CN107707008B - Apparatus and method for coordinating magnetorheological damping/braking and energy harvesting - Google Patents
Apparatus and method for coordinating magnetorheological damping/braking and energy harvesting Download PDFInfo
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- CN107707008B CN107707008B CN201610647828.5A CN201610647828A CN107707008B CN 107707008 B CN107707008 B CN 107707008B CN 201610647828 A CN201610647828 A CN 201610647828A CN 107707008 B CN107707008 B CN 107707008B
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- 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
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Abstract
An apparatus and method for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system is disclosed. The apparatus comprises: a divider configured to generate a first division signal and a second division signal based on a required total damping force/braking torque; a magnetorheological damping/braking controller configured to generate a magnetorheological command signal for generating the assigned magnetorheological damping force/braking torque in response to the first assignment signal; and an energy harvesting controller configured to harvest the allocated energy in response to the second allocation signal.
Description
Technical Field
The present application relates to an apparatus and method for coordinating magnetorheological damping/braking and Energy Harvesting (EH) in a Magnetorheological (MR) damping/braking system.
Background
Magnetorheological fluids are smart materials that exhibit a rapid, reversible, and tunable transition from a free-flowing state to a semi-solid state within milliseconds upon application of a magnetic field. Magnetorheological fluids are very promising for semi-active vibration/braking control because they provide a simple, fast response interface between an electrically controlled device/system and a mechanical device/system.
FIG. 1 shows a schematic diagram of a typical magnetorheological damping system with a semi-active control system. As shown in FIG. 1, the magnetorheological damping system 100 includes a dynamic sensor 110, a system controller 120, a damper controller 130, a current drive 140, a magnetorheological damper 150, and a workpiece 160. The dynamic sensor 110 is used to measure signals such as displacement, velocity and/or acceleration of the workpiece 160. The system controller 120 can generate and output a signal indicative of a desired damping force of the magnetorheological damper 150 based on the measured signal. The damper controller 130 will then generate a voltage command based on the measured signal and the desired damping force. With the voltage command, the current driver 140 will send a driving current that can drive the magnetorheological damper 150 to generate the desired damping force applied to the workpiece 160. If the magnetorheological damping system 100 further includes a force sensor (not shown in FIG. 1), the damper controller 130 will execute a closed loop force control algorithm using the generated force measured by the force sensor to achieve closed loop force control. Similarly, if the magnetorheological damping system 100 further includes a current sensor (not shown in fig. 1), the damper controller 130 will execute a closed-loop current control algorithm using the generated current measured by the current sensor to achieve closed-loop current control.
For proper operation of the magnetorheological damping system, a power source is required to energize electromagnetic coils inside or outside the magnetorheological damper to provide a magnetic field for the magnetorheological fluid. However, in magnetorheological damping systems, a significant amount of mechanical energy is wasted. To collect and reuse the wasted mechanical energy, magnetorheological damping systems have been developed that are capable of generating electricity (i.e., having an energy harvesting function). The energy collector in the magneto-rheological system converts kinetic energy into electric energy so as to improve the energy efficiency of the whole system.
FIG. 2 illustrates a schematic diagram of another exemplary magnetorheological damping system having energy harvesting capabilities. For brevity of description, detailed descriptions of the same components in fig. 2 as those in fig. 1 will be omitted. As shown in fig. 2, based on fig. 1, the magnetorheological damping system 100' further comprises a power generation device 170 and an energy collector 180. As a mechanical working component, the electrical generator 170 may convert mechanical energy from the magnetorheological damper into electrical energy, which may be stored in an energy scavenger 180. With the generator 170 and the energy scavenger 180, the system 100' is capable of both magnetorheological damping and energy scavenging.
However, in the same system, magnetorheological damping and energy harvesting can interact. For example, in a vehicle suspension system, the purpose of a magnetorheological damper is to eliminate or reduce vibration, to have good vibration isolation, and to provide good ride comfort. Generally, the magnetorheological damping function tends to reduce the amplitude of motion of the suspension. However, the purpose of energy harvesting is to harvest as much vibration energy as possible. Thus, the energy harvesting function tends to move with greater amplitude of the suspension. Thus, the purposes of these two functions are different from each other and are diametrically opposed.
On the other hand, energy harvesting will directly or indirectly bring additional damping force to the workpiece. This damping effect from energy harvesting can be considered a variable viscous damper. This additional damping force is generated by the induced electrical energy of the power generation means according to the law of energy conversion and will be applied directly to the vibrating structure. And, the additional damping force varies with the change in the excitation speed of the workpiece or the magnetorheological damper, depending on the position of the power generation device. As shown in FIG. 2, the power generator 170 is directly connected to the magnetorheological damper 150. Thus, the damping force from the energy harvesting will be applied directly to the magnetorheological damper 150 and indirectly to the workpiece 160. If the power generation device 170 is directly connected to the workpiece 160, the damping force from the energy harvesting will be applied directly to the workpiece 160.
Since both energy harvesting and magnetorheological damping can generate damping forces, the effect of energy harvesting will affect vibration/motion control performance. Magnetorheological damping control, on the other hand, will affect the system dynamic response, i.e., the input excitation for energy harvesting. Thus, the effect of magnetorheological damping will also affect the energy harvesting capability.
There are many vibration/motion control methods for magnetorheological damping devices/systems, such as skyhook (skyhook) control. However, existing vibration/motion control devices and methods are directed only to the control of magnetorheological damping and do not take into account the interplay between magnetorheological damping and energy harvesting. Furthermore, the existing vibration/motion control devices and methods do not consider how to maximize the energy harvested while satisfying the vibration/motion control performance.
Disclosure of Invention
According to an aspect of the present application, there is provided an apparatus for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system. The apparatus comprises: a divider configured to generate a first division signal and a second division signal based on a required total damping force/braking torque; a magnetorheological damping/braking controller configured to generate a magnetorheological command signal for generating the assigned magnetorheological damping force/braking torque in response to the first assignment signal; and an energy harvesting controller configured to harvest the allocated energy in response to the second allocation signal.
According to another aspect of the present application, a method for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system comprises: distributing the total damping force/braking torque required in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy collection damping force/braking torque; generating distributed magneto-rheological damping force/braking torque according to the required magneto-rheological damping force/braking torque; and collecting the distributed energy according to the required energy collection damping force/braking torque.
According to the implementation mode of the application, the interaction between the magneto-rheological damping/braking and the energy collection in the magneto-rheological damping/braking system is considered, and the magneto-rheological damping/braking and the energy collection in the magneto-rheological damping/braking system are coordinated. In the case of a device with a distributor, the total damping force/braking torque required can be distributed in two parts, namely the distributed magnetorheological damping force/braking torque and the distributed energy. Firstly, the distributed magnetorheological damping force/braking torque can ensure the damping/braking control performance. Second, the distributed energy may maximize energy efficiency. Therefore, not only the damping/braking control performance is ensured, but also the mechanical energy can be collected as much as possible while the electric energy consumption of the magnetorheological damping/braking is reduced. The interplay between magnetorheological damping/braking and energy harvesting is fully considered.
Drawings
FIG. 1 illustrates a schematic diagram of an exemplary magnetorheological damping system having a semi-active control system;
FIG. 2 is a schematic diagram of another exemplary magnetorheological damping system having energy harvesting capabilities;
FIG. 3 shows a schematic diagram of a magnetorheological damping/braking system having an apparatus for coordinating Magnetorheological (MR) damping/braking and Energy Harvesting (EH) of the system in accordance with an embodiment of the present application;
FIG. 4 shows a schematic diagram of an energy harvesting controller according to an embodiment of the present application;
FIG. 5 shows a schematic diagram of an energy harvesting circuit according to one embodiment of the present application;
FIG. 6 shows a schematic diagram of an energy harvesting circuit according to another embodiment of the present application;
FIG. 7 shows a schematic diagram of an energy harvesting circuit according to yet another embodiment of the present application;
FIG. 8 illustrates a flow chart of a method for coordinating Magnetorheological (MR) damping/braking and Energy Harvesting (EH) in a magnetorheological damping/braking system in accordance with one embodiment of the present application;
FIG. 9 shows a flowchart of step S810 according to an embodiment of the present application;
FIG. 10 illustrates one example of the present application as applied to a vehicle suspension system; and
FIG. 11 illustrates another embodiment of the present application as applied to an intelligent prosthesis system.
Detailed Description
The present application will be described in detail below with reference to the accompanying drawings.
The magnetorheological damping apparatus/systems described herein may include a magnetorheological damper and a magnetorheological brake device. Magnetorheological dampers, such as vehicle suspension systems, operate under linear motion. In such a magnetorheological damper, a damping force will be generated on the system. Magnetorheological brakes (e.g., smart knee prostheses) operate under rotational motion. In such a magnetorheological brake device, a braking torque will be generated on the system. Notably, the magnetorheological damping apparatus/systems described herein include both a magnetorheological damper and a magnetorheological brake device.
Fig. 3 shows a schematic diagram of a magnetorheological damping/braking system with an apparatus for coordinating Magnetorheological (MR) damping/braking and Energy Harvesting (EH) of the system according to an embodiment of the application. As shown in fig. 3, the magnetorheological damping/braking system 3000 includes a dynamic sensor 110, a system controller 120, an electric current drive 140, a magnetorheological damper 150, a workpiece 160, a power generation device 170, and an apparatus 3100 for coordinating magnetorheological damping/braking and energy harvesting. For brevity of description, detailed descriptions of the same components in fig. 3 as those in fig. 2 will be omitted.
Referring to fig. 3, device 3100 includes a dispenser 3110, a magnetorheological damping/brake controller 3120, and an energy harvesting controller 3130. In operation, the system controller 120 may generate and output a signal representative of the total damping force/braking torque required based on the signal measured by the dynamic sensor 110. The divider 3110 generates a first division signal and a second division signal based on the total damping force/braking torque required. These two signals will be used for magnetorheological damping/braking and energy harvesting, respectively, in the system. The physical circuit of the distributor 3110 may be a Micro Control Unit (MCU) or a Digital Signal Processor (DSP), etc.
The first distribution signal is sent to the magnetorheological damping/brake controller 3120. In response to the first allocation signal, the magnetorheological damping/brake controller 3120 generates a magnetorheological command signal for generating an allocated magnetorheological damping force/braking torque. For example, the MR command signal can be, but is not limited to, a voltage signal. With the MR command signal, the current driver 140 will send a drive current that can drive the MR damper 150 to produce an assigned MR damping force/braking torque that is applied to the workpiece 160. To generate the magnetorheological command signal, the magnetorheological damping/brake controller 3120 may run known control algorithms, such as PID control, adaptive control, and the like.
The second distribution signal is sent to the energy harvesting controller 3130. In response to the second distribution signal, the energy-harvesting controller 3130 harvests the distributed energy from the power generation device 170.
According to the implementation mode of the application, the interaction between the magneto-rheological damping/braking and the energy collection in the magneto-rheological damping/braking system is considered, and the magneto-rheological damping/braking and the energy collection in the magneto-rheological damping/braking system are coordinated. In the case of a device with a distributor, the total damping force/braking torque required can be distributed in two parts, namely the distributed magnetorheological damping force/braking torque and the distributed energy. Firstly, the distributed magnetorheological damping force/braking torque can ensure the damping/braking control performance. Second, the distributed energy may maximize energy efficiency. Therefore, not only the damping/braking control performance is ensured, but also the mechanical energy can be collected as much as possible while the electric energy consumption of the magnetorheological damping/braking is reduced. The interplay between magnetorheological damping/braking and energy harvesting is fully considered.
FIG. 4 shows a schematic diagram of an energy harvesting controller according to an embodiment of the present application. As shown in fig. 4, the energy-harvesting controller 3130 includes an energy-harvesting circuit 3131 and an energy-harvesting control portion 3132. The energy harvesting circuit 3131 is capable of harvesting distributed energy from the power generation device 170 under the control of the energy harvesting control portion 3132. In response to the second dispensing signal from the dispenser 3110, the energy-collecting control part 3132 turns on/off the energy-collecting circuit 3131 or adjusts the amount of dispensed energy collected by the energy-collecting circuit 3131.
There are two controllable energy harvesting circuits. One with an unadjustable equivalent impedance and the other with an adjustable equivalent impedance. The configuration of these two energy harvesting circuits will be discussed in detail later. The energy-harvesting control part 3132 may control the energy harvesting of the energy harvesting circuit 3131 by turning on/off the energy harvesting circuit 3131, in the case of having an unmodulatable equivalent impedance. With an adjustable equivalent impedance, the energy harvesting control portion 3132 may control the energy harvesting of the energy harvesting circuit 3131 by adjusting the equivalent impedance of the energy harvesting circuit 3131. By controlling the energy harvesting circuit 3131, both the harvested energy from the power generation device 170 and the generated damping force/braking torque may be controlled. The energy harvesting control section 3132 may also run known control algorithms, such as skyhook control, bang-bang control, Lyapunov stability-based control, shear-type optimal control, linear quadratic Gaussian control, neural network control, sliding mode control, and the like, in order to generate the opening/closing or adjustment signal. Each algorithm utilizes measurements of absolute acceleration, velocity, displacement, and/or applied force to determine a control action. The adjusting signal may be a Pulse Width Modulation (PWM) signal having an adjusted duty ratio or a resistance control voltage for adjusting an equivalent impedance of the energy harvesting circuit 3131.
In this manner, with the second distribution signal from the distributor, the energy harvesting control portion can control the energy harvesting of the energy harvesting circuit by turning on/off or adjusting the energy harvesting circuit, which makes it possible to control the energy harvesting in the system.
For electromagnetic energy harvesting, the induced damping force F of the energy harvestingEHWith braking torque τEHIt can be calculated as follows:
where x and θ are the excitation displacement and rotation angle, respectively, CEHAnd C'EHIs the damping coefficient. Both damping coefficients are constants related to the parameters of the power plant and its transmission ratio and are easy to calculate. For example, for a rotary electromagnetic generator (motor) with a gear system to amplify angular velocity, C'EHIt can be calculated as follows:
wherein n is the transmission ratio, KmIs the constant of the motor speed, RiIs the internal resistance, R, of the motor coilEHIs the equivalent resistance of the energy harvesting circuit. In general, REHIs designed to react with RiEqual, i.e. impedance matched. In this way, the energy harvesting circuit will have maximum efficiency.
Further, τEHCharging current i of the energy harvesting circuitEHIs expressed by the following formula:
τEH＝nKmiEH (4)
in one embodiment of the present application, the divider 3110 generates a first and second division signal according to the output mode of the magnetorheological damping/brake controller 3120 and the energy harvesting control portion 3132. Generally, there are two typical output modes for each of the magnetorheological damping/brake controller and the energy harvesting control. One is a high-low mode in which there are only two outputs (i.e., high and low) to either the magnetorheological damping/braking controller or the energy harvesting control. That is, the output is not adjustable. For example, a high output may be on and a low output may be off. The other is an adjustable mode in which the output of each of the magnetorheological damping/brake controller and the energy harvesting control is continuously adjustable. It is to be appreciated that the magnetorheological damping/brake controller 3120 may employ conventional algorithms appropriate for its output mode to generate the magnetorheological command signal. The distributor generates the first distribution signal and the second distribution signal according to the output modes of the magnetorheological damping/braking controller and the energy collection control part, so that firstly the damping/braking control performance of the system can be ensured, and the collected energy can be as much as possible. This will be explained in detail below.
In one embodiment of the present application, the magnetorheological damping/brake controller 3120 has a high output or a low output. That is, the output of the magnetorheological damping/brake controller 3120 is not adjustable and can only be high or low. In this case, the divider 3110 will generate a first divided signal to represent the total damping force/braking torque required. That is, the distributor 3110 distributes the total damping force/braking torque required to the magnetorheological damping/braking controller 3120 in its entirety. Also, the divider 3110 will generate a second divided signal depending on whether the MR damping/brake controller 3120 is high or low.
Specifically, when the magnetorheological damping/braking controller 3120 has a low output, the distributor 3110 generates a second distribution signal with which the energy-harvesting control 3132 turns off the energy-harvesting circuit 3131 or adjusts the amount of distributed energy harvested by the energy-harvesting circuit 3131 to its minimum value. On the other hand, when the magnetorheological damping/braking controller 3120 has a high output, the dispenser 3110 generates a second dispensing signal with which the energy-harvesting control portion 3132 opens the energy-harvesting circuit 3131 or adjusts the amount of dispensed energy harvested by the energy-harvesting circuit 3131 to its maximum value.
In conventional magnetorheological damping systems, such as the system shown in fig. 1-2, coarse control of magnetorheological damping is sufficient for the system if the magnetorheological damper controller is in a high-low mode. In this case, according to embodiments of the present application, energy harvesting is turned on or adjusted to its maximum value when the magnetorheological damping/brake controller has its high output. Therefore, no matter the output mode of the energy collecting circuit, the damping/braking control performance of the system can be ensured, and the collected energy can be as much as possible. On the other hand, when the magnetorheological damping/braking controller has its low output, the energy harvesting is turned off or adjusted to its minimum value, thereby securing the damping/braking control performance first.
In another embodiment of the present application, the output of the magnetorheological damping/brake controller 3120 is adjustable. In this case, the distributor 3110 compares the total damping force/braking torque required with the sum of the energy harvesting force/torque and the magnetorheological viscous damping force/braking torque corresponding to the maximum distributed energy harvested by the energy harvesting circuit. Here, the magnetorheological viscous damping force/braking torque may be calculated. Also, for some applications, such as smart prostheses, magnetorheological viscous damping forces/braking torques are typically small and negligible. The energy harvesting force/moment is relative to the maximum dispensed energy collected by the energy harvesting circuit 3131 and may be preset in the dispenser 3110 or available from the dispenser 3110. That is, the distributor 3110 will compare the total damping force/braking torque required with the sum. The divider 3110 will then generate first and second divided signals based on the comparison.
Specifically, on the one hand, the amount of distributed energy collected by the energy collection circuit 3131 has a high level or a low level. Accordingly, the output of the energy harvesting control 3132 is not adjustable and can only be high or low. For example, a high output of the energy harvesting control portion 3132 may turn on the energy harvesting circuit 3131, and a low output of the energy harvesting control portion 3132 may turn off the energy harvesting circuit 3131. When the energy harvesting control portion 3132 is high output, the distributed energy harvested by the energy harvesting circuit 3131 will be at a higher level, and when the energy harvesting control portion 3132 is low output, the distributed energy harvested by the energy harvesting circuit 3131 will be at a lower level, such as 0. In this case, when the total damping force/braking torque required is less than the sum of the energy harvesting and magnetorheological viscous force/torque, the divider 3110 will generate a first division signal to represent the total damping force/braking torque required. That is, the distributor 3110 distributes all of the required total damping force/braking torque to the first distribution signal. The distributor 3110 generates a second distribution signal, and the energy collection control unit 3132 turns off the energy collection circuit 3131 using the second distribution signal. Further, when the total damping force/braking torque required is greater than or equal to the sum of the energy harvesting and magnetorheological viscous forces/torques, the dispenser 3110 will generate a first dispensing signal to represent the difference between the total damping force/braking torque required and the energy harvesting force/torque, and generate a second dispensing signal with which the energy harvesting control 3132 opens the energy harvesting circuit 3131. That is, the distributor 3110 distributes the energy-collecting force/torque to the second distribution signal and distributes the difference between the required total damping force/braking torque and the energy-collecting force/torque to the first distribution signal.
On the other hand, the amount of distributed energy collected by the energy harvesting circuit 3131 is adjustable. Accordingly, the output of the energy harvesting control 3132 is also adjustable. In this case, when the required total damping force/braking torque is less than the sum of the energy harvesting and magnetorheological viscous force/torque, the dispenser 3110 generates a first dispensing signal as 0 and generates a second dispensing signal with which the energy harvesting control 3132 adjusts the amount of dispensed energy harvested by the energy harvesting circuit 3131 to correspond to the required total damping force/braking torque. That is, the distributor 3110 distributes all of the required total damping force/braking torque to the second distribution signal. And, when the total damping force/braking torque required is greater than or equal to the sum of the energy harvesting and magnetorheological viscous forces/torques, the distributor 3110 will generate a first distribution signal to represent the difference between the total damping force/braking torque required and the energy harvesting force/torque, and generate a second distribution signal with which the energy harvesting control 3132 adjusts the amount of distributed energy harvested by the energy harvesting circuit 3131 to its maximum value. That is, the distributor 3110 will distribute the energy harvesting force/torque to the second distribution signal and the difference between the total damping force/braking torque required and the energy harvesting force/torque to the first distribution signal.
The generation of the first split signal and the second split signal under different conditions is described above, by means of which the magneto-rheological damping/braking and the energy harvesting in the magneto-rheological damping/braking system are coordinated. Also, the damping/braking control performance of the system may be ensured first, and then as much energy as possible may be collected.
FIG. 5 shows a schematic diagram of an energy harvesting circuit according to one embodiment of the present application. The amount of distributed energy collected by the energy harvesting circuit shown in fig. 5 is not adjustable, but is controllable in coordination with magnetorheological damping/braking by an on-off switch. As shown in fig. 5, energy harvesting circuit 3131 'includes a rectifier 3131a, a voltage regulator 3131b, a switch 3131 c', and an energy storage device 3131 d. The rectifier 3131a may be a bridge rectifier or a voltage multiplier, and may rectify the ac voltage transmitted by the power generation device 170 into a dc voltage. And voltage regulator 3131b may be an isolated flyback converter or a boost chopper and may generate a charging current proportional to the dc voltage, which causes energy harvesting circuit 3131' to behave as a resistor. The energy harvesting circuit 3131' may be designed to impedance match the internal coil of the power generation device 170 such that the energy harvesting circuit has maximum efficiency. The switch 3131 c' may receive an on/off signal from the energy collection control portion 3132. In response to the on/off signal, the switch 3131 c' turns on/off the connection of the rectifier 3131a to the voltage regulator 3131 b. The switch 3131 c' may be, for example, a relay, a MOSFET, or the like. The energy storage device 3131d may be a rechargeable battery, a capacitor, or an ultracapacitor, and may store electrical energy harvested from the charging current for reuse. The configuration of the energy harvesting circuit shown in fig. 5 may be implemented to be non-tunableAnd (4) controlling energy-saving collection. That is, the energy harvesting circuit can be opened or closed and will have two damping forces/braking torques: 0 or FEH/τEHAs shown in formulas (1) to (2) above.
FIG. 6 shows a schematic diagram of an energy harvesting circuit according to another embodiment of the present application. The amount of distributed energy collected by the energy harvesting circuit shown in fig. 6 is adjustable. As shown in fig. 6, an energy harvesting circuit 3131 "includes a rectifier 3131a, a voltage regulator 3131b, a PWM control switch 3131 c", and an energy storage device 3131 d. For brevity of description, detailed description of the same components in fig. 6 as those in fig. 5 will be omitted. The PWM control switch 3131c ″ is connected between the rectifier 3131a and the voltage regulator 3131b, and may receive a PWM signal having a controlled duty ratio from the energy collection control portion 3132. The duty ratio of the PWM signal is controlled by the energy collection control section 3132. In response to the PWM signal having the controlled duty cycle, the PWM control switch 3131c ″ may regulate the charging current from the voltage regulator 3131 b. By adjusting the charging current, the equivalent impedance of the energy harvesting circuit 3131 "may be adjusted. With such a PWM controlled switch 3131c ", the equivalent impedance of the energy harvesting circuit 3131" is adjustable, thereby making the amount of distributed energy harvested by the energy harvesting circuit 3131 "adjustable. That is, the energy harvesting of the system is adjustable, thereby enabling control of the adjustable energy harvesting. Specifically, by controlling the duty ratio of the PWM signal within a certain range (0, 100%), the charging current will be in a certain range (0, i)EH) And (4) the following steps. In this way, the energy harvesting damping force/braking torque can be continuously controlled within a certain range (0, F)EH_max) And (4) the following steps.
FIG. 7 shows a schematic diagram of an energy harvesting circuit according to yet another embodiment of the present application. The amount of distributed energy harvested by the energy harvesting circuit shown in fig. 7 is also adjustable. As shown in fig. 7, energy harvesting circuit 3131 "'includes a rectifier 3131a, a voltage regulator 3131b, a regulating resistor 3131 c"', and an energy storage device 3131 d. For brevity of description, detailed description of the same components in fig. 7 as those in fig. 5 will be omitted. As shown in equation (3) above, the energy harvesting damping force/braking torque is inversely proportional to the equivalent resistance of the energy harvesting circuit. Thus, a regulation resistor 3131c ' "is included in the energy harvesting circuit 3131 '" and connected to the voltage regulator 3131b, and the regulation resistor 3131c ' "may receive a resistance-regulating voltage from the energy harvesting control portion 3132. In response to the resistance adjustment voltage, the adjustment resistor 3131 c' ″ may adjust the charging current by adjusting its resistance. By this adjusting resistor 3131 c' ", the equivalent resistance of the energy harvesting circuit 3131 is adjustable, and thus the amount of distributed energy harvested by the energy harvesting circuit 3131 is also adjustable. That is, the energy harvesting of the system is adjustable, thereby enabling control of the adjustable energy harvesting. The adjusting resistor 3131 c' ″ is programmable and can change its resistance value according to an input command voltage from the energy collection control portion 3132.
In one embodiment of the present application, the energy harvesting circuit 3131 may further include a current sensor (not shown). The current sensor may measure a charging current generated by the voltage regulator 3131b and inform the energy collection control 3132 of the measured charging current. Then, the energy collection control part 3132 may adjust the PWM signal or the resistance adjustment voltage according to the measured charging current, thereby implementing closed-loop current control of the energy collection circuit 3131.
FIG. 8 illustrates a flow chart of a method for coordinating Magnetorheological (MR) damping/braking and Energy Harvesting (EH) in a magnetorheological damping/braking system in accordance with one embodiment of the present application. As shown in FIG. 8, method 800 includes steps S810-S830. Step S810 distributes the required total damping force/braking torque in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy harvesting damping force/braking torque. Step S820 generates the allocated magnetorheological damping force/braking torque according to the required magnetorheological damping force/braking torque. And, step S830 collects the distributed energy according to the required energy collection damping force/braking torque.
In one embodiment of the present application, step S830 may include: the damping force/braking torque is collected according to the required energy, the collection of the distributed energy is turned on/off, or the distributed energy is adjusted.
In one embodiment of the present application, the magnetorheological damping force/braking torque required is high or low and the amount of energy dispensed is not adjustable and has a high or low level. In this case, when the generated magnetorheological damping force/braking torque is at a high level, the required energy harvesting damping force/braking torque is turned on to have a high level. On the other hand, when the generated magnetorheological damping force/braking torque is at a low level, the required energy harvesting damping force/braking torque is switched off to have a low level.
In another embodiment of the present application, the magnetorheological damping force/braking torque required is high or low and the collection of distributed energy is adjustable. In this case, when the generated magnetorheological damping force/braking torque is at a high level, the required energy harvesting damping force/braking torque is distributed to its maximum value. On the other hand, when the generated magnetorheological damping force/braking torque is of a low level, the required energy harvesting damping force/braking torque is distributed to its minimum value.
FIG. 9 shows a flowchart of step S810 according to an embodiment of the present application. In this embodiment, the generated magnetorheological damping force/braking torque is adjustable. In this case, step S810 may include sub-steps S811 and S812, as shown in fig. 9. Sub-step S811 compares the required total damping force/braking torque with the sum of the energy harvesting force/torque and the magnetorheological viscous damping force/braking torque corresponding to the maximum distributed energy harvested by the energy harvesting circuit. And sub-step S812 generates a desired magnetorheological damping force/braking torque and a desired energy harvesting damping force/braking torque based on the results of the comparison.
In one embodiment of the present application, the amount of energy dispensed is not adjustable and has only a high or low level. In this case, on the one hand, when the required total damping force/braking torque is less than the sum of the energy harvesting and magnetorheological viscous forces/torques, the required magnetorheological damping force/braking torque is allocated to represent the required total damping force/braking torque, and the required energy harvesting damping force/braking torque is allocated to its low level. On the other hand, when the required total damping force/braking torque is greater than or equal to the sum of the energy harvesting and magnetorheological viscous forces/torques, the required magnetorheological damping force/braking torque is assigned to represent the difference between the required total damping force/braking torque and the energy harvesting force/torque, and the required energy harvesting damping force/braking torque is assigned to its high level.
In another embodiment of the present application, the harvesting of the distributed energy is adjustable. In this case, on the one hand, when the total damping force/braking torque required is less than the sum of the energy harvesting and magnetorheological viscous forces/torques, the required magnetorheological damping force/braking torque is assigned to 0 and the required energy harvesting damping force/braking torque is assigned to represent the required total damping force/braking torque. On the other hand, when the desired total damping force/braking torque is greater than or equal to the sum of the energy harvesting and magnetorheological viscous forces/torques, the desired magnetorheological damping force/braking torque is assigned to represent the difference between the desired total damping force/braking torque and the energy harvesting force/torque, and the desired energy harvesting damping force/braking torque is assigned to its minimum value.
FIG. 10 illustrates one example of the present application as applied to a vehicle suspension system. For the regenerative magnetorheological suspension system 80, an energy regenerative magnetorheological damper 93 (i.e., a linear magnetorheological damper integrated with an energy harvesting circuit) is used. The regenerative magnetorheological suspension system 80 includes a spring 92 and a damper 93. The suspension is mounted between the chassis 91 and the wheels 94 of the vehicle. When the wheel 94 vibrates under road disturbances, the spring 92 absorbs the vibration energy, and then the damper 93 dissipates the vibration energy. The regenerative magnetorheological damper 93 converts a portion of the vibrational energy into electrical energy and outputs a controllable damping force to the chassis 91 to ensure ride comfort.
The energy collecting portion of the damper 93 may be a linear electromagnetic generator, or a rotary electromagnetic generator having a transmission conversion function, or the like. The damper 93 will output an alternating current to the energy harvesting circuit 85. For the energy harvesting circuit 85 used, it is an unregulated circuit with an on-off switch, as shown in fig. 5. For the regenerative magnetorheological suspension system 80, the magnetorheological control method employed may be on-off control. The control algorithm is shown in equation (5) below.
Wherein
And
respectively the speed of the vehicle chassis and the wheels in the vertical direction. This conventional control algorithm will output two states Fmin/Fmax. Therefore, the control method used can be expressed by the following formula (6).
As shown in FIG. 10, the dynamic sensor 95 will measure the dynamic response of the chassis 91, e.g.
And
and the like. The force distribution unit 97 (distributor) will run the control algorithm of equation (6) above. The magnetorheological damping controller 98 will run the same algorithm as the conventional switch control and output a command voltage u to the current driver 83maxOr 0. The current driver 83 then outputs a driving current to the magnetorheological coil in the damper 93. The energy collection controller 99 (energy collection control unit) outputs a switch control signal to the switch 84 in the energy collection circuit 85. When the MR portion outputs maximum voltage, the switch 84 will be on and the total force output to the damper 93 is F, as determined by the conventional switch control algorithmMR_max+FEH(ii) a When the MR part outputs a minimum voltage of 0V, the switch 84 will be off and the total force output to the damper 93 is FMR_min. In thatIn this case, the vibration control performance, i.e., the driving comfort, can be ensured first. While energy harvesting is selectively effected. It should be noted that the switch control used in this embodiment is not the only suitable control algorithm, and that many other control algorithms may be used.
FIG. 11 shows another embodiment of the present application as applied to an intelligent prosthesis system. For the intelligent prosthesis system 90, a dual function magnetorheological device 910 (i.e., a rotary magnetorheological brake device integrated with an energy harvesting circuit) is used as the artificial knee joint. The magnetorheological brake 910 is coupled to the person's thigh 905 and the person's shank 920. The feet 930 contact the ground. The magnetorheological brake device 910 with energy harvesting capability can provide controlled torque to support a person's body and assist the person in walking. And it has an electromagnetic generator (motor) which is integrated into the magnetorheological brake device. The generator can convert the kinetic energy of the knee joint rotation into electric energy and output the generated alternating current to the energy harvesting circuit 911.
As for the energy harvesting circuit 911 used, it is an impedance-adjustable circuit having a PWM signal controlling a switch 931 as shown in fig. 6. Thus, the control method employed by the intelligent prosthesis system 90 will be able to provide an adjustable output. For the intelligent prosthesis system 90, the torque required is closely related to gait and walking speed. The control method used should therefore deliver a continuously controlled braking torque, instead of two simple states τmin/τmax。
First, based on information from the dynamic sensors 934, torque sensors 932, or other sensors, the system controller 935 will determine the total braking torque τ requiredr. The torque distribution unit 936 (distributor) will then calculate the viscous braking torque τηAnd maximum energy harvesting moment τEH_max. For prosthetic system design, viscous braking torque τηAre typically very small and can be neglected. Tau isEH_maxCan be calculated by the above equations (2) and (3). In some intervals of the walking cycle, for example at high angular velocity, the braking torque required is less than the torque generated by energy harvesting at the same angular velocity. In this caseNext, the energy harvesting controller 938 (energy harvesting control portion) may adjust the energy harvesting braking torque without turning on the magnetorheological braking portion. Thus, the energy collected can be maximized while reducing the power consumption of the magnetorheological coil.
The energy harvesting brake torque control will use an open loop approach. In order to obtain the required braking torque taurThe duty ratio λ of the PWM signal of the switch 931 may be calculated by the energy scavenging controller 938 in the following manner.
In some intervals of the walking cycle, for example at low angular velocity, a braking torque is required which is greater than the torque generated by energy harvesting at the same angular velocity. In this case, both the energy harvesting controller 938 and the magnetorheological damping controller 937 will operate. The energy harvesting portion will remain at its maximum capacity, i.e., λ 100%. Target magneto-rheological braking torque taurMRWill be allocated to τr-τEH_max。
The magnetorheological braking torque control will use an open loop approach. The relationship between current and magnetorheological brake torque may be calibrated and stored in the magnetorheological brake controller 937. Since the current is proportional to the command voltage input to the current driver 939, the controller 937 will output the corresponding command voltage.
Although the above description includes many specific arrangements and parameters, it should be noted that these specific arrangements and parameters are merely illustrative of one embodiment of the present application. This should not be taken as limiting the scope of the application. Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the application. Accordingly, the scope of the application should be construed based on the claims.
Claims (20)
1. An apparatus for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
a divider configured to generate a first division signal and a second division signal based on a required total damping force/braking torque;
a magnetorheological damping/braking controller configured to generate a magnetorheological command signal for generating the assigned magnetorheological damping force/braking torque in response to the first assignment signal; and
an energy harvesting controller configured to harvest the allocated energy in response to the second allocation signal,
wherein the energy harvesting controller comprises:
an energy harvesting circuit configured to harvest the distributed energy from a power generation device of the magnetorheological damping/braking system; and
an energy harvesting control section configured to turn on/off the energy harvesting circuit or adjust the magnitude of the distributed energy harvested by the energy harvesting circuit in response to the second distribution signal,
wherein the magnetorheological damping/brake controller has a high output or a low output and the divider generates the second division signal in accordance with the high output or the low output of the magnetorheological damping/brake controller, and,
the magnetorheological damping/braking controller having a low output, the distributor generating the second distribution signal, the energy harvesting control turning off the energy harvesting circuit with the second distribution signal or adjusting the magnitude of the distributed energy harvested by the energy harvesting circuit to its minimum value; and is
The magnetorheological damping/braking controller has a high output, the distributor generates the second distribution signal, and the energy harvesting control part opens the energy harvesting circuit using the second distribution signal or adjusts the distributed energy harvested by the energy harvesting circuit to its maximum value.
2. The apparatus according to claim 1, wherein said divider generates said first and second division signals according to output modes of said magnetorheological damping/braking controller and said energy harvesting control.
3. The apparatus of claim 1, wherein the divider generates the first divided signal based on the desired total damping force/braking torque.
4. The apparatus of claim 1, wherein the energy harvesting circuit comprises:
a rectifier configured to rectify an alternating-current voltage from the power generation device into a direct-current voltage;
a voltage regulator configured to generate a charging current proportional to the direct current voltage;
a switch configured to connect or disconnect the rectifier to or from the voltage regulator in response to a switching signal from the energy harvesting control part; and
an energy storage device configured to store electrical energy harvested by the charging current.
5. The apparatus of claim 1, wherein the energy harvesting circuit comprises:
a rectifier configured to rectify an alternating-current voltage from the power generation device into a direct-current voltage;
a voltage regulator configured to generate a charging current proportional to the direct current voltage;
a PWM control switch connected between the rectifier and the voltage regulator and configured to adjust the charging current in response to a PWM signal having a controlled duty ratio from the energy harvesting control part; and
an energy storage device configured to store electrical energy harvested by the charging current.
6. The apparatus of claim 1, wherein the energy harvesting circuit comprises:
a rectifier configured to rectify an alternating-current voltage from the power generation device into a direct-current voltage;
a voltage regulator configured to generate a charging current proportional to the direct current voltage;
a regulating resistor connected to the voltage regulator and configured to regulate the charging current by regulating its own resistance in response to a resistance-regulating voltage from the energy collection control portion; and
an energy storage device configured to store electrical energy harvested by the charging current.
7. The device of claim 5, wherein the energy harvesting circuit further comprises a current sensor configured to measure the charging current and notify the energy harvesting control of the measured charging current, and the energy harvesting control is further configured to adjust the PWM signal adjustment voltage according to the measured charging current.
8. The apparatus of claim 6, wherein the energy harvesting circuit further comprises a current sensor configured to measure the charging current and notify the energy harvesting control of the measured charging current, and the energy harvesting control is further configured to adjust the resistance adjustment voltage according to the measured charging current.
9. An apparatus for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
a divider configured to generate a first division signal and a second division signal based on a required total damping force/braking torque;
a magnetorheological damping/braking controller configured to generate a magnetorheological command signal for generating the assigned magnetorheological damping force/braking torque in response to the first assignment signal; and
an energy harvesting controller configured to harvest the distributed energy in response to the second distribution signal
Wherein the energy harvesting controller comprises:
an energy harvesting circuit configured to harvest the distributed energy from a power generation device of the magnetorheological damping/braking system; and
an energy harvesting control section configured to turn on/off the energy harvesting circuit or adjust the magnitude of the distributed energy harvested by the energy harvesting circuit in response to the second distribution signal,
wherein the output of the magnetorheological damping/braking controller is adjustable, the divider is further configured to compare the total required damping force/braking torque with a sum of an energy harvesting damping force/braking torque and a magnetorheological damping force/braking torque corresponding to the maximum energy harvested by the energy harvesting circuit and to generate the first and second division signals based on the comparison,
wherein in the event that the total required damping force/braking torque is less than the sum of the total energy harvesting damping force/braking torque and the magnetorheological damping force/braking torque, the divider generates the first and second division signals, the first division signal representing the total required damping force/braking torque, the energy harvesting control utilizing the second division signal to close the energy harvesting circuit; and is
The distributor generates the first distribution signal and a second distribution signal in a case where the required total damping force/braking torque is greater than or equal to a sum of the required total damping force/braking torque and the magnetorheological damping force/braking torque, the first distribution signal representing a difference between the required total damping force/braking torque and the energy-harvesting damping force/braking torque, and the energy-harvesting control portion opens the energy-harvesting circuit using the second distribution signal.
10. The apparatus of claim 9, wherein
The amount of distributed energy harvested by the energy harvesting circuit has a high level or a low level.
11. The apparatus of claim 10, wherein the energy harvesting circuit comprises:
a rectifier configured to rectify an alternating-current voltage from the power generation device into a direct-current voltage;
a voltage regulator configured to generate a charging current proportional to the direct current voltage;
a switch configured to connect or disconnect the rectifier to or from the voltage regulator in response to a switching signal from the energy harvesting control part; and
an energy storage device configured to store electrical energy harvested by the charging current.
12. An apparatus for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
a divider configured to generate a first division signal and a second division signal based on a required total damping force/braking torque;
a magnetorheological damping/braking controller configured to generate a magnetorheological command signal for generating the assigned magnetorheological damping force/braking torque in response to the first assignment signal; and
an energy harvesting controller configured to harvest the allocated energy in response to the second allocation signal,
wherein the energy harvesting controller comprises:
an energy harvesting circuit configured to harvest the distributed energy from a power generation device of the magnetorheological damping/braking system; and
an energy harvesting control section configured to turn on/off the energy harvesting circuit or adjust the magnitude of the distributed energy harvested by the energy harvesting circuit in response to the second distribution signal,
wherein the output of the magnetorheological damping/braking controller is adjustable, the divider is further configured to compare the total required damping force/braking torque with a sum of an energy harvesting damping force/braking torque and a magnetorheological damping force/braking torque corresponding to the maximum energy harvested by the energy harvesting circuit and to generate the first and second division signals based on the comparison,
wherein
The amount of distributed energy harvested by the energy harvesting circuit is adjustable;
in the case where the total damping force/braking torque required is less than the sum of the energy harvesting damping force/braking torque and the magnetorheological damping force/braking torque, the distributor generates the first distribution signal and a second distribution signal, the first distribution signal being zero, the energy harvesting control portion adjusting the amount of distributed energy harvested by the energy harvesting circuit to correspond to the total damping force/braking torque required using the second distribution signal; and is
The distributor generates the first distribution signal and the second distribution signal in a case where the required total damping force/braking torque is greater than or equal to a sum of the required total damping force/braking torque and the magnetorheological damping force/braking torque, the first distribution signal representing a difference between the required total damping force/braking torque and the energy-collecting damping force/braking torque, and the energy-collecting control portion adjusts the magnitude of the distributed energy collected by the energy-collecting circuit to its maximum value using the second distribution signal.
13. The apparatus of claim 12, wherein the energy harvesting circuit comprises:
a rectifier configured to rectify an alternating-current voltage from the power generation device into a direct-current voltage;
a voltage regulator configured to generate a charging current proportional to the direct current voltage;
a PWM control switch connected between the rectifier and the voltage regulator and configured to adjust the charging current in response to a PWM signal having a controlled duty ratio from the energy harvesting control part; and
an energy storage device configured to store electrical energy harvested by the charging current.
14. The apparatus of claim 12, wherein the energy harvesting circuit comprises:
a rectifier configured to rectify an alternating-current voltage from the power generation device into a direct-current voltage;
a voltage regulator configured to generate a charging current proportional to the direct current voltage;
a regulating resistor connected to the voltage regulator and configured to regulate the charging current by regulating its own resistance in response to a resistance-regulating voltage from the energy collection control portion; and
an energy storage device configured to store electrical energy harvested by the charging current.
15. The apparatus of claim 13, wherein the energy harvesting circuit further comprises a current sensor configured to measure the charging current and notify the energy harvesting control of the measured charging current, and the energy harvesting control is further configured to adjust the PWM signal adjustment voltage according to the measured charging current.
16. The apparatus of claim 14, wherein the energy harvesting circuit further comprises a current sensor configured to measure the charging current and notify the energy harvesting control of the measured charging current, and the energy harvesting control is further configured to adjust the resistance adjustment voltage according to the measured charging current.
17. A method for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
distributing the total damping force/braking torque required in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy collection damping force/braking torque;
generating distributed magneto-rheological damping force/braking torque according to the required magneto-rheological damping force/braking torque; and
the distributed energy is collected according to the required energy collecting damping force/braking torque,
wherein collecting the distributed energy according to the required energy collection damping force/braking torque comprises:
the collection of distributed energy is turned on/off or the amount of distributed energy is adjusted according to the required energy-collecting damping force/braking torque,
wherein the required magnetorheological damping force/braking torque is high or low, the amount of energy distributed is not adjustable and has a high or low level;
in the case where the generated magnetorheological damping force/braking torque has a high level, turning on the required energy-harvesting damping force/braking torque to have a high level; and is
In case the generated magnetorheological damping force/braking torque has a low level, the required energy harvesting damping force/braking torque is switched off to have a low level.
18. A method for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
distributing the total damping force/braking torque required in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy collection damping force/braking torque;
generating distributed magneto-rheological damping force/braking torque according to the required magneto-rheological damping force/braking torque; and
the distributed energy is collected according to the required energy collecting damping force/braking torque,
wherein collecting the distributed energy according to the required energy collection damping force/braking torque comprises:
the collection of distributed energy is turned on/off or the amount of distributed energy is adjusted according to the required energy-collecting damping force/braking torque,
wherein the required magnetorheological damping force/braking torque is high or low and the harvesting of the distributed energy is adjustable;
in the event that the generated assigned magnetorheological damping force/braking torque has a high level, the required energy harvesting damping force/braking torque is assigned to its maximum value; and is
In case the generated assigned magnetorheological damping force/braking torque has a low level, the required energy harvesting damping force/braking torque is assigned to its minimum value.
19. A method for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
distributing the total damping force/braking torque required in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy collection damping force/braking torque;
generating distributed magneto-rheological damping force/braking torque according to the required magneto-rheological damping force/braking torque; and
the distributed energy is collected according to the required energy collecting damping force/braking torque,
wherein collecting the distributed energy according to the required energy collection damping force/braking torque comprises:
the collection of distributed energy is turned on/off or the amount of distributed energy is adjusted according to the required energy-collecting damping force/braking torque,
wherein the required magnetorheological damping force/braking torque is adjustable between its minimum and maximum values and the apportioning of the total required damping force/braking torque in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy harvesting damping force/braking torque comprises:
comparing the total required damping force/braking torque with the sum of the energy harvesting damping force/braking torque corresponding to the allocated maximum energy and the magnetorheological damping force/braking torque; and
generating a desired magnetorheological damping force/braking torque and a desired energy harvesting damping force/braking torque based on the comparison,
wherein
The amount of energy dispensed is not adjustable and has a high or low level;
in the event that the required total damping force/braking torque is less than the sum of the energy harvesting damping force/braking torque and the magnetorheological damping force/braking torque, the required magnetorheological damping force/braking torque is allocated to represent the required total damping force/braking torque and the required energy harvesting damping force/braking torque is allocated to its low level; and is
In the case where the required total damping force/braking torque is greater than or equal to the sum of the energy harvesting damping force/braking torque and the magnetorheological damping force/braking torque, the required magnetorheological damping force/braking torque is assigned to represent the difference between the required total damping force/braking torque and the energy harvesting damping force/braking torque, and the required energy harvesting damping force/braking torque is assigned to its high level.
20. A method for coordinating magnetorheological damping/braking and energy harvesting in a magnetorheological damping/braking system, comprising:
distributing the total damping force/braking torque required in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy collection damping force/braking torque;
generating distributed magneto-rheological damping force/braking torque according to the required magneto-rheological damping force/braking torque; and
the distributed energy is collected according to the required energy collecting damping force/braking torque,
wherein collecting the distributed energy according to the required energy collection damping force/braking torque comprises:
the collection of distributed energy is turned on/off or the amount of distributed energy is adjusted according to the required energy-collecting damping force/braking torque,
wherein the required magnetorheological damping force/braking torque is adjustable between its minimum and maximum values and the apportioning of the total required damping force/braking torque in the magnetorheological damping/braking system into the required magnetorheological damping force/braking torque and the required energy harvesting damping force/braking torque comprises:
comparing the total required damping force/braking torque with the sum of the energy harvesting damping force/braking torque corresponding to the allocated maximum energy and the magnetorheological damping force/braking torque; and
generating a desired magnetorheological damping force/braking torque and a desired energy harvesting damping force/braking torque based on the comparison,
wherein
The collection of the distributed energy is adjustable;
in the case where the required total damping force/braking torque is less than the sum of the energy harvesting damping force/braking torque and the magnetorheological damping force/braking torque, the required magnetorheological damping force/braking torque is assigned to represent 0 and the required energy harvesting damping force/braking torque is assigned to represent the required total damping force/braking torque; and is
In the case where the required total damping force/braking torque is greater than or equal to the sum of the energy harvesting damping force/braking torque and the magnetorheological damping force/braking torque, the required magnetorheological damping force/braking torque is assigned to represent the difference between the required total damping force/braking torque and the energy harvesting damping force/braking torque, and the required energy harvesting damping force/braking torque is assigned to its maximum value.
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| CN102374255A (en) * | 2010-08-05 | 2012-03-14 | 香港中文大学 | Self-powered and self-sensing magnetorheological (MR) fluid damper |
| CN103938751A (en) * | 2014-04-11 | 2014-07-23 | 湖南科技大学 | Self-powered semi-active tuned mass damper |
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| CN102374255A (en) * | 2010-08-05 | 2012-03-14 | 香港中文大学 | Self-powered and self-sensing magnetorheological (MR) fluid damper |
| CN103938751A (en) * | 2014-04-11 | 2014-07-23 | 湖南科技大学 | Self-powered semi-active tuned mass damper |
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| Title |
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| Design and Analysis of a Regenerative Magnetorheological Actuator for Gait Assistance in Knee Joint;Hao Ma等;《Proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics》;20141210;第1158-1163页 * |
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