[1]文辞,宋爱国.适用于力反馈的三圆盘磁流变液执行器工作机理及建模[J].东南大学学报(自然科学版),2012,42(5):892-897.[doi:10.3969/j.issn.1001-0505.2012.05.018]
　Wen Ci,Song Aiguo.Working principle and modeling of three-plate magnetorheological fluid actuator for force feedback[J].Journal of Southeast University (Natural Science Edition),2012,42(5):892-897.[doi:10.3969/j.issn.1001-0505.2012.05.018]
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适用于力反馈的三圆盘磁流变液执行器工作机理及建模()
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《东南大学学报(自然科学版)》[ISSN:1001-0505/CN:32-1178/N]

卷:
42
期数:
2012年第5期
页码:
892-897
栏目:
自动化
出版日期:
2012-09-20

文章信息/Info

Title:
Working principle and modeling of three-plate magnetorheological fluid actuator for force feedback
作者:
文辞;  宋爱国
东南大学仪器科学与工程学院, 南京 210096; 东南大学远程测控技术江苏省重点实验室, 南京 210096
Author(s):
Wen Ci;  Song Aiguo
School of Instrument Science and Engineering, Southeast University,Nanjing 210096,China
Remote Measurement and Control Key Lab of Jiangsu Province,Southeast University,Nanjing 210096,China
关键词:
力学模型;  分段线性;  磁流变液执行器;  磁滞;  力反馈
Keywords:
mechanical model;  piecewise linear;  magnetorheological fluid actuator;  hysteresis;  force feedback
分类号:
TP24
DOI:
10.3969/j.issn.1001-0505.2012.05.018
摘要:
为了提高磁流变液执行器力学模型的精度,建立了适用于电流随机变化且包含磁滞特性的三圆盘磁流变液执行器的分段线性力矩-电流模型.分析了执行器的工作原理,推导了基于Bingham塑性模型的力矩公式.磁路由铁磁物质和磁流变液组成,说明了这2种物质的磁特性,分析了铁磁物质中存在磁滞以及在磁流变液中观察不到磁滞的原因.铁磁物质的磁滞特性影响了执行器的力矩-电流特性,实验表明力矩和电流之间存在磁滞.当电流变化过程为0-1.2-0 A时,不包含磁滞特性的二次多项式模型的残余标准差分别为8.2和11.2 N·mm,分段线性模型的残余标准差分别为5.9和6.2 N·mm,分段线性模型的精度比较高.
Abstract:
To improve the accuracy of a magnetorheological fluid(MRF)actuator mechanical model,considering hysteresis, a piecewise linear torque-current model of a three-plate MRF actuator suitable for random current change is established.The working principle of the actuator is analyzed,and a torque formula based on the Bingham plastic model is derived. The ferromagnetic material and MRF form the magnetic circuit,and their magnetic properties are introduced. Reasons of hysteresis being in the ferromagnetic material and no hysteresis observed in the MRF are studied.Hysteresis of the ferromagnetic material affects the torque-current relationship of the actuator,and the experimental results show that the hysteresis phenomenon exists between the torque and current.With the current sequential variation of 0-1.2-0 A,the residual standard deviation of the quadratic-multinomial model without considering hysteresis is 8.2 and 11.2 N·mm, respectively,and the residual standard deviation of the piecewise linear model is 5.9 and 6.2 N·mm, respectively. The piecewise linear model is more accurate than the quadratic-multinomial model.

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相似文献/References:

[1]胡乾善.振动系统力学模型的建立与改进问题[J].东南大学学报(自然科学版),1986,16(2):1.[doi:10.3969/j.issn.1001-0505.1986.02.001]
　Hu Qianshan.The Problem of Modeling Vibration Systems and Model Improvement[J].Journal of Southeast University (Natural Science Edition),1986,16(5):1.[doi:10.3969/j.issn.1001-0505.1986.02.001]

备注/Memo

备注/Memo:
作者简介: 文辞(1967—),女,博士生,工程师; 宋爱国(联系人),男,博士,教授,博士生导师,a.g.song@seu.edu.cn.
基金项目: 国家高技术研究发展计划(863计划)资助项目(2008AA040202)、江苏省自然科学基金重点资助项目(BK2010063).
引文格式: 文辞,宋爱国.适用于力反馈的三圆盘磁流变液执行器工作机理及建模[J].东南大学学报:自然科学版,2012,42(5):892-897. [doi:10.3969/j.issn.1001-0505.2012.05.018]
更新日期/Last Update: 2012-09-20