磁流变冲击缓冲装置的特性与控制方法研究
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摘要
随着现代工程装备向着高速重载方向发展,所遇到的冲击和振动问题也越来越突出,解决好冲击缓冲问题对于提高工程质量至关重要。火炮系统中的反后坐装置是典型的冲击缓冲器件,其作用是在限定的后坐行程范围内尽可能地减小传递到炮架上的力,从而减小火炮振动。为实现冲击缓冲目标,传统的反后坐装置利用被动阻尼装置进行结构上的优化设计,把流液孔的面积作为优化变量,由此设计的阻尼装置具有沿轴向变化的流液孔面积。这种变截面的结构一旦加工制作完成,不方便修改,无法根据冲击载荷的变化自动调节结构参数。
随着材料科学的发展,以磁流变液为工作介质的磁流变阻尼器具有输出阻力连续可调、响应速度快、功耗低、动态范围宽等优良特性,给冲击缓冲问题的解决带来了新的机遇和挑战。
本文针对火炮系统中的冲击缓冲问题,从控制目标出发,根据最优控制思想,采用理论分析、数值仿真和实验验证的方法,从系统的角度深入开展基于磁流变技术的冲击缓冲装置特性和控制方法研究,主要内容及创新之处如下：
(1)研究了磁流变冲击缓冲装置的最优控制方法。提出了基于无量纲分析的最优控制方法,根据冲击缓冲目标,推导了最优位移和最优速度,从而得到了冲击缓冲问题的最优控制解,无量纲的分析方法使得最优解具有一般性。
(2)推导了冲击缓冲用磁流变阻尼器的力学公式。利用Navier-Strokes方程,建立了基于阀式流动模式的磁流变阻尼器的轴对称的力学公式,并考虑了高速条件下节流阻力的影响。
(3)研究了冲击缓冲用磁流变阻尼器的响应特性。分别建立了磁感应强度和剪切屈服应力的动态响应模型,实验结果表明,该响应模型能准确地拟合实验曲线；获得的时间常数结果表明,磁流变阻尼器在动态响应能力上对后坐缓冲控制完全具有可行性。
(4)研究了冲击缓冲用磁流变阻尼器的动力学模型。提出一种带修正项的改进多项式模型,并对冲击缓冲过程的高加速度段和低加速度段分别进行非线性最小二乘拟合,结果表明,该模型相比普通的多项式模型具有更高的精度。
(5)研究了磁流变冲击缓冲装置的控制策略。根据最优控制方法,形成了开环的最优控制策略,特别是在此基础上提出了模糊补偿的最优控制策略。并提出了两种量化的性能指标,用来综合评价后坐缓冲的效果。全尺度的火炮后坐实验结果表明,最优控制策略获得了比被动控制和模糊控制更优的各项性能指标,且系统不需要反馈任何测量值,有利于增强系统的可靠性和稳定性。而模糊补偿的最优控制策略兼具了最优控制和模糊控制的优点,既不完全依赖于实时反馈测量值,也不十分依赖系统的模型的准确性,二者结合使得系统的可靠性和灵活性得以兼顾。实验结果表明,相比于其他控制策略,模糊补偿的最优控制获得了整体最优的缓冲效果。
As the modern engineering equipments are getting high-speed and heavy-load, the troubles of shock and vibration become obvious. It's very critical to mitigate shock and vibration for improving the engineering quality. The gun recoil device is a typical shock isolator which can reduce the peak force transferred to the gun carriage within the limitation of the stroke. The purpose to use recoil mechanism is to reduce the vibration of the gun. The optimal design of the conventional hydraulic device for gun recoil system is to take the area of the orifices of the hydraulic damper as an optimization variable. The area of flow orifices inside the damper is designed in a way that changes along the axial direction of the piston. The functions of the hydraulic absorber for a certain recoil system and operation conditions can't be changed as long as the absorber is manufactured which results in a shortcoming: when the firing impact loading changes, the recoil force can't be adjusted correspondingly.
Magnetorheological (MR) fluid, the product of the development of materials science, is a kind of smart material. MR fluid dampers are the most popular devices which have continuously adjustable damping force, mechanical simplicity, low power consumption, high dynamic force range, and rapid response time.
Aiming at the problem of shock isolation of the gun recoil system, this paper focuses on the properties and control method of the MR shock isolation device from system point of view. The research work starts from the control objective of the system and the optimal control theory. The theoretical analysis, numerical simulation and experimental validation are employed to study in this research work. The main contributions of this dissertation include the followings:
(1) An optimal control method for the MR shock isolation device is proposed. The optimal normalized displacement, velocity and optimal control rules for the gun recoil system are derived. The solution of optimal control is useful for general situation because the dimensionless analysis method is employed.
(2) A theoretical model for optimal design and control of the MR fluid damper for the shock isolation device is derived. By using Navier-Strokes equation, an axisymmetric model working in pressure-drive flow mode is developed. The viscous damping force caused by minor loss through orifice is included in the theoretical model.
(3) The response properties of the MR fluid damper for gun recoil device are studied. The response models of magnetic flux density and shear yield are established respectively. The experimental results show the models work well. The response time shows the MR fluid damper has excellent response properties and is competent to work under impact loadings.
(4) The dynamic model of the MR fluid damper for gun recoil device is studied. An improved polynomial model is proposed. This novel dynamic model has a correction term which can improve the accuracy of the model. The theoretical results can fit the experimental results well both at the high-acceleration and the low-acceleration part.
(5) Control strategies for MR shock isolation are studied. The optimal control strategy is obtained based on the derived optimal control method. Furthermore, a fuzzy compensation-optimal control (FC-OC) strategy is proposed. Then, two kinds of performance indexes are introduced to comment the performance of the MR shock isolation system. The experimental results obtained from the full-scale gun recoil test rig show that the optimal control strategy is better than the passive control strategy and the fuzzy logic strategies. The optimal strategy presented in this paper is open-loop without any feedback system needed. That means the control process is sensor-free. It will be of great benefit for reliability and stability of the shock isolation system. The FC-OC strategy has the advantages of both fuzzy logic control and optimal control. It is partly independent on both the feedback system and theoretical model so that both the reliability and the flexibility are compromised. The experimental results show the most desired performance of the shock isolation system is obtained under the FC-OC strategy.
随着材料科学的发展,以磁流变液为工作介质的磁流变阻尼器具有输出阻力连续可调、响应速度快、功耗低、动态范围宽等优良特性,给冲击缓冲问题的解决带来了新的机遇和挑战。
本文针对火炮系统中的冲击缓冲问题,从控制目标出发,根据最优控制思想,采用理论分析、数值仿真和实验验证的方法,从系统的角度深入开展基于磁流变技术的冲击缓冲装置特性和控制方法研究,主要内容及创新之处如下：
(1)研究了磁流变冲击缓冲装置的最优控制方法。提出了基于无量纲分析的最优控制方法,根据冲击缓冲目标,推导了最优位移和最优速度,从而得到了冲击缓冲问题的最优控制解,无量纲的分析方法使得最优解具有一般性。
(2)推导了冲击缓冲用磁流变阻尼器的力学公式。利用Navier-Strokes方程,建立了基于阀式流动模式的磁流变阻尼器的轴对称的力学公式,并考虑了高速条件下节流阻力的影响。
(3)研究了冲击缓冲用磁流变阻尼器的响应特性。分别建立了磁感应强度和剪切屈服应力的动态响应模型,实验结果表明,该响应模型能准确地拟合实验曲线；获得的时间常数结果表明,磁流变阻尼器在动态响应能力上对后坐缓冲控制完全具有可行性。
(4)研究了冲击缓冲用磁流变阻尼器的动力学模型。提出一种带修正项的改进多项式模型,并对冲击缓冲过程的高加速度段和低加速度段分别进行非线性最小二乘拟合,结果表明,该模型相比普通的多项式模型具有更高的精度。
(5)研究了磁流变冲击缓冲装置的控制策略。根据最优控制方法,形成了开环的最优控制策略,特别是在此基础上提出了模糊补偿的最优控制策略。并提出了两种量化的性能指标,用来综合评价后坐缓冲的效果。全尺度的火炮后坐实验结果表明,最优控制策略获得了比被动控制和模糊控制更优的各项性能指标,且系统不需要反馈任何测量值,有利于增强系统的可靠性和稳定性。而模糊补偿的最优控制策略兼具了最优控制和模糊控制的优点,既不完全依赖于实时反馈测量值,也不十分依赖系统的模型的准确性,二者结合使得系统的可靠性和灵活性得以兼顾。实验结果表明,相比于其他控制策略,模糊补偿的最优控制获得了整体最优的缓冲效果。
As the modern engineering equipments are getting high-speed and heavy-load, the troubles of shock and vibration become obvious. It's very critical to mitigate shock and vibration for improving the engineering quality. The gun recoil device is a typical shock isolator which can reduce the peak force transferred to the gun carriage within the limitation of the stroke. The purpose to use recoil mechanism is to reduce the vibration of the gun. The optimal design of the conventional hydraulic device for gun recoil system is to take the area of the orifices of the hydraulic damper as an optimization variable. The area of flow orifices inside the damper is designed in a way that changes along the axial direction of the piston. The functions of the hydraulic absorber for a certain recoil system and operation conditions can't be changed as long as the absorber is manufactured which results in a shortcoming: when the firing impact loading changes, the recoil force can't be adjusted correspondingly.
Magnetorheological (MR) fluid, the product of the development of materials science, is a kind of smart material. MR fluid dampers are the most popular devices which have continuously adjustable damping force, mechanical simplicity, low power consumption, high dynamic force range, and rapid response time.
Aiming at the problem of shock isolation of the gun recoil system, this paper focuses on the properties and control method of the MR shock isolation device from system point of view. The research work starts from the control objective of the system and the optimal control theory. The theoretical analysis, numerical simulation and experimental validation are employed to study in this research work. The main contributions of this dissertation include the followings:
(1) An optimal control method for the MR shock isolation device is proposed. The optimal normalized displacement, velocity and optimal control rules for the gun recoil system are derived. The solution of optimal control is useful for general situation because the dimensionless analysis method is employed.
(2) A theoretical model for optimal design and control of the MR fluid damper for the shock isolation device is derived. By using Navier-Strokes equation, an axisymmetric model working in pressure-drive flow mode is developed. The viscous damping force caused by minor loss through orifice is included in the theoretical model.
(3) The response properties of the MR fluid damper for gun recoil device are studied. The response models of magnetic flux density and shear yield are established respectively. The experimental results show the models work well. The response time shows the MR fluid damper has excellent response properties and is competent to work under impact loadings.
(4) The dynamic model of the MR fluid damper for gun recoil device is studied. An improved polynomial model is proposed. This novel dynamic model has a correction term which can improve the accuracy of the model. The theoretical results can fit the experimental results well both at the high-acceleration and the low-acceleration part.
(5) Control strategies for MR shock isolation are studied. The optimal control strategy is obtained based on the derived optimal control method. Furthermore, a fuzzy compensation-optimal control (FC-OC) strategy is proposed. Then, two kinds of performance indexes are introduced to comment the performance of the MR shock isolation system. The experimental results obtained from the full-scale gun recoil test rig show that the optimal control strategy is better than the passive control strategy and the fuzzy logic strategies. The optimal strategy presented in this paper is open-loop without any feedback system needed. That means the control process is sensor-free. It will be of great benefit for reliability and stability of the shock isolation system. The FC-OC strategy has the advantages of both fuzzy logic control and optimal control. It is partly independent on both the feedback system and theoretical model so that both the reliability and the flexibility are compromised. The experimental results show the most desired performance of the shock isolation system is obtained under the FC-OC strategy.
引文
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