CN104565182A - Frequency identification control method of magnetorheological damper - Google Patents
Frequency identification control method of magnetorheological damper Download PDFInfo
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- CN104565182A CN104565182A CN201410845496.2A CN201410845496A CN104565182A CN 104565182 A CN104565182 A CN 104565182A CN 201410845496 A CN201410845496 A CN 201410845496A CN 104565182 A CN104565182 A CN 104565182A
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- Prior art keywords
- damper
- frequency
- vibration signal
- foundation plate
- response panel
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Classifications
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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
-
- 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
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
- F16F2224/045—Fluids magnetorheological
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a frequency identification control method of a magnetorheological damper. The method control is characterized in that the vibration signal frequency of vibration isolation system of the magnetorheological damper is identified by the method of identifying through sampling signal frequency, so as to control the damping output by the magnetorheological damper, and the magnetorheological damper is subjected to passive vibration isolation under the high frequency state and is subjected to active vibration isolation under the low frequency state. According to the method, the damping of the magnetorheological damper is determined by identifying the vibration frequency of the magnetorheological damper vibration isolation system, the control process of the magnetorheological damper is simplified, and the control precision and reliability are improved.
Description
Technical field
What the present invention relates to is a kind of method and structure thereof of being realized MR damper control by frequency estimation, belongs to MR damper control technology field.
Background technology
Magnetic flow liquid is a kind of novel intelligent material, mainly by non-magnetic liquid and be dispersed in high permeability wherein, low hysteresis small magnetic-particle forms, and in order to ensure the suspension stability of magnetic flow liquid, usually also comprises appropriate additive.Under magnetic fields, it (about 10 milliseconds) can become Bingham semisolid from the Newtonian fluid that flowing property is good within moment, and this change is continuous, controlled, reversible.
MR damper uses magnetic flow liquid to control damping, is one of up-to-date damping control method.MR damper, except required drive source is little, also has performance safety reliable, the advantages such as manufacturing cost is lower.The application of current MR damper is very extensive, such as roller washing machine, automobile and weaponry etc.The principle of MR damper is the magnetic field being obtained varying strength by the electric current of change pole coil, and the flow characteristics of the magnetic flow liquid in its working cylinder is changed, thus the damping force size that change MR damper provides.Therefore, a kind of suitable control method is provided to be one of key factor improving MR damper performance.
For the vibrating isolation system of a MR damper, scholar both domestic and external proposes many control strategies for MR damper, mainly contain constant compression formula, Heaviside functional expression, power inversion model adding pressure type, discrete adding pressure type, Intelligent pressing formula etc. several, often kind of control strategy has its advantage also to there is certain problem.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of control method of the MR damper based on frequency estimation, it, by the frequency of identification vibration signal, based on the environment residing for MR damper, controls MR damper; The present invention can effectively identify MR damper vibration frequency, control simple and reliable.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of control method of the MR damper based on frequency estimation, by using the method for sampling signal frequency identification, the vibration signal frequency of the vibrating isolation system of identification MR damper, to control the damping size that MR damper exports, make MR damper not export damping under high frequency state, under low frequency state, export damping.
As a further improvement on the present invention, described vibrating isolation system comprises foundation plate and response panel; MR damper is placed between foundation plate and response panel, and is supported on above foundation plate by uniform elastomeric support column between response panel.
As a further improvement on the present invention, described elastomeric support column comprises bearing and wire rope spring; Bearing is fixedly mounted on foundation plate, and wire rope spring one end is arranged on bearing, and the other end is then connected with response panel.
As a further improvement on the present invention, the vibration signal of vibrating isolation system comprises the vibration signal of foundation plate and/or the vibration signal of response panel; When the vibration signal of response panel, the vibration signal of foundation plate input, first carry out differential analysis simultaneously, after obtaining Relative Vibration signal, then frequency estimation is carried out to obtained Relative Vibration signal.
As a further improvement on the present invention, the vibration signal of foundation plate is fed back by the displacement of foundation plate or acceleration transducer; The vibration signal of response panel is fed back by the displacement of response panel or acceleration transducer.
As a further improvement on the present invention, the boundary of high frequency state, low frequency state is decided by the natural frequency of MR damper vibrating isolation system.
According to above technical scheme, relative to prior art, the present invention has following advantage:
The present invention controls MR damper by the method for identification frequency, can effectively reduce the transport of MR damper, and changes the damping of MR damper flexibly.Simplify control flow, improve utilization ratio and the reliability of MR damper.
Accompanying drawing explanation
Fig. 1 is MR damper vibration isolation model front view.
Fig. 2 is single-degree-of-freedom vibration isolation model schematic.
Fig. 3 is that the transport-frequency of single-degree-of-freedom vibrating isolation system compares relation curve.
Fig. 4 is the first control flow chart of MR damper of the present invention.
Fig. 5 is the second control flow chart of MR damper of the present invention.
In figure: 1 is response panel, 2 is wire rope springs, and 3 is MR damper, and 4 is supports, and 5 is foundation plates.
Embodiment
Technical scheme of the present invention is explained below with reference to accompanying drawing.
Why the present invention can control MR damper by frequency estimation, is the transport schematic diagram based on MR damper vibrating isolation system.The front view of MR damper vibrating isolation system is as accompanying drawing 1.1 be wherein response panel in accompanying drawing 1,2 is wire rope springs, and 3 is MR damper, and 4 is supports, and 5 is foundation plates.Wherein four bearings being distributed by full symmetric of the foundation plate of MR damper vibrating isolation system and response panel and four wire rope springs link together.MR damper is by screw fixedly connected center position, foundation plate and vibration source Complete Bind in foundation plate and response panel.
The simplified model of MR damper vibrating isolation system is similar to the vibration isolation model of a single-degree-of-freedom.Fig. 2 is single-degree-of-freedom vibration isolation model schematic, and as shown in the figure, 1 is response panel, and quality is, vibrates to be; 2 is wire rope springs, and rigidity is; 3 is MR damper, and damping is; 4 is foundation plates, vibrates to be.MR damper is fixed between foundation plate and response panel, and vibration of foundation displacement is:
Wherein be respectively amplitude and the angular frequency of the vibration of foundation.
Set up the system vibration differential equation as follows:
（1）
In formula 1, the ratio of damping of-MR damper; The dynamic stiffness of-spring; The displacement of-response panel.
Then the vibration displacement of response panel is:
（2）
In formula 2 ,-frequency ratio, the natural angular frequency of wherein-system; The damping ratio of-system;-phase differential.
Vibration amplitude and the vibration of foundation Amplitude Ration of equipment are called vibration transmissibility, and can be used to the vibration isolating effect of the vibrating isolation system designed by weighing, vibration transmissibility is less, and vibration isolating effect is better.
（3）
Can draw out the transport-frequency of MR damper vibrating isolation system than relation curve by formula 3, accompanying drawing 3 compares relation curve for transport-frequency.Shown by accompanying drawing 3, when vibration frequency is less than, transport is greater than 1, and MR damper provides damping to reduce transport, and the amplitude of response panel is reduced.When vibration frequency is greater than, transport is less than 1, and MR damper does not need to provide damping, makes the amplitude of response panel reach minimum.Formula 4 can be obtained thus:
（4）
Wherein-by frequency that vibration signal picks out; The electric current of-MR damper; The natural frequency of-MR damper vibrating isolation system;-think the function of variable.
Based on this formula, only need by vibration frequency identification out, the damping provided needed for MR damper just can be accurately provided.
At present, be applied in the method for sampling signal frequency identification in signal transacting field, the most general frequency estimation method is fast discrete Fourier transformation fast algorithm (FFT).
The principle formula of discrete Fourier transformation fast algorithm (FFT) is as follows:
Wherein representing the discrete digital signal sequence of input, is twiddle factor, is the amplitude of N number of discrete point in frequency corresponding to list entries.By the available maximum amplitude of identification, the k value corresponding to maximum amplitude can be obtained thus, after simple multiplication is carried out to k value, just can obtain main frequency of vibration rate.Use discrete Fourier transformation fast algorithm (FFT) effectively can reduce calculation step, the frequency picking out vibration signal real-time fast.
Specifically, as shown in Figure 4, it discloses the process flow diagram of the first control method of MR damper of the present invention.Known according to figure: first, gather the vibration signal of MR damper foundation plate, response panel respectively, obtain the Relative Vibration signal between foundation plate, response panel after treatment, again frequency estimation is carried out to Relative Vibration signal, determine that the electric current of MR damper exports, transport-frequency according to MR damper vibrating isolation system compares relation curve, the damping size that MR damper exports is controlled, make MR damper carry out passive vibration isolation under high frequency state, under low frequency state, carry out active vibration isolation.Wherein: the boundary of high frequency state, low frequency state is decided by the natural frequency of MR damper vibrating isolation system.
As shown in Figure 5, the process flow diagram of the second control method of MR damper of the present invention is disclosed.Known according to figure: first, gather the vibration signal of MR damper foundation plate, then frequency estimation is carried out to the vibration signal of foundation plate, determine that the electric current of MR damper exports, transport-frequency according to MR damper vibrating isolation system compares relation curve, the damping size that MR damper exports is controlled, makes MR damper carry out passive vibration isolation under high frequency state, under low frequency state, carry out active vibration isolation; Finally realize the adjustment of response panel vibration signal.
Claims (6)
1. the control method based on the MR damper of frequency estimation, it is characterized in that: by using the method for sampling signal frequency identification, the vibration signal frequency of the vibrating isolation system of identification MR damper, to control the damping size that MR damper exports, make MR damper carry out Passive Control under high frequency state, under low frequency state, carry out ACTIVE CONTROL.
2. according to claim 1 based on the control method of the MR damper of frequency estimation, it is characterized in that, described vibrating isolation system comprises foundation plate and response panel; MR damper is placed between foundation plate and response panel, and is supported on above foundation plate by uniform elastomeric support column between response panel.
3. according to claim 2 based on the control method of the MR damper of frequency estimation, it is characterized in that, described elastomeric support column comprises bearing and wire rope spring; Bearing is fixedly mounted on foundation plate, and wire rope spring one end is arranged on bearing, and the other end is then connected with response panel.
4. according to claim 2 based on the control method of the MR damper of frequency estimation, it is characterized in that, the vibration signal of vibrating isolation system comprises the vibration signal of foundation plate and/or the vibration signal of response panel; When the vibration signal of response panel, the vibration signal of foundation plate input, first carry out differential analysis simultaneously, after obtaining Relative Vibration signal, then frequency estimation is carried out to obtained Relative Vibration signal.
5. according to claim 4 based on the control method of the MR damper of frequency estimation, it is characterized in that, the vibration signal of foundation plate is fed back by the displacement of foundation plate or acceleration transducer; The vibration signal of response panel is fed back by the displacement of response panel or acceleration transducer.
6. according to claim 1 based on the control method of the MR damper of frequency estimation, it is characterized in that, the boundary of high frequency state, low frequency state is decided by the natural frequency of MR damper vibrating isolation system.
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| CN201410845496.2A CN104565182A (en) | 2014-12-31 | 2014-12-31 | Frequency identification control method of magnetorheological damper |
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| CN201410845496.2A CN104565182A (en) | 2014-12-31 | 2014-12-31 | Frequency identification control method of magnetorheological damper |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114673752A (en) * | 2022-03-18 | 2022-06-28 | 中车青岛四方机车车辆股份有限公司 | Control method, device and equipment of magnetorheological damper and readable storage medium |
| CN115419309A (en) * | 2022-08-31 | 2022-12-02 | 山东百顿减震科技有限公司 | Building vibration isolation method, equipment and medium based on intelligent vibration isolation support |
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| DE19717692A1 (en) * | 1997-04-26 | 1998-10-29 | Schenck Ag Carl | Spring mass vibration force coupler |
| CN1598350A (en) * | 2004-09-09 | 2005-03-23 | 重庆大学 | Magnetic current changeing dumper of integrated related speed sensing function and method of adaptive damping |
| CN102392874A (en) * | 2011-06-24 | 2012-03-28 | 三一重机有限公司 | Vibration-reducing control method of engine variable damp |
| CN102733483A (en) * | 2012-07-02 | 2012-10-17 | 大连理工大学 | Variable rigidity shock insulation integral intelligent support seat |
| CN103398132A (en) * | 2013-08-13 | 2013-11-20 | 常熟理工学院 | Variable-load negative-stiffness vibration isolator |
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2014
- 2014-12-31 CN CN201410845496.2A patent/CN104565182A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19717692A1 (en) * | 1997-04-26 | 1998-10-29 | Schenck Ag Carl | Spring mass vibration force coupler |
| CN1598350A (en) * | 2004-09-09 | 2005-03-23 | 重庆大学 | Magnetic current changeing dumper of integrated related speed sensing function and method of adaptive damping |
| CN102392874A (en) * | 2011-06-24 | 2012-03-28 | 三一重机有限公司 | Vibration-reducing control method of engine variable damp |
| CN102733483A (en) * | 2012-07-02 | 2012-10-17 | 大连理工大学 | Variable rigidity shock insulation integral intelligent support seat |
| CN103398132A (en) * | 2013-08-13 | 2013-11-20 | 常熟理工学院 | Variable-load negative-stiffness vibration isolator |
Non-Patent Citations (1)
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| 吴天行等: "《机械振动》", 31 March 2014, 清华大学出版社 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114673752A (en) * | 2022-03-18 | 2022-06-28 | 中车青岛四方机车车辆股份有限公司 | Control method, device and equipment of magnetorheological damper and readable storage medium |
| CN114673752B (en) * | 2022-03-18 | 2023-12-22 | 中车青岛四方机车车辆股份有限公司 | Control method, device and equipment of magneto-rheological damper and readable storage medium |
| CN115419309A (en) * | 2022-08-31 | 2022-12-02 | 山东百顿减震科技有限公司 | Building vibration isolation method, equipment and medium based on intelligent vibration isolation support |
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