An improved Bouc –Wen model for describing hysteretic characteristics of shock absorbers
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摘要: Bouc–Wen模型在非識別激勵工況下模擬的阻尼力與實際阻尼力誤差較大，對非識別激勵振幅過于敏感，針對這一問題，提出了一種描述減振器滯回特性的改進模型。首先用Mechanical testing and simulation(MTS)疲勞試驗機對磁流變減振器進行力學性能試驗，獲得在多種激勵幅值、頻率和電流作用下的阻尼力。采用阻尼力對位移的斜率與阻尼力關系來模擬滯回環特性曲線。根據滯回曲線特點利用二次多項式函數來表征滯回環斜率與阻尼力的關系，同時，引入關于速度的指數函數修正項，進而對改進后的Bouc–Wen模型進行參數識別，并對其進行仿真及驗證。與試驗得到的阻尼力進行對比，發現在非識別激勵工況下，曲線吻合效果較好。對改進前后Bouc–Wen模型模擬的阻尼力特性曲線進行對比，結果表明：改進后模型得到的阻尼力仿真值能夠較好地模擬試驗得到的各種工況下阻尼力的值，且優于Bouc–Wen模型，同時Bouc–Wen模型在非識別激勵工況下模擬阻尼力精度較差這一問題得到了改善。新模型為保證車輛懸架系統在多變工況下仿真響應的準確性打下了基礎。Abstract: The error between the actual damping force and the simulated damping force obtained using the Bouc–Wen model under non-identification excitation conditions is large, and the model is too sensitive to non-identification excitation amplitude and thus features poor accuracy. To solve this sensitivity problem, an improved model describing hysteretic characteristics of shock absorbers was proposed. Firstly, the mechanical properties of a magnetorheological (MR) damper were tested to obtain the damping force under various excitation amplitudes, frequencies and currents using a mechanical testing and simulation(MTS) fatigue testing machine. The smooth hysteresis loop curve was simulated based on the relationship between the slope of the hysteresis loop and the damping force. The quadratic polynomial function was used to characterize the relationship between the slope of hysteresis loop and the damping force according to the hysteresis curve characteristics. At the same time, the revision term of the exponential function for the velocity value was introduced, and the parameters of the established improved Simulink model were identified. The damping forces under different working conditions were obtained from the experiment, and the new model was simulated and validated. The damping forces obtained from new model and the experiment were compared, and the curves obtained from the model agree well with the experimental results under different working conditions. Meanwhile, the improved model was compared with the Bouc–Wen model based on the characteristic curves of the damping force. The results show that the improved model can better simulate the damping force values obtained from tests under different conditions, and is superior to the Bouc–Wen model. At the same time, the problem of poor accuracy of the Bouc–Wen model under non identification excitation conditions was improved. The new model lays the foundation for ensuring the accuracy of the vehicle suspension system response under various working conditions.
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圖 6 識別參數擬合曲線。（a） c0；（b） k0；（c） b；（d） α
Figure 6. Identification parameter fitting curve：(a) c0; (b) k0; (c) b; (d) α
圖 8 不同工況下的試驗值與仿真值時域對比圖。（a） 10 mm，0.5 Hz；（b） 5 mm，0.5 Hz；(c) 15 mm，0.5 Hz；（d） 20 mm，0.5 Hz；（e） 5 mm，1.0 Hz；（f） 5 mm，1.5 Hz
Figure 8. Comparison diagram of test value and simulation value under different working conditions: (a) 10 mm, 0.5 Hz; (b) 5 mm, 0.5 Hz; (c) 15 mm, 0.5 Hz; (d) 20 mm,0.5 Hz; (e) 5 mm, 1.0 Hz; (f) 5 mm, 1.5 Hz
圖 9 多種工況下的試驗與仿真滯回特性對比圖。（a）10 mm，0.5 Hz；（b）5 mm，0.5 Hz；（c）15 mm，0.5 Hz；（d）20 mm，0.5 Hz；(e）5 mm，1.0 Hz；（f）5 mm，1.5 Hz
Figure 9. Comparison of hysteretic characteristics between test and simulation under various working conditions: (a) 10 mm, 0.5 Hz; (b) 5 mm, 0.5 Hz; (c) 15 mm, 0.5 Hz; (d) 20 mm, 0.5 Hz; (e) 5 mm, 1.0 Hz; (f) 5 mm, 1.5 Hz
圖 10 不同幅值相同頻率的對比圖。（a） 5 mm，0.5 Hz；（b） 10 mm，0.5 Hz；（c） 15 mm，0.5 Hz；（d） 20 mm，0.5 Hz
Figure 10. Comparison of fixed frequencies and different amplitudes: (a) 5 mm, 0.5 Hz; (b) 10 mm, 0.5 Hz; (c) 15 mm, 0.5 Hz; (d) 20 mm, 0.5 Hz
圖 11 相同幅值不同頻率的對比圖。（a）10 mm，0.5 Hz；（b）10 mm，1.0 Hz；（c）10 mm，1.5 Hz
Figure 11. Comparison of fixed amplitude and different frequencies: (a) 10 mm, 0.5 Hz; (b) 10 mm, 1.0 Hz; (c) 10 mm, 1.5 Hz
表 1 部分工況下改進前與改進后模型的偏差對比
Table 1. Comparison of the deviations between the improved model and Bouc–Wen model under some conditions
Current/A 5 mm, 0.5 Hz 20 mm, 0.5 Hz 10 mm, 1.0 Hz 10 mm, 1.5 Hz Bouc–Wen New model Bouc–Wen New model Bouc–Wen New model Bouc–Wen New model 0 0.2004 0.1987 0.5608 0.1336 0.0853 0.2133 0.1921 0.2117 0.5 0.1318 0.1041 0.3714 0.1827 0.4058 0.2139 0.5559 0.2749 1.0 0.1188 0.1403 0.3215 0.1944 0.1785 0.0549 0.4553 0.2562 1.5 0.0659 0.0578 0.2237 0.1306 0.1587 0.0665 0.3445 0.1888 2.0 0.1283 0.0722 0.1652 0.0966 0.1316 0.0568 0.2855 0.1564 2.5 0.1153 0.0406 0.1620 0.0806 0.2411 0.1428 0.4156 0.2139 
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