磁流变阻尼器的自传感与自供能原理及关键技术
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摘要
磁流变（Magnetorheological, MR）阻尼器具有响应快、阻尼力连续可调、结构简单、耐久性好和低功耗等特点，被认为是极具应用前景的半主动执行器件之一，逐渐被用作车辆悬架、医疗设备、土木建筑、航空航天器以及武器装备等结构的减震耗能器件进行研究或应用，成为保障诸多结构的耐久性、舒适性与安全性的重要途径。然而要充分发挥采用MR阻尼器构成的半主动控制系统的特长，实现反馈控制是必不可少的，其前提是能够采用传感器获取应用对象的动态信息。现有的基于MR阻尼器的半主动控制系统通常采用与MR阻尼器“分离”的传感器实现动态传感，由此引起的明显问题是使系统更复杂，导致需要更大的安装空间、增加重量、提高系统成本、降低系统可靠性等缺点。此外，基于MR阻尼器的半主动控制系统需要额外配置供电电源，也将很大程度上缩小基于MR阻尼器的半主动控制系统的应用环境。因此，如何简化基于MR阻尼器的半主动控制系统的结构、降低系统成本、提高系统可靠性是实现MR阻尼器的大规模工业化应用亟待解决的问题，开展这方面的研究具有重要的学术意义和工程应用前景。
为了解决上述问题，本文在Wang和Wang (2009)提出的集成相对位移自传感MR阻尼器(Integrated relative displacement self-sensing magnetorheological damper,IRDSMRD)的原理的基础上，开发了一种IRDSMRD原型及其电子系统；提出了一种能量自供给的相对位移自传感MR阻尼器(Self-powered self-sensingmagnetorheological damper, SPSSMRD)的原理，开发了一种SPSSMRD原型；建立了基于MTS849和实时仿真实验系统(Type: DS1103, dSPACE GmbH)的实验测试系统对SPSSMRD/IRDSMRD原型进行了实验测试；在此基础上，一方面提出了一种基于“Pareto优化”原理实现对SPSSMRD/IRDSMRD的性能的协调优化的方法，另一方面提出并实现了一种基于SPSSMRD/IRDSMRD的单自由度(Singledegree-of-freedom, SDOF)半主动振动与冲击控制系统。
本文的主要研究工作和创新点可以归纳为以下五个方面：
1.开发并研究了一种基于Wang和Wang (2009)提出的IRDSMRD原理的IRDSMRD原型及其相应的实现集成相对位移传感与可控阻尼力的电路系统，包括IRDSMRD相对位移调制/解调器、线性可控电流驱动器和传感载波信号与励磁电流的信号叠加电路，建立了基于MTS849减震器测试系统和实时仿真系统的实验系统对IRDSMRD原型及其电子系统进行了实验研究。
2.针对IRDSMRD的IRDS及基于IRDSMRD的半主动控制系统的电子系统的能量供给问题，提出并研究了一种SPSSMRD的原理，建立了在考虑电磁扩散情况下的SPSSMRD的能量拾取线圈上的感生电能量、IRDS以及可控阻尼力的数学模型，分析了SPSSMRD的能量获取特性、IRDS性能以及可控阻尼力性能。
3.基于SPSSMRD及其电子系统的原理，设计并开发了一种SPSSMRD原型及其电子系统，建立了基于MTS849减震器测试系统和实时仿真系统的实验系统对SPSSMRD原型的性能进行了实验测试，包括能量获取转换性能、IRDS的相对位移传感性能（线性度、灵敏度和迟滞误差）以及可控阻尼力性能（可控阻尼力范围和动态可控阻尼比）。
4.针对SPSSMRD/IRDSMRD的可控阻尼力特性和相对位移传感特性相互影响的特点，为了权衡和优化在缸体体积一定时SPSSMRD/IRDSMRD的可控阻尼力性能和相对位移传感性能，提出并研究了一种基于“Pareto优化”原理实现针对目标函数为SPSSMRD/IRDSMRD的可控阻尼力性能和相对位移传感性能优化其关键结构参数的方法。在作用于SPSSMRD/IRDSMRD的励磁线圈上的最大磁动势一定时，获取表征权衡IRDSMRD的可控阻尼力性能与相对位移传感性能之间的关系的Pareto最优曲线（即Pareto前沿）。根据Pareto前沿上的点所对应的SPSSMRD/IRDSMRD的关键结构参数，开发了三种具有不同尺寸组合的SPSSMRD/IRDSMRD原型，并建立了基于MTS849减震器测试系统和实时仿真系统的实验系统对具有优化结构尺寸的SPSSMRD/IRDSMRD进行的实验研究。
5.由于SPSSMRD/IRDSMRD的可控阻尼力特性和相对位移传感特性相互影响，为衡量相对位移传感性能对半主动控制系统的影响程度，建立了基于SPSSMRD/IRDSMRD的SDOF半主动振动与冲击控制系统，比较了半主动振动与冲击控制系统在使用SPSSMRD/IRDSMRD集成的相对位移传感器(Integratedrelative displacement sensor, IRDS)和LVDT (Linear variable differential transformer)情况下的控制效果，讨论了SPSSMRD/IRDSMRD在SDOF半主动振动与冲击控制系统中应用的可行性。
本文的研究工作为简化基于MR阻尼器的半主动控制系统的结构、降低MR阻尼器的应用成本和提高基于MR阻尼器的半主动控制系统的可靠性奠定了理论基础。同时，本文中实现的SPSSMRD/IRDSMRD原型及半主动控制系统具有明显的工程应用前景。
Magnetorheological (MR) dampers, based on MR fluids, have attractedconsiderable interests and are expected as one of the most prospective semi-activeactuators, as they can provide fast response, controllable damping force, simplestructure, long durability, and low power consumption. MR dampers have been widelyused or studied as shock absorbers and vibration isolation dampers in vehiclesuspensions, medical equipments, civil structures, aircrafts and space vehicles, andweaponry, to guarantee the durability, comfortability, and safety. However, to make fulluse of the adjustable damping characteristics of MR dampers by altering the externalcurrent, the premise lies in that MR dampers integrated into the plant should besemi-actively controlled through accessing the dynamic responses of the plant andfeeding back to the system controller. For the current semi-active systems, the extradynamic sensors are needed to access the dynamic responses of the plant integrated withMR dampers, so that the extra dynamic sensors will not only increase the cost but alsocomplicate the structure, occupy too much installation space, as well as increase theweight. In addition, the reliability of the semi-active systems will be decreased due tothe added dynamic sensors, which may be disturbed or even damaged due to theirexposure to the circumstance. Moreover, the MR dampers, the dynamic sensors, and thesemi-active controllers, as the key elements of the semi-active systems based on MRdampers, should be supplied with extra power source, which will restrict theapplications of the MR dampers based semi-active systems. Therefore, how to simplifythe structure, save the installation space, decrease the application cost, guarantee thereliability of semi-active MR systems is the key factor to determine whether or not MRdampers can be massively applied in industry. To solve these issues has academicsignificance and prospect of engineering applications.
Aiming at solving aforementioned problems, this study develops a prototype ofintegrated relative displacement self-sensing magnetorheological damper (IRDSMRD)based on the principle proposed by Wang and Wang (2009) and its electronic system.Sequently, the principle of a self-powered self-sensing magnetorheological damper(SPSSMRD) is proposed and its prototype is developed. Experimental setup based onMTS849shock absorber test system and the real-time simulation system (type: DS1103from the dSPACE GmbH) is established to test the performance of the prototype of the SPSSMRD/IRDSMRD. Based on the experimental results, on one hand, aprinciple based on the Pareto optimization to optimize the performances of the dampingforce and the linearity of the integrated relative displacement sensor (IRDS) is proposed.On the other hand, a single-degree-of-freedom (SDOF) semi-active vibration and shockcontrol system is proposed, established, and investigated.
The major research and innovations in this dissertation are summarized as follows:
1. The prototypes of the IRDSMRD and the corresponding electronic system toachieve the integrated relative displacement sensing and controllable damping force,including the relative displacement modulator/demodulator, circuit for superposing thecarrier signal for the IRDS on the current from the controllable current driver for thecontrollable damping, and controllable current driver are developed and tested. Thecharacteristics of the developed IRDSMRD, including the linearity, sensitivity, andhysteresis error of the IRDS and the controllable damping force are tested on theestablished experimental setup based on the MTS849shock absorber test system andthe real time simulation system.
2. Aiming at self-powering the IRDS and the corresponding electronic system ofthe IRDSMRD based semi-active systems, the principle of a SPSSMRD is proposed andrealized. The characteristics of the developed SPSSMRD, including the energyharvested by the pick-up coil, the relative displacement sensed by the IRDS, and thecontrollable damping force, are modeled and analyzed.
3. The established experimental setup based on the MTS849shock absorber testsystem and the real time simulation system is established and the prototype of theSPSSMRD and its electronic system are developed. The characteristics of the developedSPSSMRD, including the energy harvested by the pick-up coil, the relativedisplacement sensed by the IRDS, and the controllable damping force, are tested andanalyzed.
4. In order to make the best compromise between the damping force and thelinearity of the IRDS of an SPSSMRD/IRDSMRD, a Pareto optimization based method,which optimizes the key structural parameters by taking the damping force and thelinearity of the IRDS of the SPSSMRD/IRDSMRD as the objective functions, isproposed and realized. The Pareto front, representing the best tradeoff between thedamping force and the linearity of the IRDS of the SPSSMRD/IRDSMRD, is obtainedby considering that the maximum magnetomotive force applied to the exciting coil ofthe SPSSMRD/IRDSMRD is constant. Three SPSSMRDs/IRDSMRDs with different piston modules, which are determined according to the Pareto optimal solutions, aredeveloped and tested.
5. According to the experimental results of the SPSSMRD/IRDSMRD, thecharacteristics of the damping force and the IRDS influence each other. In order tostudy whether the SPSSMRD/IRDSMRD can be used for applications to replace the“MR damper plus additional sensor”, a SDOF semi-active systems based on theSPSSMRD/IRDSMRD for vibration and shock control is established. The controleffectiveness of the SDOF systems based on the SPSSMRD/IRDSMRD and the “MRdamper plus additional sensor” for vibration and shock control are investigated,compared and the discussed.
The research results in the dissertation have established the theoretical foundationfor simplifying the structure, decreasing the application cost, guaranteeing the reliability,and saving the installation space of semi-active MR systems. Meanwhile, the realizedSPSSMRD/IRDSMRD and its semi-active control system have apparent engineeringprospect.
为了解决上述问题，本文在Wang和Wang (2009)提出的集成相对位移自传感MR阻尼器(Integrated relative displacement self-sensing magnetorheological damper,IRDSMRD)的原理的基础上，开发了一种IRDSMRD原型及其电子系统；提出了一种能量自供给的相对位移自传感MR阻尼器(Self-powered self-sensingmagnetorheological damper, SPSSMRD)的原理，开发了一种SPSSMRD原型；建立了基于MTS849和实时仿真实验系统(Type: DS1103, dSPACE GmbH)的实验测试系统对SPSSMRD/IRDSMRD原型进行了实验测试；在此基础上，一方面提出了一种基于“Pareto优化”原理实现对SPSSMRD/IRDSMRD的性能的协调优化的方法，另一方面提出并实现了一种基于SPSSMRD/IRDSMRD的单自由度(Singledegree-of-freedom, SDOF)半主动振动与冲击控制系统。
本文的主要研究工作和创新点可以归纳为以下五个方面：
1.开发并研究了一种基于Wang和Wang (2009)提出的IRDSMRD原理的IRDSMRD原型及其相应的实现集成相对位移传感与可控阻尼力的电路系统，包括IRDSMRD相对位移调制/解调器、线性可控电流驱动器和传感载波信号与励磁电流的信号叠加电路，建立了基于MTS849减震器测试系统和实时仿真系统的实验系统对IRDSMRD原型及其电子系统进行了实验研究。
2.针对IRDSMRD的IRDS及基于IRDSMRD的半主动控制系统的电子系统的能量供给问题，提出并研究了一种SPSSMRD的原理，建立了在考虑电磁扩散情况下的SPSSMRD的能量拾取线圈上的感生电能量、IRDS以及可控阻尼力的数学模型，分析了SPSSMRD的能量获取特性、IRDS性能以及可控阻尼力性能。
3.基于SPSSMRD及其电子系统的原理，设计并开发了一种SPSSMRD原型及其电子系统，建立了基于MTS849减震器测试系统和实时仿真系统的实验系统对SPSSMRD原型的性能进行了实验测试，包括能量获取转换性能、IRDS的相对位移传感性能（线性度、灵敏度和迟滞误差）以及可控阻尼力性能（可控阻尼力范围和动态可控阻尼比）。
4.针对SPSSMRD/IRDSMRD的可控阻尼力特性和相对位移传感特性相互影响的特点，为了权衡和优化在缸体体积一定时SPSSMRD/IRDSMRD的可控阻尼力性能和相对位移传感性能，提出并研究了一种基于“Pareto优化”原理实现针对目标函数为SPSSMRD/IRDSMRD的可控阻尼力性能和相对位移传感性能优化其关键结构参数的方法。在作用于SPSSMRD/IRDSMRD的励磁线圈上的最大磁动势一定时，获取表征权衡IRDSMRD的可控阻尼力性能与相对位移传感性能之间的关系的Pareto最优曲线（即Pareto前沿）。根据Pareto前沿上的点所对应的SPSSMRD/IRDSMRD的关键结构参数，开发了三种具有不同尺寸组合的SPSSMRD/IRDSMRD原型，并建立了基于MTS849减震器测试系统和实时仿真系统的实验系统对具有优化结构尺寸的SPSSMRD/IRDSMRD进行的实验研究。
5.由于SPSSMRD/IRDSMRD的可控阻尼力特性和相对位移传感特性相互影响，为衡量相对位移传感性能对半主动控制系统的影响程度，建立了基于SPSSMRD/IRDSMRD的SDOF半主动振动与冲击控制系统，比较了半主动振动与冲击控制系统在使用SPSSMRD/IRDSMRD集成的相对位移传感器(Integratedrelative displacement sensor, IRDS)和LVDT (Linear variable differential transformer)情况下的控制效果，讨论了SPSSMRD/IRDSMRD在SDOF半主动振动与冲击控制系统中应用的可行性。
本文的研究工作为简化基于MR阻尼器的半主动控制系统的结构、降低MR阻尼器的应用成本和提高基于MR阻尼器的半主动控制系统的可靠性奠定了理论基础。同时，本文中实现的SPSSMRD/IRDSMRD原型及半主动控制系统具有明显的工程应用前景。
Magnetorheological (MR) dampers, based on MR fluids, have attractedconsiderable interests and are expected as one of the most prospective semi-activeactuators, as they can provide fast response, controllable damping force, simplestructure, long durability, and low power consumption. MR dampers have been widelyused or studied as shock absorbers and vibration isolation dampers in vehiclesuspensions, medical equipments, civil structures, aircrafts and space vehicles, andweaponry, to guarantee the durability, comfortability, and safety. However, to make fulluse of the adjustable damping characteristics of MR dampers by altering the externalcurrent, the premise lies in that MR dampers integrated into the plant should besemi-actively controlled through accessing the dynamic responses of the plant andfeeding back to the system controller. For the current semi-active systems, the extradynamic sensors are needed to access the dynamic responses of the plant integrated withMR dampers, so that the extra dynamic sensors will not only increase the cost but alsocomplicate the structure, occupy too much installation space, as well as increase theweight. In addition, the reliability of the semi-active systems will be decreased due tothe added dynamic sensors, which may be disturbed or even damaged due to theirexposure to the circumstance. Moreover, the MR dampers, the dynamic sensors, and thesemi-active controllers, as the key elements of the semi-active systems based on MRdampers, should be supplied with extra power source, which will restrict theapplications of the MR dampers based semi-active systems. Therefore, how to simplifythe structure, save the installation space, decrease the application cost, guarantee thereliability of semi-active MR systems is the key factor to determine whether or not MRdampers can be massively applied in industry. To solve these issues has academicsignificance and prospect of engineering applications.
Aiming at solving aforementioned problems, this study develops a prototype ofintegrated relative displacement self-sensing magnetorheological damper (IRDSMRD)based on the principle proposed by Wang and Wang (2009) and its electronic system.Sequently, the principle of a self-powered self-sensing magnetorheological damper(SPSSMRD) is proposed and its prototype is developed. Experimental setup based onMTS849shock absorber test system and the real-time simulation system (type: DS1103from the dSPACE GmbH) is established to test the performance of the prototype of the SPSSMRD/IRDSMRD. Based on the experimental results, on one hand, aprinciple based on the Pareto optimization to optimize the performances of the dampingforce and the linearity of the integrated relative displacement sensor (IRDS) is proposed.On the other hand, a single-degree-of-freedom (SDOF) semi-active vibration and shockcontrol system is proposed, established, and investigated.
The major research and innovations in this dissertation are summarized as follows:
1. The prototypes of the IRDSMRD and the corresponding electronic system toachieve the integrated relative displacement sensing and controllable damping force,including the relative displacement modulator/demodulator, circuit for superposing thecarrier signal for the IRDS on the current from the controllable current driver for thecontrollable damping, and controllable current driver are developed and tested. Thecharacteristics of the developed IRDSMRD, including the linearity, sensitivity, andhysteresis error of the IRDS and the controllable damping force are tested on theestablished experimental setup based on the MTS849shock absorber test system andthe real time simulation system.
2. Aiming at self-powering the IRDS and the corresponding electronic system ofthe IRDSMRD based semi-active systems, the principle of a SPSSMRD is proposed andrealized. The characteristics of the developed SPSSMRD, including the energyharvested by the pick-up coil, the relative displacement sensed by the IRDS, and thecontrollable damping force, are modeled and analyzed.
3. The established experimental setup based on the MTS849shock absorber testsystem and the real time simulation system is established and the prototype of theSPSSMRD and its electronic system are developed. The characteristics of the developedSPSSMRD, including the energy harvested by the pick-up coil, the relativedisplacement sensed by the IRDS, and the controllable damping force, are tested andanalyzed.
4. In order to make the best compromise between the damping force and thelinearity of the IRDS of an SPSSMRD/IRDSMRD, a Pareto optimization based method,which optimizes the key structural parameters by taking the damping force and thelinearity of the IRDS of the SPSSMRD/IRDSMRD as the objective functions, isproposed and realized. The Pareto front, representing the best tradeoff between thedamping force and the linearity of the IRDS of the SPSSMRD/IRDSMRD, is obtainedby considering that the maximum magnetomotive force applied to the exciting coil ofthe SPSSMRD/IRDSMRD is constant. Three SPSSMRDs/IRDSMRDs with different piston modules, which are determined according to the Pareto optimal solutions, aredeveloped and tested.
5. According to the experimental results of the SPSSMRD/IRDSMRD, thecharacteristics of the damping force and the IRDS influence each other. In order tostudy whether the SPSSMRD/IRDSMRD can be used for applications to replace the“MR damper plus additional sensor”, a SDOF semi-active systems based on theSPSSMRD/IRDSMRD for vibration and shock control is established. The controleffectiveness of the SDOF systems based on the SPSSMRD/IRDSMRD and the “MRdamper plus additional sensor” for vibration and shock control are investigated,compared and the discussed.
The research results in the dissertation have established the theoretical foundationfor simplifying the structure, decreasing the application cost, guaranteeing the reliability,and saving the installation space of semi-active MR systems. Meanwhile, the realizedSPSSMRD/IRDSMRD and its semi-active control system have apparent engineeringprospect.
引文
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