CN106286685B - Piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction and its control method - Google Patents
Piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction and its control method Download PDFInfo
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- CN106286685B CN106286685B CN201610814626.5A CN201610814626A CN106286685B CN 106286685 B CN106286685 B CN 106286685B CN 201610814626 A CN201610814626 A CN 201610814626A CN 106286685 B CN106286685 B CN 106286685B
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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
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 include 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, every magnetic version, piston, magnet exciting coil winding, electromagnetic induction coil fix bar and electromagnetic induction coil；Control box is provided with the outer wall of cylinder barrel, vibration absorber controller is arranged in control box, and rectifier, battery charging circuit, the first controllable constant current source circuit and the second controllable constant current source circuit are additionally provided with control 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 piezoelectricity and the function of the dual energy regenerative of electromagnetic induction, both realizes the effect for changing damping, has reached the purpose for changing rigidity again, and damping property is good.
Description
Technical field
The invention belongs to magneto-rheological vibration damper technical field, and in particular to a kind of piezoelectricity and the dual energy magnetic of electromagnetic induction
Rheology vibration absorber and its control method.
Background technology
Magnetic flow liquid is an important branch in intellectual material, has special physical effect, under external magnetic field
The solid two-phase of liquid one can occur in moment (Millisecond) mutually to change, i.e., be changed into semisolid from free flowing liquid, present controllable
Rheological effect, and the change is reversible.In consideration of it, due to using magneto-rheological vibration damper made of magnetic flow liquid, having
Response is fast, damping force is big, energy requirement is small, mechanism is simple, good endurance, damping force can realize it is stepless it is adjustable, in control system
The advantages that passive damper part still being may act as in the case of system failure, so as to be obtained 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 part of core the most, its performance
Quality, directly affect the security and control stability of vehicle, but must have external power source for its power, with needed for generation
Magnetic field during real-time damping force control, so as to by the size of control input electric current, to change the power in magnetic field, reach real-time control
The purpose of damping force needed for system, to outside electrical energy demands, on the one hand, the electric energy for adding magneto-rheological semiactive suspension system disappears
Consumption, on the other hand, once electric energy supply goes wrong, for the normal work of magneto-rheological vibration damper, it will produce huge unstable
Property influence, the vehicle vibrational energy as caused by Uneven road in the process of moving is most of all to be subtracted vibration insulating system with various
Form dissipates, and is eventually converted to heat energy and friction energy slatterns.There are some researches show one 3500 pounds of vehicle exists
Under 2cm, 3Hz road roughness operating mode, four shock absorbers can produce 1.3kW energy, it is seen that this portion of energy be it is bigger,
Conversely, if there is most of vibration energy regeneration as caused by Uneven road to utilize in vehicle travel process, can not only give
Magneto-rheological vibration damper provides electric energy, improves system reliability, safety and stability, so as to imparting system self-powered function, and
And unnecessary electrical power storage can be got up, other current consuming apparatus on supply vehicle, system cost is reduce further, be magnetic
The popularization and application of rheology vibration insulating system technology have striden forward major step.
In recent years, the recovery of Vehicular vibration energy turns into the very high research field of an attention rate, but almost all is in reason
By the stage attempted with verification experimental verification.S.B Choi propose a kind of design of energy regenerative magnetic variation shock absorber using pinion and rack
Scheme, when suspension system is under the excitation of first natural frequency operating mode, 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 when, easily produce impact, so as to damage parts, influence vibration damping
Energy regenerative damping property；Wang Daihua etc. utilizes electromagnetic induction principle, and energy feed system is integrated in magneto-rheological vibration damper, realizes magnetic
The vibration energy regeneration of rheology shock absorber, but induction coil and magnet exciting coil relative motion amplitude are smaller, and magnetic flux change is slower,
Energy recovery efficiency is very low；Jung is powered using magnetic induction energy collecting device to MR damper, on preliminary test basis
On, reach expected control effect, but energy collecting device and magnetorheological damping are not integrated into an entirety, take
Space is larger.
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 the inner chamber of air core coil and with
The compensating unit is fixed, and when reciprocating motion of the pistons, compensating unit drives permanent magnet to be moved back and forth in the inner chamber of air core coil
Mechanical energy is converted into electric energy, the displacement of one side compensating unit forms shorter, caused finite energy, it is impossible to meets to provide in fact
When damping force needed for electric energy, on the other hand its caused damping force it is limited, it is impossible to the operating mode damped greatly needed for adaptation, at the same its
The compensating action that compensated chamber rises can not change, and can not play the covert purpose for changing rigidity certainly.
The content of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that provide a kind of piezoelectricity and electricity
The dual energy magnetic rheological vibration damper of magnetic induction, its is simple in construction, realizes that convenient and cost is low, use is easy to operate, has
Piezoelectricity and the function of the dual energy regenerative of electromagnetic induction, both realize the effect for changing damping, have reached the purpose for changing rigidity again, have subtracted
Performance of shaking is good, safe, practical, is easy to promote the use of.
In order to solve the above technical problems, the technical solution adopted by 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：Including vibration absorber body and vibration absorber controller, the vibration absorber body
Be disposed on from top to bottom including cylinder barrel and successively pressure support floating piston in cylinder barrel, intermediate isolating floating piston and
Piston rod, the top of the pressure support floating piston are fixedly connected with support frame, and the top of support frame as described above is fixedly connected with
Upper lift ring, the cylinder barrel outer bottom are fixedly connected with lower lift ring, and the cylinder barrel inner bottom part is provided with more around piston rod
Individual piezoelectric generation module, spring bearer plate is fixedly connected with the top of the piezoelectric generation module, the top of the spring bearer plate is consolidated
Surely power transmission spring is connected with, spring stand is fixedly connected with the top of the power transmission spring, the top of the spring stand is fixed
Lower permanent magnet and magnetic coil are connected with, the lower permanent magnet is arranged on the periphery of magnetic coil, and the magnetic coil is under
Sliding bearing is slidably connected on the piston rod, is provided with permanent magnet above the lower permanent magnet and magnetic coil, it is described on
The polarity setting direction of permanent magnet and lower permanent magnet is on the contrary, the upper permanent magnet is slidably connected at piston by upper outer sliding bearing
On bar, the space between the lower permanent magnet and magnetic coil and upper permanent magnet is compensated chamber, the upper surface of the upper permanent magnet
On be fixedly connected with every magnetic version, the piston rod is hollow structure, and the upper end of the piston rod is fixedly connected with piston, the work
The magnet exciting coil winding for producing magnetic field is tied with beyond the Great Wall, is set between the inwall of piston and the magnet exciting coil winding and cylinder barrel
There is damping fluid passage, the piston rod inner is provided with electromagnetic induction coil fix bar and the electromagnetism sense for producing electromagnetic induction
Coil is answered, the electromagnetic induction coil is fixedly connected in electromagnetic induction coil fix bar, the outside of the electromagnetic induction coil
Interior permanent magnet is provided with, the interior permanent magnet is slidably connected on piston rod inwall by upper interior sliding bearing, the upper interior cunning
Dynamic bearing and upper outer sliding bearing are arranged on sustained height, the pressure support floating piston and intermediate isolating floating piston it
Between space be hydraulic fluid chamber, be provided with hydraulic oil in the hydraulic fluid chamber, the intermediate isolating floating piston with every magnetic version it
Between space be magnetorheological sap cavity, the magnetic flow liquid intracavitary is provided with magnetic flow liquid；Control is provided with the outer wall of the cylinder barrel
Box processed, the vibration absorber controller are arranged in control box, rectifier are additionally provided with the control box, for for vehicle-mounted storage
The battery charging circuit of battery charging, the first controllable constant-current source for providing stable input current for magnet exciting coil winding
Circuit and the second controllable constant current source circuit for providing stable input current for magnetic coil, the vibration absorber controller
Input be terminated with acceleration transducer for being detected in real time to vehicle body acceleration, the battery charging circuit is connected on
Between rectifier and Vehicular accumulator cell, the output end of first controllable constant current source circuit and Vehicular accumulator cell and vibration absorber control
The output end of device processed is all connected with, and the magnet exciting coil winding is connected with the output end of the first controllable constant current source circuit, and described second
The output end of the output end and vibration absorber controller of controllable constant current source circuit and Vehicular accumulator cell is all connected with, the magnetic coil
It is connected with the output end of the second controllable constant current source circuit, the input of the rectifier and the output end of electromagnetic induction coil and pressure
The output end of electric 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：The hydraulic fluid chamber
Cross-sectional area be more than the magnetorheological sap cavity cross-sectional area.
Above-mentioned piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that：The piezo-electric generating
Module is bonded in cylinder barrel inner bottom part, and the spring bearer plate is bonded in the top of piezoelectric generation module.
Realize that convenient, control efficiency is high the invention also discloses a kind of, magnetic rheological vibration damper can be made to be in optimal
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 this method
Comprise the following steps：
Step I, when vehicle is travelling on uneven road surface, acceleration transducer is detected in real time to vehicle body acceleration,
Vibration absorber controller carries out periodic samples to vehicle body acceleration；
Step II, vibration absorber controller call PID ANN Controls module to sample obtained vehicle body acceleration to it
Analyzed and processed, obtain the input current of magnet exciting coil winding and the input current of magnetic coil, and control the first controllable constant
The output current of current source circuit is the input current of magnet exciting coil winding, and the output current for controlling the second controllable constant current source circuit is
The input current of magnetic coil, magnet exciting coil winding and magnetic coil, which are powered, produces magnetic field；Vehicular vibration drives upper lift ring with
Suspension ring produce relative motion, drive support frame and pressure support floating piston to move up and down, when support frame and pressure support float
When piston moves downward, hydraulic oil is moved downward, move downward intermediate isolating floating piston, now magnetic flow liquid is by resistance
Buddhist nun's passage, in the presence of magnetic field caused by magnet exciting coil winding, magnetic flow liquid produce magnetic rheology effect, magnetic flow liquid it is downward
Motion drives magnetic isolation plate and upper permanent magnet to move downward, and the permanent magnet in drive that moves downward of upper permanent magnet moves downward, forever inside
When magnet moves downward, relative motion occurs with electromagnetic induction coil, electromagnetic induction, which occurs, makes 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, with the mutual exclusion between lower permanent magnet
Active force strengthens, and enhances the rigidity of the vibration absorber, meanwhile, the power that lower permanent magnet and magnetic coil move downward, pass through
Spring stand passes to power transmission spring, then passes to piezoelectric generation module by spring bearer plate, and malleation occurs for piezoelectric generation module
Electrical effect produces electric energy, and electric energy caused by electric energy caused by electromagnetic induction coil and piezoelectric generation module passes through rectifier rectification
Afterwards, then by battery charging circuit to Vehicular accumulator cell charge, Vehicular accumulator cell exports electric energy and gives the first controllable constant-current source electricity
Road and the second controllable constant current source circuit, realize the purpose of energy regenerative vibration damping；When support frame and pressure support floating piston are transported upwards
When dynamic, hydraulic oil is moved upwards, intermediate isolating floating piston is moved upwards, now magnetic flow liquid passes through damp channel,
In the presence of magnetic field caused by magnet exciting coil winding, magnetic flow liquid produces magnetic rheology effect, and the upward motion of magnetic flow liquid drives
Magnetic isolation plate and upper permanent magnet move upwards, and permanent magnet moves upwards in the upward motion drive of upper permanent magnet, and interior permanent magnet is upward
During motion, relative motion occurs with electromagnetic induction coil, electromagnetic induction, which occurs, makes electromagnetic induction coil produce electric energy, electromagnetic induction
After electric energy is by rectifier rectification caused by coil, then by battery charging circuit give Vehicular accumulator cell charge, vehicular electricity storage
Pond exports electric energy to the first controllable constant current source circuit and the second controllable constant current source circuit, realizes the purpose of energy regenerative vibration damping.
Above-mentioned method, it is characterised in that：Vibration absorber controller calls PID ANN Control modules pair in step II
It samples obtained vehicle body acceleration and analyzed and processed, and obtains the input of the input current and magnetic coil of magnet exciting coil winding
The detailed process of electric current is：Vibration absorber controller is defeated by the sampled value of the control targe value of vehicle body acceleration and vehicle body acceleration
Enter in the PID neutral nets for pre-establishing and training, draw the output of PID neutral nets, the output of PID neutral nets is
The input current of magnet exciting coil winding and the input current of magnetic coil；
Wherein, the detailed process for pre-establishing and training PID neutral nets is：
Step 201, establish PID neutral nets：With the control targe value of vehicle body acceleration and the sampled value of vehicle body acceleration
As the input neuron of PID neutral nets, input number of nodes 2；With the proportionality coefficient, integral coefficient and differential of PID control
Hidden layer neuron of the coefficient as PID neutral nets, node in hidden layer 3；With the input current of magnet exciting coil winding and
Output neuron of the input current of magnetic coil as PID neutral nets, output node number are 2, establish PID neutral nets；
Step 202, training PID neutral nets：In the control targe value of vehicle body acceleration and the sampled value of vehicle body acceleration
Possibility span in, the control targe 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 nets, and using the input current of the input current of m magnet exciting coil winding and magnetic coil described in
The output of PID neutral nets, training sample is built, the PID nerves that the PID neutral nets are trained and trained
Network；Wherein, m value is 50~500.
Above-mentioned method, it is characterised in that：In step 201 PID neutral nets input neuron input value to export
The calculation formula of value is：
xi(k)=ai(k), i=1,2
Wherein, ai(k) input value of neuron, a are inputted for k-th of sampling instant1(k) add for k-th of sampling instant vehicle body
The control targe value of speed, a2(k) it is the sampled value of k-th of sampling instant vehicle body acceleration；xi(k) it is the defeated of input neuron
Go out value, x1(k) it is and a1(k) output valve of input neuron, x corresponding to2(k) it is and a2(k) input neuron is defeated corresponding to
Go out value；K is positive integer；
The input value net of hidden layer neuron in step 201j(k) calculation formula is：
Wherein, wijIt is 0.2~0.8 for input layer to the connection weight weight values and span of hidden layer of PID neutral nets,
net1(k) it is the input of k-th of sampling instant proportionality coefficient neuron, the output u of k-th of sampling instant proportionality coefficient neuron1
(k)=net1(k)；net2(k) it is the input of k-th of sampling instant integral coefficient neuron, k-th of 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；net3(k) it is the input of k-th of sampling instant differential coefficient neuron, k-th of 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；
The output valve I of output neuron in step 201h(k) calculation formula is:
Wherein, w 'jhConnection weight weight values and span for hidden layer to the output layer of PID neutral nets are 0.2~
0.8, I1(k) it is the input current of k-th of sampling instant magnet exciting coil winding, I2(k) it is k-th of 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 has advantages below compared with prior art：
1st, the structure of piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction of the invention is simple, and modern design is closed
Reason, realize that convenient and cost is low, use is easy to operate.
2nd,, will by intermediate isolating floating piston such as hydraulic jack roof construction invention applies the principle of linker
Hydraulic working oil space keeps apart with magnetic flow liquid working space, on the one hand, can not only be produced when producing magnetic rheology effect
Raw bigger damping force, but also the stroke of permanent magnet motion can be increased, so as to reclaim more vibrational energies.
3rd, the present invention considers 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, the energy reclaiming structure of dual energy regenerative is devised.
4th, compensated chamber of the present invention is designed as the form of magneticaction, not only fixed magneticaction, but also can lead to
The size for changing magnetic coil electric current is crossed, in a disguised form to change the rigidity of this magnetic rheological vibration damper, has both realized and has changed damping
Effect, the purpose for changing rigidity is reached again.
5th, active force can not only be passed to piezoelectric generation module by the present invention by setting power transmission spring, to produce electric energy,
But also the operation comfort and stability of this magnetic rheological vibration damper can be improved.
6th, the present invention can still be used as passive damper to make in the case that vibration absorber controller fails
With improving security.
7th, piezoelectricity of the invention and the realization of the control method of the dual energy magnetic rheological vibration damper of electromagnetic induction are convenient,
Control efficiency is high, and magnetic rheological vibration damper can be made to be in optimal vibration damping state.
8th, the present invention has taken into full account many problems of vibration absorber, and combines reality, and newest technology is applied to
Among design, and combine together, compact-sized, easy processing, be easily installed, strong adaptability, have a wide range of application, both realized and subtracted
The purpose shaken, electric energy having been saved again, and can effectively having been reclaimed for unnecessary electric energy, supplying other energy consumption equipments makes
With.
9th, the present invention can reach the purpose of continuous effective vibration damping, and practical, using effect is good, is easy to promote the use of.
In summary, the present invention realizes that convenient and cost is low, and use is easy to operate, has piezoelectricity and the dual feedback of electromagnetic induction
The function of energy, the effect for changing damping is both realized, reached the purpose for changing rigidity again, damping property is good, safe, real
It is strong with property, it is easy to promote the use of.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
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 parts.
Fig. 3 is the topological structure schematic diagram of PID neutral nets of the present invention.
Description of reference numerals:
1-lower lift ring；2-piezoelectric generation module；3-spring bearer plate；
4-power transmission spring；5-spring stand；6-lower permanent magnet；
7-compensated chamber；8-go up permanent magnet；9-every magnetic version；
10-magnetic flow liquid；11-magnet exciting coil winding；12-piston；
13-piston rod；14-intermediate isolating floating piston；15-hydraulic oil；
16-pressure support floating piston；17-upper lift ring；18-support frame；
19-damping fluid passage；20-go up interior sliding bearing；21-go up outer sliding bearing；
22-interior permanent magnet；23-electromagnetic induction coil；24-electromagnetic induction coil fix bar；
25-magnetic coil；26-properties of journal bearing lubricated；27-cylinder barrel；
28-vibration absorber controller；29-acceleration transducer；30-control box；
31-rectifier；32-Vehicular accumulator cell；33-battery charging circuit；
34-the first controllable constant current source circuit；35-the second controllable constant current source circuit.
Embodiment
As depicted in figs. 1 and 2, piezoelectricity of the invention and the dual energy magnetic rheological vibration damper of electromagnetic induction, including subtract
Vibrating device body and vibration absorber controller 28, the vibration absorber body includes cylinder barrel 27 and interval is set from top to bottom successively
Pressure support floating piston 16, intermediate isolating floating piston 14 and piston rod 13 in cylinder barrel 27 are put, the pressure support is floated
The top of piston 16 is fixedly connected with support frame 18, and the top of support frame as described above 18 is fixedly connected with upper lift ring 17, the cylinder
27 outer bottoms of cylinder are fixedly connected with lower lift ring 1, and the inner bottom part of cylinder barrel 27 is provided with multiple piezoelectricity around piston rod 13
Electricity generation module 2, the top of the piezoelectric generation module 2 are fixedly connected with spring bearer plate 3, and the top of the spring bearer plate 3 is fixed
Power transmission spring 4 is connected with, the top of the power transmission spring 4 is fixedly connected with spring stand 5, and the top of the spring stand 5 is consolidated
Surely lower permanent magnet 6 and magnetic coil 25 are connected with, the lower permanent magnet 6 is arranged on the periphery of magnetic coil 25, the magnetic line of force
Circle 25 is slidably connected on piston rod 13 by properties of journal bearing lubricated 26, and the top of the lower permanent magnet 6 and magnetic coil 25 is set
Have a upper permanent magnet 8, the polarity setting direction of the upper permanent magnet 8 and lower permanent magnet 6 on the contrary, the upper permanent magnet 8 pass through it is upper outer
Sliding bearing 21 is slidably connected on piston rod 13, the space between the lower permanent magnet 6 and magnetic coil 25 and upper permanent magnet 8
For compensated chamber 7, it is fixedly connected with the upper surface of the upper permanent magnet 8 every magnetic version 9, the piston rod 13 is hollow structure, institute
The upper end for stating piston rod 13 is fixedly connected with piston 12, and the magnet exciting coil winding for producing magnetic field is tied with the piston 12
11, it is provided with damping fluid passage 19, the piston rod between the piston 12 and the inwall of magnet exciting coil winding 11 and cylinder barrel 27
13 are internally provided with electromagnetic induction coil fix bar 24 and the electromagnetic induction coil 23 for producing electromagnetic induction, the electromagnetism sense
Coil 23 is answered to be fixedly connected in electromagnetic induction coil fix bar 24, the outside of the electromagnetic induction coil 23 is provided with interior permanent magnetism
Body 22, the interior permanent magnet 22 are slidably connected on the inwall of piston rod 13 by upper interior sliding bearing 20, the upper interior sliding axle
Hold 20 to be arranged on sustained height with upper outer sliding bearing 21, the pressure support floating piston 16 and intermediate isolating floating piston
Space between 14 is hydraulic fluid chamber, is provided with hydraulic oil 15 in the hydraulic fluid chamber, the intermediate isolating floating piston 14 with
Space between magnetic version 9 is magnetorheological sap cavity, and the magnetic flow liquid intracavitary is provided with magnetic flow liquid 10；Outside the cylinder barrel 27
Control box 30 is provided with wall, the vibration absorber controller 28 is arranged in control box 30, is also set up in the control box 30
Have rectifier 31, for charged for Vehicular accumulator cell 32 battery charging circuit 33, for being provided for magnet exciting coil winding 11
First controllable constant current source circuit 34 of stable input current and for providing stable input current for magnetic coil 25
Two controllable constant current source circuits 35, the input of the vibration absorber controller 28 are terminated with being used to examine vehicle body acceleration in real time
The acceleration transducer 29 of survey, the battery charging circuit 33 are connected between rectifier 31 and Vehicular accumulator cell 32, and described
One controllable constant current source circuit 34 is all connected with the output end of Vehicular accumulator cell 32 and the output end of vibration absorber controller 28, described
Magnet exciting coil winding 11 is connected with the output end of the first controllable constant current source circuit 34, second controllable constant current source circuit 35 and car
Carry the output end of battery 32 and the output end of vibration absorber controller 28 is all connected with, the controllable constant of magnetic coil 25 and second
The output end connection of current source circuit 35, the input of the rectifier 31 and the output end and piezo-electric generating of electromagnetic induction coil 23
The output end of module 2 is all connected with.
In the present embodiment, the cross-sectional area of the hydraulic fluid chamber is more than the cross-sectional area of the magnetorheological sap cavity.By
It is smaller than the cross-sectional area of the working space of hydraulic oil 15 in the cross-sectional area of the working space of magnetic flow liquid 10, according to connection
Device principle so that the exciting current small to magnet exciting coil winding 11 during work, according to the ratio of both working space cross-sectional areas,
Just active force at double can be produced.
The piezoelectric generation module 2 is bonded in the inner bottom part of cylinder barrel 27, and the spring bearer plate 3 is bonded in piezoelectric generation module 2
Top.
The control method of piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction of the present invention, this method include with
Lower step：
Step I, when vehicle is travelling on uneven road surface, acceleration transducer 29 is examined in real time to vehicle body acceleration
Survey, vibration absorber controller 28 carries out periodic samples to vehicle body acceleration；
The vehicle body that step II, vibration absorber controller 28 call PID ANN Controls module to sample to obtain to it accelerates
Degree is analyzed and processed, and obtains the input current of magnet exciting coil winding 11 and the input current of magnetic coil 25, and control first
The output current of controllable constant current source circuit 34 is the input current of magnet exciting coil winding 11, controls the second controllable constant current source circuit 35
Output current be magnetic coil 25 input current, magnet exciting coil winding 11 and magnetic coil 25, which are powered, produces magnetic field；Vehicle
Vibration drives upper lift ring 17 to produce relative motion with lower lift ring 1, drives support frame 18 and pressure support floating piston to be transported about 16
It is dynamic, when support frame 18 and pressure support floating piston 16 move downward, hydraulic oil 15 is moved downward, intermediate isolating is floated
Piston 14 moves downward, and now magnetic flow liquid 10 passes through damp channel 19, the effect in magnetic field caused by magnet exciting coil winding 11
Under, magnetic flow liquid 10 produces magnetic rheology effect, and moving downward for magnetic flow liquid 10 drives magnetic isolation plate 9 and upper permanent magnet 8 to transport downwards
Dynamic, the permanent magnet 22 in drive that moves downward of upper permanent magnet 8 moves downward, when interior permanent magnet 22 moves downward, with electromagnetic induction
Relative motion occurs for coil 23, and electromagnetic induction, which occurs, makes electromagnetic induction coil 23 produce electric energy, due to upper permanent magnet 8 and lower permanent magnetism
The magnetic of body 6 is on the contrary, upper permanent magnet 8 produces the active force of mutual exclusion with lower permanent magnet 6, when upper permanent magnet 8 moves downward, with forever
Mutual repulsion effect power enhancing between magnet 6, the rigidity of the vibration absorber is enhanced, meanwhile, lower permanent magnet 6 and magnetic coil 25
The power moved downward, power transmission spring 4 is passed to by spring stand 5, then piezoelectric generation module 2 is passed to by spring bearer plate 3,
Piezoelectric generation module 2 occurs direct piezoelectric effect and produces electric energy, and electric energy caused by electromagnetic induction coil 23 and piezoelectric generation module 2 produce
After raw electric energy is by the rectification of rectifier 31, then charged to Vehicular accumulator cell 32 by battery charging circuit 33, vehicular electricity storage
Pond 32 exports electric energy to the first controllable constant current source circuit 34 and the second controllable constant current source circuit 35, realizes the mesh of energy regenerative vibration damping
's；When support frame 18 and pressure support floating piston 16 move upwards, hydraulic oil 15 is moved upwards, intermediate isolating is floated
Piston 14 moves upwards, and now magnetic flow liquid 10 passes through damp channel 19, the effect in magnetic field caused by magnet exciting coil winding 11
Under, magnetic flow liquid 10 produces magnetic rheology effect, and the upward motion of magnetic flow liquid 10 drives magnetic isolation plate 9 and upper permanent magnet 8 to transport upwards
Dynamic, permanent magnet 22 moves upwards in the upward motion drive of upper permanent magnet 8, when interior permanent magnet 22 moves upwards, with electromagnetic induction
Relative motion occurs for coil 23, and electromagnetic induction, which occurs, makes electromagnetic induction coil 23 produce electric energy, caused by electromagnetic induction coil 23
After electric energy is by the rectification of rectifier 31, then charged to Vehicular accumulator cell 32 by battery charging circuit 33, Vehicular accumulator cell 32
Electric energy is exported to the first controllable constant current source circuit 34 and the second controllable constant current source circuit 35, realizes the purpose of energy regenerative vibration damping.Tool
When body is implemented, the electric current of magnetic coil 25 can also be inputed to by regulation to adjust 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, vibration absorber controller 28 calls PID ANN Control modules to sample it in step II
To vehicle body acceleration analyzed and processed, obtain the input current of magnet exciting coil winding 11 and the input current of magnetic coil 25
Detailed process be：Vibration absorber controller 28 inputs the control targe value of vehicle body acceleration and the sampled value of vehicle body acceleration
In the PID neutral nets for pre-establishing and training, the output of PID neutral nets is drawn, the output of PID neutral nets is to encourage
The input current of magnetic coil winding 11 and the input current of magnetic coil 25；
Wherein, the detailed process for pre-establishing and training PID neutral nets is：
Step 201, establish PID neutral nets：As shown in figure 3, accelerated with the control targe value and vehicle body of vehicle body acceleration
Input neuron of the sampled value of degree as PID neutral nets, input number of nodes 2；With the proportionality coefficient of PID control, integration
The hidden layer neuron of coefficient and differential coefficient as PID neutral nets, node in hidden layer 3；With magnet exciting coil winding 11
Input current and magnetic coil 25 output neuron of the input current as PID neutral nets, output node number is 2, is built
Vertical PID neutral nets；
Step 202, training PID neutral nets：In the control targe value of vehicle body acceleration and the sampled value of vehicle body acceleration
Possibility span in, the control targe 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 nets, and using the input current of the input current of m magnet exciting coil winding 11 and magnetic coil 25 as
The output of the PID neutral nets, build training sample, the PID that the PID neutral nets are trained and trained
Neutral net；Wherein, m value is 50~500.
In the present embodiment, calculation formula of the input value of the input neuron of PID neutral nets to output valve in step 201
For：
xi(k)=ai(k), i=1,2
Wherein, ai(k) input value of neuron, a are inputted for k-th of sampling instant1(k) add for k-th of sampling instant vehicle body
The control targe value of speed, a2(k) it is the sampled value of k-th of sampling instant vehicle body acceleration；xi(k) it is the defeated of input neuron
Go out value, x1(k) it is and a1(k) output valve of input neuron, x corresponding to2(k) it is and a2(k) input neuron is defeated corresponding to
Go out value；K is positive integer；
The input value net of hidden layer neuron in step 201j(k) calculation formula is：
Wherein, wijIt is 0.2~0.8 for input layer to the connection weight weight values and span of hidden layer of PID neutral nets,
net1(k) it is the input of k-th of sampling instant proportionality coefficient neuron, the output u of k-th of sampling instant proportionality coefficient neuron1
(k)=net1(k)；net2(k) it is the input of k-th of sampling instant integral coefficient neuron, k-th of 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；net3(k) it is the input of k-th of sampling instant differential coefficient neuron, k-th of 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；
The output valve I of output neuron in step 201h(k) calculation formula is:
Wherein, w 'jhConnection weight weight values and span for hidden layer to the output layer of PID neutral nets are 0.2~
0.8, I1(k) it is the input current of k-th of sampling instant magnet exciting coil winding 11, I2(k) it is k-th of sampling instant magnetic coil
25 input current.
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 summary, the present invention is worked hydraulic working oil space and magnetic flow liquid by intermediate isolating floating piston 14 empty
Between keep apart, on the one hand, can not only produce bigger damping force when producing magnetic rheology effect, but also can increase forever
The stroke of magnet movement, so as to reclaim more vibrational energies；Both the purpose of vibration damping had been realized, has saved electric energy again, and it is right
It can effectively be reclaimed in unnecessary electric energy, supply the use of other energy consumption equipments；The control efficiency of control method is high, can
Magnetic rheological vibration damper is set to be in optimal vibration damping state.
It is described above, only it is presently preferred embodiments of the present invention, not the present invention is imposed any restrictions, it is every according to the present invention
Any simple modification, change and the equivalent structure change that technical spirit is made to above example, still fall within skill of the present invention
In the protection domain of art scheme.
Claims (8)
1. a kind of piezoelectricity and the dual energy magnetic rheological vibration damper of electromagnetic induction, it is characterised in that：Including vibration absorber body
With vibration absorber controller (28), the vibration absorber body includes cylinder barrel (27) and is disposed on cylinder from top to bottom successively
Pressure support floating piston (16), intermediate isolating floating piston (14) and piston rod (13) in cylinder (27), the pressure support
The top of floating piston (16) is fixedly connected with support frame (18), and the top of support frame as described above (18) is fixedly connected with upper lift ring
(17), cylinder barrel (27) outer bottom is fixedly connected with lower lift ring (1), and cylinder barrel (27) inner bottom part is provided with positioned at piston rod
(13) multiple piezoelectric generation modules (2) around, spring bearer plate (3) is fixedly connected with the top of the piezoelectric generation module (2),
Power transmission spring (4) is fixedly connected with the top of the spring bearer plate (3), bullet is fixedly connected with the top of the power transmission spring (4)
Spring deck (5), lower permanent magnet (6) and magnetic coil (25), the lower permanent magnetism are fixedly connected with the top of the spring stand (5)
Body (6) is arranged on the periphery of magnetic coil (25), and the magnetic coil (25) is slidably connected at work by properties of journal bearing lubricated (26)
On stopper rod (13), permanent magnet (8), the upper permanent magnet are provided with above the lower permanent magnet (6) and magnetic coil (25)
(8) the polarity setting direction with lower permanent magnet (6) is on the contrary, the upper permanent magnet (8) slides company by upper outer sliding bearing (21)
It is connected on piston rod (13), the space between the lower permanent magnet (6) and magnetic coil (25) and upper permanent magnet (8) is compensated chamber
(7), it is fixedly connected with the upper surface of the upper permanent magnet (8) every magnetic version (9), the piston rod (13) is hollow structure, institute
The upper end for stating piston rod (13) is fixedly connected with piston (12), and the magnet exciting coil for producing magnetic field is tied with the piston (12)
Winding (11), damping fluid passage is provided between the piston (12) and the inwall of magnet exciting coil winding (11) and cylinder barrel (27)
(19), the piston rod (13) is internally provided with electromagnetic induction coil fix bar (24) and the electromagnetism sense for producing electromagnetic induction
Coil (23) is answered, the electromagnetic induction coil (23) is fixedly connected in electromagnetic induction coil fix bar (24), the electromagnetism sense
Answer and interior permanent magnet (22) is provided with the outside of coil (23), the interior permanent magnet (22) is slided by upper interior sliding bearing (20) to be connected
It is connected on piston rod (13) inwall, the upper interior sliding bearing (20) is arranged on sustained height with upper outer sliding bearing (21),
Space between the pressure support floating piston (16) and intermediate isolating floating piston (14) is hydraulic fluid chamber, the hydraulic oil
Intracavitary is provided with hydraulic oil (15), and the intermediate isolating floating piston (14) and the space between magnetic version (9) are magnetic flow liquid
Chamber, the magnetic flow liquid intracavitary are provided with magnetic flow liquid (10)；Control box (30), institute are provided with the outer wall of the cylinder barrel (27)
State vibration absorber controller (28) to be arranged in control box (30), rectifier (31) is additionally provided with the control box (30), is used
In the battery charging circuit (33) to be charged for Vehicular accumulator cell (32), for providing the defeated of stabilization for magnet exciting coil winding (11)
The first controllable constant current source circuit (34) and second for providing stable input current for magnetic coil (25) for entering electric current can
Constant-current source circuit (35) is controlled, the input of the vibration absorber controller (28) is terminated with being used to examine vehicle body acceleration in real time
The acceleration transducer (29) of survey, the battery charging circuit (33) be connected on rectifier (31) and Vehicular accumulator cell (32) it
Between, the output end of first controllable constant current source circuit (34) and Vehicular accumulator cell (32) and vibration absorber controller (28) it is defeated
Going out end to be all connected with, the magnet exciting coil winding (11) is connected with the output end of the first controllable constant current source circuit (34), and described second
Controllable constant current source circuit (35) is all connected with the output end of Vehicular accumulator cell (32) and the output end of vibration absorber controller (28),
The magnetic coil (25) is connected with the output end of the second controllable constant current source circuit (35), the input of the rectifier (31) with
The output end of electromagnetic induction coil (23) and the output end 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
The cross-sectional area for stating hydraulic fluid chamber is more than the cross-sectional area of the magnetorheological sap cavity.
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
State piezoelectric generation module (2) and be bonded in cylinder barrel (27) inner bottom part, the spring bearer plate (3) is bonded in piezoelectric generation module (2)
Top.
Piezoelectricity as claimed in claim 1 and the dual energy magnetic rheological vibration damper of electromagnetic induction be controlled 4. a kind of
Method, it is characterised in that this method comprises the following steps：
Step I, when vehicle is travelling on uneven road surface, acceleration transducer (29) is detected in real time to vehicle body acceleration,
Vibration absorber controller (28) carries out periodic samples to vehicle body acceleration；
Step II, vibration absorber controller (28) call PID ANN Controls module to sample obtained vehicle body acceleration to it
Analyzed and processed, obtain the input current of magnet exciting coil winding (11) and the input current of magnetic coil (25), and control the
The output current of one controllable constant current source circuit (34) is the input current of magnet exciting coil winding (11), controls the second controllable constant-current source
The output current of circuit (35) is the input current of magnetic coil (25), and magnet exciting coil winding (11) and magnetic coil (25) are powered
Produce magnetic field；Vehicular vibration drives upper lift ring (17) to produce relative motion with lower lift ring (1), drives support frame (18) and pressure branch
Support floating piston (16) to move up and down, when support frame (18) and pressure support floating piston (16) move downward, make hydraulic oil
(15) move downward, move downward intermediate isolating floating piston (14), now magnetic flow liquid (10) passes through damp channel (19),
In the presence of magnetic field caused by magnet exciting coil winding (11), magnetic flow liquid (10) produces magnetic rheology effect, magnetic flow liquid (10)
Move downward drive magnetic isolation plate (9) and upper permanent magnet (8) move downward, upper permanent magnet (8) move downward drive in permanent magnetism
Body (22) moves downward, and when interior permanent magnet (22) moves downward, relative motion occurs with electromagnetic induction coil (23), 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, the mutual repulsion effect power enhancing between lower permanent magnet (6), the firm of the vibration absorber is enhanced
Degree, meanwhile, the power that lower permanent magnet (6) and magnetic coil (25) move downward, power transmission spring is passed to by spring stand (5)
(4) piezoelectric generation module (2), then by spring bearer plate (3) is passed to, piezoelectric generation module (2) occurs direct piezoelectric effect and produced
Electric energy, electric energy passes through rectifier (31) rectification caused by electric energy caused by electromagnetic induction coil (23) and piezoelectric generation module (2)
Afterwards, then by battery charging circuit (33) to Vehicular accumulator cell (32) charge, Vehicular accumulator cell (32) exports electric energy to first
Controllable constant current source circuit (34) and the second controllable constant current source circuit (35), realize the purpose of energy regenerative vibration damping；When support frame (18)
When being moved upwards with pressure support floating piston (16), hydraulic oil (15) is moved upwards, make intermediate isolating floating piston (14)
Motion upwards, now magnetic flow liquid (10) passes through damp channel (19), the effect in magnetic field caused by magnet exciting coil winding (11)
Under, magnetic flow liquid (10) produces magnetic rheology effect, and the upward motion of magnetic flow liquid (10) drives magnetic isolation plate (9) and upper permanent magnet
(8) upward to move, permanent magnet (22) moves upwards in the upward motion drive of upper permanent magnet (8), the upward fortune of interior permanent magnet (22)
When dynamic, relative motion occurs with electromagnetic induction coil (23), electromagnetic induction, which occurs, makes electromagnetic induction coil (23) produce electric energy, electricity
After electric energy caused by magnetic induction coil (23) is by rectifier (31) rectification, then by battery charging circuit (33) give vehicle-mounted storage
Battery (32) charges, and Vehicular accumulator cell (32) exports electric energy to the first controllable constant current source circuit (34) and the second controllable constant-current source electricity
Road (35), realize the purpose of energy regenerative vibration damping.
5. in accordance with the method for claim 4, it is characterised in that：Vibration absorber controller (28) calls PID god in step II
The vehicle body acceleration for sampling to obtain to it through network control module analyzes and processes, and 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 nets that desired value and the input of the sampled value of vehicle body acceleration are pre-established and trained, PID neutral nets are drawn
Output, the output of PID neutral nets is the input current of magnet exciting coil winding (11) and the input electricity of magnetic coil (25)
Stream；
Wherein, the detailed process for pre-establishing and training PID neutral nets is：
Step 201, establish PID neutral nets：Using the control targe value of vehicle body acceleration and the sampled value of vehicle body acceleration as
The input neuron of PID neutral nets, input number of nodes 2；With the proportionality coefficient, integral coefficient and differential coefficient of PID control
As the hidden layer neuron of PID neutral nets, node in hidden layer 3；With the input current of magnet exciting coil winding (11) and
Output neuron of the input current of magnetic coil (25) as PID neutral nets, output node number are 2, establish PID nerve nets
Network；
Step 202, training PID neutral nets：Vehicle body acceleration control targe value and vehicle body acceleration sampled value can
In energy span, the control targe value of m vehicle body acceleration of random pair and the sampled value of vehicle body acceleration are as the 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 the PID neutral nets, build training sample, the PID that the PID neutral nets are trained and trained
Neutral net；Wherein, m value is 50~500.
6. in accordance with the method for claim 5, it is characterised in that：The input neuron of PID neutral nets is defeated in step 201
The calculation formula for entering value to output valve is：
xi(k)=ai(k), i=1,2
Wherein, ai(k) input value of neuron, a are inputted for k-th of sampling instant1(k) it is k-th of sampling instant vehicle body acceleration
Control targe value, a2(k) it is the sampled value of k-th of sampling instant vehicle body acceleration；xi(k) it is the output valve of input neuron,
x1(k) it is and a1(k) output valve of input neuron, x corresponding to2(k) it is and a2(k) output valve of input neuron corresponding to；
K is positive integer；
The input value net of hidden layer neuron in step 201j(k) calculation formula is：
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<mi>net</mi>
<mi>j</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
<mo>&Sigma;</mo>
<mrow>
<mi>i</mi>
<mo>=</mo>
<mn>1</mn>
</mrow>
<mn>2</mn>
</munderover>
<msub>
<mi>w</mi>
<mrow>
<mi>i</mi>
<mi>j</mi>
</mrow>
</msub>
<msub>
<mi>x</mi>
<mi>i</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
</mrow>
Wherein, wijIt is 0.2~0.8, net for input layer to the connection weight weight values and span of hidden layer of PID neutral nets1
(k) it is the input of k-th of sampling instant proportionality coefficient neuron, the output u of k-th of sampling instant proportionality coefficient neuron1(k)
=net1(k)；net2(k) it is the input of k-th of sampling instant integral coefficient neuron, k-th of sampling instant integral coefficient nerve
The output u of member2(k)=net2(k)+u2(k-1), u2(k-1) output for -1 sampling instant integral coefficient neuron of kth and u2
(0)=0；net3(k) it is the input of k-th of sampling instant differential coefficient neuron, k-th of sampling instant differential coefficient neuron
Output u3(k)=net3(k)-u3(k-1), u3(k-1) output for -1 sampling instant differential coefficient neuron of kth and u3
(0)=0；
The output valve I of output neuron in step 201h(k) calculation formula is:
<mrow>
<msub>
<mi>I</mi>
<mi>h</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<munderover>
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<mo>=</mo>
<mn>1</mn>
</mrow>
<mn>3</mn>
</munderover>
<msubsup>
<mi>w</mi>
<mrow>
<mi>j</mi>
<mi>h</mi>
</mrow>
<mo>&prime;</mo>
</msubsup>
<msub>
<mi>u</mi>
<mi>j</mi>
</msub>
<mrow>
<mo>(</mo>
<mi>k</mi>
<mo>)</mo>
</mrow>
<mo>,</mo>
<mi>h</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>2</mn>
<mo>;</mo>
<mi>j</mi>
<mo>=</mo>
<mn>1</mn>
<mo>,</mo>
<mn>2</mn>
<mo>,</mo>
<mn>3</mn>
</mrow>
Wherein, w 'jhIt is 0.2~0.8, I for hidden layer to the connection weight weight values and span of output layer of PID neutral nets1
(k) it is the input current of k-th of sampling instant magnet exciting coil winding (11), I2(k) it is k-th of sampling instant magnetic coil (25)
Input current.
7. 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.
8. 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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