CN104565181A - Magneto-rheological damper control system with active failure protection function - Google Patents
Magneto-rheological damper control system with active failure protection function Download PDFInfo
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- CN104565181A CN104565181A CN201410790936.9A CN201410790936A CN104565181A CN 104565181 A CN104565181 A CN 104565181A CN 201410790936 A CN201410790936 A CN 201410790936A CN 104565181 A CN104565181 A CN 104565181A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Vibration Prevention Devices (AREA)
- Fluid-Damping Devices (AREA)
Abstract
The invention relates to a magneto-rheological damper control system with an active failure protection function. The magneto-rheological damper control system comprises an ECU control unit and a magneto-rheological damper execution mechanism, wherein the ECU control unit comprises a main controller, an auxiliary controller, a PWM (Pulse-Width Modulation) driving amplification circuit, a relay switch control circuit and a fault detection circuit; a main excitation coil and a secondary excitation coil are arranged on an inner piston of the magneto-rheological damper execution mechanism. When the magneto-rheological damper control system works normally, an ECU control system is used for controlling the main excitation coil to generate an excitation magnetic field so as to adjust damping force of the magneto-rheological damper; the secondary excitation coil is disconnected with current, so that an ECU controller can be used for switching in time when a failure fault occurs so as to connect the secondary excitation coil; the work is continuously carried out according to the original control rule; the single-point fault is avoided; the safety performance of the system is improved; meanwhile, the working state can be quickly restored and retained; the working efficiency is improved.
Description
Technical field
The invention belongs to magneto-rheological vibration damper technical field, particularly relate to a kind of Control Method for MR Damper system with initiatively fail protection function.
Background technique
Magneto-rheological vibration damper has been used in civilian and mechanical mechanism and has solved vibration problem, as the vibration damping etc. of the vibration damping of tall building, the vibration damping of bridge, the vibration isolation, particularly automobile suspension system of automatic precision plant machinery.
Critical elements field coil as magneto-rheological vibration damper is fixed on the piston rod of vibration damper, and is sealed in vibration damper cylindrical shell.A field coil is only had to be fixed on the piston rod of vibration damper in prior art in magneto-rheological vibration damper, once field coil breaks down, such as electromagnetic coil generation partial short-circuit, during the faults such as open circuit, magneto-rheological vibration damper will lose efficacy, system cannot realize the output of the accurate in real time damping force of vibration damper according to the control algorithm of control system, cause and cannot realize vibration isolation and damping effect, special in the magneto-rheological vibration damper be applied on automotive semi-active suspension, once lose efficacy, vehicle cannot realize the adjustment of handling stability initiatively and travelling comfort, even potential safety hazard can be produced.
Relate to a kind of magnetorheological semi-active damper with permanent magnet in patent " a kind of magnetic rheological liquid semi-active damper with inefficacy self-protecting function " (application number: 200510049264.7 publication numbers: CN1644955A) simultaneously; because permanent magnet can only produce fixed magnetic field; the excitation field of change cannot be realized by control system; after losing efficacy, control system cannot control in real time to this vibration damper; it will become passive damper from magnetorheological semi-active damper, therefore also cannot realize the sustainability of working state and the function of fast quick-recovery.
Summary of the invention
The object of the invention is to the deficiency overcoming prior art existence, and a kind of Control Method for MR Damper system with initiatively fail protection function is provided, solve the technical problem of the active protection after the electromagnetic coil inefficacy of magneto-rheological vibration damper actuator, once fault-detecting circuit detects inefficacy, control system can recover original state within the time of extremely short (Millisecond response);
The object of the invention is to have come by following technical solution.This Control Method for MR Damper system with initiatively fail protection function, be made up of ECU control unit and magneto-rheological vibration damper actuator, described ECU control unit is by master controller, assistant controller, PWM drive amplification circuit, relay switch control circuit and fault-detecting circuit composition, the internal piston of described magneto-rheological vibration damper actuator is provided with main excitation coil and secondary field coil, described main excitation coil comprises the positive terminal of main excitation coil and main excitation coil grounding end, described secondary field coil comprises the positive terminal of secondary field coil and secondary field coil grounding end, the electric current PWM power of chopping that computing obtains by described master controller accesses on PWM drive amplification circuit, and under normal circumstances, the positive terminal of PWM power of chopping input access main excitation coil, form current loop by main excitation coil and produce excitation field, under failure of removal, assistant controller output signal, control signal make PWM power of chopping input the positive terminal of the secondary field coil of access by buffer circuit and amplification circuit rear driving control relay switch, described main excitation coil grounding end, secondary field coil grounding end access ground together, i.e. the negative pole of power supply, described magneto-rheological vibration damper actuator is connected with assistant controller by fault-detecting circuit, is connected and carries out interactive communication by SPI interface mutually between master controller with assistant controller.
As preferably, described fault-detecting circuit mainly comprises sampling resistor Rs, C1, C2, C3 capacitor, R1, R2, R3, R4, R5 resistance and current amplifier, wherein C1 and C3 is operational amplifier EMC filter capacitor, R5 and C2 forms the low-pass filter of output voltage signal, R1, R2, R3, R4 is the current amplifier Amplification factor factor, the main circuit current input end series connection sampling resistor Rs of major-minor field coil, by inputing to the analog/digital conversion passage of assistant controller after the filter amplifying processing of current amplifier, the current value calculating current major loop according to sampling resistor Rs and operation amplifier dynameter judges whether to lose efficacy.
As preferably, described relay switch is select two switches, its Control input end access assistant controller control output end, the other end ground connection.
Beneficial effect of the present invention is: 1, the field coil be wrapped on magneto-rheological vibration damper internal piston (electromagnetic coil) is become major-minor two groups of coils from one group of coil, during normal work, main coil produces excitation field by electric current, once break down, control system is switched to secondary coil work, recovers current state at short notice and works on; 2, control system adopts Main Assistant Controller (microprocessor or single-chip microcomputer) collaborative work; master controller mainly carries out actuator's algorithm computing and close-loop driven controls; assistant controller mainly carries out faut detection process; and the work of collaborative master controller handling failure safety protection and in-situ FTIR spectroelectrochemitry, improve the response time of whole system.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present invention.
Fig. 2 is fault secure circuit schematic diagram of the present invention.
Fig. 3 is failure of removal testing circuit figure of the present invention.
Fig. 4 is main and auxiliary director demon flow chart of the present invention.
Embodiment
Below in conjunction with accompanying drawing, detailed introduction is done to the present invention: as shown in accompanying drawing 1,2, the present invention is made up of ECU control unit and magneto-rheological vibration damper actuator, described ECU control unit is made up of master controller, assistant controller, PWM drive amplification circuit, relay switch control circuit and fault-detecting circuit, the internal piston of described magneto-rheological vibration damper actuator is provided with main excitation coil and secondary field coil; The electric current PWM power of chopping that computing obtains by master controller accesses on PWM drive amplification circuit, and under normal circumstances, the positive terminal of PWM power of chopping input access main excitation coil, form current loop by main excitation coil and produce excitation field; Under failure of removal, assistant controller output signal, control signal make PWM power of chopping input the positive terminal of the secondary field coil of access by buffer circuit and amplification circuit rear driving control relay switch; Main excitation coil grounding end, secondary field coil grounding end access ground together, i.e. the negative pole of power supply; Described magneto-rheological vibration damper actuator is connected with assistant controller by fault-detecting circuit, is connected and concurrent working mutually between master controller with assistant controller.
As shown in Figure 1, primary/secondary controller is the core of native system, be made up of flush bonding processor, master controller is as selected Freescale 16 MC9S12X series processors, assistant controller is as selected Freescale 8 MC9SDZ series processors, wherein the algorithm computing of master controller primary responsibility Control Method for MR Damper and PWM chopping signal export, and are to realize ACTIVE CONTROL vibration damper to reach the key that real-time dynamic adjustments exports damping force; And assistant controller primary responsibility malfunction and failure detects and lost efficacy rear protecting control, is the core of fault treatment.Each performs its own functions realizes difference in functionality and got the concurrent working of normal work and fault treatment for Main Assistant Controller of the present invention; therefore when breaking down; control system of the present invention can not be interrupted; look that continuation just as not breaking down is according to original operation; achieve the System recover function of automatic fault protection, and if only gone by a controller, when a failure occurs it; the adjustment algorithm of damping force will interrupt, and can not realize continuable work and run.The speed of the pattern raising of primary/secondary controller dual processor, enhances the stability of system simultaneously.
PWM drive amplification circuit major function in Fig. 1 is that electric current PWM chopping signal master controller computing obtained carries out amplifying so that the exciting curent obtaining being correlated with drives field coil to produce the output of corresponding damping force.PWM drive amplification circuit can apply MOSFET field effect transistor or integrated power device, and the error protection that PWM drive amplification circuit also comprises driving element such as short circuit and temperature rise exceed standard processing circuit.
Relay switch control circuit major function in Fig. 1 is, after realizing malfunction and failure, the PWM power of chopping that PWM drive amplification circuit exports is switched to secondary field coil working state, its working principle as shown in Figure 2, the control signal exported due to assistant controller is more weak, be not enough to drive relay to realize switch motion, simultaneously need to carry out signal isolation to prevent relay coil to have an impact to controller, therefore relay switch control circuit also comprises by the isolation of the signal of assistant controller output control relay switch and drives processing circuit.
As shown in Figure 2, its core is relay switch and the magneto-rheological vibration damper with major-minor field coil.The access assistant controller control output end, control input end in relay Katyuan, the other end ground connection; Relay one selects two switch normal conditions to be the positive terminal of PWM power of chopping input access main excitation coil, when therefore normally working, the PWM chopped power power supply regulated by master controller is formed current loop by main excitation coil and produces excitation field, and the positive terminal cut-in relay of secondary field coil often open input end, disconnect power supply under normal operation and also cannot produce exciting curent, main excitation coil grounding end, secondary field coil grounding end access ground together, i.e. the negative pole of power supply.When fault-detecting circuit detects magneto-rheological vibration damper failure of removal, assistant controller output signal control signal makes PWM power of chopping input the positive terminal of the secondary field coil of access by buffer circuit and amplification circuit rear driving control relay switch, to complete the effect of fail safe and recovery active adjustment, because control system adopts major-minor dual controller, occur to detect with major-minor field coil handoff procedure at malfunction and failure, master controller is carrying out the adjustment of PWM control algorithm always and be not interrupted, and faut detection and switching have been come by assistant controller, whole process is parallel processing, therefore whole system of the present invention effectively prevent the generation of the single point failure fault of magneto-rheological vibration damper, even if break down, control system can initiatively be protected, automatic recovery, whole process is just as not breaking down at all, regulable control after fault occurs is sustainable, adjustment algorithm is originally maintained, still can keep the effect of ACTIVE CONTROL.
The major function of the fault-detecting circuit in Fig. 1 realizes detecting the failure of removal of the excitatory major-minor field coil of magneto-rheological vibration damper, and its working principle as shown in Figure 3.
As shown in Figure 3, the field coil of magneto-rheological vibration damper has the failure risk of short circuit, open circuit in long-term work process, and it is enclosed in the cylindrical shell of vibration damper, not easy care.Once break down, excitation field cannot be produced.Therefore the fault-detecting circuit of Fig. 3 judges whether failure of removal occurs by the loop current detecting field coil.As shown in Figure 3, the accurate sampling resistor of major loop series connection Rs of field coil, by inputing to the passage of the analog/digital conversion of assistant controller after filter amplifying processing, the current value calculating current major loop according to sampling resistor and operation amplifier dynameter judges whether to lose efficacy.
As shown in Figure 3, VRS is sampling resistor Rs both end voltage, Vref is ADC analog-to-digital conversion reference voltage, VCC is current amplifier operating voltage, and VOUT is the output voltage entering assistant controller ADC passage.Then have:
Work as R1=R3, when R2=R4, RS<<R1/R2, substituting into (formula 1) then has:
Therefore namely can calculate the VRS magnitude of voltage of present sample resistance according to the sampled value of R2 and R1 resistance value and assistant controller ADC reference voltage standard and VOUT, thus obtain the operating current of major loop.In Fig. 3, C1 and C3 is operational amplifier EMC filter capacitor, R5 and C2 forms the low-pass filter of output voltage signal, and R1, R2, R3, R4 are the current amplifier Amplification factor factor.
As shown in Figure 4, after system electrification start, Main Assistant Controller carries out initialization, and after initialization completes, Main Assistant Controller carries out interactive communication by SPI interface, mainly completes the information communication of the situations such as normally respective and whole system safe condition.Judge in security of system state procedure combining, master controller is responsible for whole system security context and faut detection, whether such as control system power supply and final controlling element power power-supply be normal, whether PWM regulates core devices to lose efficacy, once detect control system core devices Safe Failure, then closing function point out warning, notify assistant controller cisco unity malfunction simultaneously, wait for master controller commands; Assistant controller carries out inefficacy faut detection before the work of the magneto-rheological vibration damper under open state, and testing result is sent to master controller, if lost efficacy simultaneously, then notify master controller, obtain master controller open secondary field coil order after control relay be switched to secondary field coil work.
After associating judged result, Main Assistant Controller enters respective normal workflow, wherein master controller process Control Method for MR Damper algorithm and the work of PWM regulable control, the monitoring of assistant controller primary responsibility Actuators Failures safe failure.In each workflow cyclic process, master controller carries out a SPI communication with assistant controller, security situation in assistant controller report work cycle last time, as occurred losing efficacy, export dead code, master controller carries out the judgement of inefficacy rank to dead code, and preserves dead code, exports dead code simultaneously share to be supplied to periphery other control system by CAN.
Be understandable that, for a person skilled in the art, technological scheme of the present invention and inventive concept be equal to and replace or change the protection domain that all should belong to the claim appended by the present invention.
Claims (3)
1. one kind has the Control Method for MR Damper system of initiatively fail protection function, be made up of ECU control unit and magneto-rheological vibration damper actuator, it is characterized in that: described ECU control unit is by master controller, assistant controller, PWM drive amplification circuit, relay switch control circuit and fault-detecting circuit composition, the internal piston of described magneto-rheological vibration damper actuator is provided with main excitation coil and secondary field coil, described main excitation coil comprises the positive terminal of main excitation coil and main excitation coil grounding end, described secondary field coil comprises the positive terminal of secondary field coil and secondary field coil grounding end, the electric current PWM power of chopping that computing obtains by described master controller accesses on PWM drive amplification circuit, and under normal circumstances, the positive terminal of PWM power of chopping input access main excitation coil, form current loop by main excitation coil and produce excitation field, under failure of removal, assistant controller output signal, control signal make PWM power of chopping input the positive terminal of the secondary field coil of access by buffer circuit and amplification circuit rear driving control relay switch, described main excitation coil grounding end, secondary field coil grounding end access ground together, i.e. the negative pole of power supply, described magneto-rheological vibration damper actuator is connected with assistant controller by fault-detecting circuit, is connected and carries out interactive communication by SPI interface mutually between master controller with assistant controller.
2. the Control Method for MR Damper system with initiatively fail protection function according to claim 1, it is characterized in that: described fault-detecting circuit mainly comprises sampling resistor Rs, C1, C2, C3 capacitor, R1, R2, R3, R4, R5 resistance and current amplifier, wherein C1 and C3 is operational amplifier EMC filter capacitor, R5 and C2 forms the low-pass filter of output voltage signal, R1, R2, R3, R4 is the current amplifier Amplification factor factor, the main circuit current input end series connection sampling resistor Rs of major-minor field coil, by inputing to the analog/digital conversion passage of assistant controller after the filter amplifying processing of current amplifier, the current value calculating current major loop according to sampling resistor Rs and operation amplifier dynameter judges whether to lose efficacy.
3. the Control Method for MR Damper system with initiatively fail protection function according to claim 1, is characterized in that: described relay switch is select two switches, its Control input end access assistant controller control output end, the other end ground connection.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105818634A (en) * | 2016-03-31 | 2016-08-03 | 广州汽车集团股份有限公司 | Closed-loop continuous damping control device and control method thereof |
| CN107654562A (en) * | 2017-11-13 | 2018-02-02 | 武汉理工大学 | A kind of magnetic rheological liquid damper for increasing resistance function with dead electricity |
| CN112923008A (en) * | 2021-01-25 | 2021-06-08 | 南京林业大学 | Magnetorheological damping integrated device and Internet of things system |
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2014
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105818634A (en) * | 2016-03-31 | 2016-08-03 | 广州汽车集团股份有限公司 | Closed-loop continuous damping control device and control method thereof |
| CN105818634B (en) * | 2016-03-31 | 2019-02-19 | 广州汽车集团股份有限公司 | A kind of continuous damping control apparatus of closed loop and its control method |
| CN107654562A (en) * | 2017-11-13 | 2018-02-02 | 武汉理工大学 | A kind of magnetic rheological liquid damper for increasing resistance function with dead electricity |
| CN112923008A (en) * | 2021-01-25 | 2021-06-08 | 南京林业大学 | Magnetorheological damping integrated device and Internet of things system |
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| CN104565181B (en) | 2016-09-14 |
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Address after: 311215 Wanxiang Road, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: Wanxiang Qianchao Co.,Ltd. Patentee after: WANXIANG GROUP Co.,Ltd. Address before: No.1 Wanxiang Road, Xiaoshan Economic and Technological Development Zone, Hangzhou City, Zhejiang Province Patentee before: WANXIANG QIANCHAO Co.,Ltd. Patentee before: WANXIANG GROUP Co.,Ltd. |