间形成的工作气隙、永磁体和导磁构基础构件构成一闭合磁路。由于采用了双永磁体并联结构,磁路为闭合磁路,漏磁通小,使其具有较好的力—电转换效率及电磁兼容性。  In the patent "application patent number: 200310107922.4, publication date: 2004.09.15, publication number: CN1529407", a double permanent magnet parallel non-contact electromagnetic actuator is proposed, which is mainly composed of an upper electromagnet assembly and a lower permanent magnet. It is composed of components and the basic components of the magnetic transmission structure. It is characterized in that the iron core of the electromagnet component is equipped with control windings and berth windings; the permanent magnet component is mainly composed of two permanent magnets connected in parallel; The working air gap formed between the active surfaces of the magnet assembly, the permanent magnet and the base component of the magnetic conduction structure form a closed magnetic circuit. Due to the parallel structure of double permanent magnets, the magnetic circuit is a closed magnetic circuit, and the leakage flux is small, so that it has better force-electricity conversion efficiency and electromagnetic compatibility. the

在专利“申请专利号:200810236270,公开日:2009.04.22,公开号:10141202”中提出一种复合式宽频带作动器,它的主要特点是:在电磁作动器的输出轴上还复合有压电作动器,它将两者复合,配以相应分频及驱动电路,充分利用两种作动器的优点,扩展其工作频带。  In the patent "application patent number: 200810236270, publication date: 2009.04.22, publication number: 10141202", a composite broadband actuator is proposed. There is a piezoelectric actuator, which combines the two, and is equipped with a corresponding frequency division and drive circuit to make full use of the advantages of the two actuators and expand its working frequency band. the

上述专利中,由于该类电磁式作动器的工作原理均是采用电磁力直接驱动运动转子产生控制力,因此为获得更大的控制力均需更强的电功率。  In the above-mentioned patents, since the working principle of this type of electromagnetic actuator is to use electromagnetic force to directly drive the moving rotor to generate control force, stronger electric power is required to obtain greater control force. the

发明内容 Contents of the invention

针对现有电磁式作动器产生大载荷控制力需要大功率电源、体积重量较大、存在电磁干扰等缺点,本发明提供了一种在较小功率电源驱动下就能产生大载荷控制力,结构紧凑,抗干扰性好的共振型电磁式作动器。  Aiming at the disadvantages of existing electromagnetic actuators, such as high-power power supply, large volume and weight, and electromagnetic interference, to generate large-load control force, the present invention provides a large-load control force that can be driven by a small-power power supply. Resonant electromagnetic actuator with compact structure and good anti-interference performance. the

一种共振型电磁式作动器,其特征在于:包括金属外罩,还包括激振器主体、导柱、运动质量块;激振器主体上固连有导磁柱,还固连有套于导磁柱外围的高磁能密度环形稀土永磁体;运动质量块上布有调频质量块;上述导柱、激振器主体和运动质量块固连在一起,通过弹簧组支撑于金属外罩内;并通过固定在金属外罩内直线轴承安装,由直线轴承限制导柱径向位移;上述金属外罩上端还固连有缠绕漆包线圈的柱形套筒,柱形套筒向下套于高磁能密度环形稀土永磁体与导磁柱中间。  A resonant electromagnetic actuator is characterized in that it includes a metal outer cover, and also includes a main body of an exciter, a guide post, and a moving mass block; A high magnetic energy density annular rare earth permanent magnet around the magnetic guide column; a frequency modulation mass is arranged on the moving mass; the above-mentioned guide post, the main body of the vibrator and the moving mass are fixedly connected together and supported in the metal outer cover by a spring set; and The radial displacement of the guide column is limited by the linear bearing fixed in the metal cover; the upper end of the above metal cover is also fixedly connected with a cylindrical sleeve wound with an enameled coil, and the cylindrical sleeve is placed downward on the high magnetic energy density annular rare earth Between the permanent magnet and the permeable column. the

当漆包线圈通有交变电流时,根据洛伦兹定律,漆包线圈会对运动质量块产生一垂直方向的作用力(驱动力),从而使其上下振动,该力与弹簧力一起构成对减振结构作用的“控制力(输出作动力)”。根据质量弹簧系统固有频率计算公式: 

Figure 2010105102094100002DEST_PATH_IMAGE001

,其中

Figure 2010105102094100002DEST_PATH_IMAGE002

,通过调整匹配电磁式作动器的弹簧弹性系数

Figure 214016DEST_PATH_IMAGE003

和运动质量块质量

Figure 2010105102094100002DEST_PATH_IMAGE004

以及调频质量块质量

Figure 380424DEST_PATH_IMAGE005

,使其固有频率与所需减振频率相同,这时电磁式作动器工作在共振状态,由此可以在产生相同载荷控制力的情况下,最大限度地减小所需功率消耗。  When the enameled coil is supplied with an alternating current, according to Lorentz's law, the enameled coil will generate a force (driving force) in the vertical direction on the moving mass, so that it vibrates up and down. The "controlling force (output as power)" of the vibrating structure. According to the formula for calculating the natural frequency of the mass-spring system:

Figure 2010105102094100002DEST_PATH_IMAGE001

,in

Figure 2010105102094100002DEST_PATH_IMAGE002

, by adjusting the elastic coefficient of the spring to match the electromagnetic actuator

Figure 214016DEST_PATH_IMAGE003

and the mass of the moving mass

Figure 2010105102094100002DEST_PATH_IMAGE004

and the mass of the FM mass

Figure 380424DEST_PATH_IMAGE005

, so that its natural frequency is the same as the required vibration damping frequency, at this time the electromagnetic actuator works in a resonant state, which can minimize the required power consumption while generating the same load control force.

在金属外罩内壁贴上消音棉,可以有效地降低作动器工作时的噪音水平。作动器中永磁体采用高磁能密度稀土永磁体可以减小作动器工作过程中永磁体的磁能损失。  Sticking sound-absorbing cotton on the inner wall of the metal cover can effectively reduce the noise level when the actuator is working. The permanent magnet in the actuator adopts the rare earth permanent magnet with high magnetic energy density, which can reduce the magnetic energy loss of the permanent magnet during the working process of the actuator. the

共振型电磁式作动器,其特征在于:  The resonant electromagnetic actuator is characterized in that:

(1)通过调整匹配电磁式作动器弹簧和质量参数,使其固有频率与所需减振频率相同,这时电磁式作动器工作在共振状态,由此可以在产生相同载荷控制力时,最大限度地减小所需功率消耗。 (1) By adjusting and matching the spring and quality parameters of the electromagnetic actuator, the natural frequency is the same as the required vibration reduction frequency. At this time, the electromagnetic actuator works in a resonance state, so that it can generate the same load control force , minimizing the required power dissipation.

(2)通过改变环布在运动质量块四周的小调频质量块的数量或质量,可以对共振状态对应的频率进行调整。  (2) The frequency corresponding to the resonant state can be adjusted by changing the quantity or quality of the small frequency-modulating mass distributed around the moving mass. the

(3)通过金属外罩封装电磁式作动器,可以产生较好电磁屏蔽的效果,同时作动器在封闭的环境下工作,可以有效地防尘。  (3) Encapsulating the electromagnetic actuator with a metal cover can produce better electromagnetic shielding effect, and at the same time, the actuator works in a closed environment, which can effectively prevent dust. the

(4)作动器内部的永磁体采用高磁能密度环形稀土永磁体,这样减小在使用过程中永磁体的磁能损失。  (4) The permanent magnet inside the actuator adopts a ring-shaped rare-earth permanent magnet with high magnetic energy density, which reduces the loss of magnetic energy of the permanent magnet during use. the

(5)通过在金属外罩内壁贴有消音棉,可以有效地降低电磁式作动器工作时产生的噪音。  (5) The noise produced by the electromagnetic actuator can be effectively reduced by pasting the sound-absorbing cotton on the inner wall of the metal housing. the

(6)本发明结构相对简单,便于集成化、标准化设计制造。  (6) The structure of the present invention is relatively simple, which is convenient for integrated and standardized design and manufacture. the

(7)本发明结构相对紧凑,有利于减小安装空间。  (7) The structure of the present invention is relatively compact, which is beneficial to reduce the installation space. the

(8)本发明可以作为作动器应用于直升机、飞机、航天器、船舶等的振动主动控制系统中。  (8) The present invention can be used as an actuator in active vibration control systems of helicopters, airplanes, spacecraft, ships, etc. the

附图说明 Description of drawings

1.    共振型电磁式作动器结构图。  Figure 1. Structural diagram of a resonant electromagnetic actuator.

图中标号名称:1直线轴承,2导柱,3调频质量块,4金属外罩,5导磁柱,6激振器主体,7漆包线圈,8弹簧组,9运动质量块,10消音棉,11永磁体,12柱形套筒。  Label names in the figure: 1 linear bearing, 2 guide column, 3 frequency modulation mass, 4 metal cover, 5 magnetic guide column, 6 main body of vibrator, 7 enamelled coil, 8 spring group, 9 moving mass, 10 sound-absorbing cotton, 11 permanent magnets, 12 cylindrical sleeves. the

2.    共振型电磁式作动器原理图。  Figure 2. Schematic diagram of the resonant electromagnetic actuator.

具体实施方式 Detailed ways

本发明基于电磁感应原理设计,主要由激振器主体6和运动质量块9构成。具体作动器的结构如图1所示:它包括金属外罩4,其起着固定安装、电磁屏蔽、密封防尘等效果;还包括激振器主体6、导柱2、运动质量9;激振器主体6上固连有导磁柱5,还固连有套于导磁柱5外围的高磁能密度环形稀土永磁体11;运动质量块9上环布着调频质量块3;上述导柱2、激振器主体6和运动质量块9固连在一起,通过直线轴承1安装,由直线轴承1限制导柱2径向位移;并通过弹簧组8支撑于金属外罩4内;上述金属外罩4上端还固连有缠绕漆包线圈7的柱形套筒12,柱形套筒12向下套于高磁能密度环形永磁体11与导磁柱5中间。  The present invention is designed based on the principle of electromagnetic induction, and is mainly composed of a vibrator main body 6 and a moving mass block 9 . The structure of the specific actuator is shown in Figure 1: it includes a metal cover 4, which plays a role of fixed installation, electromagnetic shielding, sealing and dustproof; The vibrator main body 6 is fixedly connected with a magnetic guide column 5, and is also fixedly connected with a high magnetic energy density ring-shaped rare earth permanent magnet 11 that is sleeved on the periphery of the magnetic guide column 5; the moving mass 9 is covered with a frequency modulation mass 3; 2. The main body of the exciter 6 and the moving mass 9 are fixedly connected together, installed through the linear bearing 1, and the radial displacement of the guide post 2 is limited by the linear bearing 1; and supported in the metal cover 4 by the spring group 8; the above metal cover The upper end of 4 is also fixedly connected with a cylindrical sleeve 12 wound with an enameled coil 7, and the cylindrical sleeve 12 is placed downwards between the high magnetic energy density annular permanent magnet 11 and the magnetically conductive column 5. the

当漆包线圈7通有交变电流时,漆包线圈7产生电磁力,会对运动质量块9产生一垂直方向的作用力(驱动力),从而使其上下振动,该力与弹簧力一起构成对减振结构作用的“控制力(输出作动力)”。根据质量弹簧系统固有频率计算公式:

Figure 284795DEST_PATH_IMAGE001

,其中,通过调整匹配电磁式作动器的弹簧弹性系数

Figure 621940DEST_PATH_IMAGE003

和运动质量块1质量以及调频质量块3质量,使其固有频率与所需减振频率相同,使电磁式作动器工作在共振状态,由此在产生相同载荷控制力的情况下,可以最大限度地减小作动器所需功率消耗。通过对小调频质量块3的数量或质量的改变,调整作动器共振状态的频率。  When the enameled coil 7 is passed with an alternating current, the enameled coil 7 generates an electromagnetic force, which will generate a vertical force (driving force) on the moving mass 9, thereby causing it to vibrate up and down. The "control force (output power)" of the damping structure. According to the formula for calculating the natural frequency of the mass-spring system:

Figure 284795DEST_PATH_IMAGE001

,in , by adjusting the elastic coefficient of the spring to match the electromagnetic actuator

Figure 621940DEST_PATH_IMAGE003

and moving mass 1 mass and FM mass block 3 mass , so that its natural frequency is the same as the required vibration damping frequency, so that the electromagnetic actuator works in a resonance state, so that the required power consumption of the actuator can be minimized while generating the same load control force. The frequency of the resonance state of the actuator is adjusted by changing the quantity or quality of the small frequency-tuning mass 3 .

Claims (3)

1. a resonance type electromagnetic actuator is characterized in that: comprise metal housing (4), also comprise vibration generator main body (6), guide pillar (2), moving-mass piece (9); Be fixed with conducting magnetic column (5) on the vibration generator main body (6), also be fixed with and be placed in the peripheral annular permanent magnet (11) of conducting magnetic column (5); Be furnished with frequency modulation gauge block (3) on the moving-mass piece (9);

Above-mentioned guide pillar (2), vibration generator main body (6) and moving-mass piece (9) are fixed together, and are supported in the metal housing (4) through groups of springs (8); And through being fixed on the interior linear bearing of metal housing (4) (1) installation, by the radial displacement of linear bearing (1) restriction guide pillar (2);

Above-mentioned metal housing (4) upper end also is fixed with the cylindrical sleeve (12) of twining enameled wire loop (7), and it is middle with conducting magnetic column (5) that cylindrical sleeve (12) is placed in annular permanent magnet (11) downwards;

The actuator operating frequency is the mass-spring system natural frequency, its computing formula:

Figure FDA0000149814060000011

M=m wherein 1+ m 2, k is a elastic coefficient, m 1Be moving-mass piece quality, m 2Be frequency modulation gauge block quality.

2. a kind of resonance type electromagnetic actuator according to claim 1 is characterized in that: at metal housing (4) inwall noise reduction cotton (10) is housed.

3. a kind of resonance type electromagnetic actuator according to claim 1 is characterized in that: permanent magnet in the actuator (11) adopts high magnetic energy density rare-earth permanent magnet.

CN2010105102094A 2010-10-18 2010-10-18 Resonance type electromagnetic actuator Expired - Fee Related CN102005890B (en)

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CN102873017A (en) * 2012-09-26 2013-01-16 中国船舶重工集团公司第七一一研究所 Moving magnet type inertial electric actuator
CN106224421B (en) * 2016-08-31 2018-04-03 西安交通大学 The inertia-type actuator and its detection method of a kind of low-frequency compensation
CN114017260B (en) * 2021-10-27 2023-06-23 华能沂水风力发电有限公司 Active anti-resonance device for sleeve support frame of wind driven generator
CN114192389A (en) * 2021-12-09 2022-03-18 中国农业大学 A kind of seed cleaning machine vibration cleaning method and vibration cleaning device
CN115473404B (en) * 2022-09-02 2025-02-11 哈尔滨工程大学 A new electromagnetic actuator
CN117519322B (en) * 2024-01-04 2024-03-19 中国航空工业集团公司金城南京机电液压工程研究中心 A dynamic bandwidth active disturbance rejection control method for aviation electromechanical actuators

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