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首页> 外文会议>Conference on Active and passive smart structures and integrated systems; 20090309-12; San Diego, CA(US) >Nonlinear MR model inversion for semi-active control enhancement
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Nonlinear MR model inversion for semi-active control enhancement

机译：非线性MR模型反演用于半主动控制

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摘要

The increased prevalence of semi-active control systems is largely due to the emergence of cost effective commercially available controllable damper technology such as Magneto-Rheological (MR) devices. Unfortunately, MR dampers are highly nonlinear, which presents an often over-looked complexity to the control system designer. The well-known Skyhook Damping control algorithm has enjoyed great success for both fully active and semi-active control problems. The Skyhook design strategy is to create a control force that emulates what a passive linear damper would create when connected to an inertial reference frame. Skyhook control is device independent since it generates a desired control force command output that must be produced by the control system. For simplicity, MR dampers are often assumed to have a linear relationship between the current input and the force output at a given relative velocity. Often this assumption is made implicitly and without knowledge of the underlying nonlinearity. In this paper, we show that the overall performance of a semi-active Skyhook control system can be improved by explicitly inverting the nonlinear relationship between input current and output force. The proposed modification will work with any semi-active control algorithm, such as Skyhook, to insure that the controller performance is at least as good as the performance without the proposed modification. This technique is demonstrated through simulation on a quarter-vehicle system.
机译：半主动控制系统的普及率在很大程度上归因于经济有效的可购得的可控阻尼器技术的出现，例如磁流变（MR）设备。不幸的是，MR阻尼器是高度非线性的，这给控制系统设计人员带来了经常被忽视的复杂性。众所周知的Skyhook阻尼控制算法在完全主动和半主动控制问题上都取得了巨大的成功。 Skyhook的设计策略是创建一个控制力，该控制力模拟在连接到惯性参考框架时被动线性阻尼器会产生的作用。天钩控制装置独立于设备，因为它会生成所需的控制力命令输出，该输出必须由控制系统产生。为简单起见，通常假定MR阻尼器在给定的相对速度下在电流输入和力输出之间具有线性关系。通常，这种假设是隐式进行的，并且不了解潜在的非线性。在本文中，我们表明，可以通过明确地反转输入电流与输出力之间的非线性关系来改善半主动Skyhook控制系统的整体性能。所提出的修改将与任何半主动控制算法（例如Skyhook）一起使用，以确保控制器性能至少与没有所提出的修改的性能一样好。通过在四分之一车辆系统上的仿真演示了此技术。

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