Kim sot tc ca ng c DC s dng b ly hp t lu bin1C kh, i hc Cng nghip Thnh ph H Ch Minh, TP H Ch Minh, Vit Nam2cu trc thng minh v Phng th nghim H thng, K thut c kh, i hc Inha,Incheon 402-751, Hn QucTM TTTrong nghin cu ny, mt phng php mi iu khin tc ng c DC s dng t lu bin (MR) ly hp c xut v thc hin.Th nht, cu hnh ca mt DC iu khin tc ng c s dng MR ly hp c xut.Sau cu hnh MR ly hp c xut v c phn tch da trn Bingham-nha m hnh lu bin ca MR cht lng.Mt thit k ti u ca b ly hp MR sau c nghin cu tm ra cc kch thc hnh hc ti u ca b ly hp c th chuyn i mt m-men xon yu cu vi khi lng ti thiu.Mt nguyn mu ca MR ly hp ti u ha sau c sn xut v c im hot ng ca n l thc nghim iu tra.A DC h thng iu khin tc ng c c tnh nng MR ly hp ti u l thit k v ch to v iu khin c sau c thit k kim sot tc u ra ca h thng. nh gi hiu qu ca cc xut DC h thng iu khin tc ng c, kt qu th nghim ca h thng c ly v trnh by vi cc cuc tho lun.T kha: Cht lng t lu bin, MR ly hp, ng c DC, kim sot tc 1. GII THIU

Ngy nay, dng in mt chiu (DC) ng c c s dng rng ri vi u im ni ting ca thit k n gin v hiu sut ng tin cy v tc v m-men xon.Bn cnh sc-t tin, c ch iu khin tc n gin cho cc ng c DC l mt trong nhng vn quan trng.Trong cch tip cn thng thng, tc quay ca ng c DC c th c kim sot bng cch thay i in p t vo solenoid ng c.Tuy nhin, n khng th c kim sot ng tin cy tc thp.Hn na, phn ng c hc ca ng c DC iu khin l khng t ng nhanh p ng m-men xon u ra gii quyt nhng Ming cogging to ra.iu ny lm cho kh khn kim sot tc ca ng c DC tn s cao.Trong nhng nm gn y, c mt s s quan tm v vic p dng h thng phanh tnh nng dch in lu bin (ERF) kim sot tc v / hoc m-men xon ca ng c DC[1-3].Tuy nhin, trong cc nghin cu ny, c tn ti mt s vn nh kch thc ln cc in cc to ra phanh m-men xon, mt nng lng do ma stN l ni ting m cc cht lng t lu bin (MRF) l mt h thng treo ca cc ht, c th c t, v nhng bin i nhanh chng, mnh m, v c th o ngc trong c tnh lu bin ca h khi mt t trng c p dng.Nhng li th ng k ca MRF so vi ERF l cng thng ca n cao hn nng sut, t bi lng v in p t thp.V vy, MRF l thch hp hn v c s dng rng ri nhng ngy ny.ng gp chnh ca bi vit ny l hin th hiu sut iu khin tc ng c DC s dng MR ly hp.Cn lu rng, gim s mt nng lng do ma st, trong nghin cu ny mt ly hp MR c s dng thay v mt phanh MR.Th nht, cu hnh ca b ly hp MR iu khin tc ca ng c mt chiu c xut.Sau , b ly hp MR c phn tch da trn Bingham-nha m hnh lu bin ca MRF.Mt thit k ti u ca b ly hp MR sau c nghin cu tm ra cc kch thc hnh hc ti u ca b ly hp c th chuyn i mt m-men xon yu cu vi khi lng ti thiu.Mt nguyn mu ca MR ly hp ti u ha sau c sn xut v c im hot ng ca n l thc nghim iu tra.A DC h thng iu khin tc ng c c tnh nng MR ly hp ti u l thit k v ch to v iu khin c sau s dng kim sot tc u ra ca h thng. nh gi hiu qu ca cc xut DC h thng iu khin tc ng c, kt qu th nghim ca h thng c ly v trnh by vi cuc tho lun.*seungbok@inha.ac.kr;in thoi 82-32-860-7319;fax 82-32-868-1716;http://www.ssslab.comFlux Magnetica ly hpLi xe ShaftT ng c DCVn phng phmNh C t tnhCunMRF.Hnh 1. Cu hnh ca b ly hp MR2. MR LY HP MR LY HP CHO IU KHIN TC HNH DC MOTOR

Trong nghin cu ny, mt cu hnh ca b ly hp MR iu khin tc ca ng c mt chiu c gii thiu v m-men xon truyn dn ca n c phn tch da trn m hnh Bingham-nha ca MRF.Hnh 1 cho thy cu hnh ca h thng xut MR ly hp.Nh trnh by trong cc s liu, mt a c lm bng thp t tnh c gn cht vo trc li xe lm bng thp phi t tnh.Trc li xe c c nh vo trc ng c.Cc a c nhng bn trong mt phong b (nh ) c lm bng thp t tnh.Phong b sau c c nh vo trc li c lm bng thp khng c t tnh.Mt dy cun c qun trn mt cun phi t tnh c c nh vo cc phong b ly hp.Cc khng gian gia a v cc phong b cha y MRF. ngn chn s r r ca MRF, o-ring nim phong c s dng.Khi sc mnh ca cc cun dy c bt, mt t trng c to ra, v MRF trong khong cch gia a v phong b tr nn rn nh ngay lp tc.iu ny dn n mt m-men xon iu khin c chuyn t a (trc li) vo phong b (cc trc hng) thng qua cht lng MR kin c.Trong thit k ca b ly hp MR, n l quan trng thit lp mt mi quan h gia cc m-men xon truyn v cc thng s hnh hc ca cu trc b ly hp v t trng cm ng.Bng cch gi rng MRF l sau Bingham nha m hnh lu bin v cc gi nh ca vn tc tuyn tnh trong cc ng dn MRF ca ly hp, m-men xon truyn gy ra v m-men xon off-nh nc ca b ly hp c th c xc nh tng ng catrong Rv R, l bn knh bn trong v bn ngoi ca a,dl cc kch thc khong cch ca s kt thc i mt MRF ng dn gia a v cc nh ,dQl kch thc khong cch ca ng MRF hnh khuyn vo khun mt tr ngoi ca a,tjl dy ca a,bvtru,ln lt l vn tc gc ca trc li v trc li, r l nng sut trung bnhcng thng ca MRF trong cc ng dn cui mt,Tl cc ng sut zero-field vpl bi vit c nng sut nht ca MRF,Tl m men ma st gia trc ca phanh v o-ring.Cn lu rng gi tr caxYVph thuc vo mt t thng qua ng dn gy cht ca MRF trong khi nht sau nng sut c gi nh l c lp v t trng.Cc o-ring ma st m-men xon T c th c tnh bng khong[4,5]Tm= (fA + fA) R(3)niLcl chiu di ca con du c xt b mt ca trc phanh (chu vi trc),Lc = 2nRnfcl ma st trn mt n v chiu di ca chu vi trc do nn o-ring ty thuc vo t l nn c con du v cng ca vt liu o-ring,fl lc ma st o-ring do din xut ca p sut cht lng trn mt n v din tch d ca trc phanh o-ring vAl din tch d kin con du.Cn lu rng trong ng dng haptic, vn tc gc ca trc phanh l rt nh v p lc do MRF tc ng ln o-ring l rt thp m c th c b qua.N cng ng ch rng p lc xy dng trong ng MRF ca phanh l rt nh, do , mt nn cao ca o-ring cho nim phong l khng cn thit.Trong nghin cu ny, 70- cng cao su o-ring c s dng v nn ca o-ring c thit lp bi 10%.Trong trng hp ny h sfl khong 125N / m.3. THIT K TI U CA MR LY HP

Trong thit k ca MR ly hp, bn cnh nhng m-men xon truyn, mt vn khc cn c a vo ti khon l khi lng ca chng.R rng l khi lng ca cc ly MR nn cng nh cng tt gim kch thc ly hp v chi ph.Ngoi ra, kch thc nh hn v khi lng nh hn c th dn n qun tnh thp hn m to iu kin cho vic kim sot tc ca trc li.Ni chung, khi lng MR ly hp c th c tnh bng khong6= VdP * + \ Ph+ KP "ps,am, pt * />vp(lmt ca a, nh , cc trc, MRF, cc cun dy v vt liu cun, tng ng.Do , vn thit k ti u ha ca cc ly MR trong nghin cu ny c th c tm tt nh sau:Tm gi tr ti u kch thc ng k trong c cu MR ly hp m-men xon phanh ti a ca n c xc nh bi phng trnh.(1) ln hn so vi mt m-men xon phanh cn thit v mc tiu ca vic ti u ha l gim thiu khi lng ca ly hp MR xc nh bi phng trnh.(4)N lgi nhiu ccthp silicon thng mi c s dng cho cc thnh phn t tnhcaccMR ly hpnh vynhb ly hpnh va.Ccdy thp cun c kch thc nh 21-gage (ng knh =0.511mm).Trong khiccti u haqu trnh, mtti a hin nay l 2,5Ac p dng cc cun dy.Trong cng trnh ny, cc cht lng MR thng mi: MRF132-DG thc hin bi Cha Corporation c s dng. nht sau nng sut ca MRF132-DG l 0,1Pa-strong khi cng thng ca n gy ra nng sut nh l mt hm ca cng t trng c p dng (nu *r)c th c th hin bng khong 161r,. (H ") =0c + c, H", + c2Hi + c3H ^(5)Trong phng.(5), cc n v ca ng sut lkPatrong khi cng t trng lkA / mValue.Cc h sCo,Cj,C2vc3thu c t kt qu th nghim bng cch s dng phng php ph hp nht m chng ln lt l 0.015 ng cong, 0,30858, 2.83544E-4, - 5.34429E-6, v 9.20846E-9.Trong ti u ha, chiu cao cunhc,chiu rng cunwc, dy nh h,bn knh aRTO,bn knh ngoi ca MR ly hpR, dy a ^ c xem nh l bin thit k.Cng cn lu rng cc gi tr nh hn ca cc kch thc ngdvlmc th momen thng cao hn v khi lng nh hn ca cc ly MR c th thu c.V vy, trong nghin cu ny, cc kch thc khong cch MRF khng c coi nh l mt bin thit k v thc nghim do 0.8mm. c c nhng gii php ti u, mt m FEA tch hp vi mt cng c ti u ha c s dng.Trong nghin cu ny, phng thc t hng u tin vi thut ton gc su nht ca cng c ti u ha ANSYS c s dng.Hnh 2 cho thy cc gii php ti u ca MRB thng v MRB xut vi cun dy t trn v bn.Mmen hm c hn ch c ln hn lONm v tc hi t c thit lp bi 0,1%.N l(B) khi lng v truyn m-men xon(A) cc bin thit kHnh2. Ti u ha gii php ca MR phanh thng thngBng 1. kch thc hnh hc ca MR ly hp ti u.ng ch l bn knh trc trong trng hp ny c thit lp bi ti?s= 6mm xem xt sc mnh ca trc.Nh th hin trong hnh, ti u ha c hi t sau 21 ln lp li.Cc kt qu ti u 21Mlp l(mm):wc= 5,7,hc= 2.7,fi, = 5,9, fd= 4, RdO= 50 vR =59,5.Vo ti u, m-men xon truyn c th t ti 10WV nh hn ch v cht khi lng ti thiu l1.24kg.T cc gii php ti u, kch thc hnh hc ca MR ly hp ti u c th c tm tt trong Bng 1.KIM SOT 4. TC HNH DC MOTOR S DNG MR LY HPTrong phn ny, phng trnh chuyn ng ca trc iu khin c ngun gc v mt thut ton iu khin c s dng kim sot tc ca trc li.T hnh 1, phng trnh phi cho cc chuyn ng ca trc li c th c vit nh sau:JCO = T -Tf-T,(6)Jl thi im hng lot quay qun tnh ca trc iu khin bao gm cc nh MR ly hp v ti,Tfl din xut ma st m-men xon trn cc trc iu khin,Tl m-men xon truyn ca ly hp MR, Tfl mmen ti vhp tcnhiu gc cnh vn tc ca trcKt hp phng.(2) v Eq.(3) sn lng cc phng trnh sau y qun v chuyn ng:J (o + Ca) = Tr u-T -T, -T,(7)ni m cc h s C nht, m-men xon sut cng thng (m-men xon c th iu khin)Tyv m-men xon ma st ly hp T * tng ng c xc nh bngHnh setup 3. Th nghim kim tra hiu sut ca b ly hp MR.Hnh 3 cho thy cc thit lp th nghim kim tra hiu sut ca cc mu th nghim MR ly hp.Trong hnh, mt ng c DC vi hp s iu khin bng my tnh c s dng xoay trc truyn ng ca b ly hp MR mt tc gc khng i ca 30rpm.Nhng ngi nh ca ly hp c c nh vo bng th nghim.Trong trng hp ny, b ly hp hot ng nh mt ci phanh.Cc m-men xon c to ra bi MR ly hp c o bng mt cm bin m-men xon.Cc tn hiu u ra t cc cm bin m-men xon sau c gi n my tnh thng qua b chuyn i A / D nh gi.Mt khi qu trnh th nghim c ghi, mt tn hiu bc hin t cc my tnh c gi n cc b khuch i hin nay.Sn lng hin ti t cc b khuch i, mt bc hin ti ca 2.5A, c p dng cho cc cun dy ca ly hp MR v gi tr trung bnh ca cc m-men xon o trng thi n nh c ngun gc.Hnh.4 show cht mang li cng thng m-men xon ca ly hp MR o t th nghim trn.Cn lu rng trong trng hp ny, m-men xon s khng c p dng hin nay l loi b t kt qu.Kt qu cho thy cc m-men xon ng sut ca ly hp MR l bo ha khi hin nay p dng c tng ln n 2A.Mt hnh vung t nht lp ng cong c s dng v m-men xon ng sut (m-men xon c th iu khin) ca ly hp MR c th c th hin nh mt chc nng ca dng in c p dng nh sau:Tv(JVM) = 10.13- 10.05e-