本文關(guān)鍵詞： 磁流變阻尼器 修正Boucwen F-v模型 非線性振動 混沌控制 結(jié)構(gòu)解耦 HIL試驗(yàn)　出處：《南京師范大學(xué)》2016年博士論文　論文類型：學(xué)位論文

【摘要】：磁流變液(Magneto-rheological fluid, MRF)作為一種新型智能材料,在外磁場作用下能夠在低粘度的牛頓液體與高粘度的Bingham流體之間可逆切換,基于MRF的磁流變阻尼器(MR damper, MRD)具有輸出阻尼力連續(xù)可調(diào)、響應(yīng)快及能耗低等優(yōu)點(diǎn),在半主動結(jié)構(gòu)振動控制領(lǐng)域具有廣泛的應(yīng)用前景。然而,MRF內(nèi)部固有的磁鏈、晶格位錯運(yùn)動與塑性滑移,使得MRD產(chǎn)生的阻尼力表現(xiàn)出嚴(yán)重的滯環(huán)特性,從而導(dǎo)致應(yīng)用MRD的工程系統(tǒng)極易出現(xiàn)分岔與混沌響應(yīng)等復(fù)雜的非線性動力學(xué)行為,在新型MR懸架系統(tǒng)中尤為突出。目前,關(guān)于整車MR懸架系統(tǒng)的解耦及滯環(huán)非線性控制尚未取得突破性進(jìn)展,是國內(nèi)外學(xué)者廣泛關(guān)注的熱點(diǎn)課題。本學(xué)位論文在2項(xiàng)國家自然科學(xué)基金資助下,旨在建立新型MR懸架半主動控制研究的系統(tǒng)理論體系,具體的創(chuàng)新研究內(nèi)容如下：1.基于MRD通用阻尼力-行程速度(F-v)滯環(huán)模型,提出了驅(qū)動電流與滯環(huán)因子分離的修正的Boucwen F-v模型。該模型與現(xiàn)有的MRD F-v模型相比,由于驅(qū)動電流與外激勵特性分離,可進(jìn)行逆模型計算,因此易于在MRD控制領(lǐng)域應(yīng)用。開展臺架振動試驗(yàn)進(jìn)行模型參數(shù)辨識,對比實(shí)驗(yàn)數(shù)據(jù)與仿真結(jié)果表明提出的修正的Boucwen F-v模型能夠準(zhǔn)確地描述MRD的滯環(huán)特性與阻尼力輸出外特性。2.針對二自由度(2 degree-of-freedom,2-DoF) 1/4 MR懸架子系統(tǒng),提出了系統(tǒng)的基于混沌理論的非線性動力學(xué)特性分析方法。分別在MRD被動與典型半主動控制方式下,根據(jù)系統(tǒng)平衡點(diǎn)穩(wěn)定性分析預(yù)測系統(tǒng)可能出現(xiàn)的混沌運(yùn)動,采用雙參數(shù)相平面圖描述了外部諧波激勵下的全局非線性特性,進(jìn)一步采用系統(tǒng)分岔圖、Lyapunov指數(shù)譜、相軌跡及輸出響應(yīng)功率譜密度全面地揭示了MR懸架系統(tǒng)的非線性振動特性,包括倍周期分岔、切分岔、鞍結(jié)分岔等動力學(xué)演變過程,為進(jìn)一步研究MR懸架系統(tǒng)混沌控制奠定了理論基礎(chǔ)。3.針對2-DoF 1/4 MR懸架子系統(tǒng)的混沌振動控制,提出了以車輛懸架系統(tǒng)理想狀態(tài)為參考的新型滑模變結(jié)構(gòu)控制策略。結(jié)合傳統(tǒng)PID控制策略,實(shí)現(xiàn)了MR懸架系統(tǒng)動力學(xué)響應(yīng)對滑模參考面的快速跟蹤,與現(xiàn)有的線性反饋控制、力追蹤控制等控制方法相比,其具有物理意義明確、響應(yīng)速度快、工程易實(shí)現(xiàn)等優(yōu)點(diǎn)。在自研的MR懸架系統(tǒng)硬件在環(huán)(HIL)實(shí)驗(yàn)平臺上進(jìn)行一系列試驗(yàn)研究,結(jié)果證明了所提出控制器設(shè)計的有效性,能夠?qū)R懸架系統(tǒng)出現(xiàn)的混沌振動抑制在穩(wěn)定的周期軌道,并提升系統(tǒng)的隔振性能。4.針對7-DoF整車MR懸架系統(tǒng)的控制復(fù)雜性,因其包含四組2-DoF 1/4 MR懸架子系統(tǒng),提出了一種新的整車MR懸架系統(tǒng)結(jié)構(gòu)解耦方法。推導(dǎo)出四組MR懸架子系統(tǒng)之間的耦合阻尼力解析表達(dá)式,應(yīng)用提出的雙可控阻尼器半主動懸架結(jié)構(gòu),對耦合阻尼力進(jìn)行抵消抑制,實(shí)現(xiàn)了各子系統(tǒng)間結(jié)構(gòu)解耦,進(jìn)一步應(yīng)用提出的新型滑模變結(jié)構(gòu)控制,對解耦后等效的四組MR懸架子系統(tǒng)進(jìn)行獨(dú)立半主動控制。在諧波激勵、平滑脈沖激勵以及實(shí)測路面譜激勵下,系統(tǒng)地分析了解耦半主動MR懸架系統(tǒng)的綜合性能,進(jìn)一步開展HIL試驗(yàn)研究,結(jié)果表明：整車MR懸架系統(tǒng)在解耦后,能實(shí)現(xiàn)四組MR懸架子懸架的各自獨(dú)立半主動控制,極大地降低了整車MR懸架系統(tǒng)半主動控制器設(shè)計的復(fù)雜性,并有效改善車輛懸架系統(tǒng)駕乘舒適性、操控穩(wěn)定性等綜合懸架性能。
[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.

【學(xué)位授予單位】：南京師范大學(xué)
【學(xué)位級別】：博士
【學(xué)位授予年份】：2016
【分類號】：TB535;TB381

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本文編號：1493192