CN104565181B - A kind of Control Method for MR Damper system with actively fail safe function - Google Patents
A kind of Control Method for MR Damper system with actively fail safe function Download PDFInfo
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- CN104565181B CN104565181B CN201410790936.9A CN201410790936A CN104565181B CN 104565181 B CN104565181 B CN 104565181B CN 201410790936 A CN201410790936 A CN 201410790936A CN 104565181 B CN104565181 B CN 104565181B
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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)
- Fluid-Damping Devices (AREA)
- Vehicle Body Suspensions (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The present invention relates to a kind of Control Method for MR Damper system with actively fail safe function; it 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 failure detector circuit, and the internal piston of described magneto-rheological vibration damper actuator is provided with main excitation coil and secondary magnetizing coil；During normal work, ECU control system controls main excitation coil generation excitation field to regulate the damping force of magneto-rheological vibration damper, secondary magnetizing coil disconnects electric current, when there is failure of removal, ECU controller can switch to connect secondary magnetizing coil timely, according to and keep original control law to be persistently operated, not only avoid the generation of Single Point of Faliure, improve security of system performance, duty can be kept by quick-recovery soon simultaneously, improve work efficiency.
Description
Technical field
The invention belongs to magneto-rheological vibration damper technical field, particularly relate to a kind of magneto-rheological vibration damping with actively fail safe function
Device control system.
Background technology
Magneto-rheological vibration damper has been applied in civilian and mechanical mechanism solving vibration problem, such as vibration damping, the bridge of skyscraper
Vibration damping, the vibration damping etc. of the vibration isolation of automatic precision plant machinery, particularly automobile suspension system.
Critical elements magnetizing coil as magneto-rheological vibration damper is fixed on the piston rod of vibroshock, and is sealed in vibroshock cylinder
Internal.Prior art only has in magneto-rheological vibration damper a magnetizing coil be fixed on the piston rod of vibroshock, the most excitatory
During the faults such as coil breaks down, such as solenoid generation partial short-circuit, open circuit, magneto-rheological vibration damper will lose efficacy, and system will
The output of the most accurately damping force of vibroshock cannot be realized according to the control algolithm of control system, cause and cannot realize vibration isolation and damping
Effect, especially for applying the magneto-rheological vibration damper on automotive semi-active suspension, once lost efficacy, and vehicle will be unable to realize
Handling stability actively and the regulation of comfortableness, even can produce potential safety hazard.
Simultaneously patent " a kind of magnetic rheological liquid semi-active damper with inefficacy self-protection function " (application number:
200510049264.7 publication numbers: CN1644955A) in relate to the magnetorheological semi-active damper of a kind of band permanent magnet, due to forever
Magnet can only produce fixed magnetic field, it is impossible to by control system realize change excitation field, after inefficacy control system will be unable to right
This vibroshock controls in real time, and it will be become passive damper from magnetorheological semi-active damper, the most also cannot realize work
Make sustainability and the function of fast quick-recovery of state.
Summary of the invention
It is an object of the invention to the deficiency overcoming prior art to exist, and a kind of magnetic current with actively fail safe function is provided
Become vibroshock control system, solve the technical problem of the active protection after magneto-rheological vibration damper actuator solenoid lost efficacy,
Once failure detector circuit detects inefficacy, and control system can recover original state within the time of extremely short (Millisecond response)；
It is an object of the invention to complete by following technical solution.This magneto-rheological vibration damping with actively fail safe function
Device control system, is made up of ECU control unit and magneto-rheological vibration damper actuator, and described ECU control unit is by main control
Device, assistant controller, PWM drive amplification circuit, relay switch control circuit and failure detector circuit composition, described magnetic current
Becoming and be provided with main excitation coil and secondary magnetizing coil on the internal piston of vibroshock actuator, described main excitation coil includes main
The positive terminals of magnetizing coil and main excitation coil earth terminal, described secondary magnetizing coil includes that the secondary positive terminals of magnetizing coil and pair swash
Magnetic coil earth terminal；The electric current PWM power of chopping that computing is obtained by described master controller accesses on PWM drive amplification circuit,
Under normal circumstances, the input of PWM power of chopping accesses the positive terminals of main excitation coil, forms current loop by main excitation coil
And produce excitation field；Under failure of removal, after assistant controller output signal, control signal are by isolation circuit and amplifying circuit
Control relay switch is driven to make the input of PWM power of chopping access the secondary positive terminals of magnetizing coil；Described main excitation coil connects
Ground end, secondary magnetizing coil earth terminal access ground, the i.e. negative pole of power supply together；Described magneto-rheological vibration damper actuator is by event
Barrier testing circuit is connected with assistant controller, is connected and interacts communication by SPI interface mutually between master controller with assistant controller.
As preferably, described failure detector circuit mainly includes 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 constitutes output electricity
The low pass filter of pressure signal, R1, R2, R3, R4 are the current amplifier enlargement ratio factor, the major loop of major-minor magnetizing coil
Current input terminal series connection sampling resistor Rs, by inputting the simulation/number to assistant controller after the filter amplifying processing of current amplifier
Word ALT-CH alternate channel, the current value calculating current major loop according to sampling resistor Rs and operation amplifier dynameter judges whether to lose
Effect.
As preferably, described relay switch is to select two switches, and its Control input accesses assistant controller and controls defeated
Go out end, other end ground connection.
The invention have the benefit that 1, by the magnetizing coil (solenoid) that is wrapped on magneto-rheological vibration damper internal piston by
One group of coil becomes two groups of coils of major-minor, and during normal work, main coil produces excitation field by electric current, once breaks down, control
System processed is switched to secondary coil work, recovers current state at short notice and works on；2, control system uses major-minor control
Device (microprocessor or single-chip microcomputer) collaborative work, master controller is substantially carried out actuator algorithm computing and close-loop driven controls,
Assistant controller is substantially carried out fault detect and processes, and collaborative master controller processes fail safe protection and the work of in-situ FTIR spectroelectrochemitry, carries
The high response time of whole system.
Accompanying drawing explanation
Fig. 1 is the theory diagram of the present invention.
Fig. 2 is the fault secure circuit schematic diagram of the present invention.
Fig. 3 is the failure of removal testing circuit figure of the present invention.
Fig. 4 is the main and auxiliary director demon flow chart of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention done detailed introduction: as shown in accompanying drawing 1,2, the present invention is by ECU control unit and magnetic
Rheology vibroshock actuator form, described ECU control unit by master controller, assistant controller, PWM drive amplification circuit,
Relay switch control circuit and failure detector circuit composition, the internal piston of described magneto-rheological vibration damper actuator is arranged
There are main excitation coil and secondary magnetizing coil；The electric current PWM power of chopping that computing is obtained by master controller accesses in PWM drive amplification
On circuit, under normal circumstances, the input of PWM power of chopping accesses the positive terminals of main excitation coil, is formed by main excitation coil
Current loop and produce excitation field；Under failure of removal, assistant controller output signal, control signal are by isolation circuit and put
Big circuit rear drive controls relay switch and makes the input of PWM power of chopping access the secondary positive terminals of magnetizing coil；Main excitation coil
Earth terminal, secondary magnetizing coil earth terminal access ground, the i.e. negative pole of power supply together；Described magneto-rheological vibration damper actuator is passed through
Failure detector circuit is connected with assistant controller, 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, is made up of flush bonding processor, and master controller flies as selected
Thinking 16 MC9S12X series processors of karr, assistant controller is as selected 8 MC9SDZ series processors of Freescale, wherein
Master controller is mainly responsible for Control Method for MR Damper algorithm computing and the output of PWM chopping signal, is to realize actively controlling vibroshock
To reach the key of Real-time and Dynamic regulation output damping force；And protection is controlled after assistant controller is mainly responsible for malfunction and failure detection and was lost efficacy
System, is the core of troubleshooting.Each performs its own functions realizes difference in functionality and got at normal work and fault for Main Assistant Controller of the present invention
The concurrent working of reason, therefore when breaking down, the control system of the present invention will not be interrupted, it appears that just as not breaking down
The same continuation is according to original operation, it is achieved that the system recovery function of automatic fault protection, and if only by a control
Device has gone, and when a failure occurs it, the regulation algorithm of damping force will interrupt, it is impossible to realizes continuable work and runs.Lead/simultaneously
The speed that the pattern of assistant controller dual processor improves, enhances the stability of system.
PWM drive amplification circuit major function in Fig. 1 is that electric current PWM chopping signal master controller computing obtained is put
It is big so that the exciting curent obtaining being correlated with drives magnetizing coil to produce the output of corresponding damping force.PWM drive amplification circuit can be applied
MOSFET field effect transistor or integrated power device, PWM drive amplification circuit also includes the error protection such as short circuit of driving element
Exceed standard process circuit with temperature rise.
Relay switch control circuit major function in Fig. 1 is the PWM realizing being exported by PWM drive amplification circuit after malfunction and failure
Power of chopping is switched to secondary magnetizing coil duty, and its operation principle is as in figure 2 it is shown, due to the control letter of assistant controller output
Number more weak, it is not enough to drive relay to realize switch motion, needs to prevent relay coil from controller is produced impact simultaneously
Signal isolation to be carried out, the signal that therefore relay switch control circuit also includes being switched by assistant controller output control relay
Isolation and driving process circuit.
As shown in Figure 2, its core is relay switch and the magneto-rheological vibration damper with major-minor magnetizing coil.Relay
The control input in Katyuan accesses assistant controller control output end, other end ground connection；Relay one selects two switch normal conditions to be PWM
Power of chopping input accesses the positive terminals of main excitation coil, when the most normally working, the PWM copped wave merit regulated by master controller
Rate power supply forms current loop by main excitation coil and produces excitation field, and secondary magnetizing coil positive terminals cut-in relay
Normally opened input, disconnects power supply and also cannot produce exciting curent under normal operation, main excitation coil earth terminal, pair are excitatory
Coil earth terminal accesses ground, the i.e. negative pole of power supply together.When failure detector circuit detects magneto-rheological vibration damper failure of removal,
Assistant controller output signal control signal controls relay switch by isolation circuit and amplifying circuit rear drive and makes PWM copped wave electricity
Source input accesses the secondary positive terminals of magnetizing coil, to complete fail safe and to recover the effect of actively regulation, owing to control system is adopted
Using major-minor dual controller, occur detection with major-minor magnetizing coil handoff procedure at malfunction and failure, master controller is carrying out PWM always
Controlling computing regulation not to be interrupted, and fault detect and switching are completed by assistant controller, whole process is parallel processing, because of
The whole system of this present invention effectively prevent the generation of the single point failure fault of magneto-rheological vibration damper, even if breaking down, controls
System can actively be protected, and automatically recovers, and whole process is not just as the most breaking down, and the regulation control after fault occurs can
Continuing, regulation algorithm originally is maintained, and remains to the effect keeping actively controlling.
The major function of the failure detector circuit in Fig. 1 is to realize the failure of removal of major-minor magnetizing coil excitatory to magneto-rheological vibration damper
Detection, its operation principle is as shown in Figure 3.
As shown in Figure 3, the magnetizing coil of magneto-rheological vibration damper has the failure risk of short circuit, open circuit during long-term work,
And it is enclosed in the cylinder of vibroshock, not easy care.Once break down, it is impossible to produce excitation field.Therefore Fig. 3
Failure detector circuit judges whether failure of removal by the loop current of detection magnetizing coil.As it is shown on figure 3, excitatory line
The major loop series connection Rs precision sampling resistor of circle, by inputting the analog/digital conversion to assistant controller after filter amplifying processing
Passage, the current value calculating current major loop according to sampling resistor and operation amplifier dynameter judges whether to lose efficacy.
As it is shown on figure 3, VRS is sampling resistor Rs both end voltage, Vref be ADC analog digital conversion reference voltage, VCC be electric current
Amplifier operating voltage, VOUT is the output voltage entering assistant controller ADC channel.Then have:
Work as R1=R3, R2=R4, RS < < during R1/R2, substituting into (formula 1) then has:
Therefore i.e. can calculate according to the sampled value of R2 Yu R1 resistance value and assistant controller ADC reference voltage standard and VOUT and work as
The VRS magnitude of voltage of front sampling resistor, thus obtain the operating current of major loop.In Fig. 3, C1 and C3 is operational amplifier EMC
Filter capacitor, R5 and C2 constitutes the low pass filter of output voltage signal, and R1, R2, R3, R4 are current amplifier times magnification
The rate factor.
As shown in Figure 4, after system electrification is started shooting, Main Assistant Controller initializes, after having initialized, and major-minor control
Device interacts communication by SPI interface, mainly completes the information communication of the situations such as each normal and whole system safe condition.
Judging in security of system state procedure combining, master controller is responsible for whole system security context and fault detect, such as control be
Whether system power supply and executor's power power-supply whether normal, PWM regulation core devices lost efficacy, and once detected control system core
Device Safe Failure, then closing function point out warning, simultaneously notice assistant controller cisco unity malfunction, wait master controller life
Order；Assistant controller boots up inefficacy fault detect before the work of the magneto-rheological vibration damper under state, and testing result is sent extremely
Master controller, simultaneously if it occur that lost efficacy, then notifies master controller, is obtaining control after secondary magnetizing coil order left by master controller
Relay is switched to secondary magnetizing coil work.
After associating judged result, Main Assistant Controller enters respective normal workflow, and wherein master controller processes magneto-rheological vibration damper
Control algolithm and PWM regulation control work, and assistant controller is mainly responsible for the monitoring of Actuators Failures safety failure.In each work
In flow process cyclic process, master controller carries out a SPI communication with assistant controller, pacifies in assistant controller report cycle of operation last time
Full situation, as occurred losing efficacy, exports dead code, and master controller carries out inefficacy rank judgement, and preserves inefficacy dead code
Code, is shared to be supplied to periphery other control system by CAN output dead code simultaneously.
It is understood that it will be understood by those skilled in the art that to technical scheme and inventive concept equivalent in addition
Or change the protection domain that all should belong to appended claims of the invention.
Claims (3)
1. there is a Control Method for MR Damper system for actively fail safe function, by ECU control unit and magneto-rheological vibration damping
Device actuator forms, it is characterised in that: described ECU control unit is by master controller, assistant controller, PWM drive amplification
Circuit, relay switch control circuit and failure detector circuit composition, the internal piston of described magneto-rheological vibration damper actuator
On be provided with main excitation coil and secondary magnetizing coil, described main excitation coil includes the positive terminals of main excitation coil and main excitatory line
Circle earth terminal, described secondary magnetizing coil includes the secondary positive terminals of magnetizing coil and secondary magnetizing coil earth terminal；Described main control
The electric current PWM power of chopping that computing is obtained by device accesses on PWM drive amplification circuit, under normal circumstances, and PWM copped wave electricity
Source input accesses the positive terminals of main excitation coil, forms current loop by main excitation coil and produces excitation field；In event of losing efficacy
Under barrier, assistant controller output signal, control signal control relay switch by isolation circuit and amplifying circuit rear drive and make PWM
Power of chopping input accesses the secondary positive terminals of magnetizing coil；Described main excitation coil earth terminal, secondary magnetizing coil earth terminal are together
Access ground, the i.e. negative pole of power supply；Described magneto-rheological vibration damper actuator is connected with assistant controller by failure detector circuit,
It is connected and interacts communication by SPI interface mutually between master controller with assistant controller.
The Control Method for MR Damper system with actively fail safe function the most according to claim 1, it is characterised in that:
Described failure detector circuit mainly includes 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 constitutes the low of output voltage signal
Bandpass filter, R1, R2, R3, R4 are the current amplifier enlargement ratio factor, the main circuit current input of major-minor magnetizing coil
Series connection sampling resistor Rs, by inputting the analog/digital conversion passage to 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.
The Control Method for MR Damper system with actively fail safe function the most according to claim 1, it is characterised in that:
Described relay switch is to select two switches, and its Control input accesses assistant controller control output end, another termination
Ground.
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| CN201410790936.9A CN104565181B (en) | 2014-12-17 | 2014-12-17 | A kind of Control Method for MR Damper system with actively fail safe function |
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| 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 |
| CN107654562B (en) * | 2017-11-13 | 2019-08-23 | 武汉理工大学 | A kind of magnetic rheological liquid damper increasing resistance function with power loss |
| CN112923008B (en) * | 2021-01-25 | 2022-05-10 | 南京林业大学 | Magnetorheological damping integrated device and Internet of things system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6095486A (en) * | 1997-03-05 | 2000-08-01 | Lord Corporation | Two-way magnetorheological fluid valve assembly and devices utilizing same |
| KR20070103858A (en) * | 2006-04-20 | 2007-10-25 | 현대모비스 주식회사 | Fail safe typed mr cdc damper for electric control suspension in vehicle |
| US9109654B2 (en) * | 2012-06-12 | 2015-08-18 | Inno Vital Systems, Inc. | Failsafe magnetorheological (MR) energy absorber |
| US20140090937A1 (en) * | 2012-09-28 | 2014-04-03 | Norman Mark Wereley | Magnetorheological fluid elastic lag damper for helicopter rotors |
| CN103303087A (en) * | 2013-06-25 | 2013-09-18 | 吉林大学 | Control system for semi-active suspension frame of magnetorheological damper |
| CN204403255U (en) * | 2014-12-17 | 2015-06-17 | 万向钱潮股份有限公司 | There is the Control Method for MR Damper system of initiatively fail protection function |
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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. |
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