CN-115940497-B - Semi-active inertial device based on operational amplifier circuit

CN115940497BCN 115940497 BCN115940497 BCN 115940497BCN-115940497-B

Abstract

The invention discloses a semi-active inertial device based on an operational amplifier circuit, which comprises a top end shell, a direct current brushed motor, a fixed bearing, a coupler, a screw rod nut, a bottom shell and a ball screw, wherein the direct current brushed motor is arranged on the top end shell, a motor shaft of the direct current brushed motor is connected with the ball screw through the coupler, an inner ring of the fixed bearing is in interference fit with the ball screw near one end of the coupler, an outer ring is in interference fit with a reinforcing rib of the top end shell, the bottom shell is sleeved at the outermost end of the ball screw and is fixed on the bottom surface of the screw rod nut, the outer diameter of the bottom shell is smaller than the inner diameter of the top end shell, and the controllable operational amplifier circuit module is fixed on the top end shell and near one end of the direct current brushed motor and is connected with a wire of the direct current brushed motor. The invention solves the problem that the inertial capacity can not be independently regulated in the electromechanical combination scheme in the prior art.

Inventors

HU YINLONG
CHENG CHANGJUN
LI JIA
PENG JIAWEI
CAI XUHAO
XU JIN
CHEN PENGYU
CHEN RUI

Assignees

河海大学

Dates

Publication Date: 20260512
Application Date: 20221124

Claims (8)

1. The semi-active inertial device based on the operational amplifier circuit comprises a top end shell (1), a direct current brush motor (2), a fixed bearing (3), a coupler (4), a screw nut (5), a bottom shell (6) and a ball screw (7), wherein the direct current brush motor (2) is arranged on the top end shell (1), a motor shaft of the device is connected with the ball screw (7) through the coupler (4), the ball screw (7) drives the motor shaft of the direct current brush motor (2) to perform rotary motion, an inner ring of the fixed bearing (3) is in interference fit on the ball screw (7) close to one end of the coupler (4), an outer ring is in interference fit on a reinforcing rib of the top end shell (1), a screw nut (5) is sleeved on the ball screw (7) to perform linear motion, the bottom shell (6) is sleeved at the outermost end of the ball screw (7) and is fixed on the bottom surface of the screw nut (5), and the outer diameter of the bottom shell (6) is smaller than the inner diameter of the top end shell (1), and the device is characterized by further comprising an inertial circuit module (8) which enables the rapid adjustment of the direct current brush motor capacity of the device, and the controllable inertial motor (8) is fixed on the top end shell (2) close to one end of the direct current brush motor (2); The controllable operational amplifier circuit module (8) comprises an operational amplifier-based controllable capacitive gain circuit and a controller circuit, wherein the controllable capacitive gain circuit comprises an operational amplifier circuit and a digital potentiometer circuit, the controller circuit is communicated with the digital potentiometer circuit of the controllable capacitive gain circuit through an IIC bus, and the operational amplifier circuit and the digital potentiometer circuit are connected through a connecting terminal; the digital potentiometer circuit comprises a first digital potentiometer U1, a second digital potentiometer U2, a digital potentiometer output terminal J3 and a fifteenth resistor R15, wherein pins A0 and A1 of the first digital potentiometer U1 are grounded, pins A2 are connected with a power supply +3V through the fifteenth resistor R15, pins A0 and A1 of the second digital potentiometer U2 are connected with a power supply +3V, pins A2 are connected with the ground, a VSS pin of the first digital potentiometer U1 and a VSS pin of the second digital potentiometer U2 are connected with a power supply-3V, a SCL pin of the first digital potentiometer U1 and a SCL pin of the second digital potentiometer U2 are connected with a PA2 of the micro-control chip, and a SDA pin of the first digital potentiometer U1 and a SDA pin of the second digital potentiometer U2 are connected with a PA3 of the micro-control chip.
2. The operational amplifier circuit-based semi-active inertial device of claim 1, wherein the controllable operational amplifier circuit module (8) further comprises a voltage stabilizing circuit and a CAN communication circuit, the voltage generated by the electric load end of the direct current brush motor (2) is applied to the controllable capacitive gain circuit through a connecting terminal, the voltage stabilizing circuit stabilizes and reduces the voltage of an external input control power supply to supply power to the controllable capacitive gain circuit, the controller circuit and the CAN communication circuit, and the controller circuit communicates with the controllable capacitive gain circuit through an IIC bus and the CAN communication circuit through a serial port.
3. The operational amplifier circuit-based semi-active inertial device is characterized in that the operational amplifier circuit comprises a proportional amplifying circuit, a first adding circuit, a differentiating circuit and a second adding circuit, wherein the proportional amplifying circuit comprises a first operational amplifier Q1, a first adjustable resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4 and a fifth resistor R5, the positive input end of the first operational amplifier Q1 is connected with one end of the second resistor R2, the input end of the first adjustable resistor R1 is connected with a connecting terminal J2, the output end of the first adjustable resistor R1 is connected with the other end of the second resistor R2, the third resistor R3 is input into the reverse input end of the first operational amplifier Q1 as a differential signal, the fourth resistor R4 is connected between the reverse input end of the first operational amplifier Q1 and a connecting terminal J2, and the fifth resistor R5 is connected between the output end and the positive input end of the first operational amplifier Q1; The first adding circuit comprises a second operational amplifier Q2, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8 and a ninth resistor R9, wherein the sixth resistor R6 is connected between the output end of the first operational amplifier Q1 and the positive input end of the second operational amplifier Q2, the seventh resistor R7 is connected between the positive input end of the second operational amplifier Q2 and the input end of the first adjustable resistor R1, the eighth resistor R8 is connected between the negative input end of the second operational amplifier Q2 and a wiring terminal J2, and the ninth resistor R9 is connected between the negative input end of the second operational amplifier Q2 and the output end; The differential circuit comprises a third operational amplifier Q3, a tenth resistor R10, a digital potentiometer connecting terminal J1 and a first capacitor C1, wherein one end of the tenth resistor R10 is connected with the output end of the second operational amplifier Q2, the other end of the tenth resistor R10 is connected with one terminal of the first capacitor C1, the other terminal of the first capacitor C1 is connected with the positive input end of the third operational amplifier Q3, the negative input end of the third operational amplifier Q3 is connected with a connecting terminal J2, and the digital potentiometer connecting terminal J1 is connected between the positive input end and the output end of the third operational amplifier Q3; The second adding circuit comprises an amplifier Q4, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13 and a fourteenth resistor R14, wherein the eleventh resistor R11 is connected between the input end of the first adjustable resistor R1 and the positive input end of the fourth operational amplifier Q4, the twelfth resistor R12 is connected between the output end of the third operational amplifier Q3 and the positive input end of the fourth operational amplifier Q4, the thirteenth resistor R13 is connected between the negative input end of the fourth operational amplifier Q4 and a connecting terminal J2, the fourteenth resistor R14 is connected between the negative input end of the fourth operational amplifier Q4 and the output end of the fourth operational amplifier Q4, and the output end of the fourth operational amplifier Q4 is connected with the output end of the first adjustable resistor R1.
4. The operational amplifier circuit-based semi-active inertial device of claim 1, wherein the first digital potentiometer U1 and the second digital potentiometer U2 are TPL0102-100PWR.
5. The operational amplifier circuit-based semi-active inertial device of claim 1, wherein the controller circuit comprises a micro-control chip U3, a sixteenth resistor R16, a seventeenth resistor R17, a second capacitor C2 and a third capacitor C3, wherein the second capacitor C2 and the third capacitor C3 are connected in parallel between VDD and VSS pins of the micro-control chip U3, the sixteenth resistor R16 is connected between a RESET pin and a 5V power supply positive of the micro-control chip U3, the seventeenth resistor R17 is connected between a BKGD pin and the 5V power supply positive of the micro-control chip U3, and the micro-control chip U3 is MC9S08QG8.
6. The operational amplifier circuit-based semi-active inertial device of claim 5, wherein the CAN communication circuit comprises a CAN bus controller U4, a CAN bus transceiver U5, an eighteenth resistor R18, a fourth capacitor C4, a CAN bus connection terminal J4 and a crystal oscillator 12-14, wherein the fourth capacitor C4 is connected between VCC and RS pins of the CAN bus transceiver U5, one end of the CAN bus connection terminal J4 is connected to a CANH pin of the CAN bus transceiver U5, the other end is connected to a CANL pin of the CAN bus transceiver U5, the eighteenth resistor R18 is connected between CANH and CANL pins of the CAN bus transceiver U5, GND pin of the CAN bus transceiver U5 is grounded, VCC pin of the CAN bus transceiver U5 is connected to power +3V, TXD pin of the CAN bus transceiver U5 is connected to RX pin of the CAN bus controller U4, PB pin of the CAN bus controller U4 is connected to a TX pin of the CAN bus controller PB, CS pin of the CAN controller U4 is connected to a micro-controller chip U3, and the CAN bus controller PB pin of the CAN bus controller U4 is connected to a micro-controller chip 3, and the micro-controller chip 3 is connected to a GND pin of the CAN bus controller U4, and the micro-controller chip 3 is connected to the micro-controller chip 3U 1.
7. The operational amplifier circuit-based semi-active inertial device of claim 6, wherein the CAN bus controller U4 is model MCP2515 and the CAN bus transceiver U5 is model TJA1050.
8. The operational amplifier circuit-based semi-active inertial device of any one of claims 3 to 6, wherein the second resistor R2, the third resistor R3, the fourth resistor R4, and the fifth resistor R5 satisfy the following relationships: r2=r3R 4 = R5 and, wherein the method comprises the steps of Is the armature internal resistance value of the motor, The first operational amplifier Q1 has a resistance value of the first adjustable resistor R1, and an output of ; The resistance of the digital potentiometer is The first capacitor C1 has a capacitance value of Equivalent capacitance value of gain-adjustable capacitive circuit The method comprises the following steps: ; The force applied to the mechanical end of the device is set as The relative speed of the mechanical end is The rotation ratio of the ball screw (7) is The moment of inertia of the motor is The relative speed of the mechanical end is such that the rotational angular speed produced by the motor shaft is: ; the resulting motor current is: ; The output force of the motor is as follows: ; the motor rotation damping is as follows The obtained induced electromotive force of the direct current brush motor (2) and the force applied by the mechanical end are as follows: 。

Description

Semi-active inertial device based on operational amplifier circuit Technical Field The invention relates to the technical field of vibration control, in particular to a semi-active inertial device based on an operational amplifier circuit. Background Inertial is a double ended mechanical element proposed by the teachings of Smith in 2002 to correspond to capacitance in a circuit network. The mechanical characteristic of the inertial mass is that the force acting on two ends of the inertial mass is proportional to the acceleration of the two ends, and the ratio is called the inertial mass. Early inertial structures typically convert linear motion to flywheel disc rotation via ball screw or rack and pinion arrangements, thereby storing energy in the form of rotational inertia. Meanwhile, due to the energy storage property, the structure is also commonly used in the comprehensive application of mechanical networks to realize various structures with different mechanical properties. And then, a plurality of researchers couple the inertia of the machine with the electric network through the motor, and change the dynamic characteristics of the whole mechanical network by changing the load characteristics of the electric network, so that a plurality of research results are obtained. However, in the prior art, there is no electromechanical combination scheme capable of independently adjusting the inertial capacity. Disclosure of Invention The invention aims to provide a semi-active inertial device based on an operational amplifier circuit, which can realize rapid and independent adjustment of inertial capacity. The invention provides a semi-active inertial device based on an operational amplifier circuit, which comprises a top end shell, a direct current brushed motor, a fixed bearing, a coupler, a screw nut, a bottom shell and a ball screw, wherein the direct current brushed motor is arranged on the top end shell, a motor shaft of the direct current brushed motor is connected with the ball screw through the coupler, the ball screw drives the motor shaft of the direct current brushed motor to do rotary motion, an inner ring of the fixed bearing is in interference fit on the ball screw close to one end of the coupler, an outer ring is in interference fit on a reinforcing rib of the top end shell, the screw nut is sleeved on the ball screw to do linear motion, the bottom shell is sleeved on the outermost end of the ball screw and is fixed on the bottom surface of the screw nut, the outer diameter of the bottom shell is smaller than the inner diameter of the top end shell, and the controllable operational amplifier circuit module which enables the inertial capacity of the device to be quickly adjusted is fixed on the top end shell, and is close to one end of the direct current brushed motor and is connected with a wire of the direct current brushed motor. The controllable operational amplifier circuit module comprises a controllable capacitive gain circuit based on operational amplifier, a voltage stabilizing circuit, a controller circuit and a CAN communication circuit, wherein voltage generated by an electric load end of the direct current brush motor is applied to the controllable capacitive gain circuit through a connecting terminal, the voltage stabilizing circuit stabilizes and reduces an external input control power supply to supply power to the controllable capacitive gain circuit, the controller circuit and the CAN communication circuit, and the controller circuit is communicated with the controllable capacitive gain circuit through an IIC bus and the CAN communication circuit through a serial port. The controllable capacitive gain circuit comprises an operational amplifier circuit and a digital potentiometer circuit, wherein the controller circuit is communicated with the digital potentiometer circuit of the controllable capacitive gain circuit through an IIC bus, and the operational amplifier circuit and the digital potentiometer circuit are connected through a connecting terminal. The operational amplifier circuit comprises a proportional amplifying circuit, a first adding circuit, a differentiating circuit and a second adding circuit, wherein the proportional amplifying circuit comprises a first operational amplifier Q1, a first adjustable resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4 and a fifth resistor R5, the positive input end of the first operational amplifier Q1 is connected with one end of the second resistor R2, the input end of the first adjustable resistor R1 is connected with a connecting terminal J2, the output end of the first adjustable resistor R1 is connected with the other end of the second resistor R2, the third resistor R3 is used as a differential signal to be input into the reverse input end of the first operational amplifier Q1, the fourth resistor R4 is connected between the reverse input end of the first operational amplifier Q1 and the connecting ter