CN114673752B - Control method, device and equipment of magneto-rheological damper and readable storage medium - Google Patents
Control method, device and equipment of magneto-rheological damper and readable storage medium Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000005284 excitation Effects 0.000 claims abstract description 86
- 230000005540 biological transmission Effects 0.000 claims abstract description 83
- 238000013016 damping Methods 0.000 claims abstract description 79
- 239000010410 layer Substances 0.000 claims description 127
- 230000009467 reduction Effects 0.000 claims description 126
- 230000001133 acceleration Effects 0.000 claims description 40
- 238000006073 displacement reaction Methods 0.000 claims description 34
- 238000002955 isolation Methods 0.000 claims description 22
- 239000002355 dual-layer Substances 0.000 claims description 20
- 230000006870 function Effects 0.000 claims description 17
- 230000009466 transformation Effects 0.000 claims description 14
- 238000004590 computer program Methods 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 7
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000010183 spectrum analysis Methods 0.000 claims description 4
- 230000002401 inhibitory effect Effects 0.000 abstract description 7
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 230000002708 enhancing effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 10
- 239000012530 fluid Substances 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 230000002829 reductive effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000000452 restraining effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000005339 levitation Methods 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/022—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using dampers and springs in combination
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/03—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using magnetic or electromagnetic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
- F16F15/04—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems using elastic means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F2230/00—Purpose; Design features
- F16F2230/18—Control arrangements
Abstract
The invention discloses a control method, a device, equipment and a computer readable storage medium of a magneto-rheological damper, which start from inhibiting target vibration parameters of a double-layer vibration damping system, can obtain amplitude-frequency relations of target vibration parameter transmission values under different control currents in advance according to a vibration differential expression of the double-layer vibration damping system and a preset range of control currents of the magneto-rheological damper in the double-layer vibration damping system, then determine the target control current with the minimum transmission amplitude of the target vibration parameter under the current excitation frequency from the amplitude-frequency relations when the excitation frequency of the double-layer vibration damping system is monitored to be in the preset resonance range, thereby utilizing the target control current to control the magneto-rheological damper in the double-layer vibration damping system, minimizing the target vibration parameters of a vibration damping platform in the double-layer vibration damping system, being beneficial to inhibiting the vibration intensity of target equipment simulated by the double-layer vibration damping system in the resonance state, and improving the user experience while enhancing the service life of the equipment.
Description
Technical Field
The invention relates to the field of double-layer vibration reduction systems, in particular to a control method of a magnetorheological damper, and further relates to a control device, equipment and a computer readable storage medium of the magnetorheological damper.
Background
In order to inhibit the vibration condition of the target equipment, a double-layer vibration reduction system can be generally adopted to simulate and perform vibration resistance analysis on the vibration reduction system of the target equipment, please refer to fig. 2, fig. 2 is a schematic structural diagram of the double-layer vibration reduction system, the double-layer vibration reduction system comprises a vibration reduction platform and a vibration isolation platform, a magneto-rheological damper is arranged between the vibration reduction platform and the vibration isolation platform, springs are respectively connected between the vibration reduction platform and the vibration isolation platform and between an external excitation source and the vibration isolation platform, in addition, a fixed damping element is also arranged between the vibration isolation platform and the excitation source, and the double-layer vibration reduction system can meet the equivalent requirements of equipment such as a wheel-vehicle structure, a magnetic levitation train and the like.
Various target devices have natural frequencies, once the external excitation frequency is close to the natural frequency of the target device, the target device can generate resonance, and in the prior art, the research of restraining resonance is not performed through a double-layer vibration reduction system, so that a plurality of devices can generate resonance when the external excitation frequency is close to the natural frequency of the target device, and strong vibration is caused, so that the service life of the device is reduced, and the user experience is also influenced.
Therefore, how to provide a solution to the above technical problem is a problem that a person skilled in the art needs to solve at present.
Disclosure of Invention
The invention aims to provide a control method of a magneto-rheological damper, which is beneficial to inhibiting the vibration intensity of target equipment simulated by a double-layer vibration reduction system in a resonance state, and improves the service life of the equipment and the user experience; another object of the present invention is to provide a control device, apparatus, and computer-readable storage medium for a magnetorheological damper, which are advantageous for suppressing the vibration intensity of a target apparatus simulated by a double-layer vibration damping system in a resonance state, and enhancing the user experience while enhancing the lifetime of the apparatus.
In order to solve the technical problems, the invention provides a control method of a magneto-rheological damper, which comprises the following steps:
obtaining amplitude-frequency relations of target vibration parameter transmission values under different control currents according to a vibration differential expression of a double-layer vibration reduction system and a preset range of control currents of a magneto-rheological damper in the double-layer vibration reduction system;
when the excitation frequency of the double-layer vibration reduction system is within a preset resonance range of the double-layer vibration reduction system, determining a target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameters under different control currents;
controlling a magnetorheological damper in the dual-layer vibration damping system with the target control current so as to minimize the target vibration parameter of a vibration damping platform in the dual-layer vibration damping system.
Preferably, the amplitude-frequency relation of the target vibration parameter transmission values under different control currents is specifically obtained according to the vibration differential expression of the double-layer vibration reduction system and the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system:
carrying out Laplace transformation on the vibration differential expression of the double-layer vibration reduction system to obtain a transfer function of a target vibration parameter of a vibration reduction platform in the double-layer vibration reduction system;
performing Fourier transformation on the transfer function of the target vibration parameter to obtain an amplitude-frequency relation of the transfer value of the target vibration parameter of the vibration reduction platform;
and obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents according to the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system based on the amplitude-frequency relation of the target vibration parameter transmission values.
Preferably, the target vibration parameter includes displacement and acceleration.
Preferably, the vibration differential expression of the double-layer vibration reduction system is:
the transfer function of the target vibration parameter is as follows:
the amplitude-frequency relation of the target vibration parameter transfer values under different control currents is as follows:
wherein m is 1 For the mass, y of the vibration-damping platform 1 For the displacement of the vibration reduction platform,For the speed of the damping platform, +.>Acceleration, m of the vibration damping platform 2 For the mass, y of the vibration isolation table in the double-layer vibration reduction system 2 For the displacement of the vibration isolation table, +.>For the speed of the vibration isolation table, +.>For the acceleration, k of the vibration isolation table 1 Rigidity of upper layer spring in double-layer vibration reduction systemDegree, k 2 For the rigidity of the lower spring in the double-layer vibration reduction system, the damping of the magnetorheological damper and y 0 For the excitation displacement, Y, of the excitation source of the double-layer vibration damping system 1 (s) is a displacement expression, Y, of the vibration reduction platform obtained by Laplace transformation 0 (s) is a displacement solution of the excitation obtained by Laplace transform, G y (s) is the transfer function of the displacement of the vibration damping platform,>acceleration expression G of the vibration reduction platform obtained by Laplace transformation α (s) is the transfer function of the acceleration of the vibration reduction platform, M y (omega) is the amplitude-frequency relation of displacement transmission values under different control currents, omega is the excitation frequency, M α And (omega) is the amplitude-frequency relation of acceleration transmission values under different control currents.
Preferably, when the excitation frequency of the double-layer vibration reduction system is within the preset resonance range of the double-layer vibration reduction system, determining, from the amplitude-frequency relationship of the transmission values of the target vibration parameters under different control currents, the target control current with the minimum transmission amplitude of the target vibration parameters under the excitation frequency is specifically:
when the excitation frequency of the double-layer vibration reduction system is within a preset resonance range of the double-layer vibration reduction system, determining a first target sub-control current which enables the displacement transmission amplitude to be minimum under the excitation frequency from the amplitude-frequency relation of the displacement transmission values under different control currents;
determining a second target sub-control current which enables the acceleration transmission amplitude to be minimum under the excitation frequency from the amplitude-frequency relation of the acceleration transmission values under different control currents;
judging whether the first target sub-control circuit and the second target sub-control current are the same or not;
if the first target sub-control current and the second target sub-control current are the same, taking any one of the first target sub-control circuit and the second target sub-control current as a target control current;
and if the first target sub-control current and the second target sub-control current are different, taking the maximum one of the first target sub-control circuit and the second target sub-control current as the target control current.
Preferably, when the excitation frequency of the double-layer vibration reduction system is within the preset resonance range of the double-layer vibration reduction system, the control method of the magnetorheological damper further comprises the following steps of:
acquiring a digital signal of external excitation acceleration through an acceleration sensor arranged at an excitation source of the double-layer vibration reduction system;
carrying out frequency spectrum analysis on the digital signal of the excitation acceleration to obtain the frequency of the excitation signal;
judging whether the frequency of the excitation signal is in a preset resonance range of the double-layer vibration reduction system or not;
and if so, executing the step of determining the target control current with the minimum transmission amplitude of the target vibration parameter under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameter under different control currents when the excitation frequency of the double-layer vibration damping system is within the preset resonance range of the double-layer vibration damping system.
Preferably, the preset resonance range is between ±40% of the natural frequency of the double-layer vibration isolation system.
In order to solve the technical problem, the invention also provides a control device of the magneto-rheological damper, which comprises:
the calculation module is used for obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents according to the vibration differential expression of the double-layer vibration reduction system and the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system;
the determining module is used for determining a target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameter under different control currents when the excitation frequency of the double-layer vibration reduction system is within the preset resonance range of the double-layer vibration reduction system;
a control module for controlling the magnetorheological damper in the dual-layer vibration reduction system with the target control current so as to minimize the target vibration parameter of the vibration reduction platform in the dual-layer vibration reduction system.
In order to solve the technical problem, the invention also provides a control device of the magneto-rheological damper, which comprises:
a memory for storing a computer program;
and a processor for implementing the steps of the control method of the magnetorheological damper as described above when executing the computer program.
To solve the above technical problem, the present invention also provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the control method of a magnetorheological damper as described above.
The invention provides a control method of a magneto-rheological damper, which starts from inhibiting target vibration parameters of a double-layer vibration damping system, can obtain amplitude-frequency relations of target vibration parameter transmission values under different control currents in advance according to a vibration differential expression of the double-layer vibration damping system and a preset range of control currents of the magneto-rheological damper in the double-layer vibration damping system, and then determines target control currents with minimum transmission amplitude of the target vibration parameters under the current excitation frequency from the amplitude-frequency relations when the excitation frequency of the double-layer vibration damping system is monitored to be in the preset resonance range, so that the magneto-rheological damper in the double-layer vibration damping system is controlled by the target control currents, the target vibration parameters of a vibration damping platform in the double-layer vibration damping system are minimized, the vibration intensity of target equipment simulated by the double-layer vibration damping system under the resonance state is inhibited, and the service life of the equipment is prolonged.
The invention also provides a control device, equipment and a computer readable storage medium of the magnetorheological damper, which have the same beneficial effects as the control method of the magnetorheological damper.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for controlling a magnetorheological damper provided by the invention;
FIG. 2 is a schematic diagram of a dual layer vibration damping system;
FIG. 3 is a schematic diagram showing the amplitude-frequency relationship of displacement transmission values under different control currents according to the present invention;
FIG. 4 is a schematic diagram showing the amplitude-frequency relationship of acceleration transfer values at different control currents according to the present invention;
FIG. 5 is a schematic diagram of a control device for a magneto-rheological damper according to the present invention;
fig. 6 is a schematic structural diagram of a control device for a magnetorheological damper according to the present invention.
Detailed Description
The control method of the magneto-rheological damper is beneficial to inhibiting the vibration intensity of target equipment simulated by a double-layer vibration reduction system in a resonance state, prolongs the service life of the equipment and improves the user experience; the control device, the equipment and the computer readable storage medium of the magnetorheological damper are beneficial to inhibiting the vibration intensity of target equipment simulated by a double-layer vibration reduction system in a resonance state, and improve the user experience while prolonging the service life of the equipment.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a control method of a magnetorheological damper according to the present invention, where the control method of the magnetorheological damper includes:
s101: obtaining amplitude-frequency relations of target vibration parameter transmission values under different control currents according to a vibration differential expression of the double-layer vibration reduction system and a preset range of control currents of the magnetorheological damper in the double-layer vibration reduction system;
specifically, considering the technical problems in the background art, the application starts from the purpose of restraining the target vibration parameters of the double-layer vibration damping system, and combines the consideration that the vibration parameters of the whole double-layer vibration damping system can be changed by adjusting the control current of the magnetorheological damper in the double-layer vibration damping system, so that the application can obtain the amplitude-frequency relation of the target vibration parameter transmission values under different control currents according to the vibration differential expression of the double-layer vibration damping system and the preset range of the control current of the magnetorheological damper in the double-layer vibration damping system, and can be used as a data basis in the subsequent step to adjust the control current.
Specifically, the magnetorheological fluid is an intelligent material with special rheological property, the typical magnetorheological fluid is a suspension formed by dispersing micron-sized magnetic particles in a carrier fluid (oil or water), the magnetorheological fluid can be converted into semisolid or even solid in millisecond-level time under the action of a magnetic field, and the state change process is completely reversible. The magnetorheological damper performs vibration reduction work through the magnetorheological effect of magnetorheological fluid in the damper, has the advantages of simple internal structure, low energy consumption, quick damping response, easiness in control and the like, and can adjust the control current input into the damper to enable the output value of the magnetorheological damper to continuously change, so that the damping force is controllable. Therefore, the magnetorheological damper has obvious advantages in the aspects of vibration control of a vehicle suspension system, a bridge and a platform structure, the damping characteristic of the magnetorheological damper is related to the magnetorheological effect of internal magnetorheological fluid, the specific performance of the magnetorheological damper is very complex, and therefore, the research of a proper control method of the magnetorheological damper becomes a key problem for improving the performance of the magnetorheological damper.
The preset range of the control current of the magnetorheological damper can be set autonomously, and the embodiment of the invention is not limited herein.
S102: when the excitation frequency of the double-layer vibration reduction system is within the preset resonance range of the double-layer vibration reduction system, determining a target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameter under different control currents;
specifically, when the double-layer vibration reduction system is in a resonance state, the optimal control current of the magnetorheological damper is determined, so that in the step, when the excitation frequency of the double-layer vibration reduction system is in a preset resonance range of the double-layer vibration reduction system, the target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency can be determined from the amplitude-frequency relation of the target vibration parameter transmission values under different control currents, and the target control current can be used as a data base in the subsequent steps.
The amplitude of the target vibration parameter transmission value corresponding to various control currents under the excitation frequency can be found in the amplitude-frequency relation of the target vibration parameter transmission value under different control currents because the excitation frequency is fixed, and the target control current with the minimum transmission amplitude of the target vibration parameter can be found out from the amplitude of the target vibration parameter transmission value, so that the determination process is simple and efficient.
S103: controlling the magnetorheological damper in the dual-layer vibration reduction system with the target control current so as to minimize the target vibration parameter of the vibration reduction platform in the dual-layer vibration reduction system.
Specifically, after the target control current is determined, the magnetorheological damper can be used for controlling the action of the magnetorheological damper and outputting damping, so that the target vibration parameter of the vibration reduction platform in the double-layer vibration reduction system can be minimized, namely the vibration intensity of the double-layer vibration reduction system is reduced, the resonance intensity of target equipment (such as a rail train) corresponding to the double-layer vibration reduction system is reduced, the service life of the equipment is prolonged, and the user experience is improved.
The invention provides a control method of a magneto-rheological damper, which starts from inhibiting target vibration parameters of a double-layer vibration damping system, can obtain amplitude-frequency relations of target vibration parameter transmission values under different control currents in advance according to a vibration differential expression of the double-layer vibration damping system and a preset range of control currents of the magneto-rheological damper in the double-layer vibration damping system, and then determines target control currents with minimum transmission amplitude of the target vibration parameters under the current excitation frequency from the amplitude-frequency relations when the excitation frequency of the double-layer vibration damping system is monitored to be in the preset resonance range, so that the magneto-rheological damper in the double-layer vibration damping system is controlled by the target control currents, the target vibration parameters of a vibration damping platform in the double-layer vibration damping system are minimized, the vibration intensity of target equipment simulated by the double-layer vibration damping system under the resonance state is inhibited, and the service life of the equipment is prolonged.
Based on the above embodiments:
as a preferred embodiment, according to the vibration differential expression of the double-layer vibration reduction system and the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system, the amplitude-frequency relationship of the target vibration parameter transmission values under different control currents is specifically:
carrying out Laplace transformation on the vibration differential expression of the double-layer vibration reduction system to obtain a transfer function of a target vibration parameter of a vibration reduction platform in the double-layer vibration reduction system;
performing Fourier transformation on the transfer function of the target vibration parameter to obtain an amplitude-frequency relation of the transfer value of the target vibration parameter of the vibration reduction platform;
based on the amplitude-frequency relation of the target vibration parameter transmission values, the amplitude-frequency relation of the target vibration parameter transmission values under different control currents is obtained according to the preset range of the control current of the magneto-rheological damper in the double-layer vibration reduction system.
Specifically, the calculation process in the embodiment of the invention is simple and efficient, and the efficiency of finally obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents is improved.
Of course, besides this mode, "the amplitude-frequency relationship of the target vibration parameter transmission values under different control currents is obtained according to the vibration differential expression of the double-layer vibration reduction system and the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system" may specifically be other modes, and the embodiment of the invention is not limited herein.
As a preferred embodiment, the target vibration parameters include displacement and acceleration.
Specifically, considering that displacement and acceleration are two vibration parameters that have a large influence on devices on equipment and on a human body, both of them are studied as target vibration parameters in the embodiment of the present invention.
Of course, the target vibration parameters may be other specific forms besides this combination, and the embodiments of the present invention are not limited herein.
As a preferred embodiment, the vibration differential expression of the double layer vibration reduction system is:
the transfer function of the target vibration parameter is:
the amplitude-frequency relation of the target vibration parameter transfer values under different control currents is as follows:
wherein m is 1 Is the mass, y of the vibration reduction platform 1 Is used for damping the displacement of the platform,For the speed of the damping platform->Acceleration, m of vibration damping platform 2 Is the mass, y of the vibration isolation table in the double-layer vibration reduction system 2 For the displacement of the vibration isolation table->For the speed of the vibration isolation table,is the acceleration, k of the vibration isolation table 1 For the rigidity, k of the upper spring in the double-layer vibration reduction system 2 Is the rigidity of a lower spring in a double-layer vibration reduction system, the damping of a c magneto-rheological damper and y 0 Excitation displacement, Y, of excitation source for double-layer vibration damping system 1 (s) is a displacement expression, Y, of a vibration reduction platform obtained by Laplace transformation 0 (s) is a displacement solution of the excitation obtained by Laplace transform, G y (s) is the transfer function of the displacement of the damping platform, < ->Acceleration expression G of vibration reduction platform obtained by Laplace transformation α (s) adding for vibration reduction platformTransfer function of speed, M y (omega) is the amplitude-frequency relation of displacement transmission values under different control currents, omega is the excitation frequency, M α And (omega) is the amplitude-frequency relation of acceleration transmission values under different control currents.
Specifically, in fig. 2, 1 is a vibration reduction platform, 2 is a vibration isolation platform, 3 is an upper layer spring, 4 is a lower layer spring, 5 is a magnetorheological damper, 6 is an excitation source, and the double-layer vibration reduction system has two-order natural frequencies.
Specifically, the two-order solid frequency of the double-layer vibration reduction system is determined by mass and rigidity, and can be respectively expressed as:
wherein omega 1 Is the first order natural frequency omega of the double-layer vibration reduction system 2 Is the second order natural frequency of the dual layer vibration damping system.
Specifically, M is as described above y (omega) and M α The controllable damping c of the magnetorheological damper in the two formulas (omega) is changed along with the control current I, and is determined by the used damper, and through the two formulas, fig. 3 and fig. 4 can be respectively drawn.
Specifically, the amplitude-frequency relation of the target vibration parameter transmission values under different control currents can be efficiently and accurately calculated through the formula provided by the embodiment of the invention.
For better explaining the embodiments of the present invention, please refer to fig. 3 and fig. 4, fig. 3 is a schematic diagram of amplitude-frequency relationship of displacement transmission values under different control currents provided by the present invention, and fig. 4 is a schematic diagram of amplitude-frequency relationship of acceleration transmission values under different control currents provided by the present invention, as a preferred embodiment, when an excitation frequency of a dual-layer vibration damping system is within a preset resonance range of the dual-layer vibration damping system, determining a target control current with a minimum transmission amplitude of a target vibration parameter under the excitation frequency from the amplitude-frequency relationship of the target vibration parameter transmission values under different control currents is specifically as follows:
when the excitation frequency of the double-layer vibration reduction system is within a preset resonance range of the double-layer vibration reduction system, determining a first target sub-control current which enables the displacement transmission amplitude to be minimum under the excitation frequency from amplitude-frequency relations of displacement transmission values under different control currents;
determining a second target sub-control current which enables the acceleration transmission amplitude to be minimum under the excitation frequency from the amplitude-frequency relation of the acceleration transmission values under different control currents;
judging whether the first target sub-control circuit and the second target sub-control current are the same or not;
if the first target sub-control current and the second target sub-control current are the same, taking any one of the first target sub-control circuit and the second target sub-control current as a target control current;
if the first target sub-control current and the second target sub-control current are different, the maximum one of the first target sub-control circuit and the second target sub-control current is taken as the target control current.
Specifically, the target sub-control currents corresponding to the displacement and the acceleration may be different, but the magnetorheological damper has a better effect on vibration suppression in consideration of the larger the control current, so that the maximum one of the two target sub-control currents can be used as the target control current in the embodiment of the invention.
As a preferred embodiment, when the excitation frequency of the double-layer vibration reduction system is within the preset resonance range of the double-layer vibration reduction system, before determining the target control current for minimizing the transmission amplitude of the target vibration parameter under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameter under different control currents, the control method of the magnetorheological damper further includes:
acquiring a digital signal of external excitation acceleration through an acceleration sensor arranged at an excitation source of the double-layer vibration reduction system;
carrying out frequency spectrum analysis on the digital signal of the excitation acceleration to obtain the frequency of the excitation signal;
judging whether the frequency of the excitation signal is in a preset resonance range of the double-layer vibration reduction system;
and if so, executing the step of determining the target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency from the amplitude-frequency relation of the transmission value of the target vibration parameter under different control currents when the excitation frequency of the double-layer vibration damping system is within the preset resonance range of the double-layer vibration damping system.
Specifically, the acceleration sensor has the advantages of high precision, low cost, strong stability and the like.
The frequency of the excitation signal obtained by performing spectrum analysis on the digital signal of the excitation acceleration may specifically be:
and performing discrete Fourier transform on the digital signal of the excitation acceleration to obtain frequency domain data of the excitation acceleration, thereby obtaining the frequency of the excitation signal.
Specifically, in the embodiment of the invention, whether the system is in a resonance state or not can be determined autonomously, so that the integrity of the system is improved, namely, the integration level of the system is improved.
As a preferred embodiment, the preset resonance range is between ±40% of the natural frequency of the dual-layer vibration isolation system.
Specifically, the initial vibration isolation frequency of the linear vibration isolator is ∈2 times of the natural frequency of the system, so that the resonance range of the system is set to be +/-40% of the natural frequency, the excitation frequency is within the range, the system is judged to be in a resonance state, and the magnetorheological damper is actively controlled to inhibit resonance.
Of course, the preset resonance range may be other forms besides ±40%, and the embodiment of the present invention is not limited herein.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a control device for a magnetorheological damper according to the present invention, where the control device for a magnetorheological damper includes:
the calculating module 51 is configured to obtain an amplitude-frequency relationship of the target vibration parameter transmission values under different control currents according to the vibration differential expression of the double-layer vibration reduction system and a preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system;
the determining module 52 is configured to determine, when an excitation frequency of the dual-layer vibration damping system is within a preset resonance range of the dual-layer vibration damping system, a target control current that minimizes a transmission amplitude of a target vibration parameter at the excitation frequency from an amplitude-frequency relationship of a target vibration parameter transmission value at different control currents;
a control module 53 for controlling the magnetorheological damper in the dual-layer vibration damping system with the target control current to minimize the target vibration parameter of the vibration damping platform in the dual-layer vibration damping system.
For the description of the control device for the magnetorheological damper provided by the embodiment of the present invention, reference is made to the foregoing embodiment of the control method for the magnetorheological damper, and the embodiment of the present invention is not repeated herein.
Referring to fig. 6, fig. 6 is a schematic structural diagram of a control device for a magnetorheological damper according to the present invention, where the control device for a magnetorheological damper includes:
a memory 61 for storing a computer program;
a processor 62 for executing a computer program to perform the steps of the method of controlling a magnetorheological damper as in the previous embodiment.
For the description of the control device for the magnetorheological damper provided by the embodiment of the present invention, reference is made to the foregoing embodiment of the control method for the magnetorheological damper, and the embodiment of the present invention is not repeated herein.
To solve the above technical problem, the present invention further provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor, implements the steps of the control method of the magnetorheological damper as in the foregoing embodiment.
For the description of the computer readable storage medium provided in the embodiment of the present invention, reference is made to the foregoing embodiment of the control method of the magnetorheological damper, and the embodiment of the present invention is not repeated herein.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section. It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A method of controlling a magnetorheological damper, comprising:
obtaining amplitude-frequency relations of target vibration parameter transmission values under different control currents according to a vibration differential expression of a double-layer vibration reduction system and a preset range of control currents of a magneto-rheological damper in the double-layer vibration reduction system;
when the excitation frequency of the double-layer vibration reduction system is within a preset resonance range of the double-layer vibration reduction system, determining a target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameters under different control currents;
controlling a magnetorheological damper in the dual-layer vibration damping system with the target control current so as to minimize the target vibration parameter of a vibration damping platform in the dual-layer vibration damping system;
the amplitude-frequency relation of the target vibration parameter transmission values under different control currents is specifically obtained according to a vibration differential expression of the double-layer vibration reduction system and a preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system:
carrying out Laplace transformation on the vibration differential expression of the double-layer vibration reduction system to obtain a transfer function of a target vibration parameter of a vibration reduction platform in the double-layer vibration reduction system;
performing Fourier transformation on the transfer function of the target vibration parameter to obtain an amplitude-frequency relation of the transfer value of the target vibration parameter of the vibration reduction platform;
and obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents according to the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system based on the amplitude-frequency relation of the target vibration parameter transmission values.
2. The method of claim 1, wherein the target vibration parameters include displacement and acceleration.
3. The method of controlling a magnetorheological damper according to claim 2, wherein the vibration differential expression of the two-layer vibration reduction system is:
the transfer function of the target vibration parameter is as follows:
the amplitude-frequency relation of the target vibration parameter transfer values under different control currents is as follows:
wherein m is 1 For the mass, y of the vibration-damping platform 1 For the displacement of the vibration reduction platform,For the speed of the vibration damping platform,acceleration, m of the vibration damping platform 2 For the mass, y of the vibration isolation table in the double-layer vibration reduction system 2 For the displacement of the vibration isolation table, +.>For the speed of the vibration isolation table, +.>For the acceleration, k of the vibration isolation table 1 For the stiffness, k, of the upper springs in the double-layer vibration reduction system 2 For the rigidity of the lower spring in the double-layer vibration reduction system, the damping of the magnetorheological damper and y 0 For the excitation displacement, Y, of the excitation source of the double-layer vibration damping system 1 (s) is a displacement expression, Y, of the vibration reduction platform obtained by Laplace transformation 0 (s) is a displacement solution of the excitation obtained by Laplace transform, G y (s) is the transfer function of the displacement of the vibration damping platform,>acceleration expression G of the vibration reduction platform obtained by Laplace transformation α (s) is the transfer function of the acceleration of the vibration reduction platform, M y (omega) is the amplitude-frequency relation of displacement transmission values under different control currents, omega is the excitation frequency, M α And (omega) is the amplitude-frequency relation of acceleration transmission values under different control currents.
4. The method for controlling a magnetorheological damper according to claim 3, wherein when the excitation frequency of the double-layer vibration damping system is within a preset resonance range of the double-layer vibration damping system, determining, from the amplitude-frequency relationship of the target vibration parameter transmission values under different control currents, a target control current with the minimum transmission amplitude of the target vibration parameter under the excitation frequency is specifically:
when the excitation frequency of the double-layer vibration reduction system is within a preset resonance range of the double-layer vibration reduction system, determining a first target sub-control current which enables the displacement transmission amplitude to be minimum under the excitation frequency from the amplitude-frequency relation of the displacement transmission values under different control currents;
determining a second target sub-control current which enables the acceleration transmission amplitude to be minimum under the excitation frequency from the amplitude-frequency relation of the acceleration transmission values under different control currents;
judging whether the first target sub-control circuit and the second target sub-control current are the same or not;
if the first target sub-control current and the second target sub-control current are the same, taking any one of the first target sub-control circuit and the second target sub-control current as a target control current;
and if the first target sub-control current and the second target sub-control current are different, taking the maximum one of the first target sub-control circuit and the second target sub-control current as the target control current.
5. The method according to any one of claims 1 to 4, wherein when the excitation frequency of the two-layer vibration damping system is within a preset resonance range of the two-layer vibration damping system, the method further comprises, before determining the target control current that minimizes the transmission amplitude of the target vibration parameter at the excitation frequency from the amplitude-frequency relationship of the target vibration parameter transmission values at the different control currents:
acquiring a digital signal of external excitation acceleration through an acceleration sensor arranged at an excitation source of the double-layer vibration reduction system;
carrying out frequency spectrum analysis on the digital signal of the excitation acceleration to obtain the frequency of the excitation signal;
judging whether the frequency of the excitation signal is in a preset resonance range of the double-layer vibration reduction system or not;
and if so, executing the step of determining the target control current with the minimum transmission amplitude of the target vibration parameter under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameter under different control currents when the excitation frequency of the double-layer vibration damping system is within the preset resonance range of the double-layer vibration damping system.
6. The method of claim 5, wherein the predetermined resonance range is between ±40% of the natural frequency of the dual-layer vibration isolation system.
7. A control device for a magnetorheological damper, comprising:
the calculation module is used for obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents according to the vibration differential expression of the double-layer vibration reduction system and the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system;
the determining module is used for determining a target control current which enables the transmission amplitude of the target vibration parameter to be minimum under the excitation frequency from the amplitude-frequency relation of the transmission values of the target vibration parameter under different control currents when the excitation frequency of the double-layer vibration reduction system is within the preset resonance range of the double-layer vibration reduction system;
a control module for controlling a magnetorheological damper in the dual-layer vibration reduction system with the target control current so as to minimize the target vibration parameter of a vibration reduction platform in the dual-layer vibration reduction system;
the process of obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents through the calculation module specifically comprises the following steps: carrying out Laplace transformation on the vibration differential expression of the double-layer vibration reduction system to obtain a transfer function of a target vibration parameter of a vibration reduction platform in the double-layer vibration reduction system; performing Fourier transformation on the transfer function of the target vibration parameter to obtain an amplitude-frequency relation of the transfer value of the target vibration parameter of the vibration reduction platform; and obtaining the amplitude-frequency relation of the target vibration parameter transmission values under different control currents according to the preset range of the control current of the magnetorheological damper in the double-layer vibration reduction system based on the amplitude-frequency relation of the target vibration parameter transmission values.
8. A control apparatus for a magnetorheological damper, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method for controlling a magnetorheological damper according to any one of claims 1 to 6 when executing the computer program.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the steps of the method of controlling a magnetorheological damper according to any one of claims 1 to 6.
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