Modeling method, analysis method, device, equipment, medium and product of magnetorheological damper

Abstract

The invention provides a modeling method, an analysis method, a device, equipment, a medium and a product of a magneto-rheological damper, when a kinetic model of the magneto-rheological damper is constructed, obtained test data comprises a mapping relation between relative motion parameters and output damping force of the damper under the condition that magneto-rheological fluid is at different temperatures, and the relative motion parameters are different from the output damping force. Therefore, when the dynamic model is constructed based on the test data, the influence of the temperature on the mechanical response of the magneto-rheological damper can be considered, and the established dynamic model can describe the dynamic behaviors of the magneto-rheological damper under the condition that the magneto-rheological fluid is at different temperatures. And the accuracy and the effectiveness of the dynamic model of the magnetorheological damper are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of magnetorheological dampers, and in particular to a modeling method, analysis method, device, equipment, medium and product of a magnetorheological damper. Background Art

[0002] A magnetorheological damper is a device that provides damping force based on magnetorheological fluid, and the magnetic field of the magnetorheological fluid can be changed by controlling the current flowing through the magnetorheological virtual device, thereby changing the output damping force of the magnetorheological damper.

[0003] In the prior art, a dynamic model of a magnetorheological damper is established to analyze and use the magnetorheological damper, wherein the input parameters of the dynamic model include the relative displacement and relative velocity of the magnetorheological damper, and the output of the dynamic model is the output damping force of the magnetorheological damper.

[0004] How to provide a more accurate parameter model to more accurately analyze and control the magnetorheological damper is a technical problem that needs to be solved in this field. Summary of the invention

[0005] The present application provides a modeling method, analysis method, device, equipment, medium and product of a magnetorheological damper to provide a more accurate parameter model for more accurate analysis and control of the magnetorheological damper.

[0006] The first aspect of the present application provides a modeling method for a magnetorheological damper, comprising: obtaining test data of the magnetorheological damper, wherein the test data is used to characterize the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force when the magnetorheological fluid of the magnetorheological damper is at multiple different temperatures; and constructing a dynamic model of the magnetorheological damper based on the test data.

[0007] The second aspect of the present application provides an analysis method for a magnetorheological damper, comprising: obtaining the temperature of the magnetorheological fluid of the magnetorheological damper and the relative motion parameters of the magnetorheological damper; inputting the temperature and the relative motion parameters into a dynamic model of the magnetorheological damper to obtain the output damping force of the magnetorheological damper output by the dynamic model; wherein the dynamic model is established according to the method described in the first aspect of the present application.

[0008] The third aspect of the present application provides a modeling device for a magnetorheological damper, comprising: an acquisition module for acquiring test data of the magnetorheological damper, wherein the test data is used to characterize the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force when the magnetorheological fluid is at multiple different temperatures; and an establishment module for constructing a dynamic model of the magnetorheological damper based on the test data.

[0009] The fourth aspect of the present application provides an analysis device for a magnetorheological damper, comprising: an acquisition module for acquiring the temperature of the magnetorheological fluid of the magnetorheological damper and the relative motion parameters of the magnetorheological damper; an analysis module for inputting the temperature and the relative motion parameters into a dynamic model of the magnetorheological damper to obtain the output damping force of the magnetorheological damper output by the dynamic model; wherein the dynamic model is established according to the method described in the first aspect of the present application.

[0010] The fifth aspect of the present application provides an electronic device, comprising: a processor, and a memory communicatively connected to the processor; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory to implement the method described in the first aspect or the second aspect of the present application.

[0011] A sixth aspect of the present application provides a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the method described in the first aspect or the second aspect of the present application.

[0012] A seventh aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the method described in the first aspect or the second aspect of the present application.

[0013] In summary, the modeling method, analysis method, device, equipment, medium and product of the magnetorheological damper provided in the present application, when constructing the dynamic model of the magnetorheological damper, the test data obtained include the mapping of relative motion parameters and output damping force of the damper when the magnetorheological fluid is at different temperatures, so that when the dynamic model is constructed based on the test data, the influence of temperature on the mechanical response of the magnetorheological damper can be taken into account. The established dynamic model can describe the dynamic behavior of the magnetorheological damper when the magnetorheological fluid is at different temperatures, effectively improving the accuracy and effectiveness of the dynamic model of the magnetorheological damper. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0015] Figure 1 is a schematic diagram of a dynamic model of a magnetorheological damper;

[0016] Figure 2 A schematic diagram of a dynamic model characterizing the characteristics of the output damping force of a magnetorheological damper;

[0017] Figure 3 A schematic diagram of a flow chart of an embodiment of a modeling method for a magnetorheological damper provided in the present application;

[0018] Figure 4 A schematic diagram of an embodiment of the test data provided by this application;

[0019] Figure 5 A curve diagram of the test data provided by this application;

[0020] Figure 6 A schematic diagram of the model structure of the dynamic model of the magnetorheological damper provided in this application;

[0021] Figure 7 A schematic diagram of characteristic parameters of the temperature unit provided in this application;

[0022] Figure 8 A schematic diagram of the results of validating the kinetic model provided for this application;

[0023] Fig. 9 A schematic flow chart of an embodiment of an analysis method for a magnetorheological damper provided in the present application;

[0024] Fig.10 A structural schematic diagram of an embodiment of a modeling device for a magnetorheological damper provided in the present application;

[0025] Fig.11 A schematic structural diagram of an embodiment of an analysis device for a magnetorheological damper provided in the present application;

[0026] Fig.12 A schematic diagram of the structure of an electronic device provided in this application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein, for example. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] A magnetorheological damper is a device that provides damping force based on magnetorheological fluid. Based on the characteristics of magnetorheological fluid that changes physical properties under the action of an external magnetic field, the output damping force provided by the magnetorheological virtual device can be adjusted by changing the input current of the magnetorheological damper. Magnetorheological dampers are widely used in the automotive, medical, aerospace and other fields due to their simple structure, low power consumption, large output damping force and rapid response.

[0030] In order to control the magnetorheological damper so as to provide the damping force through the magnetorheological damper more effectively, the user of the magnetorheological damper can analyze the magnetorheological damper through the dynamic model of the magnetorheological damper.

[0031] For example, Figure 1 is a schematic diagram of the dynamic model of a magnetorheological damper, such as Figure 1 The input parameters of the dynamic model of the magnetorheological damper shown are the relative displacement x and relative velocity v of the magnetorheological damper, and the output parameter of the dynamic model is the output damping force F of the magnetorheological damper. Therefore, for the user of the magnetorheological damper, the current relative displacement x and relative velocity v of the magnetorheological damper can be input into the dynamic model, so as to determine the output damping force F that the magnetorheological damper can provide under the current relative motion parameters according to the output parameters of the dynamic model.

[0032] Exemplarily, for an electric vehicle equipped with a magnetorheological damper, the dynamic model can be stored in the controller of the electric vehicle. When the controller obtains the relative displacement x and relative velocity v of the current magnetorheological damper, the relative displacement x and relative velocity v can be input into the stored dynamic model, thereby determining the output damping force F provided by the magnetorheological damper according to the output parameters of the dynamic model, thereby more effectively performing corresponding subsequent control of the magnetorheological damper and the electric vehicle.

[0033] More specifically, Figure 2 The following is a schematic diagram of the characteristics of the output damping force of a magnetorheological damper using a dynamic model. Figure 2 Shows Figure 1 When describing the output damping force F, the dynamic model in determines the output damping force F from three perspectives: hysteresis characteristics, damping characteristics, and stiffness characteristics.

[0034] Combination Figure 1 and Figure 2 From the dynamic model shown, it can be seen that the dynamic model provided in the prior art usually determines the output damping force based on the relative motion parameters of the magnetorheological damper, and does not consider the influence of temperature on the magnetorheological damper.

[0035] In the actual use of the magnetorheological damper, not only will the ambient temperature of the magnetorheological damper change greatly, but the magnetorheological damper will also convert part of the mechanical energy into heat during the relative motion, causing the temperature of the magnetorheological damper to rise.

[0036] Furthermore, when the temperature of the magnetorheological damper changes, the characteristics of the magnetorheological fluid in the magnetorheological damper will also change due to the influence of the temperature, thereby causing the output damping force of the magnetorheological damper to change.

[0037] The dynamic models of magnetorheological dampers provided in the prior art do not take into account the influence of temperature. However, actual use shows that temperature will have a significant impact on magnetorheological dampers. Taking a magnetorheological damper as an example, under certain relative displacement, relative velocity and current excitation, when its temperature rises from -20°C to 40°C, the attenuation of its output damping force can reach 27.65%.

[0038] Therefore, the existing dynamic model assumes that the temperature of the magnetorheological fluid of the magnetorheological damper is constant when establishing the model, and ignores the influence of temperature on the magnetorheological damper, resulting in the established dynamic model being unable to accurately and effectively analyze and control the magnetorheological damper under different temperatures.

[0039] Based on this, the present application provides a modeling method, analysis method, device, equipment, medium and product for a magnetorheological damper to consider the influence of temperature on the magnetorheological damper and provide a more accurate dynamic model of the magnetorheological damper. The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

[0040] Figure 3 This is a flow chart of an embodiment of a modeling method for a magnetorheological damper provided in the present application, as shown in FIG. Figure 3 The method shown can be used to establish a dynamic model of a magnetorheological damper, and can be executed by any controller or electronic device with relevant data processing capabilities. For example, the controller can be a CPU, MCU, SoC, etc., and the electronic device can be a computer, server, or service station, etc. Specifically, Figure 3 The modeling approach for the magnetorheological damper shown includes:

[0041] S101: Acquire test data of a magnetorheological damper.

[0042] Specifically, in the embodiment of the present application, the test data can be used to characterize the mapping relationship between the relative motion parameters and the output damping force of the magnetorheological damper when the magnetorheological fluid is at multiple different temperatures. That is, the test data provided in this embodiment can be used to describe the mechanical behavior of the magnetorheological damper at different temperatures. Therefore, the test data considers more comprehensive factors, which is conducive to improving the accuracy of the subsequent dynamic model.

[0043] For example, Figure 4 A schematic diagram of an embodiment of the test data provided in this application, such as Figure 4 As shown, the test data provided by the present application includes: when the magnetorheological fluid is at different temperatures T1, T2, etc., the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force at each temperature. Figure 4 In the example shown, the test data includes: when the magnetorheological fluid is at temperature T1, the mapping relationship between the relative displacement x11, relative speed v11 and output damping force F11 of the magnetorheological damper, the mapping relationship between the relative displacement x12, relative speed v12 and output damping force F12 of the magnetorheological damper... the mapping relationship between the relative displacement x1N, relative speed v1N and output damping force F1N of the magnetorheological damper, Figure 4 In the example shown, N mapping relationships are included in each temperature case as an example rather than a limitation. It can be understood that the present application does not make any specific limitation on the number of temperatures in the test data and the number of mapping relationships in each temperature case.

[0044] For example, Figure 5 A curve diagram of the test data provided by this application, such as Figure 5 The corresponding relationship between the relative displacement of the magnetorheological damper and the output damping force when the magnetorheological fluid is at different temperatures is shown. Figure 5 The curve diagram shown can also be called the dynamometer diagram of the magnetorheological damper at different temperatures. Figure 5 In the example shown, a schematic diagram is shown in which the output damping force F changes between -2000N and 2500N when the relative displacement of the magnetorheological damper changes between -5mm and 5mm at temperatures of 40°C, 30°C, 20°C, 10°C, 0°C, -10°C and -20°C. Other parameters can be set to displacement amplitude of 5mm, displacement frequency of 16Hz, action current of 1A, etc. It can be seen that when the magnetorheological damper is at different temperatures, even if the relative motion parameters of the magnetorheological damper are the same, its output damping force F will be affected by temperature and thus change.

[0045] S102: Construct a dynamic model of the magnetorheological damper according to the test data obtained in S101.

[0046] Specifically, since the test data obtained in S101 can be used to describe the mechanical behavior of the magnetorheological damper at different temperatures, the dynamic model of the magnetorheological damper constructed based on the test data provided in the embodiment of the present application can describe the influence of temperature on the mechanical response of the magnetorheological damper, thereby avoiding the error caused by not considering the temperature influence in the dynamic model, and making the dynamic model provided in the present application closer to the actual operating conditions.

[0047] Furthermore, the dynamic model constructed based on the embodiment of the present application can more accurately and effectively describe the dynamic behavior of the magnetorheological damper when the magnetorheological fluid is at different temperatures, thereby providing a more rigorous theoretical support for the analysis and control of the magnetorheological damper, and enabling the magnetorheological damper to be accurately and effectively analyzed and controlled under different temperatures based on the dynamic model, greatly improving the accuracy and effectiveness of the dynamic model.

[0048] In one embodiment, when constructing the mechanical model of the magnetorheological damper in the above S102, it specifically includes: determining the value of at least one parameter in the parameter expression of the dynamic model according to the test data, thereby constructing the dynamic model based on the value of at least one parameter and the parameter expression. Among them, the dynamic model provided in this embodiment is specifically a parameter model, that is, the output damping force can be determined by the relative motion parameters of the magnetorheological damper, and in the process of constructing the model, only the value of the parameter needs to be determined, and the calculation method is simpler and more effective, and the method of constructing the model is also relatively simple, with higher modeling efficiency.

[0049] More specifically, Figure 6 The schematic diagram of the model structure of the dynamic model of the magnetorheological damper provided in this application is as follows: Figure 6 In the example shown, the dynamic model of the magnetorheological damper includes: hysteresis unit, damping unit, stiffness unit and temperature unit.

[0050] Among them, the hysteresis unit is used to characterize the effect of the hysteresis characteristics of the magnetorheological damper on the output damping force according to the relative motion parameters, the damping unit is used to characterize the effect of the damping characteristics of the magnetorheological damper on the output damping force according to the relative motion parameters, and the stiffness unit is used to characterize the effect of the stiffness characteristics of the magnetorheological damper on the output damping force according to the relative motion parameters. The temperature unit is used to characterize the change of the hysteresis characteristics and damping characteristics of the magnetorheological damper due to the temperature of the magnetorheological fluid, thereby characterizing the effect of the temperature of the magnetorheological fluid on the output damping force.

[0051] It can be seen that the temperature unit can characterize the influence of temperature change on the hysteresis unit and the damping unit, while the temperature has no effect on the stiffness characteristics of the stiffness unit.

[0052] The dynamic model of the magnetorheological damper provided in this embodiment has a relatively simple structure, clear principles, convenient calculations, and a more reasonable setting of the temperature unit, so that the temperature unit can more accurately characterize the influence of temperature on the hysteresis unit and the damping unit, and the setting of the units in the model has a higher granularity, thereby effectively improving the accuracy of the dynamic model of the magnetorheological damper.

[0053] In one embodiment, the parameter expression of the dynamic model of the magnetorheological damper provided in the embodiment of the present application includes the following formula 1:

[0054] Formula 1

[0055] Among them, K is the characteristic parameter of the temperature unit, f is the characteristic parameter of the hysteresis unit, c is the characteristic parameter of the damping unit, k is the characteristic parameter of the stiffness unit, x is the relative displacement, v is the relative velocity, and F is the output damping force. And there is , α and b are constants. Therefore, through the clear physical meaning of each parameter in the model, the mechanical model of magnetorheological damper can be more effectively described, providing theoretical calculation support for the practical application of magnetorheological damper.

[0056] In the example shown in Formula 1, the relative motion parameter of the magnetorheological damper includes: at least one of the relative displacement x and the relative velocity v of the magnetorheological damper.

[0057] After obtaining the test data of the magnetorheological damper, the test parameters are substituted into the parameter expression of the dynamic model shown in Formula 1, and the target value of each parameter is determined, thereby constructing the dynamic model.

[0058] For example, the obtained Figure 4 As shown, under different temperatures, the corresponding relationship between the relative displacement x, relative velocity v and output damping force F of the magnetorheological damper is substituted into the parameter expression of the dynamic model shown in Formula 1. After determining the characteristic parameter K of the temperature unit, the characteristic parameter f of the hysteresis unit, the characteristic parameter c of the damping unit and the characteristic parameter k of the stiffness unit in the parameter expression by means of parameter optimization, the dynamic model shown in Formula 1 is constructed.

[0059] In a specific embodiment, when determining the target value of each parameter in the parameter expression of the dynamic model shown in Formula 1, each parameter of the parameter expression can be optimized based on the nonlinear least squares method to ultimately determine the target value of each parameter.

[0060] Specifically, after substituting the acquired test data into the parameter expression of the kinetic model shown in Formula 1, the test output data of the kinetic model is obtained. Then the theoretical output data of the kinetic model is determined according to the parameter expression of the kinetic model. Finally, the following formula 2 is used to output the data according to the test Theoretical output data The root mean square of the difference is used to adjust the value of each parameter in the parameter expression of the kinetic model. Specifically, the value of each parameter in the parameter expression when the root mean square calculated by Formula 2 is the smallest is determined as the target value, thereby obtaining the target value of each parameter in the parameter expression of the kinetic model shown in Formula 1, and completing the construction of the kinetic model.

[0061] Formula 2

[0062] Among them, the parameters in the parameter expression of the dynamic model are optimized by the least squares method. The calculation principle is intuitive, easy to understand and implement, and has high calculation efficiency, thereby improving the efficiency of constructing the dynamic model of the magnetic variable damper.

[0063] In one embodiment, the expression of the characteristic parameter K of the temperature unit provided in the embodiment of the present application includes the following formula 3:

[0064] Formula 3

[0065] Among them, α 1 , α 2 , α3 and α 4 is a constant, and t is the temperature value of the magnetorheological damper. In this embodiment, the characteristic parameters of the temperature unit are calculated by a specific parameter expression, so that the characteristic parameters of the temperature unit have a more specific expression, thereby more effectively characterizing the influence of temperature on the magnetorheological damper.

[0066] In one embodiment, when according to Figure 4 and Figure 5 The test data shown in the figure shows the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force under multiple different temperatures. On the basis of determining the characteristic parameters of multiple temperature units, the characteristic parameters of the temperature units within the temperature range corresponding to multiple different temperatures can be fitted to obtain the expression of the characteristic parameters shown in Formula 3. Through the fitting method, the calculation of different temperature conditions can be reduced, and the changes in the characteristic parameters of the temperature units within the entire temperature range can be obtained through fewer calculations, thereby effectively reducing computing power and improving computing speed and efficiency.

[0067] For example, Figure 7 A schematic diagram of characteristic parameters of the temperature unit provided in this application, such as Figure 7 As shown, combined Figure 5 Under the temperature conditions of 40℃, 30℃, 20℃, 10℃, 0℃, -10℃ and -20℃ shown in the figure, the specific values ​​of the characteristic parameters of the discrete temperature units are calculated, and the expressions of the characteristic parameters of the temperature units in the temperature range of 40℃ to -20℃ are fitted. Among them, the hysteresis unit and damping unit at room temperature 20℃ can be used as the reference value 1, and the discrete characteristic parameters of other temperature values ​​can be calculated, and α can be fitted. 1 , α 2 , α 3 and α 4 The fitting result can be expressed by the following formula 4:

[0068] Formula 4

[0069] In one embodiment, after constructing the dynamic model of the magnetorheological damper, the dynamic model is also verified. For example, after constructing the dynamic model of the magnetorheological damper, the relative motion parameters of the magnetorheological damper under the test temperature are provided to the dynamic model of the magnetorheological damper to obtain the test output damping force of the dynamic model as the test calculation result of the model. Also, in the actual application scenario of the magnetorheological damper, the actual output damping force of the magnetorheological damper under the same relative motion parameters when the magnetorheological fluid of the magnetorheological damper is at the test temperature is obtained. Thus, the dynamic model is verified based on the test output damping force calculated by the test and the actual output damping force.

[0070] Figure 8 The schematic diagram of the results of verifying the dynamic model provided in this application shows that under the temperature conditions of 40℃, 30℃, 20℃, 10℃, 0℃ and -10℃, the dynamic model constructed by the modeling method provided in this application can, under different temperature conditions, the calculated test calculation results are closer to the actual output damping force, and the dynamic model has higher accuracy.

[0071] Fig. 9 A schematic diagram of a flow chart of an embodiment of an analysis method for a magnetorheological damper provided in the present application, such as Fig. 9 The methods shown include:

[0072] S201: Acquire the temperature of the magnetorheological fluid of the magnetorheological damper and the relative motion parameters of the magnetorheological damper.

[0073] S202: Inputting temperature and relative motion parameters into the dynamic model of the magnetorheological damper to obtain the output damping force of the magnetorheological damper output by the dynamic model, wherein the dynamic model is established according to the modeling method of the magnetorheological damper in the aforementioned embodiment of the present application.

[0074] In summary, the analysis method of the magnetorheological damper provided in this embodiment can more accurately and effectively describe the dynamic behavior of the magnetorheological damper when the magnetorheological fluid is at different temperatures, thereby providing a more rigorous theoretical support for the analysis and control of the magnetorheological damper. Based on the dynamic model, the magnetorheological damper can be analyzed more accurately and effectively.

[0075] In the aforementioned embodiments of the present application, the modeling method of the magnetorheological damper provided in the embodiments of the present application is introduced. In order to realize the various steps and functions in the parameter modeling method of the magnetorheological damper provided in the embodiments of the present application, the device as the execution subject can be implemented by hardware structure and / or software module, for example, in the form of hardware structure, software module, or hardware structure plus software module to realize the above functions. Whether one of the above functions is executed in the form of hardware structure, software module, or hardware structure plus software module depends on the specific application and design constraints of the technical solution.

[0076] For example, Fig.10 This is a structural schematic diagram of an embodiment of a modeling device for a magnetorheological damper provided in the present application, as shown in FIG. Fig.10The modeling device 1000 of the magnetorheological damper shown includes: an acquisition module 1001 and a building module 1002. The acquisition module 1001 is used to acquire test data of the magnetorheological damper, and the test data is used to characterize the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force when the magnetorheological fluid is at multiple different temperatures. The building module 1002 is used to construct a dynamic model of the magnetorheological damper according to the test data.

[0077] The specific implementation method and principle of the modeling device of the magnetorheological damper mentioned above refer to the description of the modeling method of the magnetorheological damper mentioned above, which will not be repeated here.

[0078] For example, Fig.11 This is a structural schematic diagram of an embodiment of an analysis device for a magnetorheological damper provided in the present application, as shown in FIG. Fig.11 The analysis device 2000 of the magnetorheological damper shown includes: an acquisition module 2001 and an analysis module 2002. The acquisition module 2001 is used to acquire the temperature of the magnetorheological fluid of the magnetorheological damper and the relative motion parameters of the magnetorheological damper. The analysis module 2002 is used to input the temperature and the relative motion parameters into the dynamic model of the magnetorheological damper to obtain the output damping force of the magnetorheological damper output by the dynamic model.

[0079] The specific implementation and principle of the above-mentioned analysis device for magnetorheological damper refer to the description of the above-mentioned analysis method for magnetorheological damper, which will not be repeated here.

[0080] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the processing module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above-mentioned module is determined. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0081] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (digital signal processors, DSP), or one or more field programmable gate arrays (FPGA), etc. For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0082] 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 may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may 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 may 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 disk (SSD)).

[0083] For example, Fig.12 A schematic diagram of the structure of an electronic device provided in this application, such as Fig.12 The electronic device 3000 shown includes one or more processors 3001 and a memory 3002 ; the memory 3002 is used to store computer-executable instructions, and the processor 3001 can execute the computer-executable instructions stored in the memory 3002 .

[0084] When the computer executable instructions are executed by the processor 3001, the processor 3001 implements a modeling method for a magnetorheological damper as in any of the aforementioned embodiments of the present application; or, when the computer executable instructions are executed by the processor 3001, the processor 3001 implements an analysis method for a magnetorheological damper as in any of the aforementioned embodiments of the present application.

[0085] In one embodiment, if Fig.12 The electronic device 3000 shown also includes a communication interface 3003 , wherein the processor 3001 can communicate with other devices through the communication interface 3003 , for example, to obtain test data.

[0086] The present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed, they can be used to implement a modeling method for a magnetorheological damper as described in any of the aforementioned embodiments of the present application.

[0087] The present application also provides a computer-readable storage medium, which stores computer-executable instructions. When the computer-executable instructions are executed, they can be used to implement an analysis method for a magnetorheological damper as described in any of the aforementioned embodiments of the present application.

[0088] An embodiment of the present application also provides a chip for executing instructions, wherein the chip is used to execute any of the magnetorheological damper modeling methods described above in the present application.

[0089] An embodiment of the present application also provides a chip for executing instructions, wherein the chip is used to execute any of the analysis methods for magnetorheological dampers described above in the present application.

[0090] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements any of the magnetorheological damper modeling methods described above in the present application.

[0091] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements any of the aforementioned magnetorheological damper analysis methods of the present application.

[0092] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A modeling method for a magnetorheological damper, characterized in that: include: Acquire test data of the magnetorheological damper, wherein the test data is used to characterize a mapping relationship between a relative motion parameter of the magnetorheological damper and an output damping force when the magnetorheological fluid of the magnetorheological damper is at a plurality of different temperatures; A dynamic model of the magnetorheological damper is constructed according to the test data.

2. The method according to claim 1, characterized in that The mechanical model of the magnetorheological damper is constructed according to the test data, including: Determining, based on the test data, a value of at least one parameter in a parameter expression of the kinetic model; The kinetic model is constructed based on the value of the at least one parameter and the parameter expression.

3. The method according to claim 2, characterized in that Determining the value of at least one parameter in the parameter expression of the kinetic model according to the test data includes: The test data is substituted into the parameter expression of the dynamic model to determine the target value of each parameter, so that the parameter expression can be used to characterize the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force when the magnetorheological fluid is at multiple different temperatures.

4. The method according to claim 3, characterized in that: Substituting the test data into the parameter expression of the kinetic model to determine the target value of each parameter includes: Substituting the test data into the parameter expression of the kinetic model to obtain the test output data of the kinetic model; adjusting the value of the at least one parameter according to the root mean square of the difference between the test output data and the theoretical output data of the kinetic model; When it is determined that the root mean square is the minimum, the value of the at least one parameter is the target value.

5. The method according to any one of claims 2 to 4, characterized in that: The kinetic model includes: A hysteresis unit, used for characterizing the effect of the hysteresis characteristic of the magnetorheological damper on the output damping force according to the relative motion parameter; A damping unit, used for characterizing the effect of the damping characteristic of the magnetorheological damper on the output damping force according to the relative motion parameter; A stiffness unit, used for characterizing the effect of the stiffness characteristic of the magnetorheological damper on the output damping force according to the relative motion parameter; The temperature unit is used to characterize the change of the hysteresis characteristic and the damping characteristic of the magnetorheological damper caused by the temperature of the magnetorheological fluid.

6. The method according to claim 5, characterized in that The relative motion parameter includes: at least one of a relative displacement or a relative speed of the magnetorheological damper.

7. The method according to claim 6, characterized in that The parameter expression includes: ; in, , K is the characteristic parameter of the temperature unit, f is the characteristic parameter of the hysteresis unit, c is the characteristic parameter of the damping unit, k is the characteristic parameter of the stiffness unit, x is the relative displacement, v is the relative velocity, F is the output damping force, α and b are constants.

8. The method according to claim 7, characterized in that The expressions of the characteristic parameters of the temperature unit include: ; Among them, α1, α2, α3 and α4 are constants.

9. The method according to claim 8, characterized in that Determining the value of at least one parameter in the parameter expression of the kinetic model according to the test data further includes: According to the mapping relationship between the relative motion parameters of the magnetorheological damper and the output damping force under multiple different temperatures in the test data, the characteristic parameters of the multiple temperature units are determined, and the characteristic parameters of the temperature units are fitted within the temperature range corresponding to the multiple different temperatures to obtain expressions for the characteristic parameters of the temperature units.

10. The method according to any one of claims 1 to 4 or 6 to 9, characterized in that: After the dynamic model of the magnetorheological damper is constructed, the method further includes: Providing relative motion parameters of the magnetorheological damper under a test temperature to a dynamic model of the magnetorheological damper to obtain a test output damping force of the dynamic model; Obtaining the actual output damping force of the magnetorheological damper under the same relative motion parameters when the magnetorheological fluid of the magnetorheological damper is at the test temperature; The dynamic model is verified according to the test output damping force and the actual output damping force.

11. A method for analyzing a magnetorheological damper, characterized in that: include: Acquiring the temperature of the magnetorheological fluid of the magnetorheological damper and the relative motion parameters of the magnetorheological damper; The temperature and the relative motion parameters are input into the dynamic model of the magnetorheological damper to obtain the output damping force of the magnetorheological damper output by the dynamic model; wherein the dynamic model is established according to the method described in any one of claims 1-10.

12. A modeling device for a magnetorheological damper, characterized in that: include: An acquisition module, used for acquiring test data of a magnetorheological damper, wherein the test data is used for characterizing a mapping relationship between a relative motion parameter of the magnetorheological damper and an output damping force when the magnetorheological fluid of the magnetorheological damper is at a plurality of different temperatures; A module is established to construct a dynamic model of the magnetorheological damper according to the test data.

13. An analysis device for a magnetorheological damper, characterized in that: include: An acquisition module, used for acquiring the temperature of the magnetorheological fluid of the magnetorheological damper and the relative motion parameters of the magnetorheological damper; An analysis module is used to input the temperature and the relative motion parameters into a dynamic model of the magnetorheological damper to obtain an output damping force of the magnetorheological damper output by the dynamic model; wherein the dynamic model is established according to the method described in any one of claims 1 to 10.

14. An electronic device, characterized in that: include: A processor, and a memory communicatively connected to the processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of claims 1-11.

15. A computer-readable storage medium, characterized in that: Computer executable instructions are stored, and when the computer executable instructions are executed, the method according to any one of claims 1 to 11 is implemented.

16. A computer program product, characterized in that The method comprises a computer program, which implements the method according to any one of claims 1 to 11 when being executed.

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