CN204331459U - Control Method for MR Damper algorithm simulating pilot system - Google Patents
Control Method for MR Damper algorithm simulating pilot system Download PDFInfo
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- CN204331459U CN204331459U CN201420837314.2U CN201420837314U CN204331459U CN 204331459 U CN204331459 U CN 204331459U CN 201420837314 U CN201420837314 U CN 201420837314U CN 204331459 U CN204331459 U CN 204331459U
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Abstract
The utility model relates to a kind of Control Method for MR Damper algorithm simulating pilot system, be made up of exciting testboard bay and virtual ECU controller, described exciting testboard bay is provided with single coil excitement, magneto-rheological vibration damper and vibrator, and vibration transducer is separately installed with on three, the sensor signal that this vibration transducer receives accesses respectively in data collecting card, data collecting card is by the data sampling to collection, output to labview number after pre-service adopt monitoring software module and carry out computing at Simulink control algolithm software model, the operation result of Simulink control algolithm software model outputs to the usb communication interface of program controlled constant current source equipment by usb communication interface simultaneously, and by the constant current output of program controlled constant current source equipment to single coil excitement, the utility model effectively can shorten the control system's development cycle, save R&D costs, effectively reduces cycle and the cost of the amendment of control system software and hardware scheme optimization simultaneously.
Description
Technical field
The utility model belongs to emulation test system technical field, particularly relates to a kind of Control Method for MR Damper algorithm simulating pilot system.
Background technology
Magneto-rheological vibration damper be utilize the rheological effect of magnetic flow liquid to carry out a kind of structure that damping force regulates in real time is simple, power consumption is little, controllability is strong, intelligent vibration damper.It has broad application prospects in the vibration control in the fields such as machinery, automobile and civil engineering work.In order to realize the real-time regulable control of magneto-rheological vibration damper damping force, research and design is needed to have the ECU electric-control system of control algolithm to control the exciting curent of magneto-rheological vibration damper to reach the object of real-time damping adjusting power.In the process of carrying out Control Method for MR Damper system control strategy feasibility study, a kind of experimental provision or system is needed to carry out Simulation experiments validate to control algolithm.The following two schemes of general employing in currently available technology,
1, utilize simulation software to build the models such as control algolithm, input signal and magneto-rheological vibration damper structure and directly carry out simulating, verifying, then ECU Hardware & software system is designed, carry out bench test checking again, will revise ECU software and hardware after there is deviation can carry out stand checking again;
2, utilize special rapid control prototyping (RCP) developing instrument to carry out model emulation exploitation, after sizing, carry out the development and Design work of ECU software and hardware again.
For above two schemes, there is following defect in it:
1, the first scheme is pure mathematical simulation, actual controlled device is also by mathematical model, phantom error is large, credible result degree is low, and directly carries out platform experiment after design ECU software and hardware system and carry out verification system, and the design cycle is long to have a big risk, once control program needs amendment, little, remodify program code, greatly then need to redesign ECU, cost is also very high.
2, first scheme is popular Top-Down Design scheme, by special rapid prototype development instrument (as Dspace software and hardware instrument), the exploitation simulating, verifying based on model can be carried out, but this specific purpose tool cost is high and this fixing developing instrument coordinates software to sell together, user cannot revise, increase any one function supply commercial city to collect the charges to user, technician also cannot make freely revising this instrument.
Utility model content
The purpose of this utility model is the deficiency overcoming prior art existence, and a kind of Control Method for MR Damper algorithm simulating pilot system is provided, rapid control prototyping and the hardware-in-the-loop simulation checking of Control Method for MR Damper systematic study exploitation can be realized, control algolithm model can be realized to the quick control output of topworks and System design based on model algorithm amendment checking, effectively can shorten the control system's development cycle, save R&D costs, effectively reduce cycle and the cost of control system software and hardware scheme optimization amendment simultaneously.
The purpose of this utility model has been come by following technical solution.This Control Method for MR Damper algorithm simulating pilot system, be made up of exciting testboard bay and virtual ECU controller, described virtual ECU controller is made up of data collecting card, PC conputer controlled simulation and verification platform and program controlled constant current source equipment, and PC conputer controlled simulation and verification platform is adopted monitoring software module, Simulink control algolithm software model, accumulation signal software model, waveform display module and usb communication interface by labview number and formed, described exciting testboard bay is provided with single coil excitement, magneto-rheological vibration damper and vibrator, and at this single coil excitement, magneto-rheological vibration damper and vibrator are separately installed with vibration transducer, the sensor signal that this vibration transducer receives accesses respectively in data collecting card, data collecting card is by the data sampling to collection, output to labview number after pre-service adopt monitoring software module and carry out computing at Simulink control algolithm software model, the operation result of Simulink control algolithm software model outputs to the usb communication interface of program controlled constant current source equipment by usb communication interface simultaneously, and by the constant current output of program controlled constant current source equipment to single coil excitement.
As preferably, described waveform display module can show the comparison situation that labview number adopts data that monitoring software module, Simulink control algolithm software model and accumulation signal software model test and data simultaneously.
As preferably, the accumulation signal of the accumulation signal software model in PC conputer controlled simulation and verification platform carries out amplifying the exciting force exporting and produce different frequency by the vibrator in described exciting testboard bay.
As preferably, the api function that described labview number is adopted in monitoring software module bottom is that seamless transit is connected with the interface API of Simulink control algolithm software model.
The beneficial effects of the utility model are: the Rapid Control Prototype Development of Dual 1, achieving the magneto-rheological vibration damper design demonstration stage, carry out the exploitation of control algolithm, emulation and checking work by native system before can be implemented in magneto-rheological vibration damper ECU control system hardware and software development; 2, the Straight simulation based on Simulink control algolithm model and confirmatory experiment is achieved, by the time Controlling model carries out the design of ECU hardware design and software program again after confirming, so a kind of forward design method, not only increase the development efficiency of magneto-rheological vibration damper system, it also avoid simultaneously and directly carry out ECU exploitation and verify construction cycle of bringing long and uncertain design risk again.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present utility model.
Fig. 2 is the closed loop process flow diagram of rapid control prototyping of the present utility model and hardware-in-the-loop simulation control algolithm.
Fig. 3 is control algolithm simulation flow of the present utility model and platform software module map.
Embodiment
Below in conjunction with accompanying drawing, detailed introduction is done to the utility model: as shown in Figure 1, the utility model is made up of exciting testboard bay and virtual ECU controller, described virtual ECU controller is made up of data collecting card, PC conputer controlled simulation and verification platform and program controlled constant current source equipment, and PC conputer controlled simulation and verification platform is adopted monitoring software module, Simulink control algolithm software model, accumulation signal software model, waveform display module and usb communication interface by labview number and formed; Described exciting testboard bay is provided with single coil excitement, magneto-rheological vibration damper and vibrator, and on this single coil excitement, magneto-rheological vibration damper and vibrator, be separately installed with vibration transducer (S1, S2, S3 as in accompanying drawing 1), sensor signal accesses NI9220 data collecting card respectively, for measuring on exciting, magneto-rheological vibration damper spring and the vibration situation of change of spring lower portion.The accumulation signal of the accumulation signal software model in PC conputer controlled simulation and verification platform can carry out amplifying the exciting force exporting and produce different frequency by the vibrator in exciting testboard bay.
The Main Function of exciting testboard bay installs fixing magneto-rheological vibration damper, can produce accumulation signal by conputer controlled and be applied to magneto-rheological vibration damper simultaneously, to realize showing merit and speed characteristic experiment to magneto-rheological vibration damper.
Virtual ECU controller is core system of the present utility model, the rapid control prototyping of Control Method for MR Damper algorithm and the whole closed loop procedure of hardware-in-the-loop simulation experiment can be realized, and whole simulation process repeatedly can be revised, verifies, optimize on this virtual ECU controller basis, whole control algolithm, without the need to the control of true ECU, does not need first to develop control program code yet.
NI9220 data collecting card mainly completes collection to S1, S2, S3 sensor vibration signal on stand, the work such as filtering and pre-service, is then transferred in the data acquisition software of PC conputer controlled emulation platform by USB interface according to different passage by the vibration signal of collection.Wherein labview number adopts monitoring software module corresponding NI9220 data collecting card hardware, based on the software of labview system development, major function be the data of NI9220 data collecting card collection are received, software filtering, subchannel display, and number adopt monitoring software can control NI9220 data collecting card, as configuration sampling rate, port number etc.Simulink control algolithm software model is the core of the utility model rapid control prototyping, control system algorithm is based on Simulink model development, the input signal of model is the actual signal adopting monitoring software module from labview number, instead of labview number adopts the virtual signal of simulating in monitoring software module, by reflecting that the vibration signal of actuator-magneto-rheological vibration damper is directly inputted to labview number and adopts in monitoring software module the algorithm simulating carried out based on model, the control effects of model can be obtained more accurately.Accumulation signal software model constitutes experimental stand system with exciting testboard bay, and the vibrator that wherein accumulation signal software model can select excited vibration signal to control exciting testboard bay produces exciting force.Usb communication interface is with the intercommunication of Simulink bottom most software, and the current data that the Simulink control algolithm software model computing on PC computer can be obtained transfers to program controlled constant current source and sets, and produces the exciting curent driving magneto-rheological vibration damper through constant current source.
In addition PC conputer controlled simulation and verification platform of the present utility model is not limited to Desktop PC computer, also can run according on portable notebook computer.The data that control algolithm obtains mainly convert to and drive the exciting curent of magneto-rheological vibration damper magnetizing coil to produce different damping forces by program controlled constant current source equipment.
As shown in Figure 2, whole closed-loop control emulation includes labview number and adopts monitoring software module, waveform display module and Simulink control algolithm software model, by software simulating, labview is with the data communication between simulink, the vibration sensor signal data gathered in labview software can be input in simulink control algolithm model timely and carry out computing, simultaneously the operation result of control algolithm outputs to program controlled constant current source equipment by usb signal interface and drives the magnetizing coil of magneto-rheological vibration damper to realize the conversion of exciting curent to damping force, whole closed loop procedure Rapid reversible, when monitoring display waveform is not ideal enough, can Controlling model in real time modifying simulink directly emulating, check from waveform display module and contrast effect, thus realize the exploitation of whole Control Method for MR Damper algorithm, emulation and experiment.As shown in Figure 2, the magneto-rheological vibration damper on exciting testboard bay is arranged on by vibration acceleration sensor Real-time Collection, obtain on spring and vibration signal under spring, sample through NI9220 data collecting card, output to labview number after pre-service conversion and adopt monitoring software module, carry out software filtering and Graphics Processing, data are realized in Simulink control algolithm software model with the interface API of simulink software by labview, carrying out Integral Processing as input signal obtains on spring and speed under spring, these two speed directly enter in Simulink control algolithm software model as the input signal of control algolithm carries out algorithm computing, obtain the output current of being correlated with, by magneto-rheological vibration damper magnetizing coil electric current with the relational implementation of damping force to the real-time control of absorber damping force, so complete the closed loop control process of a control algolithm emulation, when applying damping force simultaneously, when next closed-loop control emulates, can by gather spring on and spring under the display result of vibration signal under labview software, and carry out real-time comparison with previous closed loop, the optimizing control models of amendment repeatedly like this is then carried out emulation experiment and is obtained the most accurate Controlling model of optimum, whole closed loop procedure, system is working always, without any interruption, for the exploitation realizing magneto-rheological vibration damper rapid control prototyping, emulate and test very convenient.
As shown in Figure 3, native system software adopts monitoring software module by accumulation signal software model, labview number, the large module of Simulink control algolithm software model three forms, and the software of three large-sized models is all develop based on different running environment.Accumulation signal software model mainly realizes vibrating the generation of stand accumulation signal and loading outputs to vibrator, labview number adopts the data that monitoring software module major function is ADC (Analog-digital Converter) passage gathering NI9220 data collecting card, carry out pre-service, Simulink control algolithm software model is the control system model based on simulink software, it is the basis of carrying out Rapid Control Prototype Development of Dual, user is in device of the present utility model, the control strategy algorithm model of oneself is built under simulink software, carry out integrated with device of the present utility model, namely rapid control prototyping closed-loop simulation and hardware-in-the-loop simulation experiment can be realized.The input signal of Simulink control algolithm software model is acceleration vibration (a1 and a2) signal that labview number is adopted monitoring software module and obtained, vibration signal data, by the seamless transit of labview Basic API function with simulink software, realize the Real-time Obtaining of Simulink control algolithm software model input data.The current value simultaneously obtained after control algolithm computing transfers to actual constant current source equipment by simulinkUSB communication interface mode.Real-time curve display comparison system in Fig. 3 is mainly adopted at labview number in the control inerface of monitoring software module and is realized, except showing on exciting, spring, under spring except vibration signal in real time, relative velocity, size of current that Simulink control algolithm software model obtains can also be shown, the data such as damping force value.Therefore the flow process that the software systems in Fig. 3 carry out a rapid control prototyping and hardware-in-the-loop simulation closed-loop experiment is, first vibration-testing stand accumulation signal is loaded into vibrator and starting of oscillation work, data collecting card Real-time Collection vibration signal is also delivered to labview number and is adopted monitoring software module and process, be input to after process in simulink control algolithm software model and carry out integral operation, control algolithm calculation process obtains current flow Value Data, current value data deliver to program controlled constant current source equipment by usb signal interface, exporting concrete current value by constant current source drives the magnetizing coil of magneto-rheological vibration damper to produce damping force.Relative velocity, target current value, target damping force value under spring is contrasted on current vibration signal, spring by monitoring and display system, by optimizing change control model, directly emulate again next time, obtain experimental result next time, carry out contrasting with the last time and namely complete a closed-loop control the Realization of Simulation.
By device of the present utility model, can very conveniently realize the Rapid Control Prototype Development of Dual of Control Method for MR Damper algorithm fast and carry out hardware-in-the-loop simulation experiment, more accurate control strategy experimental data can be obtained, hardware and software development for next step control system ECU provides real emulated data, can instruct the hardware and software development work of ECU and avoid the risk of overlapping development.
Be understandable that, for a person skilled in the art, the technical solution of the utility model and utility model design be equal to and replace or change the protection domain that all should belong to the claim appended by the utility model.
Claims (4)
1. a Control Method for MR Damper algorithm simulating pilot system, be made up of exciting testboard bay and virtual ECU controller, it is characterized in that: described virtual ECU controller is made up of data collecting card, PC conputer controlled simulation and verification platform and program controlled constant current source equipment, PC conputer controlled simulation and verification platform is adopted monitoring software module, Simulink control algolithm software model, accumulation signal software model, waveform display module and usb communication interface by labview number and is formed, described exciting testboard bay is provided with single coil excitement, magneto-rheological vibration damper and vibrator, and at this single coil excitement, magneto-rheological vibration damper and vibrator are separately installed with vibration transducer, the sensor signal that this vibration transducer receives accesses respectively in data collecting card, data collecting card is by the data sampling to collection, output to labview number after pre-service adopt monitoring software module and carry out computing at Simulink control algolithm software model, the operation result of Simulink control algolithm software model outputs to the usb communication interface of program controlled constant current source equipment by usb communication interface simultaneously, and by the constant current output of program controlled constant current source equipment to single coil excitement.
2. Control Method for MR Damper algorithm simulating pilot system according to claim 1, is characterized in that: described waveform display module can show the comparison situation that labview number adopts data that monitoring software module, Simulink control algolithm software model and accumulation signal software model test and data simultaneously.
3. Control Method for MR Damper algorithm simulating pilot system according to claim 1, is characterized in that: the accumulation signal of the accumulation signal software model in PC conputer controlled simulation and verification platform carries out amplifying the exciting force exporting and produce different frequency by the vibrator in described exciting testboard bay.
4. Control Method for MR Damper algorithm simulating pilot system according to claim 1, is characterized in that: the api function that described labview number is adopted in monitoring software module bottom is that seamless transit is connected with the interface API of Simulink control algolithm software model.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420837314.2U CN204331459U (en) | 2014-12-25 | 2014-12-25 | Control Method for MR Damper algorithm simulating pilot system |
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| CN201420837314.2U CN204331459U (en) | 2014-12-25 | 2014-12-25 | Control Method for MR Damper algorithm simulating pilot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570767A (en) * | 2014-12-25 | 2015-04-29 | 万向钱潮股份有限公司 | Control algorithm simulation experiment system for magneto-rheological fluid damper |
| CN107421729A (en) * | 2017-08-11 | 2017-12-01 | 南京理工大学 | A kind of MR elastomer vibration isolator dynamic performance testing system |
-
2014
- 2014-12-25 CN CN201420837314.2U patent/CN204331459U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104570767A (en) * | 2014-12-25 | 2015-04-29 | 万向钱潮股份有限公司 | Control algorithm simulation experiment system for magneto-rheological fluid damper |
| CN107421729A (en) * | 2017-08-11 | 2017-12-01 | 南京理工大学 | A kind of MR elastomer vibration isolator dynamic performance testing system |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150513 Termination date: 20181225 |