CN108446453A - A kind of sizing method of hybrid electromagnetic actuator - Google Patents
A kind of sizing method of hybrid electromagnetic actuator Download PDFInfo
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- CN108446453A CN108446453A CN201810163963.1A CN201810163963A CN108446453A CN 108446453 A CN108446453 A CN 108446453A CN 201810163963 A CN201810163963 A CN 201810163963A CN 108446453 A CN108446453 A CN 108446453A
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- actuator
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- electromagnetic actuator
- sizing method
- hybrid electromagnetic
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2111/00—Details relating to CAD techniques
- G06F2111/04—Constraint-based CAD
Abstract
The present invention discloses a kind of sizing method of hybrid electromagnetic actuator, and actuator is divided into hydraulic part and electromagnet portion in the present invention, wherein hydraulic part is double-cylinder type hydraulic buffer, provides constant hydraulic damping coefficient；Electromagnet portion is made of inner cylinder, permanent magnet, iron core, three-phase windings coil and outer barrel, provides actively adjustable electromagnetic force.The present invention calculates static damped coefficient to determine hydraulic buffer work cylinder diameter according to complete vehicle structure parameter, the peak value thrust that vehicle provides needed for electromagnet portion when driving is acquired by improvement Sky-hook suspension control strategy, and derive electromagnetic activation power expression formula, with the minimum optimization aim of actuator overall dimension, actuator final size is determined using genetic Optimization Algorithm.Sizing method clear thinking proposed by the present invention, versatile, effect of optimization is apparent and can effectively reduce actuator installation space.
Description
Technical field
The present invention relates to field of automobile suspension, more particularly, to a kind of sizing method of hybrid electromagnetic actuator.
Background technology
Currently, traditional double-cylinder type hydraulic buffer cannot be satisfied consumer to vehicle riding comfort and operation stabilization
The high request of property, various active/semi-active dampers come into being.Wherein, hybrid electromagnetic actuator is by electromagnetism and hydraulic mechanism
It is integrated, not only have the advantages that electromagnetic suspension control accuracy is high, response characteristic is good, while the hydraulic buffer introduced can also improve
System reliability reduces Active suspension energy consumption, but that there is overall dimensions is excessive for hybrid electromagnetic actuator, it is difficult on passenger car
The problem of installation.
Current research hot spot concentrates in the innovation of hybrid electromagnetic actuator configurations, and there has been no to hybrid electromagnetic actuator hydraulic pressure
It is unfolded to study with the size matched design of electromagnet portion.
Electromagnet portion is based on the straight of axial movement in hybrid electromagnetic actuator hydraulic pressure and the size matched design of electromagnet portion
The linear motor of line motor, axial movement eliminates intermediate transmission mechanism compared with electric rotating machine, to mitigate actuator quality, carry
High efficiency reduces inertia impact, meets suspension actuator high speed, accurate and reliable requirement.
Invention content
In view of the deficienciess of the prior art, the present invention proposes a kind of sizing method of hybrid electromagnetic actuator,
Static damped coefficient is calculated to determine hydraulic buffer work cylinder diameter according to complete vehicle structure parameter, and plan is controlled by improvement Sky-hook suspension
The vehicle required peak value thrust provided of electromagnet portion when driving is slightly provided, and derives electromagnetic damping power expression formula, with actuator
The minimum optimization aim of overall dimension determines actuator final size using genetic Optimization Algorithm.
The present invention is achieved through the following technical solutions above-mentioned purpose.
A kind of sizing method of hybrid electromagnetic actuator, which is characterized in that include the following steps：
Step 1) calculates static damped coefficient to determine hydraulic buffer work cylinder diameter according to complete vehicle structure parameter；
Work cylinder diameter expression formula be：Wherein ε is that hydraulic damping coefficient accounts for static damping system
Number ratio, k are shock loading coefficient, and ψ is relative damping factor, msIt is fully loaded with quality, n for vehicle1For front overhang offset frequency, vxFor start
Device unloading rate, [p] are working cylinder maximum permissible stress, and λ is piston rod and working cylinder diameter ratio, and α is actuator established angle
Degree；Selected hydraulic buffer damped coefficient is
Step 2) derives the analytical expression of hybrid electromagnetic actuator electromagnetic activation power：FE=kfI, wherein kfFor line
Thrust constant is enclosed, i is that coil is passed through electric current.
Step 3) builds 1/4 Suspension Model, and acquiring vehicle on C grades of road surfaces by improvement Sky-hook suspension control strategy travels
When electromagnet portion needed for provide peak value thrust；Improving Sky-hook suspension control strategy is：
Wherein FSTrack the electromagnetic activation power F of capricorn bettle powerE,csFor skyhook damping coefficient,It is exhausted for sprung mass
To speed；FDFor hydraulic damping power,δdFor hydraulic buffer damped coefficient,It is absolute for unsprung mass
Speed.
Step 4) selects winding coil line footpath according to three-phase windings electric current input range；
Step 5) utilizes genetic algorithm optimization electromagnet portion overall dimensions on the basis of hydraulic buffer oil storage cylinder cylinder diameter；
Using actuator outer cylinder diameter as object function, constraints is genetic algorithm：Electromagnetic activation power is more than peak value thrust, each section magnetic strength
Intensity is answered to be no more than magnetic induction intensity maximum value, number of magnetic pole pairs no more than 9 pairs, three-phase windings electric current no more than 2A；Using penalizing letter
Number, object function is included in by above-mentioned constraints；The parameter of genetic algorithm includes：Population scale, maximum purification algebraically, variation are general
Rate, elite subalgebra and fitness function deviation；
Step 6), the electromagnet portion overall dimensions that optimization is obtained substitute into electromagnetic activation power analytical expression, are mixed
The electromagnetic activation power analytic value of electromagnetic actuator；
Step 7) is established motor model according to the optimized dimensions of electromagnet portion in step 5), is had in simulation software
Finite element analysis, the analytic value that comparison finite element value is calculated with step 6) return to step 4) if there is significant difference；
Step 8) determines the final size of hybrid electromagnetic actuator：Permanent magnet axial width τm=7.7mm, iron core are axial
Thicl ness Ti=6.2mm, permanent magnet internal diameter rs=20mm, permanent magnet outer diameter rw=24mm, winding coil internal diameter ra=24.5mm, around
Group coil outer diameter rc=28.1mm, actuator outer diameter rp=30.1mm.
Further, electromagnetic actuator is divided into hydraulic part and electromagnet portion, and hydraulic part is double-cylinder type hydraulic buffer, electricity
Magnetic part is made of inner cylinder, iron core, permanent magnet, outer barrel and three-phase windings coil.
Compared with prior art, the beneficial effects of the invention are as follows：
Static damped coefficient is calculated to determine hydraulic buffer size, by improvement Sky-hook suspension control according to complete vehicle structure parameter
System strategy acquires the peak value thrust that vehicle provides needed for electromagnet portion when driving, based on the electromagnetic activation power expression formula derived,
Minimum, a kind of electromagnetism of hybrid electromagnetic actuator/hydraulic part ruler proposed by the present invention using genetic algorithm optimization electromagnetism size
Very little adaptation design method can make actuator overall dimension minimum, be convenient for passenger car under the premise of meeting dynamic suspension system of vehicles performance
On installation.
Description of the drawings
Fig. 1 is the actuator configurations schematic diagram of the present invention；
Fig. 2 is the sizing method flow chart of the present invention；
Fig. 3 is the peak value thrust figure that the vehicle of the present invention provides needed for electromagnet portion when driving；
Fig. 4 is the electromagnet portion structural parameters schematic diagram of the present invention；
Wherein：1- outer barreies；2- winding coils；3- double-cylinder type hydraulic buffers；4- dust covers；5- locking nuts；In 6-
Cylinder；7- iron cores；8- permanent magnets；9- spring trays.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
It is without being limited thereto.
As shown in Figure 1, being suitable for a kind of general hybrid electromagnetic start of the sizing method of hybrid electromagnetic actuator
Device structure is divided into hydraulic part and electromagnet portion, wherein hydraulic part is double-cylinder type hydraulic buffer 3, and electromagnet portion is by inner cylinder
Body 6, iron core 7, permanent magnet 8, outer barrel 1 and three-phase windings coil 2 form；The bottom end cover of hydraulic buffer 3 is welded with connecting screw,
The piston rod front end of hydraulic buffer 3 is tapped, and actuator is installed on by connecting screw and piston rod on vehicle, liquid-springing
The liquid storage cylinder outer wall of device 3 is welded with dust cover 4；Inner cylinder 6 is welded in the liquid storage cylinder outer wall of hydraulic buffer 3, and the two forms annular
For cavity to store coolant liquid, 6 upper end of inner cylinder is tapped, and 6 lower end vehicle of the inner cylinder has the shaft shoulder, and inner cylinder 6 is by magnetic permeability
Low aluminium alloy is cast, iron core 7 and permanent magnet 8 is alternate is placed on inner cylinder 6, and 7 lower end of iron core is determined by the shaft shoulder of inner cylinder 6
Position, 7 upper end of iron core is clamped by locking nut 5；Outer barrel 1 is welded on the piston rod of hydraulic buffer 3, three-phase windings coil 2
It is adhered in 1 slot of outer barrel；Fixed-size air gap is equipped between three-phase windings coil 2 and permanent magnet 8.
Fig. 2 show a kind of sizing method flow chart of hybrid electromagnetic actuator, including step：
Step 1) calculates static damped coefficient to determine hydraulic buffer work cylinder diameter D according to complete vehicle structure parameter；
Wherein：ε is that hydraulic damping coefficient accounts for static damped coefficient ratio, and k is shock loading coefficient, and ψ is relative damping system
Number, msIt is fully loaded with quality, n for vehicle1For front overhang offset frequency, vxFor actuator unloading rate, α is actuator setting angle, and [p] is work
Make cylinder maximum permissible stress, λ is piston rod and working cylinder diameter ratio.
Step 2) derives the analytical expression (Fig. 4) of hybrid electromagnetic actuator electromagnetic activation power；
Assuming that magnetic induction line is axial in permanent magnet 8 and outer barrel 1, it is diameter in air gap, iron core 7 and winding coil 2
To, and ignore the magnetic leakage at inner cylinder 6, derives outer barrel 1 using the condition of continuity, magnetic at winding coil 2 and permanent magnet 8
Induction Btube、Bcoil、Bm：
Wherein, τmFor permanent magnet axial width；τiFor iron core axial width；τcFor winding coil axial width；rsFor hydraulic pressure
The outer diameter of damper；rwFor permanent magnet outer diameter；raFor winding coil internal diameter；rcFor winding coil outer diameter；rpFor hybrid electromagnetic start
Device outer diameter；R is winding coil radius；μrecIt is the opposite recoil permeability of permanent magnet；μFeFor the relative permeability of pure iron.
The electromagnetic activation power that the single group coil energization of winding coil 2 generates can be derived by with Lorentz law：
Wherein FEFor electromagnetic activation power, l is coil total length, and i is that coil is passed through electric current, and N is the number of turns of single group coil；It enablesAnd it is defined as the thrust constant of coil.
Step 3) builds 1/4 Suspension Model, and acquiring vehicle on C grades of road surfaces by improvement Sky-hook suspension control strategy travels
When electromagnet portion needed for provide peak value thrust (Fig. 3)；
The improvement Skyhook control method is：
Wherein：FSTrack the electromagnetic activation power F of capricorn bettle powerE,csFor skyhook damping coefficient,For spring
It improves quality absolute velocity；FDFor hydraulic damping power,δdFor the damped coefficient of hydraulic buffer,For spring
Lower quality absolute velocity；
Because emulate road surface selection is C grades of road surfaces, therefore the peak value thrust acquired can meet under the most of operating modes of vehicle
Dynamic performance.
Step 4) selects 2 line footpath of winding coil, electric current is bigger, and coil line footpath is got over according to three-phase windings electric current input range
Greatly.
Step 5) utilizes the genetic algorithm optimization electromagnetism for introducing penalty function on the basis of 3 oil storage cylinder cylinder diameter of hydraulic buffer
Part overall dimensions are minimised as optimization aim with actuator outer cylinder diameter, therefore object function are taken as：
F (X)=rc+τ (7)
Wherein τ is outer barrel body thickness；
The variable that genetic algorithm is related to has：Permanent magnet axial width τm, permanent magnet radial thickness hm, the radial thickness of winding coil
Spend hc, the present embodiment τm、hc、hmSection is respectively [6,8], [4,6] and [3,4]；Constraints is set as：Electromagnetic activation power is big
In peak value thrust, each section magnetic induction intensity is no more than magnetic induction intensity maximum value, and number of magnetic pole pairs are no more than 9 pairs.
Genetic algorithm is typically led to penalty function when solving multi-constraints optimization problem and is transformed into unconstrained optimization problem, penalizes
Function is defined as：
Wherein：μ is constant, and 10000, g are taken in the present embodimenti(x) it is constraints；
The parameter setting of genetic algorithm：Population scale is 100, and elite subalgebra is 30, and maximum purification algebraically was 30 generations,
Mutation probability is 0.5, and fitness function deviation is 1 × 10-10, optimum results are as shown in table 1.
Contrast table before and after 1 genetic algorithm optimization of table
Step 6), the electromagnet portion overall dimensions (result of the prioritization scheme of table 1) that optimization is obtained substitute into electromagnetic activation
Power analytical expression (5) obtains the electromagnetic activation power analytic value of hybrid electromagnetic actuator；
Step 7) establishes motor model in Ansoft simulation softwares according to the optimized dimensions of electromagnet portion in step 5),
Finite element analysis is carried out, comparison finite element value returns to step with the analytic value that step 6) is calculated if there is significant difference
4), change 2 line footpath of winding coil to adjust umber of turn, make electromagnetic actuator finite element value and analytic value generally proximal to.
Step 8) determines the final size of hybrid electromagnetic actuator.
Using the design method of the present invention, the size obtained after optimization is：Permanent magnet axial width τm=7.7mm, iron core
Axial width τi=6.2mm, permanent magnet internal diameter rs=20mm, permanent magnet outer diameter rw=24mm, winding coil internal diameter ra=
24.5mm, winding coil outer diameter rc=28.1mm, actuator outer diameter rp=30.1mm.
The above, only presently preferred embodiments of the present invention, are not intended to limit the scope of the present invention, and should manage
Solution, the technical staff in field, the equivalent reality made in the scope and spirit for not departing from the claims in the present invention where the present invention
It applies example or change should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of sizing method of hybrid electromagnetic actuator, which is characterized in that include the following steps：
Step 1) calculates static damped coefficient to determine hydraulic buffer work cylinder diameter according to complete vehicle structure parameter；
Step 2) derives the analytical expression of hybrid electromagnetic actuator electromagnetic activation power；
Step 3) builds 1/4 Suspension Model, and it is electric when driving on C grades of road surfaces to acquire vehicle by improvement Sky-hook suspension control strategy
The peak value thrust provided needed for magnetic part；
Step 4) selects winding coil line footpath according to three-phase windings electric current input range；
Step 5) utilizes genetic algorithm optimization electromagnet portion overall dimensions on the basis of hydraulic buffer oil storage cylinder cylinder diameter；
Step 6), the electromagnet portion overall dimensions that optimization is obtained substitute into electromagnetic activation power analytical expression, obtain hybrid electromagnetic
The electromagnetic activation power analytic value of actuator；
Step 7) establishes motor model according to the optimized dimensions of electromagnet portion in step 5), carries out finite element in simulation software
Analysis, the analytic value that comparison finite element value is calculated with step 6) return to step 4) if there is significant difference；
Step 8) determines the final size of hybrid electromagnetic actuator.
2. a kind of sizing method of hybrid electromagnetic actuator according to claim 1, which is characterized in that the step
5) using actuator outer cylinder diameter as object function, constraints is genetic algorithm in：Electromagnetic activation power is more than peak value thrust, each section
Magnetic induction intensity is no more than magnetic induction intensity maximum value, number of magnetic pole pairs are no more than 2A no more than 9 pairs, three-phase windings electric current；It utilizes
Above-mentioned constraints is included in object function by penalty function；The parameter of genetic algorithm includes：Population scale, becomes maximum purification algebraically
Different probability, elite subalgebra and fitness function deviation.
3. a kind of sizing method of hybrid electromagnetic actuator according to claim 1, which is characterized in that electromagnetic activation
Device is divided into hydraulic part and electromagnet portion, and hydraulic part is double-cylinder type hydraulic buffer (3), and electromagnet portion is by inner cylinder (6), iron
Core (7), permanent magnet (8), outer barrel (1) and three-phase windings coil (2) composition.
4. a kind of sizing method of hybrid electromagnetic actuator according to claim 1, which is characterized in that the step
1) determining hydraulic buffer (8) work cylinder diameter expression formula is in：Wherein ε is hydraulic damping
Coefficient accounts for static damped coefficient ratio, and k is shock loading coefficient, and ψ is relative damping factor, msIt is fully loaded with quality, n for vehicle1It is preceding
Outstanding offset frequency, vxFor actuator unloading rate, [p] is working cylinder maximum permissible stress, and λ is piston rod and working cylinder diameter ratio, α
For actuator setting angle.
5. a kind of sizing method of hybrid electromagnetic actuator according to claim 4, which is characterized in that selected hydraulic pressure
Shock absorber damping is
6. a kind of sizing method of hybrid electromagnetic actuator according to claim 1, which is characterized in that the step
2) the electromagnetic activation power expression formula derived is：FE=kfI, wherein kfFor coil thrust constant, i is that coil is passed through electric current.
7. a kind of sizing method of hybrid electromagnetic actuator according to claim 1, which is characterized in that the step
3) the improvement Sky-hook suspension control strategy in is：Wherein FSTrack capricorn bettle
The electromagnetic activation power F of powerE,csFor skyhook damping coefficient,For sprung mass absolute velocity；FDFor hydraulic damping
Power,δdFor hydraulic buffer damped coefficient,For unsprung mass absolute velocity.
8. a kind of sizing method of hybrid electromagnetic actuator according to claim 1, which is characterized in that the step
8) the hybrid electromagnetic actuator final size determined is permanent magnet axial width τm=7.7mm, iron core axial direction thicl ness Ti=6.2mm,
Permanent magnet internal diameter rs=20mm, permanent magnet outer diameter rw=24mm, winding coil internal diameter ra=24.5mm, winding coil outer diameter rc=
28.1mm, actuator outer diameter rp=30.1mm.
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| CN201810163963.1A CN108446453A (en) | 2018-02-27 | 2018-02-27 | A kind of sizing method of hybrid electromagnetic actuator |
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| CN201810163963.1A CN108446453A (en) | 2018-02-27 | 2018-02-27 | A kind of sizing method of hybrid electromagnetic actuator |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080579A (en) * | 2016-06-17 | 2016-11-09 | 江苏大学 | A kind of hybrid electric vehicle complete vehicle control method based on suspension vibration energy regenerating |
| CN106160610A (en) * | 2016-07-14 | 2016-11-23 | 江苏大学 | A kind of building method of Active suspension electromagnetic actuator intelligent controller |
| CN106224425A (en) * | 2016-08-16 | 2016-12-14 | 江苏大学 | A kind of half active energy regenerative suspension shock-absorber and method for determining size thereof based on composite excitation |
-
2018
- 2018-02-27 CN CN201810163963.1A patent/CN108446453A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080579A (en) * | 2016-06-17 | 2016-11-09 | 江苏大学 | A kind of hybrid electric vehicle complete vehicle control method based on suspension vibration energy regenerating |
| CN106160610A (en) * | 2016-07-14 | 2016-11-23 | 江苏大学 | A kind of building method of Active suspension electromagnetic actuator intelligent controller |
| CN106224425A (en) * | 2016-08-16 | 2016-12-14 | 江苏大学 | A kind of half active energy regenerative suspension shock-absorber and method for determining size thereof based on composite excitation |
Non-Patent Citations (1)
| Title |
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Application publication date: 20180824 |
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