主动悬架系统对汽车侧翻稳定性的改善分析

针对被动悬架系统侧翻稳定性较差的问题,提出采用主动悬架系统的方法进行改善.通过汽车侧倾运动状态分析,建立了被动悬架系统、主动悬架系统和控制系统模型.模拟分析表明,主动悬架系统使汽车在弯道行驶时的侧倾角有效值下降92.8%,侧倾角加速度有效值下降78.2%,侧翻因子有效值下降92.6%.结果表明,利用主动悬架系统可有效降低汽车非直线行驶时的侧倾角及侧倾角加速度,提高汽车的侧翻稳定性,采用主动悬架系统是提高汽车非直线行驶状态下安全性的一个合理的解决方案.     

主动悬架系统对汽车侧翻稳定性改善分析

针对被动悬架系统侧翻稳定性比较差的问题,提出采用主动悬架系统的方法进行改善。通过汽车侧倾运动状态分析,建立了被动悬架系统、主动悬架系统和控制系统模型。模拟分析表明,主动悬架系统使得汽车在弯道行驶时的侧倾角有效值下降了92.8%,侧倾角加速度有效值下降了78.2%,侧翻因子有效值下降了92.6%。结果表明:利用主动悬架系统可以有效地降低汽车非直线行驶时的倾角以及侧倾角加速度,提高汽车的侧翻稳定性,是提高汽车非直线行驶状态下安全性的一个合理的解决方案。     

基于T-S模糊方法的车辆主动悬架多目标控制研究

为了研究因曲线运动引起的车辆侧翻及防测翻控制方法,提升车辆在不平整道路上的平顺性及紧急避障转向操纵下侧倾稳定性,采用Takagi-Sugeno(T-S)模糊建模方法,设计了主动悬架自适应多目标鲁棒控制策略。分析了基于车辆运动状态的模糊隶属度函数选择方法,当车辆直线行驶或动挠度较小时,保证车辆的行驶平顺性,当车辆发生极限转向或动挠度较大时,限制悬架相对运动量,增强对车身的垂向支撑。以优化加速度H_∞性能及悬架动挠度为控制目标,通过使用并行分布补偿方法将结果优化问题转换为线性矩阵不等式求解问题,确定反馈控制增益。采用自适应鲁棒控制(Aaptive Robust Control-ARC)保证系统在非线性、不确定性下,控制力跟踪的鲁棒性。通过SIMULINK~?及CARSIM~?联合仿真对主动悬架平顺性及侧倾稳定性控制效果进行验证,结果表明:该控制方法可以有效提升在良好路面正常行驶工况下车辆的平顺性,和被动悬架相比,小激励工况下,其加速度峰值降低了70%以上,在大激励下动挠度峰值相比被动悬架降低了15%以上。在随机路面输入下,车辆质心加速度均方根值相较被动悬架降低了4%以上,后轴悬架动挠度峰值降低近20%。当车辆发生侧翻危险工况时,基于T-S Fuzzy的主动悬架可以有效地增加车辆悬架支持力,减小车辆侧倾角,避免车辆发生侧翻。     

液压互联悬架抗侧倾控制研究（双语出版）

针对车辆减少能量消耗与提高抗侧倾能力需求,提出了一种主/被动可切换的液压互联悬架抗侧倾控制方法。基于9自由度车辆动力学模型,考虑蓄能器、液压缸、液压泵三者之间耦合的体积-流量-压力特性,建立液压互联悬架主动控制时域模型;结合"车身侧倾角-车身侧倾角速度"相平面法及车辆侧向加速度,得到车辆侧倾稳定域,并提出液压互联悬架系统侧倾稳定性控制介入与退出判据;在此基础上,采用Backstepping非线性控制算法设计主动液压互联抗侧倾控制器。最后,分析并改进侧倾稳定性评价指标,通过在MATLAB/Simulink环境下进行高速双移线、鱼钩试验等极端工况数值仿真,验证所提出的液压互联悬架主/被动切换控制系统能在减少能量消耗的情况下能否提高车辆抗侧翻的能力。研究结果表明：所提出的控制系统能有效提高车辆抗侧翻能力;当车辆侧倾状态超出设定的侧倾稳定区域介入线时,液压互联悬架系统由被动模式切换为主动抗侧倾模式,控制车辆侧倾状态回到稳定区域,以提高车辆侧倾稳定性;当判定车辆侧倾状态满足主动控制退出条件时,液压互联悬架系统回到被动模式,以减小能量消耗。     

液压互联悬架抗侧倾控制研究

针对车辆减少能量消耗与提高抗侧倾能力需求,提出了一种主/被动可切换的液压互联悬架抗侧倾控制方法。基于9自由度车辆动力学模型,考虑蓄能器、液压缸、液压泵三者之间耦合的体积-流量-压力特性,建立液压互联悬架主动控制时域模型;结合"车身侧倾角-车身侧倾角速度"相平面法及车辆侧向加速度,得到车辆侧倾稳定域,并提出液压互联悬架系统侧倾稳定性控制介入与退出判据;在此基础上,采用Backstepping非线性控制算法设计主动液压互联抗侧倾控制器。最后,分析并改进侧倾稳定性评价指标,通过在MATLAB/Simulink环境下进行高速双移线、鱼钩试验等极端工况数值仿真,验证所提出的液压互联悬架主/被动切换控制系统能在减少能量消耗的情况下能否提高车辆抗侧翻的能力。研究结果表明:所提出的控制系统能有效提高车辆抗侧翻能力;当车辆侧倾状态超出设定的侧倾稳定区域介入线时,液压互联悬架系统由被动模式切换为主动抗侧倾模式,控制车辆侧倾状态回到稳定区域,以提高车辆侧倾稳定性;当判定车辆侧倾状态满足主动控制退出条件时,液压互联悬架系统回到被动模式,以减小能量消耗。     

横向稳定杆计算与汽车侧倾

主要阐述了与汽车横向稳定性有关的几个问题：横向稳定杆的设计：悬架侧倾角刚度及前后悬架侧倾角刚度的匹配：汽车侧倾轴线的确定及汽车侧倾角计算。讨论了提高汽车悬架侧向稳定性。     

一种新型开关式主动横向稳定杆装置的控制研究

针对装有被动横向稳定杆的车辆在高速大转角转向时容易发生侧翻及在直线行驶时乘坐舒适性变差的问题,设计了一种开关式主动横向稳定杆装置。基于整车6自由度模型设计了线性二次型最优控制器对车辆转向时的侧倾进行控制;直线行驶时,主动横向稳定杆处于"OFF"状态,降低悬架刚度,提高车辆舒适性。采用时域与频域仿真验证了该装置的有效性,并通过台架试验对基于粒子群优化的线性二次型最优侧倾控制策略进行了验证。     

一种新型主动横向稳定杆装置的设计与特性分析

针对传统被动横向稳定杆不能根据车辆的侧倾角大小来调整车辆的侧倾角刚度,导致车辆在高速大转角时容易发生侧翻的问题,设计了一种新型的刚度可调式主动横向稳定杆(AARB)装置。建立了该AARB装置的侧倾角刚度数学模型,分析了各结构参数对该侧倾角刚度特性的影响规律。最后,通过试验验证了该主动横向稳定杆能比被动横向稳定杆更有效地控制车辆的侧倾,防止车辆发生侧翻。     

基于操纵稳定性的某客车空气悬架系统结构改进

针对某空气悬架客车在行驶转向时车身侧倾角过大问题,提出在后空气悬架导向臂尾端添加车身侧倾稳定板的改进方案。对改进前、后空气悬架系统进行了KC分析,结果显示改进后的悬架系统侧倾刚度得到了有效提高。基于刚柔耦合建模方法,建立了改进前、后整车多体动力学模型。仿真结果显示改进后车辆稳态回转时车身侧倾角明显减小,不足转向度也有所改善;整车试验结果验证了仿真结果的正确性和改进方案的可行性。     

LS400轿车空气悬架系统的结构及原理分析

ＬＳ４００轿车采用电子控制的主动空气悬架系统。其空气弹簧刚度、汽车高度及减振器阻尼大小均可根据驾驶条件自动控制，从而抑制了车辆侧倾、制动时前部点头和高速行驶时后部下沉等汽车姿态的变化，明显提高了乘坐的舒适性和操纵稳定性。本文详细阐述了空气悬架的结构、工作原理以及系统的控制功能。     

Design of rollover prevention controller with linear matrix inequality-based trajectory sensitivity minimisation

This paper presents a method to design a rollover prevention controller for vehicle systems. The vehicle rollover can be prevented by a controller that minimises the lateral acceleration and the roll angle. Rollover prevention capability can be enhanced if the controlled vehicle system is robust to the variation of the height of the centre of gravity and the speed of the vehicle. For this purpose, a robust controller is designed with linear matrix inequality-based trajectory sensitivity minimisation. Differential braking and active suspension are adopted as actuators that generate yaw and roll moments, respectively. The newly proposed method is shown to be effective in preventing rollover by the simulation on a non-linear multibody dynamic simulation software, CarSim^®.     

基于多目标粒子群优化算法的某轻型商用车操纵稳定性优化研究

针对某轻型商用车稳态回转时侧倾度偏大的问题对其悬架进行优化改进。基于ADAMS/car搭建整车多体动力学模型,通过前悬架反向平行轮跳试验、后悬架理论计算验证了悬架仿真模型的准确性。进行整车稳态回转工况和转向盘中间位置转向工况仿真分析,结果表明,车身侧倾度偏高。为实现操纵稳定性优化分析的流程自动化,提出了基于modeFRONTIER的联合仿真方法。以悬架设计参数为优化变量,以汽车的侧倾度与横摆角速度响应滞后时间为优化目标,采用拉丁超立方试验设计方法拟合得到混合代理模型,并结合多目标粒子群优化算法对悬架系统进行多目标优化,获得了悬架系统优化方案。优化结果显示,在不影响平顺性的前提下,汽车车身侧倾度降低了13.93%,横摆角速度响应滞后时间降低了2.75%,整车操纵稳定性得到了提升。     

Control of semi-active anti-roll systems on heavy vehicles

Semi-active anti-roll systems, with a high and low roll stiffness, or, since cornering is typically a transient event, damping setting have the capacity to improve heavy vehicle stability while having very low power consumption. If a vehicle is travelling around a right-hand bend and a low roll damping setting is selected, the vehicle will roll outwards. If a high damping setting is then selected, the outward roll will be locked-in. When the vehicle enters a left-hand bend, the inward roll becomes locked-in. This has the potential to increase critical lateral acceleration by up to 12.5% if the vehicle's future course can be predicted accurately (e.g. with a Global Positioning System). However, if the vehicle does not follow the expected path, the critical lateral acceleration may be degraded. Exploiting the delay between a steer angle being applied and the lateral acceleration developing could avoid this problem. However, the benefits from such a system are considerably lower, up to a 2.4% improvement in critical lateral acceleration. Hence, a ‘modal control strategy’ is developed aimed at providing high levels of benefit while being robust to deviations from the expected path. The modal strategy is able to provide benefits of up to 11%, while being robust to most deviations.     

Vehicle stability control system for enhancing steerabilty,lateral stability,and roll stability

The Vehicle stability control system is an active safety system designed to prevent accidents from occurring and to stabilize dynamic maneuvers of a vehicle by generating an artificial yaw moment using differential brakes. In this paper, in order to enhance vehicle steerability, lateral stability, and roll stability, each reference yaw rate is designed and combined into a target yaw rate depending on the driving situation. A yaw rate controller is designed to track the target yaw rate based on sliding mode control theory. To generate the total yaw moment required from the proposed yaw rate controller, each brake pressure is properly distributed with effective control wheel decision. Estimators are developed to identify the roll angle and body sideslip angle of a vehicle based on the simplified roll dynamics model and parameter adaptation approach. The performance of the proposed vehicle stability control system and estimation algorithms is verified with simulation results and experimental results.     

基于SIMULINK的汽车高速行驶姿态的影响因素分析

基于MATLAB/SIMULINK,以3自由度汽车非线性动力学模型为基础,建立仿真模型对汽车行驶姿态进行仿真研究,并且模拟了汽车在极限行驶工况下的行驶姿态,较低的行驶速度,适当增加侧倾转向系数可以提高汽车的操纵稳定性。前正/后负车轮外倾角可以保证汽车在高速转向/制动时保持一定的恢复横摆力矩,提高行驶安全性。改变侧倾阻尼系数对高速转向的操纵性影响不大而对行驶的平顺性有较大影响。     

汽车转向与悬架系统的集成控制研究

在建立了汽车转向与悬架系统的综合模型的基础上,运用一种具有扩展的调节器结构LQG控制方法,设计了 主动悬架控制器,实现对车身横摆角速度、车身垂直加速度、车身侧倾角和俯仰角的集成控制,从而显著提高汽车的 平顺性、操纵稳定性和安全性。     

An Experimental Study of a Prototype Active Anti-Roll Suspension System

Active roll control is known to offer substantial improvements in ride and handling performance over the most sophisticated passive suspension systems. However although many different active suspension systems have been discussed and analysed through simulation little information regarding experimental performance data from a prototype active roll control system has been published. This study focuses on the design, development, commissioning and experimental evaluation of a roll control suspension based on active anti-roll bar actuation. In tests, the prototype vehicle demonstrated excellent steady state and dynamic roll cancellation within the lateral acceleration range of 0.5g. Subjective assessments of the system confirmed the benefits of a level ride together with the added benefit accrued from the elimination of roll dynamics.     

Design of active suspension and electronic stability program for rollover prevention

This paper presents a method for the design of a controller for rollover prevention using active suspension and an electronic stability program (ESP). Active suspension is designed with linear quadratic static output feedback control methodology to attenuate the effect of lateral acceleration on the roll angle and suspension stroke via control of the suspension stroke and tire deflection of the vehicle. However, this approach has a drawback in the loss of maneuverability because the active suspension for rollover prevention produces in vehicles an extreme over-steer characteristic. To overcome this drawback of the active suspension based method, ESP is designed. Through simulations, the proposed method is shown to be effective in preventing rollover.     

某全驱沙漠车悬架侧倾刚度设计研究

以某4x4全驱沙漠车为研究对象,提出了一种简化的整车数学模型,建立了整车侧倾角与板簧、横向稳定杆刚度的函数关系,得到悬架侧倾角刚度对整车侧倾性能的影响。并介绍了横向稳定杆角刚度计算方法,前后悬架侧倾角刚度匹配原则。