汽车磁流变半主动座椅悬架动态特性的试验研究

为进一步提高汽车的乘坐舒适性,研发了一种汽车座椅半主动悬架用磁流变减振器,并对其进行阻尼特性试验,通过分析其受力情况,建立了汽车半主动座椅悬架动力学模型,设计了用于座椅磁流变半主动悬架的天棚控制策略,并在随机和正弦激励输入下进行了座椅天棚控制仿真计算,试制了磁流变半主动座椅物理样机及试验台架系统,开展了磁流变半主动座椅悬架的台架试验研究。结果表明,理论仿真和试验结果基本吻合,磁流变减振器阻尼可控性好;相对于被动座椅悬架,采用磁流变半主动座椅悬架后,座椅动态性能改善了30%左右,磁流变半主动座椅悬架减振效果显著。     

可调减振器阻尼控制与半主动悬架的试验研究

建立车辆半主动悬架1/4模型,提出可调减振器阻尼控制的实现方法,设计半主动悬架台架试验系统。在可调减振器试验的基础上,建立了可调减振器阻尼与步进电机转角之间的关系。最后,对半主动悬架1/4物理模型进行了台架试验。结果表明,试验系统稳定可靠,阻尼控制易于实现,半主动悬架能较好地适应不同的路面输入,为半主动悬架及控制系统的进一步研究奠定了基础。     

采用电流变阻尼器汽车悬架的半主动控制研究

采用电流变阻尼器作为汽车悬架系统的减振器，应用最优控制策略，设计了汽车悬架的半主动控制系统。大量仿真实验表明，采用电流变阻尼器的半主动控制悬架系统有效地改善了汽车驾驶平顺性和乘坐舒适性。     

车辆半主动悬架系统设计与试验研究

在可调减振器设计及试验的基础上,建立了半主动悬架系统的数学模型,分析了模糊控制半主动悬架系统的动态性能,开发了以C8051F005单片机为主控件的半主动悬架模糊控制器,搭建了半主动悬架全真试验台,并进行了台架试验.结果表明,设计的半主动悬架及其控制系统性能稳定、可靠,汽车行驶平顺性明显优于传统被动悬架,为半主动悬架的实际应用奠定了基础.     

汽车磁流变半主动悬架的控制研究

为了改善汽车的乘坐舒适性和行驶安全性,提出了一种汽车磁流变半主动悬架的控制策略。首先,设计了磁流变减振器的工作模式,通过试验获得了其速度特性和力学特性,建立了磁流变减振器的数学模型;其次,建立了带磁流变减振器的二自由度车辆简化模型及其参数表;最后,基于双环控制理论,设计了一种控制系统,其外环产生理想的结构阻尼力,内环调节电流驱动器的电流,以使磁流变减振器实时地产生控制阻尼力。仿真结果表明:以磁流变减振器为基础,通过半主动控制技术,悬架系统的振动动态性能得到了有效的控制。     

汽车可控悬架系统的研究进展

总结了汽车可控悬架的发展状况,详细阐述了半主动悬架、主动悬架等的结构形式及国内外最新研究成果,提出了新型可能量再生的可切换的主动/半主动悬架结构方案,并进行了台架试验。评价了用于可控悬架的主要控制策略,指出应着重研究非线性控制与智能控制方法的综合运用,研究和开发可能量回收的汽车智能悬架,重点包含制动、转向、可控悬架的底盘集成控制。     

基于硬件在环与远程参数控制技术的半主动悬架车辆道路模拟试验

针对半主动悬架车辆减振器存在宽泛阻尼特性区间而难以进行道路模拟试验的问题,提出了一种基于硬件在环(HIL)与远程参数控制(RPC)技术的半主动悬架车辆道路模拟试验方法,由RPC系统提供CAN报文动态信号,HIL系统仿真CAN报文静态信号,并整合CAN报文,发送给悬架电子控制单元(ECU),悬架ECU为主动减振器提供控制指令,控制减振器特性状态,RPC系统对车辆与台架系统进行频响函数求解、迭代,驱动台架系统运行,从而实现了对半主动悬架车辆的道路模拟试验。     

汽车非线性半主动悬架的模糊神经网络控制

考虑磁流变减振器阻尼力和悬架弹性元件非线性特性，建立车辆6自由度的半主动悬架非线性动力学模型。提出了一种基于模糊神经网络系统结构的模型参考自适应控制方法来研究汽车半主动悬架的非线性控制问题，并考虑半车模型前后悬架的输入时滞，对其进行了仿真研究。研究结果表明：运用模糊神经网络非线性控制方法能够使人体和车身垂直加速度、俯仰角加速度都得到很大的衰减，证实这种模糊神经网络控制方法可大大减少路面对车身的振动冲击，提高汽车行驶平顺性。     

转向工况下汽车半主动悬架模糊PID控制

根据汽车系统动力学原理及牛顿力学定律建立了转向工况下的半主动悬架整车数学模型,并将模糊规则控制与传统PID控制相结合,设计了基于可调阻尼减振器的汽车半主动悬架模糊PID控制器.运用Matlab7.0/Simulink6.0软件对此控制系统进行了仿真计算,结果表明,该控制器有效改善了汽车在转向工况下的动态性能,保持了良好的车身姿态,提高了乘坐舒适性.     

基于模糊算法的车辆半主动悬架控制

以汽车二自由度悬架系统为研究对象,针对半主动悬架系统,提出以车身加速度为控制目的的模糊控制策略。以白噪声随机响应谱作为B级路面的激励输入,对被动悬架和半主动悬架系统进行仿真研究。仿真后的被动悬架与半主动悬架对结果表明,所提出的模糊控制策略有效的降低了悬架系统被击穿的可能性,提高了汽车乘坐的舒适性。     

Observer Design for Semi-Active Suspension Control

This paper presents an observer for automotive semi-active suspension control. Automotive suspensions are disturbance affected dynamic systems and semi-active suspensions can be represented as a bilinear model. An observer for semi-active suspensions is formulated such that the estimation error is independent of unknown external disturbance. The proposed observer uses easily accessible measurements such as accelerations and guarantees exponentially convergent state estimation for suspension deflections and velocities. Absolute sprung mass and unsprung mass velocities can be estimated using the proposed observer. Simulations and experimental rig tests show that all states of a semi-active suspension can be estimated only with acceleration measurements. The estimated states are used to improve ride quality in a semi-active suspension.     

Observer Design for Semi-Active Suspension Control

This paper presents an observer for automotive semi-active suspension control. Automotive suspensions are disturbance affected dynamic systems and semi-active suspensions can be represented as a bilinear model. An observer for semi-active suspensions is formulated such that the estimation error is independent of unknown external disturbance. The proposed observer uses easily accessible measurements such as accelerations and guarantees exponentially convergent state estimation for suspension deflections and velocities. Absolute sprung mass and unsprung mass velocities can be estimated using the proposed observer. Simulations and experimental rig tests show that all states of a semi-active suspension can be estimated only with acceleration measurements. The estimated states are used to improve ride quality in a semi-active suspension.     

电流变智能半主动悬架模糊PID控制

对带有电流变液智能阻尼器的半主动汽车悬架系统设计了一种模糊PID控制器。将半主动悬架簧载质量的位移及其导数作为模糊控制器的输入，PID控制器的3个增益参数作为其输出，利用电流变液智能阻尼器的阻尼力可随电压变化的特性来使车身的振动降为最小。仿真实验给出了最优被动悬架、固定参数PID控制智能半主动悬架和模糊PID控制智能半主动悬架在不同路面激励情况下的响应曲线。     

半主动悬架模糊控制仿真

为缓和路面传递给车身的冲击,改善汽车行驶的平顺性和操作稳定性,文章建立了二自由度1／4车体半主动悬架非线性动力学模型,利用MATLAB模糊逻辑控制工具箱设计半主动悬架的模糊控制器,通过运用MATLAB／SIMULINK,对悬架系统进行了仿真分析。结果表明,该控制方法能有效地降低车身垂直加速度、悬架的动挠度和车轮动载荷,提高了汽车的平顺性和操纵稳定性。     

基于微分几何理论的汽车半主动悬架非线性振动控制

针对汽车悬架系统的非线性特性,采用1／4汽车二自由度悬架模型分析半主动悬架控制。应用微分几何理论得到输出-干扰解耦方法,再经适当的坐标变换将该模型由非线性系统简化成一线性系统,并对此系统进行最优控制,然后通过非线性状态反馈实现对原系统的半主动控制。与被动悬架的仿真结果进行了比较,表明这种针对具有非线性特征的半主动悬架的非线性控制方法是可行的。通过功率谱分析,控制后系统的能量比被动悬架更趋于平均,悬架动态性能更稳定。     

Skyhook and H8 Control of Semi-active Suspensions: Some Practical Aspects

Summary This paper deals with single-wheel suspension car model. We aim to prove the benefits of controlled semi-active suspensions compared to passive ones. The contribution relies on H 8 control design to improve comfort and road holding of the car under industrial specifications, and on control validation through simulation on an exact nonlinear model of the suspension. Note that we define semi-active suspensions as control systems incorporating a parallel spring and an electronically controlled damper. However, the type of damper used in automotive industry can only dissipate energy. No additional force can be generated using external energy. The control issue is then to change, in an accurate way, the damping (friction) coefficient in real-time. This is what we call semi-active suspension. For this purpose, two control methodologies, H 8 and Skyhook control approaches, are developed, using a linear model of the suspension, and compared in terms of performances using industrial specifications. The performance analysis is done using the control-oriented linear model first, and then using an exact nonlinear model of the suspension incorporating the nonlinear characteristics of the suspension spring and damper.     

Skyhook and H8 Control of Semi-active Suspensions: Some Practical Aspects

Summary This paper deals with single-wheel suspension car model. We aim to prove the benefits of controlled semi-active suspensions compared to passive ones. The contribution relies on H 8 control design to improve comfort and road holding of the car under industrial specifications, and on control validation through simulation on an exact nonlinear model of the suspension. Note that we define semi-active suspensions as control systems incorporating a parallel spring and an electronically controlled damper. However, the type of damper used in automotive industry can only dissipate energy. No additional force can be generated using external energy. The control issue is then to change, in an accurate way, the damping (friction) coefficient in real-time. This is what we call semi-active suspension. For this purpose, two control methodologies, H 8 and Skyhook control approaches, are developed, using a linear model of the suspension, and compared in terms of performances using industrial specifications. The performance analysis is done using the control-oriented linear model first, and then using an exact nonlinear model of the suspension incorporating the nonlinear characteristics of the suspension spring and damper.     

Preview-Based Control of Suspension Systems for Commercial Vehicles

An active suspension with preview is developed for the rear axle of a commercial vehicle. The obtained improvements are promising and justify further investigation of the more feasible semi-active suspensions with preview. The inherent non-linearity of semi-active suspensions with switching shock absorbers and the need for controllers that can handle a broad class of control objectives has led to the development of several numerical control methods for both multi-level and continuously variable shock absorbers. The most promising control method and shock absorber type are selected and mounted in a test vehicle. Some first experimental results are discussed.