A parameter optimization method for nonlinear shock dampers

Abstract

The present application belongs to the field of vibration anti-shock control technology and specifically discloses a parameter optimization method for a nonlinear anti-shock damper, including: determining the control target, basic parameters, and initial velocity of the load and carrier after the nonlinear anti-shock damper is subjected to an impact; obtaining the maximum displacement when the velocity decays to zero according to the nonlinear dynamic equation based on the control target, basic parameters, and initial velocity; constructing a nonlinear damping coefficient design inequality based on the maximum displacement and the ideal value of the anti-shock stroke, and determining the zero-order term coefficient and the first-order term coefficient of the nonlinear damping coefficient; optimizing the zero-order term coefficient and the first-order term coefficient based on the anti-shock stroke and the damping force transition coefficient until both the anti-shock stroke and the damping force transition coefficient reach the ideal value, thereby obtaining the optimized zero-order term coefficient and the first-order term coefficient. Through the present application, the parameter optimization efficiency of the nonlinear anti-shock damper can be improved.

Description

Technical Field

[0001] The present application belongs to the technical field of vibration anti-shock control, and more specifically, relates to a parameter optimization method for a nonlinear anti-shock damper. Background Art

[0002] Impact is a ubiquitous phenomenon in the service and precision manufacturing of moving-carrier equipment and is a key factor restricting both service performance and precision manufacturing accuracy. To effectively absorb and dissipate the energy of external impacts and mitigate their adverse effects on the system, various types of impact-resistant devices have been developed and applied in practical engineering, playing a crucial role in ensuring system performance and improving safety.

[0003] Current engineering practices for shock dampers often employ a constant damping coefficient. However, this constant damping coefficient does not maximize the damper's energy dissipation. Furthermore, the parameter design of shock dampers with variable damping coefficients suffers from low versatility and high complexity. This means that current design methods may not be applicable to a wide range of application scenarios. Furthermore, the parameter design and optimization process is cumbersome, requiring the manipulation of complex parameters and conditions, resulting in low overall efficiency in parameter optimization for nonlinear shock dampers.

[0004] Therefore, how to solve the defects of low parameter optimization efficiency caused by low versatility and high complexity of the current nonlinear anti-impact damper design method is a technical problem that needs to be solved urgently. Summary of the Invention

[0005] In view of the defects of the prior art, the purpose of this application is to provide a parameter optimization method for a nonlinear anti-shock damper, aiming to solve the problem of low efficiency in parameter optimization of the current anti-shock damper.

[0006] In a first aspect, the present application provides a parameter optimization method for a nonlinear shock damper, comprising:

[0007] Determining the control objectives, basic parameters, and initial velocities of the load and carrier after impact of the nonlinear anti-impact damper; the control objectives include the anti-impact stroke and the damping force transition coefficient; the basic parameters include stiffness and load mass; and the initial velocity is determined based on the impact signal collected in the field;

[0008] The control target, basic parameters, and initial velocity are used in accordance with a nonlinear dynamic equation to obtain a maximum displacement when the velocity decays to zero, the maximum displacement is combined with an ideal value of the anti-impact stroke to construct a nonlinear damping coefficient design inequality, and the zero-order term coefficient and the first-order term coefficient of the nonlinear damping coefficient are determined;

[0009] The zero-order term coefficient and the first-order term coefficient are optimized based on the anti-impact stroke and the damping force transition coefficient until the anti-impact stroke and the damping force transition coefficient both reach ideal values, thereby obtaining optimized zero-order term coefficient and first-order term coefficient.

[0010] This application obtains control objectives, basic parameters and initial velocity to systematize and standardize the design of anti-impact dampers to improve the versatility of the design; by substituting the control objectives, basic parameters and initial velocity into nonlinear dynamic equations, the maximum displacement is calculated, and a design inequality is constructed, thereby reducing the complexity of the optimization process and the uncertainty in parameter design through the optimization design process; the zero-order term coefficient and the first-order term coefficient are optimized until the ideal value is reached, and through the iterative optimization process, the adaptability and optimization effect of parameter design and optimization are improved, while the difficulties caused by complex design steps are reduced. Parameter optimization is performed through convenient optimization steps, and the overall design process is clear and operational, thereby improving the parameter design and optimization efficiency of the anti-impact damper.

[0011] Optionally, the method for optimizing the zero-order term coefficient and the first-order term coefficient includes:

[0012] Substituting the updated zero-order term coefficient and the first-order term coefficient into the constructed discrete dynamic equation to obtain a displacement response and a velocity response, and obtaining a damping force variation curve according to the displacement response and the velocity response;

[0013] The control target is judged by using the displacement response and damping force change curve and the nonlinear damping coefficient is continuously optimized until the anti-impact stroke and the damping force transition coefficient both reach ideal values, and the optimized zero-order term coefficient and first-order term coefficient are determined.

[0014] Optionally, the control target is judged by using the displacement response and the damping force change curve and the nonlinear damping coefficient is continuously optimized until the anti-impact stroke and the damping force transition coefficient both reach ideal values, and the optimized zero-order term coefficient and first-order term coefficient are determined, including:

[0015] According to the design inequality, determining an initial zero-order term coefficient and a linear term coefficient, fixing the linear term coefficient, continuously increasing the zero-order term coefficient, inputting the zero-order term coefficient and the linear term coefficient into the discrete dynamics equation to obtain a displacement response curve until the maximum value of the displacement response reaches the ideal value of the anti-impact stroke;

[0016] Determining a fixed relationship between a zero-order term coefficient and a linear term coefficient, and while maintaining the fixed relationship, continuously increasing the linear term coefficient and continuously decreasing the zero-order term coefficient to obtain a speed response curve;

[0017] The displacement response curve and the velocity response curve are used to obtain a curve of the damping force varying with the displacement, until the damping force transition coefficient reaches an ideal value, thereby obtaining an optimized zero-order term coefficient and a first-order term coefficient.

[0018] Optionally, the expression of the nonlinear damping coefficient is:

[0019] C=C0+C1x

[0020] Where x is the relative displacement between the carrier and the load, c is the nonlinear damping coefficient, c0 is the zero-order coefficient, and c1 is the first-order coefficient.

[0021] Optionally, the damping force transition coefficient is determined based on the ratio of the initial damping force at the initial position to the maximum damping force;

[0022] The damping force is determined by the following formula:

[0023]

[0024] Among them, F c is the damping force, is the relative speed between the carrier and the load;

[0025] When x=0, the damping force is the initial damping force.

[0026] Optionally, the process of obtaining the maximum displacement specifically includes:

[0027] The relative velocity motion equation is obtained based on the nonlinear dynamic equation; as shown in the following formula:

[0028]

[0029] in, is the relative motion velocity at time t after impact, k is the stiffness, m is the load mass, and v0 is the initial velocity;

[0030] When the relative motion speed is zero, the maximum displacement is determined as shown in the following formula:

[0031]

[0032] Where t0 is the time required for the velocity to decay to zero.

[0033] Optionally, the nonlinear dynamic equation is:

[0034]

[0035] in, is the relative motion acceleration between the carrier and the load, k is the stiffness, and m is the load mass.

[0036] Optionally, the discrete dynamics equation is as follows:

[0037] c1nx 2 (t)+(m+kn 2 +c0n)x(t)-(2m+C0n)x(tn)-C1nx(t)x(tn)+mx(t-2n)=0

[0038] Where n is the discrete time interval, x(t) is the relative displacement at this moment, x(tn) is the relative displacement n times ago, and x(t-2n) is the relative displacement 2n times ago.

[0039] In a third aspect, the present application provides an electronic device comprising: at least one memory for storing programs; and at least one processor for executing the programs stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method described in the first aspect or any possible implementation of the first aspect.

[0040] In a fourth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method described in the first aspect or any possible implementation of the first aspect.

[0041] In a fifth aspect, the present application provides a computer program product, which, when executed on a processor, enables the processor to execute the method described in the first aspect or any possible implementation of the first aspect.

[0042] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here.

[0043] In general, the above technical solutions conceived by this application have the following beneficial effects compared with the existing technologies:

[0044] (1) This application obtains control objectives (such as anti-impact stroke and damping force transition coefficient), basic parameters (stiffness and load mass) and initial velocity, so as to systematize and standardize the design of anti-impact dampers to improve the versatility of the design; by substituting the control objectives, basic parameters and initial velocity into the nonlinear dynamic equation, the maximum displacement is calculated, and the design inequality is constructed, and the complexity of the optimization process and the uncertainty in parameter design are reduced through the optimization design process; the zero-order term coefficient and the first-order term coefficient are optimized until the ideal value is reached. Through the iterative optimization process, the adaptability and optimization effect of parameter design and optimization are improved, and the difficulties caused by complex design steps are reduced. The parameters are optimized through convenient optimization steps, and the overall design process is clear and operational, thereby improving the parameter design and optimization efficiency of nonlinear anti-impact dampers.

[0045] (2) By setting an ideal value for the impact stroke and optimizing the nonlinear damping coefficient, this application ensures that the impact damper can effectively control displacement during impact in practical applications, thereby protecting the load and carrier from excessive impact. By designing inequalities and optimizing the process, the variation characteristics of the damping force can be adjusted to achieve better transition performance during impact.

[0046] (3) The nonlinear anti-shock damper parameter optimization method provided in this application is highly versatile and can be used for the core parameter design of various types of anti-shock dampers, such as the output control strategy design of electric anti-shock dampers and the fluid viscosity control rate design of magnetorheological anti-shock dampers. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 This is one of the flow charts of the parameter optimization method for a nonlinear anti-impact damper provided in an embodiment of the present application;

[0048] Figure 2 is a schematic diagram of a dynamic model of a nonlinear anti-impact damper according to an embodiment of the present application;

[0049] Figure 3 This is a second flow chart of a parameter optimization method for a nonlinear anti-impact damper provided in an embodiment of the present application;

[0050] Figure 4 is a relative displacement response diagram of the nonlinear anti-shock damper provided in an embodiment of the present application after parameter preselection;

[0051] Figure 5 is a relative velocity response diagram after parameter optimization design of the nonlinear anti-impact damper provided in an embodiment of the present application;

[0052] Figure 6 is a curve diagram showing the change in damping force versus displacement after parameter optimization design of the nonlinear anti-impact damper provided in an embodiment of the present application;

[0053] Figure 7 is a damping coefficient curve diagram of the nonlinear anti-impact damper after parameter optimization design provided by an embodiment of the present application;

[0054] Figure 8 It is a structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0056] The term "and / or" as used herein describes an association between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. The symbol " / " as used herein indicates that the related objects are in an "or" relationship, for example, A / B means either A or B.

[0057] The terms "first" and "second" in this specification and claims are used to distinguish different objects rather than to describe a specific order of objects. For example, "first response message" and "second response message" are used to distinguish different response messages rather than to describe a specific order of response messages.

[0058] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0059] In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more, for example, multiple processing units means two or more processing units, etc.; multiple elements means two or more elements, etc.

[0060] Next, the technical solutions provided in the embodiments of this application are introduced.

[0061] Reference Figure 1 , the present application provides a parameter optimization method for a nonlinear shock damper, comprising:

[0062] S101. Determine the control target, basic parameters, and initial velocity of the load and carrier after the impact of the nonlinear anti-impact damper; the control target includes the anti-impact stroke and the damping force transition coefficient, the basic parameters include stiffness and load mass, and the initial velocity is determined based on the impact signal collected in the field;

[0063] S102. Calculate the maximum displacement when the velocity decays to zero using the nonlinear dynamic equation based on the control target, basic parameters, and initial velocity. Combine the maximum displacement with the ideal value of the impact stroke to construct a nonlinear damping coefficient design inequality, and determine the zero-order and first-order coefficients of the nonlinear damping coefficient.

[0064] S103. Optimize the zero-order term coefficient and the linear term coefficient based on the anti-impact stroke and the damping force transition coefficient until both the anti-impact stroke and the damping force transition coefficient reach ideal values, thereby obtaining optimized zero-order term coefficient and linear term coefficient.

[0065] Specifically, it should be noted that the nonlinear characteristic of the impact damper refers to the fact that the damping coefficient changes with displacement, resulting in a nonlinear relationship between its damping force and velocity.

[0066] Reference Figure 2 , determine the control objectives of the nonlinear anti-shock damper, the basic system parameters and the initial velocity. The two main control objectives are the anti-shock stroke and the damping force transition coefficient. The basic parameters of the vibration reduction and anti-shock system include the system stiffness (k) and the load mass (m).

[0067] The anti-impact stroke refers to the maximum displacement allowed by the system when it is impacted, while the damping force transition coefficient describes the smoothness of the change of the damping force with displacement. The damping force transition coefficient η is the damping force F at the initial position. c0 and the maximum damping force F cmax The smaller the ratio, the smoother the impact resistance process.

[0068] Stiffness determines the system's resistance to displacement changes, while load mass affects the system's response to impact. The initial velocity of the load and carrier after impact is determined based on the impact signal collected in the field.

[0069] In S102 above, a design inequality for the nonlinear damping coefficient is constructed. First, the design inequality for the nonlinear damping coefficient is constructed by combining the ideal values ​​of maximum displacement and impact stroke. The zero-order term c0 and the linear term c1 of the nonlinear damping coefficient are determined; these coefficients will affect the curve of the damping force versus displacement. The relationship between the nonlinear damping coefficient c, the zero-order term c0, and the linear term c1 is as follows:

[0070] C=C0+C1x

[0071] Where x is the relative displacement between the carrier and the load, c is the nonlinear damping coefficient, c0 is the zero-order coefficient, and c1 is the first-order coefficient.

[0072] Finally, the damping coefficient is optimized in S103. Based on the impact stroke and damping force transition coefficient, the zero-order and linear coefficients are optimized. In this embodiment, the coefficients are adjusted iteratively to meet the design requirements. The optimization process continues until both the impact stroke and the damping force transition coefficient reach their ideal values. The optimized zero-order and linear coefficients are used to design the nonlinear impact damper, ensuring that the system's performance meets the predetermined control objectives when subjected to impact.

[0073] Furthermore, the optimization method of the zero-order term coefficient and the first-order term coefficient includes:

[0074] Substituting the updated zero-order term coefficient and the first-order term coefficient into the constructed discrete dynamic equation to obtain a displacement response and a velocity response, and obtaining a damping force variation curve according to the displacement response and the velocity response;

[0075] The control target is judged by using the displacement response and damping force change curve and the nonlinear damping coefficient is continuously optimized until the anti-impact stroke and the damping force transition coefficient both reach ideal values, and the optimized zero-order term coefficient and first-order term coefficient are determined.

[0076] Furthermore, the control target is judged by using the displacement response and damping force change curve and the nonlinear damping coefficient is continuously optimized until the anti-impact stroke and the damping force transition coefficient both reach ideal values, and the optimized zero-order term coefficient and first-order term coefficient are determined, including:

[0077] According to the design inequality, determining an initial zero-order term coefficient and a linear term coefficient, fixing the linear term coefficient, continuously increasing the zero-order term coefficient, inputting the zero-order term coefficient and the linear term coefficient into the discrete dynamics equation to obtain a displacement response curve until the maximum value of the displacement response reaches the ideal value of the anti-impact stroke;

[0078] Determining a fixed relationship between a zero-order term coefficient and a linear term coefficient, and while maintaining the fixed relationship, continuously increasing the linear term coefficient and continuously decreasing the zero-order term coefficient to obtain a speed response curve;

[0079] The displacement response curve and the velocity response curve are used to obtain a curve of the damping force varying with the displacement, until the damping force transition coefficient reaches an ideal value, thereby obtaining an optimized zero-order term coefficient and a first-order term coefficient.

[0080] The specific process is as follows:

[0081] First, the nonlinear damping coefficient is preliminarily determined based on the design inequality. The linear term coefficient is fixed, while the zero-order term coefficient is gradually increased. The linear term coefficient and the adjusted zero-order term coefficient are input into the discrete dynamics equation for numerical simulation. This simulation yields displacement response curves for different zero-order term coefficients. The zero-order term coefficient is continuously adjusted and optimized until the maximum displacement response reaches the ideal value for the impact stroke.

[0082] Secondly, determine the fixed relationship between the coefficient of the zero-order term and the coefficient of the first-order term. The relationship is as follows:

[0083] A=c0+0.5c1x i

[0084] Among them, A is a fixed value, x i It is the ideal value for impact resistance stroke.

[0085] While maintaining the above fixed relationship, increase the coefficient of the first-order term and correspondingly decrease the coefficient of the zero-order term. Using these adjusted coefficients, input them again into the discrete dynamics equations to obtain the velocity and displacement responses. Calculate the damping force based on the velocity and displacement response curves.

[0086] The damping force is determined by the following formula:

[0087]

[0088] Among them, F c is the damping force, is the relative speed between the carrier and the load;

[0089] When x=0, the damping force is the initial damping force.

[0090] Based on the calculated damping force, a curve plotting the damping force versus displacement is plotted, and the damping coefficient is optimized until the ideal damping force transition coefficient is achieved. The damping force curve for the current coefficient is evaluated to see if it meets the ideal damping force transition coefficient. If the damping force transition coefficient does not meet the ideal value, further iterative optimization of the zero-order and linear coefficients is required. This iterative process ultimately results in the optimal zero-order and linear coefficients that meet the ideal values ​​for anti-impact travel and the damping force transition coefficient.

[0091] The embodiment of the present application can ensure that the performance of the anti-impact damper when subjected to impact reaches the expected anti-impact stroke and damping force transition coefficient by precisely adjusting the nonlinear damping coefficient. Through the iterative optimization process, the optimal damping coefficient can be found, so that the performance of the system when subjected to impact is optimized, and the impact resistance and response speed of the system are improved. By optimizing the zero-order term coefficient and the first-order term coefficient until the ideal value is reached, the adaptability and effect of the design are improved through the iterative optimization process, and the difficulties caused by complex design steps are reduced. The present application performs parameter optimization through convenient optimization steps, and the overall design process is clear and operational, which improves the parameter design and optimization efficiency of the anti-impact damper.

[0092] Optionally, the process of obtaining the maximum displacement specifically includes:

[0093] The relative velocity motion equation is obtained based on the nonlinear dynamic equation; as shown in the following formula:

[0094]

[0095] in, is the relative motion velocity at time t after impact, k is the stiffness, m is the load mass, and v0 is the initial velocity;

[0096] When the relative motion speed is zero, the maximum displacement is determined as shown in the following formula:

[0097]

[0098] Where t0 is the time required for the velocity to decay to zero.

[0099] Optionally, the nonlinear dynamic equation is:

[0100]

[0101] in, is the relative motion acceleration between the carrier and the load, k is the stiffness, and m is the load mass.

[0102] Furthermore, the maximum displacement is combined with the ideal value of the anti-impact stroke to construct a nonlinear damping coefficient design inequality, as shown in the following formula:

[0103]

[0104] Among them, x i is the ideal value of the impact stroke, t i It is one quarter of the reciprocating motion period of the system, and t0 is the time required for the velocity to decay to zero.

[0105] It should be noted that after being impacted, the system will reciprocate at a natural period without damping force, and at one quarter of its natural period t i At this moment, the relative displacement reaches a peak value, and the existence of nonlinear damping will accelerate the consumption of impact energy, reducing the maximum value of relative displacement x0, while the required time t0 is also less than t i .

[0106] Optionally, the discrete dynamics equation is as follows:

[0107] c1nx 2 (t)+(m+kn 2 +c0n)x(t)-(2m+c0n)x(tn)-c1nx(t)x(tn)+mx(t-2n)=0

[0108] Where n is the discrete time interval, x(t) is the relative displacement at this moment, x(tn) is the relative displacement n times ago, and x(t-2n) is the relative displacement 2n times ago.

[0109] Reference Figure 3 The complete flow chart of the parameter optimization method of the nonlinear anti-impact damper according to the embodiment of the present application includes the following steps:

[0110] S1: Clearly define the ideal value x of the control target (anti-impact stroke x0 and damping force transition coefficient η) i and η i ;

[0111] Identify the load mass m and stiffness k of the vibration reduction and anti-impact system;

[0112] Estimate the initial velocity v0 of the load / carrier after impact based on the impact signal collected in the field;

[0113] S2: Calculate the displacement expression when the velocity decays to zero according to the nonlinear dynamic equation;

[0114] Combined with the ideal value x of the first control objective i Construct nonlinear damping coefficient design inequality;

[0115] Preliminary selection of nonlinear damping coefficients c0 and c1;

[0116] S3: fix c1 while increasing c0 and substituting it into the constructed discrete dynamic equation to solve the displacement response curve;

[0117] Determine whether the maximum displacement is close to the ideal value of the impact stroke?

[0118] Guaranteed c0 and 0.5c1x i On the basis of the same sum, increase c1 and reduce c0;

[0119] Substitute into the discrete dynamics equation to solve the velocity and displacement response, and then obtain the curve of damping force changing with displacement;

[0120] How to determine whether the damping force transition coefficient is close to the ideal value?

[0121] Finally determine the nonlinear damping coefficient;

[0122] Finally, the core parameters of the nonlinear anti-impact damper are designed in combination with the output function of the specific type of damper.

[0123] Next, this application will use a typical anti-shock vibration reduction system to explain in detail the parameter design method of the nonlinear anti-shock damper, where the system load mass m = 100 kg, stiffness k = 3948 N / m, initial velocity after impact v0 = 0.098 m / s, and the first control target ideal value x i =5mm, the ideal value of the second control target η i =0.3, one quarter of the natural period t i =0.25s.

[0124] like Figure 4 As shown in FIG. 1 , the relative displacement response diagram of the nonlinear anti-shock damper provided in any of the aforementioned embodiments after parameter preselection is shown. Referring to the design inequality obtained in the above steps, 0.0025c1+c0>1466.5 is obtained. After preselecting c0=1096.5 and c1=200000, it can be seen from the relative displacement response curve that the first control target x0 is close to the ideal value x i .

[0125] like Figure 5 As shown in FIG. 1 , a relative velocity response diagram of the nonlinear anti-impact damper after parameter optimization design provided in any of the aforementioned embodiments is shown. After parameter optimization is performed with reference to step S3, c0=346.5 and c1=500000 are finally determined. As can be seen from the relative velocity response curve, the velocity decays to zero 0.13s after the impact, and then slowly moves to the initial equilibrium position relying on the spring restoring force.

[0126] like Figure 6 As shown in FIG, a curve diagram of the damping force varying with displacement after the parameter optimization design of the nonlinear anti-impact damper provided in any of the aforementioned embodiments is shown. After optimizing the c0 and c1 parameters with reference to step S3, it can be seen from the curve of the damping force varying with displacement that the damping force in the anti-impact stage first increases and then decreases. The ratio of the initial damping force to the maximum damping force is 0.29, which is close to the ideal value of the second control target and can achieve smooth anti-impact.

[0127] like Figure 7As shown in FIG, a damping coefficient curve diagram of the nonlinear anti-shock damper after parameter optimization design provided in any of the aforementioned embodiments is provided. Based on this parameter curve, combined with a displacement sensor and a velocity sensor, the core parameter design of various types of anti-shock dampers such as the output control strategy design of the electric anti-shock damper and the fluid viscosity control rate design of the magnetorheological anti-shock damper can be realized.

[0128] Reference Figure 8 Based on the methods in the above embodiments, an embodiment of the present application provides an electronic device, which may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 may call logic instructions in the memory 830 to execute the methods in the above embodiments.

[0129] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

[0130] Based on the method in the above embodiment, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a processor, the processor executes the method in the above embodiment.

[0131] Based on the method in the above embodiment, an embodiment of the present application provides a computer program product. When the computer program product runs on a processor, the processor executes the method in the above embodiment.

[0132] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0133] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC.

[0134] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted via the computer-readable storage medium. The computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state drive (SSD)).

[0135] It will be understood that the various numerical numbers involved in the embodiments of the present application are merely distinctions for the convenience of description and are not intended to limit the scope of the embodiments of the present application.

[0136] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A parameter optimization method for a nonlinear impact damper, characterized in that: include: Determining the control objectives, basic parameters, and initial velocities of the load and carrier after impact of the nonlinear anti-impact damper; the control objectives include the anti-impact stroke and the damping force transition coefficient; the basic parameters include stiffness and load mass; and the initial velocity is determined based on the impact signal collected in the field; The control target, basic parameters, and initial velocity are used in accordance with a nonlinear dynamic equation to obtain a maximum displacement when the velocity decays to zero, the maximum displacement is combined with an ideal value of the anti-impact stroke to construct a nonlinear damping coefficient design inequality, and the zero-order term coefficient and the first-order term coefficient of the nonlinear damping coefficient are determined; Optimizing the zero-order term coefficient and the linear term coefficient based on the anti-impact stroke and the damping force transition coefficient until both the anti-impact stroke and the damping force transition coefficient reach ideal values, thereby obtaining optimized zero-order term coefficient and linear term coefficient; The optimization method of the zero-order term coefficient and the first-order term coefficient includes: Substituting the updated zero-order term coefficient and the first-order term coefficient into the constructed discrete dynamic equation to obtain a displacement response and a velocity response, and obtaining a damping force variation curve according to the displacement response and the velocity response; The control target is judged by using the displacement response and damping force change curve and the nonlinear damping coefficient is continuously optimized until the anti-impact stroke and the damping force transition coefficient both reach ideal values, and the optimized zero-order term coefficient and first-order term coefficient are determined; The expression of the nonlinear damping coefficient is: in, is the relative displacement between the carrier and the load, c is the nonlinear damping coefficient, is the coefficient of the zero-order term, is the coefficient of the first-order term; The damping force transition coefficient is determined based on the ratio of the initial damping force at the initial position to the maximum damping force; The damping force is determined by the following formula: in, is the damping force, is the relative speed between the carrier and the load; when When , the damping force is the initial damping force; The inequality is expressed as follows: in, is the coefficient of the first-order term, is the ideal value of the impact stroke, is the coefficient of the zero-order term, is one quarter of the system's reciprocating motion period, is the time required for the velocity to decay to zero, is the load mass, For stiffness.

2. The parameter optimization method according to claim 1, characterized in that The control target is judged by using the displacement response and damping force change curve and the nonlinear damping coefficient is continuously optimized until the anti-impact stroke and the damping force transition coefficient both reach ideal values, and the optimized zero-order term coefficient and first-order term coefficient are determined, including: According to the design inequality, determining an initial zero-order term coefficient and a linear term coefficient, fixing the linear term coefficient, continuously increasing the zero-order term coefficient, inputting the zero-order term coefficient and the linear term coefficient into the discrete dynamics equation to obtain a displacement response curve until the maximum value of the displacement response reaches the ideal value of the anti-impact stroke; Determining a fixed relationship between a zero-order term coefficient and a linear term coefficient, and while maintaining the fixed relationship, continuously increasing the linear term coefficient and continuously decreasing the zero-order term coefficient to obtain a speed response curve; The displacement response curve and the velocity response curve are used to obtain a curve of the damping force varying with the displacement, until the damping force transition coefficient reaches an ideal value, thereby obtaining an optimized zero-order term coefficient and a first-order term coefficient.

3. The parameter optimization method according to claim 1, characterized in that The process of obtaining the maximum displacement specifically includes: The relative velocity motion equation is obtained based on the nonlinear dynamic equation; as shown in the following formula: in, After the impact The relative speed of movement at any moment, is the stiffness, is the load mass, is the initial velocity; When the relative motion speed is zero, the maximum displacement is determined as shown in the following formula: in, The time required for the velocity to decay to zero.

4. The parameter optimization method according to claim 1 or 3, characterized in that: The nonlinear dynamic equation is: in, is the relative acceleration between the carrier and the load, is the stiffness, is the load mass.

5. The parameter optimization method according to claim 2, characterized in that: The discrete dynamics equation is shown in the following formula: in, is a discrete time interval, is the relative displacement at this moment, It's from this moment The relative displacement before It is 2 minutes away from now n Relative displacement before.

6. An electronic device, characterized in that: include: at least one memory for storing a computer program; At least one processor is used to execute the program stored in the memory. When the program stored in the memory is executed, the processor is used to execute the method according to any one of claims 1 to 5.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed on a processor, the processor is caused to execute the method according to any one of claims 1 to 5.

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