CN109667877B - Method for realizing four-quadrant output characteristic of semi-active actuator - Google Patents
Method for realizing four-quadrant output characteristic of semi-active actuator Download PDFInfo
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- CN109667877B CN109667877B CN201811604706.3A CN201811604706A CN109667877B CN 109667877 B CN109667877 B CN 109667877B CN 201811604706 A CN201811604706 A CN 201811604706A CN 109667877 B CN109667877 B CN 109667877B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/3207—Constructional features
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
- F16F9/537—Magnetorheological [MR] fluid dampers specially adapted valves therefor
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Abstract
The invention discloses a method for realizing the four-quadrant output characteristic of a semi-active actuator, which is characterized in that two secondary semi-active actuators are respectively connected with a motion reversing mechanism, so that the output force of a first secondary semi-active actuator is in the same direction as the excitation speed, the output force of a second secondary semi-active actuator is in the opposite direction to the excitation speed, and the output characteristic of the semi-active actuator is continuously adjusted in four quadrants in real time by adjusting the output force of the two secondary semi-active actuators. The invention can change the magnitude and direction of the resultant force of the two secondary semi-active actuators, thereby leading the semi-active actuator with simple structure, lower cost and lower energy consumption to have the characteristics of four-quadrant real-time and continuous output adjustment which are the same as those of the active actuator.
Description
Technical Field
The invention relates to a method for realizing the output characteristic of an active actuator by using a semi-active actuator, in particular to a method for realizing the four-quadrant output characteristic of the semi-active actuator.
Technical Field
The performance of the control system actuators appears to be critical in minimizing the adverse effects of vibration and shock. Meanwhile, in engineering application, the cost and energy consumption of the actuator are also important indexes for measuring the application prospect. The actuator can be classified into a passive type, an active type and a semi-active type according to the existence of energy input during the working process of the actuator. The passive actuator generates passive power, and the self parameters can not be adjusted, so that the vibration reduction effect can be realized only under specific working conditions. The active actuator can generate active controllable acting force, and the acting force can be adjusted in size and direction, namely, the active actuator has a four-quadrant adjusting characteristic. An active system based on an active actuator can achieve ideal vibration reduction effect under any working condition, but the high cost and energy consumption limit the wide application of the active system. The semi-active actuator is arranged between the passive actuator and the active actuator, has the advantages of adjustable parameters, less energy consumption, low cost and the like, and has wide application prospect. In the semi-active actuator currently on the market, although the magnitude of the applied force can be adjusted by changing the parameters of the semi-active actuator, the direction cannot be controlled. For example, a semi-active damper can adjust the damping force by changing the damping coefficient, but the direction of the damping force can only be proportional to the velocity. Namely, the speed is in the positive direction, and the damping force is in the positive direction; conversely, the velocity is in the negative direction and the damping force is in the negative direction. That is, as shown in fig. 2a, in the "force-velocity" diagram, only the adjustment of the first and third quadrants is achieved, but the four-quadrant output characteristic as in the case of the active actuator is not achieved, thereby affecting the damping performance of the semi-active system.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a method for realizing the four-quadrant output characteristic of a semi-active actuator, which aims to change the magnitude and the direction of the resultant force of two secondary semi-active actuators by adjusting the output force of the two secondary semi-active actuators connected with a motion reversing mechanism, so that the semi-active actuator has the same four-quadrant real-time and continuous output adjustable characteristic as the active actuator.
The invention adopts the following technical scheme for solving the technical problems:
the invention relates to a method for realizing the four-quadrant output characteristic of a semi-active actuator, which is characterized in that the semi-active actuator consists of a first secondary semi-active actuator, a second secondary semi-active actuator and a motion reversing mechanism and is carried out according to the following steps:
step 1, two secondary semi-active actuators are respectively connected with the motion reversing mechanism, so that the output force of the first secondary semi-active actuator is in the same direction as the excitation speed, and the output force of the second secondary semi-active actuator is opposite to the excitation speed; taking an output force in the same direction as the excitation speed as a forward force and taking an output force in the opposite direction to the excitation speed as a reverse force; the resultant force of the forward force and the reverse force is the output force of the semi-active actuator;
step 2, adjusting the output force of the two secondary semi-active actuators respectively to enable the output characteristics of the semi-active actuators to be adjusted continuously in four quadrants in real time;
if the excitation speed is positive, adjusting the output forces of the two secondary semi-active actuators to enable the forward force to be larger than the reverse force, namely the direction of the resultant force is the same as the direction of the excitation speed, so that real-time and continuous adjustment in the first quadrant is realized;
if the excitation speed is negative, adjusting the output forces of the two secondary semi-active actuators to enable the reverse force to be larger than the forward force, namely the direction of the resultant force is opposite to the direction of the excitation speed, so that real-time and continuous adjustment in a second quadrant is realized;
if the excitation speed is negative, adjusting the output forces of the two secondary semi-active actuators to enable the forward force to be larger than the reverse force, namely the direction of the resultant force is the same as the direction of the excitation speed, so that real-time and continuous adjustment in a third quadrant is realized;
if the excitation speed is positive, the output forces of the two secondary semi-active actuators are adjusted to enable the reverse force to be larger than the forward force, namely the direction of the resultant force is opposite to the direction of the excitation speed, so that real-time and continuous adjustment in the fourth quadrant is achieved.
The implementation method of the invention is also characterized in that:
the first secondary semi-active actuator and/or the second secondary semi-active actuator is a magnetorheological actuator.
The first secondary semi-active actuator and/or the second secondary semi-active actuator is/are a current-variable actuator.
The first secondary semi-active actuator and/or the second secondary semi-active actuator is an adjustable damping actuator.
Compared with the prior art, the invention has the beneficial effects that:
1. the semi-active actuator with the four-quadrant output characteristic is composed of two secondary semi-active actuators and a motion reversing mechanism, and the four-quadrant real-time and continuous output characteristic of the active actuator is realized by combining the two secondary semi-active actuators and the motion reversing mechanism, so that the performance of the traditional semi-active actuator is greatly improved;
2. the invention adopts a motion reversing mechanism to ensure that the directions of the output forces of the two secondary semi-active actuators are always opposite, and the direction of the resultant force of the two secondary semi-active actuators can be the same as or opposite to the direction of the excitation speed by adjusting the output force of the two secondary semi-active actuators, namely the magnitude and the direction of the output force of the semi-active actuator can be adjusted no matter whether the excitation speed is positive or negative, thereby realizing the four-quadrant output characteristic of the semi-active actuator in a force-speed diagram without additional energy input and greatly reducing the energy consumption compared with the active actuator;
3. the implementation method of the invention can be based on magneto-rheological or electro-rheological effect, so that the semi-active actuator with four-quadrant output characteristic has the characteristics of continuous adjustability, fast response, wide adjustable range and the like;
4. the implementation method of the invention is relatively simple, has small volume and low cost, and is more beneficial to engineering application.
Drawings
FIG. 1 is a schematic diagram of a motion reversing mechanism in the form of a rack and pinion in the method for implementing the four-quadrant output characteristic of a semi-active actuator according to the present invention;
FIG. 1a is a schematic diagram of a movement reversing mechanism in the form of a ball screw in a method for implementing the four-quadrant output characteristic of a semi-active actuator according to the present invention;
FIG. 2a is a graph of the "force-velocity" characteristic of a conventional semi-active actuator;
FIG. 2b is a force-velocity characteristic diagram of a semi-active actuator of the present invention having a four-quadrant output characteristic;
fig. 3a is a schematic diagram of the general structure of a motion reversing mechanism in the form of a rack and pinion in the method for implementing the four-quadrant output characteristic of the semi-active actuator according to the present invention;
FIG. 3b is a schematic longitudinal sectional view of a motion reversing mechanism in the form of a rack and pinion in the method for implementing the four-quadrant output characteristic of the semi-active actuator according to the present invention;
FIG. 4 is a schematic structural diagram of a single-rod internal-bypass magnetorheological damper used in the method for implementing the four-quadrant output characteristic of the semi-active actuator according to the present invention;
FIG. 5 is a schematic structural diagram of a double-rod internal bypass magnetorheological damper used in the method for implementing the four-quadrant output characteristic of the semi-active actuator according to the present invention;
fig. 6 is a schematic structural diagram of a single-rod magnetorheological damper used in the implementation method of the four-quadrant output characteristic of the semi-active actuator according to the present invention;
fig. 7 is a schematic structural diagram of an electrorheological actuator used in the method for implementing the four-quadrant output characteristic of the semi-active actuator according to the present invention;
fig. 8 is a schematic structural diagram of an adjustable damping actuator used in the method for implementing the four-quadrant output characteristic of the semi-active actuator according to the present invention;
reference numbers in the figures: 101 a first lifting lug, 102 a first air bag, 103 a first piston housing, 104 a first magnetorheological fluid, 105 a first piston, 106 a first coil, 107 a first copper ring, 108 a third end cap, 109 a first sealing ring, 110 a first skeleton oil seal, 111 a second copper ring, 112 a first piston rod, 113 a first rack, 114 a second lifting lug, 115 a first end cap, 116 a second air bag, 117 a second magnetorheological fluid, 118 a second piston, 119 a second coil, 120 a second piston rod, 121 a second piston housing, 122 a third copper ring, 123 a second skeleton oil seal, 124 a second sealing ring, 125 a second end cap, 126 a fourth copper ring, 127 a housing, 128 a second rack, 129 a gear, 200 a single-rod internal bypass type magnetorheological damper, 201 a piston rod, 202 a housing, 203 an end cap, 204 a piston core, 205 a piston, 206 an air bag, 300 a double-rod internal bypass type damper, 301 a piston rod, 302, 303 a piston, 304 an upper end cap, 305 piston core, 306 lower end cover, 400 single-rod magnetorheological damper, 401 air bag, 402 piston, 403 shell, 404 piston rod, 500 electrorheological actuator, 501 shell, 502 first electrode, 503 piston, 504 end cover, 505 second electrode, 506 piston rod, 600 CDC actuator, 601 first check valve, 602 first damping valve, 603 piston, 604 second check valve, 605 piston rod, 606 second damping valve, 607 controllable damping valve.
Detailed Description
In this embodiment, the semi-active actuator with the four-quadrant output characteristic is composed of a first secondary semi-active actuator, a second secondary semi-active actuator and a motion reversal mechanism, wherein the used secondary semi-active actuator can be replaced by semi-active actuators in various forms, such as a magnetorheological actuator, an electrorheological actuator, an adjustable damping (CDC) actuator and the like; the motion reversing mechanism, as shown in fig. 1 and 1a, may take the form of a rack and pinion or a ball screw. Specifically, the method for realizing the four-quadrant output characteristic of the semi-active actuator is carried out according to the following steps:
step 1, respectively connecting two secondary semi-active actuators with a motion reversing mechanism, so that the output force of a first secondary semi-active actuator has the same direction as the excitation speed, and the output force of a second secondary semi-active actuator has the opposite direction to the excitation speed; taking the output force in the same direction as the excitation speed as a forward force and taking the output force in the opposite direction to the excitation speed as a reverse force; the resultant force of the forward force and the reverse force is the output force of the semi-active actuator;
step 2, adjusting the output force of the two secondary semi-active actuators respectively to enable the output characteristics of the semi-active actuators to be adjusted continuously in four quadrants in real time, specifically, as shown in fig. 2b, the adjusting method of the four-quadrant output characteristics is as follows:
if the excitation speed is positive, the output forces of the two secondary semi-active actuators are adjusted to enable the forward force to be larger than the reverse force, namely the direction of the resultant force is the same as the direction of the excitation speed, so that real-time and continuous adjustment in the first quadrant is realized;
if the excitation speed is negative, adjusting the output force of the two secondary semi-active actuators to enable the reverse force to be larger than the forward force, namely the direction of the resultant force is opposite to the direction of the excitation speed, so that real-time and continuous adjustment in the second quadrant is realized;
if the excitation speed is negative, adjusting the output force of the two secondary semi-active actuators to enable the positive force to be larger than the reverse force, namely, the direction of the resultant force is the same as the direction of the excitation speed, thereby realizing real-time and continuous adjustment in the third quadrant;
if the excitation speed is positive, the output forces of the two secondary semi-active actuators are adjusted to enable the reverse force to be larger than the forward force, namely the direction of the resultant force is opposite to the direction of the excitation speed, so that real-time and continuous adjustment in the fourth quadrant is achieved.
In a specific implementation, the first secondary semi-active actuator and/or the second secondary semi-active actuator is a magnetorheological actuator. Specifically, a single-rod internal bypass type magnetorheological damper may be adopted, as shown in fig. 4, the damper is composed of a piston rod 201, a housing 202, an end cover 203, a piston core 204, a piston 205, an air bag 206 and the like, a double-rod internal bypass type magnetorheological damper shown in fig. 5 may be adopted, the damper is composed of a piston rod 301, a housing 302, a piston 303, an upper end cover 304, a piston core 305, a lower end cover 306 and the like, or a single-rod magnetorheological damper shown in fig. 6 may be adopted, and is composed of an air bag 401, a piston 402, a housing 403, a piston rod 404 and the like, and the viscosity of magnetorheological fluid is adjusted by adjusting coil current, so as to realize the control of damping force;
in a specific implementation, the first secondary semi-active actuator and/or the second secondary semi-active actuator may also be an electrorheological actuator. Specifically, an electrorheological damper as shown in fig. 7 may be adopted, which is composed of a housing 501, a first electrode 502, a piston 503, an end cap 504, a second electrode 505, a piston rod 506, and the like, and the change of the viscosity of the electrorheological fluid is realized by changing an electric field, so as to adjust the magnitude of the damping force.
In particular implementations, the first and/or second secondary semi-active actuators may also be adjustable damping actuators. Specifically, the adjustable damping type shock absorber shown in fig. 8 is adopted, which is composed of a first check valve 601, a first damping valve 602, a piston 603, a second check valve 604, a piston rod 605, a second damping valve 606 and a controllable damping valve 607, and the sectional area of a liquid passage is adjusted through the controllable damping valve, so that the adjustment of the damping force is realized.
In this embodiment, the first secondary semi-active actuator and the second secondary semi-active actuator both use magnetorheological dampers. As shown in fig. 3a and 3b, the semi-active actuator with four-quadrant output characteristic is composed of a first magnetorheological damper, a second magnetorheological damper and a motion reversing mechanism; the first magnetorheological damper consists of a first piston rod 112, a first piston 105, a first coil 106, a first piston shell 103, a first air bag 102, a first end cover 115, a second end cover 125, a third end cover 108, first magnetorheological fluid 104, a first copper ring 107, a second copper ring 111, a first framework oil seal 110, a first sealing ring 109 and a first lifting lug 101, wherein the first piston rod 112 and the first piston 105 are coaxially fixed; the first coil 106 passes through the inner through hole of the first piston rod 112 and is wound in the annular groove of the first piston 105; the first magnetorheological fluid 104 is filled inside the first piston housing 103; the first air bag 102 is positioned at the bottom of the first piston housing 103 and is used for compensating volume change generated in the process of moving the first piston rod 112 into and out of the first piston housing 103; the first copper ring 107 and the second copper ring 111 are respectively coaxially assembled with the first piston rod 112, so that the first piston 105 and the first piston shell 103 are always coaxially arranged; the first framework oil seal 110 is positioned between the first copper ring 107 and the second copper ring 111 and is coaxially assembled with the first piston rod 112, so that the leakage of the first magnetorheological fluid 104 is avoided; a first seal ring 109 is fitted between the third end cap 108 and the first piston housing 103, ensuring the tightness of the interior of the first piston housing 103; the first end cover 115 is fixedly connected with the bottom of the first piston housing 103 and the first lifting lug 101 respectively;
the second magnetorheological damper consists of a second piston rod 120, a second piston 118, a second coil 119, a second piston shell 121, a second air bag 116, a first end cover 115, a second end cover 125, a third end cover 108, second magnetorheological fluid 117, a third copper ring 122, a fourth copper ring 126, a second framework oil seal 123 and a second sealing ring 124, and the second piston rod 120 and the second piston 118 are coaxially fixed; the second coil 119 passes through an inner through hole of the second piston rod 120 and is wound in an annular groove of the second piston 118; the second magnetorheological fluid 117 is filled inside the second piston housing 121; the second air bag 117 is located at the bottom of the second piston housing 121 and is used for compensating the volume change generated in the process of moving the second piston rod 120 into and out of the second piston housing 121; the third copper ring 122 and the fourth copper ring 126 are respectively coaxially assembled with the second piston rod 120, so that the second piston 118 and the second piston housing 121 are always coaxially assembled; the second framework oil seal 123 is positioned between the third copper ring 122 and the fourth copper ring 126 and is coaxially assembled with the second piston rod 120, so that the leakage of the second magnetorheological fluid 117 is avoided; a second seal ring 124 is fitted between the third end cap 108 and the second piston housing 121, ensuring the tightness of the interior of the second piston housing 121; the bottom of the second piston housing 121 is fixedly connected with the first end cap 115;
the movement reversing mechanism consists of a first rack 113, a second rack 128, a gear 129, a shell 127 and a second lifting lug 114, wherein the first rack 113 is coaxially and fixedly connected with the first piston rod 112, the second rack 128 is coaxially and fixedly connected with the second piston rod 120, and the gear 129 is positioned between the first rack 113 and the second rack 128 and is respectively meshed with the first rack 113 and the second rack 128; the outer shell 127 is coaxially and fixedly connected with the second end cap 125; the motion reversing mechanism enables the direction of the force generated by the second magnetorheological damper to be opposite to the direction of the exciting speed all the time; the magnitude of resultant force of the two magneto-rheological dampers is continuously changed by respectively adjusting coil currents in the two magneto-rheological dampers, and the direction of the resultant force is the same as or opposite to the direction of excitation speed, so that the real-time and continuous adjustment of the output characteristic of the semi-active actuator in four quadrants is realized.
Claims (4)
1. A method for realizing four-quadrant output characteristics of a semi-active actuator is characterized in that the semi-active actuator consists of a first secondary semi-active actuator, a second secondary semi-active actuator and a motion reversing mechanism and comprises the following steps:
step 1, two secondary semi-active actuators are respectively connected with the motion reversing mechanism, so that the output force of the first secondary semi-active actuator is in the same direction as the excitation speed, and the output force of the second secondary semi-active actuator is opposite to the excitation speed; taking an output force in the same direction as the excitation speed as a forward force and taking an output force in the opposite direction to the excitation speed as a reverse force; the resultant force of the forward force and the reverse force is the output force of the semi-active actuator;
step 2, adjusting the output force of the two secondary semi-active actuators respectively to enable the output characteristics of the semi-active actuators to be adjusted continuously in four quadrants in real time;
if the excitation speed is positive, adjusting the output forces of the two secondary semi-active actuators to enable the forward force to be larger than the reverse force, namely the direction of the resultant force is the same as the direction of the excitation speed, so that real-time and continuous adjustment in the first quadrant is realized;
if the excitation speed is negative, adjusting the output forces of the two secondary semi-active actuators to enable the reverse force to be larger than the forward force, namely the direction of the resultant force is opposite to the direction of the excitation speed, so that real-time and continuous adjustment in a second quadrant is realized;
if the excitation speed is negative, adjusting the output forces of the two secondary semi-active actuators to enable the forward force to be larger than the reverse force, namely the direction of the resultant force is the same as the direction of the excitation speed, so that real-time and continuous adjustment in a third quadrant is realized;
if the excitation speed is positive, the output forces of the two secondary semi-active actuators are adjusted to enable the reverse force to be larger than the forward force, namely the direction of the resultant force is opposite to the direction of the excitation speed, so that real-time and continuous adjustment in the fourth quadrant is achieved.
2. The method of claim 1, wherein: the first secondary semi-active actuator and/or the second secondary semi-active actuator is a magnetorheological actuator.
3. The method of claim 1, wherein: the first secondary semi-active actuator and/or the second secondary semi-active actuator is/are a current-variable actuator.
4. The method of claim 1, wherein: the first secondary semi-active actuator and/or the second secondary semi-active actuator is an adjustable damping actuator.
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| CN112039367B (en) * | 2020-03-29 | 2021-06-29 | 合肥工业大学 | Four-quadrant energy feedback device |
| CN112026468A (en) * | 2020-03-29 | 2020-12-04 | 合肥工业大学 | Full-domain controllable duplex semi-active vehicle suspension system |
| CN113696998A (en) * | 2020-05-20 | 2021-11-26 | 李汉舟 | Double-upright-column single-swing-arm suspension type moving platform based on duplex vibration absorber |
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| US6120009A (en) * | 1998-04-16 | 2000-09-19 | The Boeing Company | Shock strut with managed damping and force characteristics |
| CN102094930B (en) * | 2011-02-17 | 2013-12-04 | 重庆材料研究院 | Double-cylinder differential magnetorheological damper |
| CN202484188U (en) * | 2012-03-21 | 2012-10-10 | 凌海新 | Damper |
| CN103195851A (en) * | 2013-04-07 | 2013-07-10 | 张朝刚 | Gear type two-way damper |
| CN104443369A (en) * | 2014-10-29 | 2015-03-25 | 中国商用飞机有限责任公司 | Buffer device of landing gear buffer strut |
| CN206017968U (en) * | 2016-08-30 | 2017-03-15 | 成都华科阀门制造有限公司 | A kind of valve used pneumatic actuator of novel belt buffer structure |
| CN108721009B (en) * | 2017-04-14 | 2019-08-16 | 香港中文大学 | Magnetorheological series elastic driver |
| CN107448536B (en) * | 2017-09-19 | 2019-07-09 | 福州大学 | A kind of sensing magnetic rheological liquid damper and its control method certainly of recoverable energy |
| CN207961389U (en) * | 2018-01-16 | 2018-10-12 | 宁波鑫邦粉末冶金有限公司 | A kind of vehicle shock absorber |
| CN108569093B (en) * | 2018-05-07 | 2020-03-24 | 中国人民解放军陆军装甲兵学院 | Parallel combined type electromagnetic suspension system and vehicle |
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