基于电流变阻尼器的履带式车辆悬架振动控制

提出一种基于电流变阻尼器的半主动悬架系统,建立了某履带式车辆悬架的1/4车体动力学模型,在此基础上给出了悬架系统的运动方程和状态方程,分析了某种剪切模式电流变阻尼器的阻尼力并作为悬架系统半主动控制的制动器.将随机最优控制理论应用到车辆悬架的控制中,以车身加速度、悬架动行程和轮胎动位移的加权二次型最小为控制性能指标,设计了线性二次型高斯(LQG)控制器,通过被动悬架与LQG控制悬架的仿真比较,在轮胎动位移基本相同的情况下,LQG控制能有效的降低车身加速度,充分利用悬架的工作空间,提高车辆的舒适性和安全性.     

车辆主动悬架的BP神经网络自适应PID控制

提出了一种主动悬架的基于BP神经网络的自适应PID控制方法,并借助于1/4主动悬架物理模型,探讨了该控制技术在车身主动减振方面的控制问题.以白噪声模拟路面输入,对车辆主动悬架系统进行计算机仿真研究.将BP神经网络PID主动悬架、PID主动悬架和被动恳架的车身加速度、悬架动挠度及车轮动位移三项指标的均方根值进行了对比分析.仿真结果表明,具有BP神经网络PID控制器的主动悬架控制效果明显优于PID主动悬架和被动悬架,可大大减少路面对车身的振动冲击,能显著地提高车辆行驶平顺性和乘坐舒适性,且鲁棒性好.     

基于RBFNN观测器的车辆非线性悬架预测控制方法

传统车辆非线性悬架预测控制方法存在车身垂直加速度和能量消耗较大、悬架动扰度和车轮动载荷较高问题,悬架控制效果不理想.于是提出基于RBFNN观测器的车辆非线性悬架预测控制方法.构建四分之一非线性悬架模型,通过改进粒子群算法中的数据聚类和参数辨识,构建线性非段仿射(PWA)模型.结合RBFNN观测器和多模型控制理论研究PWA模型的滚动时域优化控制问题,获取最优控制信号,实现车辆非线性悬架预测控制.仿真结果表明,所提方法能够有效降低车身垂直加速度和能量消耗,悬架动扰度和车轮动载荷均较低.     

基于反向递推的主动悬架控制设计与仿真

车辆悬架系统是典型的非线性系统,反向递推(Backstepping)控制理论适用于非线性系统的控制.本文建立了基于反向递推控制策略的车辆主动悬架模型,证明了该主动悬架系统具有全局渐进稳定特性,能实现突遇路面冲击时防止发生悬架击穿之目的.对某型车辆单轮悬架的越障案例进行了仿真研究,结果表明:当车辆驶过路面突起时,采用所提出的反向递推控制策略的主动悬榘系统的性能优于最优控制主动悬架和被动悬架系统,避免了悬架击穿.     

基于粒子群算法的汽车悬架PID控制仿真

研究汽车悬架稳定性控制优化问题,由于PID控制器在汽车主动悬架中参数的选择决定汽车行驶的稳定性能.针对传统参数整定的方法存在盲目性,设计了一种用粒子群算法优化整定PID参数的方法.利用粒子群算法的并行全局搜索策略,以主动悬架性能指标为目标函数对PID参数进行优化设计.应用改进方法对汽车悬架主动控制系统进行仿真.仿真结果表明,用粒子群算法优化的PID控制器的汽车主动悬架相对于PID控制主动悬架及被动悬架而言,改善了车身垂向加速度和悬架动行程.同时解决了PID控制器参数整定的问题.     

基于轮胎与三维路面接触分析的车辆半主动控制研究

轮胎与路面的接触关系的模拟影响着车辆悬架响应和控制的精度.在运用分形理论构建的三维路面模型基础上,建立了轮胎与路面的三维动态接触关系.针对1/4车辆悬架模型,分别搭建了被动悬架、模糊PID控制和天棚阻尼控制算法,在两种接触条件下对比了被动悬架和两种控制算法的车辆悬架垂向加速度、悬架动挠度及轮胎力的时域和频域响应情况.计算结果表明,采用模糊PID控制算法在车辆平顺性方面优于被动悬架和天棚阻尼控制算法;车辆在考虑轮胎和路面三维接触时,在面接触工况下,车身加速度、悬架动挠度及轮胎力响应的峰值都低于点接触工况.     

自供能智能减震器自耦合控制研究

将振动能量回收和振动控制结合的自供能智能减震器可以不依赖外部能源实现更好的振动控制效果,从而有效提升车辆的舒适性和燃油经济性.本文在分析自供能智能减震器非线性特性的基础上,建立了引入Karnopp控制规则的自反馈控制悬架模型,设计了简单实用的系统化考虑振动能量回收和振动控制的自耦合控制策略,将主动控制策略应用到自供能智能减震器.利用Matlab/Simulink对所建悬架模型应用自耦合控制策略进行模拟仿真,并与自反馈控制和被动悬架控制的仿真结果作比较,结果表明:车轮动位移、悬架动行程进一步减小,车身加速度的峰值减少几乎一半,有效地提高了车辆悬架性能.     

基于dSPACE的磁流变半主动减振实验控制系统研究

对磁流变半主动悬架减振实验系统进行设计,构造了基于dSPACE系统的磁流变半主动悬架实验控制系统,设计了基于脉宽调制控制的磁流变阻尼器驱动电路,在设计的磁流变半主动悬架减振实验台上对二自由度悬架的半主动控制策略进行实验,通过实验数据分析,验证了控制策略的有效性.     

兼顾平顺性与车高调节的重型车空气悬架控制

空气悬架由于质量轻、刚度以及高度可调等优点在重型车中得到了广泛的应用.空气悬架可以实现重型车的两项重要功能:平顺性保证以及车身高度调节,但是空气悬架的平顺性以及车身高度调节均通过空气弹簧气压腔的气压改变来实现,因此二者是彼此制约和冲突的.然而,目前对空气悬架车高调节的研究追求控制的精确性与稳定性而忽略了平顺性,而对平顺性的研究又几乎不考虑车高变化造成的影响.基于上述动机,本文提出了兼顾平顺性的空气悬架重型车车高调节鲁棒控制方法,实现了平顺性保障下的车高调节曲线精确跟踪控制,提升了重型车空气悬架系统的整体性能.实车参数仿真验证了所提出方法在平顺性与车高调节两项指标中的优越性.     

半车非线性悬架的非平稳随机振动及控制

研究了1/2车非线性悬架模型在路面随机激励下的非平稳振动响应,并基于随机最优控制理论对其进行主动控制.首先利用等效线性化方法将具有非线性阻尼及迟滞刚度的非线性悬架模型线性化,然后将主动、被动悬架非平稳随机响应进行比较,结果表明非线性主动悬架的性能要优于被动悬架.最后,通过Monte-Carlo数值模拟验证了理论结果.     

Preview-based techniques for vehicle suspension control: a state-of-the-art review

Automotive suspension systems are key to ride comfort and handling performance enhancement. In the last decades semi-active and active suspension configurations have been the focus of intensive automotive engineering research, and have been implemented by the industry. The recent advances in road profile measurement and estimation systems make road-preview-based suspension control a viable solution for production vehicles. Despite the availability of a significant body of papers on the topic, the literature lacks a comprehensive and up-to-date survey on the variety of proposed techniques for suspension control with road preview, and the comparison of their effectiveness. To cover the gap, this literature review deals with the research conducted over the past decades on the topic of semi-active and active suspension controllers with road preview. The main formulations are reported for each control category, and the respective features are critically analysed, together with the most relevant performance indicators. The paper also discusses the effect of the road preview time on the resulting system performance, and identifies control development trends.     

汽车主动悬挂控制的研究现状和未来挑战

主动悬挂系统能提高车辆的乘坐舒适性和操纵性,得到了广泛的研究和重视.掌握悬挂控制的研究现状,可以更好地研究和利用主动悬挂技术.本文立足现有文献,依照不同的控制策略,从七个方面阐述了主动悬挂控制的研究现状,总结出了尚需解决的非线性悬挂建模、悬挂集成控制、控制系统性能评估等六个基本问题.文章最后分析了鲁棒控制、自适应控制、智能控制在车辆悬挂控制中的局限性及出现的挑战性课题,提出了车辆主动悬挂技术的发展方向.     

Experimental analysis of a motorcycle semi-active rear suspension

The topic of this paper is the experimental analysis and development of a control system for a semi-active suspension in a 2-wheel vehicle. The control system is implemented via a semi-active electro-hydraulic damper located in the rear suspension of a motorbike. The entire design and analysis procedure is carried out: the semi-active damper is characterized; a wide range of control strategies is recalled and an innovative semi-active algorithm (Mix-1-Stroke) based on a single-sensor layout is proposed. The strategies are then implemented in the Electronic Control Unit of the motorbike. Tests, both on test-bench and on-road, are presented. The result is the comparative analysis of a wide portfolio of different suspension control strategies, which shows the effectiveness of the Mix-1-Sensor rationale.     

Sliding mode neural network inference fuzzy logic control foractive suspension systems

In the automotive industry, suspension systems are designed to provide desirable vehicle ride and handling properties. This paper presents the development of a robust intelligent nonlinear controller for active suspension systems based on a comprehensive and realistic nonlinear model. The inherent complex nonlinear system model's structure, and the presence of parameter uncertainties, have increased the difficulties of applying conventional linear and nonlinear control techniques. Recently, the combination of sliding mode, fuzzy logic, and neural network methodologies has emerged as a promising technique for dealing with complex uncertain systems. In this paper, a sliding mode neural network inference fuzzy logic controller is designed for automotive suspension systems in order to enhance the ride and comfort. Extensive simulations are performed on a quarter-car model, and the results show that the proposed controller outperforms existing conventional controllers with regard to body acceleration, suspension deflection, and tire deflection     

具有执行器容错的汽车主动悬架系统有限频率H∞控制

本文研究了一类具有执行器容错的主动悬架系统有限频率H_∞控制问题.运用广义的Kalman-Yakubovich-Popov(KYP)引理,设计了有限频率H_∞控制器.该控制器不仅能够最大程度地减少路面在4～8 Hz范围内对乘客的影响,还能够保证汽车的悬架行程和车轮的动静载之比在它们允许的范围内.因此所设计的有限频率H_∞控制器不仅能够保证汽车驾驶的舒适性还能够保证汽车驾驶的安全性.为了解决系统状态不完全可测的问题,本文采用了动态输出反馈控制器策略.除此之外,在控制器的设计过程中还考虑了主动悬架系统的参数不确定性以及执行器随机故障的现象.最后,本文基于四分之一汽车主动悬架系统验证了控制器的有效性.     

Mechatronics in Japanese rail vehicles: active and semi-active suspensions

This paper introduces the present state of mechatronics application to the railway vehicle in Japan. The objective mechanisms in the vehicle are classified into five categories such as drive and braking, car body tilting, steering, pantograph and suspension. First, the outline of research and development in each category is described briefly. Next, the situation in the category of suspension is explained mainly on active control system and semi-active one. Finally, the prospect of research studies relating to high-speed curve negotiation is described.     

基于EHA的车辆主动悬架建模与仿真研究

采用一种新颖的可控减振技术,提出基于EHA的主动悬架系统.文章在建立1/4车辆悬架动力学模型和EHA综合模型的基础上,以天棚阻尼模型作为参考模型,利用模糊控制方法对簧载质量的垂直加速度进行控制并与被动悬架进行了比较.仿真结果表明:在随机和脉冲两种信号的激励下,相对于被动悬架,主动悬架簧载质量的垂直加速度均方根值分别下降了27%、16%,结果证明了所建模型的正确性以及模糊控制方法对改善汽车性能的可行性和有效性.     

熔模铸造生产线集成控制系统的开发

针对熔模铸造生产线的实际应用要求,开发了以工业控制计算机为控制中心,PLC、机器人等为执行机构的控制系统。实现了对硅溶胶制壳过程的监控,对悬挂线运动控制、悬挂线与机械手的协调控制以及对在线工件的状态管理与实时调度。详细介绍了该控制系统的硬件方案设计,并在硬件系统的基础上分析了软件系统的设计与开发,讨论了OPC技术,SQL数据库技术以及调度控制的实现。     

Synthesis of a high-speed tracked vehicle suspension system--Part II: Definition and solution of the control problem

This two-part paper is concerned with the problem of synthesizing a high-speed vehicle suspension system. In part I [13] a new suspension structure was developed which features three independent parts. All three parts are calculated for a vehicle which travels along a rigid guideway with arbitrary vertical and lateral curves and grades. In this part in developing the system control the use of instantaneous state feedback and the presence of inaccessible states demand the use of Itô-calculus and the Athans matrix minimum principle in order to solve the problems of vibration control synthesis. It is concluded that the application of the principles and methods of advanced dynamics, deterministic and stochastic optimal control theory, and applied mathematics to the problem of synthesizing a high-speed vehicle suspension is successful and results in the identification of a new suspension structure which is proposed as a starting point in the development and design of a high-speed vehicle suspension system. Augmented by a thorough system simulation and hardward tests for verification of all assumptions made and by implementation of the sensor-and actuator-dynamics, the described synthesis procedure will lead to an effective suspension system.