| 摘要 |
The present invention claims a method for predicting a hysteresis curve model of a magnetorheological system based on Equation 1: {umlaut over (x)}+αx+γ{dot over (x)}+βxn+δ{dot over (x)}n=k1d+c1{dot over (d)} and Equation 2: y=Af{dot over (x)}, wherein α, β, γ and δ are parameters of the magnetorheological system, n being an odd number, k1 and c1 being input parameters of the magnetorheological system, d and {dot over (d)} respectively being an physical input and a first-order differential of the input value, Af being an output coefficient of the magnetorheological system, x being an internal state of the magnetorheological system, and y being an output of the magnetorheological system. The method has advantages of continuity and simple computation and features the ability to track parameter modifications. Therefore, the present invention promotes the computation efficiency and accuracy of the hysteresis model and makes the succeeding compensation design easier and the performance thereof more stable. |
| 主权项 |
1. A method for predicting a hysteresis curve model of a magnetorheological system, comprising
Step 1: providing a magnetorheological system to be predicted and providing Equation 1 and Equation 2 respectively expressed as
{umlaut over (x)}+αx+γ{dot over (x)}+βxn+δ{dot over (x)}n=k1d+c1{dot over (d)} (1)y=Af{dot over (x)} (2)wherein α, β, γ and δ are parameters of the magnetorheological system, n being an odd number, k1 and c1 being input parameters of the magnetorheological system, d and {dot over (d)} respectively being an physical input value and a first-order differential of the input value, Af being an output coefficient of the magnetorheological system, x being an internal state of the magnetorheological system, and y being an output of the magnetorheological system; Step 2: fixing a magnetic field applied to the magnetorheological system, and measuring the magnetorheological system to obtain an experimental y-d curve and an experimental y-{dot over (d)} curve; Step 3: selecting a plurality of groups of values of k1, c1, α, β, γ, δ, n and Af according to the experimental y-d curve and the experimental y-{dot over (d)} curve; Step 4: substituting the values into Equation 1 and Equation 2 to obtain a plurality of computed y-d curves and a plurality of computed y-{dot over (d)} curves; Step 5: fitting the computed y-d curves and the computed y-{dot over (d)} curves to the experimental y-d curve and the experimental y-{dot over (d)} curve respectively to obtain the values of k1, c1, α, β, γ, δ, n and Af corresponding to coincidence of the computed y-d curve and the experimental y-d curve and coincidence of the computed y-{dot over (d)} curve and the experimental y-{dot over (d)} curve; and Step 6: substituting the values of k1, c1, α, β, γ, δ, n and Af, which are obtained in Step 5, into Equation 1 and Equation 2 to obtain a model for dynamically predicting the hysteresis curve of the magnetorheological system. |
