柔性悬吊-倒立摆复合的多维准零刚度隔振方法与实验验证

doi:10.3901/JME.260017

摘要/Abstract

摘要： 面向航天运载器等飞行器所搭载精密装备的多维超低频隔振需求，将柔性悬吊与负载质心下方相应位置固连，利用柔性悬吊的单摆效应与负载质心上移的倒立摆效应实现水平准零刚度，提出一种柔性悬吊-倒立摆复合的多维准零刚度隔振方法。建立了柔性悬吊-倒立摆复合隔振系统的振动方程，分析了其多维隔振特性。研究了悬吊刚度、负载悬吊点相对于负载质心的水平和垂向位置等关键参数对系统稳定性、固有频率及振动传递率的影响。结果表明：隔振系统的稳定性随悬吊刚度的降低、负载质心高度的增大、负载悬吊点水平间距的减小而降低，上述参数必须合理配置方可保证隔振系统的稳定性；对于给定的负载，系统垂向隔振性能主要由悬吊刚度决定，水平向高频隔振性能主要由悬吊工作长度决定，减小悬吊刚度及悬吊点间距、增大负载质心高度可提高水平向低频隔振性能；系统水平平动与翻转运动耦合，在主翻转振型对应固有频率附近频段存在反共振现象，利用该特性可在特定频段实现优异的水平隔振性能。搭建了实验样机，开展了隔振系统固有振动特性、振动传递率的测试，实验结果证明了理论分析的正确性。

关键词: 柔性悬吊, 倒立摆, 隔振, 准零刚度, 稳定性, 传递率

Abstract: A multi-dimensional quasi-zero stiffness vibration isolation method combining flexible suspension and inverted pendulum is proposed to meet the requirements of ultra-low frequency vibration isolation for precision equipment mounted on aerospace launch vehicles and other aircraft. By connecting the flexible suspension to specific positions below the centroid of payload, the horizontal quasi-zero stiffness is achieved through the pendulum effect of flexible suspension and the inverted pendulum effect caused by upward centroid shift of payload. The vibration equation of the flexible suspension-inverted pendulum composite isolation system is established, and its multidimensional vibration isolation characteristics are analyzed. Key parameters including suspension stiffness, horizontal and vertical positions of suspension points relative to payload centroid are investigated for their influences on system stability, natural frequencies, and vibration transmissibility. Results indicate that the stability of isolation system decreases with reduced suspension stiffness, increased payload centroid height, and decreased horizontal spacing of suspension points, requiring rational parameter configuration to ensure stability. For given payload, vertical isolation performance mainly depends on suspension stiffness, while horizontal high-frequency isolation performance is primarily determined by suspension working length. Reducing suspension stiffness and suspension point spacing while increasing payload centroid height can improve low-frequency horizontal isolation performance. The coupling between horizontal translation and rotational motion creates an anti-resonance phenomenon near the main rotational natural frequency, enabling excellent horizontal isolation in specific frequency bands. A prototype is developed and tested for natural vibration characteristics and vibration transmissibility, with experimental results verifying the theoretical analysis.

Key words: flexible suspension, inverted pendulum, vibration isolation, quasi-zero stiffness, stability, transmissibility

中图分类号:

TH113

杨箫, 吴九林, 姜伟, 陈学东. 柔性悬吊-倒立摆复合的多维准零刚度隔振方法与实验验证[J]. 机械工程学报, 2026, 62(1): 241-249.

YANG Xiao, WU Jiulin, JIANG Wei, CHEN Xuedong. Multi-DOF Quasi-zero Stiffness Vibration Isolation via Combination of Flexible Suspension and Inverted Pendulum: Analysis and Experiment[J]. Journal of Mechanical Engineering, 2026, 62(1): 241-249.

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