利用磁流变阻尼器抑制车床刀架振动的理论研究与仿真
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摘要
机床切削振动一直是制约机械加工质量的最重要的因素之一,其控制已经得到广泛关注。本文首先通过对各种减振方法的比较,说明磁流变液(MRF)在车床刀架减振中的优越性,并将其引入切削振动的抑制过程,由于磁流变液制成的阻尼器结构简单、响应速度快、功耗低、阻尼力大且连续可调,是一种典型的可控流体阻尼器,适用于振动控制,有取代传统减振器的发展趋势。目前在振动控制中经常采用的是半主动振动控制,这是由于半主动控制无需附加能源、具有能耗低、容易实现等特点决定的。在安装有磁流变阻尼器的减振系统中,通过改变输入电流改变阻尼力或者改变阻尼器的阻尼系数,可实现车床刀架减振系统的半主动控制。
其次对车床刀架振动抑制进行理论分析,根据磁流变材料在振动中的应用,对磁流变阻尼器进行了物理建模,利用非牛顿流体修正的宾汉姆模型,建立了该阻尼器的力学模型。利用该模型绘制和分析了位移——阻尼力和速度——阻尼力之间的关系曲线,从而证明了该模型的正确性,同时也为设计车床刀架减振模糊控制系统提供了较为准确的模型。
最后,以车床刀架系统为研究对象,建立了车床刀架振动抑制的数学模型,然后从模糊控制的理论知识出发,对模糊控制器的设计方法和模糊控制的实现方法进行了分析和研究,接着,利用模糊控制理论,应用MATLAB软件及其Simulink进行仿真。本文给出了模糊控制规则表,设计了模糊控制器,建立了模糊控制系统。通过对模糊控制系统的仿真分析,比较被动控制和基于模糊控制的半主动控制下车床刀架减振系统的减振效果。结果表明：基于模糊控制的半主动控制能很好的抑制车床刀架的振动；同时也证明本文中模糊控制方法的有效性。
As one of the most important factors which influenced the machining quality, machine cutting chatter has aroused extensive concern. In the dissertation, via compare diversified vibration reduction methods, and the MR fluid is applied to the chatter suppression. Because the Magnetorheological fluid damper has advantages of compactness, low power requirements, wide dynamic ranges and fast reaction. It is a typical controllable fluid damper. It is suitable for vibration control and has development trend of displace traditional vibration reduction damper. Semi-active control is often used in vibration reduction, there are some advantages in semi-active control, without energy source, easy going, etc. Semi-active vibration reduction control is effect by changing input electric current or the damp coefficient of lathe's tool post vibration reduction system.
Then, theoretical analysis of lathe's tool post vibration reduction based on the application of MR material in vibration, and physical modeling of MR fluid damper have been made in the article. MR dynamic model is obtained by using the amendatory Bingham model, the design parameter of damper and analyse relation curve of displacement with damp force and speed with damp force, prove the validity of the model, at the same time, provide exact model for design lathe's tool post vibration reduction fuzzy control system.
Finally, based on research object of lathe's tool post system, built the mathematics model of restrain lathe's tool post vibration in MR fluid damper. The fundamental theory of the fuzzy control is introduced in the article. And the design and implementation method of the fuzzy controller are also discussed and researched. Based on fuzzy control method, and simulated by MATLAB and Simulink software. The fuzzy control rules are listed and the fuzzy controller is designed. Simulated by Simulink, the lathe's tool post vibration reduction result compared passive control with semi-active control based on fuzzy control are presented. It is indicated that semi-active vibration reduction based on fuzzy control has an advantage in restrain lathe's tool post vibration and prove fuzzy control takes an effective performance in lathe's tool post vibration reduction system.
其次对车床刀架振动抑制进行理论分析,根据磁流变材料在振动中的应用,对磁流变阻尼器进行了物理建模,利用非牛顿流体修正的宾汉姆模型,建立了该阻尼器的力学模型。利用该模型绘制和分析了位移——阻尼力和速度——阻尼力之间的关系曲线,从而证明了该模型的正确性,同时也为设计车床刀架减振模糊控制系统提供了较为准确的模型。
最后,以车床刀架系统为研究对象,建立了车床刀架振动抑制的数学模型,然后从模糊控制的理论知识出发,对模糊控制器的设计方法和模糊控制的实现方法进行了分析和研究,接着,利用模糊控制理论,应用MATLAB软件及其Simulink进行仿真。本文给出了模糊控制规则表,设计了模糊控制器,建立了模糊控制系统。通过对模糊控制系统的仿真分析,比较被动控制和基于模糊控制的半主动控制下车床刀架减振系统的减振效果。结果表明：基于模糊控制的半主动控制能很好的抑制车床刀架的振动；同时也证明本文中模糊控制方法的有效性。
As one of the most important factors which influenced the machining quality, machine cutting chatter has aroused extensive concern. In the dissertation, via compare diversified vibration reduction methods, and the MR fluid is applied to the chatter suppression. Because the Magnetorheological fluid damper has advantages of compactness, low power requirements, wide dynamic ranges and fast reaction. It is a typical controllable fluid damper. It is suitable for vibration control and has development trend of displace traditional vibration reduction damper. Semi-active control is often used in vibration reduction, there are some advantages in semi-active control, without energy source, easy going, etc. Semi-active vibration reduction control is effect by changing input electric current or the damp coefficient of lathe's tool post vibration reduction system.
Then, theoretical analysis of lathe's tool post vibration reduction based on the application of MR material in vibration, and physical modeling of MR fluid damper have been made in the article. MR dynamic model is obtained by using the amendatory Bingham model, the design parameter of damper and analyse relation curve of displacement with damp force and speed with damp force, prove the validity of the model, at the same time, provide exact model for design lathe's tool post vibration reduction fuzzy control system.
Finally, based on research object of lathe's tool post system, built the mathematics model of restrain lathe's tool post vibration in MR fluid damper. The fundamental theory of the fuzzy control is introduced in the article. And the design and implementation method of the fuzzy controller are also discussed and researched. Based on fuzzy control method, and simulated by MATLAB and Simulink software. The fuzzy control rules are listed and the fuzzy controller is designed. Simulated by Simulink, the lathe's tool post vibration reduction result compared passive control with semi-active control based on fuzzy control are presented. It is indicated that semi-active vibration reduction based on fuzzy control has an advantage in restrain lathe's tool post vibration and prove fuzzy control takes an effective performance in lathe's tool post vibration reduction system.
引文
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35.张平,刘奇,黄元龙.磁流变体流变学特性研究[J],化学物理报,2001,14(5)：523-526.
36. Shtarkman E M. Fluid response to magnetic field. US Patent 4992190,1991
37. http://www.Lord.com/
38. Jolly, M. R., et al., A Model of the Behavior of Magnetorheological Materials, Smart Mater. Vol3(5),1996,607-614.
39. Jezequel L. Three New Methods of Model Indentification[J], ASME 1986(108):17-25.
40. John G Bollinger. Pulse Testing In Machine Tool Dynamic Analysis. MTRD 1965(5): 162-181.
41. Sencer Jr, B F, Dyke SJ, Sain M K, Carlson, J.D.Phenomenological model of a magnetorheological damper[J], Engrg. Mech., ASCE,1997:P.123.
42. Yoshida O, Dyke SJ. Response control in full scale irregular buildings using MR dampers[D], ASCE J Struct Eng 2005,131(5):734-42
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2.星铁太郎.机械加工颤振的分析与对策[M],上海：上海科学出版社,1984
3.金希武,徐占娣,李民范.机床结构[M],北京：科学出版社,1982,5(2)：351-353.
4.王民.基于电流变材料的切削颤振在线控制与预报[D],北京：北京工业大学,1999
5.贾方,易红,王兴松.金属切削颤振及其控制研究的新进展[J],中国制造业信息化,2006,35(1)：67-105.
6.盛美萍,王敏庆,孙进才.噪声与振动控制技术基础[M],北京：科学出版社,2001,14-15.
7.费仁元,王民.切削颤振在线监控的研究现状及进展[J],中国机械工程,2001,12(9)：1075-1078.
8.王民,费仁元,杨建武等.基于电流变材料的刚度切削颤振在线控制方法[J],北京：北京工业大学学报,2001,27(4)：56-59.
9.徐晓龙,孙炳楠,唐锦春.基于模糊神经网络的建筑结构半主动控制研究[M],浙江建筑,2006,23(3)：13-17.
10.孙清,张陵,史庆轩.结构振动的滑膜变结构半主动控制[J],计算力学报,2003,20(5)：546-552.
11.刘庆伟.基于磁流变液自抑振智能镗杆的颤振控制技术研究[D],浙江：浙江大学,2007
12.汪建晓,孟光.磁流变液阻尼器用于振动控制的理论及实验研究[J],振动与冲击,Vol.20 No.2 2001:39-45.
13.林松.结构动力学模型物理参数的确定[D],合肥工业大学主编.全国测试技术研究会华东分会论文集.安徽黄山市.1989
14. Carlson J D,et al. Commercial magnetorheological fluid devices[D],5thInt,Conf on ER, MR, Suspensions and associated Technology, Sheffield, July,1995
15. Thirupathl S.R., and Naganthan N.G.., A new class of smart automotive active suspension using piezoceramic actuation,1995, SAE paper(9956588).
16.周丽,张志成.基于磁流变阻尼器的结构振动优化控制[J],振动工程学报,Vol.16 No.1 Mar.2003:109-113.
17.顾仲权,马扣根等著.振动主动控制[M],北京：国防工业出版社,1997
18.张永亮,于骏一,侯东霞等.基于电流变效应的车削颤振预报控制技术的研究[J],机械工业出版学报,2005,41(4)：206-211.
19.李国勇,张翠萍,郭红戎,曲兵妮.最优控制理论及参数优化[M],北京：国防工业出版社,2006,1-13.
20.邢桂荣.基于Matlab的模糊控制系统的设计与仿真[D],兰州：兰州交通大学,2006
21. ZhouYu-feng. Study on damping properties of magnetorheological damper[J], Xi'an jiaotong university,2000:20-23.
22. Yang Guangqiang, Large-scale magnetorhrological fluid damper for vibration mitigation, testing and control, Indiana, The University of Notre Dame,2001:28-33
23. Foister R T, Magnetorheological fluids[D], US Patent 5667715,1997
24. Ginder J M, etal. Shear Stress in Magnetorheological Fluids:Role of Magnetic Saturation, Applied Physics Letters,1994,65(26):3410-3418.
25. Hrovat D, Application of optimal control to advanced automotive suspension design, Transations of the ASME[J], Journal of Dynamic system measurement and control,1993, Vol.115, PP.328-342.
26.李金海,关心平,欧进萍.磁流变液的配制及其流变模型的研究[J],功能材料,2004(35),577-581.
27.魏铁华,杨晓红.电流变技术与磁流变技术[J],水利电力机械,2002,24(2)：57-64.
28.唐新鲁.有关电流变液、磁流变液机理若干问题的研究[D],合肥：中国科学技术大学,1996
29.李士勇.模糊控制、神经控制和智能控制理论[M],哈尔滨：哈尔滨工业大学,1998
30.金昀,周刚毅,张培强等.两种磁流变液测试系统的比较研究[J],实验力学,1999,3(14)：288-293.
31.林松.CA6140车床刀架动力分析及其结构改进[J],江苏：江苏工学院,1989,31-33.
32.林松.结构动力学模型物理参数的确定[D],全国测试技术研究会议,1989
33.杨肃等.机床动力学[J],北京：机械工业出版社,1993
34.徐赵东,沈亚鹏.磁流变阻尼器的计算模型及仿真分析[J],建筑结构,2003,33(1)：68-70.
35.张平,刘奇,黄元龙.磁流变体流变学特性研究[J],化学物理报,2001,14(5)：523-526.
36. Shtarkman E M. Fluid response to magnetic field. US Patent 4992190,1991
37. http://www.Lord.com/
38. Jolly, M. R., et al., A Model of the Behavior of Magnetorheological Materials, Smart Mater. Vol3(5),1996,607-614.
39. Jezequel L. Three New Methods of Model Indentification[J], ASME 1986(108):17-25.
40. John G Bollinger. Pulse Testing In Machine Tool Dynamic Analysis. MTRD 1965(5): 162-181.
41. Sencer Jr, B F, Dyke SJ, Sain M K, Carlson, J.D.Phenomenological model of a magnetorheological damper[J], Engrg. Mech., ASCE,1997:P.123.
42. Yoshida O, Dyke SJ. Response control in full scale irregular buildings using MR dampers[D], ASCE J Struct Eng 2005,131(5):734-42
43.李人厚.智能控制理论和方法[M],西安：西安交通大学出版社,1994
44.廖昌荣,余淼,张丘辉等.磁流变液减振器阻尼力计算方法[J],中国公路学报,2006,01(19)：P.116.
45.易良榘.简易振动诊断现场实用技术[M],北京：机械工业出版社,2003
46.陈花玲.机械工程测试技术[M],北京：机械工业出版社,2002
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