磁流变半主动落锤冲击缓冲系统的“软着陆”控制试验与分析  

Experimental Test and Analysis of “Soft-landing” Control for Drop-induced Shock Systems using Magnetorheological Energy Absorber

作　　者：白先旭[1] 杨森[1] BAI Xianxu;YANG Sen(Department of Vehicle Engineering,Hefei University of Technology,Hefei 230009)

机构地区：[1]合肥工业大学车辆工程系,合肥230009

出　　处：《机械工程学报》2021年第1期121-127,共7页Journal of Mechanical Engineering

基　　金：国家自然科学基金资助项目(51305114)。

摘　　要：研究了基于磁流变能量吸收器(Magnetorheological energy absorber, MREA)的单自由度冲击缓冲控制系统在落锤激励条件下的控制方法,实现最大化利用MREA的活塞行程并在活塞行程终点落锤速度减小至0的落锤"软着陆"控制目标。建立了基于MREA的单自由度冲击缓冲系统的动力学模型和试验测试系统。为了准确模拟MREA的磁滞非线性力,基于基本RC算子磁滞模型研究了MREA磁滞非线性力前馈跟踪方案。根据落锤的实时状态得出落锤下落的期望反馈,从而得出期望阻尼力进而实现落锤的缓冲控制。仿真分析和试验测试验证了基于准确的MREA磁滞非线性力模型的MREA冲击缓冲系统"软着陆"控制方案的可行性。Aiming at realizing a "soft landing", i.e., the final velocity of the payload exactly reduces to 0 when consuming the total piston stroke of magnetorheological energy absorber(MREA), a control algorithm for the single-degree-of-freedom shock mitigation system based on MREA under drop-induced shock excitation is investigated in this paper. The dynamic model and the experimental setup of the single-degree-of-freedom shock mitigation system are established. A feedforward damping force tracking scheme based on a basic resistor-capacitor(RC) operator-based hysteresis model is presented and is employed to accurately describe and predict the hysteretic nonlinearity of MREA. According to the real-time states of the dropped mass, the system controller calculates and outputs the appropriate damping force of MREA to achieve the desired minimized deceleration of the payload. The feasibility and the capability of the designed control algorithm for the shock mitigation system based on MREA with precise hysteresis model are validated via simulation analyses and experimental tests.

关 键 词：冲击控制 磁滞模拟 磁流变液 磁流变能量吸收器 软着陆 半主动控制 

分 类 号：O328[理学—一般力学与力学基础]