CN106286685A - Piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction and control method thereof - Google Patents
Piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction and control method thereof Download PDFInfo
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- CN106286685A CN106286685A CN201610814626.5A CN201610814626A CN106286685A CN 106286685 A CN106286685 A CN 106286685A CN 201610814626 A CN201610814626 A CN 201610814626A CN 106286685 A CN106286685 A CN 106286685A
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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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- 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
- F16F2222/00—Special physical effects, e.g. nature of damping effects
- F16F2222/12—Fluid damping
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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
- F16F2224/00—Materials; Material properties
- F16F2224/04—Fluids
- F16F2224/045—Fluids magnetorheological
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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
- Fluid-Damping Devices (AREA)
- Vibration Prevention Devices (AREA)
Abstract
The invention discloses a kind of piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction, including vibration absorber body and vibration absorber controller, vibration absorber body includes cylinder barrel, pressure support floating piston, intermediate isolating floating piston, piston rod, piezoelectric generation module, spring bearer plate, power transmission spring, spring stand, lower permanent magnet, magnetic coil, upper permanent magnet, fixes bar and electromagnetic induction coil every magnetic version, piston, magnet exciting coil winding, electromagnetic induction coil；Being provided with control box on the outer wall of cylinder barrel, vibration absorber controller is arranged in control box, is additionally provided with commutator, battery charging circuit, the first controllable constant current source circuit and the second controllable constant current source circuit in controlling box；The invention also discloses the control method of a kind of piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction.The present invention has the function of piezoelectricity and the dual energy regenerative of electromagnetic induction, has both achieved the effect changing damping, has reached again to change the purpose of rigidity, and damping property is good.
Description
Technical field
The invention belongs to magneto-rheological vibration damper technical field, be specifically related to a kind of piezoelectricity and the dual energy magnetic of electromagnetic induction
Rheology vibration absorber and control method thereof.
Background technology
Magnetic flow liquid is an important branch in intellectual material, has special physical effect, under outside magnetic field effect
In moment (Millisecond), the solid biphase mutual conversion of liquid one can occur, i.e. be changed into semisolid from free flowing liquid, present controlled
Rheological effect, and this change is reversible.In consideration of it, due to the magneto-rheological vibration damper utilizing magnetic flow liquid to make, have
Response is fast, damping force is big, energy requirement is little, mechanism is simple, good endurance, damping force can realize stepless adjustable, in control system
System still may act as the advantages such as passive damper part in the case of losing efficacy, thus obtains in building, bridge, the first-class industry of vehicle suspension
Unprecedented development.
In vehicle magneto-rheological semiactive suspension system, magneto-rheological vibration damper is one of parts of core the most, its performance
Quality, directly affect safety and the control stability of vehicle, but must have external power source be its power supply, required to produce
Magnetic field when damping force controls in real time, thus by controlling the size of input current, change the power in magnetic field, reach to control in real time
The purpose of the required damping force of system, to outside electrical energy demands, on the one hand, the electric energy adding magneto-rheological semiactive suspension system disappears
Consumption, on the other hand, once electric energy supply goes wrong, and work normal for magneto-rheological vibration damper will produce huge instability
The impact of property, the vibrational energy that vehicle is produced by Uneven road in the process of moving, major part is all subtracted vibration insulating system with various
Form dissipates, and is eventually converted to heat energy and friction energy slatterns.There are some researches show, the vehicle of 3500 pounds exists
Under 2cm, 3Hz road roughness operating mode, four vibroshocks can produce the energy of 1.3kW, it is seen that this portion of energy is bigger,
Conversely, if vehicle travel process there being the most of vibration energy regeneration caused by Uneven road utilize, can not only give
Magneto-rheological vibration damper provides electric energy, improves system reliability, safety and stability, thus imparting system self-powered function, and
And unnecessary electrical power storage can be got up, other current consuming apparatus on supply vehicle, reduce further system cost, for magnetic
The popularization and application of rheology vibration insulating system technology have striden forward major step.
In recent years, it is the research field that an attention rate is the highest that Vehicular vibration energy is recycled into, but almost all is in reason
Opinion is attempted and the stage of verification experimental verification.S.B Choi utilizes pinion and rack to propose the design of a kind of energy regenerative magnetic variation vibroshock
Scheme, when suspension system is under first natural frequency operating mode encourages, energy regenerative power reaches 28W, but adds intermediate member energy regenerative effect
Rate is relatively low, and when be in be operated in than relatively rugged environment time, easily produce impact, thus damage parts, affect vibration damping
Energy regenerative damping property；Wang Daihua etc. utilize electromagnetic induction principle, are integrated in magneto-rheological vibration damper by energy feed system, it is achieved that magnetic
The vibration energy regeneration of rheology vibroshock, but induction coil is less with magnet exciting coil relative motion amplitude, and magnetic flux change is relatively slow,
Energy recovery efficiency is the lowest；Jung utilizes magnetic induction energy collecting device to power to MR damper, on preliminary test basis
On, reach intended control effect, but energy collecting device and magnetorheological damping have not been integrated into an entirety, taken
Space is bigger.
The Chinese invention patent of Application No. 201310471102.7 discloses a kind of self-supplied magnetic current damper, mainly
Including cylinder barrel, positioning tube, compensating unit, air core coil and permanent magnet etc., its permanent magnet be arranged on air core coil inner chamber and with
Described compensating unit is fixed, and when reciprocating motion of the pistons, compensating unit drives permanent magnet to move back and forth at the inner chamber of air core coil
Being electric energy by changes mechanical energy, on the one hand the displacement of compensating unit is formed shorter, the finite energy of generation, it is impossible to meets and provides real
Time damping force needed for electric energy, on the other hand its damping force produced is limited, it is impossible to adapt to the operating mode of required big damping, simultaneously its
The compensating action that compensated chamber is risen can not change, and certainly can not play the covert purpose changing rigidity.
Summary of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, it is provided that a kind of piezoelectricity and electricity
The dual energy magnetic rheological vibration damper of magnetic induction, its simple in construction, it is achieved convenient and low cost, use easy to operate, have
Piezoelectricity and the function of the dual energy regenerative of electromagnetic induction, both achieved the effect changing damping, and reached again to change the purpose of rigidity, subtracted
Performance of shaking is good, and safety is high, practical, it is simple to promote the use of.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of piezoelectricity and the dual energy regenerative of electromagnetic induction
Formula magnetic rheological vibration damper, it is characterised in that: include vibration absorber body and vibration absorber controller, described vibration absorber body
The pressure support floating piston that including cylinder barrel and is disposed on the most from top to bottom in cylinder barrel, intermediate isolating floating piston and
Piston rod, the top of described pressure support floating piston is fixedly connected with bracing frame, and the top of support frame as described above is fixedly connected with
Upper lift ring, described cylinder barrel outer bottom is fixedly connected with lower lift ring, described cylinder barrel inner bottom part be provided be positioned at around piston rod many
Individual piezoelectric generation module, the top of described piezoelectric generation module is fixedly connected with spring bearer plate, and the top of described spring bearer plate is solid
Determining connection has power transmission spring, the top of described power transmission spring to be fixedly connected with spring stand, and the top of described spring stand is fixed
Connecting has lower permanent magnet and magnetic coil, described lower permanent magnet to be arranged on the periphery of magnetic coil, under described magnetic coil passes through
Sliding bearing is slidably connected on the piston rod, described lower permanent magnet and magnetic coil be provided above permanent magnet, described on
Permanent magnet is contrary with the polarity setting direction of lower permanent magnet, and described upper permanent magnet is slidably connected at piston by upper outer sliding bearing
On bar, the space between described lower permanent magnet and magnetic coil and upper permanent magnet is compensated chamber, the upper surface of described upper permanent magnet
On be fixedly connected with every magnetic version, described piston rod is hollow structure, and the upper end of described piston rod is fixedly connected with piston, described work
It is tied with the magnet exciting coil winding for producing magnetic field beyond the Great Wall, arranges between described piston and magnet exciting coil winding and the inwall of cylinder barrel
There are damping fluid passage, described piston rod inner to be provided with electromagnetic induction coil and fix bar and for producing the electromagnetism sense of electromagnetic induction
Answer coil, described electromagnetic induction coil to be fixedly connected on electromagnetic induction coil and fix on bar, the outside of described electromagnetic induction coil
Being provided with interior permanent magnet, described interior permanent magnet is slidably connected on piston rod inwall by upper interior sliding bearing, described interior cunning
Dynamic bearing and upper outer sliding bearing are arranged on sustained height, described pressure support floating piston and intermediate isolating floating piston it
Between space be hydraulic fluid chamber, be provided with hydraulic oil in described hydraulic fluid chamber, described intermediate isolating floating piston with every magnetic version it
Between space be magnetorheological sap cavity, described magnetic flow liquid intracavity is provided with magnetic flow liquid；It is provided with control on the outer wall of described cylinder barrel
Box processed, described vibration absorber controller is arranged in control box, is additionally provided with commutator, for for vehicle-mounted storage in described control box
The battery charging circuit of battery charging, for providing the first controllable constant-current source of stable input current for magnet exciting coil winding
Circuit and the second controllable constant current source circuit for the input current stable for magnetic coil offer, described vibration absorber controller
Input be connected to the acceleration transducer for vehicle body acceleration is detected in real time, described battery charging circuit is connected on
Between commutator and Vehicular accumulator cell, described first controllable constant current source circuit and the outfan of Vehicular accumulator cell and vibration absorber control
The outfan of device processed is all connected with, and the outfan of described magnet exciting coil winding and the first controllable constant current source circuit connects, and described second
Controllable constant current source circuit is all connected with the outfan of Vehicular accumulator cell and the outfan of vibration absorber controller, described magnetic coil
It is connected with the outfan of the second controllable constant current source circuit, the input of described commutator and the outfan of electromagnetic induction coil and pressure
The outfan of electricity electricity generation module is all connected with.
Above-mentioned piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that: described hydraulic fluid chamber
Cross-sectional area more than the cross-sectional area of described magnetorheological sap cavity.
Above-mentioned piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that: described piezo-electric generating
Module is bonded in cylinder barrel inner bottom part, and described spring bearer plate is bonded in the top of piezoelectric generation module.
The invention also discloses a kind of realize conveniently, control efficiency is high, it is optimal that magnetic rheological vibration damper can be made to be in
The piezoelectricity of vibration damping state and the control method of the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that the method
Comprise the following steps:
Step I, when vehicle travels on uneven road surface, vehicle body acceleration is detected by acceleration transducer in real time,
Vibration absorber controller carries out periodic samples to vehicle body acceleration；
Step II, vibration absorber controller call Neural Network PID Control module to its vehicle body acceleration obtained of sampling
It is analyzed processing, obtains the input current of magnet exciting coil winding and the input current of magnetic coil, and control the first controllable constant
The input current that output electric current is magnet exciting coil winding of current source circuit, the output electric current controlling the second controllable constant current source circuit is
The input current of magnetic coil, magnet exciting coil winding and magnetic coil energising produce magnetic field；Vehicular vibration drive upper lift ring with under
Suspension ring produce relative motion, drive bracing frame and pressure support floating piston to move up and down, when bracing frame and pressure support are floated
When piston moves downward, making hydraulic oil move downward, make intermediate isolating floating piston move downward, now magnetic flow liquid is through resistance
Buddhist nun's passage, under the effect in the magnetic field that magnet exciting coil winding produces, magnetic flow liquid produces magnetic rheology effect, magnetic flow liquid downward
Motion drives magnetic isolation plate and upper permanent magnet to move downward, and the interior permanent magnet of drive that moves downward of upper permanent magnet moves downward, the most forever
When magnet moves downward, with electromagnetic induction coil generation relative motion, electromagnetic induction is occurred to make electromagnetic induction coil produce electric energy,
Upper permanent magnet produces the active force of mutual exclusion with lower permanent magnet, when upper permanent magnet moves downward, and the mutual exclusion between lower permanent magnet
Active force strengthens, and enhances the rigidity of described vibration absorber, meanwhile, the power that lower permanent magnet and magnetic coil move downward, passes through
Fixing spring stand passes to power transmission spring, then passes to piezoelectric generation module by spring bearer plate, and piezoelectric generation module occurs
Direct piezoelectric effect produces electric energy, and electric energy and the electric energy of piezoelectric generation module generation that electromagnetic induction coil produces are whole by commutator
After stream, then charging to Vehicular accumulator cell through battery charging circuit, Vehicular accumulator cell output electric energy gives the first controllable constant-current source
Circuit and the second controllable constant current source circuit, it is achieved that the purpose of energy regenerative vibration damping；When bracing frame and pressure support floating piston upwards
During motion, making hydraulic oil move upward, make intermediate isolating floating piston move upward, now magnetic flow liquid is through damp channel,
Under the effect in the magnetic field that magnet exciting coil winding produces, magnetic flow liquid produces magnetic rheology effect, the band that moves upward of magnetic flow liquid
Dynamic magnetic isolation plate and upper permanent magnet move upward, and in the drive that moves upward of upper permanent magnet, permanent magnet moves upward, interior permanent magnet to
During upper motion, with electromagnetic induction coil generation relative motion, electromagnetic induction is occurred to make electromagnetic induction coil produce electric energy, electromagnetism sense
After the electric energy answering coil to produce passes through rectifier rectification, then charge to Vehicular accumulator cell through battery charging circuit, vehicle-mounted storage
Battery output electric energy gives the first controllable constant current source circuit and the second controllable constant current source circuit, it is achieved that the purpose of energy regenerative vibration damping.
Above-mentioned method, it is characterised in that: in step II, vibration absorber controller calls PID ANN Control module pair
The vehicle body acceleration that its sampling obtains is analyzed processing, and obtains the input current of magnet exciting coil winding and the input of magnetic coil
The detailed process of electric current is: vibration absorber controller is by defeated to the control desired value of vehicle body acceleration and the sampled value of vehicle body acceleration
Enter in the PID neutral net pre-building and training, show that the output of PID neutral net, the output of PID neutral net are
The input current of magnet exciting coil winding and the input current of magnetic coil；
Wherein, pre-build and train the detailed process of PID neutral net to be:
Step 201, set up PID neutral net: with control desired value and the sampled value of vehicle body acceleration of vehicle body acceleration
As the input neuron of PID neutral net, input number of nodes is 2；Proportionality coefficient, integral coefficient and the differential controlled with PID
Coefficient is as the hidden layer neuron of PID neutral net, and node in hidden layer is 3；With the input current of magnet exciting coil winding and
The input current of magnetic coil is 2 as the output neuron of PID neutral net, output node number, sets up PID neutral net；
Step 202, training PID neutral net: in control desired value and the sampled value of vehicle body acceleration of vehicle body acceleration
Possible span in, the control desired value of m vehicle body acceleration of random pair and the sampled value of vehicle body acceleration are as institute
State the input of PID neutral net, and using the input current of m magnet exciting coil winding and the input current of magnetic coil as described
The output of PID neutral net, builds training sample, is trained described PID neutral net and obtains the PID nerve trained
Network；Wherein, the value of m is 50～500.
Above-mentioned method, it is characterised in that: in step 201, the input value of the input neuron of PID neutral net is to output
The computing formula of value is:
xi(k)=ai(k), i=1,2
Wherein, aiK () is the input value of kth sampling instant input neuron, a1K () is that kth sampling instant vehicle body adds
The control desired value of speed, a2K () is the sampled value of kth sampling instant vehicle body acceleration；xiK () is the defeated of input neuron
Go out value, x1K () is and a1The output valve of k input neuron that () is corresponding, x2K () is and a2K input neuron that () is corresponding defeated
Go out value；K is positive integer；
Input value net of hidden layer neuron in step 201jK the computing formula of () is:
Wherein, wijInput layer to connection weight weight values and the span of hidden layer for PID neutral net is 0.2～0.8,
net1K () is the input of kth sampling instant proportionality coefficient neuron, the output u of kth sampling instant proportionality coefficient neuron1
(k)=net1(k)；net2K () is the input of kth sampling instant integral coefficient neuron, kth sampling instant integral coefficient
The output u of neuron2(k)=net2(k)+u2(k-1), u2(k-1) it is the defeated of-1 sampling instant integral coefficient neuron of kth
Go out and u2(0)=0；net3K () is the input of kth sampling instant differential coefficient neuron, kth sampling instant differential coefficient
The output u of neuron3(k)=net3(k)-u3(k-1), u3(k-1) it is the defeated of-1 sampling instant differential coefficient neuron of kth
Go out and u3(0)=0；
Output valve I of output neuron in step 201hK the computing formula of () is:
Wherein, w 'jhFor hidden layer to the connection weight weight values of output layer and span of PID neutral net be 0.2～
0.8, I1K () is the input current of kth sampling instant magnet exciting coil winding, I2K () is kth sampling instant magnetic coil
Input current.
Above-mentioned method, it is characterised in that: w in step 20111=w21=0.7, w in step 20112=w22=0.5, step
W in 20113=w23=0.6.
Above-mentioned method, it is characterised in that: w ' in step 20111=w '12=0.7, w ' in step 20121=w '22=0.5,
W ' in step 20131=w '32=0.6.
The present invention compared with prior art has the advantage that
1, the piezoelectricity of the present invention and the simple in construction of the dual energy magnetic rheological vibration damper of electromagnetic induction, conjunction novel in design
Reason, it is achieved convenient and low cost, uses easy to operate.
2, invention applies the principle of linker, such as hydraulic jack roof construction, will by intermediate isolating floating piston
Hydraulic working oil space keeps apart with magnetic flow liquid work space, on the one hand, be possible not only to when producing magnetic rheology effect produce
Raw bigger damping force, but also the stroke of permanent magnet motion can be increased, thus reclaim more vibrational energy.
3, the present invention is in view of the deficiency of single energy regenerative, produces the limited of energy, is combining current piezoelectricity energy regenerative and electricity
On two kinds of energy regenerative mode bases of magnetic induction energy regenerative, devise the energy reclaiming structure of dual energy regenerative.
4, compensated chamber of the present invention is designed as magneto motive form, does not only have fixing magneticaction, but also can lead to
Cross the size changing magnetic coil electric current, in a disguised form change the rigidity of this magnetic rheological vibration damper, both achieved and changed damping
Effect, has reached again to change the purpose of rigidity.
5, the present invention is by arranging power transmission spring, active force can not only be passed to piezoelectric generation module, to produce electric energy,
But also operation comfort and the stability of this magnetic rheological vibration damper can be improved.
Even if 6, the present invention was in the case of vibration absorber controller lost efficacy, still can make as passive damper
With, improve safety.
7, the piezoelectricity of the present invention is convenient with the realization of the control method of the dual energy magnetic rheological vibration damper of electromagnetic induction,
Control efficiency is high, it is possible to make magnetic rheological vibration damper be in optimal vibration damping state.
8, the present invention has taken into full account the many problems of vibration absorber, and combines reality, and up-to-date technology is applied to
In the middle of design, and combine together, compact conformation, easily process, be easily installed, strong adaptability, applied range, both achieved and subtracted
The purpose shaken, has saved again electric energy, and can effectively reclaim for unnecessary electric energy, supplies other energy consumption equipments and makes
With.
9, the present invention can reach the purpose of continuous effective vibration damping, practical, and using effect is good, it is simple to promote the use of.
In sum, the present invention realizes convenient and low cost, uses easy to operate, has piezoelectricity and the dual feedback of electromagnetic induction
The function of energy, had both achieved the effect changing damping, had reached again to change the purpose of rigidity, and damping property is good, and safety is high, in fact
Strong by property, it is simple to promote the use of.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Fig. 1 is the structural representation of piezoelectricity of the present invention and the dual energy magnetic rheological vibration damper of electromagnetic induction.
Fig. 2 is the circuit connecting relation schematic diagram of vibration absorber controller of the present invention and other each several part.
Fig. 3 is the topological structure schematic diagram of PID neutral net of the present invention.
Description of reference numerals:
1 lower lift ring；2 piezoelectric generation modules；3 spring bearer plates；
4 power transmission springs；5 spring stands；6 times permanent magnets；
7 compensated chambers；Permanent magnet on 8；9 every magnetic version；
10 magnetic flow liquids；11 magnet exciting coil windings；12 pistons；
13 piston rods；14 intermediate isolating floating pistons；15 hydraulic oil；
16 pressure support floating pistons；17 upper lift rings；18 bracing frames；
19 damping fluid passages；Sliding bearing on 20；Outer sliding bearing on 21；
Permanent magnet in 22；23 electromagnetic induction coils；24 electromagnetic induction coils fix bar；
25 magnetic coils；26 properties of journal bearing lubricated；27 cylinder barrels；
28 vibration absorber controllers；29 acceleration transducers；30 control box；
31 commutators；32 Vehicular accumulator cells；33 battery charging circuits；
34 first controllable constant current source circuits；35 second controllable constant current source circuits.
Detailed description of the invention
As depicted in figs. 1 and 2, the piezoelectricity of the present invention and the dual energy magnetic rheological vibration damper of electromagnetic induction, including subtracting
Vibrating device body and vibration absorber controller 28, described vibration absorber body include cylinder barrel 27 and the most from top to bottom interval set
Putting the pressure support floating piston 16 in cylinder barrel 27, intermediate isolating floating piston 14 and piston rod 13, described pressure support is floated
The top of dynamic piston 16 is fixedly connected with bracing frame 18, and the top of support frame as described above 18 is fixedly connected with upper lift ring 17, described cylinder
Cylinder 27 outer bottoms are fixedly connected with lower lift ring 1, and described cylinder barrel 27 inner bottom part is provided with the multiple piezoelectricity being positioned at around piston rod 13
Electricity generation module 2, the top of described piezoelectric generation module 2 is fixedly connected with spring bearer plate 3, and the top of described spring bearer plate 3 is fixed
Connecting has power transmission spring 4, the top of described power transmission spring 4 to be fixedly connected with spring stand 5, and the top of described spring stand 5 is solid
Determining connection has lower permanent magnet 6 and magnetic coil 25, described lower permanent magnet 6 to be arranged on the periphery of magnetic coil 25, the described magnetic line of force
Circle 25 is slidably connected on piston rod 13 by properties of journal bearing lubricated 26, being provided above of described lower permanent magnet 6 and magnetic coil 25
Having upper permanent magnet 8, described upper permanent magnet 8 is contrary with the polarity setting direction of lower permanent magnet 6, and described upper permanent magnet 8 is by outside upper
Sliding bearing 21 is slidably connected on piston rod 13, the space between described lower permanent magnet 6 and magnetic coil 25 and upper permanent magnet 8
For compensated chamber 7, the upper surface of described upper permanent magnet 8 being fixedly connected with every magnetic version 9, described piston rod 13 is hollow structure, institute
The upper end stating piston rod 13 is fixedly connected with piston 12, and described piston 12 is tied with the magnet exciting coil winding for producing magnetic field
11, it is provided with damping fluid passage 19, described piston rod between described piston 12 and the inwall of magnet exciting coil winding 11 and cylinder barrel 27
13 are internally provided with electromagnetic induction coil fixes bar 24 and for producing the electromagnetic induction coil 23 of electromagnetic induction, described electromagnetism sense
Answering coil 23 to be fixedly connected on electromagnetic induction coil and fix on bar 24, the outside of described electromagnetic induction coil 23 is provided with interior permanent magnetism
Body 22, described interior permanent magnet 22 is slidably connected on piston rod 13 inwall by upper interior sliding bearing 20, described interior sliding axle
Hold 20 to be arranged on sustained height with upper outer sliding bearing 21, described pressure support floating piston 16 and intermediate isolating floating piston
Space between 14 is hydraulic fluid chamber, is provided with hydraulic oil 15 in described hydraulic fluid chamber, described intermediate isolating floating piston 14 with
Space between magnetic version 9 is magnetorheological sap cavity, and described magnetic flow liquid intracavity is provided with magnetic flow liquid 10；Outside described cylinder barrel 27
Being provided with control box 30 on wall, described vibration absorber controller 28 is arranged in control box 30, also sets up in described control box 30
There is commutator 31, for the battery charging circuit 33 charged for Vehicular accumulator cell 32, for providing for magnet exciting coil winding 11
First controllable constant current source circuit 34 of stable input current and for providing the of stable input current for magnetic coil 25
Two controllable constant current source circuits 35, the input of described vibration absorber controller 28 is connected to for examining vehicle body acceleration in real time
The acceleration transducer 29 surveyed, described battery charging circuit 33 is connected between commutator 31 and Vehicular accumulator cell 32, and described the
One controllable constant current source circuit 34 is all connected with the outfan of Vehicular accumulator cell 32 and the outfan of vibration absorber controller 28, described
Magnet exciting coil winding 11 is connected with the outfan of the first controllable constant current source circuit 34, described second controllable constant current source circuit 35 and car
The outfan of the outfan and vibration absorber controller 28 that carry accumulator 32 is all connected with, described magnetic coil 25 and the second controllable constant
The outfan of current source circuit 35 connects, the input of described commutator 31 and the outfan of electromagnetic induction coil 23 and piezo-electric generating
The outfan of module 2 is all connected with.
In the present embodiment, the cross-sectional area of described hydraulic fluid chamber is more than the cross-sectional area of described magnetorheological sap cavity.By
Less than the cross-sectional area of the work space of hydraulic oil 15 in the cross-sectional area of the work space of magnetic flow liquid 10, according to connection
Device principle to the exciting current that magnet exciting coil winding 11 is little during work, according to the ratio of both work space cross-sectional areas,
Just active force at double can be produced.
Described piezoelectric generation module 2 is bonded in cylinder barrel 27 inner bottom part, and described spring bearer plate 3 is bonded in piezoelectric generation module 2
Top.
The control method of the piezoelectricity of the present invention and the dual energy magnetic rheological vibration damper of electromagnetic induction, the method include with
Lower step:
Step I, when vehicle travels on uneven road surface, vehicle body acceleration is examined by acceleration transducer 29 in real time
Surveying, vibration absorber controller 28 carries out periodic samples to vehicle body acceleration；
Step II, vibration absorber controller 28 call the vehicle body acceleration that its sampling is obtained by Neural Network PID Control module
Degree is analyzed processing, and obtains input current and the input current of magnetic coil 25 of magnet exciting coil winding 11, and controls first
The input current that output electric current is magnet exciting coil winding 11 of controllable constant current source circuit 34, controls the second controllable constant current source circuit 35
Output electric current be the input current of magnetic coil 25, magnet exciting coil winding 11 and magnetic coil 25 energising produce magnetic field；Vehicle
Vibration drives upper lift ring 17 and lower lift ring 1 to produce relative motion, drives bracing frame 18 and pressure support floating piston about 16 to transport
Dynamic, when bracing frame 18 and pressure support floating piston 16 move downward, make hydraulic oil 15 move downward, make intermediate isolating float
Piston 14 moves downward, and now magnetic flow liquid 10 is through damp channel 19, in the effect in the magnetic field that magnet exciting coil winding 11 produces
Under, magnetic flow liquid 10 produces magnetic rheology effect, and moving downward of magnetic flow liquid 10 drives magnetic isolation plate 9 and upper permanent magnet 8 to transport downwards
Dynamic, the interior permanent magnet 22 of drive that moves downward of upper permanent magnet 8 moves downward, when interior permanent magnet 22 moves downward, with electromagnetic induction
There is relative motion in coil 23, occurs electromagnetic induction to make electromagnetic induction coil 23 produce electric energy, due to upper permanent magnet 8 and lower permanent magnetism
Body 6 magnetic is contrary, and upper permanent magnet 8 and lower permanent magnet 6 produce the active force of mutual exclusion, when upper permanent magnet 8 moves downward, with under forever
Mutual repulsion effect power between magnet 6 strengthens, and enhances the rigidity of described vibration absorber, meanwhile, lower permanent magnet 6 and magnetic coil 25
The power moved downward, passes to power transmission spring 4 by fixing spring stand 5, then passes to piezo-electric generating mould by spring bearer plate 3
Block 2, piezoelectric generation module 2 occurs direct piezoelectric effect to produce electric energy, the electric energy of electromagnetic induction coil 23 generation and piezo-electric generating mould
After the electric energy that block 2 produces passes through commutator 31 rectification, then charge to Vehicular accumulator cell 32 through battery charging circuit 33, vehicle-mounted
Accumulator 32 exports electric energy to the first controllable constant current source circuit 34 and the second controllable constant current source circuit 35, it is achieved that energy regenerative vibration damping
Purpose；When bracing frame 18 and pressure support floating piston 16 move upward, make hydraulic oil 15 move upward, make intermediate isolating float
Dynamic piston 14 moves upward, and now magnetic flow liquid 10 is through damp channel 19, at the work in the magnetic field that magnet exciting coil winding 11 produces
Under with, magnetic flow liquid 10 produces magnetic rheology effect, and moving upward of magnetic flow liquid 10 drives magnetic isolation plate 9 and upper permanent magnet 8 upwards
Motion, in the drive that moves upward of upper permanent magnet 8, permanent magnet 22 moves upward, when interior permanent magnet 22 moves upward, with electromagnetism sense
Answering coil 23 that relative motion occurs, occur electromagnetic induction to make electromagnetic induction coil 23 produce electric energy, electromagnetic induction coil 23 produces
Electric energy by after commutator 31 rectification, then charge to Vehicular accumulator cell 32 through battery charging circuit 33, Vehicular accumulator cell
32 output electric energy give the first controllable constant current source circuit 34 and the second controllable constant current source circuit 35, it is achieved that the purpose of energy regenerative vibration damping.
When being embodied as, it is also possible to the electric current being inputed to magnetic coil 25 by regulation is regulated between lower permanent magnet 6 and upper permanent magnet 8
Active force, make the amount of force scope between lower permanent magnet 6 and upper permanent magnet 8 wider.
In the present embodiment, in step II, vibration absorber controller 28 calls PID ANN Control module and samples it
To vehicle body acceleration be analyzed process, obtain input current and the input current of magnetic coil 25 of magnet exciting coil winding 11
Detailed process be: vibration absorber controller 28 is by the sampled value input of the control desired value of vehicle body acceleration and vehicle body acceleration
In the PID neutral net pre-building and training, drawing the output of PID neutral net, the output of PID neutral net is encourages
The input current of magnetic coil winding 11 and the input current of magnetic coil 25；
Wherein, pre-build and train the detailed process of PID neutral net to be:
Step 201, set up PID neutral net: as it is shown on figure 3, control desired value and vehicle body with vehicle body acceleration are accelerated
The sampled value of degree is as the input neuron of PID neutral net, and input number of nodes is 2；Proportionality coefficient, integration with PID control
Coefficient and differential coefficient are as the hidden layer neuron of PID neutral net, and node in hidden layer is 3；With magnet exciting coil winding 11
Input current and the input current of magnetic coil 25 as the output neuron of PID neutral net, output node number is 2, builds
Vertical PID neutral net；
Step 202, training PID neutral net: in control desired value and the sampled value of vehicle body acceleration of vehicle body acceleration
Possible span in, the control desired value of m vehicle body acceleration of random pair and the sampled value of vehicle body acceleration are as institute
State the input of PID neutral net, and using the input current of the input current of m magnet exciting coil winding 11 and magnetic coil 25 as
The output of described PID neutral net, builds training sample, is trained described PID neutral net and obtains the PID trained
Neutral net；Wherein, the value of m is 50～500.
In the present embodiment, in step 201, the input value of the input neuron of PID neutral net is to the computing formula of output valve
For:
xi(k)=ai(k), i=1,2
Wherein, aiK () is the input value of kth sampling instant input neuron, a1K () is that kth sampling instant vehicle body adds
The control desired value of speed, a2K () is the sampled value of kth sampling instant vehicle body acceleration；xiK () is the defeated of input neuron
Go out value, x1K () is and a1The output valve of k input neuron that () is corresponding, x2K () is and a2K input neuron that () is corresponding defeated
Go out value；K is positive integer；
Input value net of hidden layer neuron in step 201jK the computing formula of () is:
Wherein, wijInput layer to connection weight weight values and the span of hidden layer for PID neutral net is 0.2～0.8,
net1K () is the input of kth sampling instant proportionality coefficient neuron, the output u of kth sampling instant proportionality coefficient neuron1
(k)=net1(k)；net2K () is the input of kth sampling instant integral coefficient neuron, kth sampling instant integral coefficient
The output u of neuron2(k)=net2(k)+u2(k-1), u2(k-1) it is the defeated of-1 sampling instant integral coefficient neuron of kth
Go out and u2(0)=0；net3K () is the input of kth sampling instant differential coefficient neuron, kth sampling instant differential coefficient
The output u of neuron3(k)=net3(k)-u3(k-1), u3(k-1) it is the defeated of-1 sampling instant differential coefficient neuron of kth
Go out and u3(0)=0；
Output valve I of output neuron in step 201hK the computing formula of () is:
Wherein, w 'jhFor hidden layer to the connection weight weight values of output layer and span of PID neutral net be 0.2～
0.8, I1K () is the input current of kth sampling instant magnet exciting coil winding 11, I2K () is kth sampling instant magnetic coil
The input current of 25.
In the present embodiment, w in step 20111=w21=0.7, w in step 20112=w22=0.5, w in step 20113=
w23=0.6.
In the present embodiment, w ' in step 20111=w '12=0.7, w ' in step 20121=w '22=0.5, in step 201
w′31=w '32=0.6.
In sum, hydraulic working oil space and magnetic flow liquid are worked empty by intermediate isolating floating piston 14 by the present invention
Between keep apart, on the one hand, be possible not only to produce bigger damping force when producing magnetic rheology effect, but also can increase forever
The stroke of magnet movement, thus reclaim more vibrational energy；Both achieve the purpose of vibration damping, save again electric energy, and right
Can effectively reclaim in unnecessary electric energy, supply other energy consumption equipments and use；The control efficiency of control method is high, it is possible to
Magnetic rheological vibration damper is made to be in optimal vibration damping state.
The above, be only presently preferred embodiments of the present invention, not impose any restrictions the present invention, every according to the present invention
Any simple modification, change and the equivalent structure change that above example is made by technical spirit, all still falls within skill of the present invention
In the protection domain of art scheme.
Claims (8)
1. a piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that: include vibration absorber body
With vibration absorber controller (28), described vibration absorber body includes cylinder barrel (27) and is disposed on cylinder the most from top to bottom
Pressure support floating piston (16), intermediate isolating floating piston (14) and piston rod (13), described pressure support in cylinder (27)
The top of floating piston (16) is fixedly connected with bracing frame (18), and the top of support frame as described above (18) is fixedly connected with upper lift ring
(17), described cylinder barrel (27) outer bottom is fixedly connected with lower lift ring (1), and described cylinder barrel (27) inner bottom part is provided with and is positioned at piston rod
(13) multiple piezoelectric generation modules (2) around, the top of described piezoelectric generation module (2) is fixedly connected with spring bearer plate (3),
The top of described spring bearer plate (3) is fixedly connected with power transmission spring (4), and the top of described power transmission spring (4) is fixedly connected with bullet
Spring deck (5), the top of described spring stand (5) is fixedly connected with lower permanent magnet (6) and magnetic coil (25), described lower permanent magnetism
Body (6) is arranged on the periphery of magnetic coil (25), and described magnetic coil (25) is slidably connected at work by properties of journal bearing lubricated (26)
On stopper rod (13), described lower permanent magnet (6) and magnetic coil (25) be provided above permanent magnet (8), described upper permanent magnet
(8) contrary with the polarity setting direction of lower permanent magnet (6), described upper permanent magnet (8) is slided even by upper outer sliding bearing (21)
Being connected on piston rod (13), the space between described lower permanent magnet (6) and magnetic coil (25) and upper permanent magnet (8) is compensated chamber
(7), the upper surface of described upper permanent magnet (8) being fixedly connected with every magnetic version (9), described piston rod (13) is hollow structure, institute
The upper end stating piston rod (13) is fixedly connected with piston (12), and described piston (12) is tied with the magnet exciting coil for producing magnetic field
Winding (11), is provided with damping fluid passage between the inwall of described piston (12) and magnet exciting coil winding (11) and cylinder barrel (27)
(19), described piston rod (13) is internally provided with electromagnetic induction coil and fixes bar (24) and for producing the electromagnetism sense of electromagnetic induction
Answer coil (23), described electromagnetic induction coil (23) to be fixedly connected on electromagnetic induction coil and fix on bar (24), described electromagnetism sense
The outside answering coil (23) is provided with interior permanent magnet (22), and described interior permanent magnet (22) is slided even by upper interior sliding bearing (20)
Being connected on piston rod (13) inwall, described interior sliding bearing (20) and upper outer sliding bearing (21) are arranged on sustained height,
Space between described pressure support floating piston (16) and intermediate isolating floating piston (14) is hydraulic fluid chamber, described hydraulic oil
Intracavity is provided with hydraulic oil (15), and described intermediate isolating floating piston (14) and the space between magnetic version (9) are magnetic flow liquid
Chamber, described magnetic flow liquid intracavity is provided with magnetic flow liquid (10)；Control box (30), institute it is provided with on the outer wall of described cylinder barrel (27)
State vibration absorber controller (28) to be arranged in control box (30), be additionally provided with commutator (31) in described control box (30), use
In the battery charging circuit (33) charged for Vehicular accumulator cell (32), for providing stable defeated for magnet exciting coil winding (11)
Enter first controllable constant current source circuit (34) of electric current and for providing the second of the stable input current can for magnetic coil (25)
Control constant-current source circuit (35), the input of described vibration absorber controller (28) is connected to for examining vehicle body acceleration in real time
The acceleration transducer (29) surveyed, described battery charging circuit (33) be connected on commutator (31) and Vehicular accumulator cell (32) it
Between, described first controllable constant current source circuit (34) and the outfan of Vehicular accumulator cell (32) and vibration absorber controller (28) defeated
Going out end to be all connected with, described magnet exciting coil winding (11) is connected with the outfan of the first controllable constant current source circuit (34), and described second
Controllable constant current source circuit (35) is all connected with the outfan of Vehicular accumulator cell (32) and the outfan of vibration absorber controller (28),
Described magnetic coil (25) is connected with the outfan of the second controllable constant current source circuit (35), the input of described commutator (31) with
The outfan of electromagnetic induction coil (23) and the outfan of piezoelectric generation module (2) are all connected with.
2. according to the piezoelectricity described in claim 1 and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that: institute
State the cross-sectional area cross-sectional area more than described magnetorheological sap cavity of hydraulic fluid chamber.
3. according to the piezoelectricity described in claim 1 and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that: institute
Stating piezoelectric generation module (2) and be bonded in cylinder barrel (27) inner bottom part, described spring bearer plate (3) is bonded in piezoelectric generation module (2)
Top.
4. an energy magnetic rheological vibration damper dual to piezoelectricity as claimed in claim 1 and electromagnetic induction is controlled
Method, it is characterised in that the method comprises the following steps:
Step I, when vehicle travels on uneven road surface, vehicle body acceleration is detected by acceleration transducer (29) in real time,
Vibration absorber controller (28) carries out periodic samples to vehicle body acceleration；
Step II, vibration absorber controller (28) call Neural Network PID Control module to its vehicle body acceleration obtained of sampling
It is analyzed processing, obtains input current and the input current of magnetic coil (25) of magnet exciting coil winding (11), and control the
The input current that output electric current is magnet exciting coil winding (11) of one controllable constant current source circuit (34), controls the second controllable constant-current source
The input current that output electric current is magnetic coil (25) of circuit (35), magnet exciting coil winding (11) and magnetic coil (25) energising
Produce magnetic field；Vehicular vibration drives upper lift ring (17) to produce relative motion with lower lift ring (1), drives bracing frame (18) and pressure to prop up
Support floating piston (16) moves up and down, and when bracing frame (18) and pressure support floating piston (16) move downward, makes hydraulic oil
(15) moving downward, make intermediate isolating floating piston (14) move downward, now magnetic flow liquid (10) is through damp channel (19),
Under the effect in the magnetic field that magnet exciting coil winding (11) produces, magnetic flow liquid (10) produces magnetic rheology effect, magnetic flow liquid (10)
Move downward drive magnetic isolation plate (9) and upper permanent magnet (8) moves downward, upper permanent magnet (8) move downward the interior permanent magnetism of drive
Body (22) moves downward, and when interior permanent magnet (22) moves downward, with electromagnetic induction coil (23), relative motion occurs, electromagnetism occurs
Sensing makes electromagnetic induction coil (23) produce electric energy, and upper permanent magnet (8) produces the active force of mutual exclusion with lower permanent magnet (6), when upper
When permanent magnet (8) moves downward, and the mutual repulsion effect power between lower permanent magnet (6) strengthens, and enhances the firm of described vibration absorber
Degree, meanwhile, the power that lower permanent magnet (6) and magnetic coil (25) move downward, pass to power transmission bullet by fixing spring stand (5)
Spring (4), then pass to piezoelectric generation module (2) by spring bearer plate (3), piezoelectric generation module (2) occurs direct piezoelectric effect to produce
The electric energy that raw electric energy, electric energy that electromagnetic induction coil (23) produces and piezoelectric generation module (2) produce is whole by commutator (31)
After stream, then charging to Vehicular accumulator cell (32) through battery charging circuit (33), Vehicular accumulator cell (32) output electric energy gives the
One controllable constant current source circuit (34) and the second controllable constant current source circuit (35), it is achieved that the purpose of energy regenerative vibration damping；Work as bracing frame
(18) and time pressure support floating piston (16) moves upward, make hydraulic oil (15) move upward, make intermediate isolating floating piston
(14) moving upward, now magnetic flow liquid (10) is through damp channel (19), in the magnetic field that magnet exciting coil winding (11) produces
Under effect, magnetic flow liquid (10) produces magnetic rheology effect, move upward drive magnetic isolation plate (9) and the upper permanent magnetism of magnetic flow liquid (10)
Body (8) moves upward, and in the drive that moves upward of upper permanent magnet (8), permanent magnet (22) moves upward, and interior permanent magnet (22) is upwards
During motion, there is relative motion with electromagnetic induction coil (23), occur electromagnetic induction to make electromagnetic induction coil (23) produce electric energy,
After the electric energy that electromagnetic induction coil (23) produces passes through commutator (31) rectification, then give vehicle-mounted through battery charging circuit (33)
Accumulator (32) is charged, and Vehicular accumulator cell (32) output electric energy gives the first controllable constant current source circuit (34) and the second controllable constant-current source
Circuit (35), it is achieved that the purpose of energy regenerative vibration damping.
The most in accordance with the method for claim 4, it is characterised in that: in step II, vibration absorber controller (28) calls PID god
It is analyzed processing to the vehicle body acceleration that its sampling obtains through network control module, obtains the input of magnet exciting coil winding (11)
The detailed process of the input current of electric current and magnetic coil (25) is: vibration absorber controller (28) is by the control of vehicle body acceleration
In the PID neutral net that the sampled value input of desired value and vehicle body acceleration pre-builds and trains, draw PID neutral net
Output, the output of PID neutral net is the input electricity of the input current of magnet exciting coil winding (11) and magnetic coil (25)
Stream；
Wherein, pre-build and train the detailed process of PID neutral net to be:
Step 201, set up PID neutral net: using the sampled value of the control desired value of vehicle body acceleration and vehicle body acceleration as
The input neuron of PID neutral net, input number of nodes is 2；Proportionality coefficient, integral coefficient and the differential coefficient controlled with PID
As the hidden layer neuron of PID neutral net, node in hidden layer is 3；With the input current of magnet exciting coil winding (11) and
The input current of magnetic coil (25) is 2 as the output neuron of PID neutral net, output node number, sets up PID nerve net
Network；
Step 202, training PID neutral net: the control desired value of vehicle body acceleration and vehicle body acceleration sampled value can
In energy span, the control desired value of m vehicle body acceleration of random pair and the sampled value of vehicle body acceleration are as described PID
The input of neutral net, and using the input current of the input current of m magnet exciting coil winding (11) and magnetic coil (25) as
The output of described PID neutral net, builds training sample, is trained described PID neutral net and obtains the PID trained
Neutral net；Wherein, the value of m is 50～500.
The most in accordance with the method for claim 5, it is characterised in that: in step 201, the input neuron of PID neutral net is defeated
Entering value to the computing formula of output valve is:
xi(k)=ai(k), i=1,2
Wherein, aiK () is the input value of kth sampling instant input neuron, a1K () is kth sampling instant vehicle body acceleration
Control desired value, a2K () is the sampled value of kth sampling instant vehicle body acceleration；xiK () is the output valve of input neuron,
x1K () is and a1The output valve of k input neuron that () is corresponding, x2K () is and a2The output valve of k input neuron that () is corresponding；
K is positive integer；
Input value net of hidden layer neuron in step 201jK the computing formula of () is:
Wherein, wijInput layer to connection weight weight values and the span of hidden layer for PID neutral net is 0.2～0.8, net1
K () is the input of kth sampling instant proportionality coefficient neuron, the output u of kth sampling instant proportionality coefficient neuron1(k)
=net1(k)；net2K () is the input of kth sampling instant integral coefficient neuron, kth sampling instant integral coefficient is neural
The output u of unit2(k)=net2(k)+u2(k-1), u2(k-1) it is output and the u of-1 sampling instant integral coefficient neuron of kth2
(0)=0；net3K () is the input of kth sampling instant differential coefficient neuron, kth sampling instant differential coefficient neuron
Output u3(k)=net3(k)-u3(k-1), u3(k-1) it is output and the u of-1 sampling instant differential coefficient neuron of kth3
(0)=0；
Output valve I of output neuron in step 201hK the computing formula of () is:
Wherein, w 'jhHidden layer to connection weight weight values and the span of output layer for PID neutral net is 0.2～0.8, I1
K () is the input current of kth sampling instant magnet exciting coil winding (11), I2K () is kth sampling instant magnetic coil (25)
Input current.
The most in accordance with the method for claim 6, it is characterised in that: w in step 20111=w21=0.7, w in step 20112=
w22=0.5, w in step 20113=w23=0.6.
The most in accordance with the method for claim 6, it is characterised in that: w ' in step 20111=w '12=0.7, w ' in step 20121
=w '22=0.5, w ' in step 20131=w '32=0.6.
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