Patent ID: 11859686
Assignee: HARBIN ENGINEERING UNIVERSITY
Field: Mechanical elements (Mechanical engineering)
Classification: CPC F | IPC F

Claim 5:
6. The method according to claim 5, wherein the step 6 comprises:
under ideal conditions, when a magnitude of a value of negative stiffness is the same as that of positive stiffness, that is, km=−k, representing the control current Ic1 (Ic2) by the following formulas:, I
       
        c
        ⁢
        1
       
      
      =
      
       
        I
        1
       
       -
       
        
         (
         
          
           I
           
            2
            ⁢
            1
           
          
          +
          
           I
           
            2
            ⁢
            2
           
          
          +
          
           I
           
            2
            ⁢
            3
            ⁢
            1
           
          
          -
          
           I
           
            2
            ⁢
            3
            ⁢
            2
           
          
         
         )
        
        2
       
      
     
     ,
    
   
  
  
   
    
     
      
       I
       1
      
      =
      
       
        1
        
         2
         ⁢
         a
         ⁢
         
          N
          1
         
        
       
       ⁢
       
        
         
          -
          
           k
           m
          
         
         
          
           μ
           0
          
          ⁢
          b
          ⁢
          
           S
           
            i
            ⁢
            n
           
          
          ⁢
          
           S
           
            o
            ⁢
            u
            ⁢
            t
           
          
         
        
       
       ⁢
       
        b
        2
       
      
     
     ,
    
   
  
  
   
    
     
      I
      2
     
     =
     
     
      
       I
       
        2
        ⁢
        1
       
      
      +
      
       I
       
        2
        ⁢
        2
       
      
      +
      
       I
       
        2
        ⁢
        3
        ⁢
        1
       
      
      -
      
       I
       
        2
        ⁢
        3
        ⁢
        2
       
      
     
    
   
  
  
   
    
     
      
       
        a
        
         2
         ⁢
         
          N
          1
         
        
       
       ⁢
       
        
         
          -
          
           k
           m
          
         
         
          
           μ
           0
          
          ⁢
          b
          ⁢
          
           S
           
            i
            ⁢
            n
           
          
          ⁢
          
           S
           
            o
            ⁢
            u
            ⁢
            t
           
          
         
        
       
      
     
     =
     
      
       
        C
        0
       
       ⁢
       x
      
      =
      
       
        
         C
         0
        
        ⁢
        
         (
         
          
           x
           t
          
          -
          
           x
           e
          
         
         )
        
       
       =
       
        
         
          C
          0
         
         ⁢
         
          x
          
           t
           ⁢
           1
           ⁢
           1
          
         
        
        +
        
         
          C
          0
         
         ⁢
         
          x
          
           t
           ⁢
           1
           ⁢
           2
          
         
        
        -
        
         
          C
          0
         
         ⁢
         
          x
          e
         
        
       
      
     
    
   
  
  
   
    
     
      
       
        C
        0
       
       ⁢
       
        C
        1
       
      
      +
      
       
        C
        0
       
       ⁢
       
        C
        2
       
       ⁢
       
        e
        
         
          
           -
           c
          
          m
         
         ⁢
         t
        
       
      
      +
      
       
        C
        0
       
       ⁢
       
        
         
          C
          3
          2
         
         +
         
          C
          4
          2
         
        
       
       ⁢
       
        sin
        [
        
         
          
           w
           e
          
          ⁢
          t
         
         +
         
          arctan
          ⁢
          
           (
           
            
             C
             3
            
            
             C
             4
            
           
           )
          
         
        
        ]
       
      
      -
      
       
        C
        0
       
       ⁢
       
        X
        e
       
       ⁢
       cos
       ⁢
       
        (
        
         
          w
          e
         
         ⁢
         t
        
        )
       
      
     
     ,
    
   
  
  
   
    
     
      
       
        U
        
         c
         ⁢
         1
        
       
       +
       
        
         R
         1
        
        ⁢
        
         I
         
          2
          ⁢
          2
         
        
       
       +
       
        
         L
         1
        
        ⁢
        
         
          dI
          
           2
           ⁢
           2
          
         
         dt
        
       
      
      =
      0
     
     ,
     
      
       
        (
        
         c
         m
        
        )
       
       2
      
      =
      
       
        
         (
         
          
           R
           1
          
          
           2
           ⁢
           
            L
            1
           
          
         
         )
        
        2
       
       =
       
        1
        
         
          L
          1
         
         ⁢
         
          C
          1
          ′
         
        
       
      
     
     ,
     
      
       
        U
        
         c
         ⁢
         1
        
       
       (
       0
       )
      
      =
      
       
        (
        
         
          c
          m
         
         -
         
          R
          1
         
        
        )
       
       ⁢
       
        C
        0
       
       ⁢
       
        C
        2
       
      
     
     ,
    
   
  
 

wherein C′1 represents a resistance value of a capacitor; R1 represents a sum of a resistance value of a circuit and a resistance value of a coil; L1 represents a sum of an inductance of the circuit and an inductance of the coil; I1 represents a first control current; I2 represents a second control current; I21 represents a first component of the second control current; I22 represents a second component of the second control current; I231 represents a third component of the second control current; I232 represents a fourth component of the second control current; C0 represents a linear coefficient between the control current I2 and a working displacement x; Uc1 represents a real-time voltage of a first capacitor; and Uc1(0) represents a voltage before the first capacitor starts to work; and
when the magnitude of the value of the negative stiffness is less than that of the positive stiffness, that is, km+k>0, representing the control current Ic1 (Ic2) by the following formulas:, I
       
        c
        ⁢
        1
       
      
      =
      
       
        
         I
         1
        
        -
        
         I
         2
         ′2
        
       
       =
       
        
         I
         1
        
        -
        
         
          (
          
           
            I
            
             2
             ⁢
             1
            
            ′
           
           +
           
            I
            
             2
             ⁢
             2
            
            ′
           
           +
           
            I
            
             2
             ⁢
             3
             ⁢
             1
            
            ′
           
           -
           
            I
            
             2
             ⁢
             3
             ⁢
             2
            
            ′
           
          
          )
         
         2
        
       
      
     
     ,
    
   
  
  
   
    
     
      
       I
       1
      
      =
      
       
        1
        
         2
         ⁢
         a
         ⁢
         
          N
          1
         
        
       
       ⁢
       
        
         
          -
          
           k
           m
          
         
         
          
           μ
           0
          
          ⁢
          b
          ⁢
          
           S
           
            i
            ⁢
            n
           
          
          ⁢
          
           S
           
            o
            ⁢
            u
            ⁢
            t
           
          
         
        
       
       ⁢
       
        b
        2
       
      
     
     ,
    
   
  
  
   
    
     
      I
      2
      ′
     
     =
     
     
      
       
        C
        0
        ′
       
       ⁢
       
        (
        
         
          x
          t
         
         -
         
          x
          e
         
        
        )
       
      
      =
      
       
        
         C
         0
         ′
        
        ⁢
        
         x
         
          t
          ⁢
          21
         
        
       
       +
       
        
         C
         0
         ′
        
        ⁢
        
         x
         
          t
          ⁢
          22
         
        
       
       -
       
        
         C
         0
         ′
        
        ⁢
        
         x
         e
        
       
      
     
    
   
  
  
   
    
     
      
       
        =
        
        
         
          
           C
           0
           ′
          
          ⁢
          
           C
           7
          
          ⁢
          
           e
           
            
             
              -
              c
             
             
              2
              ⁢
              m
             
            
            ⁢
            t
           
          
          ⁢
          cos
          ⁢
          
           (
           
            
             
              
               
                k
                m
               
               +
               k
              
              m
             
            
            ⁢
            t
           
           )
          
         
         +
         
          
           C
           0
           ′
          
          ⁢
          
           C
           8
          
          ⁢
          
           e
           
            
             
              -
              c
             
             
              2
              ⁢
              m
             
            
            ⁢
            t
           
          
          ⁢
          sin
          ⁢
          
           (
           
            
             
              
               
                
                 k
                 m
                
                +
                k
               
               m
              
              -
              
               
                c
                2
               
               
                4
                ⁢
                
                 m
                 2
                
               
              
             
            
            ⁢
            t
           
           )
          
         
         +
        
       
      
     
     
      
       
        
        
         
          
           C
           0
           ′
          
          ⁢
          
           
            
             C
             9
             2
            
            +
            
             C
             
              1
              ⁢
              0
             
             2
            
           
          
          ⁢
          
           sin
            
           [
           
            
             
              w
              e
             
             ⁢
             t
            
            +
            
             arctan
             ⁡
             (
             
              
               C
               9
              
              
               C
               
                1
                ⁢
                0
               
              
             
             )
            
           
           ]
          
         
         -
         
          
           C
           0
           ′
          
          ⁢
          
           X
           e
          
          ⁢
          cos
          ⁢
          
           (
           
            
             w
             e
            
            ⁢
            t
           
           )
          
         
        
       
      
     
    
   
  
  
   
    
     
      =
      
      
       
        I
        
         2
         ⁢
         1
        
        ′
       
       +
       
        I
        
         2
         ⁢
         2
        
        ′
       
       +
       
        I
        
         2
         ⁢
         3
         ⁢
         1
        
        ′
       
       -
       
        I
        
         2
         ⁢
         3
         ⁢
         2
        
        ′
       
      
     
     ,
    
   
  
  
   
    
     
      
       C
       0
       ′
      
      =
      
       
        
         a
         
          2
          ⁢
          
           N
           1
          
         
        
        ⁢
        
         
          
           -
           
            k
            m
           
          
          
           
            μ
            0
           
           ⁢
           b
           ⁢
           
            S
            
             i
             ⁢
             n
            
           
           ⁢
           
            S
            
             o
             ⁢
             u
             ⁢
             t
            
           
          
         
        
       
      
     
     ,
    
   
  
  
   
    
     
      
       
        U
        
         c
         ⁢
         2
        
       
       +
       
        
         R
         2
        
        ⁢
        
         I
         
          2
          ⁢
          1
         
         ′
        
       
       +
       
        
         L
         2
        
        ⁢
        
         
          dI
          
           2
           ⁢
           1
          
          ′
         
         
          d
          ⁢
          t
         
        
       
      
      =
      0
     
     ,
    
   
  
  
   
    
     
      
       c
       
        2
        ⁢
        m
       
      
      =
      
       
        R
        2
       
       
        2
        ⁢
        
         L
         2
        
       
      
     
     ,
     
      
       
        
         k
         m
        
        +
        k
       
       m
      
      =
      
       
        1
        
         
          L
          2
         
         ⁢
         
          C
          2
          ′
         
        
       
       -
       
        
         R
         2
         2
        
        
         4
         ⁢
         
          L
          2
          2
         
        
       
      
     
     ,
     
      
       
        U
        
         c
         ⁢
         2
        
       
       ⁢
       
        (
        0
        )
       
      
      =
      
       
        (
        
         
          
           
            L
            2
           
           ⁢
           c
          
          
           2
           ⁢
           m
          
         
         -
         
          R
          2
         
        
        )
       
       ⁢
       
        C
        0
        ′
       
       ⁢
       
        C
        7
       
      
     
     ,
    
   
  
  
   
    
     
      
       
        U
        
         c
         ⁢
         3
        
       
       +
       
        
         R
         3
        
        ⁢
        
         I
         
          2
          ⁢
          2
         
         ′
        
       
       +
       
        
         L
         3
        
        ⁢
        
         
          dI
          
           2
           ⁢
           2
          
          ′
         
         
          d
          ⁢
          t
         
        
       
      
      =
      0
     
     ,
    
   
  
  
   
    
     
      
       c
       
        2
        ⁢
        m
       
      
      =
      
       
        R
        3
       
       
        2
        ⁢
        
         L
         3
        
       
      
     
     ,
     
      
       
        
         
          k
          m
         
         +
         k
        
        m
       
       -
       
        
         c
         2
        
        
         4
         ⁢
         
          m
          2
         
        
       
      
      =
      
       
        1
        
         
          L
          3
         
         ⁢
         
          C
          3
          ′
         
        
       
       -
       
        
         R
         3
         2
        
        
         4
         ⁢
         
          L
          3
          2
         
        
       
      
     
     ,
     
      
       
        U
        
         c
         ⁢
         3
        
       
       ⁢
       
        (
        0
        )
       
      
      =
      
       
        -
        
         
          
           
            k
            m
           
           +
           k
          
          m
         
        
       
       ⁢
       
        C
        0
        ′
       
       ⁢
       
        C
        8
       
      
     
     ,
    
   
  
 

wherein C′2 represents a resistance value of a second capacitor; R2 represents a sum of a resistance value of a second circuit and a resistance value of a coil; L2 represents a sum of an inductance of the second circuit and an inductance of the coil; C′3 represents a resistance value of a third capacitor; R3 represents a sum of a resistance value of a third circuit and the resistance value of the coil; L3 represents a sum of an inductance of the third circuit and the inductance of the coil; I1 represents a first control current; I′2 represents a second control current; I′21 represents a first component of the second control current; I′22 represents a second component of the second control current; I′231 represents a third component of the second control current; I′232 represents a fourth component of the second control current; C′0 represents a linear coefficient between the control current I′2 and a working displacement x; Uc2 represents a real-time voltage of the second capacitor; Uc2(0) represents a voltage before the second capacitor starts to work; Uc3 represents a real-time voltage of the third capacitor; and Uc3(0) represents a voltage before the third capacitor starts to work.