CN105447262A - Fluid container nonlinear model and parameter determination method therefor - Google Patents
Fluid container nonlinear model and parameter determination method therefor Download PDFInfo
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- CN105447262A CN105447262A CN201510923772.7A CN201510923772A CN105447262A CN 105447262 A CN105447262 A CN 105447262A CN 201510923772 A CN201510923772 A CN 201510923772A CN 105447262 A CN105447262 A CN 105447262A
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Abstract
The present invention discloses a fluid container nonlinear model and a parameter determination method therefor. A fluid container nonlinear dynamics model comprises a friction model, a nonlinear damping force model and an inertia model. The nonlinear model parameter determination method comprises the following steps: establishing a dynamics model of a nonlinear fluid container; carrying out mechanical performance tests on the fluid container in various working conditions; collecting a mechanical output amplitude signal in each working condition, and obtaining a mean signal of the output amplitude; calculating an excitation input speed signal in each working condition; and establishing a model parameter relationship matrix, and resolving the parameter matrix. According to the fluid container nonlinear model and the parameter determination method therefor, accurate mastering of the dynamics properties of the fluid container is facilitated.
Description
Technical field
The present invention relates to nonlinear model and parameter determination method thereof that a kind of fluid is used to container, refer in particular to a kind of non-linear fluid based on multi-state mechanical property test and be used to container model parameter determination method.
Background technology
Since used container was proposed by univ cambridge uk professor Smith from 2002, its superior vibration isolation potentiality are confirmed in every field such as vehicle suspension, buildings vibration isolation, train suspensions.Current widely used used case has pinion and-rack, ball screw type, hydraulic pressure-pump type and fluid-type to be used to container.But for the used case of practical application, its actual mechanical property is by the impact of diversified non-linear factor, and such as pinion and-rack and ball screw type are used to the impact that container just contains the non-linear factors such as back clearance, elastic effect, friction force.
International PCT patent 201080035037.8 proposes fluid the earliest and is used to the concept of container and gives the derivation formula of used matter coefficient.Foreign scholar is found by the dynamic (dynamical) Influencing Mechanism of analysing fluid, and the mechanical property that fluid is used to hold is mainly by the impact of parasitic damping, and this parasitic damping effect has strong nonlinearity feature.But, due to the impact of its strong nonlinearity factor, be difficult to set up its accurate mathematical model.Therefore, how accurately to grasp fluid be used to the non-linear dynamic model of container and determine that its model parameter becomes the main bugbear faced in engineer applied.
Summary of the invention
The object of the invention is to propose nonlinear model and parameter determination method thereof that a kind of fluid is used to container, thus accurately grasp the dynamics that fluid is used to container.
For realizing above goal of the invention, the technical solution used in the present invention is: a kind of fluid is used to nonlinear model and the parameter determination method thereof of container, comprises the following steps:
Step 1, the analysis of the mechanical property output Influencing Mechanism of container is used to based on convection cell, first the nonlinear model that fluid is used to container is set up, the nonlinear model that described fluid is used to container comprises Frictional model, damping force models and inertial force model, and the pass of described three kinds of mechanical models is be connected in parallel;
Step 2, be used to according to non-linear fluid the analytical expression that container mechanics exports, under different operating mode, convection cell is used to container and is carried out mechanical property test, solves that necessary mechanical signal exports, excitation input displacement signal to obtain model parameter;
Step 3, the mechanical signal gathered under each operating mode by force snesor is exported, and is obtained the mean value signal of its power output amplitude by weighting process; Under asking for each operating mode by the excitation input displacement signal of analysis and solution, excitation inputs rate signal;
Step 4, is used to the analytical expression of container mechanics output according to non-linear fluid, set up the model parameter relational matrix comprising nonlinear model shape parameter to be solved, mechanical signal output and encourage input rate signal, solve nonlinear model parameter matrix.
Further, described Frictional model is Coulomb friction model, is specially f=f
0sign (v), in formula, f
0for the amplitude of friction force, its size is definite value; Sign (v) is sign function, and v is the relative velocity that fluid is used to container two-end-point, and as v > 0, its value is-1, and as v < 0, its value is 1, and as v=0, its value is 0.
Further, described damping force models is nonlinear damping power model, and mainly stem from the parasitic damping force of fluid and flow through the pressure loss of pipeline and pipeline opening, its size can use formula F
c=C
1v
2+ C
2v represents, direction is contrary with velocity reversal all the time, and v is the relative velocity that fluid is used to container two-end-point, C
1for the ratio of damping of velocity squared item, C
2for the ratio of damping of speed term.
Further, described inertial force model is desirable linear used container model, is specially: F
b=ba, b are used matter coefficient, can be calculated obtain by parameter of structure design.
Further, described step 2 comprises three kinds of different operating condition of test, is specially: operating mode 1: the input displacement of input end is triangular waveform input, and amplitude is A
1, excited frequency is f
1; Operating mode 2: the input displacement of input end is triangular waveform input, and amplitude is A
2, excited frequency is f
2; Operating mode 3: the input displacement of input end is triangular waveform input, and amplitude is A
3, excited frequency is f
3.Wherein, equation A
1=A
2=A
3with f
1=f
2=f
3asynchronously set up.
Further, the mechanical signal in described step 3 exports the force snesor carried by excitation head and obtains, and to its process of averaging.
Further, the model parameter relational matrix set up in described step 4 is:
AX＝F
Wherein, A is the matrix calculating rate signal composition:
X is parameter matrix to be solved:
X＝[fC
1C
2]
F is the force signal matrix collected:
F＝[F
1F
2F
3]。
Useful implementation result of the present invention is adopted to be:
1) fluid proposed is used to container non-linear dynamic model and is contained coulomb friction model, nonlinear damping power model and ideal linearity inertial force model.On the basis of the inertial force model of ideal linearity, in parallel coulomb friction and nonlinear of the fluid damping force models, the nonlinear damping power model set up has reacted the dynamics of used container inner fluid flowing comprehensively, the parasitic damping effect of good matching and convection cell are used to the action rule that container mechanics exports, and fully can react the impact of non-linear factor on its mechanical property.
2) it is export analytical expression according to its mechanics that the fluid proposed is used to container nonlinear model parameter determination method, and based on the basis of mechanical property test, the validity built by test kinetic model.The mechanical property test operating mode of described different operating mode is simple, be convenient to carry out, and data acquisition process is accurately easy, can eliminates the harmful effect of indivedual singular data.Compared to traditional modeling and parametric solution method, technical scheme provided by the invention is more accurate, engineer applied of being more convenient for.Compared to the model construction based on intelligent prediction algorithms, the present invention has grasped concrete model parameter, is convenient to the structure of advanced dynamic model.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described.
Fig. 1 is the non-linear dynamic model schematic diagram that a kind of fluid is used to container.
Fig. 2 is nonlinear model and the parameter determination method process flow diagram thereof that a kind of fluid is used to container.
Fig. 3 is the displacement curve figure under the input of 0.1Hz triangular wave.
Fig. 4 is the mechanics output curve diagram under the input of 0.1Hz triangular wave.
Fig. 5 is that the test under the input of 0.5Hz sine contrasts figure with emulation.
Embodiment
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
As shown in Figure 1, a kind of fluid proposed by the invention is used to nonlinear model and the parameter determination method thereof of container, its non-linear dynamic model comprises coulomb friction model, nonlinear damping power model and ideal linearity inertial force model, it is be connected in parallel that described three kinds of mechanical models close, and q is the displacement input of excitation head, and f is coulomb friction, b is used matter coefficient, and c is nonlinear damping coefficients.
Wherein, coulomb friction model is:
f＝f
0sign(v)
In formula, f
0for the amplitude of friction force, its size is definite value.Sign (v) is sign function, and v is the relative velocity that fluid is used to container two-end-point, and as v > 0, its value is-1, and as v < 0, its value is 1, and as v=0, its value is 0.
Nonlinear damping model mainly stems from the parasitic damping force of fluid and flows through the pressure loss of pipeline and pipeline opening, and its size can use formula F
c=C
1v
2+ C
2v represents, direction is contrary with velocity reversal all the time, and v is the relative velocity that fluid is used to container two-end-point, C
1for the ratio of damping of velocity squared item, C
2for the ratio of damping of speed term.
Inertial force model is the used container model of ideal linearity, is specially: F
b=ba, b are used matter coefficient, and in the present embodiment, b is 370kg.
As shown in Figure 2, its nonlinear model parameter determination method comprises the following steps:
(1) first, the analysis of the mechanical property output Influencing Mechanism of container is used to based on convection cell, set up comprise coulomb friction, nonlinear damping power and inertial force non-linear fluid be used to container kinetic model, and set up non-linear fluid be used to container mechanics export analytical expression be:
(2) be used to according to non-linear fluid the analytical expression that container mechanics exports, under different operating mode, convection cell is used to container and is carried out mechanical property test.The output of necessary mechanical signal, excitation rate signal is solved to obtain model parameter.Mechanical signal exports and is obtained by the force snesor of excitation head, and excitation input rate signal obtains by the differentiate of excitation input displacement signal.
Concrete operating condition of test is as follows:
Operating mode 1: the input displacement of input end is triangular waveform input, and amplitude is A
1, excited frequency is f
1;
Operating mode 2: the input displacement of input end is triangular waveform input, and amplitude is A
2, excited frequency is f
2;
Operating mode 3: the input displacement of input end is triangular waveform input, and amplitude is A
3, excited frequency is f
3;
Wherein, equation A
1=A
2=A
3with f
1=f
2=f
3asynchronously set up.
Calculate for convenience of data and gather, the amplitude A that the present embodiment is chosen
1, A
2with A
3be 10mm, f
1for 0.1Hz, f
2for 0.2Hz, f
3for 0.3Hz.
Be illustrated in figure 3 the displacement input curve under operating mode 1.
(3) mechanical signal gathered under each operating mode by force snesor is exported, and is obtained the mean value signal of its power output amplitude by weighting process.
Excitation head in test unit collects the power output signal under above-mentioned three kinds of operating modes by the force snesor carried.Analyze known, within every 1/4 cycle, excitation displacement is all at the uniform velocity change, and therefore, its acceleration is 0, and velocity magnitude is constant.
Be illustrated in figure 4 the mechanics curve of output under operating mode 1, can find out, under tested operating mode, mechanical signal exports the signal being constant magnitude.For obtaining model parameter comparatively accurately, carry out average value processing to the power output amplitude collected herein, the power output signal obtained under above-mentioned operating mode is: F
1=416.013N, F
2=432.051N, F
3=448.114N.
(4) by analysis and solution excitation input displacement signal, under asking for each operating mode, excitation inputs rate signal.
Because adopted displacement excitation is triangular wave input, therefore its velocity magnitude is constant, and its amplitude can draw the differentiate of excitation input displacement signal, and the velocity amplitude under each operating mode is v
1=0.004m/s, v
2=0.008m/s, v
3=0.012m/s.
(5) analytical expression of container mechanics output is used to according to non-linear fluid, set up and comprise the model parameter relational matrix that nonlinear model shape parameter to be solved, mechanical signal output and excitation input rate signal, nonlinear model parameter matrix is solved.
Described model parameter relational matrix is:
AX＝F
Wherein, A is the rate matrices calculated:
X is parameter matrix to be solved:
X＝[fC
1C
2]
F is the force signal matrix collected:
F＝[F
1F
2F
3]
By the data that gather and calculate substitute into and try to achieve, f=400, C
1=781, C
2=4000.
For verifying the validity of the nonlinear model shape parameter of gained, it is 20mm that Fig. 5 gives amplitude, the contrast figure of Simulation and test under sinusoidal excitation 0.5Hz, as can be seen from Fig., test figure is coincide good with emulation, illustrates that fluid is used to the nonlinear model shape parameter of container comparatively accurate.
The invention solves fluid and be used to the difficult problem that container nonlinear model is difficult to accurately set up, for the dynamics exploring used container is further laid a good foundation.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (7)
1. fluid is used to nonlinear model and a parameter determination method thereof for container, it is characterized in that, comprises the following steps:
Step 1, the analysis of the mechanical property output Influencing Mechanism of container is used to based on convection cell, first the nonlinear model that fluid is used to container is set up, the nonlinear model that described fluid is used to container comprises Frictional model, damping force models and inertial force model, and the pass of described three kinds of mechanical models is be connected in parallel;
Step 2, be used to according to non-linear fluid the analytical expression that container mechanics exports, under different operating mode, convection cell is used to container and is carried out mechanical property test, solves that necessary mechanical signal exports, excitation input displacement signal to obtain model parameter;
Step 3, the mechanical signal gathered under each operating mode by force snesor is exported, and is obtained the mean value signal of its power output amplitude by weighting process; Under asking for each operating mode by the excitation input displacement signal of analysis and solution, excitation inputs rate signal;
Step 4, is used to the analytical expression of container mechanics output according to non-linear fluid, set up the model parameter relational matrix comprising nonlinear model shape parameter to be solved, mechanical signal output and encourage input rate signal, solve nonlinear model parameter matrix.
2. a kind of fluid according to claim 1 is used to nonlinear model and the parameter determination method thereof of container, it is characterized in that, described Frictional model is Coulomb friction model, is specially f=f
0sign (v), in formula, f
0for the amplitude of friction force, its size is definite value; Sign (v) is sign function, and v is the relative velocity that fluid is used to container two-end-point, and as v > 0, its value is-1, and as v < 0, its value is 1, and as v=0, its value is 0.
3. a kind of fluid according to claim 1 is used to nonlinear model and the parameter determination method thereof of container, it is characterized in that, described damping force models is nonlinear damping power model, and mainly stem from the parasitic damping force of fluid and flow through the pressure loss of pipeline and pipeline opening, its size can use formula F
c=C
1v
2+ C
2v represents, direction is contrary with velocity reversal all the time, and v is the relative velocity that fluid is used to container two-end-point, C
1for the ratio of damping of velocity squared item, C
2for the ratio of damping of speed term.
4. a kind of fluid according to claim 1 is used to nonlinear model and the parameter determination method thereof of container, it is characterized in that, described inertial force model is desirable linear used container model, is specially: F
b=ba, b are used matter coefficient, can be calculated obtain by parameter of structure design.
5. a kind of fluid according to claim 1 is used to nonlinear model and the parameter determination method thereof of container, it is characterized in that, described step 2 comprises three kinds of different operating condition of test, is specially: operating mode 1: the input displacement of input end is triangular waveform input, and amplitude is A
1, excited frequency is f
1; Operating mode 2: the input displacement of input end is triangular waveform input, and amplitude is A
2, excited frequency is f
2; Operating mode 3: the input displacement of input end is triangular waveform input, and amplitude is A
3, excited frequency is f
3.Wherein, equation A
1=A
2=A
3with f
1=f
2=f
3asynchronously set up.
6. a kind of fluid according to claim 1 is used to nonlinear model and the parameter determination method thereof of container, it is characterized in that, the mechanical signal in described step 3 exports the force snesor carried by excitation head and obtains, and to its process of averaging.
7. a kind of fluid according to claim 1 is used to nonlinear model and the parameter determination method thereof of container, it is characterized in that, the model parameter relational matrix set up in described step 4 is:
AX＝F
Wherein, A is the matrix calculating rate signal composition:
X is parameter matrix to be solved:
X＝[fC
1C
2]
F is the force signal matrix collected:
F＝[F
1F
2F
3]。
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Cited By (6)
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| CN106156859A (en) * | 2016-06-17 | 2016-11-23 | 江苏大学 | A kind of used container mechanics output Forecasting Methodology |
| CN108956069A (en) * | 2018-06-15 | 2018-12-07 | 江苏大学 | A kind of electromechanical used container Mechanics Performance Testing operating condition design method |
| CN109334379A (en) * | 2018-09-19 | 2019-02-15 | 江苏大学 | Heavy automobile-used electrohydraulic type is used to container Nonlinear inertial force discrimination method |
| CN109398020A (en) * | 2018-09-19 | 2019-03-01 | 江苏大学 | A kind of vehicle liquid based on nonlinear model is electrically coupled the forecast Control Algorithm of Formulas I SD suspension |
| CN111391594A (en) * | 2020-03-27 | 2020-07-10 | 常州机电职业技术学院 | Mechanical output compensation control method and mechanical system for electromechanical suspension of new energy vehicle |
| CN111444660A (en) * | 2020-03-27 | 2020-07-24 | 常州机电职业技术学院 | Electromechanical suspension model construction method for new energy vehicle, optimization simulation method and system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106156859A (en) * | 2016-06-17 | 2016-11-23 | 江苏大学 | A kind of used container mechanics output Forecasting Methodology |
| CN108956069A (en) * | 2018-06-15 | 2018-12-07 | 江苏大学 | A kind of electromechanical used container Mechanics Performance Testing operating condition design method |
| CN108956069B (en) * | 2018-06-15 | 2020-03-31 | 江苏大学 | Mechanical property test working condition design method for electromechanical inerter |
| CN109334379A (en) * | 2018-09-19 | 2019-02-15 | 江苏大学 | Heavy automobile-used electrohydraulic type is used to container Nonlinear inertial force discrimination method |
| CN109398020A (en) * | 2018-09-19 | 2019-03-01 | 江苏大学 | A kind of vehicle liquid based on nonlinear model is electrically coupled the forecast Control Algorithm of Formulas I SD suspension |
| CN109398020B (en) * | 2018-09-19 | 2021-11-23 | 江苏大学 | Nonlinear model-based prediction control method for vehicle hydro-electric coupling type ISD suspension |
| CN109334379B (en) * | 2018-09-19 | 2021-11-23 | 江苏大学 | Method for identifying nonlinear inertia force of hydro-electric inertial container for heavy-duty vehicle |
| CN111391594A (en) * | 2020-03-27 | 2020-07-10 | 常州机电职业技术学院 | Mechanical output compensation control method and mechanical system for electromechanical suspension of new energy vehicle |
| CN111444660A (en) * | 2020-03-27 | 2020-07-24 | 常州机电职业技术学院 | Electromechanical suspension model construction method for new energy vehicle, optimization simulation method and system |
| CN111391594B (en) * | 2020-03-27 | 2023-01-17 | 常州机电职业技术学院 | Mechanical output compensation control method and mechanical system for electromechanical suspension of new energy vehicle |
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