汽车半主动悬架的自适应LQG控制

本文根据汽车半主动悬轲的基本结构，通过力学分析建立了其数学模型，为了克服实际的悬架控制系统动态行的不确定性，采用了自适应ＬＱＧ控制策略。     

汽车主动悬架系统的自适应模糊控制方法

本文提出了一种汽车主动悬架系统的自适应模糊控制方法,该模糊控制方法可以有线自适应调整模糊控制的有关参数。1/4车辆模型作为系统仿真对象,模糊逻辑控制器可以显著发减小车辆的振动及干扰,提高车辆受路面激励时车辆的舒适性。仿真结果清楚地表明该模糊控制方法的有效性。另外,当主动悬架系统模型参数发生变化时该模糊控制器表现出良好的鲁棒性。     

Adaptive Control of Vehicle Suspension

An adaptive control scheme for a two-degree-of-freedom vehicle model with active suspension is proposed. The performance goal is to minimize the variance of vehicle body acceleration under inequality constraints imposed on the variance of either tire or suspension deflection. An active suspension is adapted to the changes in vehicle velocity and the type of road (or terrain) surface which is assumed to be reconstructable from the accelerometer measurements. The control gain factors are obtained by the iterative method taking advantage of stochastic linear control theory. The performance of the system is evaluated and compared to that of an active system with constant gain factors and a passive system with adjustable parameters.     

Power Requirements for Vehicle Suspension Systems

This paper attempts to analyze the power requirements of a vehicle due solely to its suspension system, neglecting the important powers associated with air and rolling resistance. Power requirements for active and passive suspensions are compared using the simplest possible mathematical model. A mass in a gravity field moves at constant velocity over a surface and is supported by a point contact on the surface by a massless but otherwise arbitrary suspension system. It is shown that the average propulsive power required is equal to the average power lost in the suspension. In the limit cases of very stiff or very soft suspensions this power vanishes. Passive suspensions require no other power, but active suspensions may require significant extra power from the prime mover to generate the suspension forces.     

液压主动悬架的非线性自适应控制

以车身垂直加速度和悬架动行程为控制目标,同时引入非线性高通滤波器和非线性低通滤波器,基于逆向递推(Backstepping)技术,并考虑液压系统的非线性特性及其参数不确定性,提出了一种主动悬架的非线性自适应控制方法。仿真结果表明,在不同的激励信号作用下,都取得了较好的控制效果。     

Advanced Ground Vehicle Suspension Systems - A Classified Bibliography

This bibliographical list classifies the extensive literature related to the dynamic analysis and control design aspects of advanced ground vehicle suspension systems. It is restricted to the design of advanced suspensions for ride quality and safety. Brief generalized notices and definitions are presented.     

Design of Nonlinear Controllers for Active Vehicle Suspensions Using Parameter-Varying Control Synthesis

Nonlinear suspension controllers have the potential to achieve superior performance compared to their linear counterparts. A nonlinear controller can focus on maximizing passenger comfort when the suspension deflection is small compared to its structural limit. As the deflection limit is approached, the controller can shift focus to prevent the suspension deflection from exceeding this limit. This results in superior ride quality over the range of road surfaces, as well as reduced wear of suspension components. This paper presents a novel approach to the design of such nonlinear controllers, based on linear parameter-varying control techniques. Parameter-dependent weighting functions are used to design active suspensions that stiffen as the suspension limits are reached. The controllers use only suspension deflection as a feedback signal. The proposed framework easily extends to the more general case where all the three main performance metrics, i.e., passenger comfort, suspension travel and road holding are considered, and to the design of road adaptive suspensions.     

Advanced Ground Vehicle Suspension Systems - A Classified Bibliography

SUMMARY

This bibliographical list classifies the extensive literature related to the dynamic analysis and control design aspects of advanced ground vehicle suspension systems. It is restricted to the design of advanced suspensions for ride quality and safety. Brief generalized notices and definitions are presented.     

汽车主动悬架的单神经元自适应控制

在1/4汽车动力学模型的基础上,设计了汽车主动悬架的自适应神经元控制器。以车辆的行驶平顺性为主要控制目标,车身垂直加速度、悬架动挠度、车轮动位移为具体评价参数,研究了系统在随机路面激励条件下的时域响应,计算了振动响应的均方根值,考察了在变参数条件下控制器的鲁棒性。仿真结果表明,该控制器能有效改善车辆的综合性能,尤其是平顺性和舒适性,并且具有较好的鲁棒性,对模型参数的变化有一定的适应性。     

车辆主动悬架系统的LMS自适应控制

选择LMS自适应滤波算法,通过调整自适应滤波器的权系数使二次性能指标达最小,根据单个样本方差的负梯度来调节权系数;得到控制输出。针对简化的车辆模型,将空钩控制、广义自适应控制与LMS自适应控制相对比。仿真计算表明,主动悬架系统LMS自适应控制策略不仅计算简单,而且理论上在主动悬架系统中的应用是切实可行的,性能明显优于其它对比控制方法。     

基于神经网络的半主动悬架自适应模糊控制

提出了基于神经网络的自适应模糊控制策略。模糊控制主要用来对付系统的非线性;神经网络根据振动响应的方差递推结果来辨识车体的振动情况实时调节模糊控制器的量化因子,使模糊控制器对路面的变化具有自适应的能力。在半主动悬挂1／4车非线性模型的基础上进行了仿真研究。     

车辆半主动悬架神经网络自适应控制的研究

针对变刚度半主动悬架这种时变的、非线性复杂系统,提出将神经网络自适应控制策略用于该悬架的控制,研究中主要用车身垂直加速度作为主要控制目标,以提高车辆行驶的平顺性,同时在仿真控制研究中兼顾悬架动挠度和车轮动载荷的变化,以提高车辆行驶安全性和操纵稳定性,通过仿真计算和结果分析验证了其可行性和有效性。     

Design of Robust Controllers for Active Vehicle Suspension Using the Mixed µ Synthesis

Summary The mixed µ synthesis for active suspension problems is proposed. Applying this method the real parametric uncertainties can be taken into consideration, which is more realistic than the traditional approaches, and the design process yields a less conservative compensator than other robust control design methods. The concept of the active suspension design using full-car models to handle the uncertain components is presented. The result of the mixed µ method is compared with the complex µ synthesis, and the passive system.     

Adaptive Ride Control In Active Suspension Systems

The paper describes the development of an adaptive control algorithm for active suspension systems based on optimal regulation methods. The objective is to design an algorithm which will automatically tune at start-up to changed vehicle conditions and adaptively re-tune to changes in driving conditions (in particular road generated disturbances). The proposed algorithm is a self-tuning regulator based on generalised minimum variance (GMV) control. Simulation results obtained for a 3 degree-of-freedom (DOF) quarter car suspension demonstrate potential benefits of fully adaptive control in automotive suspensions.     

车辆主动悬架系统的随机控制及计算机仿真研究

首先设计随机最优LQ控制器，通过幅频响应分析，详细研究悬架二次型性能指标权重系数对车辆平顺性和操纵稳定性的影响，得出全状态LO控制对车辆性能影响的规律性结论。结合工程应用背景，在最优LQ控制的基础上，进一步研究随机次优控制器的设计。幅频响应仿真结果表明，随机次优控制主动悬架在改善车辆的平顺性上和最优控制相当或接近，且优于被动悬架。并且，在较高频率(约大于8Hz)范围内，主动悬架在改善车辆操纵稳定性方面也优于被动悬架。文章最后总结提出，选择适当的测量变量，设计的次优控制器可以代替最优控制器，具有一定的工程应用价值。     

基于制动与悬架系统的车辆主动侧翻控制的研究

为提高车辆抗侧翻能力,建立了10自由度整车侧翻动力学模型,应用车辆动力学和轮胎力耦合特性,提出了一种基于差动制动和半主动悬架协同工作的车辆主动抗侧翻控制策略。通过对制动力矩的差动调节和半主动悬架阻尼力的适时匹配,实现对车辆侧翻的有效控制。根据子系统运动特性,设计了制动系统基于滑移率的积分滑模控制器和悬架系统灰模糊控制器。分别对制动、悬架控制及综合控制进行的鱼钩试验仿真结果表明,综合控制策略可有效降低危险时域车辆的侧倾角,相对于单一系统控制进一步提高了车辆抗侧翻能力。     

汽车磁流变非线性悬架模糊控制

建立了整车悬架系统的三维模型,根据试验数据得出了前后悬架弹簧的非线性特性曲线。前后悬架减振器均采用磁流变减振器,采用Bouc-Wen参数化模型为其阻尼力模型。采用模糊控制算法为整车半主动控制算法,采用ADAMS和Matlab联合对整车平顺性进行仿真。结果表明,采用模糊控制算法控制磁流变非线性悬架可提高整车的平顺性。     

基于半主动自适应悬架系统的整车道路友好性研究

为了提高车辆的道路友好性与平顺性,设计了以磁流变减振器为控制对象的整车自适应模糊控制半主动悬架系统。在试验测试和理论分析的基础上,建立了基于磁流变减振器的整车半主动悬架模型及其状态方程,并用该模型对自适应模糊控制方法进行了研究。模型的输入采用B级和C级路面谱;道路友好性评价指标采用动载荷系数和动载荷应力因子;使用MATLAB/Simulink建立基于2个自适应模块的模糊控制器控制系统,模糊控制器的输入均采用车身与车桥的相对速度和相对加速度。仿真结果表明:与被动悬架相比,在B级和C级路面、不同速度下,半主动自适应悬架动载荷系数均降低30%左右,动载荷应力因子均降低40%以上,同时也提高了车辆的运行平顺性和稳定性。     

Tracked Air Cushion Vehicle Suspension Models: Analysis and Comparison

In this paper several dynamical models of fluid suspensions for tracked air cushion vehicles are analyzed and compared. Specifically, the models considered conform to: a fifth-order linear suspension, a nonlinear configuration with a constant supply pressure, a nonlinear model with compressor characteristics, and a sixth-order nonlinear model with a supply duct connecting the compressor to the cushion chamber. Nonlinearities included in the analysis are the flexible-skirted cushion capacitance, cushion entrance and exit orifice restrictions, feeding system duct fluid capacitance, and compressor pressure-flow characteristics. Temporal responses are obtained for guideway and external force inputs. Back flow conditions under which the supply compressor can stall are examined. It is shown that the general behavior resulting from linear analysis is in many respects similar to that obtained from the nonlinear analysis. Thus, a linear model could provide a good initial basis for a preliminary design and performance specifications.