阅读说明：本技术 基于温度补偿的磁流变减振器控制方法及系统 (Temperature compensation-based magnetorheological damper control method and system ) 是由 梁冠群 危银涛 吕靖成 杜永昌 于 2021-09-22 设计创作，主要内容包括：本发明提供一种基于温度补偿的磁流变减振器控制方法及系统,本发明提供的基于温度补偿的磁流变减振器控制方法及系统,通过引入工作温度这一自变量,以目标期望阻尼力、拉伸速度以及工作温度为自变量,以目标控制电流为因变量,构建得到磁流变减振器逆模型,通过该模型可以输出更加精确的控制电流,进而实现不同温度下对磁流变减振器的精确控制,使得磁流变减振器实际输出的阻尼力更接近期望阻尼力,控制可靠性大大提高。(The invention provides a temperature compensation-based control method and a temperature compensation-based control system for a magneto-rheological shock absorber, wherein a working temperature independent variable is introduced, a target expected damping force, a stretching speed and a working temperature are taken as independent variables, a target control current is taken as a dependent variable, and a magneto-rheological shock absorber inverse model is constructed and obtained.)

1. A control method of a magnetorheological damper based on temperature compensation is characterized by comprising the following steps:

acquiring an expected damping force, an expected stretching speed and a current working temperature of the magnetorheological shock absorber to be controlled;

inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into an inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking a target expected damping force, a stretching speed and a working temperature as independent variables and taking a target control current as a dependent variable;

and controlling the magnetorheological damper to be controlled according to the control current.

2. The method for controlling the magnetorheological damper based on the temperature compensation according to claim 1, wherein the process for constructing the inverse model of the magnetorheological damper comprises the following steps:

establishing a primary model corresponding to the magnetorheological damper to be controlled; the initial model takes viscous resistance as a dependent variable and takes a stretching speed, a shearing yield force and a friction force as independent variables;

determining the fitting relation between each model parameter and the control current in the preliminary model, and constructing and obtaining a basic model corresponding to the magnetorheological damper to be controlled according to the fitting relation between each model parameter and the control current in the preliminary model and the preliminary model; the basic model takes viscous resistance as a dependent variable and takes control current, friction force and stretching speed as independent variables;

determining the relation between each model parameter in the basic model and the working temperature, and performing temperature correction on the basic model to obtain a temperature correction basic model corresponding to the magnetorheological shock absorber to be controlled; the temperature correction basic model takes viscous resistance as a dependent variable and takes control current, working temperature and stretching speed as independent variables;

and directly inverting the control current according to the temperature correction basic model to obtain the magnetorheological damper inverse model.

3. The method as claimed in claim 2, wherein the preliminary model is expressed by the following expression:

wherein the content of the first and second substances,is viscous resistance, c_postTo the post-yield damping coefficient, f_fIs friction force, f_yieldIn order to obtain a shear yield strength,the drawing speed is used.

4. The method as claimed in claim 2, wherein the basic model has the following expression:

wherein the content of the first and second substances,is viscous resistance, a_c0、a_c1、a_c2All are fitting parameters related to the damping coefficient after yielding, I is control current,as the drawing speed, f_fIs friction force, a_y1、a_y2All are shear yield force related fitting parameters.

5. The method as claimed in claim 2, wherein the expression of the temperature-corrected basic model is as follows:

wherein the content of the first and second substances,in order to be a viscous resistance,for the post-yield damping coefficient after temperature correction, f_fIs friction force, f_yieldIn order to obtain a shear yield strength,as the drawing speed, a_T0、a_T1Are all temperature-dependent fitting parameters, T represents the current temperature, T₀Denotes room temperature 25 ℃, a_c0、a_c1、a_c2All are fitting parameters related to the damping coefficient after yielding, I is control current, a_y1、a_y2All are shear yield force related fitting parameters.

6. The method as claimed in claim 2, wherein the expression of the inverse model of the magnetorheological damper is as follows:

wherein I is a control current, λ_TAs a temperature correction factor, λ_T＝(a_T1T+a_T0)/T₀，a_c0、a_c1、a_c2Are all fitting parameters related to the post-yield damping coefficient, F_dIn order to expect the damping force,as the drawing speed, f_fIs friction force, a_y1、a_y2All are shear yield force related fitting parameters.

7. A temperature compensation based magnetorheological damper control system, comprising:

the acquisition module is used for acquiring the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled;

the processing module is used for inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into an inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking a target expected damping force, a stretching speed and a working temperature as independent variables and taking a target control current as a dependent variable;

and the control module is used for controlling the magnetorheological damper to be controlled according to the control current.

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the temperature compensation based magnetorheological damper control method according to any one of claims 1 to 6.

9. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program when executed by a processor implements the steps of the temperature compensation based magnetorheological damper control method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program, wherein the computer program when executed by a processor implements the steps of the temperature compensation based magnetorheological damper control method according to any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of vehicle control, in particular to a magnetorheological damper control method and system based on temperature compensation.

Background

The semi-active suspension of the vehicle can adjust the damping force within the damping force dissipation range, and can improve riding comfort and driving stability, so that the semi-active suspension of the vehicle is widely applied. The variable damping shock absorber applied to the semi-active suspension of the vehicle mainly comprises two types, one type is a controllable electromagnetic valve type shock absorber, and the other type is a magnetorheological shock absorber. The magneto-rheological damper has the advantages of large adjustable force value range and quick response, and has better application prospect. The working principle of the magneto-rheological damper is as follows: under the action of a magnetic field, magnetic particles in the magnetorheological fluid are in a chain shape along the direction of the magnetic field and have a shearing yield characteristic in the direction perpendicular to the direction of the magnetic field, so that the magnetorheological fluid has flow resistance, and the damping characteristic of the magnetorheological fluid can be changed by changing the magnetic field.

In order to realize semi-active suspension control of a vehicle, accurate modeling needs to be carried out on a controlled object, namely a magnetorheological damper. The damping characteristic of the magneto-rheological shock absorber is influenced by multiple external magnetic fields, excitation displacement and frequency, so that the magneto-rheological shock absorber has strong nonlinearity, great difficulty exists in modeling, and in order to realize accurate control of the output damping force of the shock absorber, the establishment of an accurate relation between the control current and the speed as well as the expected damping force is very important.

Magnetorheological damper models are broadly classified into parametric and non-parametric types. Common parameterized models are: a Bingham model, a Bouc-Wen model, a modified Bouc-Wen model, a nonlinear hysteresis double-viscous model, a modified Dahl model, a Sigmoid model, a magic formula model, and the like. The non-parametric model has no direct functional expression and is usually obtained by experimental result curve fitting or neural network training.

The existing parameterized models of the magnetorheological shock absorber have the problem of insufficient precision, and due to strong nonlinearity of the magnetorheological shock absorber, the same mathematical formula cannot cover all working conditions, so that the models have serious deviation in practical application, and particularly after the magnetorheological shock absorber works for a period of time, the damping force dissipation work can be converted into internal energy to enable the temperature of the magnetorheological shock absorber to be increased, the viscous damping can be reduced along with the temperature increase, the problem of model mismatch occurs, and the control precision of the magnetorheological shock absorber is reduced.

Therefore, a control method of a magnetorheological damper with higher precision is needed to solve the above problems.

Disclosure of Invention

The invention provides a magnetorheological damper control method and system based on temperature compensation, which are used for solving the defects of low control precision of a magnetorheological damper caused by insufficient precision of a parameterized model of the magnetorheological damper and no consideration of temperature influence in the prior art.

In a first aspect, the present invention provides a method for controlling a magnetorheological damper based on temperature compensation, the method comprising:

acquiring an expected damping force, an expected stretching speed and a current working temperature of the magnetorheological shock absorber to be controlled;

inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into an inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking a target expected damping force, a stretching speed and a working temperature as independent variables and taking a target control current as a dependent variable;

and controlling the magnetorheological damper to be controlled according to the control current.

According to the temperature compensation-based magnetorheological damper control method provided by the invention, the construction process of the inverse model of the magnetorheological damper comprises the following steps:

establishing a primary model corresponding to the magnetorheological damper to be controlled; the initial model takes viscous resistance as a dependent variable and takes a stretching speed, a shearing yield force and a friction force as independent variables;

determining the fitting relation between each model parameter and the control current in the preliminary model, and constructing and obtaining a basic model corresponding to the magnetorheological damper to be controlled according to the fitting relation between each model parameter and the control current in the preliminary model and the preliminary model; the basic model takes viscous resistance as a dependent variable and takes control current, friction force and stretching speed as independent variables;

determining the relation between each model parameter in the basic model and the working temperature, and performing temperature correction on the basic model to obtain a temperature correction basic model corresponding to the magnetorheological shock absorber to be controlled; the temperature correction basic model takes viscous resistance as a dependent variable and takes control current, working temperature and stretching speed as independent variables;

and directly inverting the control current according to the temperature correction basic model to obtain the magnetorheological damper inverse model.

According to the temperature compensation-based magnetorheological damper control method provided by the invention, the expression of the primary model is as follows:

wherein the content of the first and second substances,is viscous resistance, c_postTo the post-yield damping coefficient, f_fIs friction force, f_yieldIn order to obtain a shear yield strength,the drawing speed is used.

According to the magnetorheological damper control method based on temperature compensation provided by the invention, the expression of the basic model is as follows:

wherein the content of the first and second substances,is viscous resistance, a_c0、a_c1、a_c2All are fitting parameters related to the damping coefficient after yielding, I is control current,as the drawing speed, f_fIs friction force, a_y1、a_y2All are shear yield force related fitting parameters.

According to the magnetorheological damper control method based on temperature compensation provided by the invention, the expression of the temperature correction basic model is as follows:

wherein the content of the first and second substances,in order to be a viscous resistance,for the post-yield damping coefficient after temperature correction, f_fIs friction force, f_yieldIn order to obtain a shear yield strength,as the drawing speed, a_T0、a_T1Are all temperature-dependent fitting parameters, T represents the current temperature, T₀Denotes room temperature 25 ℃, a_c0、a_c1、a_c2All are fitting parameters related to the damping coefficient after yielding, I is control current, a_y1、a_y2All are shear yield force related fitting parameters.

According to the temperature compensation-based magnetorheological damper control method provided by the invention, the expression of the inverse model of the magnetorheological damper is as follows:

wherein I is a control current, λ_TAs a temperature correction factor, λ_T＝(a_T1T+a_T0)/T₀，a_c0、a_c1、a_c2Are all fitting parameters related to the post-yield damping coefficient, F_dIn order to expect the damping force,as the drawing speed, f_fIs friction force, a_y1、a_y2All are shear yield force related fitting parameters.

In a second aspect, the present invention also provides a temperature compensation based magnetorheological damper control system comprising:

the acquisition module is used for acquiring the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled;

the processing module is used for inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into an inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking a target expected damping force, a stretching speed and a working temperature as independent variables and taking a target control current as a dependent variable;

and the control module is used for controlling the magnetorheological damper to be controlled according to the control current.

In a third aspect, the present invention further provides an electronic device, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method for controlling a magnetorheological damper based on temperature compensation according to any one of the above aspects.

In a fourth aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the temperature compensation based magnetorheological damper control method as described in any of the above.

In a fifth aspect, the present invention further provides a computer program product comprising a computer program, which when executed by a processor, implements the steps of the temperature compensation based magnetorheological damper control method according to any one of the above.

According to the temperature compensation-based magnetorheological damper control method and system, the working temperature independent variable is introduced, the target expected damping force, the stretching speed and the working temperature are taken as independent variables, the target control current is taken as a dependent variable, a magnetorheological damper inverse model is constructed, more accurate control current can be output through the model, accurate control on the magnetorheological damper at different temperatures is further realized, the damping force actually output by the magnetorheological damper is closer to the expected damping force, and the control reliability is greatly improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic flow chart of a method for controlling a magnetorheological damper based on temperature compensation according to the present invention;

FIG. 2 is a schematic diagram of a magnetorheological damper dynamometer test system;

FIG. 3 is a statistical chart of room temperature experimental results of a magnetorheological damper;

FIG. 4 is a diagram showing the relationship between various parameters in the preliminary model and the current variation;

FIG. 5 is a schematic representation of force versus speed for the magnetorheological damper at 25 deg.C, 40 deg.C, and 80 deg.C;

FIG. 6 is a graphical representation of the variation of post-yield damping coefficient with operating temperature;

FIG. 7 is a graphical representation of a comparison of expected force data at 25℃ and 40℃ versus actual force data controlled using an inverse model of a magnetorheological damper;

FIG. 8 is a schematic structural diagram of a temperature compensation based magnetorheological damper control system provided in accordance with the present invention;

fig. 9 is a schematic structural diagram of an electronic device provided by the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

FIG. 1 illustrates a method for controlling a magnetorheological damper based on temperature compensation according to an embodiment of the invention, the method comprising:

s110: and acquiring the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled.

S120: inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into the inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking target expected damping force, stretching speed and working temperature as independent variables and target control current as a dependent variable.

S130: and controlling the magneto-rheological shock absorber to be controlled according to the control current.

In order to describe the mechanical characteristics of the magnetorheological damper along with the change of temperature, the embodiment designs a detailed high-low temperature indicator test of the magnetorheological damper. Firstly, performing a power-indicating test on a controlled object, namely the magnetorheological shock absorber, and obtaining the relation between the damping force and the piston displacement, the piston speed and the coil current. In order to perform the indicator test of the magnetorheological damper, a corresponding test system is required.

The magnetorheological damper indicator test system used in the embodiment is shown in fig. 2, and the test system mainly comprises: the magnetorheological vibration damper comprises data acquisition equipment 201, a magnetorheological vibration damper 202, a direct-current stabilized power supply 203 and a hydraulic vibration excitation unit, wherein the hydraulic vibration excitation unit mainly comprises a hydraulic vibration exciter moving part, namely a vibration excitation head 204, a hydraulic vibration exciter static part, namely a base 205, a hydraulic auxiliary device 206 and vibration excitation table control equipment 207, and the vibration excitation table control equipment 207 can be set with different vibration excitation speeds and peak values. The magnetorheological damper cylinder is fixed on the excitation head 204, the upper end of the damper rod is fixed and is provided with the force sensor 208, the displacement of the magnetorheological damper 202 is collected through the displacement sensor 209 on the excitation platform, and the obtained force and displacement signals are synchronously collected through the data collection equipment 201. The coil of the magnetorheological damper 202 is connected with a direct current stabilized power supply 203 to obtain currents under different working conditions. The experimental bench built by the embodiment selects an east-measuring PWS electro-hydraulic servo experimental machine, the maximum experimental force is +/-100 kN, the maximum amplitude is +/-75 mm, and the frequency range is 0.02-40 Hz.

In order to cover the potential widest possible working condition of the magnetorheological damper, the excitation platform in the embodiment applies sinusoidal excitation with the amplitude of 40mm, the maximum stretching and compressing speed is 0 to 1.048m/s, and the current range is 0 to the maximum working current 3A of the damper.

First, a dynamometer test is performed at room temperature, and currents of 0A, 0.5A, 1.0A, 1.5A, 2.0A, 2.5A, and 3.0A are applied, and detailed test condition data are shown in table 1.

TABLE 1 test Condition data

The normal damping force characteristic of the magnetorheological shock absorber is represented by a room temperature indicator test, and then a damping force boundary is confirmed by a high temperature indicator test. In order to ensure that the inner temperature and the outer temperature of the magnetorheological damper are kept at the same temperature, the magnetorheological damper is preheated by the thermostat. The specific operation flow is as follows:

the first step is as follows: standing the magnetorheological damper for about 12 hours in an environment of 40 ℃, and immediately performing a 0A indicator test, wherein the test working conditions are the same as those in the table 1;

the second step is that: continuously standing for about 3 hours in the environment of 40 ℃, and then loading 3A current for performing a dynamometer test;

the third step: repeating the above steps in an environment of 80 deg.C.

The room temperature experimental result of the magnetorheological damper is shown in fig. 3, and the direction is defined as positive stretching. As can be seen from fig. 3, the damping force increases rapidly with increasing speed, the shear yield term of the front section increases with increasing current, and after the magnetic particles reach the saturation of shear yield, the damping force increase is mainly realized by the viscous force, and the part is less influenced by the current. The other main characteristic is the hysteresis characteristic generated along the displacement direction, which is caused by the division of the air chamber by the floating piston of the magnetorheological damper and other rigidity characteristics.

Specifically, the construction process of the magnetorheological damper inverse model comprises the following steps:

the first step is as follows: establishing a primary model corresponding to the magnetorheological damper to be controlled; the preliminary model takes viscous resistance as a dependent variable and takes a stretching speed, a shearing yield force and a friction force as independent variables.

According to the result of the room temperature indicator test, a preliminary model corresponding to the magnetorheological damper to be controlled can be established, and the expression of the preliminary model is as follows:

wherein the content of the first and second substances,is viscous resistance, c_postTo the post-yield damping coefficient, f_fIs friction force, f_yieldIn order to obtain a shear yield strength,the drawing speed is used.

Because the parameters in the formula (1) have visual practical significance, fitting correction can be performed after preliminary estimation by using experimental data. The friction force is directly obtained through the force measured under the extremely-low-speed excitation when no current is conducted, the damping coefficient after yielding is the force-speed curve slope of the section after yielding, the shearing yield force is the difference value between the damping force of the section after yielding and the intercept of the longitudinal axis and the friction force, and then the least square method is utilized to carry out fitting to obtain all parameters.

The second step is that: determining the fitting relation between each model parameter and the control current in the preliminary model, and constructing and obtaining a basic model corresponding to the magnetorheological damper to be controlled according to the fitting relation between each model parameter and the control current in the preliminary model and the preliminary model; the basic model takes viscous resistance as a dependent variable and takes control current, friction force and stretching speed as independent variables.

It can be seen from the formula (1) that the independent variable does not include the working current, and for the magnetorheological shock absorber, one of the most important independent variables of the model is the working current, in order to introduce the working current as the independent variable, model parameters under different working currents need to be fitted, sensitivity analysis of the model parameters to the current is performed, and then the working current is used as the independent variable of each model parameter. And performing parameter estimation and fitting on data points of all excitation frequencies under the same working current by using the process to obtain the sensitivity of the model parameters to the current. Fig. 4 shows the relationship of the parameters of the model as a function of the current.

The shear yield strength changes most obviously along with the increase of current, which is the basis of the adjustable force value of the magnetorheological shock absorber, the magnetic induction intensity of a damping channel of the magnetorheological shock absorber increases along with the increase of current, magnetic particles are distributed in a chain shape along the direction of a magnetic field, and the shear yield strength along the flow direction increases along with the increase of the magnetic induction intensity. According to the fitting relationship shown in fig. 4, the relationship of each parameter with current is as follows:

according to FIG. 4(a), the relation between the shear yield force and the operating current can be expressed as:

f_yield＝a_y2I²+a_y1I (2)

as shown in fig. 4(b), the damping coefficient after yielding increases as the current increases, but the trend gradually decreases, and the relationship with the current can be expressed as:

c_post＝a_c2I²+a_c1I+a_c0 (3)

the formula (2) and the formula (3) are taken into the formula (1), a relational expression of the force of the magnetorheological damper along with the current, the displacement and the speed of the piston can be obtained, the relational expression is used as a basic model, and the model is corrected by using the result of the high-low temperature indicator test on the basis.

The expression of the basic model is:

wherein the content of the first and second substances,is viscous resistance, a_c0、a_c1、a_c2All are fitting parameters related to the damping coefficient after yielding, I is control current,as the drawing speed, f_fIs friction force, a_y1、a_y2All are shear yield force related fitting parameters.

The third step: determining the relation between each model parameter in the basic model and the working temperature, and performing temperature correction on the basic model to obtain a temperature correction basic model corresponding to the magnetorheological shock absorber to be controlled; the temperature correction basic model takes viscous resistance as a dependent variable and takes control current, working temperature and stretching speed as independent variables.

Since the internal energy converted from the dissipation work generated by the external excitation of the magnetorheological damper during operation causes a temperature rise, the high temperature characteristic needs to be described in detail.

The relationship between the force and the speed of the magnetorheological shock absorber at 25 ℃, 40 ℃ and 80 ℃ is shown in fig. 5, as can be seen from fig. 5, the damping force of the post-yielding section has a large difference and a remarkable rule along with the temperature change, and as can be seen from the indicator test link, the magnetorheological shock absorber cannot normally work in a low-temperature test, so that the temperature correction in the embodiment is performed on a high-temperature normal working area.

Modeling is carried out on the relation of force along with speed under the three temperatures, and the change of model parameters along with the temperature is analyzed, so that the damping coefficient after yielding is obviously reduced along with the temperature rise, the relation is shown in figure 6, linear correction is carried out, and a correction factor lambda is introduced_TNamely:

λ_T＝(a_T1T+a_T0)/T₀ (5)

wherein, a_T0、a_T1Are all temperature-related fitting parameters, T is the current temperature, T₀At room temperature.

The expression for the new post-yield damping coefficient is:

in the formula (I), the compound is shown in the specification,is the post-yield damping coefficient after temperature correction.

The expression of the finally obtained temperature correction basic model is as follows:

wherein the content of the first and second substances,in order to be a viscous resistance,for the post-yield damping coefficient after temperature correction, f_fIs friction force, f_yieldIn order to obtain a shear yield strength,as the drawing speed, a_T0、a_T1Are all temperature-dependent fitting parameters, T represents the current temperature, T₀Denotes room temperature 25 ℃, a_c0、a_c1、a_c2All are fitting parameters related to the damping coefficient after yielding, I is control current, a_y1、a_y2All are shear yield force related fitting parameters.

The values of the above-mentioned fitting parameters in this embodiment are shown in table 2 below:

values of fitting parameters in the model of Table 2

Parameter(s)	Numerical value	Parameter(s)	Numerical value	Parameter(s)	Numerical value
						aT1	-5.417	ac2	-22.62	ay2	72.44
aT0	829.3	ac1	111.6	ay1	157.9
								ac0	494.3

The fourth step: and according to the temperature correction basic model, directly inverting the control current to obtain the magnetorheological damper inverse model.

The equation (7) can directly invert the current to obtain the relationship between the control target current and the expected damping force and the piston speed, and obtain the inverse model of the magnetorheological shock absorber, wherein the expression of the inverse model of the magnetorheological shock absorber in the embodiment is as follows:

wherein I is a control current, λ_TAs a temperature correction factor, a_c0、a_c1、a_c2Are all fitting parameters related to the post-yield damping coefficient, F_dIn order to expect the damping force,as the drawing speed, f_fIs friction force, a_y1、a_y2All are shear yield force related fitting parameters.

Fig. 7 is a comparison between the expected force values at 25 ℃ and 40 ℃ and the actual force values controlled by using the inverse model of the magnetorheological damper, which shows that the magnetorheological damper obtained by the embodiment can meet the requirement of accurately tracking the temperature and realizing accurate control.

In summary, the embodiment of the invention establishes the inverse model of the magnetorheological shock absorber with the temperature as the independent variable, the inverse model of the magnetorheological shock absorber has the functions that after other suspension control algorithms solve the required control force (i.e. the desired damping force), the current stretching speed of the magnetorheological shock absorber is obtained through the displacement sensor, and the control current is solved by using the inverse model, so that the problem that the conventional model of the magnetorheological shock absorber has larger deviation with the actual force value after the temperature changes is solved.

The temperature compensation based magnetorheological damper control system provided by the invention is described below, and the temperature compensation based magnetorheological damper control system described below and the temperature compensation based magnetorheological damper control system described above can be referred to correspondingly.

FIG. 8 illustrates a temperature compensation based magnetorheological damper control system according to an embodiment of the present invention, comprising:

the acquiring module 810 is used for acquiring an expected damping force, a stretching speed and a current working temperature of the magnetorheological shock absorber to be controlled;

the processing module 820 is used for inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into the inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking target expected damping force, stretching speed and working temperature as independent variables and target control current as a dependent variable;

and the control module 830 is configured to control the magnetorheological damper to be controlled according to the control current.

In this embodiment, the processing module 820 obtains the control current through the inverse model of the magnetorheological shock absorber, and the process of constructing the inverse model of the magnetorheological shock absorber includes:

firstly, establishing a primary model corresponding to a magnetorheological damper to be controlled, wherein the primary model takes viscous resistance as a dependent variable and takes stretching speed, shearing yield force and friction force as independent variables;

then, determining the fitting relation between each model parameter and the control current in the preliminary model, and constructing and obtaining a basic model corresponding to the magnetorheological damper to be controlled according to the fitting relation between each model parameter and the control current in the preliminary model and the preliminary model structure; the basic model takes viscous resistance as a dependent variable and takes control current, friction force and stretching speed as independent variables;

secondly, determining the relation between each model parameter in the basic model and the working temperature, and performing temperature correction on the basic model to obtain a temperature correction basic model corresponding to the magnetorheological shock absorber to be controlled; the temperature correction basic model takes viscous resistance as a dependent variable and takes control current, working temperature and stretching speed as independent variables;

and finally, directly inverting the control current according to the temperature correction basic model to obtain the magnetorheological damper inverse model.

And then, the target control force can be accurately tracked by using the magnetorheological damper inverse model, the accurate damping force control of the magnetorheological damper at different temperatures is finally realized, and the system control precision and the control reliability are greatly improved.

Fig. 9 illustrates a physical structure diagram of an electronic device, and as shown in fig. 9, the electronic device may include: a processor (processor)910, a communication Interface (Communications Interface)920, a memory (memory)930, and a communication bus 940, wherein the processor 910, the communication Interface 920, and the memory 930 communicate with each other via the communication bus 940. Processor 910 may invoke logic instructions in memory 930 to perform a method for temperature compensation based magnetorheological damper control, the method comprising: acquiring an expected damping force, an expected stretching speed and a current working temperature of the magnetorheological shock absorber to be controlled; inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into the inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking target expected damping force, stretching speed and working temperature as independent variables and target control current as a dependent variable; and controlling the magneto-rheological shock absorber to be controlled according to the control current.

Furthermore, the logic instructions in the memory 930 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In another aspect, the present invention further provides a computer program product, the computer program product comprising a computer program, the computer program being stored on a non-transitory computer readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the method for controlling a magnetorheological damper based on temperature compensation, the method comprising: acquiring an expected damping force, an expected stretching speed and a current working temperature of the magnetorheological shock absorber to be controlled; inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into the inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking target expected damping force, stretching speed and working temperature as independent variables and target control current as a dependent variable; and controlling the magneto-rheological shock absorber to be controlled according to the control current.

In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor, implements a method for controlling a magnetorheological damper based on temperature compensation provided by the above methods, the method comprising: acquiring an expected damping force, an expected stretching speed and a current working temperature of the magnetorheological shock absorber to be controlled; inputting the expected damping force, the stretching speed and the current working temperature of the magnetorheological shock absorber to be controlled into the inverse model of the magnetorheological shock absorber to obtain a control current output by the inverse model of the magnetorheological shock absorber; the magnetorheological shock absorber inverse model is constructed by taking target expected damping force, stretching speed and working temperature as independent variables and target control current as a dependent variable; and controlling the magneto-rheological shock absorber to be controlled according to the control current.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.