CN109667877B - Method for realizing four-quadrant output characteristic of semi-active actuator - Google Patents

Abstract

The invention discloses a method for realizing four-quadrant output characteristics of a semi-active actuator. The speed direction is the same, the output force of the second secondary semi-active actuator is opposite to the excitation speed direction, and then by adjusting the output force of the two secondary semi-active actuators, the output characteristics of the semi-active actuator are realized in four quadrants Internal real-time, continuous adjustment. The invention can change the magnitude and direction of the resultant force of the two secondary semi-active actuators, so that the semi-active actuator with simple structure, lower cost and lower energy consumption has the same four-quadrant real-time, continuous and continuous as the active actuator. Output adjustable characteristics.

Description

Four-quadrant output characteristic realization method of semi-active actuator

technical field

The invention relates to a method for realizing the output characteristics of an active actuator by using a semi-active actuator, in particular to a method for realizing the four-quadrant output characteristics of a semi-active actuator.

technical background

How to minimize the adverse effects of vibration and shock, the performance of control system actuators is critical. At the same time, in engineering applications, the cost and energy consumption of actuators are also important indicators to measure their application prospects. According to whether the actuator has energy input during the working process, it can be divided into passive, active and semi-active. Passive actuators generate passive force. Since their parameters cannot be adjusted, they can only achieve vibration reduction effects under specific working conditions. The active actuator can generate an active and controllable force, and the magnitude and direction of the force can be adjusted, that is, it has four-quadrant adjustment characteristics. Active systems based on active actuators can achieve ideal vibration reduction effect under any working conditions, but high cost and energy consumption limit its wide application. Semi-active actuators are between passive actuators and active actuators, and have the advantages of adjustable parameters, low energy consumption, and low cost, and have broad application prospects. As far as the semi-active actuators currently on the market are concerned, although the magnitude of the force can be adjusted by changing its own parameters, 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 speed. That is, if the speed is in the positive direction, the damping force is in the positive direction; otherwise, if the speed is in the negative direction, the damping force is in the negative direction. That is to say, as shown in Figure 2a, in the "force-velocity" diagram, only the first and third quadrants can be adjusted, without the four-quadrant output characteristics like active actuators, which affects half of the Vibration damping performance of active systems.

SUMMARY OF THE INVENTION

Aiming at the deficiencies in the prior art, the present invention proposes a method for realizing the four-quadrant output characteristic of a semi-active actuator, so as to adjust the output force of the two secondary semi-active actuators connected with the motion reversing mechanism to make the The magnitude and direction of the resultant force of the two secondary semi-active actuators are changed, so that the semi-active actuator has the same four-quadrant real-time and continuous output adjustable characteristics as the active actuator.

The present invention adopts the following technical scheme for solving the technical problem:

A method for realizing the four-quadrant output characteristic of a semi-active actuator of the present invention is characterized in that the semi-active actuator is composed of a first secondary semi-active actuator, a second secondary semi-active actuator and a motion reversing mechanism , and proceed as follows:

Step 1. Connect the two secondary semi-active actuators to the motion reversing mechanism respectively, so that the output force of the first secondary semi-active actuator is in the same direction as the excitation speed, and the second secondary semi-active actuator is in the same direction as the excitation speed. The output force of the actuator is opposite to the direction of the excitation speed; the output force in the same direction as the excitation speed is used as the positive force, and the output force opposite to the direction of the excitation speed is used as the reverse force; and the positive force and the reverse The resultant force of the force is the output force of the semi-active actuator;

Step 2, respectively adjusting the output force of the two secondary semi-active actuators, so that the output characteristics of the semi-active actuators can be adjusted in real time and continuously in four quadrants respectively;

If the excitation speed is positive, adjust the output force of the two secondary semi-active actuators so that the forward force is greater than the reverse force, that is, the direction of the resultant force is the same as the direction of the excitation speed, so as to achieve the first Real-time, continuous adjustment within quadrants;

If the excitation speed is negative, adjust the output force of the two secondary semi-active actuators so that the reverse force is greater than the positive force, that is, the direction of the resultant force is opposite to the direction of the excitation speed, so as to achieve the second Real-time, continuous adjustment within quadrants;

If the excitation speed is negative, adjust the output force of the two secondary semi-active actuators so that the positive force is greater than the reverse force, that is, the direction of the resultant force is the same as the direction of the excitation speed, so as to achieve the third Real-time, continuous adjustment within quadrants;

If the excitation speed is positive, adjust the output force of the two secondary semi-active actuators so that the reverse force is greater than the positive force, that is, the direction of the resultant force is opposite to the direction of the excitation speed, so as to achieve the fourth Real-time, continuous adjustment within quadrants.

The characteristic of the realization method of the present invention also lies in:

The first secondary semi-active actuator and/or the second secondary semi-active actuator are magnetorheological actuators.

The first secondary semi-active actuator and/or the second secondary semi-active actuator are electrorheological actuators.

The first secondary semi-active actuator and/or the second secondary semi-active actuator are adjustable damping actuators.

Compared with the prior art, the beneficial effects of the present invention are reflected in:

1. The semi-active actuator with four-quadrant output characteristics of the present invention is composed of two secondary semi-active actuators and a motion reversing mechanism. By combining the two secondary semi-active actuators with the motion reversing mechanism , realizing the four-quadrant real-time and continuous output characteristics of active actuators, which greatly improves the performance of traditional semi-active actuators;

2. The present invention adopts a motion reversal mechanism to make the directions of the output forces of the two secondary semi-active actuators always opposite, and by adjusting the output forces of the two secondary semi-active actuators, the direction of their resultant force and the excitation speed can be adjusted. The direction of the semi-active actuator is the same or opposite, that is, no matter whether the excitation speed is positive or negative, the magnitude and direction of the output force of the semi-active actuator of the present invention can be adjusted, thereby realizing the semi-active actuator in the "force-velocity" diagram. Four-quadrant output characteristics, no additional energy input, compared with active actuators, the energy consumption is greatly reduced;

3. The implementation method of the present invention can be based on magnetorheological or electrorheological effects, so that the semi-active actuator with four-quadrant output characteristics has the characteristics of continuous adjustment, fast response, and wide adjustable range;

4. The realization method of the present invention is relatively simple, small in size, and low in cost, which is more conducive to engineering applications.

Description of drawings

Fig. 1 is the principle diagram of the four-quadrant output characteristic realization method of the semi-active actuator of the present invention, the motion reversing mechanism adopts the rack and pinion form;

Fig. 1a is a schematic diagram of the four-quadrant output characteristic realization method of the semi-active actuator of the present invention, in which the motion reversing mechanism adopts the form of a ball screw;

Figure 2a is a "force-velocity" characteristic diagram of a traditional semi-active actuator;

Fig. 2b is the "force-velocity" characteristic diagram of the semi-active actuator with four-quadrant output characteristic of the present invention;

3a is a schematic diagram of the overall structure of the four-quadrant output characteristic realization method of the semi-active actuator according to the present invention, in which the motion reversing mechanism adopts the form of a rack and pinion;

Fig. 3b is a longitudinal cross-sectional schematic diagram of the four-quadrant output characteristic realization method of the semi-active actuator of the present invention, in which the motion reversing mechanism adopts the form of a rack and pinion;

4 is a schematic structural diagram of a single-out rod inner bypass magnetorheological damper used in the method for realizing the four-quadrant output characteristics of the semi-active actuator of the present invention;

5 is a schematic structural diagram of a dual-rod internal bypass magnetorheological damper used in the method for realizing the four-quadrant output characteristic of the semi-active actuator of the present invention;

6 is a schematic structural diagram of a single-rod magnetorheological damper used in the method for realizing the four-quadrant output characteristics of the semi-active actuator of the present invention;

7 is a schematic structural diagram of an electrorheological actuator used in the method for realizing the four-quadrant output characteristic of the semi-active actuator of the present invention;

8 is a schematic structural diagram of an adjustable damping actuator used in the method for realizing the four-quadrant output characteristic of the semi-active actuator of the present invention;

Labels in the figure: 101 first lifting lug, 102 first air bag, 103 first piston casing, 104 first magnetorheological fluid, 105 first piston, 106 first coil, 107 first copper ring, 108 third end cap , 109 first sealing ring, 110 first skeleton oil seal, 111 second copper ring, 112 first piston rod, 113 first rack, 114 second lifting lug, 115 first end cover, 116 second air bag, 117 first 2 magnetorheological fluid, 118 second piston, 119 second coil, 120 second piston rod, 121 second piston housing, 122 third copper ring, 123 second skeleton oil seal, 124 second seal ring, 125 second end Cover, 126 fourth copper ring, 127 shell, 128 second rack, 129 gear, 200 single-rod internal bypass magnetorheological damper, 201 piston rod, 202 shell, 203 end cap, 204 piston core, 205 Piston, 206 Airbag, 300 Double Rod Internal Bypass MR Damper, 301 Piston Rod, 302 Shell, 303 Piston, 304 Upper End Cover, 305 Piston Core, 306 Lower End Cover, 400 Single Rod MR Damper , 401 airbag, 402 piston, 403 housing, 404 piston rod, 500 electrorheological actuator, 501 housing, 502 first electrode, 503 piston, 504 end cap, 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 ways

In this embodiment, the semi-active actuator with four-quadrant output characteristics 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 The actuator can be replaced with various forms of semi-active actuators, such as magnetorheological actuators, electrorheological actuators, adjustable damping (CDC) actuators, etc.; the motion reversal mechanism is shown in Figure 1 and Figure 1a, Available in rack and pinion form or ball screw form. Specifically, a method for realizing a four-quadrant output characteristic of a semi-active actuator is as follows:

Step 1. Connect the two secondary semi-active actuators to the motion reversing mechanism respectively, 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 the same as that of the excitation speed. The direction of the excitation speed is opposite; the output force in the same direction as the excitation speed is used as the positive force, and the output force opposite to the direction of the excitation speed is used as the reverse force; and the resultant force of the positive force and the reverse force is the output of the semi-active actuator force;

Step 2. Adjust the output force of the two secondary semi-active actuators respectively, so that the output characteristics of the semi-active actuators can be adjusted in real time and continuously in the four quadrants respectively. Specifically, as shown in Figure 2b, the four quadrants The adjustment method of the output characteristic is:

If the excitation speed is positive, adjust the output force of the two secondary semi-active actuators so that the forward force is greater than the reverse force, that is, the direction of the resultant force is the same as the direction of the excitation speed, so as to achieve real-time and continuous operation in the first quadrant. adjust;

If the excitation speed is negative, adjust the output force of the two secondary semi-active actuators so that the reverse force is greater than the positive force, that is, the direction of the resultant force is opposite to the direction of the excitation speed, so as to achieve real-time and continuous operation in the second quadrant. adjust;

If the excitation speed is negative, adjust the output force of the two secondary semi-active actuators so that the positive force is greater than the reverse force, that is, the direction of the resultant force is the same as the direction of the excitation speed, so as to achieve real-time and continuous operation in the third quadrant adjust;

If the excitation speed is positive, adjust the output force of the two secondary semi-active actuators so that the reverse force is greater than the positive force, that is, the direction of the resultant force is opposite to the direction of the excitation speed, so as to achieve real-time, continuous operation in the fourth quadrant adjust.

In a specific implementation, the first secondary semi-active actuator and/or the second secondary semi-active actuator are magnetorheological actuators. Specifically, a single-rod internal bypass magnetorheological damper can be used, as shown in FIG. 4, which is composed of a piston rod 201, a casing 202, an end cover 203, a piston core 204, a piston 205, an airbag 206, etc. The dual-rod internal bypass magnetorheological damper shown in FIG. 5 can be used, which is composed of a piston rod 301, a casing 302, a piston 303, an upper end cover 304, a piston core 305 and a lower end cover 306, etc., or FIG. 6 can be used. The shown single-rod magnetorheological damper is composed of an airbag 401, a piston 402, a casing 403 and a piston rod 404, etc., and the viscosity of the magnetorheological fluid is adjusted by adjusting the coil current, thereby realizing the control of the 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 can be used, which is composed of a casing 501, a first electrode 502, a piston 503, an end cap 504, a second electrode 505 and a piston rod 506, etc., and realizes electrorheological change by changing the electric field. Changes in fluid viscosity, thereby adjusting the size of the damping force.

In a specific implementation, the first secondary semi-active actuator and/or the second secondary semi-active actuator may also be adjustable damping actuators. Specifically, the adjustable damping type shock absorber as shown in FIG. 8 is used, which consists of a first one-way valve 601, a first damping valve 602, a piston 603, a second one-way valve 604, a piston rod 605, and a second damping The valve 606 and the controllable damping valve 607 are composed, and the cross-sectional area of the liquid passage is adjusted by the controllable damping valve, so as to realize the adjustment of the damping force.

In this embodiment, both the first secondary semi-active actuator and the second secondary semi-active actuator use magnetorheological dampers. As shown in Figure 3a and Figure 3b, the semi-active actuator with four-quadrant output characteristics is composed of a first magnetorheological damper, a second magnetorheological damper and a motion reversal mechanism; the first magnetorheological damper is composed of The first piston rod 112, the first piston 105, the first coil 106, the first piston housing 103, the first air bag 102, the first end cap 115, the second end cap 125, the third end cap 108, the first magnetorheological Liquid 104, the first copper ring 107, the second copper ring 111, the first skeleton oil seal 110, the first sealing ring 109 and the first lifting lug 101, the first piston rod 112 is coaxially fixed with the first piston 105; the first The 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 located in the first piston housing 103 The bottom is used to compensate for the volume change during the process of the first piston rod 112 entering and exiting the first piston housing 103; the first copper ring 107 and the second copper ring 111 are respectively assembled coaxially with the first piston rod 112, so that the first piston 105 Always keep coaxial with the first piston housing 103; the first skeleton oil seal 110 is located between the first copper ring 107 and the second copper ring 111 and is assembled coaxially with the first piston rod 112 to avoid the first magnetorheological fluid 104. leakage; the first sealing ring 109 is assembled between the third end cover 108 and the first piston housing 103 to ensure the airtightness inside the first piston housing 103; the first end cover 115 is connected to the bottom of the first piston housing 103 and the second A lifting lug 101 is fixedly connected;

The second magnetorheological damper consists of a second piston rod 120, a second piston 118, a second coil 119, a second piston housing 121, a second airbag 116, a first end cap 115, a second end cap 125, and a third end The cover 108, the second magnetorheological fluid 117, the third copper ring 122, the fourth copper ring 126, the second skeleton oil seal 123 and the second sealing ring 124 are composed, and the second piston rod 120 is coaxially fixed with the second piston 118; The second coil 119 passes through the inner through hole of the second piston rod 120 and is wound in the annular groove of the second piston 118; the second magnetorheological fluid 117 is filled inside the second piston housing 121; the second airbag 117 is located in the second piston The bottom of the casing 121 is used to compensate for the volume change generated when the second piston rod 120 enters and exits the second piston casing 121; the third copper ring 122 and the fourth copper ring 126 are respectively assembled coaxially with the second piston rod 120, so that the second The piston 118 and the second piston housing 121 are always kept coaxial; the second skeleton oil seal 123 is located between the third copper ring 122 and the fourth copper ring 126 and is assembled coaxially with the second piston rod 120 to avoid the second magnetorheological fluid 117 leakage; the second sealing ring 124 is assembled between the third end cover 108 and the second piston housing 121 to ensure the internal sealing of the second piston housing 121; the bottom of the second piston housing 121 is fixed to the first end cover 115 even;

The motion reversal mechanism is composed of a first rack 113, a second rack 128, a gear 129, a housing 127 and a second lifting lug 114. The first rack 113 is coaxially fixed with the first piston rod 112, and the second rack 128 is fixed coaxially with the second piston rod 120, the gear 129 is located between the first rack 113 and the second rack 128, and meshes with the first rack 113 and the second rack 128 respectively; the housing 127 is connected to the second end The cover 125 is coaxially fixed; the motion reversal mechanism makes the direction of the force generated by the second magnetorheological damper always opposite to the direction of the excitation speed; by adjusting the coil currents in the two magnetorheological dampers respectively, the resultant force is The magnitude changes continuously, and the direction of the resultant force is the same or opposite to the direction of the excitation speed, thereby realizing the real-time and continuous adjustment of the output characteristics of the semi-active actuator within four quadrants.

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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