CN106875808A - Magneto-rheological vibration damper hardware in loop experimental system - Google Patents
Magneto-rheological vibration damper hardware in loop experimental system Download PDFInfo
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- CN106875808A CN106875808A CN201710076462.5A CN201710076462A CN106875808A CN 106875808 A CN106875808 A CN 106875808A CN 201710076462 A CN201710076462 A CN 201710076462A CN 106875808 A CN106875808 A CN 106875808A
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Abstract
The invention discloses a kind of magneto-rheological vibration damper hardware in loop experimental system, it is related to magneto-rheological vibration damper technical field, including executing agency, host computer and slave computer, structure is performed by introducing the actual physics of magneto-rheological vibration damper, realize the hardware in loop experiment of magneto-rheological vibration damper and semi-active control algorithm, operational factor in experiment is in close proximity to practical operation situation, meet control system and electronic system is efficient, accurately, quick design requirement, the control algolithm and the operational factor of optimization that can be matched according to experimental result, it is good with experiment simulation, low cost, the characteristics of efficiency high, for the design application of magneto-rheological vibration damper provides reliable basis, can be used for new type vibration isolator, the exploitation and debugging application of semi-active control algorithm.
Description
Technical field
The present invention relates to magneto-rheological vibration damper technical field, more particularly to a kind of magneto-rheological vibration damper hardware in loop experiment
System.
Background technology
Magneto-rheological vibration damper is to utilize inductive reaction, is with the input information from monitoring car body and wheel movement sensors
Basis, the equipment that road conditions and driving environment are made with real-time response can reduce body vibrations and increase tire with various road surfaces
Adhesive force.Magnetic rheological liquid is a kind of soft grain suspension of magnetic, after liquid is injected into the magnet coil in damper piston,
The magnetic field of coil will change its rheological behavior（Or produce fluid resistance）, so as in no electromechanical control valve and mechanical device letter
In the case of single, generation is swift in response, the damping force that controllability is strong.Magneto-rheological vibration damper have the adjustable multiple is high of damping force,
The features such as being easily achieved computer mutative damp real-time control, compact conformation and small outside input energy, is increasingly subject to engineering circles
Great attention.
And new a shock absorber exploitation or the debugging of control algolithm need to carry out substantial amounts of previous experiments, particularly
When various types of EMUs, locomotive, vehicle, urban rail is applied to, actual running environment cannot be provided in laboratory,
Also the actual operation parameters of such vehicle, EMUs cannot be obtained, therefore typically simulates car by way of software emulation
, the operation of EMUs.But, the development process of software emulation is based entirely on, due to only realizing system architecture in development process
And the checking of principle, algorithm, hardware do not carry out emulation testing, and final model machine hardware system performance is also just difficult to protect
Demonstrate,prove, therefore cause the project cycle and cost increase, or even also can result in project and end in failure..
The content of the invention
The technical problem to be solved in the present invention is directed to above-mentioned the deficiencies in the prior art, there is provided a kind of magneto-rheological vibration damper is hard
Part is imitated in ring experimental system, the control algolithm that can be matched according to experimental result and the operational factor for optimizing with experiment
True property is good, low cost, efficiency high the characteristics of, for the design application of magneto-rheological vibration damper provides reliable basis.Can be used for magnetorheological
The experiment test and new product development of shock absorber.
In order to solve the above technical problems, the technical solution used in the present invention is：
A kind of magneto-rheological vibration damper hardware in loop experimental system, including executing agency, host computer and slave computer.
The executing agency includes drive device, magneto-rheological vibration damper and force snesor；The drive device is by described
Force snesor is connected with the magneto-rheological vibration damper, for driving the magneto-rheological vibration damper to work；The force snesor is used for
Obtain the damping force information of the magneto-rheological vibration damper.
The host computer includes emulation module and semi- active control device；The emulation module is built by simulation software
Kinetic model；The semi- active control device is connected with the emulation module, obtains kinetic parameter；The semi- active control device fortune
The kinetic parameter is converted into control signal with semi-active control algorithm.
The slave computer connects the executing agency and the host computer, for realizing that the executing agency is upper with described
Data exchange between machine.
The slave computer receives the control signal that the semi- active control device sends, and carries out transmission after data conversion treatment
To the magneto-rheological vibration damper, so as to control the damping force information of the magneto-rheological vibration damper；The slave computer receives the power
The damping force information that sensor sends, and the emulation module is sent to after carrying out data conversion treatment；The emulation module connects
Receiving the damping force information obtain after simulation run the stretching speed information of the magneto-rheological vibration damper；The slave computer connects
The stretching speed information of the magneto-rheological vibration damper that the emulation module sends is received, and be sent to after data conversion treatment described
Drive device, controls the drive device and magneto-rheological vibration damper operation；Obtain what is matched with magneto-rheological vibration damper so as to test
Semi-active control algorithm and parameter.
Preferably, the semi-active control algorithm includes Sky-hook control, acceleration damping control, relation control, most
Excellent control or Neural Network Control Algorithm.
Preferably, the kinetic model is built using MATLAB/SIMULINK simulation softwares.
Preferably, the semi- active control signal is current signal or voltage signal.
Preferably, the force snesor is resistance strain gauge force transducer.
Preferably, the executing agency also includes experimental stand；The magneto-rheological vibration damper and the drive device are fixed
In on the experimental stand.
Preferably, the experimental stand is U-shape structure, and U-shape structure two ends perforate is respectively used to fix the magnetic current
Become shock absorber and the drive device.
Preferably, the slave computer includes compiler, analog-digital converter and digital analog converter；The compiler is used to compile
Data message transmitted by identification host computer；The analog-digital converter is used to for analog information to be converted to data signal；The number
Weighted-voltage D/A converter is used to for digital information to be converted to analog information.
Preferably, communicated by RS232 or RS485 between the slave computer and host computer.
It is using the beneficial effect produced by above-mentioned technical proposal：The embodiment of the present invention provides a kind of magneto-rheological vibration damping
Device hardware in loop experimental system, structure is performed by introducing the actual physics of magneto-rheological vibration damper, realize magneto-rheological vibration damper and
The hardware in loop experiment of semi-active control algorithm, the operational factor in experiment is in close proximity to practical operation situation, meets control
System and electronic system efficiently, design requirement accurately and fast, the control algolithm that can be matched according to experimental result and excellent
The operational factor of change, with experiment simulation is good, low cost, efficiency high the characteristics of, be that the design application of magneto-rheological vibration damper is carried
For reliable basis.Can be used for the experiment test of magneto-rheological vibration damper and new product development.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the magneto-rheological vibration damper of the invention in ring experimental system；
Fig. 2 is kinetic parameter message processing flow figure in the embodiment of the present invention；
Fig. 3 is the message processing flow figure of control magneto-rheological vibration damper stretching speed in the embodiment of the present invention；
Fig. 4 is the message processing flow figure of control magneto-rheological vibration damper output damping force in the embodiment of the present invention；
Fig. 5 is the structural representation of executing agency in the embodiment of the present invention.
In Fig. 5,1, U-shaped stand；2nd, magneto-rheological vibration damper；3rd, force snesor；4th, drive device.
Specific embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description.
As shown in figure 1, be magneto-rheological vibration damper of the present invention in one embodiment of ring experimental system, including executing agency,
Host computer and slave computer.Executing agency includes drive device, magneto-rheological vibration damper and force snesor；Drive device is sensed by power
Device is connected with magneto-rheological vibration damper, drives magneto-rheological vibration damper work.Force snesor is used to obtain the damping of magneto-rheological vibration damper
Force information.Host computer includes emulation module and semi- active control device.Emulation module is the kinetic simulation built by simulation software
Type.Semi- active control device is connected with emulation module, and semi- active control device is converted to kinetic parameter with semi-active control algorithm
Control signal.Slave computer connects executing agency and host computer, for realizing the data exchange between executing agency and host computer.
Slave computer receives the semi- active control signal that semi- active control device sends, and is sent to after carrying out data conversion treatment
Magneto-rheological vibration damper, so as to control the damping force information of magneto-rheological vibration damper；Slave computer receives the damping force that force snesor sends
Information, and emulation module is sent to after carrying out data conversion treatment；After emulation module reception damping force information carries out simulation run
Obtain the stretching speed information of magneto-rheological vibration damper；Slave computer receives the stretching speed of the magneto-rheological vibration damper that emulation module sends
Information, and carry out being sent to drive device after data conversion treatment, control drive device and magneto-rheological vibration damper operation, so that real
Test the semi-active control algorithm and parameter for obtaining matching with magneto-rheological vibration damper.
It is the acquired magneto-rheological vibration damper in the true operation of physical entity, therefore experiment that the present embodiment performs structure
Output damping force is in close proximity to the practical operation situation of vehicle, train, EMUs.
Drive device employs servo electric jar in the present embodiment, and servo electric jar is that servomotor is integrated with leading screw
The modular product of design, linear motion is converted into by the rotary motion of servomotor, while by the precise rotation of servomotor
Control, the control of accurate revolution and accurate torque control are transformed into the control of precise speed control, Accurate Position Control and accurate thrust,
Realize that high accuracy moves along a straight line.The servo electric jar range that the present embodiment is used is 200mm, and EIAJ is 10KN, most
Big-movement frequency is 15Hz, and maximal rate is 2000mm/s.Other drive mechanisms, such as servo hydraulic oil cylinder can also be used,
Parameter Conditions above need to only be met.By control input voltage or the difference of current signal, different motive forces are exported.
The magneto-rheological vibration damper used in the present embodiment employs self-control shock absorber, the KN*s/m of maximum damped coefficient 60, its
Output damping force is multiplied by the stretching speed of magneto-rheological vibration damper for damped coefficient；The stretching speed of magneto-rheological vibration damper is vibration damping
Relative velocity between device two-end-point.Therefore, according to the damped coefficient of adjustment magneto-rheological vibration damper, you can change magneto-rheological vibration damper
Output damping force.Also the existing magneto-rheological vibration damper product of in the market can be used, Parameter Conditions above need to be only met.
Preferably, the control algolithm in semi- active control device can be selected flexibly, such as common Sky-hook control, acceleration
Degree damping control, relation control, optimum control or ANN Control scheduling algorithm, can also test some new controls
Algorithm, it is same to be realized using MATLAB/SIMULINK simulation softwares.
Preferably, kinetic model is built using MATLAB/SIMULINK simulation softwares.Host computer is installed in the present embodiment
There are MATLAB/SIMULINK simulation softwares, the kinetic model of bullet train vehicle can be built, line parameter of going forward side by side is set, from
And realize storage, reading, communication and the output of simulation result.Semi- active control device output control magneto-rheological vibration damper voltage or electricity
The semi- active control signal of flow valuve.MATLAB means matrix factory（Matrix labotstory）, issued by Mathworks companies of the U.S.
The main high-tech computing environment in face of scientific algorithm, visualization and programming of interactive.SIMULINK is MATLAB
In a kind of Visual Simulation Tools, can with the continuous sampling time, the discrete sampling time or two kinds mixing sampling time enter
Row modeling, supports that the different piece in multirate system, that is, system has different sampling rates.In order to create dynamical system
System model, SIMULINK provides a graphical user interface for setting up model block figure, this establishment process need to only click and
Dragging mouse action can just be completed, and it provides a kind of faster clear mode, and user can promptly appreciate that the emulation of system
As a result.
Preferably, semi- active control signal can be current signal, or voltage signal.
Preferably, force snesor is resistance strain gauge force transducer.Force snesor employs resistance-strain in the present embodiment
Formula force snesor, semi- active control device is connected by power supply box, according to the semi- active control signal command for receiving, is exported constant
Voltage or current value, maximum output current 5A, minimum output current 0A.By control voltage or the size variation of current value, change
Become the output damping force of magneto-rheological vibration damper.
Preferably, executing agency also includes experimental stand, and magneto-rheological vibration damper and drive device are fixed on experimental stand.
Preferably, the U-shape structure that experimental stand is formed by connecting for Interal fixation, U-shaped mouth down is fixed on experimental stand, U
The two ends perforate of type structure, fixes magneto-rheological vibration damper and drive device respectively.
Preferably, slave computer includes compiler, analog-digital converter and digital analog converter.Slave computer includes compiling in the present embodiment
Translate device, communication interface（3 input interfaces and 3 output interfaces）, digital analog converter and analog-digital converter, it is virtual for host computer
Data exchange between emulation module, semi- active control device and executing agency.Wherein, input and output signal is analog voltage
Signal, is changed into data signal after analog-digital converter, is called for emulation module.
Preferably, communicated by RS232 or RS485 between slave computer and host computer.
As shown in Fig. 2 being kinetic parameter message processing flow figure in the embodiment of the present invention；Emulation module exports kinetic parameter
Information, including the speed of service, acceleration, displacement, the control algolithm that kinetic parameter information passes through to match through semi- active control device
Control signal is obtained after calculating treatment, control signal carries out data processing and be converted to digital voltage signal being sent to electricity through slave computer
Source case, exports constant current control magneto-rheological vibration damper and moves by power supply box.
As shown in figure 3, controlling the message processing flow figure of magneto-rheological vibration damper stretching speed in the embodiment of the present invention；Emulation
Module exports the stretching speed information of magneto-rheological vibration damper, and drive device is sent to after carrying out data conversion treatment through slave computer,
Control drive device motion, then feed back to magneto-rheological vibration damper through force snesor.
As shown in figure 4, to control magneto-rheological vibration damper to export the message processing flow figure of damping force in the embodiment of the present invention；
Drive device drives magneto-rheological vibration damper work, and magneto-rheological vibration damper exports certain damping force, and force snesor obtains magnetorheological
The output damping force of shock absorber, emulation module is sent to after carrying out data conversion through slave computer, is emulated as kinetic model and transported
Dynamic |input paramete.
As shown in figure 5, be the structural representation of executing agency in the embodiment of the present invention, including experimental stand 1, magnetorheological subtract
Shake device 2, force snesor 3, drive device 4.Force snesor 3 connects magneto-rheological vibration damper 2 and drive device 4, magneto-rheological vibration damper 2
With the two ends that drive device 4 is individually fixed in experimental stand 1.
The laboratory operating procedures of the embodiment of the present invention are as follows：
Vehicle dynamic model is built using MATLAB/SIMULINK, shock absorber in model is set（Two is lateral damper, two
It is anti-hunting damper holder or two is vertical damper etc.）Damping force be host computer input, set shock absorber two-end-point between phase
It is host computer output end to velocity amplitude.
Semi- active control device is designed using MATLAB/SIMULINK, it is upper to set semi- active control device output current signal
Position machine output end.
Connection host computer output end and input to slave computer.
Model and controller in host computer is compiled as the language of slave computer accreditation（C++ etc.）, and define shock absorber two
Relative velocity and current order between end are output end, and magneto-rheological vibration damper damping force is input.
By drive mechanism（Servo electric jar）One end be connected on the starting end of test-bed, afterwards in driving structure
The other end connects force snesor, magneto-rheological vibration damper respectively in order, and the other end of magneto-rheological vibration damper finally is connected into reality
Test the end of stand.
Relative velocity in slave computer output end is connected on the control line of drive device.
By the control signal order in slave computer output end（Curtage）It is connected on power supply box, then by power supply box
It is connected on the wire of magneto-rheological vibration damper.
The holding wire of force snesor is connected on the input port of slave computer（Intermediate link can optionally increase low pass
Wave filter）.
To electricity in drive device, to electricity on power supply box.The operation program in master system, starts experiment, and collection is related
Data.After end to be tested, operation is shut down procedure.
After adopting the above technical scheme, the hardware in loop experiment of magneto-rheological vibration damper and control algolithm is realized, in experiment
Operational factor be in close proximity to practical operation situation, meeting the design efficiently, accurately and fast of control system and electronic system will
Ask, the operational factor of the control algolithm that can be matched according to experimental result and optimization, with experiment simulation is good, cost
The characteristics of low, efficiency high, for the design application of magneto-rheological vibration damper provides reliable basis.Can be used for the experiment of magneto-rheological vibration damper
Test and new product development.
These are only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit and
Any modification, equivalent and improvement for being made within principle etc., should be included within the scope of the present invention.
Claims (9)
1. a kind of magneto-rheological vibration damper hardware in loop experimental system, it is characterised in that including executing agency, host computer and bottom
Machine；
The executing agency includes drive device, magneto-rheological vibration damper and force snesor；The drive device is passed by the power
Sensor is connected with the magneto-rheological vibration damper, for driving the magneto-rheological vibration damper to work；The force snesor is used to obtain
The damping force information of the magneto-rheological vibration damper；
The host computer includes emulation module and semi- active control device；The emulation module is the power built by simulation software
Learn model；The semi- active control device is connected with the emulation module, obtains kinetic parameter；The semi- active control device is with half
The kinetic parameter is converted to control signal by Algorithm of Active Control；
The slave computer connects the executing agency and the host computer, for realize the executing agency and the host computer it
Between data exchange；
The slave computer receives the control signal that the semi- active control device sends, and is sent to institute after carrying out data conversion treatment
Magneto-rheological vibration damper is stated, so as to control the damping force information of the magneto-rheological vibration damper；The slave computer receives the power sensing
The damping force information that device sends, and the emulation module is sent to after carrying out data conversion treatment；The emulation module receives institute
Stating damping force information obtain after simulation run the stretching speed information of the magneto-rheological vibration damper；The slave computer receives institute
The stretching speed information of the magneto-rheological vibration damper of emulation module transmission is stated, and is sent to the driving after carrying out data conversion treatment
Device, controls the drive device and magneto-rheological vibration damper operation；So as to test half master for obtaining being matched with magneto-rheological vibration damper
Dynamic control algolithm and parameter.
2. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that described half actively controls
Algorithm processed includes Sky-hook control, acceleration damping control, relation control, optimum control or Neural Network Control Algorithm.
3. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that the kinetic simulation
Type is built using MATLAB/SIMULINK simulation softwares.
4. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that described half actively controls
Signal processed is current signal or voltage signal.
5. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that the force snesor
It is resistance strain gauge force transducer.
6. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that the executing agency
Also include experimental stand；The magneto-rheological vibration damper and the drive device are fixed on the experimental stand.
7. magneto-rheological vibration damper hardware in loop experimental system according to claim 6, it is characterised in that the experimental stand
It is U-shape structure, U-shape structure two ends perforate is respectively used to fix the magneto-rheological vibration damper and the drive device.
8. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that the slave computer bag
Include compiler, analog-digital converter and digital analog converter；The compiler is used to compile the data message transmitted by identification host computer；
The analog-digital converter is used to for analog information to be converted to data signal；The digital analog converter is used to be converted to digital information
Analog information.
9. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, it is characterised in that the slave computer with
Communicated by RS232 or RS485 between host computer.
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| CN107421729A (en) * | 2017-08-11 | 2017-12-01 | 南京理工大学 | A kind of MR elastomer vibration isolator dynamic performance testing system |
| CN110867128A (en) * | 2018-08-28 | 2020-03-06 | 上海科赫商务咨询有限公司 | Suspension damping change simulator and application thereof |
| CN115219134A (en) * | 2022-07-18 | 2022-10-21 | 蔚来汽车科技(安徽)有限公司 | Debugging device and debugging method for vehicle vibration damping component |
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| CN115219134A (en) * | 2022-07-18 | 2022-10-21 | 蔚来汽车科技(安徽)有限公司 | Debugging device and debugging method for vehicle vibration damping component |
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| Publication number | Publication date |
|---|---|
| CN106875808B (en) | 2019-07-30 |
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