基于轴间预瞄的主动悬架研究

以某型汽车的1／2车辆模型为研究对象,提出了一种轴间预瞄控制的方法,并结合最优控制理论设计了车辆悬架的控制策略。通过模拟和仿真分析,验证了所提出的轴间预瞄比传统的轴距预瞄具有更好的控制效果。     

一种用于1／2汽车主动悬架的可调模糊控制器

本文对用于1／2汽车主动悬架系统的模糊控制器进行了研究。在设计模糊控制器时，引入模糊控制规则调整因子，使得控制策略灵活，适应性强，并以模拟路面时间历程为输入对汽车1／2主动悬架模型进行计算机仿真，结果表明用这种可调模糊控制器控制的主动悬架，汽车的适性和操纵稳定性都得到了明显改善。     

汽车液压主动悬架系统模糊控制研究

设计了一个汽车液压主动悬架装置,运用模糊控制技术对所设计的悬架系统的控制策略及控掣登嚣进行了研究。研究结果表明,所设计的主动悬架装置是正确的,采用模糊控制策略能够保证悬架系统具有较好的控制效果。     

基于免疫算法的汽车主动悬架控制研究

应用免疫算法理论,以车身垂直加速度、悬架动行程和车轮动载为控制目标,设计了基于汽车1/4模型的主动悬架控制策略。该算法利用信息熵作为评价抗体亲和力的指标,具有多样识别能力、强鲁棒性和免疫记忆功能。仿真结果表明,基于免疫控制器的主动悬架对汽车的平顺性和操纵稳定性有较明显的改善。     

Advanced Control Methods of Active Suspension

SUMMARY

This paper describes new control methods for the active suspension. For improving ride comfort further, preview control rule is proposed. For improving stability further, roll stiffness distribution control rule is examined by the test vehicle. Simulations and vehicle driving tests are conducted to confirm the effect of these new control methods. The results of simulations and vehicle driving tests show in our research phase that preview control can achieve a substantial improvement in ride comfort and application of roll stiffness distribution control provides a large improvement in stability     

Advanced Control Methods of Active Suspension

This paper describes new control methods for the active suspension. For improving ride comfort further, preview control rule is proposed. For improving stability further, roll stiffness distribution control rule is examined by the test vehicle. Simulations and vehicle driving tests are conducted to confirm the effect of these new control methods. The results of simulations and vehicle driving tests show in our research phase that preview control can achieve a substantial improvement in ride comfort and application of roll stiffness distribution control provides a large improvement in stability     

电液主动悬架的自校正控制

运用衰减记忆递推最小二乘参数估计算法和广义加权最小方差自校正控制算法对主动悬架系统进行控制，并利用压力伺服阀控制的液压缸作为执行器。理论分析和仿真结果表明，所提出的控制系统是可行的，这种自适应自校正算法对系统中一些时变参数具有良好的适应性。     

线性最优控制主动悬架系统的鲁棒稳定性研究

本文采用系统性能分析和Ｍｏｎｔｅ－Ｃａｒｌｏ方法，对线性最优控制主动悬架系统作了鲁棒稳定性研究。     

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.     

汽车主动悬架自调整模糊控制试验

以汽车操纵稳定性及行驶平顺性为控制目标,提出一种在线可调整的模糊控制算法,其模糊控制规则表可以用解析的方法进行计算。针对简化的汽车模型,为控制悬架系统的振动设计了自调整模糊控制器。与自适应控制主动悬架系统相比较,在两自由度悬架系统试验台架上进行了对比试验研究,结果表明该算法对汽车的振动控制具有明显效果,进一步说明提出的算法对汽车悬架系统的振动控制具有较好的适应性。     

汽车主动悬架的最优预见控制

本文针对1/2车辆模型,应用最优预见控制理论对汽车主动悬架进行控制系统的设计和研究。计算机仿真结果表明,所提出的系统能有效改善汽车乘坐舒适性。     

Discrete Adaptive Active Suspension for Hardware Implementation

This paper presents a discrete adaptive control approach for an active suspension. The study involves formulation of an active suspension as a digital controller problem involving the time delays. A nonlinear time varying (NTV), single input single output (SISO) suspension model is considered for the analysis. A discrete model reference adaptive control (DMRAC) approach with recursive least square (RLS) estimation is used to form the controller. The controller is designed to maintain the static equilibrium irrespective of dynamic load variations as a disturbance force on the model. Simulation results for deterministic and stochastic inputs are presented to substantiate the approach. Results indicate good performance of adaptive controller even for large dynamic variations of the model and has the potential for a successful hardware implementation.     

Active Damping in Road Vehicle Suspension Systems

Low order, linearized dynamic models of road vehicle suspension systems are analyzed to provide insight into the benefits of suspensions incorporating generalized velocity feedback compared with conventional passive suspensions. Damping forces from passive dampers are supplemented by forces generated by an active element requiring a power supply. A simple criterion is developed which indicates whether or not the introduction of activedamping forces will result in significant benefit for pneumatic tired vehicles.

An extended active suspension concept involving a high-gain load leveler as well as active damping is analyzed. The realization of active or semi-active damping forces through electrical or hydraulic means is briefly discussed.     

汽车主动悬架系统的试验研究

在分析汽车传统被动悬架的基础上,给出了一种新型主动悬架结构。介绍了该主动悬架的工作原理,建立了二自由度的主动悬架数学模型。采用天棚控制策略,设计并研制了主动悬架样机及试验台架,进行了被动悬架与主动悬架的台架对比试验。试验结果表明,与被动悬架相比,该主动悬架能有效改善汽车的动态性能。     

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。     

整车主动悬架系统的数学建模

悬架系统是一个复杂的动力学系统,其模型的精确性、合理性对主动悬架的研究起到决定性作用.为进一步满足车辆乘坐舒适性的要求,以整车模型为研究对象,运用八板块方法进行动力学分析,根据牛顿运动学定律推导出悬架各部分的力学微分方程,从而建立了包含俯仰运动模型、侧倾运动模型和转向运动模型的整车模型,为车辆主动悬架的进一步研究提供了理论基础与依据.     

An Active Suspension with Optimal Linear State Feedback

SUMMARY

In this paper modern optimal control theory is applied to the design of an active suspension system for a motor vehicle. The road profile is assumed to be continuous and random with a power spectral density (P.S.D.) which varies inversely with the square of the frequency. The quadratic integral type performance index employed is a weighted sum of the integral squares of body acceleration, dynamic tyre deflection and relative body-to-axle displacement. A solution is obtained for the infinite time case which is both computationally and physically realizable as an active suspension in which the only continuous measurements required are the body absolute velocity and the body displacement relative to the road. The performance is compared with that of a conventional type passive suspension and found to be significantly better in practically all respects.