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浙江大学学报(工学版)
Journal of ZheJiang University (Engineering Science)  2022, Vol. 56 Issue (5): 873-878    DOI: 10.3785/j.issn.1008-973X.2022.05.004
    
Model-free feedforward/feedback control scheme for magnetorheological damper
Xiao-long WANG(),Hai-feng LV,Jin-ying HUANG,Guang-pu LIU
School of Mechanical Engineering, North University of China, Taiyuan 030051, China
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Abstract  

A novel model-free feedforward/feedback control (MFFFFBC) scheme with simple structure and easy implementation was proposed, in order to achieve the damping force tracking with high reliability and accuracy, as well as to overcome the influence of the model errors and external disturbances on the inverted parametric forward control of the magnetorheological (MR) damper. Taking advantage of the continuously adjustable characteristics of the damping force of the MR fluid dampers, the control signal of the MR damper at the previous moment was sampled and held as the feedforward controller rather than the complex inverse dynamic models. The feedback controller was developed to correct the feedforward control by using the force tracking errors between the desired and actual damping forces, and a saturation function was utilized to constrain the amplitude of the control voltage. Therefore, the high frequency chattering of the control voltage can be avoided. Experimental results show that the proposed controller can command the continuous and smooth control voltage, and the force tracking errors of the viscous damping and friction damping were reduced by 21.98% and 26.64% respectively compared with the classical Heaviside function damper controller.

Key words： magnetorheological damper      dynamic model      damping force tracking      model-free feedforward/feedback controller (MFFFFBC)      semi-active control     
Received: 16 May 2021      Published: 31 May 2022
CLC:  TH 13  
Fund:  国家自然科学基金资助项目 (61803348)；山西省高等学校科技创新项目(2019L0578)；可靠性与环境工程技术国防科技重点实验室开放基金资助项目(202010152)
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Xiao-long WANG
Hai-feng LV
Jin-ying HUANG
Guang-pu LIU
Cite this article:

Xiao-long WANG,Hai-feng LV,Jin-ying HUANG,Guang-pu LIU. Model-free feedforward/feedback control scheme for magnetorheological damper. Journal of ZheJiang University (Engineering Science), 2022, 56(5): 873-878.

URL:

https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2022.05.004     OR     https://www.zjujournals.com/eng/Y2022/V56/I5/873


磁流变阻尼器无模型前馈/反馈复合控制

为了实现磁流变（MR）阻尼器高可靠性和高精度的阻尼力跟踪控制，克服基于逆向动力学模型的前馈控制易受模型误差和外界干扰影响的问题，提出结构简单、实现容易的无模型前馈/反馈复合控制(MFFFFBC)方法. 利用磁流变液减振器阻尼力连续可调的特点，将磁流变阻尼器控制器前一时刻的控制量进行采样保持作为前馈控制器，以避免建立复杂的磁流变阻尼器逆向动力学模型. 利用期望阻尼力与实际阻尼力之间的跟踪误差信号构建反馈控制器对前馈控制量进行实时修正，利用饱和函数对控制电压进行限幅，以避免控制电压高频振荡. 试验结果表明，在MFFFFBC控制下输出电压连续光滑变化，与经典的基于Heaviside阶跃函数的控制相比，采用本研究所提出的控制策略，黏性阻尼力和摩擦阻尼力的跟踪误差分别减小了21.98%和26.64%.


关键词： 磁流变阻尼器,  动力学模型,  阻尼力跟踪,  无模型前馈/反馈控制(MFFFFBC),  半主动控制 
Fig.1 Rapid control prototype platform of MR damper
Fig.2 Schematic diagram of MR damper control system
Fig.3 Experimental results of force tracking of viscous damping with HFC
Fig.4 Experimental  results  of force tracking of friction damping with HFC
Fig.5 Experimental  results  of force tracking of viscous damping with MFFFFBC
Fig.6 Experimental  results  of force tracking of friction damping with MFFFFBC
Fig.7 Probability density distribution of damping force tracking error
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