CN103513695A - Current controller for magneto-rheological damper - Google Patents
Current controller for magneto-rheological damper Download PDFInfo
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- CN103513695A CN103513695A CN201310209824.5A CN201310209824A CN103513695A CN 103513695 A CN103513695 A CN 103513695A CN 201310209824 A CN201310209824 A CN 201310209824A CN 103513695 A CN103513695 A CN 103513695A
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Abstract
The invention discloses a current controller for a magneto-rheological damper. The current controller for the magneto-rheological damper is composed of an adjusting circuit module, a PWM wave generating circuit module, an output control circuit module and an error sampling circuit module. The adjusting circuit module is connected with the PWM wave generating circuit module and used for outputting control voltages. The PWM wave generating circuit module is connected with the output control circuit module and used for providing a steep rectangular pulse train with the variable width for a driving circuit. The output control circuit module is used for amplifying PWM signals and generating sampling voltages. The error sampling circuit module is connected with the PWM wave generating circuit module and used for amplifying the sampling voltages and transmitting the sampling voltages to the PWM wave generating circuit module. The entire current controller for the magneto-rheological damper is convenient to develop and apply, the current controller is continuously adjustable in a certain range (such as 0.15-2.01A), output precision is high, the linearity is good, the size is small, the cost is low, and in addition to being used for controlling of the magneto-rheological damper, the current controller can also be used for various occasions such as controlling of an electromagnetic coil circuit or an illuminating circuit or a motor.
Description
Technical field
Present case belongs to building, machinery, automation field, relates in particular to a kind of current controller for MR damper.
Background technology
prior art
MR damper is a kind of intelligent controlling device based on magnetic flow liquid, and it can change by regulating the size of externally-applied magnetic field to realize damping force.The good controllability of MR damper, makes its application very extensive, has been successfully applied to the vibration control of Vehicle Semi-active Suspension System and large civil structure at present.And current controller plays a part to regulate magnetic field in the application of magnetic rheological liquid, so design a kind of adjustablely continuously, precision is high, and the current controller of fast response time is most important for the control of damper.Prior art adopts voltage driver to produce the electric current in coil more, produced and usingd the controlled current controller that TMS320F240 digital signal processing chip develops as the core of control system, the voltage-controlled current source design that the controllable current amplifier that the DRV103 of take is core design or the TL494 chip of take are core.
technical matters
The drawback of voltage driver is coil resistance under long-time current excitation, and resistance raises and changes with temperature, and in the situation that input voltage is constant, in coil, current value can change, and dynamic response is slow compared with constant current source.The controlled current controller research and development that the TMS320F240 digital signal processing chip of usining is developed as the core of control system are comparatively complicated, are difficult for the controller as damper.The voltage-controlled current source design that the controllable current amplifier that the DRV103 of take is core design or the TL494 chip of take are core, performance curve is linear not, and range of adjustment is very narrow, does not meet the requirement of damper controller.
case content
The object of present case is to provide a kind of current controller for MR damper, is intended to solve prior art research and development complexity, performance curve linearity, the narrow problem of range of adjustment not.
Present case is achieved in that a kind of current controller for MR damper, by Circuit tuning module, and PWM wave generation circuit module, output control circuit module, error sample circuit module composition.
Circuit tuning module, connects PWM wave generation circuit module, for exporting control voltage.
PWM wave generation circuit module, connects output control circuit module, for the rectangular pulse train of precipitous and variable-width is provided to driving circuit.
Output control circuit module, connects error sample circuit module, in order to amplify pwm signal and to produce sampled voltage.
Error sample circuit module, connects PWM wave generation circuit module, for amplifying sampled voltage and reaching PWM wave generation circuit module.
Further, in Circuit tuning module:
By potentiometer P (connecing direct supply, as 5V), for manual adjustments input control voltage.Manual adjustments makes input control voltage value change with the size of access resistance by regulator potentiometer knob P.
The positive pole of diode D1 meets P, and negative pole meets first order proportional integral computing circuit U
1in-phase input end, the anode of diode D2 meets V
cTR, negative pole meets first order proportional integral computing circuit U
1in-phase input end, when diode D1, D2 are used for preventing from being input as AC signal, circuit working is in abnormality;
First order proportional integral computing circuit U
1output terminal by resistance R, meet second level proportion operational amplifier U
2Ainverting input, for compensating the conduction voltage drop of diode, adjust its gain k
o1can make to export U
o1be still 0-5V, be output as U
o1=k
o1* U
i;
Second level proportion operational amplifier U
2Aoutput terminal by resistance R 6, connect 2 pin of PWM wave generation circuit module 2, the voltage amplitude that is used for control inputs and feeds back to PWM wave generation circuit module TL494 feedback end, make the maximal value of inputting TL494 chip 3 pin be no more than 3.5V, the transport function U between the proportion operational amplifier of the second level
o=-a * U
o1+ b, a in formula, b is subtracter U
2Arelated coefficient.
Further, in Circuit tuning module: adopt host computer to regulate input control voltage.Host computer Adjust and use external control voltage (as by computing machine in conjunction with LabVIEW programmed control digital-to-analogue (DA) collector) input arbitrary shape control voltage.
Further, in PWM wave generation circuit module:
TL494 chip internal has two error comparison amplifiers, an oscillator, a Dead Time comparer, built-in 5V reference data voltage source;
The error comparison amplifier of TL494 chip internal amplifies error voltage, and its output is connected with the feedback end of the 3rd pin, common regulation output pulse width;
TL494 chip 5 pin are by capacitor C 8 ground connection, and 6 pin are by resistance R 11 ground connection, and the vibration frequency of the linear saw-tooth wave oscillator of TL494 built-in chip type can regulate by non-essential resistance C8 and electric capacity R11, and oscillation frequency is
c in formula
tbe 5 pin electric capacity, R
tbe 6 pin resistances;
The width of output pulse is by the positive polarity sawtooth voltage V in capacitor C 8
cTwith two other control signal V
pWMCIand V
pWMCIcompare to realize dead band voltage V
dTCground connection, so output voltage V
e1only by positive polarity sawtooth voltage V
cTwith PWM comparator voltage V
pWMCIdetermine: work as V
pWMCIbe less than V
cTtime, output voltage V
e1put 1, on the contrary, output pulse width V
e1set to 0.Thereby with V
pWMCIwith V
cTthe variation of relativeness, pulse width is conditioned.
Further, in output control circuit module:
By power field effect pipe (MOSFET), Q1 receives and amplifies the pwm signal of PWM wave generation circuit module, when pwm signal is high level, and Q
1conducting, MOSFET work is linear magnifying state, fly-wheel diode FWD cut-off, when pwm signal is low level, Q
1cut-off, MOSFET transfers cut-off state to by linear magnifying state, FWD conducting, diode and inductive load form loop, and the current dissipation of existence is fallen;
Sampling resistor SAMP produces sampled voltage.
Further, in error sample circuit module:
Amplifier U
2Boutput terminal receive the sampled voltage U on sampling resistor SAMP in output control circuit module 3
sAMPand through U
2Bafter amplification, at in-phase input end, pass through resistance R
20signal U after output is amplified
errorin TL494 pin 2.Simultaneously in conjunction with Circuit tuning output valve U
ocompare with pin 1 value of TL494, guarantee that its output valve is that constant current value and the voltage of adjusting TL494 pin 3 can not surpass 3.5V
The present invention, by regulating two kinds of modes to adjusting circuit module design manual adjustments and host computer, makes equipment set be convenient to development and application; By adopting two-stage amplifying circuit to adjusting circuit module, make the performance curve of output meet required linear requirement, range of adjustment broadens; By output control circuit module is adopted to power field effect pipe, have when base voltage is less than threshold values, field effect transistor is cut-off state, while surpassing threshold values, the characteristic of the state that field effect transistor is amplified in linearity, utilizes this characteristic can amplify pwm signal, strengthens the driving force of TL494.
Accompanying drawing explanation
Fig. 1 is the current controller system chart for MR damper that present case provides.
Fig. 2 is the circuit diagram of the Circuit tuning module 1 of the current controller for MR damper that provides of present case.
Fig. 3 is the circuit diagram of the PWM wave generation circuit module 2 of the current controller for MR damper that provides of present case.
Fig. 4 is the circuit diagram of the output control circuit module 3 of the current controller for MR damper that provides of present case.
Fig. 5 is the circuit diagram of the error sample circuit module 4 of the current controller for MR damper that provides of present case.
In figure: 1, Circuit tuning module; 2, PWM wave generation circuit module; 3, output control circuit module; 4, error sample circuit module.
Embodiment
Present case is achieved in that a kind of current controller for MR damper, by Circuit tuning module 1, and PWM wave generation circuit module 2, output control circuit module 3, error sample circuit module 4 forms, as shown in Figure 1.
PWM wave generation circuit module 2, connects output control circuit module 3, for the rectangular pulse train of precipitous and variable-width is provided to driving circuit.
Output control circuit module 3, connects error sample circuit module 4, in order to amplify pwm signal and to produce sampled voltage.
Error sample circuit module 4, connects PWM wave generation circuit module 2, for amplifying sampled voltage and reaching PWM wave generation circuit module 2.
Further, Circuit tuning module 1 is as shown in Figure 2:
Potentiometer P connects 5V power supply, for manual adjustments input control voltage; Manual adjustments makes input control voltage value change with the size of access resistance by regulator potentiometer knob P.
The positive pole of diode D1 meets P, and negative pole meets first order proportional integral computing circuit U
1in-phase input end, the anode of diode D2 meets V
cTR, negative pole meets first order proportional integral computing circuit U
1in-phase input end, when diode D1, D2 are used for preventing from being input as AC signal, circuit working is in abnormality;
First order proportional integral computing circuit U
1output terminal by resistance R, meet second level proportion operational amplifier U
2Ainverting input, for compensating the conduction voltage drop of diode, adjust its gain k
o1can make to export U
o1be still 0-5V, be output as U
o1=k
o1* U
i;
Second level proportion operational amplifier U
2Aoutput terminal by resistance R 6, connect 2 pin of PWM wave generation circuit module 2, the voltage amplitude that is used for control inputs and feeds back to PWM wave generation circuit module TL494 feedback end, make the maximal value of inputting TL494 chip 3 pin be no more than 3.5V, the transport function U between the proportion operational amplifier of the second level
o=-a * U
o1+ b, a in formula, b is subtracter U
2Arelated coefficient.
Further, the circuit design of Circuit tuning module 1 is that manual adjustments and host computer regulate two kinds of modes.Host computer Adjust and use computing machine is in conjunction with the control voltage of LabVIEW programmed control DAQ collector (NI6251) output random waveform.
Further, PWM wave generation circuit module 2 is as shown in Figure 3:
TL494 chip internal has two error comparison amplifiers, an oscillator, a Dead Time comparer, built-in 5V reference data voltage source;
The error comparison amplifier of TL494 chip internal amplifies error voltage, and its output is connected with the feedback end of the 3rd pin, common regulation output pulse width;
TL494 chip 5 pin are by capacitor C 8 ground connection, and 6 pin are by resistance R 11 ground connection, and the vibration frequency of the linear saw-tooth wave oscillator of TL494 built-in chip type can regulate by non-essential resistance C8 and electric capacity R11, and oscillation frequency is
c in formula
tbe 5 pin electric capacity, R
tbe 6 pin resistances;
The width of output pulse is by the positive polarity sawtooth voltage V in capacitor C 8
cTcompare to realize dead band voltage V with two other control signal
dTCground connection, so output voltage V
e1only by positive polarity sawtooth voltage V
cTwith PWM comparator voltage V
pWMCIdetermine: work as V
pWMCIbe less than V
cTtime, output voltage V
e1put 1, on the contrary, output pulse width V
e1set to 0.Thereby with V
pWMCIwith V
cTthe variation of relativeness, pulse width is conditioned.
Further, output control circuit module 3 is as shown in Figure 4:
By power field effect pipe (MOSFET), Q1 receives and amplifies the pwm signal of PWM wave generation circuit module 2, when pwm signal is high level, and Q
1conducting, MOSFET work is linear magnifying state, fly-wheel diode FWD cut-off, when pwm signal is low level, Q
1cut-off, MOSFET transfers cut-off state to by linear magnifying state, FWD conducting, diode and inductive load form loop, and the current dissipation of existence is fallen;
Sampling resistor SAMP produces sampled voltage.
Further, error sample circuit module 4 is as shown in Figure 5:
Amplifier U
2Boutput terminal receive the sampled voltage U on sampling resistor SAMP in output control circuit module 3
sAMPand through U
2Bafter amplification, at in-phase input end, pass through resistance R
20signal U after output is amplified
errorin TL494 pin 2.Simultaneously in conjunction with Circuit tuning output valve U
ocompare with pin 1 value of TL494, guarantee that its output valve is that constant current value and the voltage of adjusting TL494 pin 3 can not surpass 3.5V
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any modifications of doing within the spirit and principles in the present invention, be equal to and replace and improvement etc., within all should being included in protection scope of the present invention.
Claims (6)
1. for a current controller for MR damper, it is characterized in that, the described current controller for MR damper is by Circuit tuning module, PWM wave generation circuit module, output control circuit module, error sample circuit module composition;
Circuit tuning module, connects PWM wave generation circuit module, for exporting control voltage.
PWM wave generation circuit module, connects output control circuit module, for the rectangular pulse train of precipitous and variable-width is provided to driving circuit.
Output control circuit module, connects error sample circuit module, in order to amplify pwm signal and to produce sampled voltage.
Error sample circuit module, connects PWM wave generation circuit module, for amplifying sampled voltage and reaching PWM wave generation circuit module.
2. the current controller for MR damper as claimed in claim 1, is characterized in that, in described Circuit tuning module:
By potentiometer P (connecing direct supply, as 5V), for manual adjustments input control voltage.Manual adjustments makes input control voltage value change with the size of access resistance by regulator potentiometer knob P.
The positive pole of diode D1 meets P, and negative pole meets first order proportional integral computing circuit U
1in-phase input end, the anode of diode D2 meets V
cTR, negative pole meets first order proportional integral computing circuit U
1in-phase input end, when diode D1, D2 are used for preventing from being input as AC signal, circuit working is in abnormality;
First order proportional integral computing circuit U
1output terminal by resistance R, meet second level proportion operational amplifier U
2Ainverting input, for compensating the conduction voltage drop of diode, adjust its gain k
o1can make to export U
o1be still 0-5V, be output as U
o1=k
o1* U
i;
Second level proportion operational amplifier U
2Aoutput terminal by resistance R 6, connect 2 pin of PWM wave generation circuit module 2, the voltage amplitude that is used for control inputs and feeds back to PWM wave generation circuit module TL494 feedback end, make the maximal value of inputting TL494 chip 3 pin be no more than 3.5V, the transport function U between the proportion operational amplifier of the second level
o=-a * U
o1+ b, a in formula, b is subtracter U
2Arelated coefficient.
3. the current controller for MR damper as claimed in claim 1, is characterized in that, in described Circuit tuning module:
Adopt host computer to regulate input control voltage.Host computer Adjust and use external control voltage (as by computing machine in conjunction with LabVIEW programmed control digital-to-analogue (DA) collector) input arbitrary shape control voltage.
4. the current controller for MR damper as claimed in claim 1, is characterized in that, in PWM wave generation circuit module:
TL494 chip internal has two error comparison amplifiers, an oscillator, a Dead Time comparer, built-in 5V reference data voltage source;
The error comparison amplifier of TL494 chip internal amplifies error voltage, and its output is connected with the feedback end of the 3rd pin, common regulation output pulse width;
TL494 chip 5 pin are by capacitor C 8 ground connection, and 6 pin are by resistance R 11 ground connection, and the vibration frequency of the linear saw-tooth wave oscillator of TL494 built-in chip type can regulate by non-essential resistance C8 and electric capacity R11, and oscillation frequency is
c in formula
tbe 5 pin electric capacity, R
tbe 6 pin resistances;
The width of output pulse is by the positive polarity sawtooth voltage V in capacitor C 8
cTwith two other control signal V
pWMCIand V
dTCcompare to realize dead band voltage V
dTCground connection, so output voltage V
e1only by positive polarity sawtooth voltage V
cTwith PWM comparator voltage V
pWMCIdetermine: work as V
pWMCIbe less than V
cTtime, output voltage V
e1put 1, on the contrary, output pulse width V
e1set to 0.Thereby with V
pWMCIwith V
cTthe variation of relativeness, pulse width is conditioned.
5. the current controller for MR damper as claimed in claim 1, is characterized in that, in described output control circuit module:
By power field effect pipe (MOSFET), Q1 receives and amplifies the pwm signal of PWM wave generation circuit module, when pwm signal is high level, and Q
1conducting, MOSFET work is linear magnifying state, fly-wheel diode FWD cut-off, when pwm signal is low level, Q
1cut-off, MOSFET transfers cut-off state to by linear magnifying state, FWD conducting, diode and inductive load form loop, and the current dissipation of existence is fallen; Sampling resistor SAMP produces sampled voltage.
6. the current controller for MR damper as claimed in claim 1, is characterized in that, in described error sample circuit module:
Amplifier U
2Boutput terminal receive the sampled voltage U on sampling resistor SAMP in output control circuit module
sAMPand through U
2Bafter amplification, at in-phase input end, pass through resistance R
20signal U after output is amplified
errorin TL494 pin 2.Simultaneously in conjunction with Circuit tuning output valve U
ocompare with pin 1 value of TL494, guarantee that its output valve is that constant current value and the voltage of adjusting TL494 pin 3 can not surpass 3.5V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310209824.5A CN103513695A (en) | 2013-05-31 | 2013-05-31 | Current controller for magneto-rheological damper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310209824.5A CN103513695A (en) | 2013-05-31 | 2013-05-31 | Current controller for magneto-rheological damper |
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| CN103513695A true CN103513695A (en) | 2014-01-15 |
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Cited By (7)
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| CN105912065A (en) * | 2015-02-24 | 2016-08-31 | 英飞凌科技股份有限公司 | Novel partition of chip supporting SW-control architecture for inductive loads |
| CN106773893A (en) * | 2016-11-11 | 2017-05-31 | 东南大学 | The program controlled constant current source circuit of the device for force feedback based on magnetic flow liquid |
| CN107425731A (en) * | 2017-08-28 | 2017-12-01 | 丰县宏祥电子科技有限公司 | The special high power D C DC12V30A converters of miniature electric automobile |
| CN109682611A (en) * | 2019-01-07 | 2019-04-26 | 重庆大学 | Vehicle damping characteristic adjusting process and system based on MR damper |
| CN113224948A (en) * | 2021-07-08 | 2021-08-06 | 上海芯龙半导体技术股份有限公司 | Switching power supply circuit, switching power supply chip and switching power supply system |
| CN114675702A (en) * | 2022-04-19 | 2022-06-28 | 重庆嘉陵全域机动车辆有限公司 | Current driver with temperature control redundancy magnetorheological damper |
| CN116009632A (en) * | 2022-12-24 | 2023-04-25 | 西安交通大学 | Multichannel current control device for magneto-rheological damper |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105912065A (en) * | 2015-02-24 | 2016-08-31 | 英飞凌科技股份有限公司 | Novel partition of chip supporting SW-control architecture for inductive loads |
| CN105912065B (en) * | 2015-02-24 | 2019-08-02 | 英飞凌科技股份有限公司 | Support the new subregion of the chip of the SW control framework for inductive load |
| US10514715B2 (en) | 2015-02-24 | 2019-12-24 | Infineon Technologies Ag | Partitioning of a chip supporting a SW-control architecture for inductive loads |
| CN106773893A (en) * | 2016-11-11 | 2017-05-31 | 东南大学 | The program controlled constant current source circuit of the device for force feedback based on magnetic flow liquid |
| CN107425731A (en) * | 2017-08-28 | 2017-12-01 | 丰县宏祥电子科技有限公司 | The special high power D C DC12V30A converters of miniature electric automobile |
| CN109682611A (en) * | 2019-01-07 | 2019-04-26 | 重庆大学 | Vehicle damping characteristic adjusting process and system based on MR damper |
| CN109682611B (en) * | 2019-01-07 | 2022-02-08 | 重庆大学 | Method and system for adjusting damping characteristics of whole vehicle based on magnetorheological damper |
| CN113224948A (en) * | 2021-07-08 | 2021-08-06 | 上海芯龙半导体技术股份有限公司 | Switching power supply circuit, switching power supply chip and switching power supply system |
| CN113224948B (en) * | 2021-07-08 | 2021-09-24 | 上海芯龙半导体技术股份有限公司 | Switching power supply circuit, switching power supply chip and switching power supply system |
| CN114675702A (en) * | 2022-04-19 | 2022-06-28 | 重庆嘉陵全域机动车辆有限公司 | Current driver with temperature control redundancy magnetorheological damper |
| CN116009632A (en) * | 2022-12-24 | 2023-04-25 | 西安交通大学 | Multichannel current control device for magneto-rheological damper |
| CN116009632B (en) * | 2022-12-24 | 2024-06-28 | 西安交通大学 | Multichannel current control device for magneto-rheological damper |
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Application publication date: 20140115 |