CN107707008A - For coordinating the apparatus and method of magnetorheological damping/braking and collection of energy - Google Patents
For coordinating the apparatus and method of magnetorheological damping/braking and collection of energy Download PDFInfo
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- CN107707008A CN107707008A CN201610647828.5A CN201610647828A CN107707008A CN 107707008 A CN107707008 A CN 107707008A CN 201610647828 A CN201610647828 A CN 201610647828A CN 107707008 A CN107707008 A CN 107707008A
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- energy
- collection
- damping
- braking moment
- magnetorheological
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
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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
-
- 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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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Power Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Fluid-Damping Devices (AREA)
Abstract
This application discloses for coordinating magnetorheological damping/braking in magnetorheological damping/brakes and the apparatus and method of collection of energy.The equipment includes：Distributor, the total damping force/braking moment needed is configured to, produces the first distribution signal and the second distribution signal；Magnetorheological damping/brake monitor, it is configured to, in response to the described first distribution signal, produce the magnetorheological command signal for producing distributed magnetorheological damping power/braking moment；And collection of energy controller, it is configured to, in response to the described second distribution signal, collect distributed energy.
Description
Technical field
The application is related to be received for coordinating magnetorheological damping/braking and energy in magnetorheological (MR) damping/brakes
Collect the apparatus and method of (EH).
Background technology
Magneto-rheological fluid is a kind of intellectual material, and in the case where applying magnetic field, it is shown in several milliseconds from freedom
Flow regime is rapid, reversible and be adjustably transformed into semi-solid state.It is non-that magneto-rheological fluid is used for half active vibration/control for brake
Often there is prospect, connect because it provides simple, quick response between control panel/system and plant equipment/system
Mouthful.
Fig. 1 shows the schematic diagram of the typical magnetorheological damping system with semi-active control aystem.As shown in figure 1,
Magnetorheological damping system 100 includes dynamic pickup 110, system controller 120, damper controller 130, current driver
140th, MR damper 150 and workpiece 160.Dynamic pickup 110 is used for measurement signal, displacement, speed such as workpiece 160
And/or acceleration.System controller 120 can produce and export the institute for representing MR damper 150 according to measured signal
Need the signal of damping force.Then, damper controller 130 will produce voltage based on measured signal and required damping force and refer to
Order.Using the voltage instruction, current driver 140 will send driving current, and the driving current can drive MR damper
150 produce the required damping force for putting on workpiece 160.If magnetorheological damping system 100 is not also comprising force snesor (in Fig. 1
Middle display), then the power that is generated of the damper controller 130 by utilization by force sensor measuring, performs closed loop power control algolithm,
So as to realize that closed loop power controls.Similarly, if magnetorheological damping system 100 (does not show also in Fig. 1 comprising current sensor
Show), then damper controller 130 performs using the electric current generated by current sensor measurement closed loop current control and calculated
Method, so as to realize closed loop current control.
In order to magnetorheological damping system normal work, it is necessary to which power supply encourages the electricity inside or outside MR damper
Magnetic coil, so as to provide magnetic field for magneto-rheological fluid.However, in magnetorheological damping system, substantial amounts of mechanical energy is wasted.For
The mechanical energy being wasted is collected and recycled, has been developed to the magnetorheological of (that is, there is collection of energy function) that generate electricity
Damping system.Energy harvester in magnetorheological system converts kinetic energy into electric energy, to improve the energy efficiency of whole system.
Fig. 2 shows the schematic diagram of the typical magnetorheological damping system of another kind with energy harvesting capabilities.In order to chat
State succinctly, the detailed description in Fig. 2 with identical part in Fig. 1 will be omitted.As shown in Fig. 2 on the basis of Fig. 1, magnetic current
Variable resistance damping system 100 ' also includes TRT 170 and energy harvester 180.As machine work part, TRT 170 can
Mechanical energy from MR damper is converted into electric energy, the electric energy can be stored in energy harvester 180.With generating
In the case of device 170 and energy harvester 180, system 100 ' can have magnetorheological damping and collection of energy function simultaneously.
However, in same system, magnetorheological damping and collection of energy can influence each other.By taking vehicle suspension system as an example,
The purpose of MR damper is elimination or reduces vibration, with good anti-vibration performance, and provides good driving comfort
Property.Generally, magnetorheological damping function tends to make the motion amplitude of suspension to diminish.However, the purpose of collection of energy is as far as possible
Vibrational energy is collected more.Accordingly, it is capable to measure the motion by a relatively large margin that collecting function tends to suspension.Therefore, the two functions
Purpose is different from each other, and completely contradicts.
On the other hand, collection of energy will directly or indirectly bring additional damping force to workpiece.Come from collection of energy
The damping effect can be considered as variable viscous damper.The additional damping force is according to energy conversion law by TRT
Induction electric energy produces, and will be applied directly to vibrational structure.Also, the additional damping force is with workpiece or magnetorheological damping
The change of the excitation speed of device and change, this depend on TRT position.As shown in Fig. 2 TRT 170 is directly connected to
To MR damper 150.Therefore, MR damper 150 will be applied directly to by coming from the damping force of collection of energy, and
Applied indirectly to workpiece 160.If TRT 170 is connected directly to workpiece 160, come from the damping force of collection of energy
Workpiece 160 will be applied directly to.
Because collection of energy and magnetorheological damping can produce damping force, thus the effect of collection of energy will influence vibration/
Motion control performance.On the other hand, magnetorheological damping control will influence the input stimulus of system dynamic response, i.e. collection of energy.
Therefore, the effect of magnetorheological damping will also influence energy harvesting capabilities.
There are many vibration/motion control methods for being used for magnetorheological damping equipment/system, such as skyhook (skyhook) control
System.However, the control of existing vibration/motion control device and method only for magnetorheological damping, without in view of magnetic current
Influencing each other between variable damping and collection of energy.In addition, existing vibration/motion control device and method are not considered
How while vibration/motion control performance is met, make the energy maximization of collection.
The content of the invention
According to the one side of the application, there is provided a kind of to be used to coordinate the magnetic current variable resistance in magnetorheological damping/brakes
Buddhist nun/braking and the equipment of collection of energy.The equipment includes：Distributor, it is configured to the total damping force/brake force needed
Square, produce the first distribution signal and the second distribution signal；Magnetorheological damping/brake monitor, it is configured in response to described first
Signal is distributed, produces the magnetorheological command signal for producing distributed magnetorheological damping power/braking moment；And energy is received
Collect controller, be configured to, in response to the described second distribution signal, collect distributed energy.
According to the another aspect of the application, for coordinate magnetorheological damping/braking in magnetorheological damping/brakes and
The method of collection of energy includes：By the total damping force/braking torque distribution needed in the magnetorheological damping/brakes into
Magnetorheological damping power/the braking moment needed and the collection of energy damping force/braking moment needed；Magnetic current variable resistance as needed
Buddhist nun's power/braking moment produces magnetorheological damping power/braking moment of distribution；And collection of energy damping force/system as needed
Kinetic moment collects distributed energy.
According to presently filed embodiment, it is contemplated that magnetorheological damping/braking and energy in magnetorheological damping/brakes
Influencing each other between amount collection, assists to magnetorheological damping/braking in magnetorheological damping/brakes and collection of energy
Adjust.In the case where the equipment has distributor, required total damping power/braking moment can be allocated to two parts, that is, distribute
Magnetorheological damping power/braking moment and distribution energy.First, magnetorheological damping power/braking moment of distribution can ensure to hinder
Buddhist nun/control for brake performance.Secondly, the energy of distribution can maximize energy efficiency.Therefore, not only damping/control for brake
It can be protected, and while the power consumption of magnetorheological damping/braking is reduced, being capable of collecting mechanical as much as possible
Energy.Magnetorheological damping/influencing each other between braking and collection of energy is taken into full account.
Brief description of the drawings
Fig. 1 shows the schematic diagram of the typical magnetorheological damping system with semi-active control aystem；
Fig. 2 shows the schematic diagram of the typical magnetorheological damping system of another kind with energy harvesting capabilities；
Fig. 3, which is shown, has magnetorheological (MR) damping/braking and the energy for being used for coordinating system according to the application embodiment
Amount collects the schematic diagram of magnetorheological damping/brakes of the equipment of (EH)；
Fig. 4 shows the schematic diagram of the collection of energy controller according to the application embodiment；
Fig. 5 shows the schematic diagram of the energy collection circuit according to the application one embodiment；
Fig. 6 shows the schematic diagram of the energy collection circuit according to another embodiment of the application；
Fig. 7 shows the schematic diagram of the energy collection circuit according to the another embodiment of the application；
Fig. 8 shows magnetorheological in magnetorheological damping/brakes for coordinating according to one embodiment of the application
(MR) flow chart of the method for damping/braking and collection of energy (EH)；
Fig. 9 shows the flow chart according to one embodiment step S810 of the application；
Figure 10 shows the example of the application applied to vehicle suspension system；And
Figure 11 shows another embodiment of the application applied to intelligent prosthesis system.
Embodiment
The application is described in detail hereinafter with reference to the accompanying drawings.
Magnetorheological damping equipment/system described here may include MR damper and magnetic current changing brake device.Magnetic current
Variable damping device (such as vehicle suspension system) works under the conditions of linear motion., will be to system in this MR damper
Produce damping force.Magnetic current changing brake device (such as intelligent knee joint prosthese) works under the conditions of rotary motion.In this magnetic current
Become in brake apparatus, braking moment will be produced to system.It is worth noting that, magnetorheological damping described herein is set
Standby/system both includes MR damper, also comprising magnetic current changing brake device.
Fig. 3, which is shown, has magnetorheological (MR) damping/braking and the energy for being used for coordinating system according to the application embodiment
Amount collects the schematic diagram of magnetorheological damping/brakes of the equipment of (EH).As shown in figure 3, magnetorheological damping/brakes
3000 include dynamic pickup 110, system controller 120, current driver 140, MR damper 150, workpiece 160, hair
Electric installation 170 and the equipment 3100 for coordinating magnetorheological damping/braking and collection of energy.It is succinct in order to describe, it will omit
In Fig. 3 with the detailed description of identical part in Fig. 2.
Reference picture 3, equipment 3100 include distributor 3110, magnetorheological damping/brake monitor 3120 and collection of energy control
Device 3130 processed.In operation, system controller 120 can produce according to the signal that dynamic pickup 110 is measured and output represents
The signal of required total damping power/braking moment.Based on required total damping power/braking moment, distributor 3110 produces first
Distribute signal and the second distribution signal.The two signals receive the magnetorheological damping/braking being respectively applied in system and energy
Collection.The physical circuit of distributor 3110 can be micro-control unit (MCU) or digital signal processor (DSP) etc..
First distribution signal is sent to magnetorheological damping/brake monitor 3120.In response to the first distribution signal, magnetic current
Variable damping/brake monitor 3120 produces magnetorheological command signal, and the magnetorheological command signal is used to generate allocated magnetic current
Variable damping power/braking moment.For example, magnetorheological command signal can be voltage signal, but it is not limited thereto.Utilize the magnetic current
Become command signal, current driver 140 will send driving current, and the driving current can drive MR damper 150 to produce
Put on workpiece 160, allocated magnetorheological damping power/braking moment.In order to produce magnetorheological command signal, magnetic current variable resistance
Buddhist nun/brake monitor 3120 can run known control algolithm, such as PID control, Self Adaptive Control etc..
Second distribution signal is sent to collection of energy controller 3130.In response to the second distribution signal, collection of energy control
Device 3130 processed collects distributed energy from TRT 170.
According to presently filed embodiment, it is contemplated that magnetorheological damping/braking and energy in magnetorheological damping/brakes
Influencing each other between amount collection, assists to magnetorheological damping/braking in magnetorheological damping/brakes and collection of energy
Adjust.In the case where the equipment has distributor, required total damping power/braking moment can be allocated to two parts, that is, distribute
Magnetorheological damping power/braking moment and distribution energy.First, magnetorheological damping power/braking moment of distribution can ensure to hinder
Buddhist nun/control for brake performance.Secondly, the energy of distribution can maximize energy efficiency.Therefore, not only damping/control for brake
It can be protected, and while the power consumption of magnetorheological damping/braking is reduced, being capable of collecting mechanical as much as possible
Energy.Magnetorheological damping/influencing each other between braking and collection of energy is taken into full account.
Fig. 4 shows the schematic diagram of the collection of energy controller according to the application embodiment.As shown in figure 4, energy is received
Collection controller 3130 includes energy collection circuit 3131 and collection of energy control unit 3132.Energy collection circuit 3131 can be in energy
Amount is collected under the control of control unit 3132, and the energy of distribution is collected from TRT 170.In response to from distributor 3110
Two distribution signals, collection of energy control unit 3132 play opening/closing energy collection circuit 3131 or adjustment by energy collection circuit
The size of the 3131 distribution energy collected.
There are two kinds of controllable energy collection circuits.One kind has nonadjustable equiva lent impedance, and another kind has adjustable etc.
Imitate impedance.The configuration of both energy collection circuits will be discussed later in detail.In the case of with non-adjustable equiva lent impedance,
Collection of energy control unit 3132 can control the energy of energy collection circuit 3131 by beating opening/closing energy collection circuit 3131
Collect.In the case of with adjustable equiva lent impedance, collection of energy control unit 3132 can be by adjusting energy collection circuit 3131
Equiva lent impedance control the collection of energy of energy collection circuit 3131.By controlling energy collection circuit 3131, come from hair
The collection energy of electric installation 170 and caused damping force/braking moment can all be controlled.Opening/closing or tune are beaten in order to produce
Signal is saved, collection of energy control unit 3132 can also run known control algolithm, such as skyhook control, bang-bang controls, base
Control, shearing-type optimum control, linear two Gauss ian controls in Lyapunov stability, ANN Control, cunning
Mould control etc..Each algorithm all determines with the measured value of absolute acceleration, speed, displacement and/or exerted forces
Control action.Regulate signal can be had pulsewidth modulation (PWM) signal of adjusted dutycycle or received for adjusting energy
The resistance control voltage of the equiva lent impedance of collector 3131.
In this way, using the second distribution signal for coming from distributor, collection of energy control unit can be by beating opening/closing or tune
Amount of energy saving collecting circuit controls the collection of energy of energy collection circuit, and this causes the control to the collection of energy in system to turn into
May.
Collected for electromagnetic energy, the induced damping power F of collection of energyEHWith braking moment τEHIt can count as follows
Calculate：
Wherein x and θ is to encourage displacement and corner, C respectivelyEHAnd C 'EHIt is damped coefficient.The two damped coefficients be all with
The relevant constant of the parameter and its gearratio of TRT, and be easy to calculate.For example, for amplifying angle with gear train
For the rotary electric magnetic generator (motor) of speed, C 'EHIt can be calculated as follows：
Wherein, n is gearratio, KmIt is motor speed constant, RiIt is the internal resistance of motor coil, REHIt is energy collection circuit
Equivalent resistance.Generally, REHIt is designed to and RiIt is equal, i.e. impedance matching.In this way, energy collection circuit will have most
Big efficiency.
Further, τEHCan also energy collection circuit charging current iEHForm expressed by below equation：
τEH=nKmiEH (4)
In the embodiment of the application, distributor 3110 is according to magnetorheological damping/brake monitor 3120 and energy
The output mode that amount collects control unit 3132 produces the first distribution signal and the second distribution signal.Typically for magnetorheological damping/
It is each in brake monitor and collection of energy control unit, there are two kinds of typical output modes.One kind is height-low mode, at this
Under kind pattern, no matter to magnetorheological damping/brake monitor or collection of energy control unit, only two kinds output (that is, Gao He
It is low).That is, output is uncontrollable.For example, height output can be opened, low output can be closed.Another kind is
Adjustable pattern, in such a mode, the output of each in magnetorheological damping/brake monitor and collection of energy control unit
It can be continuously adjusted.It is appreciated that magnetorheological damping/brake monitor 3120 can use the tradition calculation suitable for its output mode
Method, to produce magnetorheological command signal.Distributor is according to the output of magnetorheological damping/brake monitor and collection of energy control unit
Pattern produces the first distribution signal and the second distribution signal, so as to can ensure that damping/control for brake performance of system first, moreover it is possible to
Enough make the energy of collection as more as possible.This will hereinafter be elaborated.
In one embodiment of the application, magnetorheological damping/brake monitor 3120 has height output or low output.
That is, the output of magnetorheological damping/brake monitor 3120 is uncontrollable, and can only be high or low.In this case,
Distributor 3110 will produce the first distribution signal to represent required total damping power/braking moment.That is, distributor 3110 is by needed for
Total damping power/braking moment be fully allocated to magnetorheological damping/brake monitor 3120.Also, distributor 3110 is by basis
Magnetorheological damping/brake monitor 3120 is that height output or low output produce the second distribution signal.
Specifically, when magnetorheological damping/brake monitor 3120 has low output, distributor 3110 produces the second distribution
Signal, using the second distribution signal, collection of energy control unit 3132 closes energy collection circuit 3131 or collection of energy is electric
The big minor adjustment for the distribution energy that road 3131 is collected is to its minimum value.On the other hand, when magnetorheological damping/brake monitor 3120
During with height output, distributor 3110 produces the second distribution signal, utilizes the second distribution signal, collection of energy control unit 3132
The big minor adjustment of energy collection circuit 3131 or the distribution energy for collecting energy collection circuit 3131 is opened to its maximum.
In traditional magnetorheological damping system of all systems as shown in Figure 1-2, if MR damper controller uses
Height-low mode, then the coarse adjustment control of magnetorheological damping is enough for the system.In this case, according to the application's
Embodiment, when magnetorheological damping/brake monitor has its height output, it is maximum that it is opened or be adjusted to collection of energy
Value.Thus, no matter the output mode of energy collection circuit why, can all ensure damping/control for brake performance of system, can also make
The energy of collection is as more as possible.On the other hand, when magnetorheological damping/brake monitor has its low output, collection of energy quilt
Its minimum value is closed or is adjusted to, so as to ensure damping/control for brake performance first.
In another embodiment of the application, the output of magnetorheological damping/brake monitor 3120 is adjustable.At this
In the case of kind, distributor 3110 is by required total damping power/braking moment with the maximum allocated energy collected with energy collection circuit
Corresponding collection of energy power/torque is measured to compare with the summation of magnetorheological viscous damping forces/braking moment.Here it is possible to count
Calculate magnetorheological viscous damping forces/braking moment.Also, for some applications, such as intelligent prosthese, magnetorheological viscous damping forces/system
The usual very little of kinetic moment can simultaneously be ignored.Collection of energy power/torque and the maximum allocated energy collected by energy collection circuit 3131
Amount is relative to and can presetting or can be obtained by distributor 3110 in distributor 3110.That is, distributor 3110 will be need
Total damping power/the braking moment wanted is compared with the summation.Then, distributor 3110 will be based on comparative result and produce the first He
Second distribution signal.
Specifically, on the one hand, the size for the distribution energy that energy collection circuit 3131 is collected has high level or low-level.
Correspondingly, the output of collection of energy control unit 3132 is uncontrollable, and can only be high or low.For example, collection of energy control
The height output in portion 3132 processed can open energy collection circuit 3131, and the low output of collection of energy control unit 3132 can close energy
Collecting circuit 3131.When collection of energy control unit 3132 is height output, the distribution energy that energy collection circuit 3131 is collected will
In higher level, and when collection of energy control unit 3132 is low output, the distribution energy of the collection of energy collection circuit 3131
Reduced levels, such as 0 will be in.In this case, when total damping power/braking moment of needs is less than collection of energy and magnetic current
Become viscous force/torque and when, distributor 3110 will produce the first distribution signal to represent the total damping of needs power/brake force
Square.That is, total damping power/braking moment of needs is fully allocated to the first distribution signal by distributor 3110.Also, distributor
3110 will produce the second distribution signal, and using the second distribution signal, collection of energy control unit 3132 closes energy collection circuit
3131.In addition, when the total damping power/braking moment needed is more than or equal to the sum of collection of energy and magnetorheological viscous force/torque
When, distributor 3110 will produce the first distribution signal to represent the total damping of needs power/braking moment and collection of energy power/torque
Between difference, and produce second distribution signal, utilize this second distribution signal, collection of energy control unit 3132 open energy receive
Collector 3131.That is, distributor 3110 by collection of energy power/Torque distribution to the second distribution signal, and by the total damping of needs
Difference between power/braking moment and collection of energy power/torque distributes to the first distribution signal.
On the other hand, the size of the distribution energy collected by energy collection circuit 3131 is adjustable.Correspondingly, energy
The output for collecting control unit 3132 is also adjustable.In this case, when total damping power/braking moment of needs is less than energy
When amount collects the summation with magnetorheological viscous force/torque, the first distribution signal generation is 0 by distributor 3110, and produces second
Signal is distributed, using the second distribution signal, collection of energy control unit 3132 adjusts the distribution that energy collection circuit 3131 is collected
The size of energy is with corresponding to the total damping of needs power/braking moment.That is, distributor 3110 is by total damping power/braking of needs
Torque is fully allocated to the second distribution signal.Also, when need total damping power/braking moment be more than or equal to collection of energy and
During the summation of magnetorheological viscous force/torque, distributor 3110 will produce the first distribution signal to represent the total damping of needs power/system
Difference between kinetic moment and collection of energy power/torque, and the second distribution signal is produced, utilize the second distribution signal, energy
The size for collecting the distribution energy that control unit 3132 adjusts the collection of energy collection circuit 3131 reaches its maximum.That is, distributor
3110 will be collection of energy power/Torque distribution to the second distribution signal, and total damping power/braking moment of needs and energy are received
Difference between collection power/torque distributes to the first distribution signal.
The generation of the first distribution signal in varied situations and the second distribution signal is the foregoing described, is believed by the first distribution
Number and second distribution signal, coordinated magnetorheological damping/braking and collection of energy in magnetorheological damping/brakes.Also, can
Ensure damping/control for brake performance of system first, then make the energy of collection as more as possible.
Fig. 5 shows the schematic diagram of the energy collection circuit according to the application one embodiment.Collection of energy shown in Fig. 5
The size for the distribution energy that circuit is collected is uncontrollable, but is mutually coordinated with magnetorheological damping/braking by on-off switch
It is but controllable.As shown in Figure 5, energy collection circuit 3131 ' includes rectifier 3131a, pressure regulator 3131b, switch
3131c ' and energy storing device 3131d.Rectifier 3131a can be bridge rectifier or voltage multiplier, and can will be by
The ac voltage rectifier that TRT 170 is sent is DC voltage.And pressure regulator 3131b can be isolation flyback converter or liter
Chopper is pressed, and the charging current proportional to DC voltage can be produced, this causes energy collection circuit 3131 ' to show as electricity
Hinder characteristic.Energy collection circuit 3131 ' is designed to the Inside coil impedance matching with TRT 170 so that energy is received
Collector has maximal efficiency.ON/OFF signal can be received from collection of energy control unit 3132 by switching 3131c '.Open in response to this/
OFF signal, switch 3131c ' on/off rectifier 3131a and pressure regulator 3131b connection.It can be for example to switch 3131c '
Relay, MOSFET etc..Energy storing device 3131d can be rechargeable battery, capacitor or ultracapacitor, and can store
The electric energy collected from charging current, for recycling.The configuration of energy collection circuit shown in Fig. 5 can be achieved to non-adjustable
The control that amount of energy saving is collected.That is, energy collection circuit can be opened or closed, and will have two kinds of damping force/braking moments：0
Or FEH/τEH, such as shown in formula above (1)-(2).
Fig. 6 shows the schematic diagram of the energy collection circuit according to another embodiment of the application.Energy shown in Fig. 6 is received
The size for the distribution energy that collector is collected is adjustable.As shown in fig. 6, energy collection circuit 3131 " includes rectifier
3131a, pressure regulator 3131b, PWM controlling switch 3131c " and energy storing device 3131d.It is succinct in order to describe, it will omit
In figure 6 with the detailed description of identical part in Fig. 5.PWM controlling switches 3131c " is connected to rectifier 3131a and pressure regulation
Between device 3131b, and can receive come from collection of energy control unit 3132, have controlled duty cycle pwm signal.PWM believes
Number dutycycle controlled by collection of energy control unit 3132.In response to the pwm signal with controlled duty cycle, PWM controls are opened
Close the adjustable charging currents for coming from pressure regulator 3131b of 3131c ".By adjusting charging current, adjustable energy collecting circuit
3131 " equiva lent impedance.Using such PWM controlling switches 3131c ", the equiva lent impedance of energy collection circuit 3131 is adjustable
Section, so that the size for the distribution energy that energy collection circuit 3131 is collected can adjust.That is, the collection of energy of system is can
Regulation, it is achieved thereby that the control collected to adjustable energy.Specifically, by being controlled in certain limit (0,100%)
The dutycycle of pwm signal, charging current will be in certain limit (0, iEH) in.In this way, collection of energy damping force/system
Kinetic moment can be controlled continuously in certain limit (0, FEH_max) in.
Fig. 7 shows the schematic diagram of the energy collection circuit according to the another embodiment of the application.Energy shown in Fig. 7 is received
The size for the distribution energy that collector is collected is also adjustable.As shown in Figure 7, energy collection circuit 3131 " ' include rectification
Device 3131a, pressure regulator 3131b, regulating resistor 3131c " ' and energy storing device 3131d.It is succinct in order to describe, it will save
The slightly detailed description with identical part in Fig. 5 in the figure 7.As shown in above formula (3), collection of energy damping force/braking
The equivalent resistance of torque and energy collection circuit is inversely proportional.Therefore, regulating resistor 3131c " ' is included in energy collection circuit
3131 " ' in, and pressure regulator 3131b is connected to, regulating resistor 3131c " ' can receive electricity from collection of energy control unit 3132
Resistance regulation voltage.In response to resistance adjustment voltage, regulating resistor 3131c " ' can adjust charging electricity by adjusting self-resistance
Stream.By this regulating resistor 3131c " ', the equivalent resistance of energy collection circuit 3131 is adjustable, so as to collection of energy
The size for the distribution energy that circuit 3131 is collected is also adjustable.That is, the collection of energy of system is adjustable, so as to realize
Control to adjustable collection of energy.Regulating resistor 3131c " ' is programmable, and can be according to coming from collection of energy control
The input instruction voltage in portion 3132 processed changes itself resistance.
In one embodiment of the application, energy collection circuit 3131 can also include current sensor (not shown).Should
The measurable charging current as caused by pressure regulator 3131b of current sensor, and the charging current measured is informed into collection of energy
Control unit 3132.Then, collection of energy control unit 3132 can be adjusted according to the charging current measured to adjust pwm signal or resistance
Economize on electricity pressure, so as to realize that the closed loop current of energy collection circuit 3131 controls.
Fig. 8 shows magnetorheological in magnetorheological damping/brakes for coordinating according to one embodiment of the application
(MR) flow chart of the method for damping/braking and collection of energy (EH).As shown in figure 8, method 800 includes step S810-S830.
Magnetorheological dampings of the step S810 by required total damping power/braking torque distribution in magnetorheological damping/brakes into needs
Power/braking moment and the collection of energy damping force/braking moment needed.Magnetorheological damping power/system as needed step S820
Kinetic moment produces magnetorheological damping power/braking moment of distribution.Also, collection of energy damping force as needed step S830/
Braking moment collects the energy of distribution.
In the embodiment of the application, step S830 may include：Collection of energy damping force/braking as needed
Torque, collection of the unlatching/closing to distribution energy, or the size of regulation distribution energy.
In the embodiment of the application, it is necessary to magnetorheological damping power/braking moment be high level or low-level,
And the size of the energy distributed is uncontrollable, and with high level or low-level.In this case, when caused
When magnetorheological damping power/braking moment is high level, it is necessary to collection of energy damping force/braking moment opened as with Gao Shui
It is flat.On the other hand, when caused magnetorheological damping power/braking moment is low-level, it is necessary to collection of energy damping force/system
Kinetic moment is turned off as with low-level.
In another embodiment herein, it is necessary to magnetorheological damping power/braking moment be high level or low-level,
And the collection to distributing energy is adjustable.In this case, when caused magnetorheological damping power/braking moment is
When high-level, it is necessary to collection of energy damping force/braking moment be allocated to its maximum.On the other hand, when caused magnetic
When rheology damping force/braking moment is low-level, it is necessary to collection of energy damping force/braking moment be allocated to its minimum value.
Fig. 9 shows the flow chart according to one embodiment step S810 of the application.In the present embodiment, it is produced
Magnetorheological damping power/braking moment be adjustable.In this case, step S810 may include sub-step S811 and
S812, as shown in Figure 9.Sub-step S811 divides required total damping power/braking moment with the maximum collected with energy collection circuit
Compared with the corresponding collection of energy power/torque of energy with the summation of magnetorheological viscous damping forces/braking moment.And sub-step
S812 produces the magnetorheological damping power/braking moment needed and the collection of energy damping force/braking of needs based on result of the comparison
Torque.
In one embodiment of the application, the size for distributing energy is uncontrollable, and is only had high-level or low
It is horizontal.In this case, on the one hand, when total damping power/braking moment of needs be less than collection of energy and magnetorheological viscous force/
Torque and when, it is necessary to magnetorheological damping power/braking moment be assigned to represent need total damping power/braking moment, and
And the collection of energy damping force/braking moment needed is allocated to its low-level.On the other hand, when total damping power/system of needs
Kinetic moment be more than or equal to collection of energy and magnetorheological viscous force/torque and when, it is necessary to magnetorheological damping power/braking moment
It is assigned to represent the difference between the total damping power/braking moment and collection of energy power/torque needed, and the energy needed
Collect damping force/braking moment and be allocated to its high level.
It is adjustable to the collection for distributing energy in another embodiment of the application.In this case, a side
Face, when total damping power/braking moment of needs be less than collection of energy and magnetorheological viscous force/torque and when, it is necessary to magnetic current
Variable damping power/braking moment is assigned to 0, and the collection of energy damping force/braking moment needed is assigned to represent what is needed
Total damping power/braking moment.On the other hand, when total damping power/braking moment of needs is more than or equal to collection of energy and magnetic current
Become viscous force/torque and when, it is necessary to magnetorheological damping power/braking moment be assigned to represent need total damping power/system
Difference between kinetic moment and collection of energy power/torque, and the collection of energy damping force/braking moment needed is assigned to it most
Small value.
Figure 10 shows the example of the application applied to vehicle suspension system.For regenerating rheological suspension system
80, use energy regeneration MR damper 93 (that is, the linear MR damper for being integrated with energy collection circuit).Magnetisation again
Rheology suspension system 80 includes spring 92 and damper 93.Suspension is installed between the chassis 91 of automobile and wheel 94.Work as car
When wheel 94 vibrates under road agitation, spring 92 absorbs vibrational energy, and rear damper 93 consumes vibrational energy.Regenerate magnetorheological
A part for vibrational energy will be changed into electric energy and controllable damping force exported to chassis 91 by damper 93, to ensure what is driven
Comfortableness.
The collection of energy part of damper 93 can be linear electromagnetic generator, or the rotation with transmission translation function
Turn electromagnetic generator etc..Damper 93 will export alternating current to energy collection circuit 85.For used energy collection circuit
85, it is a kind of non-adjustable circuit with on-off switch, as shown in Figure 5.For regenerating rheological suspension system 80, used
Magnetorheological control method can be switch control.Shown in the control algolithm equation below (5).
WhereinWithIt is the speed of automobile chassis and wheel in vertical direction respectively.This traditional control algorithm will export
Two state Fmin/Fmax.Therefore, used control method can use equation below (6) to express.
As shown in Figure 10, dynamic pickup 95 will measure the dynamic response on chassis 91, such asWithDeng.Power allocation unit 97
(distributor) will run the control algolithm of above-mentioned formula (6).Magnetorheological damping controller 98 will run and control phase with traditional switch
With algorithm, and to the output order voltage u of current driver 83maxOr 0.Then, current driver 83 is by into damper 93
Magnetic current type transformer coil output driving current.Collection of energy controller 99 (collection of energy control unit) is by into energy collection circuit 85
Switch 84 output switch control signals.As traditional switch control algolithm is determined, when magnetorheological part exports maximum voltage
When, switch 84 will turn on, and the total power for being output to damper 93 is FMR_max+FEH；As magnetorheological part output minimum voltage 0V
When, switch 84 will turn off, and the total power for being output to damper 93 is FMR_min.In this case, vibration control can be ensured first
Energy, i.e. driver comfort.And collection of energy then optionally works.It should be noted that what is used in the present embodiment opens
It is not uniquely suitable control algolithm to close control, and also a lot of other control algolithms can be used.
Figure 11 shows another embodiment for the application for being applied to intelligent prosthesis system.For intelligent prosthesis system
90, it is people that difunctional magnetorheological devices 910 (that is, the revolving type magnetic rheologic brake apparatus for being integrated with energy collection circuit), which are used as,
Make knee joint.Magnetic current changing brake device 910 is connected with the thigh 905 of people and the shank 920 of people.Pin 930 contacts ground.With energy
The magnetic current changing brake device 910 of amount collecting function can provide controlled torque, and to support the body of people, and contributor walks.Also,
It has electromagnetic generator (motor), and the generator is integrated into magnetic current changing brake device.Generating function rotates knee joint
Kinetic energy be converted into electric energy, and export caused alternating current to energy collection circuit 911.
For used energy collection circuit 911, it is a kind of impedance adjustable with pwm signal controlling switch 931
Circuit, as shown in Figure 6.Therefore, control method can provide adjustable output used by intelligent prosthesis system 90.For intelligence
Prosthesis system 90, the torque and gait and the speed of travel needed for it are closely related.Therefore, used control method should export
Continue controlled braking moment, rather than two simple state τmin/τmax。
First, according to the information for coming from dynamic pickup 934, torque sensor 932 or other sensors, system control
Device 935 will determine required total braking force square τr.Then, Torque distribution unit 936 (distributor) will calculate viscous braking torque τη
Torque τ is collected with ceiling capacityEH_max.Designed for prosthesis system, viscous braking torque τηIt is generally very small and can be ignored.
τEH_maxIt can be calculated by above-mentioned formula (2) and (3).In some sections of walking cycle, for example, in high angular velocity, it is necessary to
Braking moment be less than same angular velocity under torque caused by collection of energy.In this case, collection of energy controller 938
The braking moment that (collection of energy control unit) adjustable energy is collected, without opening magnetorheological brake portion.Therefore, reducing
While the power consumption of magnetic current type transformer coil, collected energy maximization can be made.
The control of collection of energy braking moment will use open loop approach.For the braking moment τ neededr, switch 931
The dutycycle λ of pwm signal can be calculated as follows by collection of energy controller 938.
In some sections of walking cycle, for example, in low angular speed, it is necessary to braking moment be more than same angular velocity
Torque caused by lower collection of energy.In this case, collection of energy controller 938 and magnetorheological damping controller 937 be all
By work.Collection of energy part will remain in its maximum capacity, i.e. λ=100%.The magnetorheological braking moment τ of targetrMRIt will be divided
It is made into τr-τEH_max。
Magnetorheological braking moment control will use open loop approach.Relation between electric current and magnetorheological braking moment can be by school
Standard is simultaneously stored in magnetorheological brake monitor 937.Due to electric current with input to current driver 939 command voltage into than
Example, thus controller 937 will export corresponding command voltage.
Although the narration of the above includes many specific arrangements and parameter, it should be noted that these specific arrangements and ginseng
Number is merely illustrative the embodiment of the application.This should not be taken as the limitation to the application scope.Art technology
Personnel are appreciated that in the case where not departing from the application scope and spirit, and various modifications, increase can be carried out to it and is replaced.
Therefore, scope of the present application should be explained based on the claim.
Claims (19)
1. a kind of be used to coordinate magnetorheological damping/braking in magnetorheological damping/brakes and the equipment of collection of energy, wrap
Include：
Distributor, the total damping force/braking moment needed is configured to, produces the first distribution signal and the second distribution letter
Number；
Magnetorheological damping/brake monitor, it is configured to, in response to the described first distribution signal, produce for producing distributed magnetic
The magnetorheological command signal of rheology damping force/braking moment；And
Collection of energy controller, it is configured to, in response to the described second distribution signal, collect distributed energy.
2. equipment according to claim 1, wherein the collection of energy controller includes：
Energy collection circuit, it is configured to collect distributed energy from the TRT of the magnetorheological damping/brakes；With
And
Collection of energy control unit, it is configured to, in response to the described second distribution signal, beat energy collection circuit described in opening/closing, or
Person adjusts the size for the energy distributed that the energy collection circuit is collected.
3. equipment according to claim 2, wherein the distributor is according to the magnetorheological damping/brake monitor and institute
The output mode for stating collection of energy control unit produces the first distribution signal and the second distribution signal.
4. equipment according to claim 2 the, wherein magnetorheological damping/brake monitor has height output or low defeated
Go out, and the distributor produces the first distribution signal according to total damping forces of the needs/braking moment, and according to
The height output of the magnetorheological damping/brake monitor or low output produce the second distribution signal.
5. equipment according to claim 4, wherein
When magnetorheological damping/the brake monitor has low output, the distributor produces the second distribution signal, described
Collection of energy control unit distributes energy collection circuit described in signal-off using described second, or will be by collection of energy electricity
The size of the energy for the distribution that road is collected is adjusted to its minimum value；And
When magnetorheological damping/the brake monitor has height output, the distributor produces the second distribution signal, described
Collection of energy control unit opens the energy collection circuit using the described second distribution signal, or will be by collection of energy electricity
The size of the energy for the distribution that road is collected is adjusted to its maximum.
6. equipment according to claim 2, wherein the output of the magnetorheological damping/brake monitor is adjustable, institute
Distributor is stated to be configured to total damping force/braking moment of needs with collecting corresponding to the energy collection circuit
Maximum distribute collection of energy power/torque of energy and magnetorheological viscous damping forces/torque sum is compared, and based on than
Relatively result produces the first distribution signal and the second distribution signal.
7. equipment according to claim 6, wherein
The size for the energy distributed collected by the energy collection circuit has high level or low-level；
It is less than the feelings of collection of energy power/torque and magnetorheological viscous force/torque sum in total damping force/braking moment of needs
Under condition, the distributor produces the first distribution signal and the second distribution signal, and the first distribution signal represents needs
Total damping force/braking moment, the collection of energy control unit using described second distribution signal-off described in collection of energy
Circuit；And
Total damping force/braking moment of needs be more than or equal to collection of energy power/torque and magnetorheological viscous force/torque it
With in the case of, the distributor produces the first distribution signal and the second distribution signal, and the first distribution signal represents
Difference between the total damping force/braking moment and collection of energy power/torque that need, the collection of energy control unit utilize
The second distribution signal opens the energy collection circuit.
8. equipment according to claim 6, wherein
The size for the energy distributed collected by the energy collection circuit is adjustable；
It is less than the feelings of collection of energy power/torque and magnetorheological viscous force/torque sum in total damping force/braking moment of needs
Under condition, the distributor produces the first distribution signal and the second distribution signal, and the first distribution signal is zero, the energy
Amount collects the big of the energy distributed that control unit is collected using the described second distribution signal adjustment by the energy collection circuit
It is small to correspond to the total damping force/braking moment needed；And
Total damping force/braking moment of needs be more than or equal to collection of energy power/torque and magnetorheological viscous force/torque it
With in the case of, the distributor produces the first distribution signal and the second distribution signal, and the first distribution signal represents
Difference between the total damping force/braking moment and collection of energy power/torque that need, the collection of energy control unit utilize
The size for the energy distributed that the second distribution signal collects the energy collection circuit is adjusted to its maximum.
9. the equipment according to claim 5 or 7, wherein the energy collection circuit includes：
Rectifier, it is DC voltage to be configured to the ac voltage rectifier from the TRT；
Pressure regulator, it is configured to produce the charging current proportional to the DC voltage；
Switch, is configured to, in response to the switching signal from the collection of energy control unit, make the rectifier and the pressure regulation
Device is connected or disconnected；And
Energy storing device, storage is configured to as the electric energy collected by the charging current.
10. the equipment according to claim 5 or 8, wherein the energy collection circuit includes：
Rectifier, it is DC voltage to be configured to the ac voltage rectifier from the TRT；
Pressure regulator, it is configured to produce the charging current proportional to the DC voltage；
PWM controlling switches, it is connected between the rectifier and the pressure regulator, and is configured in response to being received from the energy
The pwm signal with controlled duty cycle for collecting control unit adjusts the charging current；And
Energy storing device, storage is configured to as the electric energy collected by the charging current.
11. the equipment according to claim 5 or 8, wherein the energy collection circuit includes：
Rectifier, it is DC voltage to be configured to the ac voltage rectifier from the TRT；
Pressure regulator, it is configured to produce the charging current proportional to the DC voltage；
Regulating resistor, the pressure regulator is connected to, and is configured to adjust in response to the resistance from the collection of energy control unit
Economize on electricity pressure, by adjusting charging current described in the resistance adjustment of itself；And
Energy storing device, storage is configured to as the electric energy collected by the charging current.
12. the equipment according to claim 10 or 11, wherein the energy collection circuit also includes current sensor, it is described
Current sensor is configured to measure the charging current, and notifies the charging current measured by the collection of energy control unit, and
And the collection of energy control unit is configured to adjust pwm signal or the resistance tune according to measured charging current
Economize on electricity pressure.
13. a kind of method for being used to coordinate magnetorheological damping/braking and collection of energy in magnetorheological damping/brakes, bag
Include：
Magnetic current variable resistance by the total damping force/braking torque distribution needed in the magnetorheological damping/brakes into needs
Buddhist nun's power/braking moment and the collection of energy damping force/braking moment needed；
Magnetorheological damping power as needed/braking moment produces magnetorheological damping power/braking moment of distribution；And
Collection of energy damping force as needed/braking moment collects distributed energy.
14. according to the method for claim 13, wherein collection of energy damping force as needed/braking moment collection divides
The energy matched somebody with somebody includes：
Collection of energy damping force/braking moment as needed, unlatching/closing divide the collection of energy or adjustment that are distributed
The size for the energy matched somebody with somebody.
15. according to the method for claim 14, wherein the magnetorheological damping power/braking moment needed is high-level or low water
Flat, the size of the energy distributed is uncontrollable, and with high level or low-level；
Caused magnetorheological damping power/braking moment have it is high-caliber in the case of, open needs collection of energy damping
Power/braking moment, with high level；And
Caused magnetorheological damping power/braking moment have it is low-level in the case of, close needs collection of energy damping
Power/braking moment, with low-level.
16. according to the method for claim 14, wherein the magnetorheological damping power/braking moment needed is high-level or low water
It is flat, and the collection of the energy to being distributed is adjustable；
Caused magnetorheological damping power/braking moment have it is high-caliber in the case of, it is necessary to collection of energy damping force/system
Kinetic moment is assigned to its maximum；And
Caused magnetorheological damping power/braking moment have it is low-level in the case of, it is necessary to collection of energy damping force/system
Kinetic moment is assigned to its minimum value.
17. according to the method for claim 14, wherein the magnetorheological damping power/braking moment needed is in its minimum value and most
Can adjust between big value, and by the total damping force/braking torque distribution needed in the magnetorheological damping/brakes into
Magnetorheological damping power/the braking moment needed and the collection of energy damping force/braking moment needed include：
By total damping force/braking moment of needs and the collection of energy power/torque and magnetic corresponding to distributed ceiling capacity
Rheology viscous damping forces/braking moment and be compared；And
Based on comparative result, the collection of energy damping force/brake force for producing magnetorheological damping power/braking moment of needs and needing
Square.
18. the method according to claim 11, wherein
The size of the energy distributed is uncontrollable, and with high level or low-level；
It is less than collection of energy power/torque and magnetorheological viscous damping forces/braking moment in total damping force/braking moment of needs
In the case of sum, it is necessary to magnetorheological damping power/braking moment be assigned to represent need total damping force/brake force
Square, and the collection of energy damping force/braking moment needed is assigned to its low-level；And
It is more than or equal to collection of energy power/torque and magnetorheological viscous damping forces/system in total damping force/braking moment of needs
In the case of kinetic moment sum, it is necessary to magnetorheological damping power/braking moment be assigned to represent required total damping force/system
Difference between kinetic moment and collection of energy power/torque, and required collection of energy damping force/braking moment is assigned to its height
It is horizontal.
19. the method according to claim 11, wherein
The collection of energy to being distributed is adjustable；
It is less than collection of energy power/torque and magnetorheological viscous damping forces/braking moment in total damping force/braking moment of needs
In the case of sum, it is necessary to magnetorheological damping power/braking moment be assigned to represent 0, and the collection of energy damping force needed/
Braking moment is assigned to represent required total damping force/braking moment；And
It is more than or equal to collection of energy power/torque and magnetorheological viscous damping forces/system in total damping force/braking moment of needs
In the case of kinetic moment sum, it is necessary to magnetorheological damping power/braking moment be assigned to represent need total damping force/system
Difference between kinetic moment and collection of energy power/torque, and required collection of energy damping force/braking moment is assigned to it most
Big value.
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| CN109172289A (en) * | 2018-10-16 | 2019-01-11 | 合肥工业大学 | Hip joint healing ectoskeleton and its motion control method based on multifunction drive |
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