带梯形截面导磁环的全通道有效车用磁流变减振器设计

doi:10.12382/bgxb.2021.0731

摘要/Abstract

摘要：

车用磁流变减振器(MRD)往往结构尺寸较小,且传统的车用MRD阻尼通道有效工作长度较短,输出阻尼力小,导致其工程应用受到限制。针对这一问题,提出一种带梯形截面导磁环的新型全通道有效MRD以增大阻尼通道有效工作长度,减缓磁饱和,并基于磁流变液流变特性和流体动力学理论给出了具体的结构与磁路设计计算方法,将5种不同结构的MRD进行有限元仿真对比。通过阻尼特性测试试验,分析其阻尼特性并与普通MRD、带弯曲磁路全通道有效MRD进行对比,应用线性二次高斯(LQG)控制器进行减振性能分析。研究结果表明:新型全通道有效MRD能够显著提高阻尼通道有效工作长度,达到阻尼通道全长的99%以上;新型全通道有效MRD能改善小尺寸MRD易发生磁饱和的问题;在相同电流激励与尺寸约束下阻尼通道的磁场强度分布更均匀,平均磁场强度更大,具有更大的输出阻尼力;新型全通道有效MRD在结构尺寸小的同时具有更大的输出阻尼力;新型全通道有效MRD相对于普通MRD具有更好的减振性能,能够进一步降低车辆的簧上质量加速度与轮胎动变形21.51%和1.43%。该研究能有效扩宽小尺寸MRD的实际应用范围,具有一定的工程应用价值。

关键词: 磁流变减振器, 轮式军用车辆, 全通道有效, 结构设计, 磁路设计, 梯形截面导磁环

Abstract:

Magnetorheological dampers (MRD) used in automobiles are usually of small size, and the traditional MRD damping channel features short effective working length and small output damping force, which results in its limited engineering application. To solve this problem, a novel full-length effective MRD with magnetically conductive ring of trapezoidal cross section was proposed to increase the effective working length of the damping channel and slow down magnetic saturation. Based on the rheological properties of magnetorheological fluid and fluid dynamics theory, the design and calculation method of specific structure and magnetic circuit were given. Five MRDs with different structures were compared by finite element simulation. The results showed that: the proposed novel full-channel effective MRD can significantly increase the effective working length of the damping channel, reaching over 99% of the full length; it can also improve the magnetic saturation problem for a small-size MRD; in addition, under the same current excitation and size constraint, the magnetic field intensity distribution of the damping channel is more uniform, the average magnetic field intensity is larger, and the output damping force is larger; the damping characteristics of the new MRD were analyzed and compared with those of the common MRD and the full-length effective MRD with bending magnetic circuit, indicating that the new full-length effective MRD has a larger output damping force while the structure size is smaller. Finally, the LQG controller was used to analyze the vibration reduction performance, showing that the new full-length effective MRD has better vibration reduction performance than the common MRD, and can further reduce the sprung mass acceleration and tire dynamic deformation by 21.51% and 1.43%. This study can effectively expand the practical application range of small-size MRDs and has certain engineering application significance.

Key words: Magnetorheological damper, Wheeled military vehicle, Full-length effective, Structural design, Magnetic circuit design, Magnetically conductive ring of trapezoidal cross section

中图分类号:

TB535⁺.1

吴欢, 李以农, 张志达, 张紫微, 蒲华燕, 罗均. 带梯形截面导磁环的全通道有效车用磁流变减振器设计[J]. 兵工学报, 2023, 44(1): 61-73.

WU Huan, LI Yinong, ZHANG Zhida, ZHANG Ziwei, PU Huayan, LUO Jun. Design of a Full-Length Effective Automotive Magnetorheological Damper with magnetically Conductive Ring of Trapezoidal Cross Section[J]. Acta Armamentarii, 2023, 44(1): 61-73.

图/表 24

图1 带梯形截面导磁环的全通道有效MRD结构图

Fig.1 Diagram of Full-length effective MRD structure with magnetically conductive ring of trapezoidal cross section

图2 新型全通道有效MRD活塞结构剖视图

Fig.2 Sectional view of the piston structure of the new full-length effective MRD

图3 活塞截面简图

Fig.3 Sketch of piston section

表1 新型全通道有效MRD活塞结构尺寸

Table 1 Dimensions of the new full-length effective MRD’s pistonmm

参数	l_a	l_b	r	R_c	R_i	R_h	R	l_c	l_d	l_m
数值	6	22	6	10	13	14	17	2.5	0.2	2

图4 传统MRD活塞截面简图

Fig.4 Diagram of conventional MRD’s piston section

图5 磁力线分布

Fig.5 Diagram of magnetic field line distribution

图6 磁感应强度分布

Fig.6 Diagram of magnetic induction intensity distribution

图7 磁场强度分布

Fig.7 Diagram of magnetic field intensity distribution

图8 全通道有效MRD导磁环处磁感应强度对比

Fig.8 Comparison of magnetic induction intensity at magnetically conductive ring of the full-length effective MRD

图9 5种MRD阻尼通道处磁场强度对比

Fig.9 Comparison of magnetic field intensity at the damping channel of the five types of MRD

表2 5种MRD阻尼通道平均磁场强度

Table 2 Mean magnetic field intensity at the damping channel of the five types of MRD

MRD类型	A型	B型	C型	D型	E型
阻尼通道平均磁场强度/(kA·m^-1)	18.52	24.62	24.50	18.69	30.65

图10 加工与装配实物图

Fig.10 Machining and assembly drawings

图11 阻尼特性测试试验设备

Fig.11 Test equipment of damping characteristics

图12 峰值速度0.1m/s时的阻尼特性曲线

Fig.12 Damping characteristic curve at peak speed 0.1m/s

图13 峰值速度0.3m/s时的阻尼特性曲线

Fig.13 Damping characteristic curve at peak speed 0.3m/s

图14 峰值速度0.6m/s时的阻尼特性曲线

Fig.14 Damping characteristic curve at peak speed 0.6m/s

表3 阻尼特性对比

Table 3 Comparison of damping characteristics

参数	新型全通道有效MRD	普通MRD	带弯曲磁路的MRD
缸筒外径/mm	42	45.8	66
电源激励/安匝	150	150	150
最大输出阻尼力/N	1395	743	1351

图15 2自由度1/4车辆模型

Fig.15 Two-degree-of-freedom 1/4 vehicle model

表4 仿真车辆模型参数

Table 4 Parameters of vehicle model

参数	m_b/kg	m_w/kg	k_s/(N·m^-1)	k_t/(N·m^-1)	c_s/(N·s·m)
数值	245	40	15680	180000	1760

图16 簧上质量加速度时域响应

Fig.16 Time domain response of sprung mass acceleration

图17 轮胎动变形时域响应

Fig.17 Time domain response of tire dynamic deformation

表5 减振性能指标均方根值

Table 5 Root mean square value of vibration damping performance indicator

减振性能指标	普通 MRD	新型全通道有效MRD	衰减率/ %
簧上质量加速度/(m·s^-2)	0.3083	0.2420	21.51
轮胎动变形/m	0.0070	0.0069	1.43

图18 簧上质量加速度频域响应

Fig.18 Frequency domain response of sprung mass acceleration

图19 轮胎动变形频域响应

Fig.19 Frequency domain response of tire dynamic deformation

参考文献 24

[1]	李锐, 余淼, 陈伟民, 等. 基于磁流变减振器的汽车悬架振动控制[J]. 机械工程学报, 2005, 41(6):128-132.
	LI R, YU M, CHEN W M, et al. Control of automotive suspensions vibration via magnetorheological damper[J]. Chinese Journal of Mechanical Engineering, 2005, 41(6):128-132. (in Chinese)
[2]	ZHU X C, JING X J, CHENG L. Magnetorheological fluid dampers: a review on structure design and analysis[J]. Journal of Intelligent Material Systems and Structures, 2012, 23(8):839-873.
[3]	廖昌荣, 吴笃华, 孙凌逸, 等. 考虑表观滑移效应的磁流变液减振器阻尼特性研究[J]. 中国公路学报, 2017, 30(6):297-306.
	LIAO C R, WU D H, SUN L Y, et al. Research on characteristics of magneto-rheoligical fluid damper in consideration of apparent slip boundary condition[J]. China Journal of Highway and Transport, 2017, 30(6):297-306. (in Chinese)
[4]	AHAMED R, CHOI S B, FERDAUS M M. A state of art on magneto-rheological materials and their potential applications[J]. Journal of Intelligent Material Systems and Structures, 2018, 29(10):2051-2095. doi: 10.1177/1045389X18754350 URL
[5]	TRIKANDE M W, KARVE N K, ANAND RAJ R, et al. Semi-active vibration control of an 8x8 armored wheeled platform[J]. Journal of Vibration and Control, 2018, 24(2):283-302. doi: 10.1177/1077546316638199 URL
[6]	陈杰平, 陈无畏, 祝辉, 等. 单出杆汽车磁流变减振器设计与试验[J]. 农业机械学报, 2009, 40(3):5-10.
	CHENG J P, CHENG W W, ZHU H, et al. Design and test of vehicle single outstretch pole MRD[J]. Transactions of The Chinese Society of Agricultural Machinery, 2009, 40(3):5-10. (in Chinese)
[7]	李以农, 潘杰锋, 郑玲. 磁流变阻尼器的有限元参数优化设计[J]. 重庆大学学报, 2010, 33(5):35-40.
	LI Y N, PAN J F, ZHENG L. Design optimization of magneto-rheological damper based on finite element parametric language[J]. Journal of Chongqing University, 2010, 33(5):35-40. (in Chinese)
[8]	彭虎, 张进秋, 刘义乐, 等. 磁流变减振器结构优化设计、性能试验及力学建模[J]. 科学技术与工程, 2018, 18(11):162-169.
	PENG H, ZHANG J Q, LIU Y L, et al. Optimize structural design,property test and mechanics modeling of magneto-rheological damper[J]. Science Technology and Engineering, 2018, 18(11):162-169. (in Chinese)
[9]	张进秋, 王洪涛, 冯占宗, 等. 车用双筒盘形缝隙式磁流变液减振器阻尼特性实验研究[J]. 兵工学报, 2009, 30(11):1488-1492.
	ZHANG J Q, WANG H T, FENG Z Z, et al. Experimental study on damping characteristics of the twin-tube magneto- rheological fluid damper with disc type orifice for the vehicle[J]. Acta Armamentarii, 2009, 30(11):1488-1492. (in Chinese)
[10]	MUNYANEZA O, TURABIMANA P, OH J S, et al. Design and analysis of a hybrid annular radial magnetorheological damper for semi-active in-wheel motor suspension[J]. Sensors, 2022, 22(10):3689. doi: 10.3390/s22103689 URL
[11]	彭志召, 张进秋, 岳杰, 等. 具有并联常通孔的磁流变阻尼器设计与分析[J]. 机械工程学报, 2015, 51(8):172-177. doi: 10.3901/JME.2015.08.172
	PENG Z Z, ZHANG J Q, YUE J, et al. Design and analysis of magnetorheological damper paralleling with constant throttling orifices[J]. Journal of Mechanical Engineering, 2015, 51(8):172-177. (in Chinese) doi: 10.3901/JME.2015.08.172
[12]	于建强, 董小闵, 张宗伦. 具有非对称力学特性的汽车磁流变减振器设计与控制[J]. 中国机械工程, 2017, 28(3):372-377.
	YU J Q, DONG X M, ZHANG Z L. Design and control of a automobile novel magneto-rheological shock absorber with asymmetric mechanics properties[J]. China Mechanical Engineering, 2017, 28(3):372-377. (in Chinese)
[13]	王强, 陈照波, MEHDI Ahmadian, 等. 新型双活塞磁流变阻尼器的理论分析与实验研究[J]. 振动与冲击, 2015, 34(21):144-149,169.
	WANG Q, CHEN Z B, MEHDI A, et al. Theoretical and experimental study of a novel double-piston magnetorheological damper[J]. Journal of Vibration and Shock, 2015, 34(21):144-149,169. (in Chinese)
[14]	侯保林, 郑杰, 郑鹏飞. 某单缸双通道磁流变阻尼器的时间响应特性分析[J]. 振动与冲击, 2020, 39(5):177-182.
	HOU B L, ZHENG J, ZHENG P F. Time response characteristics of a single-cylinder dual-channel MR damper[J]. Journal of Vibration and Shock, 2020, 39(5):177-182. (in Chinese)
[15]	马永品. 快速响应磁流变减振器设计及试验研究[D]. 北京: 北京交通大学, 2020.
	MA Y P. Design and experimental study of fast response magnetorheological damper[D]. Beijing: Beijing Jiaotong University, 2020. (in Chinese)
[16]	LEE T H, KANG B H, KIM G W, et al. A new design of magnetic circuits in magnetorheological dampers for simple structure subjected to small stroke and low damping force[J]. Smart Materials and Structures, 2021, 30(1):015036. doi: 10.1088/1361-665X/abcc0b URL
[17]	BADRI Y, SYAM T M, SASSI S, et al. Investigating the characteristics of a magnetorheological fluid damper through CFD modeling[J]. Materials Research Express, 2021, 8(5):055701. doi: 10.1088/2053-1591/abfcf6 URL
[18]	朱晟. 磁流变减振器优化及半主动悬架系统控制研究[D]. 扬州: 扬州大学, 2021.
	ZHU S. Research on optimization of magnetorheological damper and the control of semi-active suspension system[D]. Yangzhou: Yangzhou University, 2021. (in Chinese)
[19]	左强, 黄鑫芳, 易锋, 等. 阻尼间隙可调式磁流变阻尼器设计与动力性能实验[J]. 农业机械学报, 2022, 53(1):431-440.
	ZUO Q, HUANG X F, YI F, et al. Structure design and dynamic performance analysis of magnetorheological damper with adjustable damping gaps[J]. Transactions of the Chinese Society for Agricultural Machinery, 2022, 53(1):431-440. (in Chinese)
[20]	DONG X M, LI P Y, YAN M S, et al. Characteristic analysis under small-stroke and medium-high frequency of magneto-rheological damper with pressure controlled mechanism[J]. Smart Materials and Structures, 2022, 31(4): 045011. doi: 10.1088/1361-665X/ac55d8 URL
[21]	丁阳, 张路, 李忠献. 两种全通道有效磁流变阻尼器的设计及性能分析[J]. 振动工程学报, 2008, 21(6):565-570.
	DING Y, ZHANG L, LI Z X. Design and performance analysis of two types of MR dampers with full-length effective damping path[J]. Journal of Vibration Engineering, 2008, 21(6):565-570. (in Chinese)
[22]	CHENG M, CHEN Z B, XING J W. Design, analysis, and experimental evaluation of a magnetorheological damper with meandering magnetic circuit[J]. IEEE Transactions on Magnetics, 2018, 54(5):8001110.
[23]	王旭东. 全通道磁流变阻尼器的设计与试验[D]. 天津: 天津大学, 2008.
	WANG X D. Design and experiment of MR damper with full-length effective damping path[D]. Tianjin: Tianjin University, 2008. (in Chinese)
[24]	SPENCER B F, YANG G Q, CARLSON J D, et al. “Smart” dampers for seismic protection of structures a full-scale study[C]//Proceedings of the 2nd World Conference on Structural Control, Kyoto, Japan: International Association for Structural Control, 1998.