Magnetorheological torque control method based on active disturbance rejection control

Abstract

The application provides a magneto-rheological damper torque control method based on a self-disturbance control, comprising the following steps: constructing a damper torque model of a magneto-rheological damper system based on total magnetic resistance of a magnetic circuit of the magneto-rheological damper and properties of magneto-rheological fluid; constructing a model of a self-disturbance controller; generating an analog voltage control amount by using a differential tracker and a nonlinear state error feedback control law based on an input target damper torque; inputting the analog voltage control amount into the damper torque model, and outputting an actual torque parameter value of the magneto-rheological damper; inputting the actual torque parameter value and the analog voltage control amount into an extended state observer, and outputting a torque signal observation value, a torque differential signal observation value and a system disturbance observation value. The method avoids transient torque overshoot in a torque control task caused by excessive instantaneous current, realizes real-time control of the magneto-rheological damper torque, and effectively improves the control quality of the damper torque control task.

Description

Technical Field

[0001] This invention relates to the field of control technology, and in particular to a magnetorheological damping torque control method based on active disturbance rejection control. Background Technology

[0002] In the process of modern industrial and technological development, control systems play a crucial role in improving structural stability, enhancing integration, and reducing energy consumption. Among these systems, magnetorheological damping technology, with its unique advantages, has been widely applied. By utilizing changes in the magnetic field to regulate damping performance, magnetorheological damping technology brings unprecedented flexibility and adaptability to control systems.

[0003] Magnetorheological damping technology can effectively adjust its damping performance according to changes in the external environment, which makes it show great application potential in many industrial fields such as vibration reduction, medical, civil engineering, robotics, and aerospace. However, some problems have also been found in the practical application of magnetorheological damping technology. The problem of low damping torque control accuracy is mainly reflected in the fact that the magnetorheological damper cannot accurately adjust its damping torque when responding to changes in the external environment, which affects the stability of the system. The problem of control overshoot occurs during the adjustment of damping torque. Due to the imprecise feedback mechanism of the control system, overshoot or undershoot often occurs, further affecting the performance of the system. Summary of the Invention

[0004] This invention provides a magnetorheological damping torque control method based on active disturbance rejection control, which can solve the problems of low accuracy and unavoidable control overshoot in current magnetorheological damping torque control, and achieve the effect of ensuring high accuracy and no control overshoot in the torque control of magnetorheological dampers.

[0005] This invention provides a magnetorheological damping torque control method based on active disturbance rejection control, comprising:

[0006] Based on the total magnetic reluctance of the magnetorheological damper circuit and the properties of the magnetorheological fluid, a damping torque model of the magnetorheological damper system is constructed.

[0007] A model of an active disturbance rejection controller is constructed, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer;

[0008] Based on the input target damping torque, a simulated voltage control quantity is generated using a differential tracker and a nonlinear state error feedback control law.

[0009] The analog voltage control quantity is input into the damping torque model, and the magnetorheological damper outputs the actual torque parameter value;

[0010] The actual torque parameter value and the analog voltage control quantity are input into the extended state observer, which outputs the torque signal observation value, the torque differential signal observation value, and the system disturbance observation value.

[0011] According to the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention, the total magnetic reluctance of the magnetorheological damper magnetic circuit is... Represented as:

[0012]

[0013]

[0014]

[0015]

[0016]

[0017] in, and These represent the reluctance of the rotating shaft, the reluctance of the side disk, the reluctance of the multi-shear layer, and the reluctance of the magnetorheological fluid, respectively. and These represent the reluctance of the first and second side disks, respectively; μ0 is the permeability in air, μ s The relative permeability of silicon steel is μ. MR h represents the relative permeability of the magnetorheological fluid. s h is the height of the pivot. sd h represents the thickness of the side plate. d h is the thickness of the shear disc. gap R is the thickness at the magnetorheological fluid channel. s R1 and R2 represent the radii of the inner and outer shear disks, respectively.

[0018] According to the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention, the damping torque T of the damping torque model is expressed as:

[0019]

[0020] Where η is the fluid viscosity, ω is the rotational speed, r is the magnetorheological fluid radius, h is the thickness of the magnetorheological fluid channel, and τ (B) The torque is affected by the magnetic flux density.

[0021] The magnetorheological damping torque control method based on active disturbance rejection control provided by this invention enables the differential tracker to achieve rapid tracking of the target torque with the actual damping torque under the premise of essentially no overshoot, balancing the contradiction between speed and overshoot, and can be expressed as:

[0022] fh=fhan(x1(k)-T d (k),x2(k),r0,h0)

[0023] x1(k+1)=x1(k)+hx2(k)

[0024] x2(k+1)=x2(k)+hfh

[0025] Where x1(k) and x2(k) are system states, r0 and h0 are function control parameters, and fhan is the fastest synthesis function, expressed as:

[0026] According to the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention, the extended state observer is expressed as follows:

[0027]

[0028] Where z1(k), z2(k) and z3(k) are the observed states of the magnetorheological damper system, respectively, and are the observed values ​​of the torque signal, the torque differential signal, and the system disturbance, respectively.

[0029] According to the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention, the analog voltage control quantity u(k) output by the nonlinear state error feedback control law is expressed as:

[0030] u0(k)=β1fal(e1(k),a1,δ)+β2fal(e2(k),a2,δ)

[0031] u(k)=(u0-z3) / b0

[0032] Where e1(k) = x1(k) - z1(k) and e2(k) = x2(k) - z2(k) are the output signals of the differential tracker and the extended state observer, respectively, and the fal function can be expressed as: -z3 / b0 is the component that compensates for disturbances, and u0 / b0 is the component that uses nonlinear feedback to control the integrator in series.

[0033] The magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention further includes:

[0034] Based on the observed values ​​of torque signal, torque differential signal, system disturbance, and target damping torque, the analog voltage control quantity is corrected using a differential tracker and a nonlinear state error feedback control law.

[0035] A magnetorheological damping torque control system based on active disturbance rejection control, according to the present invention, comprises:

[0036] The first building module is used to construct a damping torque model of the magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid.

[0037] The second building module is used to build the model of the active disturbance rejection controller, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer.

[0038] The first generation module is used to generate analog voltage control quantities based on the input target damping torque, using a differential tracker and a nonlinear state error feedback control law.

[0039] The output module is used to input the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputs the actual torque parameter value;

[0040] The second generation module is used to input the actual torque parameter value and the analog voltage control quantity into the extended state observer, and output the torque signal observation value, the torque differential signal observation value and the system disturbance observation value.

[0041] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the magnetorheological damping torque control method based on active disturbance rejection control as described above.

[0042] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the magnetorheological damping torque control method based on active disturbance rejection control as described above.

[0043] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the magnetorheological damping torque control method based on active disturbance rejection control as described above.

[0044] The magnetorheological damping torque control method based on active disturbance rejection control provided by this invention has at least the following beneficial effects:

[0045] 1. A torque dynamics model of the magnetorheological damper system was constructed, and a full-state modeling analysis of the underlying structure was performed.

[0046] 2. A magnetorheological damping torque control method based on active disturbance rejection control is proposed. A differential tracker is used to achieve rapid tracking of the target damping torque and the observed value of the torque differential signal. The existence of this transient process avoids the generation of excessive control signal, i.e., excessive transient current, eliminates transient torque overshoot of the control system, and improves the control effect of the magnetorheological damping torque control task.

[0047] 3. The extended state observer in the proposed control method realizes the estimation and compensation of disturbances to the system, further improving the control quality. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0049] Figure 1 This is a flowchart illustrating the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention.

[0050] Figure 2 This is a schematic diagram illustrating the principle of the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention.

[0051] Figure 3 This is a schematic diagram of the experimental testing device provided by the present invention;

[0052] Figure 4 This is a schematic diagram of the target torque tracking control result provided by the present invention;

[0053] Figure 5 This is a schematic diagram of the change in current control quantity provided by the present invention;

[0054] Figure 6 This is a schematic diagram of the experimental results of the magnetorheological damping torque control method with self-disturbance rejection control provided by the present invention;

[0055] Figure 7 This is a schematic diagram of the magnetorheological damping torque control system based on active disturbance rejection control provided by the present invention;

[0056] Figure 8 This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0057] Figure label:

[0058] 1. Six-dimensional force sensor; 2. Coupling; 3. Magnetorheological damper; 4. DC brushless motor; 5. Angle aluminum support frame;

[0059] 710. First building module; 720. Second building module; 730. First generation module; 740. Output module; 750. Second generation module;

[0060] 810, Processor; 820, Communication interface; 830, Memory; 840, Communication bus. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0062] The following is combined with Figures 1-2 This invention describes the magnetorheological damping torque control method based on active disturbance rejection control provided by the present invention.

[0063] In this embodiment, the magnetorheological damping torque control method based on active disturbance rejection control includes the following steps:

[0064] Step S110: Based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid, construct a damping torque model for the magnetorheological damper system.

[0065] Step S120: Construct a model of the active disturbance rejection controller, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer.

[0066] Step S130: Based on the input target damping torque, generate an analog voltage control quantity using a differential tracker and a nonlinear state error feedback control law.

[0067] Step S140: Input the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputs the actual torque parameter value.

[0068] Step S150: Input the actual torque parameter value and the analog voltage control quantity into the extended state observer, and output the torque signal observation value, the torque differential signal observation value, and the system disturbance observation value.

[0069] Specifically, firstly, based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid, a damping torque model for the magnetorheological damper is established. This model considers factors such as the magnetic circuit structure and magnetization characteristics, and can accurately reflect the torque output characteristics of the magnetorheological damper under the action of a magnetic field.

[0070] Then, a model of the active disturbance rejection controller (ADRC) is established, which includes a differential tracker, a nonlinear state error feedback control law, and an extended state observer. The differential tracker is used to smooth the target damping torque, reducing system oscillations caused by sudden changes in the target value; the nonlinear state error feedback control law is used to adjust the control input according to the error magnitude, achieving fast response and stable control; and the extended state observer is used to estimate unknown disturbances and internal states of the system, improving the robustness of the control system.

[0071] Based on the input target damping torque, a differential tracker is used to smooth the target value, and a nonlinear state error feedback control law is used to generate an analog voltage control quantity. This control quantity serves as the initial control signal to drive the magnetorheological damper to output the actual torque parameter value.

[0072] The actual torque parameter value and the analog voltage control quantity are input into the extended state observer, which outputs the torque signal observation value, the torque differential signal observation value, and the system disturbance observation value.

[0073] Among them, the torque signal observation value, the torque differential signal observation value, and the system disturbance observation value are used to correct the analog voltage control quantity. By continuously adjusting and optimizing the control quantity, the actual damping torque of the magnetorheological damper gradually approaches the target value, achieving high-precision control.

[0074] The magnetorheological damping torque control method based on active disturbance rejection control proposed in this invention employs a differential tracker to achieve rapid tracking of the target damping torque and the observed values ​​of the torque differential signal. This transient process avoids the generation of excessively large control signals, i.e., excessively high transient currents, thus eliminating transient torque overshoot in the control system and improving the control performance of the magnetorheological damping torque control task. Furthermore, the extended state observer in the proposed control method enables the estimation and compensation of disturbances to the system, further improving the control quality.

[0075] In one embodiment, step S110: the step of constructing a damping torque model of the magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper circuit and the properties of the magnetorheological fluid includes:

[0076] Establish the total magnetic reluctance of the magnetorheological damper magnetic circuit Represented as:

[0077]

[0078]

[0079]

[0080]

[0081]

[0082] in, and These represent the reluctance of the rotating shaft, the reluctance of the side disk, the reluctance of the multi-shear layer, and the reluctance of the magnetorheological fluid, respectively. and These represent the reluctance of the first and second side disks, respectively; μ0 is the permeability in air, μ s The relative permeability of silicon steel is μ.MR h represents the relative permeability of the magnetorheological fluid. s h is the height of the pivot. sd h represents the thickness of the side plate. d h is the thickness of the shear disc. gap R is the thickness at the magnetorheological fluid channel. s R is the radius of the rotating shaft, and r1 and r2 represent the radii of the inner and outer shear disks, respectively.

[0083] Furthermore, the magnetic flux of the magnetic circuit can be expressed as:

[0084]

[0085] Where F is the magnetomotive force of the magnetic path, and N t Let be the number of turns in the coil, and i be the current flowing through the coil. Furthermore, the magnetic flux density at the magnetorheological fluid can be expressed as:

[0086]

[0087] Where A is the cross-sectional area at the magnetorheological channel.

[0088] Then, a damping torque model of the magnetorheological damper system is constructed.

[0089] Based on the properties of magnetorheological fluids, the shear stress and magnetic induction intensity B can be obtained. MR The relationship is obtained by fitting a polynomial:

[0090]

[0091] The shear stress characteristics of magnetorheological fluids, constructed using the Bingham plastic shear stress model, can be expressed as follows:

[0092] τ MR =τ MR (B MR )+ηwr / h

[0093] Where η is the fluid viscosity, ω is the rotational speed, r is the magnetorheological fluid radius, and h is the thickness of the magnetorheological fluid channel. Based on the magnetic circuit model, the damping torque of the magnetorheological damper can be expressed as follows:

[0094]

[0095] The shear damping torque of the system consists of two parts: the first part is affected by the magnetic induction intensity, and the second part is affected by the motor speed.

[0096] In some embodiments, such as Figure 2As shown, step S120: Constructing the model of the active disturbance rejection controller, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer, includes the following steps:

[0097] like Figure 2 As shown, the differential tracker design

[0098] The differential tracker enables rapid tracking of the target torque with minimal overshoot, balancing the trade-off between speed and overshoot. This can be expressed as:

[0099] fh=fhan(x1(k)-T d (k),x2(k),r0,h0)

[0100] x1(k+1)=x1(k)+hx2(k)

[0101] x2(k+1)=x2(k)+hfh

[0102] Where x1(k) and x2(k) are system states, r0 and h0 are function control parameters, and fhan is the fastest synthesis function, expressed as:

[0103]

[0104] Achieved fast, overshoot-free tracking of the target damping torque T using x1. d x2 tracking target damping torque T d The approximate differential process.

[0105] Extended State Observer Design

[0106] The extended state observer of the system is represented as follows:

[0107]

[0108] Where, β 01 Z is the control parameter of the function. Z1(k), Z2(k), and Z3(k) are the observed states of the magnetorheological damper system, respectively, and are the observed values ​​of the torque signal, the torque differential signal, and the system disturbance, respectively.

[0109] Design of nonlinear state error feedback control law

[0110] Based on the output signals of the differential tracker and the extended state observer, the torque error signal of the transient process can be obtained as follows:

[0111] e1(k) = x1(k) - z1(k)

[0112] e²(k) = x²(k) - z²(k)

[0113] The nonlinear state error feedback control law is expressed as follows:

[0114] u0(k)=β1fal(e1(k),a1,δ)+β2fal(e2(k),a2,δ)

[0115] The fal function can be represented as:

[0116]

[0117] The analog voltage control quantity u(k) can be expressed as:

[0118] u(k)=(u0-z3) / b0

[0119] The analog voltage control quantity is divided into two parts: -z3 / b0 is the component for compensating for disturbances, and u0 / b0 is the component for controlling the integrator series type using nonlinear feedback.

[0120] like Figure 1 As shown, the magnetorheological damping torque control method based on active disturbance rejection control also includes:

[0121] Step S160: Based on the torque signal observation, torque differential signal observation, system disturbance observation, and target damping torque, the analog voltage control quantity is corrected using a differential tracker and a nonlinear state error feedback control law.

[0122] In this embodiment, after obtaining the torque signal observation value, torque differential signal observation value, and system disturbance observation value in real time in step S150, the analog voltage control quantity can be corrected in real time using the differential tracker and the nonlinear state error feedback control law.

[0123] In this embodiment, the analog voltage control quantity u(k) is boosted and output to the built-in coil. The rotation of the motor causes the continuous rotation of the magnetorheological damper housing. The torque sensor measures the actual damping torque at the damper shaft.

[0124] To verify the effectiveness and practicality of this invention, simulations and actual experiments were conducted to control the damping torque of the magnetorheological damper. An experimental testing setup was constructed as follows: Figure 3 As shown, it mainly includes: a six-dimensional force sensor 1, a coupling 2, a magnetorheological damper 3, a DC brushless motor 4, and an angle aluminum support frame 5.

[0125] The six-dimensional force sensor 1 is the core measuring device in this experiment, capable of measuring damping torque with high precision, providing the foundation for our experimental data. Coupling 2 connects the six-dimensional force sensor to the rotating shaft of the magnetorheological damper, ensuring accurate torque transmission. The magnetorheological damper 3 is the main experimental component, outputting corresponding variable damping torque based on control signals. The brushless DC motor 4 is connected to the housing of the magnetorheological damper 3, used to control the rotation speed of the housing, simulating dynamic conditions in actual working scenarios. The angle aluminum support frame 5 secures these devices, ensuring the stability and safety of the experiment.

[0126] In the simulation phase, the working process of the magnetorheological damper was simulated in detail using advanced simulation software. By simulating the total magnetic reluctance of the magnetic circuit and the properties of the magnetorheological fluid under different conditions, we constructed an accurate torque model and optimized the control of the damping torque based on the design of an active disturbance rejection controller. Simulation results show that the control method of this invention can significantly improve the control accuracy of the damping torque and effectively avoid control overshoot.

[0127] In the actual experimental phase, the magnetorheological damper was installed on the test device. By changing the speed of the brushless DC motor and the control signal of the magnetorheological damper, the damping torque measured by the six-dimensional force sensor was observed in real time.

[0128] Compared with the traditional PID control method, the simulation results are as follows: Figure 4 and Figure 5 As shown, Figure 4 The image shows the tracking control results for the target torque. Figure 5 The graph shows the variation of the current control quantity. ADRC and PID represent the active disturbance rejection control method and the proportional-integral-derivative control method, respectively. Both ADRC and PID control methods can track the target torque, but compared to PID control, ADRC has a faster control convergence speed and ensures no overshoot, while PID control has a significant overshoot at the initial moment, resulting in a high transient current. The generated high temperature can have a significant impact on the magnetorheological damper system, affecting the system's variable damping performance and hindering control stability.

[0129] Experimental results of the magnetorheological damping torque control method based on active disturbance rejection control are as follows: Figure 6 As shown, the ADRC method ensures rapid control convergence when tracking the target torque, and the torque control process is free of overshoot, exhibiting high control accuracy.

[0130] The magnetorheological damping torque control system based on active disturbance rejection control provided by the present invention will be described below. The magnetorheological damping torque control system based on active disturbance rejection control described below can be referred to in correspondence with the method described above.

[0131] like Figure 7 As shown, the magnetorheological damping torque control system based on active disturbance rejection control includes:

[0132] The first building module 710 is used to construct a damping torque model of the magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid.

[0133] The second building module 720 is used to build a model of an active disturbance rejection controller, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer.

[0134] The first generation module 730 is used to generate analog voltage control quantities based on the input target damping torque, using a differential tracker and a nonlinear state error feedback control law.

[0135] The output module 740 is used to input the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputs the actual torque parameter value.

[0136] The second generation module 750 is used to input the actual torque parameter value and the analog voltage control quantity into the extended state observer, and output the torque signal observation value, the torque differential signal observation value and the system disturbance observation value.

[0137] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logic instructions in the memory 830 to execute corresponding methods, which include: constructing a damping torque model of the magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid; constructing a model of an active disturbance rejection controller, which includes a differential tracker, a nonlinear state error feedback control law, and an extended state observer; generating an analog voltage control quantity based on the input target damping torque using the differential tracker and the nonlinear state error feedback control law; inputting the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputs actual torque parameter values; inputting the actual torque parameter values ​​and the analog voltage control quantity into the extended state observer, and outputting torque signal observation values, torque differential signal observation values, and system disturbance observation values.

[0138] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0139] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the methods provided by the above methods. The method includes: constructing a damping torque model of a magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid; constructing a model of an active disturbance rejection controller, which includes a differential tracker, a nonlinear state error feedback control law, and an extended state observer; generating an analog voltage control quantity based on the input target damping torque using the differential tracker and the nonlinear state error feedback control law; inputting the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputs actual torque parameter values; inputting the actual torque parameter values ​​and the analog voltage control quantity into the extended state observer, and outputting torque signal observation values, torque differential signal observation values, and system disturbance observation values.

[0140] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the methods provided by the above methods. The method includes: constructing a damping torque model of a magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid; constructing a model of an active disturbance rejection controller, the active disturbance rejection controller including: a differential tracker, a nonlinear state error feedback control law, and an extended state observer; generating an analog voltage control quantity based on the input target damping torque using the differential tracker and the nonlinear state error feedback control law; inputting the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputting actual torque parameter values; inputting the actual torque parameter values ​​and the analog voltage control quantity into the extended state observer, and outputting torque signal observation values, torque differential signal observation values, and system disturbance observation values.

[0141] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0142] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A magnetorheological damping torque control method based on active disturbance rejection control, characterized in that, include: Based on the total magnetic reluctance of the magnetorheological damper circuit and the properties of the magnetorheological fluid, a damping torque model of the magnetorheological damper system is constructed. A model of an active disturbance rejection controller is constructed, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer; Based on the input target damping torque, a simulated voltage control quantity is generated using a differential tracker and a nonlinear state error feedback control law. The analog voltage control quantity is input into the damping torque model, and the magnetorheological damper outputs the actual torque parameter value; The actual torque parameter value and the analog voltage control quantity are input into the extended state observer, and the torque signal observation value, torque differential signal observation value and system disturbance observation value are output. Total magnetic reluctance of magnetorheological damper magnetic circuit Represented as: ； ； ； ； ； in, , , and These represent the reluctance of the rotating shaft, the reluctance of the side disk, the reluctance of the multi-shear layer, and the reluctance of the magnetorheological fluid, respectively. and These represent the magnetic reluctance of the first side disk and the magnetic reluctance of the second side disk, respectively. Permeability in air The relative permeability of silicon steel. ρ represents the relative permeability of the magnetorheological fluid; The height of the pivot. The thickness of the side plate. The thickness of the shear disc. The thickness at the magnetorheological fluid channel. The radius of the pivot is 1. and These represent the radii of the inner and outer shear disks, respectively. The damping moment T in the damping moment model is expressed as: ； in, For fluid viscosity, For rotational speed, Where is the radius of the magnetorheological fluid. The thickness of the magnetorheological fluid channel. The torque is affected by the magnetic flux density; The differential tracker enables rapid tracking of the target torque with minimal overshoot, balancing the trade-off between speed and overshoot. This can be expressed as: ； ； ； in, and For system status, and Here, fhan is the function control parameter, and fhan is the steepest synthesis function, expressed as: ; The extended state observer is represented as: ； in, For function control parameters, , and The observed states of the magnetorheological damper system are, in order: torque signal observation, torque differential signal observation, and system disturbance observation. Analog voltage control quantity output by nonlinear state error feedback control law Represented as: ； ； in, and Output signals for the differential tracker and the extended state observer. The function can be represented as , To compensate for the components of the disturbance, It uses nonlinear feedback to control the components of the integrator in series.

2. The magnetorheological damping torque control method based on active disturbance rejection control according to claim 1, characterized in that, Also includes: Based on the observed values ​​of torque signal, torque differential signal, system disturbance, and target damping torque, the analog voltage control quantity is corrected using a differential tracker and a nonlinear state error feedback control law.

3. A magnetorheological damping torque control system based on active disturbance rejection control (ADRC) according to the magnetorheological damping torque control method as described in claim 1 or 2, characterized in that, include: The first building module is used to construct a damping torque model of the magnetorheological damper system based on the total magnetic reluctance of the magnetorheological damper's magnetic circuit and the properties of the magnetorheological fluid. The second building module is used to build the model of the active disturbance rejection controller, which includes: a differential tracker, a nonlinear state error feedback control law, and an extended state observer. The first generation module is used to generate analog voltage control quantities based on the input target damping torque, using a differential tracker and a nonlinear state error feedback control law. The output module is used to input the analog voltage control quantity into the damping torque model, and the magnetorheological damper outputs the actual torque parameter value; The second generation module is used to input the actual torque parameter value and the analog voltage control quantity into the extended state observer, and output the torque signal observation value, the torque differential signal observation value and the system disturbance observation value.

4. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the magnetorheological damping torque control method based on active disturbance rejection control as described in claim 1 or 2.

5. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the magnetorheological damping torque control method based on active disturbance rejection control as described in claim 1 or 2.

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