双主动圆盘式电流变传动器的数学模型

在基于虚拟仪器构建的通用的电液测控实验台上,采用Bingham模型描写电流变液,建立电流变传动器的离散数学模型.对于随机负载干扰和不确定摩擦阻尼的情况,利用输入输出角度和转矩的采样数据,识别模型的系数,并可计算系统的无阻尼自然频率和阻尼比或时间常数.所建立的数学模型与基于Leven berg-Marquardt算法的人工神经网络建立的模型相比较,能更有利于对电流变传动系统进行结构设计、参数识别和系统控制.

Mathematic model of electrorheological actuator with double driving discs

The measurement and control system, based on virtual instruments, is a new universal experimental platform, on which many experiments of electromechanical engineering can be carried out. The Bingham model of the ER fluids is proposed and a discrete mathematic model of the actuator system is founded to resolve the parameters identification and the system simulation under the influences of nonlinear electrorheological effect, discretional loads and uncertain friction of a real actuator. By using I/O angles and torques sampled in the experiment, the parameters of the discrete model are estimated and the undamped natural frequency and the damping ratio are obtained. The artificial neural network based on Levenberg-Marquardt (LM) algorithm is utilized to evaluate the discrete mathematic model. It is illustrated that the performance of the mathematic model founded in this work is superior to analyze, design, simulate, identify and control the ER actuator system.