CN111781837A - Closed-loop control method of magneto-rheological actuator based on dynamic model reconstruction - Google Patents
Closed-loop control method of magneto-rheological actuator based on dynamic model reconstruction Download PDFInfo
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Abstract
The invention relates to the technical field of vibration control, in particular to a closed-loop control method of a magneto-rheological actuator based on dynamic model reconstruction. The method comprises a damping force/moment monitoring system, a dynamic model reconstruction module, a magneto-rheological actuator dynamic model, a saturation controller, a current driver and a magneto-rheological actuator; the damping force/moment monitoring system is used for monitoring the actual damping force/moment value of the magnetorheological actuator in real time and feeding the actual damping force/moment value back to the dynamic model reconstruction module; the dynamic model reconstruction module reconstructs the dynamic model of the magneto-rheological actuator on line according to the actual damping force/moment value of the magneto-rheological actuator monitored by the damping force/moment monitoring system in real time; the saturation controller is used for solving a smooth control law considering the asymmetric saturation characteristic of control current/voltage by utilizing the dynamic model of the magneto-rheological actuator reconstructed on line by the dynamic model reconstruction module, and controlling the damping force/moment of the magneto-rheological actuator by the current driver.
Description
Technical Field
The invention relates to the technical field of vibration control, in particular to a closed-loop control method of a magneto-rheological actuator based on dynamic model reconstruction.
Background
The magneto-rheological actuator has the advantages of real-time adjustable damping, wide dynamic range, high response speed, low power consumption and relatively simple structure, and has wide application prospect in a plurality of vibration control fields such as vehicle suspensions, civil bridges and the like.
The main problems and deficiencies in the prior art include: at present, the control mode of the magneto-rheological actuator mainly adopts an open-loop control mode, namely, an inverse model of damping force/moment-current/voltage, such as a polynomial model, a Bingham model, a Bouc-Wen model, a hyperbolic tangent algebraic model, a neural network and the like, is established according to the mapping relation of the damping force/moment, the speed, the displacement, the acceleration, the temperature, the current and the like of the magneto-rheological actuator. However, because the mechanical behavior of the magnetorheological actuator has phenomena such as hysteresis, temperature dependence, frequency dependence and the like, the established mechanical model usually has certain errors. In order to improve the control precision of the magnetorheological actuator, scholars such as Dyke of the university of Washington, St.S. USA propose a control method which is based on the Heaviside function and does not depend on a mechanical model of the magnetorheological actuator, and control current/voltage is mapped by judging the distribution relation of expected damping force/moment and actual damping force/moment.
Therefore, a control strategy for controlling the smoothness of the current/voltage is explored, and the method has important theoretical significance and engineering application value for improving the control performance and reliability of a vibration control system and prolonging the service life of the magnetorheological actuator.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides a closed-loop control method of a magneto-rheological actuator, which comprises a damping force/moment monitoring system, a dynamic model reconstruction module and a saturation controller module; the damping force/moment monitoring system monitors the change of the damping force/moment of the magnetorheological actuator in real time; the dynamic model reconstruction module reconstructs the dynamic state of the magneto-rheological actuator on line according to the real-time state of the damping force/moment monitored by the damping force/moment monitoring system; the saturation controller utilizes a dynamic model identified on line by a dynamic modeling module to calculate a smooth control law considering the asymmetric saturation characteristics of the control current/voltage.
In order to achieve the purpose, the invention adopts the following technical scheme:
a closed-loop control method of a magneto-rheological actuator based on dynamic model reconstruction comprises a damping force/moment monitoring system, a dynamic model reconstruction module, a magneto-rheological actuator dynamic model, a saturation controller, a current driver and a magneto-rheological actuator;
the damping force/moment monitoring system is used for monitoring the actual damping force/moment value of the magnetorheological actuator in real time and feeding the actual damping force/moment value back to the dynamic model reconstruction module; the dynamic model reconstruction module reconstructs the dynamic model of the magneto-rheological actuator on line according to the actual damping force/moment value of the magneto-rheological actuator monitored by the damping force/moment monitoring system in real time; the saturation controller is used for solving a smooth control law considering the asymmetric saturation characteristic of control current/voltage by utilizing the dynamic model of the magneto-rheological actuator reconstructed on line by the dynamic model reconstruction module, and controlling the damping force/moment of the magneto-rheological actuator by the current driver.
Furthermore, the damping force/moment monitoring system is used for monitoring the actual damping force/moment value of the magnetorheological actuator in real time and is realized by an actual physical force/moment sensor testing system or a virtual force/moment monitoring system.
Still further, the actual physical force/torque sensor test system estimates the damping force/torque value at the current moment according to the measurable/predictable state of the magnetorheological actuator at the previous moment by utilizing a mapping model of the damping force/torque of the existing magnetorheological actuator with respect to speed, displacement, acceleration, temperature and current factors.
And furthermore, the virtual force/moment monitoring system reconstructs a damping force/moment value at the current moment according to the state of the vibration control damping force/moment monitoring system by a method of expanding a state observer or a system identification module with a storage function.
Further, the dynamic model reconstruction module reconstructs the dynamic model of the magnetorheological actuator on line according to the real-time state of the damping force/moment monitored by the damping force/moment monitoring system, which specifically comprises the following steps: the dynamic model reconstruction module is used for reconstructing the dynamic model of the magneto-rheological actuator on line and is described by a dynamic equation, and then the dynamic model of the magneto-rheological actuator is reconstructed on line by utilizing an advanced identification technology according to the real-time state of the damping force/moment monitored by the damping force/moment monitoring system.
Still further, the advanced identification technology is an extended state observer or a neural network/fuzzy system online identifier.
Further, the saturation controller is used for solving a smooth control law considering the asymmetric saturation characteristics of the control current/voltage by using the dynamic model of the magneto-rheological actuator identified on line by the dynamic model reconstruction module, and the specific implementation method is any tracking control method considering the asymmetric saturation characteristics of the actuator, such as dynamic surface control, sliding mode control, model prediction control and the like.
Furthermore, the current/voltage control feasible domain of the saturation controller is an asymmetric saturation model with u being more than or equal to 0 and less than or equal to umaxWhere u is the control current/voltage, umaxMaximum control current/voltage allowed for the magnetorheological actuator; the control law is designed into the control strategy based on the dynamic model reconstruction module and considering asymmetric saturation at will.
Compared with the prior art, the invention has the following advantages:
aiming at the problems of low open-loop control precision of the existing magneto-rheological actuator and buffeting of the magneto-rheological actuator closed-loop dual-mode control method based on the Heaviside step function, the invention provides a closed-loop control method of the magneto-rheological actuator based on dynamic model reconstruction, which overcomes the defect of current/voltage control quantity jump of the Heaviside step function, establishes a dynamic model of the magneto-rheological actuator by utilizing an advanced online identification technology, and further obtains smooth control current/voltage by a modern tracking control method considering the asymmetric saturation characteristic of the actuator, thereby improving the damping force/moment control precision of the magneto-rheological actuator.
Drawings
FIG. 1 is a schematic diagram of a closed-loop control method for a magnetorheological actuator based on dynamic model reconstruction;
FIG. 2 is a magneto-rheological actuator closed-loop control method based on an extended state observer.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
As shown in fig. 1, the present invention discloses a closed-loop control method of a magnetorheological actuator based on dynamic model reconstruction, which comprises a damping force/moment monitoring system, a dynamic model reconstruction module, a dynamic model of the magnetorheological actuator, a saturation controller, a current driver and a magnetorheological actuator; the damping force/moment monitoring system is used for monitoring the actual damping force/moment value of the magnetorheological actuator in real time and feeding the actual damping force/moment value back to the dynamic model reconstruction module, is realized by an actual physical force/moment sensor testing system, and estimates the damping force/moment value at the current moment according to the measurable/predictable state of the magnetorheological actuator at the previous moment by utilizing a mapping model of the damping force/moment of the existing magnetorheological actuator with respect to speed, displacement, acceleration, temperature and current factors; or the damping force/moment value at the current moment is reconstructed by a virtual force/moment monitoring system through a method of expanding a state observer or a system identification module with a storage function according to the state of the vibration control damping force/moment monitoring system; the dynamic model reconstruction module reconstructs the dynamic model of the magneto-rheological actuator on line according to the real-time state of the damping force/moment monitored by the damping force/moment monitoring system, and specifically comprises the following steps: the dynamic model reconstruction module is used for reconstructing the dynamic model of the magneto-rheological actuator on line and is described by a dynamic equation, and further, the dynamic model of the magneto-rheological actuator is reconstructed on line by utilizing an advanced identification technology (an extended state observer or a neural network/fuzzy system on-line identifier) according to the real-time state of the damping force/moment monitored by the damping force/moment monitoring system; the saturation controller is used for solving and considering the dynamic model of the magneto-rheological actuator identified on line by using the dynamic model reconstruction moduleThe current/voltage asymmetric saturation characteristic smooth control law is controlled, the damping force/torque of the magneto-rheological actuator is controlled through the current driver, the specific implementation method is any tracking control method considering the asymmetric saturation characteristic of the actuator, and the current/voltage control feasible domain of the saturation controller is that an asymmetric saturation model is that u is more than or equal to 0 and less than or equal to umaxWhere u is the control current/voltage, umaxMaximum control current/voltage allowed for the magnetorheological actuator; the control law is designed into the control strategy based on the dynamic model reconstruction module and considering asymmetric saturation at will.
The method specifically comprises the following steps (as shown in figure 2):
(1) without loss of generality, assume that the dynamic model of the magnetorheological actuator is represented by the following second order differential equation:
wherein x1The damping force/moment of the magnetorheological actuator can be measured; f (x)1,x2) Is an unknown function; (t) is the dynamic modeling error; b is a control coefficient which can be determined by a mechanical behavior experiment of the magnetorheological actuator; u is control current/voltage, and satisfies asymmetric saturation model of 0-umax，umaxThe maximum allowable control current/voltage for the magnetorheological actuator.
(2) For the asymmetric saturation model, u is more than or equal to 0 and less than or equal to umaxEstablishing an asymmetric smooth saturation model
Wherein
Definition of u and uvThe error between u and u is d (t), u ═ u-v+d(t)。
(3) The kinetic equation of the magnetorheological actuator can be written as
(4) Reconstruction of magnetorheological actuator dynamics using extended state observer
Let a (t) be f (x)1,x2) And + (t) + bd (t) is lumped unmodeled dynamics, then the following extended state observer is designed:
wherein z isi(t), i is 1,2 is xi(t) an observed value; z is a radical of3(t) observer lumped unmodeled dynamics a (t) α∈ (0,1) given parameters βiIs the gain of the observer.
(5) Defining error surface
Wherein
To a desired damping force FdFiltered signal obtained by tracking a differentiator as follows
(6) Definition error e2＝z2-α1And defining a quadratic Lyapunov function
Then
Wherein l1To extend the error bounds of the state observer and the tracking differentiator.
(7) Virtual control α1Can be designed as follows
Wherein
For estimation of filter error boundaries1；
To track a second state of the differentiator; theta1,σ1,
Is a normal number that needs to be designed.
(8) Defining a Lyapunov function
Then
(9) The controller is designed as
The parameter adaptation law is as follows:
wherein, γφ,θ2,σ2In order to have a normal number that needs to be designed,
is composed of
Is estimated by the estimation of (a) a,
is composed of
Is estimated.
(10) For controllers, Lyapunov function
Wherein
(11) The Lyapunov function satisfies
Wherein
η＝[η1,η2,η3]TTo expand the state observer error, P is a positive definite matrix that stabilizes the expanded state observer.
Selecting
For a given constant μ > 0, V (0). ltoreq.mu
Then
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (7)
1. A closed-loop control method of a magneto-rheological actuator based on dynamic model reconstruction is characterized by comprising a damping force/moment monitoring system, a dynamic model reconstruction module, a magneto-rheological actuator dynamic model, a saturation controller, a current driver and a magneto-rheological actuator;
the damping force/moment monitoring system is used for monitoring the actual damping force/moment value of the magnetorheological actuator in real time and feeding the actual damping force/moment value back to the dynamic model reconstruction module; the dynamic model reconstruction module reconstructs the dynamic model of the magneto-rheological actuator on line according to the actual damping force/moment value of the magneto-rheological actuator monitored by the damping force/moment monitoring system in real time; the saturation controller is used for solving a smooth control law considering the asymmetric saturation characteristic of control current/voltage by utilizing the dynamic model of the magneto-rheological actuator reconstructed on line by the dynamic model reconstruction module, and controlling the damping force/moment of the magneto-rheological actuator by the current driver.
2. The closed-loop control method for the magnetorheological actuator based on the dynamic model reconstruction as claimed in claim 1, wherein the damping force/moment monitoring system is used for monitoring the actual damping force/moment value of the magnetorheological actuator in real time and is implemented by an actual physical force/moment sensor test system or a virtual force/moment monitoring system.
3. The method of claim 2, wherein the virtual force/torque monitoring system is a method of expanding a state observer or a system identification module with a storage function.
4. The closed-loop control method for the magnetorheological actuator based on the dynamic model reconstruction as claimed in claim 1, wherein the dynamic model reconstruction module reconstructs the dynamic model of the magnetorheological actuator on line according to the actual damping force/moment value of the magnetorheological actuator monitored by the damping force/moment monitoring system in real time, specifically: the dynamic model reconstruction module is used for reconstructing the dynamic model of the magneto-rheological actuator on line and is described by a dynamic equation, and then the dynamic model of the magneto-rheological actuator is reconstructed on line by utilizing an advanced identification technology according to the actual value of the damping force/moment monitored by the damping force/moment monitoring system.
5. The method as claimed in claim 5, wherein the advanced identification technology is extended state observer or neural network/fuzzy system online identifier.
6. The closed-loop control method of the magneto-rheological actuator based on the dynamic model reconstruction as claimed in claim 1, wherein the saturation controller is configured to use the magneto-rheological actuator dynamic model reconstructed on line by the dynamic model reconstruction module to obtain a smooth control law considering the asymmetric saturation characteristics of the control current/voltage, and the specific implementation method is any tracking control method considering the asymmetric saturation characteristics of the magneto-rheological actuator.
7. The method as claimed in claim 1, wherein the current/voltage control feasible region of the saturation controller is an asymmetric saturation model with a value of 0 ≦ umaxWhere u is the control current/voltage, umaxMaximum control current/voltage allowed for the magnetorheological actuator; the control law is designed into the control strategy based on the dynamic model reconstruction module and considering asymmetric saturation at will.
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| CN113864384A (en) * | 2021-09-22 | 2021-12-31 | 清华大学 | Temperature compensation-based magnetorheological damper control method and system |
| CN114488805A (en) * | 2022-01-21 | 2022-05-13 | 温州大学 | Suspension system of sliding mode interference observation compensation magnetorheological damper and control method |
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