CN104343878B - A kind of control system of vibrational energy and method - Google Patents
A kind of control system of vibrational energy and method Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
本发明提供一种振动能量的控制系统与方法,当振动体系当前产生的振动力大于蓄电池作用下的最大发电阻尼力时,利用振动能量驱动油泵油马达带动发电电动机开始动作,让发电电动机工作于发电状态,为蓄电池充电;当振动体系当前产生的振动力大于蓄电池作用下的最大发电阻尼力时,利用蓄电池中的电能驱动控制发电电动机产生减振力,以抵消振动力。因此,本发明实现了将振动能量转换为电能储存在蓄电池中,实现的能量的再利用,且当振动能量较大、又可以利用蓄电池中的电能驱动控制发电电动机产生减振力来抵消振动力,相比于现有技术需要引入外界能量来生成减振力的方案节约了能量。
The present invention provides a vibration energy control system and method. When the current vibration force generated by the vibration system is greater than the maximum generator damping force under the action of the battery, the vibration energy is used to drive the oil pump oil motor to drive the generator motor to start action, so that the generator motor works at In the state of power generation, the battery is charged; when the current vibration force generated by the vibration system is greater than the maximum generating damping force under the action of the battery, the electric energy in the battery is used to drive and control the generator motor to generate a vibration damping force to offset the vibration force. Therefore, the present invention realizes the conversion of vibration energy into electric energy and stores it in the storage battery, so as to realize the reuse of energy, and when the vibration energy is large, the electric energy in the storage battery can be used to drive and control the generator motor to generate vibration damping force to offset the vibration force , compared with the prior art that needs to introduce external energy to generate the damping force, energy is saved.
Description
技术领域technical field
本发明涉及振动消减控制技术领域,更具体地说,涉及一种振动能量的控制系统与方法。The invention relates to the technical field of vibration reduction control, and more specifically, to a vibration energy control system and method.
背景技术Background technique
振动广泛存在于物体的运动过程中,例如汽车运行时,由于路面不平产生的激励通过车轮传递到车体,使车体产生振动并影响汽车的舒适性、安全性和可操控性。由于振动是一种不平衡的能量形式,为了实现减振目的,现有的振动能量控制方法主要包括能量流出振动控制方法和能量流入振动控制方法。Vibration widely exists in the movement of objects. For example, when a car is running, the excitation generated by the uneven road surface is transmitted to the car body through the wheels, causing the car body to vibrate and affecting the comfort, safety and maneuverability of the car. Since vibration is an unbalanced energy form, in order to achieve the purpose of vibration reduction, existing vibration energy control methods mainly include energy outflow vibration control methods and energy inflow vibration control methods.
其中,能量流出振动控制方法是指,将振动能量引出振动体系,例如在汽车车体和车轮之间安装的阻尼减振器就是将振动能量的机械能转换为热能、声能等耗散掉从而产生减振力。能量流入振动控制方法是指,将外部的能量引入到振动体系,例如主动减振采用发电机产生与振动方向相反的减振力,通过引入减振力来抵消从车辆传递到车体的振动能量。Among them, the energy outflow vibration control method refers to that the vibration energy is drawn out of the vibration system, for example, the damping shock absorber installed between the car body and the wheel is to convert the mechanical energy of the vibration energy into heat energy, sound energy, etc., and dissipate it to generate Damping force. The energy inflow vibration control method refers to the introduction of external energy into the vibration system, such as active vibration reduction, which uses a generator to generate a vibration damping force opposite to the vibration direction, and counteracts the vibration energy transmitted from the vehicle to the vehicle body by introducing the vibration damping force .
然而不难发现,利用能量流出振动控制方法只是将部分振动能量消耗,其剩余的部分不平衡的振动能量无法消除,限制了振动控制的效果,且通过阻尼减振器等耗散掉振动能量的方式造成了能量的浪费。而利用能量流入振动控制方法,其通过引入与振动方向相反、且与振动力大小相等的减振力来抵消振动能量,相较于能量流出振动控制方法可以达到更优的减振效果。但是由于能量流入振动控制方法需要引入外界能量来生成减振力,这无疑在浪费振动能量的基础上,还加载了其他能量的浪费。However, it is not difficult to find that using the energy outflow vibration control method only consumes part of the vibration energy, and the remaining part of the unbalanced vibration energy cannot be eliminated, which limits the effect of vibration control, and the vibration energy is dissipated through damping shock absorbers, etc. This method results in a waste of energy. However, using the energy inflow vibration control method, which counteracts the vibration energy by introducing a vibration damping force that is opposite to the vibration direction and equal to the vibration force, can achieve a better vibration reduction effect than the energy outflow vibration control method. However, because the energy inflow vibration control method needs to introduce external energy to generate vibration damping force, this undoubtedly wastes other energy on the basis of wasting vibration energy.
发明内容Contents of the invention
有鉴于此,本发明提供一种振动能量的控制系统与方法,以解决现有技术中采用能量流出振动控制方法存在振动控制的效果不佳且能量浪费,以及采用能量流出振动控制方法存在能量浪费的问题。技术方案如下:In view of this, the present invention provides a vibration energy control system and method to solve the problem of poor vibration control and energy waste in the energy outflow vibration control method in the prior art, and energy waste in the energy outflow vibration control method. The problem. The technical solution is as follows:
基于本发明的一方面,本发明提供一种振动能量的控制系统,包括上连接头、下连接头和振动体系,其中所述上连接头和所述下连接头分别与所述振动体系相连,所述振动体系包括活塞杆、压缩气体、液压油、活塞、活塞溢流阀、活塞单向阀、内缸单向阀、内缸和外缸,其中,Based on one aspect of the present invention, the present invention provides a vibration energy control system, including an upper connector, a lower connector and a vibration system, wherein the upper connector and the lower connector are respectively connected to the vibration system, The vibration system includes piston rod, compressed gas, hydraulic oil, piston, piston relief valve, piston check valve, inner cylinder check valve, inner cylinder and outer cylinder, wherein,
所述上连接头与所述活塞杆的一端连接,所述活塞杆的另一端上装有所述活塞,所述活塞溢流阀和所述活塞单向阀设置在所述活塞上;所述内缸单向阀安装在所述内缸底部;所述内缸的外部同心安装所述外缸;所述外缸与所述下连接头连接;所述内缸的缸体内和所述外缸的一部分缸体内装有所述液压油;所述外缸的另一部分缸体内充满所述压缩空气;The upper connector is connected to one end of the piston rod, the other end of the piston rod is equipped with the piston, and the piston overflow valve and the piston check valve are arranged on the piston; The cylinder check valve is installed at the bottom of the inner cylinder; the outer cylinder is concentrically installed on the outside of the inner cylinder; the outer cylinder is connected to the lower connector; the cylinder body of the inner cylinder and the outer cylinder A part of the cylinder is filled with the hydraulic oil; another part of the outer cylinder is filled with the compressed air;
所述控制系统还包括:The control system also includes:
通过油管与所述内缸的上腔和所述外缸的下部分连接的油泵油马达;an oil pump oil motor connected to the upper cavity of the inner cylinder and the lower part of the outer cylinder through an oil pipe;
与所述油泵油马达直接连接的发电电动机;A generator motor directly connected to the oil pump motor;
与所述发电电动机电连接的双向变流器;a bidirectional converter electrically connected to the generator motor;
与所述双向变流器连接的蓄电池;a storage battery connected to the bidirectional converter;
与所述振动体系连接,用于检测振动信号的振动传感器;A vibration sensor connected to the vibration system for detecting vibration signals;
以及与所述振动传感器连接,用于接收所述振动传感器发送的检测到的所述振动信号,并同时与所述蓄电池连接,用于检测所述蓄电池两端荷电状态信号的微控制单元MCU;And connected with the vibration sensor, used to receive the detected vibration signal sent by the vibration sensor, and connected to the storage battery at the same time, used to detect the micro control unit MCU of the state of charge signal at both ends of the storage battery ;
所述MCU用于,当所述振动体系当前产生的振动力大于所述蓄电池作用下的最大发电阻尼力时,控制调整所述双向变流器的控制角,以使得在所述蓄电池的电能驱动下,控制所述发电电动机产生减振力,以抵消所述振动力;The MCU is used to control and adjust the control angle of the bidirectional converter so that the electric energy of the battery drives Next, control the generator motor to generate a damping force to counteract the vibration force;
以及用于,当所述振动体系当前产生的振动力不大于所述蓄电池作用下的最大发电阻尼力时,控制调整所述双向变流器的控制角,以使得利用所述振动体系当前产生的振动能量驱动所述油泵油马达带动所述发电电动机动作,为所述蓄电池充电。And for, when the vibration force currently generated by the vibration system is not greater than the maximum generating damping force under the action of the battery, control and adjust the control angle of the bidirectional converter so that the vibration force currently generated by the vibration system is used Vibration energy drives the oil pump oil motor to drive the generator motor to charge the storage battery.
优选地,还包括与所述发电电动机电连接的整流器,以及与所述整流器串联连接的耗能电阻;其中,Preferably, it also includes a rectifier electrically connected to the generator motor, and an energy consumption resistor connected in series with the rectifier; wherein,
所述MCU还与所述整流器连接;The MCU is also connected with the rectifier;
此时所述MCU用于,当所述振动体系当前产生的振动力大于所述蓄电池和所述耗能电阻共同作用下的最大发电阻尼力时,控制调整所述双向变流器的控制角,以使得在所述蓄电池的电能驱动下,控制所述发电电动机产生减振力,以抵消所述振动力;At this time, the MCU is used to control and adjust the control angle of the bidirectional converter when the current vibration force generated by the vibration system is greater than the maximum generating damping force under the joint action of the battery and the energy dissipation resistor, so that under the driving of the electric energy of the storage battery, the generator motor is controlled to generate a vibration damping force to counteract the vibration force;
用于,当所述振动体系当前产生的振动力不大于所述蓄电池和所述耗能电阻共同作用下的最大发电阻尼力,且不大于所述蓄电池作用下的最大发电阻尼力时,控制调整所述双向变流器的控制角,以使得利用所述振动体系当前产生的振动能量驱动所述油泵油马达带动所述发电电动机动作,为所述蓄电池充电。For, when the vibration force currently generated by the vibration system is not greater than the maximum generating damping force under the joint action of the battery and the energy dissipation resistor, and is not greater than the maximum generating damping force under the action of the battery, the control adjustment The control angle of the bidirectional converter is such that the vibration energy currently generated by the vibration system is used to drive the oil pump oil motor to drive the generator motor to charge the battery.
以及用于,当所述振动体系当前产生的振动力不大于所述蓄电池和所述耗能电阻共同作用下的最大发电阻尼力,且大于所述蓄电池作用下的最大发电阻尼力时,同时控制调整所述双向变流器的控制角和所述整流器的控制角,以使得所述振动体系当前产生的振动能量一部分用于驱动所述油泵油马达带动所述发电电动机动作,为所述蓄电池充电,另一部分通过所述耗能电阻消耗掉。And for, when the vibration force currently generated by the vibration system is not greater than the maximum generating damping force under the joint action of the battery and the energy consumption resistor, and is greater than the maximum generating damping force under the action of the battery, simultaneously control Adjust the control angle of the two-way converter and the control angle of the rectifier so that part of the vibration energy currently generated by the vibration system is used to drive the oil pump oil motor to drive the generator motor to charge the battery , and the other part is consumed by the energy dissipation resistor.
优选地,所述活塞单向阀与所述内缸单向阀的关断方向相同,与所述活塞溢流阀的关断方向相反。Preferably, the closing direction of the piston check valve is the same as that of the inner cylinder check valve, and opposite to that of the piston relief valve.
基于本发明的另一方面,本发明提供的一种振动能量的控制方法,应用于上述权利要求所述的振动能量的控制系统中,所述方法包括:获取振动体系当前的振动信号a(t)和振动力信号F(t);其中t大于等于0;Based on another aspect of the present invention, a control method of vibration energy provided by the present invention is applied in the control system of vibration energy described in the above claims, and the method includes: obtaining the current vibration signal a(t of the vibration system ) and vibration force signal F(t); where t is greater than or equal to 0;
获取所述蓄电池的当前荷电状态信号SoC(t);Acquiring the current state of charge signal SoC(t) of the storage battery;
依据所述蓄电池的当前荷电状态信号SoC(t)和所述蓄电池的参数信息,计算得到所述蓄电池当前作用下的最大发电阻尼力F1(t+1);According to the current state of charge signal SoC(t) of the battery and the parameter information of the battery, calculate and obtain the maximum generating damping force F1(t+1) under the current action of the battery;
参考所述振动体系当前的应用场景,选择一种外部减振算法,依据所述振动信号a(t)和振动力信号F(t),利用所述外部减振算法计算得到当前振动能量的控制系统所需的减振力F(t+1);Referring to the current application scenario of the vibration system, select an external vibration reduction algorithm, and use the external vibration reduction algorithm to calculate the current vibration energy control according to the vibration signal a(t) and the vibration force signal F(t). The damping force F(t+1) required by the system;
判断所述减振力F(t+1)是否大于所述最大发电阻尼力F1(t+1);Judging whether the damping force F(t+1) is greater than the maximum generating damping force F1(t+1);
如果大于,控制双向变流器的整流控制电压C1(t)等于0,断开所述振动体系产生的振动能量向蓄电池流动的通路;If it is greater than, control the rectification control voltage C1(t) of the bidirectional converter to be equal to 0, and disconnect the vibration energy generated by the vibration system from flowing to the storage battery;
依据所述减振力F(t+1)计算所述双向变流器的逆变控制的控制角,并将其转换为逆变控制电压C2(t),且控制打开所述蓄电池的能量流向所述振动体系的通路;Calculate the control angle of the inverter control of the bidirectional converter according to the damping force F(t+1), convert it into an inverter control voltage C2(t), and control the energy flow of the storage battery to open access to the vibration system;
输出所述逆变控制电压C2(t)对应的逆变控制脉冲宽度调制PWM信号,以控制调整所述双向变流器的逆变控制角;Outputting the inverter control pulse width modulation PWM signal corresponding to the inverter control voltage C2(t), to control and adjust the inverter control angle of the bidirectional converter;
利用所述蓄电池的电能,驱动发电电动机工作在电动状态,以驱动油泵油马达工作在油泵状态,从而产生与所述减振力F(t+1)振动方向相反的减振力;Using the electric energy of the storage battery to drive the generator motor to work in the electric state, to drive the oil pump oil motor to work in the oil pump state, thereby generating a vibration damping force opposite to the vibration direction of the vibration damping force F(t+1);
如果不大于,控制所述双向变流器的逆变控制电压C2(t)等于0,断开所述蓄电池的能量流向所述振动体系的通路;If it is not greater than, control the inverter control voltage C2(t) of the bidirectional converter to be equal to 0, and disconnect the energy of the storage battery from flowing to the vibration system;
依据所述减振力F(t+1)和所述蓄电池的当前荷电状态信号SoC(t),计算得到所述双向变流器的整流控制电压C1(t),且控制打开所述振动体系产生的振动能量向蓄电池流动的通路;According to the damping force F(t+1) and the current state-of-charge signal SoC(t) of the battery, calculate the rectification control voltage C1(t) of the bidirectional converter, and control to turn on the vibration The path through which the vibration energy generated by the system flows to the battery;
输出所述双向变流器的整流控制电压C1(t)对应的PWM信号,以控制调整所述双向变流器的整流控制角;Outputting a PWM signal corresponding to the rectification control voltage C1(t) of the bidirectional converter to control and adjust the rectification control angle of the bidirectional converter;
利用所述振动体系当前产生的振动能量驱动所述油泵油马达带动所述发电电动机工作在发电状态,为所述蓄电池充电。The vibration energy currently generated by the vibration system is used to drive the oil pump oil motor to drive the generator motor to work in a power generation state to charge the storage battery.
优选地,所述振动能量的控制系统还包括与所述发电电动机电连接的整流器,以及与所述整流器串联连接的耗能电阻;其中,所述MCU还与所述整流器连接;Preferably, the vibration energy control system further includes a rectifier electrically connected to the generator motor, and an energy consumption resistor connected in series with the rectifier; wherein, the MCU is also connected to the rectifier;
所述方法还包括:The method also includes:
依据所述蓄电池的当前荷电状态信号SoC(t)、所述蓄电池的参数信息以及所述耗能电阻的阻值,计算得到所述蓄电池和所述耗能电阻共同作用下的最大发电阻尼力F2(t+1);According to the current state of charge signal SoC(t) of the storage battery, the parameter information of the storage battery, and the resistance value of the energy consumption resistor, calculate and obtain the maximum generating damping force under the joint action of the storage battery and the energy consumption resistor F2(t+1);
此时所述方法还包括:At this point the method also includes:
先判断所述减振力F(t+1)是否大于所述蓄电池和所述耗能电阻共同作用下的最大发电阻尼力F2(t+1);First judge whether the damping force F(t+1) is greater than the maximum generating damping force F2(t+1) under the joint action of the battery and the energy dissipation resistor;
如果大于,控制所述整流器的控制电压C2(t)等于0,断开所述振动体系产生的振动能量向所述耗能电阻流动的通路,同时控制双向变流器的整流控制电压C1(t)等于0,断开所述振动体系产生的振动能量向蓄电池流动的通路;If it is greater than, control the control voltage C2 (t) of the rectifier to be equal to 0, disconnect the vibration energy generated by the vibration system to the flow path of the energy consumption resistance, and simultaneously control the rectification control voltage C1 (t) of the bidirectional converter ) is equal to 0, disconnecting the vibration energy generated by the vibration system to flow to the battery path;
进而依据所述减振力F(t+1)计算所述双向变流器的逆变控制的控制角,并将其转换为逆变控制电压C2(t),且控制打开所述蓄电池的能量流向所述振动体系的通路;Further, calculate the control angle of the inverter control of the bidirectional converter according to the damping force F(t+1), convert it into an inverter control voltage C2(t), and control the energy of turning on the battery access to the vibrating system;
输出所述逆变控制电压C2(t)对应的逆变控制脉冲宽度调制PWM信号,以控制调整所述双向变流器的逆变控制角;Outputting the inverter control pulse width modulation PWM signal corresponding to the inverter control voltage C2(t), to control and adjust the inverter control angle of the bidirectional converter;
利用所述蓄电池的电能,驱动发电电动机工作在电动状态,以驱动油泵油马达工作在油泵状态,从而产生与所述减振力F(t+1)振动方向相反的减振力;Using the electric energy of the storage battery to drive the generator motor to work in the electric state, to drive the oil pump oil motor to work in the oil pump state, thereby generating a vibration damping force opposite to the vibration direction of the vibration damping force F(t+1);
如果不大于,在判断所述减振力F(t+1)是否大于所述蓄电池当前作用下的最大发电阻尼力F1(t+1);If it is not greater than, judging whether the damping force F(t+1) is greater than the maximum generating damping force F1(t+1) under the current action of the battery;
如果所述减振力F(t+1)不大于所述蓄电池当前作用下的最大发电阻尼力F1(t+1),控制所述双向变流器的逆变控制电压C2(t)等于0,断开所述蓄电池的能量流向所述振动体系的通路;If the damping force F(t+1) is not greater than the maximum generating damping force F1(t+1) under the current action of the battery, control the inverter control voltage C2(t) of the bidirectional converter to be equal to 0 , disconnecting the energy flow path of the storage battery to the vibration system;
进而依据所述减振力F(t+1)和所述蓄电池的当前荷电状态信号SoC(t),计算得到所述双向变流器的整流控制电压C1(t),且控制打开所述振动体系产生的振动能量向蓄电池流动的通路;Furthermore, according to the damping force F(t+1) and the current state of charge signal SoC(t) of the battery, the rectification control voltage C1(t) of the bidirectional converter is calculated, and the control to turn on the The path through which the vibration energy generated by the vibration system flows to the battery;
输出所述双向变流器的整流控制电压C1(t)对应的PWM信号,以控制调整所述双向变流器的整流控制角;Outputting a PWM signal corresponding to the rectification control voltage C1(t) of the bidirectional converter to control and adjust the rectification control angle of the bidirectional converter;
利用所述振动体系当前产生的振动能量驱动所述油泵油马达带动所述发电电动机工作在发电状态,为所述蓄电池充电;Utilize the vibration energy currently generated by the vibration system to drive the oil pump oil motor to drive the generator motor to work in the power generation state to charge the battery;
如果所述减振力F(t+1)大于所述蓄电池当前作用下的最大发电阻尼力F1(t+1),控制所述双向变流器的逆变控制电压C2(t)等于0,断开所述蓄电池的能量流向所述振动体系的通路;If the damping force F(t+1) is greater than the maximum generating damping force F1(t+1) under the current action of the battery, control the inverter control voltage C2(t) of the bidirectional converter to be equal to 0, disconnecting the energy flow of the battery to the vibrating system;
选取所述双向变流器的整流控制电压C1(t)的最大值;Selecting the maximum value of the rectification control voltage C1(t) of the bidirectional converter;
进而依据所述减振力F(t+1)与所述蓄电池和所述耗能电阻共同作用下的最大发电阻尼力F2(t+1)之差,计算得到所述整流器的控制角对应的控制电压C1(t),且控制打开所述振动系统产生的振动能量向所述耗能电阻流动的通路;Furthermore, according to the difference between the damping force F(t+1) and the maximum generating damping force F2(t+1) under the joint action of the battery and the energy dissipation resistor, the corresponding value of the control angle of the rectifier is obtained by calculating Controlling the voltage C1(t), and controlling and opening the path for the vibration energy generated by the vibration system to flow to the energy consumption resistance;
分别输出所述整流器的控制电压C1(t)和所述双向变流器的整流控制电压C1(t)对应的PWM信号,以控制调整所述双向变流器完全工作在整流状态,所述整流器工作在可控整流状态;Respectively output the control voltage C1(t) of the rectifier and the PWM signal corresponding to the rectification control voltage C1(t) of the bidirectional converter, so as to control and adjust the bidirectional converter to work completely in the rectification state, and the rectifier Work in the controllable rectification state;
其中,所述振动体系当前产生的振动能量一部分用于驱动所述油泵油马达带动所述发电电动机工作在发电状态,为所述蓄电池充电,另一部分由所述耗能电阻消耗掉。Wherein, part of the vibration energy currently generated by the vibration system is used to drive the oil pump oil motor to drive the generator motor to work in the power generation state to charge the battery, and the other part is consumed by the energy dissipation resistor.
优选地,所述蓄电池的参数信息包括所述蓄电池的性能参数信息,其中所述蓄电池的性能参数信息包括所述蓄电池的容量参数信息。Preferably, the parameter information of the storage battery includes performance parameter information of the storage battery, wherein the performance parameter information of the storage battery includes capacity parameter information of the storage battery.
优选地,所述外部减振算法包括天棚控制算法。Preferably, the external vibration reduction algorithm includes a ceiling control algorithm.
优选地,所述产生与所述减振力F(t+1)振动方向相反的减振力包括:Preferably, generating a vibration damping force opposite to the vibration direction of the vibration damping force F(t+1) includes:
产生与所述减振力F(t+1)振动方向相反、振动力大小相等的减振力。Generate a vibration damping force that is opposite to the vibration direction of the vibration damping force F(t+1) and equal in magnitude to the vibration force.
优选地,所述双向变流器和所述整流器的控制角可调。Preferably, the control angles of the bidirectional converter and the rectifier are adjustable.
优选地,还包括:Preferably, it also includes:
判断所述外部减振算法是否要求停车;Judging whether the external vibration reduction algorithm requires parking;
如果要求停车,停止当前振动能量的控制,采集下一t+1时刻的各项参数;If it is required to stop, stop the control of the current vibration energy, and collect various parameters at the next time t+1;
如果没有要求停车,返回步骤接收通过振动传感器检测到的振动体系当前的振动信号a(t)和振动力信号F(t)。If there is no request to stop, the return step receives the current vibration signal a(t) and vibration force signal F(t) of the vibration system detected by the vibration sensor.
应用上述技术方案,本发明提供的振动能量的控制系统和方法,当振动体系当前产生的振动力大于蓄电池作用下的最大发电阻尼力时,即振动体系当前的振动能量较小时,利用振动能量驱动油泵油马达带动发电电动机开始动作,让发电电动机工作于发电状态,为蓄电池充电;当振动体系当前产生的振动力大于蓄电池作用下的最大发电阻尼力时,即振动体系当前的振动能量较大时,利用蓄电池中的电能驱动控制发电电动机产生减振力,以抵消振动力。因此,本发明实现了将振动能量转换为电能储存在蓄电池中,实现了能量的再利用,且当振动能量较大时,又可以利用蓄电池中的电能驱动控制发电电动机产生减振力来抵消振动力,相比于现有技术需要引入外界能量来生成减振力的方案节约了能量。本发明实现了对能量流入流出环节的可变控制。Applying the above-mentioned technical scheme, the vibration energy control system and method provided by the present invention, when the current vibration force generated by the vibration system is greater than the maximum generating resistance force under the action of the battery, that is, when the current vibration energy of the vibration system is small, the vibration energy is used to drive The oil pump oil motor drives the generator motor to start to operate, so that the generator motor works in the power generation state to charge the battery; when the current vibration force generated by the vibration system is greater than the maximum generator damping force under the action of the battery, that is, when the current vibration energy of the vibration system is large , using the electric energy in the storage battery to drive and control the generator motor to generate vibration damping force to counteract the vibration force. Therefore, the present invention realizes the conversion of vibration energy into electric energy and stores it in the storage battery, realizes the reuse of energy, and when the vibration energy is large, the electric energy in the storage battery can be used to drive and control the generator motor to generate vibration damping force to offset the vibration Compared with the prior art that needs to introduce external energy to generate the damping force, the energy is saved. The invention realizes the variable control of energy inflow and outflow links.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案,下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.
图1为本发明提供的一种振动能量的控制系统的一种结构示意图;Fig. 1 is a kind of structural representation of the control system of a kind of vibration energy provided by the present invention;
图2为本发明提供的一种振动能量的控制方法的一种流程图;Fig. 2 is a kind of flowchart of the control method of a kind of vibration energy provided by the present invention;
图3为本发明提供的一种振动能量的控制系统的另一种结构示意图;Fig. 3 is another kind of structural representation of the control system of a kind of vibration energy provided by the present invention;
图4为本发明提供的一种振动能量的控制方法的另一种流程图。Fig. 4 is another flow chart of a vibration energy control method provided by the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
在介绍本发明前,发明人首先需要说明的是:现有技术在实现减振时,传统的减振器要么是把被减振物体的振动能转化为热能耗散掉,要么是输入一个与被减振物体振动能大小相等、方向相反的能量抵消掉。本发明的实质是提供一种新型的液压减振器,本发明根据被减振物体的振动情况,优先将振动能转化为电能进行存储,如果转换的电能不足以抵消全部的振动能,再向被减振物体(本发明在下述过程描述中统称为振动体系)输入相反的能量进行抵消。Before introducing the present invention, what the inventor first needs to explain is: when the prior art realizes vibration reduction, the traditional shock absorber either converts the vibration energy of the damped object into heat energy and dissipates it, or inputs a The vibration energy of the object to be damped is equal in size and opposite in direction to offset it. The essence of the present invention is to provide a new type of hydraulic shock absorber. According to the vibration of the object to be damped, the present invention firstly converts the vibration energy into electric energy for storage. The object to be damped (the present invention is collectively referred to as the vibration system in the following process description) inputs opposite energy to cancel.
本发明欲保护的技术点包括,利用一套包括发电电动机、液压马达泵等设备的装置,通过对被减振物体与本减振器之间双向的能量切换,实现对被减振物体的减振。The technical points to be protected by the present invention include, using a set of devices including generator motors, hydraulic motor pumps and other equipment, through bidirectional energy switching between the damped object and the shock absorber, to achieve damping of the damped object vibration.
为了便于对本发明更好的理解,本发明下述实施例均以汽车减振的应用场景为例进行说明。当然,对于本领域技术人员来讲,本发明不只限于汽车减振技术领域,本发明还可作为桥梁斜拉索的阻尼器,用于消减从桥梁传递到斜拉索产生的晃动。本发明的应用领域十分广泛,本发明并不对本发明的应用领域做出限定,凡是可以应用本发明的任何技术领域或场景都属于本发明的保护范围。In order to facilitate a better understanding of the present invention, the following embodiments of the present invention are all described by taking the application scene of automobile vibration reduction as an example. Of course, for those skilled in the art, the present invention is not limited to the technical field of automobile vibration reduction, and the present invention can also be used as a damper for bridge stay cables to reduce the shaking generated from bridge transmission to stay cables. The application field of the present invention is very wide, and the present invention does not limit the application field of the present invention, and any technical field or scene where the present invention can be applied belongs to the protection scope of the present invention.
实施例一Embodiment one
请参阅图1,其示出了本发明提供的一种振动能量的控制系统的一种结构示意图,包括:上连接头100、下连接头200和振动体系300,其中,振动体系300具体包括:活塞杆301、压缩气体302、液压油303、活塞304、活塞溢流阀305、活塞单向阀306、内缸单向阀307、内缸308和外缸309。Please refer to FIG. 1, which shows a schematic structural view of a vibration energy control system provided by the present invention, including: an upper connector 100, a lower connector 200 and a vibration system 300, wherein the vibration system 300 specifically includes: Piston rod 301, compressed gas 302, hydraulic oil 303, piston 304, piston overflow valve 305, piston check valve 306, inner cylinder check valve 307, inner cylinder 308 and outer cylinder 309.
具体在本实施例中,上连接头100与活塞杆301的一端连接,活塞杆301的另一端上装有活塞304,活塞溢流阀305和活塞单向阀306设置在活塞304上;内缸单向阀307安装在内缸308底部;内缸308的外部同心安装外缸309;外缸309与下连接头200连接;内缸308的缸体内和外缸309的一部分缸体内装有液压油303;外缸309的另一部分缸体内充满压缩空气302,以补偿振动带动活塞304运动引起的缸内油液体积变化。Specifically in this embodiment, the upper connector 100 is connected to one end of the piston rod 301, the other end of the piston rod 301 is equipped with a piston 304, and the piston overflow valve 305 and the piston check valve 306 are arranged on the piston 304; The valve 307 is installed at the bottom of the inner cylinder 308; the outer cylinder 309 is concentrically installed on the outside of the inner cylinder 308; the outer cylinder 309 is connected with the lower connector 200; hydraulic oil is housed in the cylinder body of the inner cylinder 308 and a part of the outer cylinder 309 303 ; another part of the outer cylinder 309 is filled with compressed air 302 to compensate for the volume change of the oil in the cylinder caused by the movement of the piston 304 driven by vibration.
在本实施例中,振动体系300的振动来自于上连接头100与下连接头200之间的相对往复位移,其产生的振动会驱动活塞304在内缸308中上下做往复运动。活塞304将内缸308分为上腔和下腔。In this embodiment, the vibration of the vibrating system 300 comes from the relative reciprocating movement between the upper connecting head 100 and the lower connecting head 200 , and the generated vibration will drive the piston 304 to reciprocate up and down in the inner cylinder 308 . The piston 304 divides the inner cylinder 308 into an upper chamber and a lower chamber.
此外,控制系统还包括:油泵油马达400、发电电动机500、双向变流器600、蓄电池700、振动传感器800和MCU(MicroControllerUnit,微控制单元)900。In addition, the control system also includes: oil pump oil motor 400 , generator motor 500 , bidirectional converter 600 , battery 700 , vibration sensor 800 and MCU (MicroControllerUnit, micro control unit) 900 .
在本发明中,内缸308的上腔和外缸309的下部分分别通过油管与油泵油马达400相连,油泵油马达400直接连接发电电动机500。当内缸308和外缸309之间的油液流动带动油泵油马达400工作在油马达状态时,发电电动机500工作于发电状态,当蓄电池700向发电电动机500供电时,发电电动机500工作于电动状态,此时油泵油马达400实现油泵功能。In the present invention, the upper cavity of the inner cylinder 308 and the lower part of the outer cylinder 309 are respectively connected to the oil pump oil motor 400 through oil pipes, and the oil pump oil motor 400 is directly connected to the generator motor 500 . When the oil flow between the inner cylinder 308 and the outer cylinder 309 drives the oil pump oil motor 400 to work in the oil motor state, the generator motor 500 works in the power generation state, and when the battery 700 supplies power to the generator motor 500, the generator motor 500 works in the electric motor state. state, at this time the oil pump oil motor 400 realizes the oil pump function.
在本发明中,活塞单向阀306与内缸单向阀307的关断方向相同,并与活塞溢流阀305的关断方向相反,这样,本发明在上连接头100和下连接头200之间的振动无论做压缩运动还是拉伸运动,油泵油马达400都在相同旋向旋转,当振动体系300的振动能量过大时,活塞溢流阀305打开,实现对过大振动能量的卸荷。In the present invention, the shut-off direction of the piston check valve 306 is the same as that of the inner cylinder check valve 307, and is opposite to the shut-off direction of the piston overflow valve 305. Whether the vibration between them is compressed or stretched, the oil pump oil motor 400 will rotate in the same direction. When the vibration energy of the vibration system 300 is too large, the piston overflow valve 305 will open to realize the discharge of the excessive vibration energy. charge.
双向变流器600与发电电动机500电连接,双向变流器600与蓄电池700连接。The bidirectional converter 600 is electrically connected to the generator motor 500 , and the bidirectional converter 600 is connected to the storage battery 700 .
在本实施例中,包括两条能量流动通路,第一通路为:蓄电池700的电能→双向变流器600,此时的双向变流器600工作于逆变状态→发电电动机500,此时的发电电动机500工作于电动状态→油泵油马达400,此时的油泵油马达400在发电电动机500的驱动下工作于油泵状态→活塞杆301,最终在上连接头100和下连接头200之间产生对振动能量的抵消作用;第二通路为:上连接头100和下连接头200之间的振动能量通过活塞杆301→油泵油马达400,此时的油泵油马达400工作于油马达状态→发电电动机500,此时油泵油马达400带动发电电动机500工作于发电状态→双向变流器600,此时的双向变流器600工作于整流状态→蓄电池700,为蓄电池700充电以产生对振动能量的消耗作用。In this embodiment, two energy flow paths are included. The first path is: the electric energy of the storage battery 700→the bidirectional converter 600. At this time, the bidirectional converter 600 works in the inverter state→the generator motor 500. At this time, Generator motor 500 works in the electric state→oil pump oil motor 400. At this time, the oil pump oil motor 400 works in the oil pump state driven by the generator motor 500→piston rod 301, and finally generates a Offset effect on vibration energy; the second path is: the vibration energy between the upper connector 100 and the lower connector 200 passes through the piston rod 301 → the oil pump oil motor 400, at this time the oil pump oil motor 400 works in the oil motor state → generates electricity The electric motor 500, at this time, the oil pump oil motor 400 drives the generator motor 500 to work in the power generation state → the bidirectional converter 600, at this time the bidirectional converter 600 works in the rectification state → the storage battery 700, which charges the storage battery 700 to generate vibration energy consumption effect.
振动传感器800安装在待减振物体上,具体在本实施例中,可以安装在振动体系300上,用于实时检测振动体系300产生的振动信号a(t)和振动力信号F(t);其中t大于等于0。The vibration sensor 800 is installed on the object to be damped. Specifically, in this embodiment, it can be installed on the vibration system 300 for real-time detection of the vibration signal a(t) and the vibration force signal F(t) generated by the vibration system 300; Where t is greater than or equal to 0.
同时,振动传感器800与MCU900连接,将检测到的振动信号a(t)和振动力信号F(t)发送给MCU900。Meanwhile, the vibration sensor 800 is connected to the MCU 900 and sends the detected vibration signal a(t) and vibration force signal F(t) to the MCU 900 .
MCU900在与振动传感器800连接的同时,还与蓄电池700连接,用于检测蓄电池700两端荷电状态信号SoC(t)。While being connected to the vibration sensor 800 , the MCU 900 is also connected to the battery 700 for detecting the state-of-charge signal SoC(t) at both ends of the battery 700 .
在本实施例中,可以通过在蓄电池700两端外接一个电阻,进而把电阻上的电压信号输入MCU900,以实现检测蓄电池700两端的荷电状态信号SoC(t)。In this embodiment, a resistor can be externally connected to both ends of the battery 700 , and then the voltage signal on the resistor can be input to the MCU 900 , so as to detect the state of charge signal SoC(t) at both ends of the battery 700 .
在本实施例中,MCU900通过检测蓄电池700两端获取到的蓄电池700的当前荷电状态信号SoC(t),以及同时依据蓄电池700的参数信息,可以计算得到蓄电池700当前作用下的最大发电阻尼力F1(t+1);MCU900还可以参考振动体系300当前的应用场景,自动选择一种外部减振算法,依据接收到的振动传感器800发送的振动信号a(t)和振动力信号F(t),利用选择的该外部减振算法计算得到当前振动能量的控制系统所需的减振力F(t+1)。In this embodiment, the MCU 900 can calculate the maximum power generating resistance of the battery 700 under the current action of the battery 700 by detecting the current state of charge signal SoC(t) of the battery 700 obtained from both ends of the battery 700 and at the same time according to the parameter information of the battery 700 Force F1(t+1); MCU900 can also refer to the current application scene of vibration system 300, and automatically select an external vibration reduction algorithm, according to the received vibration signal a(t) and vibration force signal F( t), using the selected external vibration damping algorithm to calculate the damping force F(t+1) required by the control system of the current vibration energy.
在本发明中具体地,当振动体系300当前产生的振动力F(t+1)大于蓄电池700作用下的最大发电阻尼力F1(t+1)时,MCU900控制调整双向变流器600的控制角,以使得在蓄电池700的电能驱动下,控制发电电动机500产生减振力,以抵消振动力,即打开上述第一通路;当振动体系300当前产生的振动力不大于蓄电池700作用下的最大发电阻尼力F1(t+1)时,控制调整双向变流器600的控制角,以使得利用振动体系300当前产生的振动能量驱动油泵油马达400带动发电电动机500动作,为蓄电池700充电,即打开上述第二通路。Specifically in the present invention, when the vibration force F(t+1) currently generated by the vibration system 300 is greater than the maximum generating damping force F1(t+1) under the action of the battery 700, the MCU 900 controls and adjusts the control of the bidirectional converter 600 Angle, so that driven by the electric energy of the storage battery 700, the generator motor 500 is controlled to generate a vibration damping force to counteract the vibration force, that is, the above-mentioned first path is opened; when the current vibration force generated by the vibration system 300 is not greater than the maximum When the damping force F1(t+1) is generated, control and adjust the control angle of the bidirectional converter 600 so that the vibration energy currently generated by the vibration system 300 is used to drive the oil pump oil motor 400 to drive the generator motor 500 to charge the battery 700, namely Open the above-mentioned second passage.
为了更加清楚地对本实施例进行说明,请参阅图2,其示出了本发明提供的一种振动能量的控制方法的一种流程图,包括:In order to describe this embodiment more clearly, please refer to Fig. 2, which shows a flow chart of a vibration energy control method provided by the present invention, including:
步骤101,MCU900获取振动体系300当前的振动信号a(t)和振动力信号F(t)。其中t大于等于0。Step 101 , the MCU 900 acquires the current vibration signal a(t) and vibration force signal F(t) of the vibration system 300 . Where t is greater than or equal to 0.
在本实施例中,振动传感器800实时检测振动体系300的振动信号a(t)和振动力信号F(t),并将检测到的振动体系300当前的振动信号a(t)和振动力信号F(t)发送至MCU900。In this embodiment, the vibration sensor 800 detects the vibration signal a(t) and the vibration force signal F(t) of the vibration system 300 in real time, and the detected current vibration signal a(t) and vibration force signal of the vibration system 300 F(t) is sent to MCU900.
步骤102,MCU900获取蓄电池700的当前荷电状态信号SoC(t)。Step 102 , the MCU 900 acquires the current state of charge signal SoC(t) of the battery 700 .
在本实施例中,通过检测蓄电池700的两端,获取蓄电池700的当前荷电状态信号SoC(t)。In this embodiment, the current state of charge signal SoC(t) of the battery 700 is obtained by detecting both ends of the battery 700 .
显然,对于上述步骤101与步骤102间的关系只是示例性的,当然本发明还可以为先执行步骤102,再执行步骤101,或步骤102与步骤101同时执行,此处本发明不做限制。Obviously, the relationship between the above step 101 and step 102 is only exemplary. Of course, the present invention can also execute step 102 first, and then execute step 101, or execute step 102 and step 101 simultaneously, and the present invention is not limited here.
步骤103,MCU900依据蓄电池700的当前荷电状态信号SoC(t)和蓄电池700的参数信息,计算得到蓄电池700当前作用下的最大发电阻尼力F1(t+1)。Step 103 , the MCU 900 calculates the maximum generating damping force F1(t+1) under the current action of the battery 700 according to the current state of charge signal SoC(t) of the battery 700 and the parameter information of the battery 700 .
其中,蓄电池700的参数信息可以包括蓄电池700的性能参数信息,其中蓄电池700的性能参数信息包括蓄电池700的容量参数信息。The parameter information of the battery 700 may include performance parameter information of the battery 700 , wherein the performance parameter information of the battery 700 includes capacity parameter information of the battery 700 .
其中,蓄电池700当前作用下的最大发电阻尼力F1(t+1)表示的是当前蓄电池700所能产生的最大减振力。Wherein, the maximum generating damping force F1(t+1) under the current action of the battery 700 represents the maximum damping force that the battery 700 can generate currently.
步骤104,MCU900参考振动体系300当前的应用场景,选择一种外部减振算法,依据振动信号a(t)和振动力信号F(t),利用该外部减振算法计算得到当前振动能量的控制系统所需的减振力F(t+1)。In step 104, the MCU 900 refers to the current application scenario of the vibration system 300, selects an external vibration reduction algorithm, and uses the external vibration reduction algorithm to calculate the current vibration energy control according to the vibration signal a(t) and the vibration force signal F(t). The damping force F(t+1) required by the system.
需要说明的是,当本发明应用于不同的应用场景时,需要选用与应用场景相对应的一种外部减振算法进行计算。本实施例以汽车减振为例进行说明,因此优选的,本发明中的外部减振算法可以为天棚控制算法。It should be noted that when the present invention is applied to different application scenarios, an external vibration reduction algorithm corresponding to the application scenario needs to be selected for calculation. This embodiment is described by taking automobile vibration reduction as an example, therefore, preferably, the external vibration reduction algorithm in the present invention may be a ceiling control algorithm.
步骤105,MCU900判断减振力F(t+1)是否大于最大发电阻尼力F1(t+1)。如果大于,执行步骤106,如果不大于,执行步骤110。Step 105, MCU 900 judges whether the damping force F(t+1) is greater than the maximum generating damping force F1(t+1). If it is greater, execute step 106; if not, execute step 110.
步骤106,MCU900控制双向变流器600的整流控制电压C1(t)等于0,断开振动体系300产生的振动能量向蓄电池700流动的通路。Step 106 , the MCU 900 controls the rectification control voltage C1(t) of the bidirectional converter 600 to be equal to 0, and cuts off the path for the vibration energy generated by the vibration system 300 to flow to the battery 700 .
在本实施例中,当减振力F(t+1)大于最大发电阻尼力F1(t+1),表明当前蓄电池700不足以消耗掉振动体系300产生的振动能量,此时就需要控制蓄电池700驱动双向变流器600产生减振力,以抵消振动力。In this embodiment, when the damping force F(t+1) is greater than the maximum generating damping force F1(t+1), it indicates that the current battery 700 is not enough to consume the vibration energy generated by the vibration system 300, and at this time it is necessary to control the battery 700 drives the bidirectional converter 600 to generate vibration damping force to counteract the vibration force.
步骤107,MCU900依据减振力F(t+1)计算双向变流器600的逆变控制的控制角,并将其转换为逆变控制电压C2(t),且控制打开蓄电池700的能量流向振动体系300的通路。Step 107, the MCU900 calculates the control angle of the inverter control of the bidirectional converter 600 according to the damping force F(t+1), converts it into the inverter control voltage C2(t), and controls the energy flow direction of the battery 700 Access to the vibration system 300 .
其中,双向变流器600的逆变控制的控制角即双向变流器600的逆变控制的占空比。本发明通过逆变控制电压C2(t),通过调整控制角可调节地打开蓄电池700的能量流向振动体系300的通路。Wherein, the control angle of the inverter control of the bidirectional converter 600 is the duty ratio of the inverter control of the bidirectional converter 600 . The present invention adjustably opens the energy flow path of the storage battery 700 to the vibration system 300 through the inverter control voltage C2(t) and by adjusting the control angle.
步骤108,MCU900输出逆变控制电压C2(t)对应的PWM(逆变控制脉冲宽度调制)信号,以控制调整双向变流器600的逆变控制角。Step 108 , the MCU 900 outputs a PWM (inverter control pulse width modulation) signal corresponding to the inverter control voltage C2(t), so as to control and adjust the inverter control angle of the bidirectional converter 600 .
步骤109,MCU900利用蓄电池700的电能,驱动发电电动机500工作在电动状态,以驱动油泵油马达400工作在油泵状态,从而产生与减振力F(t+1)振动方向相反的减振力。Step 109, MCU 900 utilizes the electric energy of battery 700 to drive generator motor 500 to work in electric state, and drive oil pump oil motor 400 to work in oil pump state, thereby generating a vibration damping force opposite to the vibration direction of damping force F(t+1).
较优的,本发明可以产生一与减振力F(t+1)振动方向相反、振动力大小相等的减振力。Preferably, the present invention can generate a vibration damping force that is opposite to the vibration direction of the vibration damping force F(t+1) and equal in magnitude to the vibration force.
步骤110,MCU900控制双向变流器600的逆变控制电压C2(t)等于0,断开蓄电池700的能量流向振动体系300的通路。Step 110 , the MCU 900 controls the inverter control voltage C2(t) of the bidirectional converter 600 to be equal to 0, and disconnects the energy from the storage battery 700 to the vibration system 300 .
步骤111,MCU900依据减振力F(t+1)和蓄电池700的当前荷电状态信号SoC(t),计算得到双向变流器600的整流控制电压C1(t),且控制打开振动体系300产生的振动能量向蓄电池700流动的通路。In step 111, the MCU 900 calculates the rectification control voltage C1(t) of the bidirectional converter 600 according to the damping force F(t+1) and the current state of charge signal SoC(t) of the battery 700, and controls to open the vibration system 300 The path through which the generated vibration energy flows to the storage battery 700 .
步骤112,MCU900输出双向变流器600的整流控制电压C1(t)对应的PWM信号,以控制调整双向变流器600的整流控制角。Step 112 , the MCU 900 outputs a PWM signal corresponding to the rectification control voltage C1(t) of the bidirectional converter 600 to control and adjust the rectification control angle of the bidirectional converter 600 .
步骤113,MCU900利用振动体系300当前产生的振动能量驱动油泵油马达400带动发电电动机500工作在发电状态,为蓄电池700充电。Step 113 , the MCU 900 uses the vibration energy currently generated by the vibration system 300 to drive the oil pump oil motor 400 to drive the generator motor 500 to work in the power generation state to charge the battery 700 .
因此应用本发明的上述技术方案,本发明提供的振动能量的控制系统,当振动体系300当前产生的振动力大于蓄电池700作用下的最大发电阻尼力时,即振动体系300当前的振动能量较小时,利用振动能量驱动油泵油马达400带动发电电动机500开始动作,让发电电动机500工作于发电状态,为蓄电池700充电;当振动体系300当前产生的振动力大于蓄电池700作用下的最大发电阻尼力时,即振动体系300当前的振动能量较大时,利用蓄电池700中的电能驱动控制发电电动机500产生减振力,以抵消振动力。因此,本发明实现了将振动能量转换为电能储存在蓄电池700中,实现的能量的再利用,且当振动能量较大、又可以利用蓄电池700中的电能驱动控制发电电动机500产生减振力来抵消振动力,相比于现有技术需要引入外界能量来生成减振力的方案节约了能量。本发明实现了对能量流入流出环节的可变控制。Therefore, applying the above-mentioned technical solution of the present invention, the control system of vibration energy provided by the present invention, when the current vibration force generated by the vibration system 300 is greater than the maximum generating damping force under the action of the battery 700, that is, when the current vibration energy of the vibration system 300 is small , use the vibration energy to drive the oil pump oil motor 400 to drive the generator motor 500 to start action, let the generator motor 500 work in the power generation state, and charge the battery 700; That is, when the current vibration energy of the vibration system 300 is relatively large, the electric energy in the storage battery 700 is used to drive and control the generator motor 500 to generate vibration damping force to counteract the vibration force. Therefore, the present invention realizes the conversion of vibration energy into electric energy and stores it in the storage battery 700, and the reuse of the energy realized, and when the vibration energy is relatively large, the electric energy in the storage battery 700 can be used to drive and control the generator motor 500 to generate vibration damping force. The counteracting vibration force saves energy compared with the prior art that needs to introduce external energy to generate the vibration damping force. The invention realizes the variable control of energy inflow and outflow links.
实施例二Embodiment two
在上述实施例基础上,请参阅图3,其示出了本发明提供的一种振动能量的控制系统的另一种结构示意图,还包括:与发电电动机500电连接的整流器1000,以及与整流器1000串联连接的耗能电阻1100。其中,MCU900还与整流器1000连接。On the basis of the above-mentioned embodiments, please refer to Fig. 3, which shows another structural schematic diagram of a vibration energy control system provided by the present invention, which also includes: a rectifier 1000 electrically connected with the generator motor 500, and a rectifier 1000 connected with the rectifier 1000 are connected in series with the dissipation resistor 1100. Wherein, the MCU 900 is also connected to the rectifier 1000 .
此时,MCU900用于,当振动体系300当前产生的振动力大于蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力时,控制调整双向变流器600的控制角,以使得在蓄电池700的电能驱动下,控制发电电动机500产生减振力,以抵消振动力;当振动体系300当前产生的振动力不大于蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力,且不大于蓄电池700作用下的最大发电阻尼力时,控制调整双向变流器600的控制角,以使得利用振动体系300当前产生的振动能量驱动油泵油马达400带动发电电动机500动作,为蓄电池700充电;以及当振动体系300当前产生的振动力不大于蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力,且大于蓄电池700作用下的最大发电阻尼力时,同时控制调整双向变流器600的控制角和整流器1000的控制角,以使得振动体系300当前产生的振动能量一部分用于驱动油泵油马达400带动发电电动机500动作,为蓄电池700充电,另一部分通过耗能电阻1100消耗掉。At this time, the MCU 900 is used to control and adjust the control angle of the bidirectional converter 600 when the current vibration force generated by the vibration system 300 is greater than the maximum generating damping force under the joint action of the battery 700 and the energy dissipation resistor 1100, so that the control angle of the bidirectional converter 600 is Driven by electric energy, the generator motor 500 is controlled to generate a damping force to offset the vibration force; when the current vibration force generated by the vibration system 300 is not greater than the maximum generating damping force under the joint action of the battery 700 and the energy consumption resistor 1100, and is not greater than the When the maximum generating damping force is under the action of 700, control and adjust the control angle of the bidirectional converter 600, so that the current vibration energy generated by the vibration system 300 is used to drive the oil pump oil motor 400 to drive the generator motor 500 to charge the battery 700; and When the current vibration force generated by the vibration system 300 is not greater than the maximum generating damping force under the joint action of the battery 700 and the energy dissipation resistor 1100, and is greater than the maximum generating damping force under the action of the battery 700, control and adjust the control angle of the bidirectional converter 600 at the same time and the control angle of the rectifier 1000, so that part of the vibration energy currently generated by the vibration system 300 is used to drive the oil pump oil motor 400 to drive the generator motor 500 to charge the battery 700, and the other part is consumed by the energy consumption resistor 1100.
为了更加清楚地对本实施例进行说明,请参阅图4,其示出了本发明提供的一种振动能量的控制方法的另一种流程图,包括:In order to describe this embodiment more clearly, please refer to Fig. 4, which shows another flow chart of a vibration energy control method provided by the present invention, including:
步骤201,MCU900获取振动体系300当前的振动信号a(t)和振动力信号F(t)。其中t大于等于0。Step 201 , the MCU 900 acquires the current vibration signal a(t) and vibration force signal F(t) of the vibration system 300 . Where t is greater than or equal to 0.
步骤202,MCU900获取蓄电池700的当前荷电状态信号SoC(t)。Step 202 , the MCU 900 acquires the current state of charge signal SoC(t) of the battery 700 .
步骤203,MCU900依据蓄电池700的当前荷电状态信号SoC(t)和蓄电池700的参数信息,计算得到蓄电池700当前作用下的最大发电阻尼力F1(t+1),并同时依据蓄电池700的当前荷电状态信号SoC(t)、蓄电池700的参数信息以及耗能电阻1100的阻值大小,计算得到蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力F2(t+1)。Step 203, MCU 900 calculates the maximum generating damping force F1(t+1) under the current action of battery 700 according to the current state of charge signal SoC(t) of battery 700 and the parameter information of battery 700, and at the same time according to the current state of charge of battery 700 The state of charge signal SoC(t), the parameter information of the battery 700 and the resistance value of the energy dissipation resistor 1100 are calculated to obtain the maximum generating damping force F2(t+1) under the joint action of the battery 700 and the energy dissipation resistor 1100 .
其中,蓄电池700的参数信息可以包括蓄电池700的性能参数信息,其中蓄电池700的性能参数信息包括蓄电池700的容量参数信息。The parameter information of the battery 700 may include performance parameter information of the battery 700 , wherein the performance parameter information of the battery 700 includes capacity parameter information of the battery 700 .
其中,蓄电池700当前作用下的最大发电阻尼力F1(t+1)表示的是当前蓄电池700所能产生的最大减振力。Wherein, the maximum generating damping force F1(t+1) under the current action of the battery 700 represents the maximum damping force that the battery 700 can generate currently.
其中,蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力F2(t+1)表示的是当前蓄电池700与耗能电阻1100一共所能产生的最大减振力。Wherein, the maximum generating damping force F2(t+1) under the combined action of the battery 700 and the energy-consuming resistor 1100 indicates the maximum damping force that the battery 700 and the energy-consuming resistor 1100 can generate together.
步骤204,MCU900参考振动体系300当前的应用场景,选择一种外部减振算法,依据振动信号a(t)和振动力信号F(t),利用该外部减振算法计算得到当前振动能量的控制系统所需的减振力F(t+1)。In step 204, the MCU 900 refers to the current application scenario of the vibration system 300, selects an external vibration reduction algorithm, and uses the external vibration reduction algorithm to calculate the current vibration energy control according to the vibration signal a(t) and the vibration force signal F(t). The damping force F(t+1) required by the system.
优选地,外部减振算法为天棚控制算法。Preferably, the external vibration reduction algorithm is a ceiling control algorithm.
步骤205,MCU900判断减振力F(t+1)是否大于蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力F2(t+1)。如果大于,执行步骤206,如果不大于,执行步骤210。Step 205 , the MCU 900 judges whether the damping force F(t+1) is greater than the maximum generating damping force F2(t+1) under the joint action of the battery 700 and the energy consumption resistor 1100 . If it is greater, perform step 206, and if not, perform step 210.
步骤206,MCU900控制整流器1000的控制电压C2(t)等于0,断开振动体系300产生的振动能量向耗能电阻1100流动的通路,同时控制双向变流器600的整流控制电压C1(t)等于0,断开振动体系300产生的振动能量向蓄电池700流动的通路。Step 206, the MCU 900 controls the control voltage C2(t) of the rectifier 1000 to be equal to 0, disconnects the path through which the vibration energy generated by the vibration system 300 flows to the energy consumption resistor 1100, and simultaneously controls the rectification control voltage C1(t) of the bidirectional converter 600 If it is equal to 0, the path for the vibration energy generated by the vibration system 300 to flow to the battery 700 is cut off.
在本实施例中,当减振力F(t+1)大于蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力F2(t+1),表明当前蓄电池700和耗能电阻1100一同工作也不足以消耗掉振动体系300产生的振动能量,此时就需要控制蓄电池700驱动双向变流器600产生减振力,以抵消振动力。In this embodiment, when the damping force F(t+1) is greater than the maximum generating damping force F2(t+1) under the joint action of the battery 700 and the energy consumption resistor 1100, it indicates that the current battery 700 and the energy consumption resistor 1100 are working together It is also not enough to consume the vibration energy generated by the vibration system 300 . At this time, it is necessary to control the battery 700 to drive the bidirectional converter 600 to generate a vibration damping force to counteract the vibration force.
步骤207,MCU900依据减振力F(t+1)计算双向变流器600的逆变控制的控制角,并将其转换为逆变控制电压C2(t),且控制打开蓄电池700的能量流向振动体系300的通路。Step 207, the MCU 900 calculates the control angle of the inverter control of the bidirectional converter 600 according to the damping force F(t+1), converts it into the inverter control voltage C2(t), and controls the energy flow direction of the battery 700 Access to the vibration system 300 .
步骤208,MCU900输出逆变控制电压C2(t)对应的PWM信号,以控制调整双向变流器600的逆变控制角。Step 208 , the MCU 900 outputs a PWM signal corresponding to the inverter control voltage C2(t), so as to control and adjust the inverter control angle of the bidirectional converter 600 .
步骤209,MCU900利用蓄电池700的电能,驱动发电电动机500工作在电动状态,以驱动油泵油马达400工作在油泵状态,从而产生与减振力F(t+1)振动方向相反的减振力。In step 209, the MCU 900 utilizes the electric energy of the battery 700 to drive the generator motor 500 to work in the electric state, and to drive the oil pump oil motor 400 to work in the oil pump state, thereby generating a vibration damping force opposite to the vibration direction of the damping force F(t+1).
较优的,本发明可以产生一与减振力F(t+1)振动方向相反、振动力大小相等的减振力。Preferably, the present invention can generate a vibration damping force that is opposite to the vibration direction of the vibration damping force F(t+1) and equal in magnitude to the vibration force.
步骤210,MCU900判断减振力F(t+1)是否大于蓄电池700当前作用下的最大发电阻尼力F1(t+1)。如果不大于,执行步骤211,如果大于,执行步骤215。Step 210 , the MCU 900 judges whether the damping force F(t+1) is greater than the maximum generating damping force F1(t+1) under the current action of the battery 700 . If not greater, perform step 211, and if greater, perform step 215.
步骤211,MCU900控制双向变流器600的逆变控制电压C2(t)等于0,断开蓄电池700的能量流向所述振动体系的通路。Step 211 , the MCU 900 controls the inverter control voltage C2(t) of the bidirectional converter 600 to be equal to 0, and cuts off the energy of the storage battery 700 flowing to the vibration system.
步骤212,MCU900依据减振力F(t+1)和蓄电池700的当前荷电状态信号SoC(t),计算得到双向变流器600的整流控制电压C1(t),且控制打开振动体系300产生的振动能量向蓄电池700流动的通路。In step 212, the MCU 900 calculates the rectification control voltage C1(t) of the bidirectional converter 600 according to the damping force F(t+1) and the current state of charge signal SoC(t) of the battery 700, and controls to open the vibration system 300 The path through which the generated vibration energy flows to the storage battery 700 .
步骤213,MCU900输出双向变流器600的整流控制电压C1(t)对应的PWM信号,以控制调整双向变流器600的整流控制角。Step 213 , the MCU 900 outputs a PWM signal corresponding to the rectification control voltage C1(t) of the bidirectional converter 600 to control and adjust the rectification control angle of the bidirectional converter 600 .
在本发明中,双向变流器600和整流器1000的控制角均可调。In the present invention, the control angles of the bidirectional converter 600 and the rectifier 1000 can be adjusted.
步骤214,MCU900利用振动体系300当前产生的振动能量驱动油泵油马达400带动发电电动机500工作在发电状态,为蓄电池700充电。Step 214 , the MCU 900 uses the vibration energy currently generated by the vibration system 300 to drive the oil pump oil motor 400 to drive the generator motor 500 to work in the power generation state to charge the battery 700 .
步骤215,MCU900控制双向变流器600的逆变控制电压C2(t)等于0,断开蓄电池700的能量流向振动体系300的通路。Step 215 , the MCU 900 controls the inverter control voltage C2(t) of the bidirectional converter 600 to be equal to 0, and disconnects the energy from the storage battery 700 to the vibration system 300 .
在本实施例中,当蓄电池700的荷电状态不足以消耗振动能量,即蓄电池700已充满或快充满时,发电电动机500的能量也可以流向整流器、通过耗能电阻1100转化为热能以消耗振动能量。In this embodiment, when the state of charge of the storage battery 700 is not enough to consume vibration energy, that is, when the storage battery 700 is full or nearly full, the energy of the generator motor 500 can also flow to the rectifier and be converted into heat energy through the energy-consuming resistor 1100 to consume vibration energy.
步骤216,MCU900选取双向变流器600的整流控制电压C1(t)的最大值。Step 216 , the MCU 900 selects the maximum value of the rectified control voltage C1(t) of the bidirectional converter 600 .
此时,振动体系的振动能量向蓄电池700流出的通路完全开启。At this time, the passage for the vibration energy of the vibration system to flow out to the storage battery 700 is fully opened.
步骤217,MCU900依据减振力F(t+1)与蓄电池700和耗能电阻1100共同作用下的最大发电阻尼力F2(t+1)之差,计算得到整流器1000的控制角对应的控制电压C1(t),且控制打开振动系统300产生的振动能量向耗能电阻1100流动的通路。Step 217, MCU900 calculates the control voltage corresponding to the control angle of the rectifier 1000 according to the difference between the vibration damping force F(t+1) and the maximum generating damping force F2(t+1) under the joint action of the battery 700 and the energy dissipation resistor 1100 C1(t), and control to open the path for the vibration energy generated by the vibration system 300 to flow to the energy consumption resistor 1100 .
步骤218,MCU900分别输出整流器1000的控制电压C1(t)和双向变流器600的整流控制电压C1(t)对应的PWM信号,以控制调整双向变流器600完全工作在整流状态,整流器1000工作在可控整流状态。Step 218, MCU 900 respectively outputs the control voltage C1(t) of the rectifier 1000 and the PWM signal corresponding to the rectification control voltage C1(t) of the bidirectional converter 600, so as to control and adjust the bidirectional converter 600 to work completely in the rectification state, and the rectifier 1000 Work in a controlled rectification state.
在本实施例中,振动体系300当前产生的振动能量一部分用于驱动油泵油马达400带动发电电动机500工作在发电状态,为蓄电池700充电,另一部分由耗能电阻1100消耗掉。In this embodiment, part of the vibration energy currently generated by the vibration system 300 is used to drive the oil pump oil motor 400 to drive the generator motor 500 to work in the power generation state to charge the battery 700 , and the other part is consumed by the energy consumption resistor 1100 .
步骤219,MCU900判断外部减振算法是否要求停车。如果要求停车,执行步骤220,如果不要求停车,返回步骤201。In step 219, the MCU 900 judges whether the external vibration reduction algorithm requires parking. If parking is required, step 220 is performed; if parking is not required, step 201 is returned.
步骤220,MCU900停止当前振动能量的控制,采集下一t+1时刻的各项参数。Step 220, the MCU 900 stops the current vibration energy control, and collects various parameters at the next time t+1.
应用本发明的上述技术方案,本发明可以根据振动激励的状态,优先选择将振动能量流入蓄电池700进行再利用,从而将不平衡的振动能量转化为了有用的电能,实现了能量的再利用,节约了能源。Applying the above-mentioned technical solution of the present invention, the present invention can preferentially select the vibration energy to flow into the storage battery 700 for reuse according to the state of the vibration excitation, thereby converting the unbalanced vibration energy into useful electric energy, realizing energy reuse and saving energy.
其次,由于外界的振动激励经常是变化的,当振动能量较小时,本发明切换到能量流出状态,即将振动能量流入蓄电池700进行充电,也就是将振动能量转换为电能储存在蓄电池700中。同时本发明还考虑到蓄电池700荷电能力的有限,当蓄电池700的荷电状态不足以消耗振动能量时,本发明设计了耗能电阻1100消耗掉不平衡的振动能量;而当振动能量较大,能量流出方法无法实现振动控制时,利用蓄电池700中的电能驱动发电电动机500产生减振力,从而切换到能量流入状态抵消振动能量。此外,本发明为了适应不同振动激励下的工作要求,本发明还通过调节控制角的大小对能量流入流出环节进行可变控制。因此,本发明根据外界的振动激励的变化,既实现了振动能量流入流出的切换控制,还实现了能量流入流出环节的可变调节,是一种适应性更好的振动控制方法。Secondly, because the external vibration excitation is often changing, when the vibration energy is small, the present invention switches to the energy outflow state, that is, the vibration energy flows into the battery 700 for charging, that is, the vibration energy is converted into electrical energy and stored in the battery 700 . Simultaneously the present invention also considers the limitation of storage battery 700 charging capacity, when the state of charge of storage battery 700 is not enough to consume vibration energy, the present invention has designed energy dissipation resistor 1100 to consume unbalanced vibration energy; When the vibration control cannot be realized by the energy outflow method, the electric energy in the storage battery 700 is used to drive the generator motor 500 to generate a vibration damping force, thereby switching to the energy inflow state to offset the vibration energy. In addition, in order to adapt to the working requirements under different vibration excitations, the present invention also performs variable control on the inflow and outflow of energy by adjusting the size of the control angle. Therefore, according to the change of external vibration excitation, the present invention not only realizes switching control of vibration energy inflow and outflow, but also realizes variable adjustment of energy inflow and outflow, and is a vibration control method with better adaptability.
最后,本发明对振动能量流入流出的可变调节是采用双向变流器600和整流器1000的控制角的调节来实现的,是一种纯电调的方案。与传统的机械调节机构相比,本发明不会受到机械调节延迟的影响,响应速度大大提升,可以适应于更高频率的振动控制。Finally, the variable regulation of vibration energy inflow and outflow in the present invention is realized by adjusting the control angles of the bidirectional converter 600 and the rectifier 1000 , which is a pure electric regulation solution. Compared with the traditional mechanical adjustment mechanism, the present invention is not affected by mechanical adjustment delay, the response speed is greatly improved, and it can be adapted to higher frequency vibration control.
需要说明的是,本说明书中的各个实施例均采用递进的方式描述,每个实施例重点说明的都是与其他实施例的不同之处,各个实施例之间相同相似的部分互相参见即可。对于装置类实施例而言,由于其与方法实施例基本相似,所以描述的比较简单,相关之处参见方法实施例的部分说明即可。It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts in each embodiment, refer to each other, that is, Can. As for the device-type embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and for related parts, please refer to part of the description of the method embodiments.
最后,还需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。Finally, it should also be noted that in this text, relational terms such as first and second etc. are only used to distinguish one entity or operation from another, and do not necessarily require or imply that these entities or operations, any such actual relationship or order exists. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
以上对本发明所提供的一种振动能量的控制系统与方法进行了详细介绍,本文中应用了具体个例对本申请的原理及实施方式进行了阐述,以上实施例的说明只是用于帮助理解本申请的方法及其核心思想;同时,对于本领域的一般技术人员,依据本申请的思想,在具体实施方式及应用范围上均会有改变之处,综上所述,本说明书内容不应理解为对本申请的限制。A vibration energy control system and method provided by the present invention has been described above in detail. In this paper, specific examples are used to illustrate the principle and implementation of the present application. The description of the above embodiments is only used to help understand the present application. method and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not be understood as Limitations on this Application.
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