磁流变离合器多场耦合调速机理及其精确控制研究

This proposal takes the magnetorheological clutch (MRC) as research object and aims at improving the transmission stability and achieving precise speed control of MRC. An in-depth investigation is carried out on the multi-filed coupling speed regulation mechanism and precise control of MRC by means of multi-disciplinary modeling, co-simulation technology and experimental evaluation. Firstly, the multi-field coupling dynamic model of MRC is established through analyzing the coupling relationship among each physical field. Variation laws of dynamic characteristics during the speed regulation process are analyzed and revealed. Then, a comprehensive study on influence factors and impact laws of the transmission instability for MRC is performed and an adaptive feedforward compensation method is proposed to achieve real-time compensation of the torque fluctuation. Thereafter, the mathematical speed control model is deduced and a feedforward compensation based control strategy is explored for the precise speed control of MRC. In addition, the speed control system is designed and its performance is assessed by the simulation. Finally, an experimental platform for the speed control test of MRC is constructed and comprehensive performance tests are conducted to evaluate the feasibility and effectiveness of the proposed adaptive feedforward compensation method, precise control strategy and speed control system. Research results have a great significance to reveal the multi-field coupling mechanism of MRC and they can also provide theoretical and experimental basis for improving the transmission stability and achieving precise output control of MRC.

本项目以磁流变离合器为研究对象，以提高其传动稳定性、实现精确调速控制为目标，综合运用多学科建模、联合仿真技术和实验研究手段，深入开展磁流变离合器多场耦合调速机理及其精确控制研究。通过分析各物理场之间的耦合作用关系，构建磁流变离合器多场耦合动力学模型，揭示调速过程中离合器动态特性变化规律；针对磁流变离合器传动不稳定现象，综合研究其影响因素及影响规律，设计自适应前馈补偿方法实现其动力波动的实时补偿；建立磁流变离合器速度控制数学模型，探求基于前馈补偿的精确控制策略，设计调速控制系统并对其性能进行仿真评估；搭建磁流变离合器调速控制实验平台，开展综合性能实验验证传动不稳定前馈补偿方法、精确控制策略和控制系统的可行性和有效性。本项目研究对于揭示磁流变离合器多场耦合调速机理具有重要意义，可为磁流变离合器传动稳定性的提高和动力输出的精确控制提供理论和实验基础。

高效节能技术一直以来是世界各国竞相研究的热点和前沿问题之一，磁流变离合器因其优异的动力传递、控制与动态响应特性，在机电系统高效节能调速领域具有广阔的应用前景。本项目针对磁流变离合器在工作过程中存在的技术难题，主要开展其多物理场特性、动力不稳定机理以及精确控制策略等研究，主要研究内容包括：（1）设计了一种采用内部循环冷却方式的多盘式磁流变液离合器，并对其进行了动力学特性分析、电磁场和热-流-结构场仿真研究；（2）针对磁流变离合器传动过程中的动力不稳定性问题，研究了温度、剪切速率、励磁电流等对磁流变液剪切应力的影响机理及影响规律；分别采用常规PID控制策略和自适应模糊PID控制策略对其输出力矩进行控制，通过数值仿真得到其高效精确控制策略；（3）研制了磁流变离合器实验样机，搭建了磁流变离合器综合性能测试平台，对其动力传递特性、温度特性及制动性能等进行了实验研究。本项目揭示了磁流变离合器多物理场特性及其作用机制，实现了磁流变离合器动力传递特性的精确控制与综合性能实验评估，研究成果可为其在机电系统高效节能调速领域的实际应用提供理论和实验基础。本项目执行期间在《Journal of Fluids Engineering-Transactions of the ASME》、《Smart Materials and Structures》等国内外期刊和国际会议上发表学术论文6篇，其中SCI论文4篇、EI论文2篇（均为第一标注），申请并公开发明专利4项（其中已授权2项），获软件著作权1件，获安徽省科技进步一等奖、中国电子学会技术发明二等奖各1项。