CN111880439B - Method and apparatus for controlling current in a magnetorheological damper - Google Patents
Method and apparatus for controlling current in a magnetorheological damper Download PDFInfo
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Abstract
本申请提出一种控制磁流变减振器电流的方法和装置，方法包括：对磁流变减振器进行示功试验，获取阻尼力与活塞速度和线圈电流的关系表；将关系表中的活塞速度与阻尼力的标度进行重新划分后作为自变量，线圈电流作为因变量，生成正交自变量组；对正交自变量组在试验数据点附近进行第一次平滑插值处理，得到第一插值点，并将其按照过滤条件进行过滤后，在非单调变化区域的数据点进行第二次平滑插值处理得到第二插值点；在阻尼力上、下限以外设置电流上、下限后，对第二插值点进行曲面拟合得到控制面，并获取控制面的查询表，以此获取目标阻尼力和当前活塞速度下对应的目标控制电流值。由此，可以高准确度地、快速地进行磁流变减振器对象的实际控制。
The present application proposes a method and device for controlling the current of a magnetorheological damper. The method includes: performing an indicator test on the magnetorheological damper to obtain a relationship table between damping force, piston speed and coil current; The piston speed and the scale of the damping force are re-divided as independent variables, and the coil current is used as the dependent variable to generate an orthogonal independent variable group; the first smooth interpolation process is performed on the orthogonal independent variable group near the test data points, and the After the first interpolation point is filtered according to the filter conditions, the second interpolation point is obtained by performing a second smooth interpolation process on the data points in the non-monotonic region; Surface fitting is performed on the second interpolation point to obtain a control surface, and a look-up table of the control surface is obtained, thereby obtaining the target damping force and the target control current value corresponding to the current piston speed. Thereby, the actual control of the magnetorheological damper object can be performed with high accuracy and speed.
Description
Technical Field
The application relates to the field of vehicle control engineering, in particular to a method and a device for controlling current of a magneto-rheological damper.
Background
The parameters of the conventional shock absorber used by the traditional vehicle passive suspension are determined when the shock absorber leaves a factory, and the requirements of comfort and driving stability cannot be considered simultaneously. The semi-active suspension can adjust the damping force within the damping force dissipation range, and improves the comfort and the driving stability.
The variable damping shock absorber applied to the semi-active suspension of the vehicle mainly comprises two types, one type is a controllable electromagnetic valve type shock absorber, and the other type is a magnetorheological shock absorber. The working principle of the magnetorheological damper is that under the action of a magnetic field, magnetic particles in magnetorheological liquid are in a chain shape along the direction of the magnetic field and have a shear yield characteristic in the direction perpendicular to the direction of the magnetic field, so that the magnetorheological liquid has flow resistance, and the damping characteristic can be changed by changing the magnetic field. The magneto-rheological damper has the advantages of large adjustable force value range and quick response.
In order to realize semi-active suspension control of a vehicle, accurate modeling needs to be carried out on a controlled object, namely a magnetorheological damper. The damping characteristic of the magneto-rheological shock absorber has strong nonlinearity due to multiple influences of an external magnetic field, excitation displacement and frequency, so that the magneto-rheological shock absorber is difficult to model, and in order to realize accurate control of the output damping force of the shock absorber, the establishment of accurate relation between control current and speed and expected damping force is very important.
Magnetorheological damper models are broadly classified into parametric and non-parametric types. Common parameterized models are: a Bingham model, a Bouc-Wen model, a modified Bouc-Wen model, a nonlinear hysteresis double-viscous model, a modified Dahl model, a Sigmoid model, a magic formula model, and the like. Non-parametric models have no direct functional expression and are usually curve-fitted or trained by neural networks from experimental results to obtain the model.
The existing parameterized models have the problem of insufficient precision, and due to strong nonlinearity of the magnetorheological damper, the same mathematical formula cannot cover all working conditions, so that the models have serious deviation in practical application. The second is the problem of the feasible working domain, the model is fitted to the existing test points when fitting is carried out, but due to insufficient constraint, the result can be obtained by substituting the independent variable violating the physical background. Describing the high nonlinear working region under different working conditions with higher resolution requires a large number of constraint inequalities, which is not a realistic and effective method. For the non-parameterized black box model, because the real physical background and the constraint do not exist, the problem of the parameterized model also exists, and even the constraint cannot be described.
At present, the semi-active suspension control of the magneto-rheological shock absorber is still dominated by foreign technologies, the large-scale domestic application of the magneto-rheological semi-active suspension is not available in China, and the modeling of a control object is the key problem of hindering the development of the magneto-rheological suspension. Therefore, it is necessary to establish a model of the magnetorheological damper with practical engineering value, and at present, no current control method for the practical magnetorheological damper applied to engineering exists in China.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, an object of the present application is to provide a method for controlling current of a magnetorheological damper, which can restore the real characteristics of the used damper, satisfy damping dissipation constraints, force value range constraints and current saturation constraints of the damper, and can perform actual control of a magnetorheological damper object with high accuracy and high speed.
It is another object of the present application to provide an apparatus for controlling current to a magnetorheological damper.
An embodiment of an aspect of the present application provides a method for controlling a current of a magnetorheological damper, including:
testing the magneto-rheological shock absorber according to a pre-established shock absorber hydraulic shock excitation test system to obtain a relation table of damping force, piston speed and coil current;
dividing the scales of the piston speed and the damping force in the relation table again to be used as independent variables, and using coil current as dependent variables to generate an orthogonal independent variable group;
carrying out first smooth interpolation processing on the orthogonal independent variable group near the test data point to obtain a first interpolation point;
after the first interpolation point is filtered according to a preset filtering condition, performing second smooth interpolation processing on each data point in the non-monotone change area to obtain a second interpolation point;
and setting an upper current limit outside the upper damping force limit, performing surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and acquiring a lookup table corresponding to the control surface so as to acquire a target control current value corresponding to the target damping force and the current piston speed through the lookup table.
In another aspect, an embodiment of the present application provides a device for controlling current of a magnetorheological damper, including:
the acquisition module is used for testing the magneto-rheological shock absorber according to a pre-established shock absorber hydraulic shock excitation test system and acquiring a relation table of damping force, piston speed and coil current;
the dividing module is used for dividing the scales of the piston speed and the damping force in the relation table again to be used as independent variables, and the coil current is used as a dependent variable to generate an orthogonal independent variable group;
the first interpolation module is used for carrying out first smooth interpolation processing on the orthogonal independent variable group near the test data point to obtain a first interpolation point;
the second interpolation module is used for filtering the first interpolation point according to a preset filtering condition and then performing second smooth interpolation processing on each data point in the non-monotone change area to obtain a second interpolation point;
and the processing module is used for setting an upper current limit outside the upper damping force limit, carrying out surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and obtaining a lookup table corresponding to the control surface so as to obtain a target damping force and a target control current value corresponding to the current piston speed through the lookup table.
The technical scheme provided by the embodiment of the application can have the following beneficial effects:
testing the magneto-rheological shock absorber according to a pre-established shock absorber hydraulic shock excitation test system to obtain a relation table of damping force, piston speed and coil current; dividing the scales of the piston speed and the damping force in the relation table again to be used as independent variables, and using coil current as dependent variables to generate an orthogonal independent variable group; carrying out first smooth interpolation processing on the orthogonal independent variable group near the test data point to obtain a first interpolation point; after the first interpolation point is filtered according to a preset filtering condition, performing second smooth interpolation processing on each data point in the non-monotone change area to obtain a second interpolation point; and setting an upper current limit outside the upper damping force limit, performing surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and acquiring a lookup table corresponding to the control surface so as to acquire a target control current value corresponding to the target damping force and the current piston speed through the lookup table. Thus, the actual control of the magnetorheological damper object can be performed with high accuracy and rapidly.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic flow chart illustrating a method for controlling current to a magnetorheological damper according to an embodiment of the present application;
FIG. 2 is a schematic structural diagram of a hydraulic shock excitation test system for a shock absorber provided in an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating damping force versus piston velocity versus coil current characteristics for a magnetorheological shock absorber in accordance with an embodiment of the present application;
FIG. 4 is a control surface of a magnetorheological damper provided in an embodiment of the present application;
FIG. 5 is a perspective view of a control surface of a magnetorheological damper provided in an embodiment of the present application;
FIG. 6 is an orthogonal independent variable control surface of a magnetorheological damper provided in an embodiment of the present application;
FIG. 7 is a continuously varying control plane satisfying constraints provided by embodiments of the present application;
FIG. 8 is a continuously varying control surface projection satisfying constraints provided by embodiments of the present application;
FIG. 9 is a schematic structural diagram of an apparatus for controlling current of a magnetorheological damper according to an embodiment of the present application.
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The method and apparatus for controlling the current of a magnetorheological damper according to embodiments of the present application are described with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart illustrating a method for controlling current of a magnetorheological damper according to an embodiment of the present application.
As shown in fig. 1, the method comprises the steps of:
step 101, testing the magneto-rheological shock absorber according to a pre-established shock absorber hydraulic shock excitation testing system, and obtaining a relation table of damping force, piston speed and coil current.
In this application embodiment, shock absorber hydraulic shock excitation test system includes: the system comprises a hydraulic excitation system, a data acquisition system, a magneto-rheological shock absorber and a direct-current power supply.
In the embodiment of the application, the method for testing the magnetorheological damper according to the pre-established hydraulic shock excitation test system of the damper to obtain the relation table of the damping force, the piston speed and the coil current comprises the following steps: generating damping force and piston speed through a hydraulic excitation system; the data acquisition system acquires damping force and piston speed; the magneto-rheological damper is connected with a direct current power supply to obtain coil current; and establishing a relation table according to the damping force, the piston speed and the coil current.
And 102, dividing the scales of the piston speed and the damping force in the relation table again to be used as independent variables, and using the coil current as a dependent variable to generate an orthogonal independent variable group.
In an embodiment of the present application, the repartitioning of the scaling of the piston velocity and the damping force in the relational table comprises: setting a force value interval of the damping force and a force value scale interval; a velocity interval of the piston velocity, and a velocity scale interval.
And 103, performing first smooth interpolation processing on the orthogonal independent variable group near the test data point to obtain a first interpolation point.
And 104, filtering the first interpolation point according to a preset filtering condition, and performing second smooth interpolation processing on each data point in the non-monotone change area to obtain a second interpolation point.
In an embodiment of the present application, the filtering the first interpolation point according to a preset filtering condition includes: and acquiring data points which do not meet the mechanical rule of the shock absorber in the first interpolation points, and deleting the data points which do not meet the mechanical rule of the shock absorber from the first interpolation points.
And 105, setting an upper current limit outside the upper damping force limit, performing surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and obtaining a lookup table corresponding to the control surface so as to obtain a target damping force and a target control current value corresponding to the current piston speed through the lookup table.
In the embodiment of the present application, setting an upper current limit outside an upper damping force limit and a lower current limit inside a lower damping force limit includes: and supplementing a preset current upper limit of a numerical value in a region outside the boundary of the maximum force value of the damping force and within the feasible region, and supplementing a zero current lower limit in the boundary of the minimum force value of the damping force and the region within the abscissa.
2-8, fig. 2 is a schematic structural diagram of a hydraulic shock excitation test system for a shock absorber provided in an embodiment of the present application; FIG. 3 is a schematic diagram illustrating damping force versus piston velocity versus coil current characteristics for a magnetorheological shock absorber in accordance with an embodiment of the present application; FIG. 4 is a control surface of a magnetorheological damper provided in an embodiment of the present application; FIG. 5 is a perspective view of a control surface of a magnetorheological damper provided in an embodiment of the present application; FIG. 6 is an orthogonal independent variable control surface of a magnetorheological damper provided in an embodiment of the present application; FIG. 7 is a continuously varying control plane satisfying constraints provided by embodiments of the present application; FIG. 8 is a continuously varying control surface projection satisfying constraints provided by embodiments of the present application.
Specifically, fig. 2 is a schematic structural diagram of a hydraulic shock excitation testing system of a shock absorber provided in an embodiment of the present application, and mainly includes: the system comprises a hydraulic excitation system, a data acquisition system, a magneto-rheological shock absorber and a direct-current power supply.
The hydraulic vibration excitation system consists of a motion part of a vibration excitation table, namely a vibration excitation head, a static part, namely a base, hydraulic auxiliary equipment and vibration excitation table control equipment. Wherein the excitation table control equipment can set different excitation speeds and peak values. The magnetorheological damper cylinder is fixed on the excitation head, the upper end of the damper rod is fixed and is provided with the force sensor, and the displacement of the damper is collected by the displacement sensor on the excitation table. The acquired force and displacement signals are synchronously acquired by a data acquisition system. The magneto-rheological damper coil is connected with a direct current stabilized power supply to obtain currents under different working conditions.
After the magnetorheological shock absorber dynamometer test system is built, tests are carried out according to related test contents and test methods formulated by QC/T491-1999 automobile cylinder type shock absorber size series and technical conditions and QC/T545-1999 automobile cylinder type shock absorber rack test method. Testing was conducted to obtain damping force characteristics at different shock absorber piston velocities and coil currents.
The magnetorheological damper indicator test is carried out according to the following steps:
1) before formal test, the vibration damper operates 100 cycles of reciprocating motion to work under the working state and temperature during normal use.
2) And performing a formal indicator test, wherein the test amplitude of the shock absorber is 40mm, namely the peak-to-peak value stroke is 80 mm.
3) Test current (a): 0. 0.5, 1.0, 1.5, 2.0, 2.5, 3.0.
4) Test speed (m/s): 0.052, 0.131, 0.262, 0.393, 0.524, 0.75, 1.
5) And collecting damping forces under different coil currents and piston instantaneous speeds.
The results of the damping force at different currents and speeds obtained in the test are shown in table 1, defining the direction of speed as positive when stretched.
TABLE 1 magnetorheological damper dynamometer test results
It should be noted that the damping force measured by the test is acquired at the instantaneous speed set by the test, and the damping force is different under the condition that the same current speed is the same and the directions are opposite, because the friction resistance exists between the piston and the cylinder wall, and the friction force causes the speed to be superimposed with opposite force at different times; secondly, because a floating piston is arranged in the magneto-rheological damper to divide the magneto-rheological fluid cavity and the air cavity, a static bias spring force exists due to compression when the magneto-rheological damper is installed on an excitation table. Thirdly, due to the hysteresis characteristic of the magnetorheological damper, the force value is deviated in the same speed and different directions in one reciprocating motion period of the magnetorheological damper.
FIG. 3 is a schematic diagram illustrating damping force characteristics of a magnetorheological damper according to a relationship between a piston speed and a coil current according to an embodiment of the present application. The piston speed and the coil current are used as independent variables, the damping force is used as a dependent variable, a damping characteristic curved surface of the magneto-rheological shock absorber is obtained, and the absolute value of the damping force can be obtained from the graph and is increased along with the increase of the current and the speed.
In actual semi-active suspension control, the upper layer algorithm gives the required damping force through the current vehicle state, and then the lower layer controller is required to obtain the control current according to the current shock absorber piston speed and the required damping force. The relation is determined by the damping characteristic of the magnetorheological damper, namely the relation measured by the indicator test.
At this time, the damping force and the piston velocity are converted into independent variables, the coil current is a dependent variable, fig. 4 is obtained, the view rotation is performed in a manner equivalent to fig. 3, then the projection is performed on the plane xoy along the z-axis, and fig. 5 is obtained. And when the dynamometer test is carried out, the design of an orthogonal test is adopted, namely, every two coil currents and the piston speed are tested, and the obtained table is also orthogonal. However, after the independent variables are converted, the intervals of the damping force are random, and the two independent variables of the damping force and the piston velocity and the control current cannot form an orthogonal table and cannot be directly used for table lookup, so that the division needs to be performed again.
Orthogonal independent variable tables are redesigned with damping forces from-6000N to 6000N as a scale interval every 200N, and velocities from-1 m/s to 1m/s as a scale interval every 0.1 m/s. As can be seen from fig. 5, the rectangular range formed by the feasible range of the independent variable is not all the actual working range of the shock absorber, and the constraint of the actual working range needs to be introduced. The data points of the previous indicator test are introduced, smooth interpolation is carried out on a new scale near the points, and a new control surface with orthogonal independent variables is obtained, as shown in fig. 6, and at the moment, the surface formed by the actual test points skillfully introduces the constraint of the damping force. Because the fitting is carried out between two data points with similar distances during interpolation, points which do not meet the mechanical rule of the shock absorber are more than the curved surface fitted by the original data points after interpolation, and a non-monotonic change result is caused locally, so that the method can not be used for final control.
Since the piston speed and the coil current range in the dynamometer test are both the normal working range of the shock absorber, if the projection is along the z-axis xoy plane in fig. 3, the projection surface covers a rectangular area formed by the whole independent variable feasible region. The projection 5 obtained in fig. 4 does not completely cover the whole damping force dissipation constraint area, namely, a three-quadrant of the damping force opposite to the velocity, which means that when the upper-layer algorithm proposes a certain desired damping force, no matter how much current is passed, the problem of no solution occurs. This is the same problem that other mathematical models face for control, i.e. the constraints of the damping force are difficult to introduce in full detail when acting as an independent variable, so that a saturation region needs to be added to fill the independent variable feasible region rectangle.
And introducing a current saturation point of a feasible region in one quadrant and three quadrants of the working range of the damper on the orthogonal control surface, supplementing the upper current limit of 3A in a region outside the boundary range of a large force value, and supplementing the lower current limit of 0A in a region inside the boundary range of a small force value and the x axis. And deleting points which do not meet the mechanics and dissipation rules of the shock absorber, and deleting the part which is not monotonously changed and then carrying out secondary interpolation. Finally, fitting again is carried out through the optimized and supplemented orthogonal points to obtain the continuously-changed control surface, as shown in fig. 7. And projecting along the z-axis direction to obtain a control surface which is finally orthogonalized in independent variables, meets current constraint and supplements and completes damper dissipation constraint, as shown in fig. 8.
Finally, in the bottom algorithm for actually controlling the magnetorheological shock absorber, the linear table look-up operation of the current control surface is carried out, so that the damping force requirement can be provided in the upper algorithm, the target control current is provided at the current shock absorber piston speed, and the accurate control of the controlled object is realized. Through the control surface of the off-line accurate fitting, only table look-up operation is needed during actual control, a large amount of operation burden is reduced, the operation speed is increased, the integral delay of control is reduced, and the control effect is improved.
In order to realize the embodiment, the application also provides a device for controlling the current of the magnetorheological damper.
FIG. 9 is a schematic structural diagram of an apparatus for controlling current of a magnetorheological damper according to an embodiment of the present application.
As shown in fig. 9, the apparatus includes: the device comprises an acquisition module 901, a dividing module 902, a first interpolation module 903, a second interpolation module 904 and a processing module 905.
The obtaining module 901 is configured to test the magnetorheological shock absorber according to a pre-established shock absorber hydraulic shock excitation test system, and obtain a relation table between a damping force and a piston speed and a coil current.
And a dividing module 902, configured to generate the orthogonal independent variable group by using the piston velocity and the damping force in the relation table after being divided again as independent variables and using the coil current as a dependent variable.
The first interpolation module 903 is configured to perform first smooth interpolation processing on the orthogonal argument group near the test data point to obtain a first interpolation point.
And a second interpolation module 904, configured to perform second smooth interpolation processing on each data point in the non-monotonic change region after the first interpolation point is filtered according to a preset filtering condition, so as to obtain a second interpolation point.
And the processing module 905 is configured to set an upper current limit outside the upper damping force limit, set a lower current limit inside the lower damping force limit, perform surface fitting on the second interpolation point to obtain a control surface, and obtain a lookup table corresponding to the control surface, so that a target damping force and a target control current value corresponding to the current piston speed are obtained through the lookup table.
Further, in a possible implementation manner of the embodiment of the application, the shock absorber hydraulic shock excitation test system comprises a hydraulic shock excitation system, a data acquisition system, a magnetorheological shock absorber and a direct current power supply;
the method comprises the following steps of testing the magneto-rheological shock absorber according to a pre-established hydraulic shock excitation test system of the shock absorber, and obtaining a relation table of damping force, piston speed and coil current, wherein the relation table comprises the following steps: generating damping force and piston speed through a hydraulic excitation system; the data acquisition system acquires damping force and piston speed; the magneto-rheological damper is connected with a direct current power supply to obtain coil current; and establishing a relation table according to the damping force, the piston speed and the coil current.
Further, in a possible implementation manner of the embodiment of the present application, the dividing module is specifically configured to:
repartitioning the scale of piston velocity versus damping force in the relational table, comprising:
setting a force value interval of the damping force and a force value scale interval; a velocity interval of the piston velocity, and a velocity scale interval.
Further, in a possible implementation manner of the embodiment of the present application, the first interpolation module is specifically configured to:
the first interpolation point is filtered according to preset filtering conditions, and the method comprises the following steps: and acquiring data points which do not meet the mechanical rule of the shock absorber in the first interpolation points, and deleting the data points which do not meet the mechanical rule of the shock absorber from the first interpolation points.
Further, in one possible implementation of the embodiments of the present application,
set up the electric current upper limit outside damping force upper limit, set up the electric current lower limit within the damping force lower limit, include:
and supplementing a preset current upper limit of a numerical value in a region outside the boundary of the maximum force value of the damping force and within the feasible region, and supplementing a zero current lower limit in the boundary of the minimum force value of the damping force and the region within the feasible region.
It should be noted that the foregoing explanation of the method embodiment is also applicable to the apparatus of this embodiment, and is not repeated herein.
In the device for controlling the current of the magnetorheological damper, the magnetorheological damper is tested according to a pre-established hydraulic shock excitation test system of the damper, and a relation table of damping force, piston speed and coil current is obtained; dividing the scales of the piston speed and the damping force in the relation table again to be used as independent variables, and using coil current as dependent variables to generate an orthogonal independent variable group; carrying out first smooth interpolation processing on the orthogonal independent variable group near the test data point to obtain a first interpolation point; after the first interpolation point is filtered according to a preset filtering condition, performing second smooth interpolation processing on each data point in the non-monotone change area to obtain a second interpolation point; and setting an upper current limit outside the upper damping force limit, performing surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and acquiring a lookup table corresponding to the control surface so as to acquire a target control current value corresponding to the target damping force and the current piston speed through the lookup table. Thus, the actual control of the magnetorheological damper object can be performed with high accuracy and rapidly.
In order to implement the foregoing embodiments, an embodiment of the present application provides an electronic device, including: the device comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the method for controlling the current of the magneto-rheological damper according to the method embodiment executed by the terminal device.
In order to achieve the above embodiments, the present application provides a computer readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the computer program implements the method for controlling current of a magnetorheological damper according to the foregoing method embodiments.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A method of controlling current to a magnetorheological damper, comprising the steps of:
testing the magneto-rheological shock absorber according to a pre-established shock absorber hydraulic shock excitation test system to obtain a relation table of damping force, piston speed and coil current;
dividing the scales of the piston speed and the damping force in the relation table again to be used as independent variables, and using the coil current as a dependent variable to generate an orthogonal independent variable group;
carrying out first smooth interpolation processing on the orthogonal independent variable group near a test data point to obtain a first interpolation point;
after the first interpolation point is filtered according to a preset filtering condition, performing second smooth interpolation processing on each data point in a non-monotone change area to obtain a second interpolation point;
and setting an upper current limit outside the upper damping force limit, performing surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and acquiring a lookup table corresponding to the control surface so as to acquire a target damping force and a target control current value corresponding to the current piston speed through the lookup table.
2. The method of claim 1, wherein said shock absorber hydraulic shock excitation test system comprises a hydraulic shock excitation system, a data acquisition system, a magnetorheological shock absorber, and a dc power supply;
the method is characterized in that the magnetorheological damper is tested according to the pre-established hydraulic shock excitation test system of the damper, and a relation table of damping force, piston speed and coil current is obtained, and comprises the following steps:
generating the damping force and the piston speed by the hydraulic excitation system;
the data acquisition system acquires the damping force and the piston speed;
the magneto-rheological damper is connected with the direct-current power supply to obtain the coil current;
and establishing the relation table according to the damping force, the piston speed and the coil current.
3. The method of claim 1, wherein said repartitioning the scale of the piston velocity and the damping force in the relationship table comprises:
setting a force value interval of the damping force and a force value scale interval;
a speed interval of the piston speed, and the speed scale interval.
4. The method of claim 1, wherein the first interpolation point is filtered according to a preset filtering condition, comprising:
and acquiring data points which do not meet the mechanical rule of the shock absorber in the first interpolation points, and deleting the data points which do not meet the mechanical rule of the shock absorber from the first interpolation points.
5. The method of claim 1, wherein setting an upper current limit outside of an upper damping force limit and a lower current limit within a lower damping force limit comprises:
and supplementing a preset current upper limit of a numerical value in a region outside the boundary of the maximum force value of the damping force and within the feasible region, and supplementing a zero current lower limit in the boundary of the minimum force value of the damping force and the region within the feasible region.
6. An apparatus for precisely controlling current to a magnetorheological damper, comprising:
the acquisition module is used for testing the magneto-rheological shock absorber according to a pre-established shock absorber hydraulic shock excitation test system and acquiring a relation table of damping force, piston speed and coil current;
the dividing module is used for dividing the piston speed in the relation table and the scale of the damping force again to be used as independent variables, and the coil current is used as a dependent variable to generate an orthogonal independent variable group;
the first interpolation module is used for carrying out first smooth interpolation processing on the orthogonal independent variable group near a test data point to obtain a first interpolation point;
the second interpolation module is used for filtering the first interpolation point according to a preset filtering condition and then performing second smooth interpolation processing on each data point in a non-monotone change area to obtain a second interpolation point;
and the processing module is used for setting an upper current limit outside the upper damping force limit, carrying out surface fitting on the second interpolation point to obtain a control surface after setting a lower current limit inside the lower damping force limit, and acquiring a query table corresponding to the control surface so as to acquire a target damping force and a target control current value corresponding to the current piston speed through the query table.
7. The apparatus of claim 6, wherein:
the shock absorber hydraulic shock excitation test system comprises a hydraulic shock excitation system, a data acquisition system, a magneto-rheological shock absorber and a direct-current power supply;
the method is characterized in that the magnetorheological damper is tested according to the pre-established hydraulic shock excitation test system of the damper, and a relation table of damping force, piston speed and coil current is obtained, and comprises the following steps:
generating the damping force and the piston speed by the hydraulic excitation system;
the data acquisition system acquires the damping force and the piston speed;
the magneto-rheological damper is connected with the direct-current power supply to obtain the coil current;
and establishing the relation table according to the damping force, the piston speed and the coil current.
8. The apparatus of claim 6, wherein the partitioning module is specifically configured to:
the repartitioning of the scale of the piston velocity and the damping force in the relationship table comprises:
setting a force value interval of the damping force and a force value scale interval;
a speed interval of the piston speed, and the speed scale interval.
9. The apparatus of claim 6, wherein the first interpolation module is specifically configured to:
the first interpolation point is filtered according to preset filtering conditions, and the method comprises the following steps:
and acquiring data points which do not meet the mechanical rule of the shock absorber in the first interpolation points, and deleting the data points which do not meet the mechanical rule of the shock absorber from the first interpolation points.
10. The apparatus of claim 6, wherein:
set up the electric current upper limit outside damping force upper limit, set up the electric current lower limit within the damping force lower limit, include:
and supplementing a preset current upper limit of a numerical value in a region outside the boundary of the maximum force value of the damping force and within the feasible region, and supplementing a zero current lower limit in the boundary of the minimum force value of the damping force and the region within the feasible region.
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