PID-based control of a dual coil side-mounted magnetorheological brake
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摘要: 针对磁流变制动器在制动过程中要求响应速度快、制动力矩稳定的问题,对一种双线圈侧置式磁流变制动器开展了控制研究。首先,基于所设计磁流变制动器的特点,选择位置式PID作为控制算法。其次,完成了软硬件的设计,根据实验的输入输出数据和MATLAB参数辨识工具箱,建立了控制系统传递函数的数学模型。最后,搭建了试验平台,利用建立的数学模型对磁流变制动器展开了仿真与实验研究。研究结果表明,在位置式PID控制下,双线圈侧置式磁流变制动器具有较好的响应特性,以及较好的力矩跟踪能力。Abstract: In this paper, a control study of a dual-coil side-mounted magnetorheological brake is conducted to address the need to maintain constant braking torque and fast response during braking. First, a position-based PID is selected as the control algorithm based on the absence of integral components in the brake. Second, the hardware and software required for the experiments were built, and the mathematical model of the control system transfer function was obtained using MATLAB parameter identification toolbox based on the experimental input and output data. Finally, the simulation and experiments of the magnetorheological brake were carried out using the obtained mathematical model. The results of the study show that the double-coil side-mounted magnetorheological brake based on the positional PID control algorithm has good response characteristics and good torque tracking ability.
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Key words:
- magnetorheological brake /
- PID algorithm /
- response time /
- torque tracking /
- braking performance
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表 1 磁流变制动器相关结构参数
参数 符号 值 轴半径/mm $ {R}_{1} $ 10 间隙宽度/mm h 0.5 轴向工作间隙数量/个 N 4 圆柱壳厚度/mm e 2 圆柱壳长度/mm t 20 表 2 控制实验平台主要设备
设备 型号 技术参数 伺服电机 SGDS-C73C/SVGA-30H11AD 额定扭矩19 N·m 动态扭矩三显表 MCK-DN 单通道 扭矩传感器 DYN-206 量程200 N·m USB转485 UT-890A 4线全双工通信 程控电压源 HSPY-36-03 量程36 V 磁粉制动器 PB40 制动扭矩400 N·m -
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