CN103644244B

CN103644244B - Controllable damper with virtual composite function

Info

Publication number: CN103644244B
Application number: CN201310682573.2A
Authority: CN
Inventors: 陈春俊; 林建辉; 何洪阳; 陈麒天; 张兵
Original assignee: Southwest Jiaotong University
Current assignee: Southwest Jiaotong University
Priority date: 2013-12-12
Filing date: 2013-12-12
Publication date: 2015-06-17
Anticipated expiration: 2033-12-12
Also published as: CN103644244A

Abstract

The invention discloses a controllable damper with a virtual composite function, which can restrain a vibration acceleration, speed and displacement at the same time. According to the controllable damper with the virtual composite function, the vibration acceleration of a mechanical structure system is measured by an acceleration sensor; a vibration acceleration signal is processed by a signal acquiring and processing module and a signal which can be identified by an embedded control module is obtained; the optimum damping value is obtained through arithmetic processing of the embedded control module and transmitted to a controllable damper module; and the controllable damping module adjust a damping parameter of the mechanical structure system to change the damping of the system, so that the vibration acceleration becomes smaller and smaller, and the efficiency, accuracy, stationarity and comfort of the mechanical structure system such as a machine tool and the like are not influenced no matter how a system operation environment changes. Besides, the controllable damper with the virtual composite function can achieve an automatic controllability adjustment effect very well, and is suitable for being popularized and applied in the damper field.

Description

Controllable damper with virtual composite function

Technical field

The invention belongs to damper field, be specifically related to a kind of proposition and realization of controllable damper with virtual composite function.

Background technique

In the last few years, along with scientific and technical fast development, the level of the productive forces unprecedentedly improve, people have higher requirement to structure and mechanical system dynamic performance.The life of increasing mechanical system and people is closely bound up, such as: it is more efficient and convenient that the traffic tool such as automobile, bullet train make people go on a journey; Military, civilian various workpiece etc. produced by the lathes such as various lathe, milling machine and planer.But mechanical system is while offering convenience to life, and inevitably produce vibration, these vibrations are all largely harmful, and vibration acceleration will affect the travelling comfort of passenger; Vibration velocity will cause wearing and tearing machinery, the Security of influential system; The bias error that vibration displacement brings will affect the precision of work pieces process.

All the time, many scholars are devoted to reduce the vibration displacement of mechanical system, speed and acceleration, obtain very large development.Traditional passive suspension mode meets the requirements such as mechanical system highi degree of accuracy, Security and travelling comfort by being difficult to, because after its parameter determines, its frequency is also uniquely determined, does not possess automatic regulation function.And active suspension mode needs the external world to provide energy, need to apply extra active force to mechanical system, its implementation procedure is complicated, and cost is higher.On the basis of Active Suspensions, semi-active suspension develops rapidly, it is the focus studied in the world in recent years, semi-active suspension is the situation of change of reaction information for system or extraneous load, the damping parameter of timely adjustment control system, thus improve the dynamic performance of suspension system, realize the adjustable control to system architecture, be intended to provide close to the cost of passive suspension system and complexity the performance controlled close to Active Suspensions, not only there is good cost performance, and the highi degree of accuracy of mechanical system under failure state can be ensured, Security and travelling comfort.

In the last few years, along with improving constantly mechanical system requirements, its control mode must dynamically match with system state machine in intellectuality, and controllable damping vibration damper is exactly complete the parts hanging damping parameter coupling in good time, thus becomes the emphasis of research both at home and abroad.Controllable damping vibration damper refers to that its damping constant carries out the vibration damper regulated by outer increase control signal, directly can realize with physical component.At present, along with improving constantly of hydraulic damping vibration damper manufacturing technology, various test, inspection technology perfect, the application of hydraulic damping vibration damper is more and more extensive, and it uses is the controllable damping vibration damper of electrorheological fluid, magnetic flow liquid the most widely.The working principle of hydraulic damping vibration damper utilizes the oil hydraulic cylinder being full of hydraulic oil, by the effect of damping control valve, in oil hydraulic cylinder two chamber, produces pressure difference, thus damping force is produced to load, this damping force is directly proportional to movement velocity, and contrary with velocity attitude, is expressed as:

f＝-C _cv

In formula, C _cfor traditional damping constant, its unit is with Ns/m, and this damping mainly suppresses vibration velocity in systems in which.At present, along with the continuous maturation of controllable damping technology, the research for controllable damping also emerges in an endless stream, and described in upper, these traditional controllable damping vibration dampers mainly suppress vibration velocity.But along with people have higher requirement to mechanical systems such as automobile, bullet train, lathes, highi degree of accuracy, Security and travelling comfort become its main performance index gradually.At present, mechanical system, in the process pursuing highi degree of accuracy, Security and travelling comfort, inevitably produces complicated mechanical vibration, and the mechanical vibration of these complexity are difficult to control.In order to address this problem, the present invention proposes and utilize sensor, traditional controllable and embedded controller to go to realize or approach a kind of controllable damper with virtual composite function not only having had conventional damper but also had elastic damper and elastic damper mechanical characteristic, because this damper directly cannot realize with physical component, need by sensor and embedded controller, therefore be referred to as virtual controllable damper, this damper possesses the mechanical characteristic of conventional damper, elastic damper and inertia damper simultaneously, can suppress the vibration velocity of system, displacement and acceleration.

At present, these traditional controllable damping vibration dampers mainly suppress vibration velocity, but in mass-spring-damper device vibration insulating system, quality and spring are energy storage unit, only has vibration damper as unique dissipative cell, vibrational energy can be converted into thermal energy consumption to fall, the physical quantity characterizing vibration strong or weak has vibration displacement, vibration velocity and vibration acceleration, different vibration insulating systems needs to suppress vibration physical quantity different, the damping force size of damper is directly proportional to Relative Vibration speed, and contrary with Relative Vibration velocity attitude.It is the differential of the anomalous integral vibration displacement of vibration acceleration due to vibration velocity, therefore vibration velocity delayed phase vibration acceleration phase place, and advanced displacement phase place, acceleration and vibration displacement larger time, vibration velocity is less, visible, damper, while suppression vibration velocity, will produce larger vibration acceleration; And vibration acceleration and vibration displacement larger time, because vibration velocity is less, and vibration displacement and acceleration do not have the suppression of well quilt.Along with people are to automobile, bullet train and machine dynamics system are had higher requirement, travelling comfort and stationarity become its main performance index gradually, especially bullet train, China railways is through seven speed-raisings, march toward the rank of advanced units of world's high-speed railway, vibration acceleration is the main cause causing travelling comfort to degenerate, therefore, vibration acceleration how is suppressed to be the problem urgently needing to solve, and the control system of vibration acceleration can correspondingly be suppressed at present in addition, and, efficient and accurate as mechanical system main performance index such as lathes, especially the processing of precision workpiece, tiny vibration displacement may cause scrapping of workpiece, so it is also most important in machining to reduce vibration displacement.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of vibration acceleration that can either suppress also suppression speed can also suppress the controllable damper with virtual composite function of displacement simultaneously.

The technical solution adopted for the present invention to solve the technical problems is: this controllable damper with virtual composite function, comprises sensor assembly, Signal acquiring and processing module, embedded type control module and controllable damper module; Described sensor assembly comprises acceleration transducer and measuring circuit, for measurement mechanical structural system vibration acceleration and the vibration acceleration signal recorded is passed to Signal acquiring and processing module; Described Signal acquiring and processing module comprises integrator, variable connector, sampling holder and A/D, vibration acceleration signal is converted into vibration velocity signal and vibration displacement signal by described integrator, variable connector and sampling holder are sampled to vibration acceleration signal, vibration velocity signal, vibration displacement signal, and the analogue signal obtained sampling by A/D conversion is converted into the vibration acceleration signal that embedded type control module can identify vibration velocity signal also vibration acceleration signal will be obtained with vibration displacement signal y vibration velocity signal embedded type control module is passed to vibration displacement signal y; Described embedded type control module is to vibration acceleration signal vibration velocity signal enter shape algorithm process as described below with vibration displacement signal y and obtain optimal damping value C:

\{\begin{matrix} C_{1} = \{\begin{matrix} C_{\max}, y \times \overset{\cdot}{y} > 0 \cap \frac{y}{\overset{\cdot}{y}} C_{k} > C_{\max} \\ \frac{y (t)}{\overset{\cdot}{y} (t)} C_{k}, y \times \overset{\cdot}{y} > 0 \cap C_{\min} \leq \frac{y}{\overset{\cdot}{y}} C_{k} \leq C_{\max} \\ C_{\min}, y \times \overset{\cdot}{y} < 0 \cup \frac{y}{\overset{\cdot}{y}} C_{k} < C_{\min} \end{matrix} \\ C_{2} = \{\begin{matrix} C_{\max}, \overset{\cdot \cdot}{y} \times \overset{\cdot}{y} > 0 \cap \frac{\overset{\cdot \cdot}{y}}{\overset{\cdot}{y}} C_{m} > C_{\max} \\ \frac{\overset{\cdot \cdot}{y} (t)}{\overset{\cdot}{y} (t)} C_{m}, \overset{\cdot \cdot}{y} \times \overset{\cdot}{y} > 0 \cap C_{\min} \leq \frac{\overset{\cdot \cdot}{y}}{\overset{\cdot}{y}} C_{m} \leq C_{\max} \\ C_{\min}, \overset{\cdot \cdot}{y} \times \overset{\cdot}{y} < 0 \cup \frac{\overset{\cdot \cdot}{y}}{\overset{\cdot}{y}} C_{m} < C_{\min} \end{matrix} \\ C_{\min} \leq C_{1} + C_{c} + C_{2} \leq C_{\max} \end{matrix}

Wherein, C _kfor elastic damping coefficient, the amount with rigidity is firm, and its unit is N/m; C _cfor traditional damping constant, the amount with damping is firm, and unit is Ns/m; C _mfor Tuned mass damper coefficient, the amount with quality is firm, and unit is Ns ²/ m, C _minfor the minimum damping value that damper can provide, C _maxfor the maximum damping value that damper can provide, optimal damping value C is exported to controllable damper module by embedded type control module, and the damping parameter of described controllable damper module to mechanical structure system adjusts.

Further, the control chip of described embedded type control module is single-chip microcomputer.

Further, described controllable damper module adopts final controlling element to realize, and described final controlling element is hydraulic actuator.

Further, described final controlling element is MR fluid shock absorber.

Beneficial effect of the present invention is: controllable damper with virtual composite function of the present invention by the vibration acceleration of acceleration transducer measurement mechanical structural system in real time, and processes the vibration acceleration signal obtaining embedded type control module and can identify to vibration acceleration signal by Signal acquiring and processing module vibration velocity signal with vibration displacement signal y, then optimal damping value is obtained by the algorithm process of embedded type control module, optimal damping value signal is passed to controllable damper module, the damping parameter of controllable damper module to mechanical structure system regulates the damping changing system, thus make vibration more and more less, no matter how system running environment changes, and all can not affect the efficiency of the mechanical structure systems such as lathe, accuracy and stationarity and travelling comfort.In addition, virtual composite buffer of the present invention can realize the effect of controlled automatic adjustment well, has very strong practicability, can not increase the structural complexity of system, and certain degree controls cost.

Accompanying drawing explanation

Fig. 1 is the theory structure block diagram of controllable damper with virtual composite function of the present invention;

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is further described.

As shown in Figure 1, this controllable damper with virtual composite function, comprises sensor assembly, Signal acquiring and processing module, embedded type control module and controllable damper module; Described sensor assembly comprises acceleration transducer and measuring circuit, for measurement mechanical structural system vibration acceleration and the vibration acceleration signal recorded is passed to Signal acquiring and processing module; Described Signal acquiring and processing module comprises integrator, variable connector, sampling holder and A/D, vibration acceleration signal is converted into vibration velocity signal and vibration displacement signal by described integrator, variable connector and sampling holder are sampled to vibration acceleration signal, vibration velocity signal, vibration displacement signal, and the analogue signal obtained sampling by A/D conversion is converted into the vibration acceleration signal that embedded type control module can identify vibration velocity signal also vibration acceleration signal will be obtained with vibration displacement signal y vibration velocity signal embedded type control module is passed to vibration displacement signal y; Described embedded type control module is to vibration acceleration signal vibration velocity signal carry out algorithm process as described below with vibration displacement signal y and obtain optimal damping value C:

\{\begin{matrix} C_{1} = \{\begin{matrix} C_{\max}, y \times \overset{\cdot}{y} > 0 \cap \frac{y}{\overset{\cdot}{y}} C_{k} > C_{\max} \\ \frac{y (t)}{\overset{\cdot}{y} (t)} C_{k}, y \times \overset{\cdot}{y} > 0 \cap C_{\min} \leq \frac{y}{\overset{\cdot}{y}} C_{k} \leq C_{\max} \\ C_{\min}, y \times \overset{\cdot}{y} < 0 \cup \frac{y}{\overset{\cdot}{y}} C_{k} < C_{\min} \end{matrix} \\ C_{2} = \{\begin{matrix} C_{\max}, \overset{\cdot \cdot}{y} \times \overset{\cdot}{y} > 0 \cap \frac{\overset{\cdot \cdot}{y}}{\overset{\cdot}{y}} C_{m} > C_{\max} \\ \frac{\overset{\cdot \cdot}{y} (t)}{\overset{\cdot}{y} (t)} C_{m}, \overset{\cdot \cdot}{y} \times \overset{\cdot}{y} > 0 \cap C_{\min} \leq \frac{\overset{\cdot \cdot}{y}}{\overset{\cdot}{y}} C_{m} \leq C_{\max} \\ C_{\min}, \overset{\cdot \cdot}{y} \times \overset{\cdot}{y} < 0 \cup \frac{\overset{\cdot \cdot}{y}}{\overset{\cdot}{y}} C_{m} < C_{\min} \end{matrix} \\ C_{\min} \leq C_{1} + C_{c} + C_{2} \leq C_{\max} \end{matrix}

Wherein, C _kfor elastic damping coefficient, the amount with rigidity is firm, and its unit is N/m, C _kthe selected of value is determined according to different situations; C _cfor traditional damping constant, the amount with damping is firm, and unit is Ns/m, C _cthe selected of value is determined according to different situations; C _mfor Tuned mass damper coefficient, the amount with quality is firm, and unit is Ns ²/ m, C _mthe selected of value is determined according to different situations, C _minfor the minimum damping value that damper can provide, C _maxfor the maximum damping value that damper can provide, optimal damping value C is exported to controllable damper module by embedded type control module, and the damping parameter of described controllable damper module to mechanical structure system adjusts.Controllable damper with virtual composite function of the present invention is used for measurement mechanical structural system vibration acceleration by acceleration transducer, can carry out Real-time Collection, measuring circuit carries out the indispensable link of sensor measurement, the voltage that small oscillation variable is changed into or current signal, obtain higher precision, Signal acquiring and processing module is connected with sensor assembly, Signal acquiring and processing module comprises integrator, variable connector, sampling holder and A/D, due to the integration that speed is acceleration, displacement is two multiple integrals of acceleration, the effect of integrator obtains mechanical structure system vibration velocity signal and vibration displacement signal, variable connector and sampling holder be meet sampling thheorem basis on to analog signal sampling, the analogue signal obtained sampling by A/D conversion is converted into the useful digital signal that embedded type control module can identify, namely the vibration acceleration signal that embedded type control module can identify is obtained vibration velocity signal with vibration displacement signal y, then optimal damping value is obtained by the algorithm process of embedded type control module, optimal damping value signal is passed to controllable damper module, the damping parameter of controllable damper module to mechanical structure system regulates the damping changing system, thus make vibration more and more less, no matter how system running environment changes, and all can not affect the efficiency of the mechanical structure systems such as lathe, accuracy and stationarity and travelling comfort.In addition, controllable damper with virtual composite function of the present invention can realize the effect of controlled automatic adjustment well, has very strong practicability, can not increase the structural complexity of system, and certain degree controls cost.

In the above-described embodiment, described embedded type control module can adopt existing various controller, as preferably: the control chip of described embedded type control module is single-chip microcomputer.

The Main Function of described controllable damper module is used to adjust the damping parameter of mechanical structure system, described controllable damper module adopts final controlling element to realize, described final controlling element can be electric actuator, pneumatic actuator, hydraulic actuator, final controlling element changes according to the Signal Regulation mechanism of input is adjusted flow or the energy of medium, thus change the damping of system, make it to reach pre-provisioning request, in order to adjust the damping parameter of mechanical structure system accurately, make it to reach pre-provisioning request, as preferably: described final controlling element is hydraulic actuator, be further, described hydraulic actuator can select electrorheological fluid, MR fluid shock absorber realizes the change of damping value as final controlling element.As preferably: described final controlling element is MR fluid shock absorber.

Claims

1. controllable damper with virtual composite function, is characterized in that: comprise sensor assembly, Signal acquiring and processing module, embedded type control module and controllable damper module; Described sensor assembly comprises acceleration transducer and measuring circuit, for measurement mechanical structural system vibration acceleration and the vibration acceleration signal recorded is passed to Signal acquiring and processing module; Described Signal acquiring and processing module comprises integrator, variable connector, sampling holder and A/D, vibration acceleration signal is converted into vibration velocity signal and vibration displacement signal by described integrator, variable connector and sampling holder are sampled to vibration acceleration signal, vibration velocity signal, vibration displacement signal, and the analogue signal obtained sampling by A/D conversion is converted into the vibration acceleration signal that embedded type control module can identify vibration velocity signal also vibration acceleration signal will be obtained with vibration displacement signal y vibration velocity signal embedded type control module is passed to vibration displacement signal y; Described embedded type control module is to vibration acceleration signal vibration velocity signal carry out algorithm process as described below with vibration displacement signal y and obtain optimal damping value C:

C = \{\begin{matrix} C_{1} = \{\begin{matrix} C_{\max}, y \times \dot{y} > 0 \cap \frac{y}{\dot{y}} C_{k} > C_{\max} \\ \frac{y (t)}{\dot{y} (t)} C_{k}, y \times \dot{y} > 0 \cap C_{\min} \leq \frac{y}{\dot{y}} C_{k} \leq C_{\max} \\ C_{\min}, y \times \dot{y} < 0 \cup \frac{y}{\dot{y}} C_{k} < C_{\min} \end{matrix} \\ C_{2} = \{\begin{matrix} C_{\max}, \overset{. .}{y} \times \dot{y} > 0 \cap \frac{\overset{. .}{y}}{\dot{y}} C_{m} > C_{\max} \\ \frac{\overset{. .}{y} (t)}{\dot{y} (t)} C_{m}, \overset{. .}{y} \times \dot{y} > 0 \cap C_{\min} \leq \frac{\overset{. .}{y}}{\dot{y}} C_{m} \leq C_{\max} \\ C_{\min}, \overset{. .}{y} \times \dot{y} < 0 \cup \frac{\overset{. .}{y}}{\dot{y}} C_{m} < C_{\min} \end{matrix} \\ C_{\min} \leq C_{1} + C_{c} + C_{2} \leq C_{\max} \end{matrix}

2. controllable damper with virtual composite function as claimed in claim 1, is characterized in that: the control chip of described embedded type control module is single-chip microcomputer.

3. controllable damper with virtual composite function as claimed in claim 1 or 2, is characterized in that: described controllable damper module adopts final controlling element to realize, and described final controlling element is hydraulic actuator.

4. controllable damper with virtual composite function as claimed in claim 3, is characterized in that: described final controlling element is MR fluid shock absorber.