汽车磁流变半主动悬架仿人智能控制研究

在建立整车动力学模型的基础上，设计了基于整车分姿态协调控制的仿人智能控制器。将汽车看成快速移动的机器人，把汽车运动姿态划分为八种姿态，对不同的运动姿态采用不同的控制模态，并在MATLAB平台上进行了仿真。选用某型号轿车作为试验车辆，用磁流变半主动悬架替代原车被动悬架，在多种条件下进行了实车道路试验，试验结果与仿真结果吻合，表明对整车进行分姿态协调控制是可行的。与被动悬架相比较，仿人智能控制可提高平顺性能近20％，能有效抑制车身的俯仰和侧倾运动，改善轮胎的接地性能，其控制效果优于对各悬架进行独立控制的天棚控制策略。

Research on Application of Human-like Intelligent Control Used to Vehicle Magneto-rheological Semiactive Suspension

After full vehicle dynamics model was derived,Human-like Intelligent Control(HSIC) based on full car with different poses was designed.The idea that a car is a quickly moving robot was proposed,and motion pose of a vehicle was classified as eight poses.According to different motion poses,a corresponding control mode was selected.The control model was simulated on the MATLAB platform.Some type saloon car whose passive suspension was substituted by magneto-rheological semi-active suspension was selected as experimental car.Road test on various conditions was carried out.The experimental result of road test is similar to that of simulation,which shows that harmony control of different poses to full car is feasible.Compared to passive suspension,HSIC can achieve good ride comfort with reduction 20% of root mean square(RMS) acceleration of sprung mass,restrain pitch and roll motion and improve stability.Control performance of HSIC is better than independent skyhook control of four suspensions.