CN105447262B - A kind of fluid is used to the nonlinear model and its parameter determination method of container - Google Patents
A kind of fluid is used to the nonlinear model and its parameter determination method of container Download PDFInfo
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Abstract
The invention discloses nonlinear models and its parameter determination method that a kind of fluid is used to container, and the non-linear dynamic model that the fluid is used to container includes Frictional model, nonlinear dampling power model and inertia force model.Its nonlinear model determination method for parameter includes the following steps：Establish the kinetic model that non-linear fluid is used to container；Container is used to fluid under different operating modes and carries out mechanical property test；The mechanics output amplitude signal under each operating mode is acquired, the mean value signal of its power output amplitude is obtained；Calculate the speed signal that input is encouraged under each operating mode；Model parameter relational matrix is established, parameter matrix is solved.The present invention provides nonlinear model and its parameter determination method that a kind of fluid is used to container, be conducive to accurately grasp the kinetic characteristics that fluid is used to container.
Description
Technical field
The present invention relates to nonlinear models and its parameter determination method that a kind of fluid is used to container, refer in particular to a kind of based on multiplexing
The non-linear fluid of condition mechanical property test is used to container model parameter determination method.
Background technology
Since 2002 are proposed by univ cambridge uk professor Smith, superior vibration isolation potentiality exist used container
The every field such as vehicle suspension, building vibration isolation, train suspension are confirmed.Current widely used used case has
Pinion and-rack, ball screw type, hydraulic pressure-pump type and fluid-type are used to container.However for the used case of practical application
It says, practical mechanical property is influenced by diversified non-linear factor, such as pinion and-rack and the used appearance of ball screw type
Device includes just the influence of the non-linear factors such as back clearance, buoyancy effect, frictional force.
International PCT patent 201080035037.8 proposes fluid and is used to the concept of container and gives used matter coefficient earliest
Derivation formula.Foreign scholar has found that the used mechanical property held of fluid is mainly posted by analyzing fluid dynamic Influencing Mechanism
The influence of raw damping, and this parasitic damping effect has the characteristics that strong nonlinearity.However, due to the influence of its strong nonlinearity factor,
It is difficult to set up its accurate mathematical model.Therefore, non-linear dynamic model and determination that fluid is used to container how accurately to be grasped
Its model parameter becomes the main bugbear faced in engineer application.
Invention content
It is an object of the invention to propose that a kind of fluid is used to the nonlinear model and its parameter determination method of container, to accurate
Really grasp the kinetic characteristics that fluid is used to container.
For the above goal of the invention of realization, the technical solution adopted by the present invention is：A kind of fluid is used to the nonlinear model of container
And its parameter determination method, include the following steps：
Step 1, the analysis that Influencing Mechanism is exported based on the mechanical property for being used to container to fluid is initially set up fluid and is used to container
Nonlinear model, the nonlinear model that the fluid is used to container includes Frictional model, damping force models and inertia force model,
The relationship of three kinds of mechanical models is to be connected in parallel；
Step 2, it is used to the analytical expression of container mechanics output according to non-linear fluid, it is used to fluid under different operating modes to hold
Device carries out mechanical property test, to obtain mechanical signal output, excitation input displacement signal necessary to model parameter solves；
Step 3, the output of the mechanical signal under each operating mode is acquired by force snesor, and its output is obtained by weighting processing
The mean value signal of power amplitude；It seeks encouraging input speed signal under each operating mode by the excitation input displacement signal of analysis and solution；
Step 4, it is used to the analytical expression of container mechanics output according to non-linear fluid, establishes comprising to be solved non-linear
Model parameter, mechanical signal output and the model parameter relational matrix for encouraging input speed signal, to nonlinear model shape parameter square
Battle array is solved.
Further, the Frictional model is Coulomb friction model, specially f=f0Sign (v), in formula, f0For frictional force
Amplitude, size be definite value；Sign (v) is sign function, and v is the relative velocity that fluid is used to container two-end-point, as v > 0,
Its value is -1, as v < 0, value 1, and as v=0, value 0.
Further, the damping force models are nonlinear dampling power model, be derived mainly from parasitic damping force in fluid with
The pressure loss of pipeline and pipeline opening is flowed through, size can use formula Fc=C1v2+C2V indicate, direction always with directional velocity phase
Instead, v is the relative velocity that fluid is used to container two-end-point, C1For the damped coefficient of velocity squared item, C2For the damping system of speed term
Number.
Further, the inertia force model is ideal linearly used container model, specially：Fb=ba, b are used matter system
Number can be calculated by parameter of structure design and be obtained.
Further, the step 2 includes three kinds of different operating condition of test, specially：Operating mode 1：The input displacement of input terminal
It is inputted for triangular waveform, amplitude A1, excited frequency f1；Operating mode 2：The input displacement of input terminal inputs for triangular waveform, amplitude
For A2, excited frequency f2；Operating mode 3：The input displacement of input terminal inputs for triangular waveform, amplitude A3, excited frequency f3。
Wherein, equation A1=A2=A3With f1=f2=f3Asynchronously set up.
Further, the mechanical signal output in the step 3 is obtained by the force snesor that excitation head carries, and is carried out to it
It averages processing.
Further, the model parameter relational matrix established in the step 4 is：
AX=F
Wherein, A is the matrix that speed signal composition is calculated：
X is parameter matrix to be solved：
X=[f C1 C2]
F is collected force signal matrix：
F=[F1 F2 F3]。
Beneficial implementation result using the present invention is：
1) fluid proposed is used to container non-linear dynamic model and contains coulomb friction model, nonlinear dampling power
Model and ideal linearity inertia force model.On the basis of the inertia force model of ideal linearity, coulomb friction in parallel with
Nonlinear of the fluid damping force models, the nonlinear dampling power model established have reacted the power that fluid flows in used container comprehensively
Characteristic is learned, parasitic damping effect has preferably been fitted and is used to the action rule of container mechanics output to fluid, can fully react non-
Influence of the linear factor to its mechanical property.
2) it is to export analytical expression according to its mechanics that the fluid proposed, which is used to container nonlinear model parameter determination method,
And based on mechanical property test on the basis of, the validity that is built by test kinetic model.The difference
The mechanical property test operating mode of operating mode is simple, and convenient for carrying out, and data acquisition process is easy to be accurate, can eliminate individual singular datas
Harmful effect.Compared to tradition modeling and parametric solution method, technical solution provided by the invention is more accurate, engineering of being more convenient for
Using.Compared to the model construction based on intelligent prediction algorithms, the present invention has grasped specific model parameter, convenient for complicated power
Learn the structure of model.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is a kind of non-linear dynamic model schematic diagram of the used container of fluid.
Fig. 2 is a kind of nonlinear model and its parameter determination method flow chart of the used container of fluid.
Fig. 3 is the displacement curve figure under the input of 0.1Hz triangular waves.
Fig. 4 is the mechanical output curve figure under the input of 0.1Hz triangular waves.
Fig. 5 is experiment and emulation compares figure under the input of 0.5Hz sines.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, a kind of fluid proposed by the invention is used to the nonlinear model and its parameter determination method of container,
Non-linear dynamic model includes coulomb friction model, nonlinear dampling power model and ideal linearity inertia force model, described
Three kinds of mechanical model relationships are to be connected in parallel, and q is that the displacement of excitation head inputs, and f is coulomb friction, and b is used matter coefficient, and c is
Nonlinear damping coefficients.
Wherein, coulomb friction model is：
F=f0sign(v)
In formula, f0For the amplitude of frictional force, size is definite value.Sign (v) is sign function, and v is that fluid is used to container two
The relative velocity of endpoint, as v > 0, value is -1, as v < 0, value 1, and as v=0, value 0.
Nonlinear dampling model be derived mainly from fluid parasitic damping force and flow through the pressure loss of pipeline and pipeline opening,
Its size can use formula Fc=C1v2+C2V indicates that direction is always with directional velocity on the contrary, v, which is fluid, is used to the opposite of container two-end-point
Speed, C1For the damped coefficient of velocity squared item, C2For the damped coefficient of speed term.
Inertia force model is the used container model of ideal linearity, specially：Fb=ba, b are to be used to matter coefficient, in the present embodiment
B is 370kg.
As shown in Fig. 2, its nonlinear model parameter determination method includes the following steps：
(1) first, the analysis that Influencing Mechanism is exported based on the mechanical property for being used to container to fluid, it includes static friction to establish
Non-linear fluid including power, nonlinear dampling power and inertia force is used to container kinetic model, and establishes the used appearance of non-linear fluid
Device mechanics output analytical expression be：
(2) it is used to the analytical expression of container mechanics output according to non-linear fluid, container is used to fluid under different operating modes
Carry out mechanical property test.To obtain mechanical signal output, excitation speed signal necessary to model parameter solves.Mechanical signal
Output is obtained by the force snesor of excitation head, and excitation input speed signal is by obtaining excitation input displacement signal derivation.
Specific operating condition of test is as follows：
Operating mode 1：The input displacement of input terminal inputs for triangular waveform, amplitude A1, excited frequency f1；
Operating mode 2：The input displacement of input terminal inputs for triangular waveform, amplitude A2, excited frequency f2；
Operating mode 3：The input displacement of input terminal inputs for triangular waveform, amplitude A3, excited frequency f3；
Wherein, equation A1=A2=A3With f1=f2=f3Asynchronously set up.
It calculates and acquires for convenience of data, the amplitude A that the present embodiment is chosen1、A2With A3It is 10mm, f1For 0.1Hz, f2For
0.2Hz, f3For 0.3Hz.
The displacement input curve being illustrated in figure 3 under operating mode 1.
(3) output of the mechanical signal under each operating mode is acquired by force snesor, and its power output is obtained by weighting to handle
The mean value signal of amplitude.
Excitation head in experimental rig collects the output force signal under above-mentioned three kinds of operating modes by included force snesor.
It is found that within every 1/4 period, excitation displacement is at the uniform velocity to change for analysis, therefore, acceleration 0, and and velocity magnitude is constant.
The mechanical output curve being illustrated in figure 4 under operating mode 1, it can be seen that mechanical signal exports under tested operating mode
It is the signal of constant magnitude.To obtain accurate model parameter, mean value is carried out to collected power output amplitude herein
Processing, the output force signal obtained under above-mentioned operating mode are：F1=416.013N, F2=432.051N, F3=448.114N.
(4) input displacement signal is encouraged by analysis and solution, seeks encouraging input speed signal under each operating mode.
Since used displacement excitation inputs for triangular wave, velocity magnitude is constant, and amplitude can be defeated to encouraging
Enter displacement signal derivation to obtain, the velocity amplitude under each operating mode is v1=0.004m/s, v2=0.008m/s, v3=0.012m/s.
(5) it is used to the analytical expression of container mechanics output according to non-linear fluid, it includes nonlinear model to be solved to establish
Shape parameter, mechanical signal output and the model parameter relational matrix for encouraging input speed signal, to nonlinear model parameter matrix
It is solved.
The model parameter relational matrix is：
AX=F
Wherein, A is the rate matrices being calculated：
X is parameter matrix to be solved：
X=[f C1 C2]
F is collected force signal matrix：
F=[F1 F2 F3]
The data for acquiring and being calculated substitution is acquired, f=400, C1=781, C2=4000.
For the validity of the nonlinear model shape parameter of verification gained, it is 20mm, sinusoidal excitation 0.5Hz that Fig. 5, which gives amplitude,
The compares figure of lower emulation and experiment, as can be seen from Fig., test data is coincide well with emulation, illustrates that fluid is used to the non-thread of container
Property model parameter is more accurate.
The present invention solves the problems, such as that fluid is used to container nonlinear model and is difficult to accurately establish, and is used to container further to explore
Kinetic characteristics lay a good foundation.
The embodiment is the preferred embodiments of the present invention, but present invention is not limited to the embodiments described above, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification all belongs to the scope of protection of the present invention.
Claims (2)
1. a kind of fluid is used to the nonlinear model and its parameter determination method of container, which is characterized in that include the following steps：
Step 1, the analysis that Influencing Mechanism is exported based on the mechanical property for being used to container to fluid is initially set up fluid and is used to the non-of container
Linear model, the nonlinear model that the fluid is used to container includes Frictional model, nonlinear dampling power model and ideal linearity
The relationship of inertia force model, the Frictional model, nonlinear dampling power model and ideal linearity inertia force model is in parallel connects
It connects；
The Frictional model is Coulomb friction model, specially coulomb friction f=f0Sign (v), in formula, f0For frictional force
Amplitude, size be definite value；Sign (v) is sign function, and v is the relative velocity that fluid is used to container two-end-point, works as v>When 0,
Its value is -1, works as v<When 0, value 1, as v=0, value 0；
Step 2, it is used to the analytical expression of container mechanics output according to non-linear fluid：
Wherein, b is used matter coefficient, and v is the relative velocity that fluid is used to container two-end-point, C1For the damped coefficient of velocity squared item, C2
For the damped coefficient of speed term；
Container is used to fluid under three kinds of different operating condition of test and carries out mechanical property test, it must to obtain model parameter solution
The mechanical signal needed exports, encourages input displacement signal；
Three kinds of different operating condition of test, specially：Operating mode 1：The input displacement of input terminal inputs for triangular waveform, and amplitude is
A1, excited frequency f1；Operating mode 2：The input displacement of input terminal inputs for triangular waveform, amplitude A2, excited frequency f2；Work
Condition 3：The input displacement of input terminal inputs for triangular waveform, amplitude A3, excited frequency f3, wherein equation A1=A2=A3With
f1=f2=f3Asynchronously set up；
Step 3, the output of the mechanical signal under each operating mode is acquired by force snesor, and its power output width is obtained by weighting to handle
The mean value signal of value；It seeks encouraging input speed signal under each operating mode by the excitation input displacement signal of analysis and solution；
Step 4, it is used to the analytical expression of container mechanics output according to non-linear fluid, it includes nonlinear model to be solved to establish
Parameter, mechanical signal output and excitation input speed signal model parameter relational matrix, to nonlinear model parameter matrix into
Row solves；
The model parameter relational matrix is：
AX=F
Wherein, A is the matrix that speed signal composition is calculated：
X is parameter matrix to be solved：
X=[f C1 C2]
F is collected force signal matrix：
F=[F1 F2 F3]；
Wherein, F1For the output force signal under operating mode 1, F2For the output force signal under operating mode 2, F3For the power output letter under operating mode 3
Number, v1For the excitation input speed signal under operating mode 1, v2For the excitation input speed signal under operating mode 1, v3For swashing under operating mode 1
Encourage input speed signal；
The nonlinear dampling power model, parasitic damping force from fluid and the pressure loss for flowing through pipeline and pipeline opening,
Nonlinear dampling power size can use formula Fc=C1v2+C2V indicates that direction is always with directional velocity on the contrary, v, which is fluid, is used to container two
The relative velocity of endpoint, C1For the damped coefficient of velocity squared item, C2For the damped coefficient of speed term；
The ideal linearity inertia force model, specially：Fb=ba, b are used matter coefficient, can be calculated and be obtained by parameter of structure design.
2. a kind of fluid according to claim 1 is used to the nonlinear model and its parameter determination method of container, feature exists
In the mechanical signal output in the step 3 is obtained by the force snesor that excitation head carries, and carries out processing of averaging to it.
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| CN106156859B (en) * | 2016-06-17 | 2019-05-31 | 江苏大学 | A kind of used container mechanics output prediction technique |
| CN108956069B (en) * | 2018-06-15 | 2020-03-31 | 江苏大学 | Mechanical property test working condition design method for electromechanical inerter |
| 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 |
| 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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| CN104763768A (en) * | 2014-12-02 | 2015-07-08 | 江苏大学 | Inert and damping integrated gas-filled damper |
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