CN102418765B - Self-perception, self-power supply and adaptive control magnetorheological vibration damping system - Google Patents

Abstract

A self-sensing, self-powered, adaptive-control magneto-rheological damping system, consisting of a double-extended-rod magneto-rheological damper, a vibration energy collection device, an energy storage and management module, a state self-sensing module, and an adaptive control system; The energy harvesting device, energy storage and management module, state self-sensing module and adaptive control system are integrated with the magneto-rheological shock absorber; the mechanical energy of the system is converted into electrical energy through the energy harvesting device, and the electrical energy is provided by the energy storage and management module. storage and management, and supply power to sensors, controllers and magneto-rheological shock absorbers; through the state self-sensing module, the perception of the working state of the magnetorheological shock absorber itself can be realized to provide decision-making basis for adaptive control; the adaptive controller is based on The working state of the magneto-rheological shock absorber self-adaptively adjusts the working damping force of the magneto-rheological damper; thereby realizing the adaptive control of the state self-sensing and energy self-supply of the magneto-rheological shock absorber, which greatly expands the magneto-rheological shock absorber. The field of application of the vibrator.

Description

A self-sensing self-powered adaptive control magneto-rheological vibration damping system

technical field

The invention belongs to a new energy collection and application system, in particular to a self-sensing, self-powered, self-adaptive control magneto-rheological vibration damping system.

Background technique

As an intelligent damping device, the magnetorheological damper has the advantages of simple structure, small size, low energy consumption, and continuously adjustable damping. It has gradually become a research and application hotspot in the field of structural vibration control. The current magneto-rheological shock absorber system requires a special sensor system to realize the perception of the working state, which will undoubtedly increase the cost of the system. In addition, magnetorheological shock absorbers require adjustable magnetic field excitation, which requires the input of external electric energy, and in some remote areas, electric power is often not delivered; and sometimes even if electric power can be delivered, it is often due to natural Due to the disaster, it is difficult to guarantee the power supply continuously. These factors limit the application fields of magneto-rheological shock absorbers. For this reason, in recent years, researchers at home and abroad have proposed a new method for self-powered magnetorheological shock absorbers. The U.S. patent (US20080053763) proposes a permanent magnet moving iron principle structure, which uses the permanent magnet on the spring vibrator to cut the magnetic force line up and down to generate induced electromotive force to supply power to the magnetorheological damper. Due to the large size and low energy conversion efficiency of this solution , it is difficult to integrate into the magnetorheological damper and it is difficult to provide enough electric energy for the magnetorheological damper to work, and the patent has not yet involved energy storage and management. Chinese patent (CN200710034309.2) proposes a self-supplied electromagnetic rheological intelligent damping system, which uses a rack and pinion drive arranged outside the shock absorber to drive a DC generator to generate power for the magnetorheological shock absorber , its limitations are very obvious. Since the power generation device is arranged outside the shock absorber and exposed to the outside, the system is bulky and has high requirements for the working environment. Chinese patent (CN200710034309.2) proposes a multi-blade disc-shaped electromagnetic mechanical energy harvester, which is arranged inside the shock absorber and has certain limitations. Because the magnetorheological fluid is relatively thick, the speed of the blades is relatively high. Slow, the generated electric energy can only supply power to the sensor, and cannot realize the state perception of the shock absorber itself.

Contents of the invention

The purpose of the present invention is to provide a self-sensing, self-powered and self-adaptive control magnetorheological damping system, which converts the vibration energy of the magnetorheological damper into electrical energy, realizes the state perception of the magnetorheological damper and supplies electrical energy, And adaptively adjust the damping force according to the state, thereby expanding and enhancing the application field of the magneto-rheological shock absorber in structural vibration.

The object of the present invention is to adopt following scheme to realize:

A self-sensing and self-powered adaptive control magneto-rheological damping system is composed of a double-extended-rod magneto-rheological damper, a vibration energy collection device, an energy storage and management module, a state self-sensing module, and an adaptive control system. A part of the piston cylinder of the double-extension rod magnetorheological shock absorber is extended, and a vibration energy harvesting device, an energy storage and management module, a state self-sensing module and an adaptive control system are integrated in the extended part of the cylinder.

The vibration energy harvesting device is composed of a lead screw, a ball screw holder A, a stator coil, a stator core, a permanent magnet, a rotor core, a ball screw holder B, a ball screw mechanism, a voltage regulator and a storage battery. The lead screw is fixedly connected with the piston rod B of the double-extension rod magneto-rheological shock absorber, or directly processed into a whole with the piston rod B. The ball screw mechanism is installed at the front end of the screw and is located in the space surrounded by the ball screw fixing seat A and the ball screw fixing seat B. The ball screw fixing seat A and the ball screw fixing seat B are connected and fixed with the piston cylinder, and the rotor The iron core and the permanent magnetic steel are fixed on the ball part of the ball screw mechanism, and the stator iron core and the stator coil are fixed on the piston cylinder. When the magneto-rheological damper is in a vibrating state, the piston rod B of the magnetorheological damper drives the screw to move linearly, and through the ball screw mechanism, it is converted into the rotation of the rotor core and permanent magnet steel around the stator core and stator coil Cutting the movement of magnetic force lines, so as to realize the conversion of mechanical energy to electrical energy. the

The vibration energy storage and management module can store and manage the electric energy generated by the vibration energy harvesting device, realize electric energy storage, and supply power to the adaptive controller, force sensor and excitation coil. High and low change the conduction angle of the thyristor, maintain the stability of the output voltage of the vibration energy harvesting device, and manage the rectification, filtering, storage and release of electric energy at the same time.

The state self-sensing module is composed of a stator coil, a force sensor and a signal conditioning module. The force sensor is fixed between the ball screw holder A, the ball screw holder B and the ball screw mechanism, and the signal conditioning module is connected to the piston cylinder. , the stator coil and the signal conditioning module calculate the vibration displacement and velocity of the piston rod B of the magneto-rheological shock absorber according to the waveform of the signal generated by the vibration energy collection device and the structural parameters of the ball screw mechanism, and collect the vibration displacement and velocity of the piston rod of the shock absorber according to the force sensor The tension or pressure on B realizes the perception of the working state of the magneto-rheological shock absorber.

The adaptive control system is composed of a force sensor, a signal conditioning module and an adaptive controller. The adaptive controller is fixed at the bottom of the piston cylinder. When the magnetorheological shock absorber is in a vibrating state, the adaptive control system The working state of the shock absorber adjusts the current input to the excitation coil to realize the adjustment of the damping force.

The invention converts the mechanical energy of the system into electric energy through the energy collection device, and the electric energy is stored and managed by the energy storage and management module, and supplies power to the sensor, controller and magnetorheological shock absorber; the magnetorheological state is realized through the state self-sensing module The perception of the working state of the shock absorber itself provides decision-making basis for the adaptive control; the adaptive controller adaptively adjusts the working damping force of the magneto-rheological damper according to the working state of the magneto-rheological shock absorber itself; thus realizing the magneto-rheological damping The state self-sensing and energy self-supply adaptive control of the vibrator can greatly expand the application field of the magneto-rheological shock absorber.

The advantages of the present invention are as follows:

1. Through the collection and utilization of vibration energy, the dependence of magnetorheological shock absorbers on electric energy is effectively avoided, so that magnetorheological shock absorbers can also be applied in environments where electric energy is difficult to guarantee.

2. By integrating the state self-sensing module into the magnetorheological shock absorber, the working state parameters of the magnetorheological shock absorber can be extracted while collecting energy, which greatly improves the reliability of the system and greatly reduces the transmission The cost of the induction system is of great significance for the promotion of magnetorheological technology.

3. Through the control module integrated into the magnetorheological damper, according to the state of the magnetorheological damper, the output damping force is adaptively adjusted, thereby improving the adaptive ability of the magnetorheological damping system .

4. The structure of the present invention is relatively compact, and the sensing, control, power supply and driving are integrated, which can greatly improve the reliability of the system and reduce the cost of the system. Compared with the existing magneto-rheological vibration damping system, it has a relatively high cost-effective.

Description of drawings

Figure 1 is a schematic structural diagram of a self-sensing, self-powered, adaptively controlled magnetorheological damping system;

Figure 2 is the control phase plane of the system adaptive control.

In the figure: 1 Piston rod A 2 Front seal 3 Front cover 4 Piston cylinder 5 Piston 6 Excitation coil 7 Magnetorheological fluid 8 Piston rod B 9 Rear cover 10 Rear seal 11 Wire 12 Lead screw 13 Ball screw fixed Seat A 14 Stator Coil 15 Stator Core 16 Permanent Magnetic Steel 17 Rotor Core 18 Ball Screw Mount B 19 Ball Screw Mechanism 20 Force Sensor 21 Voltage Regulator 22 Power Storage Device 23 Adaptive Controller 24 Signal Conditioning Module.

Detailed ways

The present invention will be further elaborated below in conjunction with accompanying drawing:

The self-sensing, self-supplying, adaptive-control magneto-rheological damping system proposed by the present invention is composed of double-stretch-rod magneto-rheological dampers, a vibration energy collection device, an energy storage and management module, a state self-sensing module, and an adaptive control system.

As shown in FIG. 1 , the double-extension rod magneto-rheological shock absorber includes a piston cylinder 4 , a piston rod A1 , a piston rod B8 , a piston 5 , an excitation coil 6 and a magneto-rheological fluid 7 . The magnetorheological fluid 7 is installed in the cavity surrounded by the front cover plate 3 and the rear cover plate 9 at the two ends of the front half of the piston cylinder 4. The piston rod A1 and the piston rod B8 extend into the cavity from the two ends of the front half. It is connected with the piston 5 in the middle, and the exciting coil 6 is embedded in the outer circumference of the piston 5 . A front seal 2 and a rear seal 10 are arranged between the piston rod A1 , the piston rod B8 , the front cover 3 , and the rear cover 9 .

A part of the piston cylinder 4 of the double-extension rod magneto-rheological shock absorber is extended, and the vibration energy harvesting device, energy storage and management module, state self-sensing module and adaptive control system of the present invention are integrated and installed on the extended part of the cylinder in vivo.

Among them, the vibration energy collection device is composed of lead screw 12, ball screw fixing seat A13, stator coil 14, stator core 15, permanent magnet steel 16, rotor core 17, ball screw fixing seat B 18, ball screw mechanism 19, voltage Regulator 21 and storage battery 22 form. The lead screw 12 is connected with the piston rod B8 of the double-extended rod magneto-rheological shock absorber through threads or welding, or directly processed into a whole with the piston rod B8. The ball screw mechanism 19 is mounted on the front end of the screw 12 and is located in the space surrounded by the ball screw fixing seat A13 and the ball screw fixing seat B18, the ball screw fixing seat A13 and the ball screw fixing seat B18 are connected with the piston cylinder 4 fixed. The rotor core 17 and the permanent magnet 16 are fixed on the ball screw mechanism 19 , the stator core 15 and the stator coil 14 surround the rotor core 17 and the permanent magnet 16 , and are fixed with the piston cylinder 4 . When the magnetorheological damper is in a vibrating state, the piston rod B of the magnetorheological damper drives the lead screw 12 to move linearly, and through the ball screw mechanism 19, it is transformed into rotor core 17 and permanent magnet steel 16 winding around the stator core 15. And the rotation of the stator coil 14 cuts the movement of the magnetic force line, thereby realizing the conversion of mechanical energy to electrical energy.

The vibration energy storage and management module is composed of a voltage regulating device 21 and an electrical storage device 22, and is installed at the bottom of the piston cylinder 4 of the shock absorber. The vibration energy storage and management module stores and manages the electric energy generated by the vibration energy harvesting device, realizes electric energy storage, and supplies power to the adaptive controller 23 , the force sensor 20 and the excitation coil 6 . The voltage regulating device 21 changes the conduction angle of the thyristor according to the voltage level of the vibration energy harvesting device, keeps the output voltage of the vibration energy harvesting device stable, and manages the rectification, filtering, storage and release of electric energy at the same time. The power storage device 22 can be a capacitor or a rechargeable battery, which can store more than energy. When the energy collected by the vibration energy harvesting device is insufficient, it supplies power to the adaptive controller 23 and the excitation coil 6 .

The state self-sensing module is composed of a stator coil 14, a force sensor 20 and a signal conditioning module 24. The force sensor 20 is fixed between the ball screw fixing seat A13, the ball screw fixing seat B18 and the ball screw mechanism 19, and the signal conditioning Module 24 is mounted on the bottom of piston cylinder 4 . The stator coil 14 and the signal conditioning module 24 of the state self-sensing module calculate the vibration displacement and speed of the magnetorheological damper piston rod B8 according to the waveform of the signal generated by the vibration energy harvesting device and the structural parameters of the ball screw mechanism 19. The force sensor 20 collects the tension or pressure on the piston rod B of the shock absorber to sense the working state of the magneto-rheological shock absorber.

The adaptive control system is composed of a force sensor 20, a signal conditioning module 24 and an adaptive controller 23. The adaptive controller is installed at the bottom of the piston cylinder 4. The working state of the rheological shock absorber adjusts the magnitude of the current input to the excitation coil 6 to realize the adjustment of the damping force. The adaptive control system adopts an adaptive control strategy to realize the adjustment of the damping force of the magnetorheological shock absorber. The adaptive control strategy is to divide the output damping force of the magnetorheological shock absorber into small, medium and large Three levels, corresponding to the input current of the excitation coil is small, medium and large, the maximum current is determined by the saturation current of the excitation coil; according to the state of the magneto-rheological shock absorber sensed by the self-sensing module, the displacement velocity phase space is divided into I and II , Part III, the corresponding control currents are respectively large, medium and small.

Claims (4)

1. one kind from perception self-powered self adaptive control magneto-rheological vibration damping system, is made up of from perception module and adaptive control system two boom magneto-rheological vibration dampers, vibrational energy collecting device, vibrational energy storage and administration module, state; It is characterized in that: the piston cylinder of described pair of boom magneto-rheological vibration damper (4) extends a part, and integrated installation vibrational energy collecting device, energy storage and administration module, state are from perception module and adaptive control system in this extended this part cylinder body;

Described vibrational energy collecting device is by leading screw (12), ball screw fixed base A(13), stator coil (14), stator core (15), permanent-magnet steel (16), rotor core (17), ball screw fixed base B (18), ball screw framework (19), voltage regulating device (21) and storage battery (22) form; The piston rod B(8 of described leading screw (12) and two boom magneto-rheological vibration dampers) fixedly connected, or with piston rod B(8) be machined directly to integral body; Ball screw framework (19) is contained in leading screw (12) front end and is positioned at ball screw fixed base A(13) and ball screw fixed base B(18) space that surrounds, ball screw fixed base A(13) and ball screw fixed base B(18) be connected and fixed with piston cylinder (4); Described rotor core (17) and permanent-magnet steel (16) are fixed on the ball part of ball screw framework (19), and stator core (15) and stator coil (14) are centered around rotor core (17) and the outer setting of permanent-magnet steel (16) and fixing; When magneto-rheological vibration damper is in vibrational state, magneto-rheological vibration damper piston rod B drives leading screw (12) moving linearly, by ball screw framework (19), be converted into rotor core (17) and permanent-magnet steel (16) around the rotation cutting magnetic line movement of stator core (15) and stator coil (14), thereby the realization mechanical energy is changed to electric energy;

Described vibrational energy storage and administration module are made up of voltage regulating device (21) and electric accumulator (22), and voltage regulating device (21) and electric accumulator (22) are installed in the bottom of damper piston cylinder (4) extension; Vibrational energy storage and administration module are stored and are managed the electric energy that the vibrational energy collecting device produces, and realize power storage, to adaptive controller (23), power sensor (20) and field coil (6) power supply; Voltage regulating device (21) just changes the thyristor angle of flow according to the voltage of vibrational energy collecting device, keeps the stable of vibrational energy collecting device output voltage, and rectification, filtering, storage and the release to electric energy simultaneously manages;

Described state is made up of described stator coil (14), power sensor (20) and signal condition module (24) from the perception module, described power sensor (20) is fixed between ball screw fixed base A (13), ball screw fixed base B (18) and the ball screw framework (19), and signal condition module (24) is installed in the bottom of piston cylinder (4) extension; Described state produces the waveform of signal and the structural parameter of ball screw framework (19) from stator coil (14) and the signal condition module (24) of perception module according to the vibrational energy collecting device, calculating magneto-rheological vibration damper piston rod B(8) vibration displacement and speed, according to pulling force or the pressure on power sensor (20) the collection shock absorber piston rod B, realize the perception to the magneto-rheological vibration damper working state;

Described adaptive control system is made up of described power sensor (20), described signal condition module (24) and adaptive controller (23), adaptive controller is installed in the bottom of piston cylinder (4) extension, the signal of adaptive controller reception sensor (20) and signal condition module (24), when magneto-rheological vibration damper is in vibrational state, adaptive control system realizes the adjusting of damping force according to the size of current of magneto-rheological vibration damper working state adjustment input field coil (6).

2. according to claim 1 from perception self-powered self adaptive control magneto-rheological vibration damping system, it is characterized in that: described pair of boom magneto-rheological vibration damper comprises piston cylinder (4), piston rod A(1), piston rod B(8), piston (5), field coil (6) and magnetic flow liquid (7); Described magnetic flow liquid (7) is contained in the cavity that piston cylinder (4) first half two ends cross by cover plate, piston rod A(1), piston rod B(8) put in the cavity from the first half two ends, the both is connected with the piston (5) of centre, and field coil (6) is inlaid in piston (5) periphery.

3. according to claim 1 and 2 from perception self-powered self adaptive control magneto-rheological vibration damping system, it is characterized in that: electric accumulator (22) is electric capacity or rechargeable battery, can realize the storage of excess energy, when energy shortage that the vibrational energy collecting device is gathered, to adaptive controller (23) and field coil (6) power supply.

4. according to claim 3 from perception self-powered self adaptive control magneto-rheological vibration damping system, it is characterized in that: described adaptive control system adopts the ADAPTIVE CONTROL realization to the adjusting of magneto-rheological vibration damper damping force size, described ADAPTIVE CONTROL be will output the damping force of magneto-rheological vibration damper be divided into little, in, big three grades, the electric current of corresponding input field coil be little, in, big, maximum current is determined by the saturation current of field coil; According to the magneto-rheological vibration damper state of state from the perception of perception module, the velocity of displacement phase space is divided into I, II, III part, corresponding control electric current is respectively large, medium and small.

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