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1.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(7):891-908
The active lateral suspension (ALS) of a train consists of either active or semi-active technologies. However, such an active system on a real railway vehicle is not easy to test because of cost and time. In this study, a hardware-in-the-loop simulation (HILS) system is developed to test the ALS. To this end, the dynamic model of a railway vehicle is equipped with the actuator, two bogies and four-wheel sets, and the ALS is used. The proposed HILS system consists of an alternating current servo motor connected to a ball-screw mechanism and a digital control system. The digital control system implements the dynamic model and the control algorithm. The design and manufacture of the HILS system are explained in detail. Both the passive damper and the magneto-rheological (MR) fluid damper are tested using the HILS system, where the sky-hook control algorithm was applied for the MR fluid damper. Experimental results show that the proposed HILS system can be effectively used for the performance estimation of the ALS. 相似文献
2.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):341-360
Summary This paper presents an investigation of the feedback control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers. A cylindrical MR damper is designed and manufactured by incorporating a Bingham model of aMR fluid which is commercially available. After evaluating the field-dependent damping characteristics of the MR damper, a full-vehicle suspension system installed with 4 independent MR dampers is constructed and its governing equations of motion which include vertical, pitch and roll motions are derived. A H 8 controller which has inherent robustness against system uncertainties is formulated by treating the sprung mass of the vehicle as uncertain parameter. This is accomplished by adopting the loop shaping design procedure. For the demonstration of a practical feasibility, control performance characteristics for vibration suppression of the proposed MR suspension system are evaluated under various road conditions through the hardware-in-the-loop simulation (HILS) methodology. 相似文献
3.
Seung-Bok Choi Hwan-Soo Lee Young-Pil Park 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2002,38(5):341-360
Summary This paper presents an investigation of the feedback control performance of a full-vehicle suspension system featuring magnetorheological (MR) dampers. A cylindrical MR damper is designed and manufactured by incorporating a Bingham model of aMR fluid which is commercially available. After evaluating the field-dependent damping characteristics of the MR damper, a full-vehicle suspension system installed with 4 independent MR dampers is constructed and its governing equations of motion which include vertical, pitch and roll motions are derived. A H 8 controller which has inherent robustness against system uncertainties is formulated by treating the sprung mass of the vehicle as uncertain parameter. This is accomplished by adopting the loop shaping design procedure. For the demonstration of a practical feasibility, control performance characteristics for vibration suppression of the proposed MR suspension system are evaluated under various road conditions through the hardware-in-the-loop simulation (HILS) methodology. 相似文献
4.
Y. Kim S. Choi J. Lee W. Yoo J. Sohn 《International Journal of Automotive Technology》2011,12(4):521-527
In this study, a large bus is tested to measure its dynamic response by the single-lane change test and the rapid stop test.
A full car model is established by ADAMS/Car for computer simulation. For multibody modeling of a large bus, user-defined
templates are used in the simulation. Simulation results of the single-lane change test and the rapid braking test are compared
to the results of the physical experiments, in which several sensors are installed to measure the vehicle’s responses. The
results obtained from the simulation show good agreement with the tests’ results. A dynamic model for the MR(magnetic-rheological)
damper is also developed by employing the Magic Formula model, which is widely used in the nonlinear modeling of a tire. Bump
simulation of a full car with the MR damper is carried out to verify the performance of the MR damper. The comparison of the
simulation results obtained with the MR damper model to the results obtained with the traditional passive damper model showed
improved response of the vehicle with the MR damper. 相似文献
5.
一种用于车辆半主动悬架控制的磁流变阻尼器模型 总被引:3,自引:0,他引:3
文中对适用于车辆半主动悬架控制器设计的磁流变阻尼器模型进行研究.首先分析阻尼力与位移、速度以及输入电流之间的关系,并结合现有阻尼器模型的优点,提出一种精确的便于控制的双曲正切磁滞模型.接着,将磁流变阻尼器安装在硬件在环仿真平台上进行试验,利用试验得到的阻尼器动态特性数据,进行阻尼器模型的参数辨识和曲线拟合.最后,将基于拟合参数的模型仿真结果与试验数据进行比较,验证了模型的正确性. 相似文献
6.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):600-626
In this paper, semi-active H∞ control with magnetorheological (MR) dampers for railway vehicle suspension systems to improve the lateral ride quality is investigated. The proposed semi-active controller is composed of a H∞ controller as the system controller and an adaptive neuro-fuzzy inference system (ANFIS) inverse MR damper model as the damper controller. First, a 17-degree-of-freedom model for a full-scale railway vehicle is developed and the random track irregularities are modelled. Then a modified Bouc–Wen model is built to characterise the forward dynamic characteristics of the MR damper and an inverse MR damper model is built with the ANFIS technique. Furthermore, a H∞ controller composed of a yaw motion controller and a rolling pendulum motion (lateral motion+roll motion) controller is established. By integrating the H∞ controller with the ANFIS inverse model, a semi-active H∞ controller for the railway vehicle is finally proposed. Simulation results indicate that the proposed semi-active suspension system possesses better attenuation ability for the vibrations of the car body than the passive suspension system. 相似文献
7.
《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(7):1025-1041
In this paper, a magneto-rheological (MR) damper-based semi-active controller for vehicle suspension is developed. This system consists of a linear quadratic Gauss (LQG) controller as the system controller and an adaptive neuro-fuzzy inference system (ANFIS) inverse model as the damper controller. First, a modified Bouc–Wen model is proposed to characterise the forward dynamic characteristics of the MR damper based on the experimental data. Then, an inverse MR damper model is built using ANFIS technique to determine the input current so as to gain the desired damping force. Finally, a quarter-car suspension model together with the MR damper is set up, and a semi-active controller composed of the LQG controller and the ANFIS inverse model is designed. Simulation results demonstrate that the desired force can be accurately tracked using the ANFIS technique and the semi-active controller can achieve competitive performance as that of active suspension. 相似文献
8.
L. Balamurugan J. Jancirani M. A. Eltantawie 《International Journal of Automotive Technology》2014,15(3):419-427
In this paper, analytical characterization of the magneto-rheological (MR) damper is done using a new modified algebraic model. Algebraic model is also more preferable because of its low computational expenses compared to differential Bouc-Wen’s model which is highly computationally demanding. This model along with the obtained model parameters is used as a semi-active suspension device in a quarter car model and the stationary response of the vehicle traversing on a rough road is obtained. The control part consists of two nested controllers. One of them is the system controller which generates the desired damping force and the other is the damper controller which adjusts the voltage level to MR damper so as to track the desired damping force. For the system controller a model reference skyhook Sliding Mode Controller (SMC) is used and for the damper controller a continuous state algorithm is built to determine the input voltage so as to gain the desired damping force. The analytical model is subsequently used in the quarter car vehicle model and the vehicular responses are studied. A simulation study is performed to prove the effectiveness and robustness of the semi-active control approach. Results show that the semi-active controller can achieve compatible performance as that of active suspension controller except for a little deterioration. 相似文献
9.
M. H. Lee H. M. Lee K. S. Lee S. K. Ha J. I. Bae J. H. Park H. G. Park H. J. Choi H. H. Chun 《International Journal of Automotive Technology》2011,12(5):733-744
In this paper, a hardware-in-the-loop simulation (HILS) system was developed before the development of an electric power steering
(EPS) system in a vehicle. This study was focused on the establishment of the HILS system. Driving conditions are simulated
with the HILS system. The actual steering input parameters are confirmed on the monitor while driving the HILS system. The
steering forces observed in the simulation with the developed HILS system are similar to those in real vehicle tests. The
developed HILS system can be applied in the development of various types of EPS systems. 相似文献
10.
应用于汽车减振的磁流变液阻尼器的设计原理 总被引:6,自引:0,他引:6
应用智能材料磁流变液(MR)构造出的半主动悬架减振系统,可以用于对车辆振动的控制。MR流体具有的独特性质在于:在强磁场的作用下,可由牛顿流体变为粘塑流体,而变液阻尼器则具有结构简单、体积小、工作连续可逆,能耗小等优点。本文介绍了磁流变液的材料特性,建立了磁流变液阻尼器的阻尼力数学模型,并提出设计变阻尼器时参数的选取原则。 相似文献
11.
基于半主动自适应悬架系统的整车道路友好性研究 总被引:1,自引:0,他引:1
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。 相似文献
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Vehicle Dynamic Analysis and Evaluation of Continuously Controlled Semi-Active Suspensions Using Hardware-in-the-loop Simulation 总被引:3,自引:0,他引:3
Sung-Ho Hwang Seung-Jin Heo Hong-Seok Kim Kyo-Il Lee 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》1997,27(5):423-434
A semi-active suspension system with continuously variable damper is greatly expected to be used mainly in the future as a high-performance suspension system due to its cost-effectiveness, light weight, and low energy consumption. In this paper, to develop a suitable control logic for the semi-active suspension system, the hardware-in-the-loop simulation is performed for the experimental continuously variable damper combined with a quarter-car model, and the simulation results are compared for passive, on/off controlled, and continuously controlled dampers in the aspects of ride comfort and driving safety, assuming each damper to be installed on the vehicle. 相似文献
16.
In this paper, a set of longitudinal velocity and distance controllers with switching logic is proposed for an active driver
safety system, and validation via hardware-in-the-loop simulation (HILS) is presented. Since the desired velocity and distance
are given discretely and arbitrarily by a driver, there are usually discontinuities or discrete jumps between the desired
and current vehicle state immediately after the switching. To minimize performance degradation resulting from this discrete
jump, dynamic surface control (DSC) with an input-shaping filter is applied for both velocity and distance control. Furthermore,
while much cost and effort are usually necessary for the experimental validation of a longitudinal controller, the validation
of the longitudinal controller via HILS is performed with a minimum of effort. In the HILS, the various switching scenarios
and desired discrete inputs in terms of velocity and distance are considered and the corresponding performance of the controller
is shown in the end. 相似文献
17.
电子机械式制动执行器硬件在环仿真 总被引:1,自引:0,他引:1
电子机械制动技术是一种全新的制动理念,极大的提高了汽车的制动安全性.文中介绍了电子机械制动系统的发展、组成及工作原理;搭建了电子机械式制动执行器原理机硬件在环仿真试验平台.以1/4车辆模型为研究对象,对基于模糊控制方法的车辆防抱死制动特性的Matlab/Simulink仿真结果和硬件在环仿真结果进行比较分析.验证了电子机械式制动执行器的合理性和可行性. 相似文献
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斜拉桥拉索的MR半主动控制研究 总被引:3,自引:3,他引:3
根据LQR最优控制理论,结合面向速度剪切(Clipped Optimal)控制算法及修正的磁流变(MR)阻尼器Bouc Wen模型,提出了LQR Clipped半主动控制算法,应用拉索振动的差分离散模型,对斜拉索的面内振动进行了被动、主动及半主动控制研究,分析了MR阻尼器对斜拉索的振动控制效果。研究结果表明:MR阻尼器被动控制能够提供的模态阻尼比可以达到最优油阻尼器控制的值,但MR被动控制存在一个最优输入电压,最优电压值与需控制的第几阶模态有关;与油阻尼器被动控制相比,MR半主动控制可以有效地提高模态阻尼比,尤其在阻尼器位置距索端很近时仍有较好的控制效果。 相似文献