基于MRD优化布置的水轮发电机组碰摩系统振动抑制

针对水轮发电机组转子-转轮系统碰摩故障问题,采用磁流变液阻尼器(magneto-rheological damper,MRD)对轴系振动进行抑制,旨在探究MRD对机组轴系振动的影响规律及其对系统碰摩故障的抑制效果。首先,将机组轴向位置函数引入MRD非线性动力学模型,推导了碰摩故障下含轴向分布参数的MRD-转子-转轮系统动力学方程。其次,基于数值模拟方法,以机组转速为控制参数对比分析了是否考虑MRD的转子-转轮系统非线性动力学行为。最后,研究了不同MRD轴向布置参数对碰摩转子-转轮系统动力学行为的影响。研究结果表明:MRD的加入对转子、转轮非稳态运动具有良好约束作用,能够显著减小转子、转轮振动幅值,有效避免了机组轴系碰摩故障的发生;当阻尼器位置参数s_(1)、s_(2)分别取0.25与0.95时,MRD对系统的减振效果最佳。通过在机组轴系合理布置MRD,可有效改善系统振动情况,从而为水轮发电机组振动控制提供有益指导。

Seismic control of multi-degrees-of-freedom structures by vertical mass isolation method using MR dampers

Vertical mass isolation(VMI)is one of the novel methods for the seismic control of structures.In this method,the entire structure is assumed to consist of two mass and stiffness subsystems,and an isolated layer is located among them.In this study,the magnetorheological damper in three modes:passive-off,passive-on,and semi-active mode with variable voltage between zero and 9 volts was used as an isolated layer between two subsystems.Multi-degrees-of-freedom structures with 5,10,and 15 floors in two dimensions were examined under 11 pairs of near field earthquakes.On each level,the displacement of MR dampers was taken into account.The responses of maximum displacement,maximum inter-story drift,and maximum base shear in controlled and uncontrolled buildings were compared to assess the suggested approach for seismic control of the structures.According to the results,the semi-active control method can reduce the response by more than 12%compared to the uncontrolled mode in terms of maximum displacement of the mass subsystem of the structures.This method can reduce more than 16%and 20%of the responses compared to the uncontrolled mode in terms of maximum inter-story drift and base shear of the structure,respectively.

Adaptive Control of Helicopter Ground Resonance with Magnetorheological Damper

The methodology for adaptive control of helicopter ground resonance with magnetorheological （MR） damper is presented. The adaptive inverse control method is used to control the output damping force of MR damper and the range of the damping force is given. Through the adaptive inverse control, the damping force of MR damper is fit to a desired damping force. With the background of applying MR damper to control of helicopter ground resonance, a model of loss force and an adaptive arithmetic for stabilization of the coupled rotor/fuselage system are presented. The simulation shows that the controller presented in this paper can stabilize the rotor/fuselage coupling system quickly and control the helicopter ground resonance effectively.

Optimizing Control for Rotor Vibration with Magnetorheological Fluid Damper

The aim of this work is to analyze and design a control system for vibration reduction in a rotor system using a shear mode magnetorheological fluid(MRF)damper.A dynamic model of the MRF damper-rotor system was built and simulated in Matlab/Simulink to analyze the rotor vibration characteristics and the vibration reduction effect of the MRF damper.Based on the numerical simulation analysis,an optimizing control strategy using pattern search method was proposed and designed.The control system was constructed on a test rotor bench and experiment validations on the effectiveness of the proposed control strategy were conducted.Experimental results show that rotor vibration caused by unbalance can be well controlled whether in resonance region(70%)or in non-resonance region(30%).An irregular vibration amplitude jump can be suppressed with the optimization strategy.Furthermore,it is found that the rapidity of transient response and efficiency of optimizing technique depend on the pattern search step.The presented strategies and control system can be extended to multi-span(more than two or three spans)rotor system.It provides a powerful technical support for the extension and application in target and control for shafting vibration.

Adaptive Backstepping Control Design for Semi-Active Suspension of Half-Vehicle With Magnetorheological Damper

This paper investigates the problem of controlling half-vehicle semi-active suspension system involving a magnetorheological(MR)damper.This features a hysteretic behavior that is presently captured through the nonlinear Bouc-Wen model.The control objective is to regulate well the heave and the pitch motions of the chassis despite the road irregularities.The difficulty of the control problem lies in the nonlinearity of the system model,the uncertainty of some of its parameters,and the inaccessibility to measurements of the hysteresis internal state variables.Using Lyapunov control design tools,we design two observers to get online estimates of the hysteresis internal states and a stabilizing adaptive state-feedback regulator.The whole adaptive controller is formally shown to meet the desired control objectives.This theoretical result is confirmed by several simulations demonstrating the supremacy of the latter compared to the skyhook control and passive suspension.

Optimizing control of a two-span rotor system with magnetorheological fluid dampers

A control system aims at vibration reduction in a two-span rotor system with two shear mode magnetorheological （MRF） dampers is designed. A finite element model of the MRF damper- rotor system is built and used to analyze the rotor vibration characteristics. Based on Hooke and Jeeves algorithm and the numerical simulation analysis, an optimal appropriate controller is proposed and designed. Experimental results show that rotor vibration caused by unbalance is well controlled （ first critical speed region 37% , second critical speed region 42% ）. To reflect advantages of optimi- zing strategy presented and validate the intelligent optimization control technology, detailed experi- ments were developed on a two-span rotor-vibration-control platform. The influence on accuracy, rapidity and stability of optimizing control for rotor vibration are analyzed. It provides a powerful technical support for the extension and application in target and control for shafting vibration.

Development and Control of a Magnetorheological Damper‑Based Brake Pedal Simulator for Vehicle Brake‑by‑Wire Systems

Recent developments have demonstrated that the brake pedal simulator(BPS)is becoming an indispensable apparatus for the break-by-wire systems in future electric vehicles.Its main function is to provide the driver with a comfortable pedal feel to improve braking safety and comfort.This paper presents the development and control of an adjustable BPS,using a disk-type magnetorheological(MR)damper as the passive braking reaction generator to simulate the traditional pedal feel.A detailed description of the mechanical design of the MR damper-based BSP(MRDBBPS)is presented in this paper.Several basic performance experiments on the MRDBBPS prototype are conducted.A returnto-zero(RTZ)algorithm is proposed to avoid hysteresis and improve the repeatability of the pedal force.In addition,an RTZ algorithm-based real-time current-tracking controller(RTZRC)is designed in consideration of the response lag of the coil circuit.Finally,an experimental system is established by integrating the MRDBBPS prototype into a selfdeveloped automotive MR braking test bench(AMRBTB),and several control and braking experiments are performed.This research proposes a RTZRC control algorithm which can significantly increase the tracking accuracy of the brake pedal characteristic curve,particularly at a high pedal velocity.Additionally,the designed MRDBBPS prototype can achieve an effective and favorable control of the AMRBTB with a good repeatability.

Experimental Study on Magnetorheological Damper for Semi-Active Vibration Control of Civil Infrastructures

Magnetorheological (MR) fluid is a kind of smart material whose rheological properties can be rapidly varied in magnetic field. To make full use of the advantages of MR fluid to devices, a model of double ended, shear combined and valve typed MR damper is designed and manufactured, and the dynamic properties under sinusoidal excitations are experimentally studied. The experiment results show that the maximum damping force of the MR damper at the full magnetic intensity reaches about 20 kN while the maximum power required is less than 50 W, which predicts that the MR damper will be a powerful measurement for semi active vibration control of civil infrastructures.

Trispectrum and correlation dimension analysis of magnetorheological damper in vibration screen

In order to improve the screening efficiency of vibrating screen and make vibration process smooth,a new type of magnetorheological (MR) damper was proposed. The signals of displacement in the vibration process during the test were collected. The trispectrum model of autoregressive (AR) time series was built and the correlation dimension was used to quantify the fractal characteristics during the vibration process. The result shows that,in different working conditions,trispectrum slices are applied to obtaining the information of non-Gaussian,nonlinear amplitude?frequency characteristics of the signal. Besides,there is correlation between the correlation dimension of vibration signal and trispectrum slices,which is very important to select the optimum working parameters of the MR damper and vibrating screen. And in the experimental conditions,it is found that when the working current of MR damper is 2 A and the rotation speed of vibration motor is 800 r/min,the vibration screen reaches its maximum screening efficiency.

Mechanical-Delay Dynamic Model of Magnetorheological Damper

In the dynamic characteristic experiment of magnetorheological( MR) damper, a strange feature which the improved Bouc-Wen model based on tanh function cannot accurately describe has been shown when MR damper is reversing or at a low speed. In order to describe this phenomenon,a new mechanicaldelay dynamic model based on the improved Bouc-Wen model has been proposed for MR damper. This new model comprehensively considers the coupling effect on the structural flexibility of MR damper and the MR effect of MR fluid. The identification results show that the new mechanical-delay dynamic model for MR damper has a good coherence with experiment whenever at low or high speed.

First order sensitivity analysis of magnetorheological fluid damper based on the output damping force

With many features,the magnetorheological fluid( MRF) damper is widely applied in the semiactive vibration control system. And sensitivity analysis is an important method to study the influence weight of various parameters on damping force characteristics. A mathematical model of the output damping force on the MRF damper is established by the mechanism modeling method,a first order output sensitivity equation is deduced and the expression of the first order output sensitivity function is obtained. The first-order sensitivity functions of ten design parameters are solved,and the influence degree of system parameters change on the output force of MRF damper is analyzed by comparing the sensitivity index of the parameters. Two sensitivities of vibration velocity and control current are obtained through experiment to prove the other parameters sensitivity analysis conclusion by analogy verification,which provides guidance for the structure optimization design of MRF damper.

A linear rotary magnetorheological damper for vehicles

A new type of linear rotary magnetorheological damper (MRD) is proposed, which consists of a cylinder-type MRD and a screw mechanism to transform a linear motion into revolving motion. It is found that the structure parameters of MRD have complex relationship with the force of the damper, especially the lead angle, width and radius of the inner rotor. The analyses and simulation calculation of the static magnetic field give some usable data, and experiments of the damping component indicate that the proposed methods is feasible for developing linear rotary MRD.

Experimental Investigation into Magnetorheological Damper Subjected to Impact Loads

A good mechanical model of magnetorheological damper (MRD) is essential to predict the shock isolation performance of MRD in numerical simulation. But at present, the mechanical models of MRD were all derived from the experiment subjected to harmonic vibration loads. In this paper, a commercial MRD (type RD-1005-3) manufactured by Lord Corporation was studied ex-perimentally in order to investigate its isolation performance under the impact loads. A new me-chanical model of MRD was proposed according to the data obtained by impact test. A good agreement between the numerical results and test data was observed, which showed that the model was good to simulate the dynamic properties of MRD under impact loads. It is also demon-strated that MRD can improve the acceleration and displacement response of the structure obvi-ously under impact loads.

A new controller for the semi-active suspension system with magnetorheological dampers

A new sliding mode controller for semi-active suspension system with magnetorheological (MR) damper is presented in this paper. In the proposed sliding mode controller, a semi-active suspension based on the skyhook damper system is chosen as the reference model to be followed, and the control law is so determined that the asymptotically stable error dynamics occurs between the controlled state and the reference model state. Numerical simulations are carried out to study the performance of the new sliding mode controller. The results show that the proposed controller yields almost perfect tracking to the reference model and has a high robustness against model parameter uncertainties and disturbances.

Tremor Suppression Method via Magnetorheological Damper and Fuzzy Neural Network Control

Based on the performance of magnetorheological damper we have developed,a tremor suppression method using human limb nonrigid characteristic was presented.The tremor suppression machine was designed,and the measure part and the tremor suppression part were separated.Subsequently,the mathematic models of fuzzy neural network and elbow nonrigid tremor were worked out.Using selected training data set,the off-line fuzzy neural network training was finished.Then the tremor suppression method was simulated in Matlab.From the simulation results,it is found that the tremor suppression method has presented suppresses tremor effectively,and the tremor amplitude and tremor suppression torque can be controlled with angle displacement sensor.

一种新型引磁式磁流变阻尼器研究

针对特定结构限制下磁流变阻尼器工作性能的优化问题,在传统磁流变阻尼器的基础上设计了一种新型引磁式磁流变阻尼器,建立了磁场与流场耦合动力学模型;以输出阻尼力和动态可调系数为优目标函数,基于多目标遗传算法对该型磁流变阻尼器内部活塞进行了优化;建立了多物理场耦合模型并进行了仿真和冲击试验。仿真结果表明:在相同外形尺寸条件下,新型磁流变阻尼器的有效阻尼通道长度为64 mm,相比普通磁流变阻尼器提高了60%;新型磁流变阻尼器的力学特性与动态可调性更加优越,当施加2.0 A电流、活塞运动速度为0.09 m/s时,新型磁流变阻尼器的输出阻尼力为55.9 kN,相比普通磁流变阻尼器(32.4 kN)提高了72.5%;施加不同大小电流时新型磁流变阻尼器的峰值压力与吸能容量均明显高于普通磁流变阻尼器。冲击试验结果表明:当施加2.0 A的电流、冲击速度为2.45 m/s时,相比普通磁流变阻尼器,其峰值压力达到11.64 MPa、峰值压力提高约41%。峰值压力试验结果与仿真结果对比表明:仿真结果和试验结果的趋势是一致的,其相对误差在0.1之内,表明了仿真模型的有效性。

磁流变纤维骨架阻尼增强型阻尼器研究

为了增强磁流变脂的剪切性能,提高阻尼器的阻尼力输出,研究棉纤维对磁流变脂剪切增强效果。制备了不同棉纤维质量分数的磁流变脂试样,在流变仪上对其进行测试。结果表明,复合纤维磁流变脂的最大剪切应力随着纤维质量分数的增加而增加。基于复合材料设计制造了一款剪切式磁流变阻尼器,该阻尼器具有磁流变材料用量少、密封要求低等优点。磁流变阻尼器的阻尼特性实验表明,在1.6 A电流下,棉纤维质量分数为1.5%的磁流变脂的最大阻尼力可达99.5 N,与无棉纤维添加的磁流变脂相比,提升了23.8%,这表明使用复合纤维磁流变脂的阻尼器具有更好地阻尼力输出。

磁流变阻尼器Bingham力学模型改进及参数辨识

磁流变阻尼器不仅具有阻尼快速响应、良好的温度稳定性、内部结构简单等优势,而且可以通过调节控制电流使阻尼器的出力值连续变化,实现阻尼力可控。由于磁流变阻尼器阻尼特性与内部磁流变液的磁流变效应有关,具体表现非常复杂,现有力学模型目精度不足,无法精确描述磁流变阻尼器的阻尼特性。在磁流变阻尼器力学性能测试基础上,应用分段拟合函数方法同时结合反正切函数模型改进模型,并辨识改进后力学模型中各参数。将改进后的Bingham模型与实际测试出力值进行对比,结果表明改进后的Bingham模型能够很好地解决Bingham力学模型在非线性滞回阶段出力值曲线与实际测试数据不符的问题,改进后模型总体出力值曲线与阻尼器实际出力值基本相同,模型精度大幅提升。此种改进方法为磁流变阻尼器建立高精度力学模型提供参考。

基于最小二乘法和BP神经网络的磁流变阻尼器H-B模型参数辨识方法

针对Bingham模型磁流变阻尼器由于剪切稀化效应带来的阻尼力计算误差,在理论和仿真分析的基础上,提出一种最小二乘法和BP神经网络相结合的方法,对磁流变阻尼器H-B模型进行参数辨识,获得各参数与电流的关系,从而对磁流变阻尼器的阻尼力进行准确计算。最后通过磁流变阻尼器实验对理论方法进行验证。结果表明:借助于磁流变阻尼器的仿真分析,最小二乘法和BP神经网络相结合的磁流变阻尼器H-B模型参数辨识方法精确度高、吻合性好,验证了参数辨识结果的通用性及准确性。