新型磁流变悬架非线性振动控制关键技术研究

发布时间：2018-02-06 00:55

本文关键词： 磁流变阻尼器修正Boucwen F-v模型非线性振动混沌控制结构解耦 HIL试验　出处：《南京师范大学》2016年博士论文　论文类型：学位论文

【摘要】：磁流变液(Magneto-rheological fluid, MRF)作为一种新型智能材料,在外磁场作用下能够在低粘度的牛顿液体与高粘度的Bingham流体之间可逆切换,基于MRF的磁流变阻尼器(MR damper, MRD)具有输出阻尼力连续可调、响应快及能耗低等优点,在半主动结构振动控制领域具有广泛的应用前景。然而,MRF内部固有的磁链、晶格位错运动与塑性滑移,使得MRD产生的阻尼力表现出严重的滞环特性,从而导致应用MRD的工程系统极易出现分岔与混沌响应等复杂的非线性动力学行为,在新型MR悬架系统中尤为突出。目前,关于整车MR悬架系统的解耦及滞环非线性控制尚未取得突破性进展,是国内外学者广泛关注的热点课题。本学位论文在2项国家自然科学基金资助下,旨在建立新型MR悬架半主动控制研究的系统理论体系,具体的创新研究内容如下：1.基于MRD通用阻尼力-行程速度(F-v)滞环模型,提出了驱动电流与滞环因子分离的修正的Boucwen F-v模型。该模型与现有的MRD F-v模型相比,由于驱动电流与外激励特性分离,可进行逆模型计算,因此易于在MRD控制领域应用。开展台架振动试验进行模型参数辨识,对比实验数据与仿真结果表明提出的修正的Boucwen F-v模型能够准确地描述MRD的滞环特性与阻尼力输出外特性。2.针对二自由度(2 degree-of-freedom,2-DoF) 1/4 MR悬架子系统,提出了系统的基于混沌理论的非线性动力学特性分析方法。分别在MRD被动与典型半主动控制方式下,根据系统平衡点稳定性分析预测系统可能出现的混沌运动,采用双参数相平面图描述了外部谐波激励下的全局非线性特性,进一步采用系统分岔图、Lyapunov指数谱、相轨迹及输出响应功率谱密度全面地揭示了MR悬架系统的非线性振动特性,包括倍周期分岔、切分岔、鞍结分岔等动力学演变过程,为进一步研究MR悬架系统混沌控制奠定了理论基础。3.针对2-DoF 1/4 MR悬架子系统的混沌振动控制,提出了以车辆悬架系统理想状态为参考的新型滑模变结构控制策略。结合传统PID控制策略,实现了MR悬架系统动力学响应对滑模参考面的快速跟踪,与现有的线性反馈控制、力追踪控制等控制方法相比,其具有物理意义明确、响应速度快、工程易实现等优点。在自研的MR悬架系统硬件在环(HIL)实验平台上进行一系列试验研究,结果证明了所提出控制器设计的有效性,能够将MR悬架系统出现的混沌振动抑制在稳定的周期轨道,并提升系统的隔振性能。4.针对7-DoF整车MR悬架系统的控制复杂性,因其包含四组2-DoF 1/4 MR悬架子系统,提出了一种新的整车MR悬架系统结构解耦方法。推导出四组MR悬架子系统之间的耦合阻尼力解析表达式,应用提出的双可控阻尼器半主动悬架结构,对耦合阻尼力进行抵消抑制,实现了各子系统间结构解耦,进一步应用提出的新型滑模变结构控制,对解耦后等效的四组MR悬架子系统进行独立半主动控制。在谐波激励、平滑脉冲激励以及实测路面谱激励下,系统地分析了解耦半主动MR悬架系统的综合性能,进一步开展HIL试验研究,结果表明：整车MR悬架系统在解耦后,能实现四组MR悬架子悬架的各自独立半主动控制,极大地降低了整车MR悬架系统半主动控制器设计的复杂性,并有效改善车辆悬架系统驾乘舒适性、操控稳定性等综合悬架性能。
[Abstract]:Magnetorheological fluid (Magneto-rheological fluid, MRF) as a new intelligent material, capable of reversible switching between low viscosity and high viscosity liquid Newton Bingham fluid in the magnetic field, magnetorheological damper based on MRF (MR damper MRD) with an adjustable damping force, fast response and low consumption and has wide application prospect in vibration semi active structural control field. However, the inherent MRF flux, and the plastic slip motion of dislocations, the damping force generated by the MRD shows serious hysteresis characteristics, which lead to the engineering application of MRD system is very easy to appear the nonlinear dynamic behavior of bifurcation and chaotic response complex the new MR suspension system is particularly prominent. At present, about MR vehicle suspension system decoupling and hysteresis nonlinear control has not yet made a breakthrough, is widely concerned by scholars at home and abroad A hot topic in this thesis. In the 2 National Natural Science Fund, system theory aims to establish a new MR suspension of semi active control of the innovation, the specific contents are as follows: 1. MRD general damping force based on travel speed (F-v) hysteresis model, put forward the Boucwen F-v drive current and separation model of dynamic correction the hysteresis factor. This model is compared with the existing MRD F-v model, the drive current separation and excitation characteristics, can inverse model, so it is easy to control in the MRD application. To carry out the vibration test bench for model parameter identification, comparison between experimental data and simulation results show that the Boucwen F-v model is put forward to correct to accurately describe.2. hysteresis and damping force output characteristic of MRD for two degrees of freedom (2 degree-of-freedom, 2-DoF) 1/4 MR suspension subsystem, proposed system based on Chaos Theory The analysis method of nonlinear dynamics. In typical and semi-active control method of passive MRD, according to the system equilibrium stability analysis and prediction of chaotic motion of the system, the double parameter phase plane diagram describes the global nonlinear characteristics of external harmonic excitations, the bifurcation diagram, Lyapunov exponent spectrum, phase trajectory and output response the power spectral density fully reveals the nonlinear vibration characteristics of MR suspension system, including period doubling bifurcation, tangent bifurcation, saddle node bifurcation and dynamic evolution process, establishes control for 2-DoF 1/4 MR suspension chaotic vibration system.3. theoretical basis for the further study of MR suspension system chaos control, put forward to the ideal state of vehicle suspension the system is a novel sliding mode variable structure control reference strategy. Combined with the traditional PID control strategy, implementation of the MR suspension system dynamic response of sliding mode Fast tracking of the reference surface, and the existing linear feedback control, force tracking control compared to control method, which has clear physical meaning, fast response, easy to implement in engineering. The advantages of hardware MR suspension system research since the ring (HIL) in a series of experiments were carried out on the experimental platform. The results show that the proposed effective the controller design, can be chaotic vibration of MR suspension system is inhibited in the stable periodic orbits, control complexity and improve.4. performance of vibration isolation system for vehicle suspension system MR 7-DoF, because it contains four groups of 2-DoF 1/4 MR suspension system, puts forward a new MR vehicle suspension system decoupling method. Analytical expressions of coupling damping force between the deduced four group MR suspension system, using the proposed dual damper semi-active suspension structure, to counteract the inhibition on the coupling damping force, the realization of the system The structure of decoupling, the further application of the new sliding mode variable structure control, four groups of MR suspension subsystem of the decoupled equivalent active control. In the semi independent harmonic excitation, smooth pulse excitation and the measured road spectrum excitation system to analyze the performance of coupled MR semi-active suspension system, further study of HIL the results show that, MR in vehicle suspension system after decoupling, independent of the semi active control can achieve four MR hanging shelf suspension, which greatly reduces the complexity of vehicle semi-active suspension system MR controller design, and effectively improve the active suspension system of vehicle ride comfort, handling stability and comprehensive suspension performance.

【学位授予单位】：南京师范大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：TB535;TB381

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