CN112636596A - Current driver of three-polarity magnetorheological damper - Google Patents

Current driver of three-polarity magnetorheological damper Download PDF

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CN112636596A
CN112636596A CN202011344545.6A CN202011344545A CN112636596A CN 112636596 A CN112636596 A CN 112636596A CN 202011344545 A CN202011344545 A CN 202011344545A CN 112636596 A CN112636596 A CN 112636596A
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current
mos transistor
circuit
damper
coil
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鲁红伟
张志飞
贺岩松
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Chongqing University
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Chongqing University
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/158—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators including plural semiconductor devices as final control devices for a single load
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
    • H02M1/088—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the simultaneous control of series or parallel connected semiconductor devices
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/157—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators with digital control

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Mechanical Engineering (AREA)
  • Electronic Switches (AREA)

Abstract

The invention discloses a current driver of a three-polarity magnetorheological damper, which comprises a current feedback circuit, a control circuit, an MOS (metal oxide semiconductor) tube driving circuit, a full-bridge circuit and a current feedback circuit, wherein the current feedback circuit comprises a current feedback circuit, a control circuit, a current feedback circuit and a current feedback circuit; the invention controls the voltage applied to the two ends of the coil of the damper through three modes so as to achieve the purposes of quickly following the expected current and reducing the fluctuation amount of the steady-state current.

Description

Current driver of three-polarity magnetorheological damper
Technical Field
The invention relates to the field of control of magnetorheological dampers, in particular to a current driver of a tripolar magnetorheological damper.
Background
Magnetorheological dampers are increasingly used in the fields of automobiles, buildings and the like to attenuate vibration because the damping characteristics of the dampers can change along with the change of coil current. But the current is difficult to change rapidly due to the presence of the coil inductance. Thus, the current driver of the magnetorheological damper is designed to accelerate the response speed of the current. However, a current driver (chopper circuit) composed of a conventional single MOS transistor can only increase the response speed of a current at a rising edge of the current, but cannot increase the response speed at a falling edge of the current. Although a traditional bipolar current driver (half-bridge circuit) composed of double MOS can simultaneously accelerate the response speed of current in the rising edge and the falling edge, the voltage with positive and negative polarities can be applied to the two ends of the magnetorheological damper, and the switching of the positive and negative polarities can cause large self-induced electromotive force of the coil, so that the voltage in the circuit has large impact fluctuation. In addition, the fluctuation of the current output by the positive and negative voltage regulation is large. The above two problems of the bipolar current driver are exacerbated when the supply voltage of the H-bridge is increased to further increase the current response speed.
Therefore, the bipolar current driver in the prior art has the problem of large fluctuation of voltage and current.
Disclosure of Invention
The invention aims to provide a current driver of a three-polarity magnetorheological damper, which comprises a current feedback circuit, a control circuit, an MOS (metal oxide semiconductor) tube driving circuit, a full-bridge circuit and a current feedback circuit.
The current feedback circuit monitors the current in the coil of the magnetorheological damper and sends the monitored current to the control circuit.
Preferably, the current feedback circuit is a hall type current sensor connected in series with the magnetorheological damper coil.
Preferably, the current feedback circuit is a sampling resistor connected in series with the magnetorheological damper coil.
The control circuit receives an external expected current I (k) and a monitoring current i (k) sent by the current feedback circuit, and determines the duty ratios of the two PWM signals according to the expected current I (k) and the monitoring current i (k).
The method for determining the duty ratios of the two paths of PWM signals by the control circuit comprises the following steps: the control circuit calculates a generalized duty cycle duty (k).
When the generalized duty ratio duty (k) is greater than or equal to 0, the duty ratio of the first PWM signal PWM1 is duty (k), and the duty ratio of the second PWM signal PWM2 is 0.
When the generalized duty ratio duty (k) is less than 0, the duty ratio of the first PWM signal PWM1 is 0, and the duty ratio of the second PWM signal PWM2 is-duty (k).
The method for the control circuit to calculate the generalized duty cycle (k) is a PID control algorithm.
Generalized duty cycle
Figure BDA0002799449690000021
Figure BDA0002799449690000022
Wherein KP is a proportionality coefficient; KI is an integral coefficient; kd is the differential coefficient; k is the current time; j is any time between the zero time and the current time k.
The external expected current I (k) is transmitted to the control circuit by the upper computer.
And the control circuit generates two paths of PWM signals and sends the two paths of PWM signals to the MOS tube driving circuit.
After the MOS tube driving circuit receives the two paths of PWM signals, a switch tube control signal is generated, and therefore the on-off of the MOS tube in the full-bridge circuit is controlled.
The MOS tube driving circuit comprises an isolation circuit and an H-bridge driving circuit.
The isolation circuit is connected between the control circuit and the H-bridge drive circuit.
The H-bridge driving circuit converts the first PWM signal PWM1 into a control signal PWM1 and a control signal
Figure BDA0002799449690000023
Wherein, pwm1,
Figure BDA0002799449690000024
Are mutually inverse signals. The PWM1 and PWM1 are in-phase signals.
The H-bridge driving circuit converts the second PWM signal PWM2 into a control signal PWM2 and a control signal
Figure BDA0002799449690000025
pwm2、
Figure BDA0002799449690000026
Are mutually inverse signals. The PWM2 and PWM2 are in-phase signals.
The full-bridge circuit controls the voltage applied to two ends of the coil of the magneto-rheological damper through the on-off condition of the MOS tube.
The circuit connection relationship of the full-bridge circuit and the magneto-rheological damper coil is as follows:
the full-bridge circuit comprises an MOS transistor Q1, an MOS transistor Q2, an MOS transistor Q3 and an MOS transistor Q4.
The gate of the MOS transistor Q1 receives a control signal pwm1, the source is connected with the magnetorheological damper coil in series and then connected with the source of the MOS transistor Q2, and the drain is connected with the drain of the MOS transistor Q2 in series.
The source of MOS transistor Q1 is connected in series with the drain of MOS transistor Q3. The gate of the MOS transistor Q3 receives the control signal
Figure BDA0002799449690000027
The source is grounded.
The gate of the MOS transistor Q2 receives the control signal pwm2, and the source is connected in series with the drain of the MOS transistor Q4.
The gate of the MOS transistor Q4 receives the control signal
Figure BDA0002799449690000028
The source is grounded.
The correspondence between the two PWM signals and the voltage applied across the coil is as follows:
when the first PWM signal PWM1 is at a high level and the second PWM signal PWM2 is at a low level, the MOS transistor Q1 and the MOS transistor Q4 are turned on, the MOS transistor Q2 and the MOS transistor Q3 are turned off, and at this time, the voltage applied to both ends of the damper coil is a forward power supply voltage.
When the first PWM signal PWM1 is at low level and the second PWM signal PWM2 is at low level, the MOS transistor Q3 and the MOS transistor Q4 are turned on, the MOS transistor Q1 and the MOS transistor Q2 are turned off, and at this time, the voltage applied to both ends of the damper coil is zero voltage.
When the first PWM signal PWM1 is at low level and the second PWM signal PWM2 is at high level, the MOS transistor Q2 and the MOS transistor Q3 are turned on, and the MOS transistor Q1 and the MOS transistor Q4 are turned off, at this time, the voltage applied to both ends of the damper coil is the reverse power supply voltage.
The technical effect of the present invention is needless to say that the current driver provided by the present invention can accelerate the current response speed and reduce the impact on the current. The invention controls the voltage applied to the two ends of the coil of the damper through three modes so as to achieve the purpose of quickly following the expected current. In addition, the invention can realize bidirectional control of current.
Drawings
FIG. 1 is a block diagram of a tri-polar current driver of the present invention;
FIG. 2 is a flow chart of the tri-polar current driver of the present invention;
FIG. 3 illustrates a case where the current rapidly increases when the three-polarity current driver of the present invention provides a positive voltage;
FIG. 4 shows the slow decay of current when the three-polarity current driver of the present invention provides zero voltage;
FIG. 5 shows the fast current drop when the three-polarity current driver of the present invention provides negative voltage;
FIG. 6(a) is the voltage across the damper coil for the tri-polar current driver of the present invention;
FIG. 6(b) is the voltage across the damper coil for a bipolar current driver;
FIG. 7(a) the step control effect of a bipolar current driver;
fig. 7(b) shows the step control effect of the tri-polar current driver of the present invention.
Detailed Description
The present invention is further illustrated by the following examples, but it should not be construed that the scope of the above-described subject matter is limited to the following examples. Various substitutions and alterations can be made without departing from the technical idea of the invention and the scope of the invention is covered by the present invention according to the common technical knowledge and the conventional means in the field.
Example 1:
referring to fig. 1 to 7, a current driver of a three-pole magnetorheological damper includes a current feedback circuit, a control circuit, a MOS transistor driving circuit, a full bridge circuit, and a current feedback circuit.
The current feedback circuit monitors the current in the coil of the magnetorheological damper and sends the monitored current to the control circuit.
The current feedback circuit is a Hall type current sensor connected with the magneto-rheological damper coil in series.
The control circuit receives an external expected current I (k) and a monitoring current i (k) sent by the current feedback circuit, and determines the duty ratios of the two PWM signals according to the expected current I (k) and the monitoring current i (k).
The method for determining the duty ratios of the two paths of PWM signals by the control circuit comprises the following steps: the control circuit calculates the generalized duty cycle duty (k) according to a PID control algorithm. Generalized duty cycle
Figure BDA0002799449690000041
Figure BDA0002799449690000042
Wherein, KPIs a scaling factor. KIIs an integral coefficient. And k is the current time. j is any time between the zero time and the current time k. I (k), I (j), I (k-1) are the desired currents at time k-1, time j, and time k-1. i (k), i (j), i (k-1) are the monitored currents at time k-1, time j, and time k-1. KdIs a differential coefficient.
The external expected current I (k) is transmitted to the control circuit by the upper computer.
And the control circuit generates two paths of PWM signals and sends the two paths of PWM signals to the MOS tube driving circuit.
The control circuit is a microprocessor MCU.
After the MOS tube driving circuit receives the two paths of PWM signals, a switch tube control signal is generated, and therefore the on-off of the MOS tube in the full-bridge circuit is controlled.
The MOS tube driving circuit comprises an isolation circuit and an H-bridge driving circuit.
The isolation circuit is connected between the control circuit and the H-bridge drive circuit.
The isolation circuit may employ an SN74HCT244 or a 74LVC245A chip to protect the control circuit.
The H-bridge driving circuit converts the first PWM signal PWM1 into a control signal PWM1 and a control signal
Figure BDA0002799449690000043
Wherein, pwm1,
Figure BDA0002799449690000044
Are mutually inverse signals. The PWM1 and PWM1 are in-phase signals.
The H-bridge driving circuit converts the second PWM signal PWM2 into a control signal PWM2 and a control signal
Figure BDA0002799449690000045
pwm2、
Figure BDA0002799449690000046
Are mutually inverse signals. The PWM2 and PWM2 are in-phase signals.
The full-bridge circuit controls the voltage applied to two ends of the coil of the magneto-rheological damper through the on-off condition of the MOS tube.
The circuit connection relationship of the full-bridge circuit and the magneto-rheological damper coil is as follows:
the full-bridge circuit comprises an MOS transistor Q1, an MOS transistor Q2, an MOS transistor Q3 and an MOS transistor Q4.
The gate of the MOS transistor Q1 receives a control signal pwm1, the source is connected with the magnetorheological damper coil in series and then connected with the source of the MOS transistor Q2, and the drain is connected with the drain of the MOS transistor Q2 in series.
The source of MOS transistor Q1 is connected in series with the drain of MOS transistor Q3. The gate of the MOS transistor Q3 receives the control signal
Figure BDA0002799449690000051
The source is grounded.
The gate of the MOS transistor Q2 receives the control signal pwm2, and the source is connected in series with the drain of the MOS transistor Q4.
The gate of the MOS transistor Q4 receives the control signal
Figure BDA0002799449690000052
The source is grounded.
The magnetorheological damper coil is equivalent to an inductor L and a resistor R which are connected in series.
When the actual current in the circuit is the forward current, the change conditions of the actual current in the full-bridge circuit under different on-off conditions of the switching tubes are as follows:
when the first PWM signal PWM1 is at a high level and the second PWM signal PWM2 is at a low level, the MOS transistor Q1 and the MOS transistor Q4 are turned on, and the MOS transistor Q2 and the MOS transistor Q3 are turned off, at this time, the voltage applied to both ends of the damper coil is a positive power voltage E, and the current in the coil rapidly rises, as shown in fig. 3.
When the first PWM signal PWM1 is at low level and the second PWM signal PWM2 is at low level, the MOS transistor Q3 and the MOS transistor Q4 are turned on, and the MOS transistor Q1 and the MOS transistor Q2 are turned off, at this time, the voltage applied to both ends of the damper coil is zero voltage, and the current in the coil is slowly attenuated only by the resistance in the loop, as shown in fig. 4.
When the first PWM signal PWM1 is at low level and the second PWM signal PWM2 is at high level, the MOS transistor Q2 and the MOS transistor Q3 are turned on, and the MOS transistor Q1 and the MOS transistor Q4 are turned off, at this time, the voltage applied to both ends of the damper coil is the reverse power voltage-E, and the current in the coil rapidly drops, as shown in fig. 5.
When the actual current in the circuit is negative current, the change condition of the current under the three voltages can be obtained according to the rule that the current and the voltage increase in the same direction and decrease in the opposite direction.
Therefore, regardless of the actual current, the desired current level can be quickly achieved by reasonably adjusting the on-off of each switch tube in the full-bridge circuit.
According to the control principle, when the expected current is suddenly higher than the actual current in the forward direction, the generalized duty ratio duty (k) is positive and rapidly rises, so that the conduction time of Q1 is rapidly increased, the conduction time of Q3 is rapidly reduced, Q2 is always closed, Q4 is always conducted, the magnitude of the effective positive voltage at two ends of the coil is rapidly increased, and finally the actual current is rapidly kept up with the expected current; that is, when the generalized duty ratio duty (k) is greater than or equal to 0, the duty ratio of the first PWM signal PWM1 is duty (k), and the duty ratio of the second PWM signal PWM2 is 0.
When the desired current is suddenly lower than the actual current in the forward direction, the generalized duty cycle (k) is negative and rapidly decreases, resulting in a rapid increase in the on-time of Q2, a rapid decrease in the on-time of Q4, a constant turn-off of Q1, and a constant turn-on of Q3, such that the magnitude of the effective negative voltage across the coil rapidly increases, and finally a rapid follow-up of the actual current to the desired current is achieved. That is, when the generalized duty ratio duty (k) is less than 0, the duty ratio of the first PWM signal PWM1 is 0, and the duty ratio of the second PWM signal PWM2 is-duty (k).
Therefore, the current driver has a good following effect on both the rising edge and the falling edge of the expected current.
Example 2:
referring to fig. 1 to 7, a current driver of a three-pole magnetorheological damper includes a current feedback circuit, a control circuit, a MOS transistor driving circuit, a full bridge circuit, and a current feedback circuit.
The current feedback circuit monitors the current in the coil of the magnetorheological damper and sends the monitored current to the control circuit.
The current feedback circuit is a sampling resistor connected with the magneto-rheological damper coil in series.
The control circuit receives an external expected current I (k) and a monitoring current i (k) sent by the current feedback circuit, and determines the duty ratios of the two PWM signals according to the expected current I (k) and the monitoring current i (k).
The method for determining the duty ratios of the two paths of PWM signals by the control circuit comprises the following steps: the control circuit calculates a generalized duty cycle duty (k).
When the generalized duty ratio duty (k) is greater than or equal to 0, the duty ratio of the first PWM signal PWM1 is duty (k), and the duty ratio of the first PWM signal PWM2 is 0.
When the generalized duty ratio duty (k) is less than 0, the duty ratio of the first PWM signal PWM1 is 0, and the duty ratio of the first PWM signal PWM2 is-duty (k).
The method for the control circuit to calculate the generalized duty cycle (k) is a PID control algorithm.
The external expected current I (k) is transmitted to the control circuit by the upper computer.
And the control circuit generates two paths of PWM signals and sends the two paths of PWM signals to the MOS tube driving circuit.
After the MOS tube driving circuit receives the two paths of PWM signals, a switch tube control signal is generated, and therefore the on-off of the MOS tube in the full-bridge circuit is controlled.
The MOS tube driving circuit comprises an isolation circuit and an H-bridge driving circuit.
The isolation circuit is connected between the control circuit and the H-bridge drive circuit.
The H-bridge driving circuit converts the first PWM signal PWM1 into a control signal PWM1 and a control signal
Figure BDA0002799449690000061
Wherein, pwm1,
Figure BDA0002799449690000062
Are mutually inverse signals. The PWM1 and PWM1 are in-phase signals.
The H-bridge driving circuit converts the second PWM signal PWM2 into a control signal PWM2 and a control signal
Figure BDA0002799449690000071
pwm2、
Figure BDA0002799449690000072
Are mutually inverse signals. The PWM2 and PWM2 are in-phase signals.
The full-bridge circuit controls the voltage applied to two ends of the coil of the magneto-rheological damper through the on-off condition of the MOS tube.
The circuit connection relationship of the full-bridge circuit and the magneto-rheological damper coil is as follows:
the full-bridge circuit comprises an MOS transistor Q1, an MOS transistor Q2, an MOS transistor Q3 and an MOS transistor Q4.
The gate of the MOS transistor Q1 receives a control signal pwm1, the source is connected with the magnetorheological damper coil in series and then connected with the source of the MOS transistor Q2, and the drain is connected with the drain of the MOS transistor Q2 in series.
The source of MOS transistor Q1 is connected in series with the drain of MOS transistor Q3. The gate of the MOS transistor Q3 receives the control signal
Figure BDA0002799449690000073
The source is grounded.
The gate of the MOS transistor Q2 receives the control signal pwm2, and the source is connected in series with the drain of the MOS transistor Q4.
The gate of the MOS transistor Q4 receives the control signal
Figure BDA0002799449690000074
The source is grounded.
Example 3:
referring to fig. 1 to 7, a current driver of a three-pole magnetorheological damper includes a current feedback circuit, a control circuit, a MOS transistor driving circuit, a full bridge circuit, and a current feedback circuit. The current feedback circuit comprises a current feedback circuit, a control circuit, an MOS tube driving circuit, a full-bridge circuit and a current feedback circuit;
the current feedback circuit monitors the current in the coil of the magnetorheological damper and sends the monitored current to the control circuit;
the control circuit receives an external expected current I (k) and a monitoring current i (k) sent by the current feedback circuit, and determines the duty ratios of two paths of PWM signals according to the expected current I (k) and the monitoring current i (k);
the control circuit generates two paths of PWM signals and sends the PWM signals to the MOS tube driving circuit;
after the MOS tube driving circuit receives the two paths of PWM signals, a switch tube control signal is generated, so that the on-off of an MOS tube in the full-bridge circuit is controlled;
the full-bridge circuit controls the voltage applied to two ends of the coil of the magneto-rheological damper through the on-off condition of the MOS tube.
Example 4:
the main structure of a current driver of a three-pole magnetorheological damper is shown in an embodiment 3, wherein a current feedback circuit simultaneously acquires the magnitude and the direction of current, and the current driver can be designed by adopting a sampling resistor and a differential input mode.
Example 5:
the main structure of a current driver of a three-pole magnetorheological damper is shown in an embodiment 3, wherein a Hall current sensor is adopted in a current feedback circuit, and the circuit is designed in a single-end input mode.
Example 6:
a current driver of a three-pole magneto-rheological damper is shown in an embodiment 3, wherein an H-bridge driving circuit can adopt a full-bridge driving chip HIP 4082.
Example 6:
a current driver of a three-pole magneto-rheological damper is mainly structured as shown in embodiment 3, wherein an H-bridge driving circuit can adopt two half-bridge driving chips IR2104 (S).
Example 7:
the comparative experiment between the current driver and the bipolar current driver of the three-polarity magnetorheological damper is as follows:
the bipolar current driver is based on a half-bridge or full-bridge circuit, applies positive power supply voltage and negative power supply voltage to a coil, and realizes the expected current by adjusting the action time proportion of the two voltages in one PWM period. The current driver of the three-polar magnetorheological damper and the voltage pair applied to the two ends of the coil by the two-polar current driver are shown in fig. 6(a) and 6 (b). It can be seen that the bipolar current driver can only apply two different voltages, which makes the current ripple even larger.
In order to compare the control effects of the bipolar current driver and the tripolar current driver, the following effect of the two current drivers on the rising edge is observed in a computer simulation mode. Both current drivers use an algorithm based on PID control to control the switching of the MOS tube. The control effect is shown in fig. 7(a) and 7 (b). It can be seen that both current drivers have faster response speed, but the two-polarity current drivers have larger fluctuation amount in the steady state stage.

Claims (9)

1. A current driver of a three-polarity magnetorheological damper is characterized in that: the current feedback circuit comprises a current feedback circuit, a control circuit, an MOS tube driving circuit, a full-bridge circuit and a current feedback circuit.
The current feedback circuit monitors the current in the coil of the magnetorheological damper and sends the monitored current to the control circuit;
the control circuit receives an external expected current I (k) and a monitoring current i (k) sent by the current feedback circuit, and determines the duty ratios of two paths of PWM signals according to the expected current I (k) and the monitoring current i (k);
the control circuit generates two paths of PWM signals and sends the PWM signals to the MOS tube driving circuit;
after the MOS tube driving circuit receives the two paths of PWM signals, a switch tube control signal is generated, so that the on-off of an MOS tube in the full-bridge circuit is controlled;
the full-bridge circuit controls the voltage applied to two ends of the coil of the magneto-rheological damper through the on-off condition of the MOS tube.
2. The current driver of a three-pole magnetorheological damper of claim 1, wherein: the current feedback circuit is a Hall type current sensor connected with the magneto-rheological damper coil in series.
3. The current driver of a three-pole magnetorheological damper of claim 1, wherein: the current feedback circuit is a sampling resistor connected with the magneto-rheological damper coil in series.
4. The current driver of a three-pole magnetorheological damper of claim 1, wherein: the external expected current I (k) is transmitted to the control circuit by the upper computer.
5. The current driver of a three-pole magnetorheological damper of claim 1, wherein: the method for determining the duty ratios of the two paths of PWM signals by the control circuit comprises the following steps: the control circuit calculates a generalized duty cycle duty (k);
when the generalized duty ratio duty (k) is more than or equal to 0, the duty ratio of the first PWM signal PWM1 is duty (k), and the duty ratio of the second PWM signal PWM2 is 0;
when the generalized duty ratio duty (k) <0, the duty ratio of the first PWM signal PWM1 is 0, and the duty ratio of the second PWM signal PWM2 is-duty (k).
6. The current driver of a three-pole magnetorheological damper of claim 5, wherein: the method for calculating the generalized duty ratio Duty (k) by the control circuit is a PID control algorithm;
generalized duty cycle
Figure FDA0002799449680000011
Figure FDA0002799449680000012
Wherein, KPIs a proportionality coefficient; kIIs an integral coefficient; kdIs a differential coefficient; k is the current time; j is any time between the zero time and the current time k.
7. The current driver of a three-pole magnetorheological damper of claim 1, wherein: the MOS tube driving circuit comprises an isolation circuit and an H bridge driving circuit;
the isolation circuit is connected between the control circuit and the H-bridge drive circuit;
the H-bridge driving circuit converts the first PWM signal PWM1 into a control signal PWM1 and a control signal
Figure FDA0002799449680000021
Wherein, pwm1,
Figure FDA0002799449680000022
Signals which are mutually opposite in phase; PWM1 and PWM1 are in-phase signals;
the H-bridge driving circuit converts the second PWM signal PWM2 into a control signal PWM2 and a control signal
Figure FDA0002799449680000023
pwm2、
Figure FDA0002799449680000024
Signals which are mutually opposite in phase; the PWM2 and PWM2 are in-phase signals.
8. The current driver of a three-pole magnetorheological damper of claim 1, wherein: the circuit connection relationship of the full-bridge circuit and the magneto-rheological damper coil is as follows:
the full-bridge circuit comprises an MOS transistor Q1, an MOS transistor Q2, an MOS transistor Q3 and an MOS transistor Q4;
the gate of the MOS transistor Q1 receives a control signal pwm1, the source is connected with the source of the MOS transistor Q2 after being connected with the coil of the magneto-rheological damper in series, and the drain is connected with the drain of the MOS transistor Q2 in series;
the source electrode of the MOS tube Q1 is connected with the drain electrode of the MOS tube Q3 in series; the gate of the MOS transistor Q3 receives the control signal
Figure FDA0002799449680000025
The source electrode is grounded;
the grid electrode of the MOS tube Q2 receives a control signal pwm2, and the source electrode is connected with the drain electrode of the MOS tube Q4 in series;
the gate of the MOS transistor Q4 receives the control signal
Figure FDA0002799449680000026
The source is grounded.
9. The current driver of a three-pole magnetorheological damper of claim 1, wherein the two PWM signals correspond to voltages applied across the coil as follows:
when the first PWM signal PWM1 is at a high level and the second PWM signal PWM2 is at a low level, the MOS transistor Q1 and the MOS transistor Q4 are conducted, the MOS transistor Q2 and the MOS transistor Q3 are closed, and at the moment, the voltage applied to the two ends of the damper coil is positive power supply voltage;
when the first PWM signal PWM1 is at a low level and the second PWM signal PWM2 is at a low level, the MOS transistor Q3 and the MOS transistor Q4 are switched on, the MOS transistor Q1 and the MOS transistor Q2 are switched off, and at the moment, the voltage applied to the two ends of the damper coil is zero voltage;
when the first PWM signal PWM1 is at low level and the second PWM signal PWM2 is at high level, the MOS transistor Q2 and the MOS transistor Q3 are turned on, and the MOS transistor Q1 and the MOS transistor Q4 are turned off, at this time, the voltage applied to both ends of the damper coil is the reverse power supply voltage.
CN202011344545.6A 2020-11-26 2020-11-26 Current driver of three-polarity magnetorheological damper Pending CN112636596A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113639002A (en) * 2021-08-25 2021-11-12 重庆大学 Program-controlled bidirectional current driver of magnetorheological damper

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Publication number Priority date Publication date Assignee Title
CN105260530A (en) * 2015-09-29 2016-01-20 合肥工业大学 Modeling method for magneto-rheological damper inverse model and application thereof
CN110829941A (en) * 2019-11-08 2020-02-21 中国科学院长春光学精密机械与物理研究所 Motor driving circuit and control method thereof
CN111674220A (en) * 2020-05-08 2020-09-18 江苏大学 Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105260530A (en) * 2015-09-29 2016-01-20 合肥工业大学 Modeling method for magneto-rheological damper inverse model and application thereof
CN110829941A (en) * 2019-11-08 2020-02-21 中国科学院长春光学精密机械与物理研究所 Motor driving circuit and control method thereof
CN111674220A (en) * 2020-05-08 2020-09-18 江苏大学 Small-delay numerical control current source circuit for magnetorheological damper and parameter determination method thereof

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113639002A (en) * 2021-08-25 2021-11-12 重庆大学 Program-controlled bidirectional current driver of magnetorheological damper
CN113639002B (en) * 2021-08-25 2023-02-28 重庆大学 Program-controlled bidirectional current driver of magnetorheological damper

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