Closed-loop control method of magneto-rheological actuator based on dynamic model reconstruction

Abstract

The invention relates to the technical field of vibration control, in particular to a closed-loop control method of a magneto-rheological actuator based on dynamic model reconstruction. The method comprises a damping force / torque monitoring system, a dynamic model reconstruction module, a magneto-rheological actuator dynamic model, a saturation controller, a current driver and a magneto-rheological actuator. The damping force / torque monitoring system is used for monitoring the actual damping force / torque value of the magneto-rheological actuator in real time and feeding back the actual damping force / torque value to the dynamic model reconstruction module. The dynamic model reconstruction module reconstructs the magneto-rheological actuator dynamic model on line according to the actual damping force / torque value of the magneto-rheological actuator monitored by the damping force / torque monitoring system in real time. The saturation controller is used for solving a smooth control lawconsidering the asymmetric saturation characteristic of the control current / voltage by utilizing the magneto-rheological actuator dynamic model reconstructed on line by the dynamic model reconstruction module, and controlling the damping force / torque of the magneto-rheological actuator through the current driver.

Description

technical field [0001] The invention relates to the technical field of vibration control, in particular to a closed-loop control method of a magneto-rheological actuator based on dynamic model reconstruction. Background technique [0002] Magneto-rheological actuators have real-time adjustable damping, wide dynamic range, high response speed, low power consumption, and relatively simple structure. They have great potential in many vibration control fields such as vehicle suspensions and civil bridges. Wide application prospects. [0003] The main problems and deficiencies in the existing technology include: the current control mode of the magneto-rheological actuator mainly adopts the open-loop control mode, that is, according to the damping force / torque, speed, displacement, acceleration, temperature and current of the magneto-rheological actuator The inverse model of damping force / torque-current / voltage is established by equal mapping relationship, such as polynomial mode...

AI Technical Summary

Problems solved by technology

[0003] The main problems and deficiencies in the existing technology include: the current control method of the magnetorheological actuator mainly adopts the open-loop control method, that is, according to the damping force / torque, speed, displacement, acceleration, temperature and current of the magnetorheological actuator Equivalent mapping relationship to establish the inverse model of damping force / torque-current / voltage, such as polynomial model, Bingham model, Bouc-Wen model, hyperbolic tangent algebraic model and neural network models

However, due to the phenomenon of hysteresis, temperature dependence, and frequency dependence in the mechanical behavior of magnetorheological actuators, the established mechanical model usually has certain errors.

In order to improve the control accuracy of magnetorheological actuators, scholars such as Dyke of Washington University in St. Louis proposed a control method based on the Heaviside function that does not depend on the mechanical model of magnetorheological actuators. By judging the expected damping force / torque and the actual damping force / torque The distribution relationship of MR maps the control current / voltage, but unfortunately, this control method has the phenomenon of damping force / torque high-frequency chattering, which will cause fatigue damage to the mechanical structure of the magneto-rheological actuator, and will reduce the vibration control system. Performance, Life and Reliability

Images