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CN104565163A - Semi-active vibration attenuation substrate and control method - Google Patents

Semi-active vibration attenuation substrate and control method Download PDF

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Publication number
CN104565163A
CN104565163A CN201410829779.8A CN201410829779A CN104565163A CN 104565163 A CN104565163 A CN 104565163A CN 201410829779 A CN201410829779 A CN 201410829779A CN 104565163 A CN104565163 A CN 104565163A
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end plate
coil
semi
particle damper
controller
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CN104565163B (en
Inventor
夏兆旺
魏守贝
方媛媛
刘吉财
刘辉
张灵龙
郑喜阳
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F7/00Vibration-dampers; Shock-absorbers
    • F16F7/01Vibration-dampers; Shock-absorbers using friction between loose particles, e.g. sand
    • FMECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16FSPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Vibration Prevention Devices (AREA)

Abstract

本发明公开了一种半主动减振基座及控制方法,包括上端板和下端板,所述上端板和下端板之间设有若干个筒状的颗粒阻尼器,颗粒阻尼器内放置有固体颗粒,颗粒阻尼器外套有线圈,线圈与控制器连接,控制器通过传感器与下端板连接,颗粒阻尼器、线圈和控制器组成一个闭合的电流回路。本发明的结构体的振动频率处于低频段时,颗粒阻尼器内位于上半部的颗粒受到激励,参与了振动能量的消耗,呈现液态属性的颗粒被通电线圈中的磁场磁化,使得颗粒间的吸引力增强,增大摩擦,上半部颗粒上下运动的同时,借助磁滞力间接带动了下半部部分颗粒的运动,使得在低频段时,下半部的部分颗粒也参与了碰撞与摩擦。

The invention discloses a semi-active damping base and a control method, comprising an upper end plate and a lower end plate, a plurality of cylindrical particle dampers are arranged between the upper end plate and the lower end plate, and solid Particles, the particle damper is covered with a coil, the coil is connected to the controller, the controller is connected to the lower end plate through the sensor, and the particle damper, the coil and the controller form a closed current loop. When the vibration frequency of the structure of the present invention is in the low frequency range, the particles located in the upper half of the particle damper are excited and participate in the consumption of vibration energy, and the particles exhibiting liquid properties are magnetized by the magnetic field in the electrified coil, so that the particles The attractive force is enhanced, and the friction is increased. While the particles in the upper half move up and down, the movement of the particles in the lower half is indirectly driven by the hysteresis force, so that in the low frequency band, some particles in the lower half also participate in the collision and friction. .

Description

一种半主动减振基座及控制方法A semi-active vibration damping base and its control method

技术领域technical field

本发明涉及一种半主动减振基座及控制方法,属于半主动减振基座。The invention relates to a semi-active vibration-damping base and a control method, belonging to a semi-active vibration-damping base.

背景技术Background technique

现有减振基座的阻尼材料以橡胶阻尼为主,在工程应用中老化现象,容易失效。同时橡胶阻尼属于被动阻尼,不可控制,因此目前的减振基座在实际应用中会受到限制。利用颗粒作为阻尼介质、颗粒的相互作用作为阻尼机理的颗粒阻尼系统可以克服粘弹性阻尼和材料结构阻尼的种种限制。颗粒阻尼器是在振动结构体上加工一定数量的孔洞,在其中填充适当数量的金属或非金属颗粒。大量的实验研究表明,当结构体发生振动时,颗粒之间及颗粒与孔壁之间发生摩擦和碰撞,从而进行能量耗散与转换,于是降低了结构的振幅。颗粒阻尼器具有减振频带宽、冲击力小、噪声小等优点。同时,这种阻尼器具有结构简单,耐高温,抗老化,特别适用于工作环境恶劣的场合。The damping material of the existing damping base is mainly rubber damping, which is prone to failure due to aging phenomenon in engineering applications. At the same time, rubber damping is passive damping and cannot be controlled, so the current damping base will be limited in practical applications. The particle damping system, which uses particles as the damping medium and the interaction of particles as the damping mechanism, can overcome the limitations of viscoelastic damping and material structure damping. The particle damper is to process a certain number of holes on the vibrating structure and fill them with an appropriate number of metal or non-metal particles. A large number of experimental studies have shown that when the structure vibrates, friction and collisions occur between particles and between particles and the pore wall, thereby dissipating and converting energy, thus reducing the vibration amplitude of the structure. The particle damper has the advantages of wide frequency band of vibration reduction, small impact force and low noise. At the same time, this damper has the advantages of simple structure, high temperature resistance and aging resistance, and is especially suitable for occasions where the working environment is harsh.

被动颗粒阻尼在实际应用过程中存在许多限制:1.在结构体处于低频段振动时,颗粒阻尼器内位于上半部的颗粒受到激励参与了能量的消耗,但是位于阻尼器下半部的颗粒由于自身重力的影响产生了不同程度的挤压,呈现了固态特性,导致下半部颗粒丧失了活性,几乎不参与减振,此时减振效果不明显;2.在结构体处于高频段振动时,整个阻尼器中的颗粒呈现液态属性,发生了颗粒的流动,此时颗粒之间、颗粒与器壁之间发生了剧烈的碰撞与摩擦,此时减振效果最为明显。但是由于结构体振动幅值较大,导致上半部颗粒的运动位移变大,颗粒之间的联系变得不够紧密,在一定时间内碰撞和摩擦的几率随着振动频率的增加反而减小,导致减振效果减弱,因此在高频段控制颗粒的行为尤为重要。There are many limitations in the practical application of passive particle damping: 1. When the structure is vibrating in the low frequency range, the particles located in the upper half of the particle damper are excited to participate in energy consumption, but the particles located in the lower half of the damper Due to the influence of its own gravity, different degrees of extrusion are produced, showing solid-state characteristics, resulting in the loss of activity of the lower half of the particles, and hardly participating in vibration reduction. At this time, the vibration reduction effect is not obvious; 2. When the structure is in high-frequency vibration At this time, the particles in the entire damper show liquid properties, and the flow of particles occurs. At this time, severe collisions and frictions occur between the particles and between the particles and the wall. At this time, the vibration reduction effect is the most obvious. However, due to the large vibration amplitude of the structure, the movement displacement of the particles in the upper part becomes larger, and the connection between the particles becomes not close enough. The probability of collision and friction within a certain period of time decreases with the increase of the vibration frequency. As a result, the vibration damping effect is weakened, so it is particularly important to control the behavior of particles in the high frequency band.

发明内容Contents of the invention

发明目的:为了克服现有技术中存在的不足,本发明提供一种半主动减振基座及控制方法,使得在装置处于低频和高频的时候都可以很好的减振,而且减振噪音小。Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a semi-active vibration damping base and a control method, so that the vibration can be well damped when the device is at low frequency and high frequency, and the vibration noise can be reduced Small.

技术方案:为解决上述技术问题,本发明的一种半主动减振基座,包括上端板和下端板,所述上端板和下端板之间设有若干个筒状的颗粒阻尼器,颗粒阻尼器内放置有固体颗粒,颗粒阻尼器外套有线圈,线圈与控制器连接,控制器通过传感器与下端板连接,颗粒阻尼器、线圈和控制器组成一个闭合的电流回路。Technical solution: In order to solve the above technical problems, a semi-active vibration damping base of the present invention includes an upper end plate and a lower end plate, and several cylindrical particle dampers are arranged between the upper end plate and the lower end plate. Solid particles are placed in the device, the particle damper is covered with a coil, the coil is connected to the controller, the controller is connected to the lower end plate through the sensor, and the particle damper, the coil and the controller form a closed current loop.

作为优选,所述颗粒阻尼器外设有吸热层。Preferably, the particle damper is provided with a heat absorbing layer outside.

作为优选,所述上端板和下端板之间对称的布置颗粒阻尼器。Preferably, particle dampers are arranged symmetrically between the upper end plate and the lower end plate.

作为优选,所述吸热层为环状结构,包含内环和外环,内环和外环之间填充有冷却液,内环或外环的材料为碳钢、塑料、玻璃钢或橡胶,冷却液为水或油。Preferably, the heat absorbing layer is a ring structure, including an inner ring and an outer ring, and a cooling liquid is filled between the inner ring and the outer ring. The material of the inner ring or the outer ring is carbon steel, plastic, glass fiber reinforced plastic or rubber. Liquid is water or oil.

作为优选,所述传感器为位移传感器、速度传感器或加速度传感器。Preferably, the sensor is a displacement sensor, a speed sensor or an acceleration sensor.

作为优选,所述颗粒阻尼器的截面形状为正六边形、菱形、矩形、三角形、圆形中的一种。Preferably, the cross-sectional shape of the particle damper is one of regular hexagon, rhombus, rectangle, triangle and circle.

作为优选,所述颗粒阻尼器中固体颗粒填充率为20%~80%。Preferably, the filling rate of solid particles in the particle damper is 20%-80%.

作为优选,所述颗粒阻尼器的高度为5mm~300mm,高度与直径的比值为0.8~2。Preferably, the particle damper has a height of 5 mm to 300 mm, and a ratio of height to diameter of 0.8 to 2.

一种半主动减振基座的控制方法,包括以下步骤:A method for controlling a semi-active vibration damping base, comprising the following steps:

(1)在下端板上焊接颗粒阻尼器,在颗粒阻尼器中填充固体颗粒,在颗粒阻尼器的外安装线圈,将上端板焊接在颗粒阻尼器上,连接控制器和传感器;(1) Weld the particle damper on the lower end plate, fill the particle damper with solid particles, install the coil outside the particle damper, weld the upper end plate on the particle damper, and connect the controller and the sensor;

(2)设定控制器内的比较值,当传感器实际的检测值与比较值相比大,控制器控制线圈的电流为I1,当传感器实际的检测值与比较值相比小,控制器控制线圈的电流为I2,当传感器实际的检测值与比较值相比一样大,控制器控制线圈的电流保持不变。(2) Set the comparison value in the controller. When the actual detection value of the sensor is larger than the comparison value, the controller controls the current of the coil to be I 1 . When the actual detection value of the sensor is smaller than the comparison value, the controller The current of the control coil is I 2 , and when the actual detection value of the sensor is the same as the comparison value, the controller controls the current of the coil to remain unchanged.

在线圈的匝数一定时,通过线圈的电流大小与线圈所产生的磁力大小成正比,电流大,磁力大,电流小,磁力小。When the number of turns of the coil is constant, the magnitude of the current passing through the coil is proportional to the magnitude of the magnetic force generated by the coil. The larger the current, the larger the magnetic force, and the smaller the current, the smaller the magnetic force.

有益效果:本发明的半主动减振基座及控制方法,具有以下优点:Beneficial effects: the semi-active vibration damping base and control method of the present invention have the following advantages:

1.在结构体的振动频率处于低频段时,颗粒阻尼器内位于上半部的颗粒受到激励,参与了振动能量的消耗,呈现液态属性的颗粒被通电线圈中的磁场磁化,使得颗粒间的吸引力增强,增大摩擦,上半部颗粒上下运动的同时,借助磁滞力间接带动了下半部部分颗粒的运动,使得在低频段时,下半部的部分颗粒也参与了碰撞与摩擦;1. When the vibration frequency of the structure is in the low frequency range, the particles located in the upper half of the particle damper are excited and participate in the consumption of vibration energy. The particles showing liquid properties are magnetized by the magnetic field in the electrified coil, making the particles between particles The attraction is enhanced, and the friction is increased. While the particles in the upper half move up and down, the movement of the particles in the lower half is indirectly driven by the hysteresis force, so that in the low frequency band, some particles in the lower half also participate in the collision and friction. ;

2.在结构体处于高频段振动时,整个阻尼器中的颗粒呈现液态属性,由于结构体振动幅值较大,为了避免因为上半段颗粒的运动位移变大,导致颗粒之间的联系变得不够紧密这一现象,通过施加电磁场的方式可以约束过于松散的颗粒,使同层颗粒之间、不同层颗粒之间的接触碰撞的几率增大,进而增大颗粒阻尼的效果;2. When the structure is vibrating at a high frequency, the particles in the entire damper exhibit liquid properties. Due to the large vibration amplitude of the structure, in order to avoid the increase in the movement displacement of the particles in the upper half, resulting in a change in the connection between the particles Insufficient compactness, by applying an electromagnetic field, the particles that are too loose can be restrained, so that the probability of contact and collision between particles in the same layer and between particles in different layers is increased, thereby increasing the effect of particle damping;

3.由于颗粒的碰撞和摩擦中有部分能量以热的形式消耗掉,阻尼器外部附着吸热层既可以吸收阻尼器内部的热量,也可以吸收通电线圈发热。3. Since part of the energy in the collision and friction of the particles is consumed in the form of heat, the heat-absorbing layer attached to the outside of the damper can absorb both the heat inside the damper and the heat generated by the energized coil.

附图说明Description of drawings

图1为本发明的主视剖视结构示意图;Fig. 1 is the front view sectional structure schematic diagram of the present invention;

图2为图1的A-A截面结构示意图。FIG. 2 is a schematic diagram of the A-A section structure in FIG. 1 .

具体实施方式Detailed ways

下面结合附图对本发明作更进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.

如图1和图2所示,本发明的一种半主动减振基座,包括上端板1和下端板2,上端板1和下端板2之间布置四个筒状的颗粒阻尼器3,其中上端板1和下端板2都为100*50*3mm钢板,上端板1、下端板2和颗粒阻尼器3焊接在一起,颗粒阻尼器3内放置有固体颗粒6,颗粒阻尼器3外套有线圈5,颗粒阻尼器3外设有吸热层4,线圈5与控制器8连接,控制器8选用80c51单片机,控制器8通过传感器7与下端板2连接,颗粒阻尼器3、线圈5和控制器8组成一个闭合的电流回路。As shown in Figures 1 and 2, a semi-active damping base of the present invention includes an upper end plate 1 and a lower end plate 2, and four cylindrical particle dampers 3 are arranged between the upper end plate 1 and the lower end plate 2, Among them, the upper end plate 1 and the lower end plate 2 are both 100*50*3mm steel plates, the upper end plate 1, the lower end plate 2 and the particle damper 3 are welded together, the solid particles 6 are placed in the particle damper 3, and the particle damper 3 is covered with The coil 5 and the particle damper 3 are provided with a heat-absorbing layer 4. The coil 5 is connected to the controller 8. The controller 8 is an 80c51 single-chip microcomputer. The controller 8 is connected to the lower end plate 2 through the sensor 7. The particle damper 3, the coil 5 and the The controller 8 forms a closed current loop.

在本发明中,吸热层4为环状结构,包含内环和外环,内环和外环之间填充有冷却液,内环或外环的材料为碳钢、塑料、玻璃钢或橡胶,冷却液为水或油,在本发明中,吸热层4的材料为玻璃钢,厚度为10mm,玻璃钢内注的液体为水,高度为160mm,考虑到冰冻环境下水结成冰的膨胀问题。传感器7为位移传感器、速度传感器或加速度传感器,通过传感器7检测共振速度或位移或加速度,从而转化为共振的加速度。In the present invention, the heat absorbing layer 4 is a ring structure, including an inner ring and an outer ring, and a cooling liquid is filled between the inner ring and the outer ring. The material of the inner ring or the outer ring is carbon steel, plastic, glass fiber reinforced plastic or rubber. Coolant is water or oil, and in the present invention, the material of heat-absorbing layer 4 is glass fiber reinforced plastics, and thickness is 10mm, and the liquid that the glass fiber reinforced plastics injects is water, and height is 160mm, and considering the expansion problem that water forms ice under freezing environment. The sensor 7 is a displacement sensor, a speed sensor or an acceleration sensor. The sensor 7 detects the resonance speed, displacement or acceleration, and converts it into a resonance acceleration.

在本发明中,颗粒阻尼器3的截面形状为正六边形、菱形、矩形、三角形、圆形中的一种,颗粒阻尼器3中固体颗粒6填充率为20%~80%,固体颗粒6为钢球,直径为3mm,颗粒阻尼器3的高度为5mm~300mm,高度与直径的比值为0.8~2,线圈5选择铜质漆包线,导线直径为0.8mm,匝数为3000匝。In the present invention, the cross-sectional shape of the particle damper 3 is one of regular hexagon, rhombus, rectangle, triangle, and circle, and the filling rate of solid particles 6 in the particle damper 3 is 20% to 80%. It is a steel ball with a diameter of 3 mm. The particle damper 3 has a height of 5 mm to 300 mm and a ratio of height to diameter of 0.8 to 2. The coil 5 is made of copper enameled wire with a diameter of 0.8 mm and a number of turns of 3000.

一种半主动减振基座的控制方法,包括以下步骤:A method for controlling a semi-active vibration damping base, comprising the following steps:

(1)在下端板2上焊接颗粒阻尼器3,在颗粒阻尼器3中填充固体颗粒6,在颗粒阻尼器3的外安装线圈5,将上端板1焊接在颗粒阻尼器3上,连接控制器8和传感器7;(1) Weld the particle damper 3 on the lower end plate 2, fill the solid particle 6 in the particle damper 3, install the coil 5 outside the particle damper 3, weld the upper end plate 1 on the particle damper 3, connect the control Device 8 and sensor 7;

(2)设定控制器8内的比较值为5m/s2,当加速度传感器7实际的检测值与5m/s2相比大,控制器8控制线圈5的电流为0.3A,当传感器7实际的检测值与比较值相比小,控制器8控制线圈5的电流为0.6A,当传感器7实际的检测值与比较值相比一样大,控制器8控制线圈5的电流保持不变。(2) The comparison value in the setting controller 8 is 5m/s 2 , when the actual detection value of the acceleration sensor 7 is larger than 5m/s 2 , the controller 8 controls the current of the coil 5 to be 0.3A, when the sensor 7 The actual detection value is smaller than the comparison value, and the controller 8 controls the current of the coil 5 to be 0.6A. When the actual detection value of the sensor 7 is as large as the comparison value, the controller 8 controls the current of the coil 5 to remain unchanged.

以上所述仅是本发明的优选实施方式,应当指出:对于本技术领域的普通技术人员来说,在不脱离本发明原理的前提下,还可以做出若干改进,这些改进也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements can also be made, and these improvements should also be regarded as the present invention. protection scope of the invention.

Claims (9)

1.一种半主动减振基座,包括上端板和下端板,其特征在于:所述上端板和下端板之间设有若干个筒状的颗粒阻尼器,颗粒阻尼器内放置有固体颗粒,颗粒阻尼器外套有线圈,线圈与控制器连接,控制器通过传感器与下端板连接,颗粒阻尼器、线圈和控制器组成一个闭合的电流回路。 1. A semi-active damping base, comprising an upper end plate and a lower end plate, characterized in that: several cylindrical particle dampers are arranged between the upper end plate and the lower end plate, and solid particles are placed in the particle damper The particle damper is covered with a coil, the coil is connected to the controller, the controller is connected to the lower end plate through the sensor, and the particle damper, the coil and the controller form a closed current loop. 2.根据权利要求1所述的半主动减振基座,其特征在于:所述颗粒阻尼器外设有吸热层。 2 . The semi-active vibration damping base according to claim 1 , wherein a heat absorbing layer is arranged outside the particle damper. 3 . 3.根据权利要求2所述的半主动减振基座,其特征在于:所述上端板和下端板之间对称的布置颗粒阻尼器。 3. The semi-active vibration damping base according to claim 2, characterized in that particle dampers are arranged symmetrically between the upper end plate and the lower end plate. 4.根据权利要求2所述的半主动减振基座,其特征在于:所述吸热层为环状结构,包含内环和外环,内环和外环之间填充有冷却液,内环或外环的材料为碳钢、塑料、玻璃钢或橡胶,冷却液为水或油。 4. The semi-active vibration-damping base according to claim 2, characterized in that: the heat-absorbing layer is a ring-shaped structure, including an inner ring and an outer ring, and a coolant is filled between the inner ring and the outer ring, and the inner ring and the outer ring are filled with cooling liquid. The material of the ring or outer ring is carbon steel, plastic, glass fiber reinforced plastic or rubber, and the cooling liquid is water or oil. 5.根据权利要求2所述的半主动减振基座,其特征在于:所述传感器为位移传感器、速度传感器或加速度传感器。 5. The semi-active vibration damping base according to claim 2, wherein the sensor is a displacement sensor, a speed sensor or an acceleration sensor. 6.根据权利要求2所述的半主动减振基座,其特征在于:所述颗粒阻尼器的截面形状为正六边形、菱形、矩形、三角形、圆形中的一种。 6. The semi-active vibration damping base according to claim 2, characterized in that: the cross-sectional shape of the particle damper is one of regular hexagon, rhombus, rectangle, triangle and circle. 7.根据权利要求2所述的半主动减振基座,其特征在于:所述颗粒阻尼器中固体颗粒填充率为20%~80%。 7. The semi-active vibration damping base according to claim 2, characterized in that: the filling rate of solid particles in the particle damper is 20%-80%. 8.根据权利要求2所述的半主动减振基座,其特征在于:所述颗粒阻尼器的高度为5mm~300mm,高度与直径的比值为0.8~2。 8. The semi-active vibration damping base according to claim 2, characterized in that: the particle damper has a height of 5 mm to 300 mm, and a ratio of height to diameter of 0.8 to 2. 9.一种半主动减振基座的控制方法,其特征在于,包括以下步骤: 9. A control method for a semi-active damping base, comprising the following steps: (1)在下端板上焊接颗粒阻尼器,在颗粒阻尼器中填充固体颗粒,在颗粒阻尼器的外安装线圈,将上端板焊接在颗粒阻尼器上,连接控制器和传感器; (1) Weld the particle damper on the lower end plate, fill the particle damper with solid particles, install the coil outside the particle damper, weld the upper end plate on the particle damper, and connect the controller and the sensor; (2)设定控制器内的比较值,当传感器实际的检测值与比较值相比大,控制器控制线圈的电流为I1,当传感器实际的检测值与比较值相比小,控制器控制线圈的电流为I2,当传感器实际的检测值与比较值相比一样大,控制器控制线圈的电流保持不变。 (2) Set the comparison value in the controller. When the actual detection value of the sensor is larger than the comparison value, the controller controls the current of the coil to be I 1 . When the actual detection value of the sensor is smaller than the comparison value, the controller The current of the control coil is I 2 , and when the actual detection value of the sensor is the same as the comparison value, the controller controls the current of the coil to remain unchanged.
CN201410829779.8A 2014-12-26 2014-12-26 A kind of half active damping pedestal and control method Expired - Fee Related CN104565163B (en)

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CN105805209A (en) * 2016-05-18 2016-07-27 浙江工业职业技术学院 Magnetic field type shock absorption leg of mechanical equipment
CN106402239A (en) * 2016-12-09 2017-02-15 淮阴工学院 Self-adaption particle damping vibration absorber and control method thereof
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CN107339356A (en) * 2017-07-17 2017-11-10 武汉科技大学 A kind of semi-active type electromagnetic particle damping absorber and method
CN108412942A (en) * 2018-01-26 2018-08-17 山东超越数控电子股份有限公司 A kind of computer vibration reduction platform
CN108561686A (en) * 2018-05-16 2018-09-21 大连中远海运川崎船舶工程有限公司 A kind of snubber base for large scale equipment

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CN105221641A (en) * 2015-10-15 2016-01-06 同济大学 Semi-active type electromagnetic particle damping shock absorber used for rail vehicle
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CN108561686A (en) * 2018-05-16 2018-09-21 大连中远海运川崎船舶工程有限公司 A kind of snubber base for large scale equipment

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