华南理工大学学报（自然科学版）2025，Vol.53Issue(7)：39-49,11.DOI:10.12141/j.issn.1000-565X.240241
面向多级流道式磁流变阻尼器的高精度改进双曲正切模型
High-Precision Improved Hyperbolic Tangent Model for Multi-Stage Flow Channel Magnetorheological Damper
摘要
Abstract
The multi-stage flow channel magnetorheological damper(MFC-MRD)in the hydraulic actuator can effectively improve the underdamping characteristics of hydraulic valve-controlled cylinder system and improve the stability of the system.It possesses potential application value in such equipment such as legged robots and excavators.However,the high power density design of MFC-MRD may inevitably increase the effective length of the damping channel,thereby increasing the damping force of the system,which makes the existing dynamic model cannot accurately describe the nonlinear hysteresis characteristics of MFC-MRD.In order to improve the nonlinear hysteresis characteristics of MFC-MRD,on the basis of mechanical performance test and by analyzing the multi-stage flow channel structure and nonlinear hysteresis curve characteristics,the hyperbolic tangent curve is segmented and reorganized,and then an improved hyperbolic tangent model conforming to the hysteresis characteristics is proposed.In the process of parameter identification,to avoid model parameters falling into local optimum and"premature",the selection operator of genetic algorithm is improved,and a three-level stepwise approximation selection operator is proposed to improve the identification accuracy of model parameters.Moreover,the relationship between model parameters and current is accurately obtained according to the mechanical experimental data.The comparison results of different models show that the improved hyperbolic tangent model established in this paper is of higher accuracy than the Bouc-Wen model and the data-driven model because it can accurately describe the nonlinear hysteresis characteristics of MFC-MRD,with an accuracy increase of up to 75%.关键词
多级流道式磁流变阻尼器/双曲正切曲线/正向运动学模型/改进遗传算法/参数辨识Key words
multi-stage flow channel magnetorheological damper/hyperbolic tangent curve/forward kinematics model/improved genetic algorithm/parameter identification分类
机械制造引用本文复制引用
杜恒,吕彦廷,黄惠,马佰周..面向多级流道式磁流变阻尼器的高精度改进双曲正切模型[J].华南理工大学学报（自然科学版）,2025,53(7):39-49,11.基金项目
国家自然科学基金项目(52105053) （52105053）
流体动力与机电系统国家重点实验室开发基金项目(GZKF-202114)Supported by the National Natural Science Foundation of China(52105053) （GZKF-202114）
