CN106875808B - 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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- CN106875808B CN106875808B CN201710076462.5A CN201710076462A CN106875808B CN 106875808 B CN106875808 B CN 106875808B CN 201710076462 A CN201710076462 A CN 201710076462A CN 106875808 B CN106875808 B CN 106875808B
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Abstract
The invention discloses a kind of magneto-rheological vibration damper hardware in loop experimental systems, it is related to magneto-rheological vibration damper technical field, including executing agency, upper computer and lower computer, structure is executed 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, operating parameter in experiment is in close proximity to practical operation situation, meet control system and electronic system is efficient, accurately, quick design requirement, the operating parameter of matched control algolithm and optimization can be obtained according to experimental result, it is good with experiment simulation, it is at low cost, high-efficient feature, reliable basis is provided for the design application of magneto-rheological vibration damper, it 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 fields, test more particularly to a kind of magneto-rheological vibration damper hardware in loop
System.
Background technique
Magneto-rheological vibration damper is to utilize inductive reaction, is with the input information from monitoring car body and wheel movement sensors
Basis can reduce body vibrations and increase tire and various road surfaces to the equipment that road conditions and driving environment make real-time response
Adhesive force.Magnetic rheological liquid is a kind of soft grain suspension of magnetism, after liquid is by electromagnetic coil in injection damper piston,
The magnetic field of coil will change its rheological behavior (or generating fluid resistance), thus in no electromechanical control valve and mechanical device letter
In the case of list, generation be swift in response, the damping force that controllability is strong.Magneto-rheological vibration damper have the adjustable multiple of damping force it is high,
It is easily achieved computer variable damping real-time control, the features such as compact-sized and external input energy is small, is increasingly subject to engineering circles
Great attention.
And novel a damper exploitation or the debugging of control algolithm need to carry out a large amount of previous experiments, especially
When being applied to various types of high-speed EMUs, locomotive, vehicle, urban rail, actual running environment can not be provided in laboratory,
Also the actual operation parameters of such vehicle, EMU can not be obtained, therefore generally by way of software emulation, to simulate vehicle
, the operation of EMU.But based entirely on the development process of software emulation, due to only realizing system structure in development process
And the verifying of principle, algorithm, hardware do not carry out emulation testing, final model machine hardware system performance is also just difficult to protect
Card, therefore lead to the project cycle and increased costs, or even be also possible to that project is caused to end in failure.
Summary of the invention
It is hard the technical problem to be solved by the present invention is in view of the above shortcomings of the prior art, provide a kind of magneto-rheological vibration damper
Part can obtain the operating parameter of matched control algolithm and optimization in ring experimental system according to experimental result, have experiment imitative
Good, at low cost, the high-efficient feature of true property, provides reliable basis for the design application of magneto-rheological vibration damper.It can be used for magnetorheological
The experiment test of damper and new product development.
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, upper computer and lower computer.
The executing agency includes driving device, magneto-rheological vibration damper and force snesor；The driving device passes through described
Force snesor is connect 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 connect 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 the executing agency with it is described upper
Data exchange between machine.
The slave computer receives the control signal that the semi- active control device is sent, and sends after carrying out data conversion treatment
To the magneto-rheological vibration damper, to control the damping force information of the magneto-rheological vibration damper；The slave computer receives the power
The damping force information that sensor is sent, and the emulation module is sent to after carrying out data conversion treatment；The emulation module connects
It receives after the damping force information carries out simulation run and obtains the stretching speed information of the magneto-rheological vibration damper；The slave computer connects
The stretching speed information for the magneto-rheological vibration damper that the emulation module is sent is received, and be sent to after data conversion treatment described
Driving device controls the driving device and magneto-rheological vibration damper operation；To experiment obtain it is matched with magneto-rheological vibration damper
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 software.
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 further includes experimental stand；The magneto-rheological vibration damper and the driving device are fixed
In on the experimental stand.
Preferably, the experimental stand is U-shaped structure, and U-shaped structure both ends aperture is respectively used to fix the magnetic current
Become damper and the driving device.
Preferably, the slave computer includes compiler, analog-digital converter and digital analog converter；The compiler is for compiling
Identify data information transmitted by host computer；The analog-digital converter is used to analog information being converted to digital signal；The number
Mode converter is used to digital information being converted to analog information.
Preferably, it is communicated between the slave computer and host computer by RS232 or RS485.
The beneficial effects of adopting the technical scheme are that the embodiment of the present invention provides a kind of magneto-rheological vibration damping
Device hardware in loop experimental system executes structure by introducing the actual physics of magneto-rheological vibration damper, realize magneto-rheological vibration damper and
The hardware in loop of semi-active control algorithm is tested, and the operating parameter in experiment is in close proximity to practical operation situation, meets control
System and electronic system efficiently, design requirement accurately and fast, matched control algolithm and excellent can be obtained according to experimental result
The operating parameter of change has the characteristics that experiment simulation is good, at low cost, high-efficient, mentions for the design application of magneto-rheological vibration damper
For reliable basis.It can be used for experiment test and the new product development of magneto-rheological vibration damper.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the magneto-rheological vibration damper of the present 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 that magneto-rheological vibration damper stretching speed is controlled in the embodiment of the present invention；
Fig. 4 is the message processing flow figure that control magneto-rheological vibration damper exports damping force in the embodiment of the present invention；
Fig. 5 is the structural schematic diagram of executing agency in the embodiment of the present invention.
In Fig. 5,1, U-shaped rack；2, magneto-rheological vibration damper；3, force snesor；4, driving device.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in Figure 1, for magneto-rheological vibration damper of the present invention ring experimental system one embodiment, including executing agency,
Upper computer and lower computer.Executing agency includes driving device, magneto-rheological vibration damper and force snesor；Driving device is sensed by power
Device is connect with magneto-rheological vibration damper, driving 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 connect 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 is sent, and is sent to after carrying out data conversion treatment
Magneto-rheological vibration damper, to control the damping force information of magneto-rheological vibration damper；Slave computer receives the damping force that force snesor is sent
Information, and emulation module is sent to after carrying out data conversion treatment；After emulation module receives damping force information progress simulation run
Obtain the stretching speed information of magneto-rheological vibration damper；Slave computer receives the stretching speed for the magneto-rheological vibration damper that emulation module is sent
Information, and it is sent to driving device after carrying out data conversion treatment, driving device and magneto-rheological vibration damper operation are controlled, thus real
It tests to obtain and the matched semi-active control algorithm of magneto-rheological vibration damper and parameter.
The present embodiment executes the true operation that structure is physical entity, therefore the acquired magneto-rheological vibration damper in experiment
Output damping force be in close proximity to vehicle, train, EMU practical operation situation.
Driving device uses servo electric jar in the present embodiment, and servo electric jar is that servo motor is integrated with lead screw
The rotary motion of servo motor is converted into moving along a straight line by the modular product of design, while by the precise rotation of servo motor
Control, the control of accurate revolution and accurate torque control are transformed into precise speed control, Accurate Position Control and the control of accurate thrust,
Realize that high-precision moves along a straight line.The servo electric jar range that the present embodiment uses is 200mm, maximum output 10KN, most
Big-movement frequency is 15Hz, maximum speed 2000mm/s.Also other driving mechanisms, such as servo hydraulic oil cylinder can be used,
Parameter Conditions above need to only be met.By the difference of control input voltage or current signal, different motive forces is exported.
Magneto-rheological vibration damper used in the present embodiment, which uses, makes damper by oneself, maximum 60 KN*s/m of damped coefficient,
Exporting damping force is stretching speed of the damped coefficient multiplied by magneto-rheological vibration damper；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, i.e., changeable magneto-rheological vibration damper
Output damping force.Existing magneto-rheological vibration damper product in the market can also be used, need to only meet Parameter Conditions above.
Preferably, the control algolithm in semi- active control device can be selected flexibly, and such as common Sky-hook control accelerates
Damping control, relation control, optimum control or ANN Control scheduling algorithm are spent, some novel controls can also be tested
Algorithm is equally realized using MATLAB/SIMULINK simulation software.
Preferably, kinetic model is built using MATLAB/SIMULINK simulation software.Host computer is installed in the present embodiment
There is MATLAB/SIMULINK simulation software, the kinetic model of bullet train vehicle can be built, and carry out parameter setting, 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), is issued by Mathworks company, the U.S.
The main high-tech in face of scientific algorithm, visualization and programming of interactive calculate environment.SIMULINK is MATLAB
One of Visual Simulation Tools, can with the continuous sampling time, the discrete sampling time or two kinds mixing sampling times into
Row modeling supports the different piece in multirate system, that is, system to have different sampling rates.In order to create dynamical system
Unite model, SIMULINK provides the graphical user interface for establishing model block figure, this creation process need to only click and
Dragging mouse action can be completed, 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 uses resistance-strain in the present embodiment
Formula force snesor connects semi- active control device by power supply box, according to the semi- active control signal command received, exports constant
Voltage or current value, maximum output current 5A, minimum output current 0A.By the size variation of control voltage or current value, change
Become the output damping force of magneto-rheological vibration damper.
Preferably, executing agency further includes experimental stand, and magneto-rheological vibration damper and driving device are fixed on experimental stand.
Preferably, experimental stand is the U-shaped structure that Interal fixation is formed by connecting, and U-shaped mouth down is fixed on experimental stand, U
Magneto-rheological vibration damper and driving device are fixed in the both ends aperture of type structure respectively.
Preferably, slave computer includes compiler, analog-digital converter and digital analog converter.Slave computer includes compiling in the present embodiment
Device, communication interface (3 input interfaces and 3 output interfaces), digital analog converter and analog-digital converter are translated, 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 becomes digital signal after analog-digital converter, calls for emulation module.
Preferably, it is communicated between slave computer and host computer by RS232 or RS485.
As shown in Fig. 2, for kinetic parameter message processing flow figure in the embodiment of the present invention；Emulation module output power parameter
Information, including the speed of service, acceleration, displacement, kinetic parameter information pass through the control algolithm to match through semi- active control device
Control signal is obtained after calculation processing, control signal is converted to digital voltage signal through slave computer progress data processing and is sent to electricity
Source case exports constant current control magneto-rheological vibration damper by power supply box and moves.
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, is sent to driving device after slave computer carries out data conversion treatment,
Driving device movement is controlled, then feeds back to magneto-rheological vibration damper through force snesor.
As shown in figure 4, exporting the message processing flow figure of damping force for control magneto-rheological vibration damper in the embodiment of the present invention；
Driving 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 damper is sent to emulation module after slave computer carries out data conversion, emulates and transport as kinetic model
Dynamic input parameter.
As shown in figure 5, for the structural schematic diagram of executing agency in the embodiment of the present invention, including experimental stand 1, magnetorheological subtract
Shake device 2, force snesor 3, driving device 4.Force snesor 3 connects magneto-rheological vibration damper 2 and driving device 4, magneto-rheological vibration damper 2
The both ends of experimental stand 1 are individually fixed in driving device 4.
The laboratory operating procedures of the embodiment of the present invention are as follows:
Vehicle dynamic model is built using MATLAB/SIMULINK, (two be lateral vibration absorbing to damper in setting model
Device, two are anti-hunting damper holder or two are vertical damper etc.) damping force be host computer input terminal, damper two-end-point is set
Between relative velocity be host computer output end.
Semi- active control device is designed using MATLAB/SIMULINK, setting semi- active control device output current signal is upper
Position machine output end.
Host computer output end and input terminal are connected to slave computer.
By in host computer model and controller be compiled as the language (C++ etc.) of slave computer approval, and define damper two
Relative velocity and current order between end are output end, and magnetorheological damper damping force is input terminal.
One end of driving mechanism (servo electric jar) is connected on the starting end of test-bed, later in driving structure
The other end is separately connected force snesor, magneto-rheological vibration damper in order, and the other end of magneto-rheological vibration damper is finally connected to reality
Test the end of rack.
Relative velocity in slave computer output end is connected on the control line of driving device.
Control signal command (current or voltage) in slave computer output end is connected on power supply box, then by power supply box
It is connected on the conducting wire of magneto-rheological vibration damper.
The signal wire of force snesor is connected on the input port of slave computer to (intermediate link can optionally increase low pass
Filter).
It powers on to driving device, is powered on to power supply box.Program is run in master system, starts to test, and acquisition is related
Data.After 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
Operating parameter be in close proximity to practical operation situation, meet control system and electronic system efficiently, design accurately and fast wants
It asks, the operating parameter of matched control algolithm and optimization can be obtained according to experimental result, the good, cost with experiment simulation
Low, high-efficient feature provides reliable basis for the design application of magneto-rheological vibration damper.It can be used for the experiment of magneto-rheological vibration damper
Test and new product development.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (9)
1. a kind of magneto-rheological vibration damper hardware in loop experimental system, which is characterized in that including executing agency, host computer and bottom
Machine；
The executing agency includes driving device, magneto-rheological vibration damper and force snesor；The driving device is passed by the power
Sensor is connect with the magneto-rheological vibration damper, for driving the magneto-rheological vibration damper to work；The force snesor is for obtaining
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
Model is learned, is used for magneto-rheological vibration damper output power parameter and stretching speed information；The semi- active control device is imitated with described
True module connection, obtains kinetic parameter；The semi- active control device converts the kinetic parameter with semi-active control algorithm
To control signal；
The slave computer connects the executing agency and the host computer, for realizing the executing agency and the host computer it
Between data exchange；
The slave computer receives the control signal that the semi- active control device is sent, and is sent to institute after carrying out data conversion treatment
Magneto-rheological vibration damper is stated, 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 is sent, and the emulation module is sent to after carrying out data conversion treatment；The emulation module receives institute
It states after damping force information carries out simulation run and obtains 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 driving device and magneto-rheological vibration damper operation；To which experiment obtains and matched half master of magneto-rheological vibration damper
Dynamic control algolithm and parameter.
2. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, which is characterized 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, which is characterized in that the kinetic simulation
Type is built using MATLAB/SIMULINK simulation software.
4. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, which is characterized 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, which is characterized in that the force snesor
For resistance strain gauge force transducer.
6. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, which is characterized in that the executing agency
It further include experimental stand；The magneto-rheological vibration damper and the driving device are fixed on the experimental stand.
7. magneto-rheological vibration damper hardware in loop experimental system according to claim 6, which is characterized in that the experimental stand
For U-shaped structure, U-shaped structure both ends aperture is respectively used to fix the magneto-rheological vibration damper and the driving device.
8. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, which is characterized in that the slave computer packet
Include compiler, analog-digital converter and digital analog converter；The compiler is for compiling data information transmitted by identification host computer；
The analog-digital converter is used to analog information being converted to digital signal；The digital analog converter is for being converted to digital information
Analog information.
9. magneto-rheological vibration damper hardware in loop experimental system according to claim 1, which is characterized in that the slave computer with
It is communicated between host computer by RS232 or RS485.
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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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