电控空气悬架车高调节与整车姿态控制研究
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摘要
针对电控空气悬架在车高调节过程中存在的过充、过放以及振荡等不良现象,提出一种能够对气体质量流量进行自适应调节的神经网络PID控制方法。根据车辆系统动力学和变质量充放气系统热力学理论,建立了电控空气悬架车高调节数学模型,设计了车高调节BP神经网络PID控制器,并对控制器的实际性能进行了仿真验证。在此基础上,为了进一步防止车高调节过程中因四角高度调节不同步而引起的整车姿态失稳现象,基于模糊控制算法对系统局部控制量进行了修正,从而形成整车姿态模糊控制器。最后,基于D2P快速开发平台搭建了电控空气悬架车高调节控制系统,进行了整车台架试验。试验结果表明,所设计的控制系统不仅能够实现车身高度的有效调节,同时还能抑制车高调节过程中的整车姿态变化。
This paper presented the design and verification of a vehicle height adjustment and attitude controller for electronically controlled air suspension. For the undesirable phenomenon such as overcharge,over-discharge and oscillation during the vehicle height adjustment process of the electronically controlled air suspension,a neural network PID control method to regulate the gas mass flow rate adaptively was proposed. According to the theory of the vehicle system dynamics and the thermodynamic theory of variable mass charge / discharge gas system,a vehicle height adjustment mathematical model for the electronically controlled air suspension was established. A BP neural network PID controller for vehicle height adjustment was designed and its actual control performance was verified by simulation.During the vehicle height adjustment process,the non-synchronous height adjustment of the four corners would result in the vehicle attitude instability phenomenon. In order to prevent the instability phenomenon,the system local control qualities were revised by fuzzy control algorithm to form the vehicle attitude fuzzy controller. Finally,the vehicle height adjustment control system was realized by D2 P rapid development platform to perform vehicle bench experiments. The test results showed that the control system could regulate the vehicle height effectively and restrain the vehicle attitude change during the vehicle height adjustment process.
This paper presented the design and verification of a vehicle height adjustment and attitude controller for electronically controlled air suspension. For the undesirable phenomenon such as overcharge,over-discharge and oscillation during the vehicle height adjustment process of the electronically controlled air suspension,a neural network PID control method to regulate the gas mass flow rate adaptively was proposed. According to the theory of the vehicle system dynamics and the thermodynamic theory of variable mass charge / discharge gas system,a vehicle height adjustment mathematical model for the electronically controlled air suspension was established. A BP neural network PID controller for vehicle height adjustment was designed and its actual control performance was verified by simulation.During the vehicle height adjustment process,the non-synchronous height adjustment of the four corners would result in the vehicle attitude instability phenomenon. In order to prevent the instability phenomenon,the system local control qualities were revised by fuzzy control algorithm to form the vehicle attitude fuzzy controller. Finally,the vehicle height adjustment control system was realized by D2 P rapid development platform to perform vehicle bench experiments. The test results showed that the control system could regulate the vehicle height effectively and restrain the vehicle attitude change during the vehicle height adjustment process.
引文
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2 汪少华,陈龙,孙晓强,等.电控空气悬架系统阻尼多模式自适应切换控制研究[J].农业机械学报,2013,44(12):22-28.Wang Shaohua,Chen Long,Sun Xiaoqiang,et al.Damping multi-mode adaptive switching control of ECAS system[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):22-28.(in Chinese)
3 Bao W N,Chen L P,Zhang Y Q,et al.Fuzzy adaptive sliding mode controller for an air spring active suspension[J].International Journal of Automotive Technology,2012,13(7):1057-1065.
4 孙晓强,陈龙,汪少华,等.半主动空气悬架阻尼多模型自适应控制研究[J].农业机械学报,2015,46(3):351-357.Sun Xiaoqiang,Chen Long,Wang Shaohua,et al.Research on damping multi-model adaptive control of semi-active air suspension[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):351-357.(in Chinese)
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7 汪少华,陈龙,孙晓强.半主动空气悬架多模式切换控制模型的分析[J].江苏大学学报:自然科学版,2013,34(6):637-642.Wang Shaohua,Chen Long,Sun Xiaoqiang.A multi-mode switching control model for semi-active air suspension[J].Journal of Jiangsu University:Nature Science Edition,2013,34(6):637-642.(in Chinese)
8 徐兴,陈照章,李仲兴.ECAS客车车身高度调节建模及其控制研究[J].汽车技术,2009(11):42-46.Xu Xing,Chen Zhaozhang,Li Zhongxing.Investigation on modeling and control of body height adjustment for bus with electrically controlled air suspension[J].Automobile Technology,2009(11):42-46.(in Chinese)
9 Hyunsup Kim,Hyeongcheo Lee.Fault-tolerant control algorithm for a four-corner closed-loop air suspension system[J].IEEE Transactions on Industrial Electronics,2011,58(10):4866-4879.
10 Hyunsup Kim,Hyeongcheo Lee.Height and leveling control of automotive air suspension system using sliding mode approach[J].IEEE Transactions on Vehicular Technology,2011,60(5):2027-2041.
11 何二宝,杜群贵,冯元元.电控空气悬架车身高度调节的模糊PID控制[J].机床与液压,2012,40(5):86-88.He Erbao,Du Qungui,Feng Yuanyuan.Fuzzy-PID control of body height adjustment for vehicles with electrically controlled air suspension[J].Machine Tool and Hydraulics,2012,40(5):86-88.(in Chinese)
12 黄俊明,周孔亢,徐兴.电子控制空气悬架高度调节过程非线性模型[J].机械工程学报,2009,45(6):278-283.Huang Junming,Zhou Kongkang,Xu Xing.Nonlinear model on leveling procedure of electronically controlled air suspension[J].Chinese Journal of Mechanical Engineering,2009,45(6):278-283.(in Chinese)
13 曹玉平,阎祥安.气压传动与控制[M].天津:天津大学出版社,2010.
14 孙丽群,李仲兴,徐兴.半主动空气悬架阻尼准滑模变结构控制与试验[J].江苏大学学报:自然科学版,2014,35(6):621-626.Sun Liqun,Li Zhongxing,Xu Xing.Quasi-sliding mode variable structure control and test of semi-active air suspension damping[J].Journal of Jiangsu University:Nature Science Edition,2014,35(6):621-626.(in Chinese)
15 夏晶晶.基于空气弹簧充放气特性的汽车运行姿态控制[J].江苏大学学报:自然科学版,2013,34(1):13-16.Xia Jingjing.Attitude control of automobile based on inflation/deflation of air spring[J].Journal of Jiangsu University:Nature Science Edition,2013,34(1):13-16.(in Chinese)
16 高原,刘奇芳,卢晓晖,等.车辆起步过程神经网络PID控制研究[J].吉林大学学报:信息科学版,2013,31(4):389-396.Gao Yuan,Liu Qifang,Lu Xiaohui,et al.Research on launch control strategy for AMT vehicles based on neural network PID[J].Journal of Jilin University:Information Science Edition,2013,31(4):389-396.(in Chinese)
17 熊蕊,刘向东.含PID控制器的迟滞非线性控制系统的主共振及奇异性[J].振动与冲击,2014,33(8):72-77.Xiong Rui,Liu Xiangdong.Principal resonance and singularity of a hysteretic nonlinear control system with a PID controller[J].Journal of Vibration and Shock,2014,33(8):72-77.(in Chinese)
18 汪少华.半主动空气悬架混杂系统的多模式切换控制研究[D].镇江:江苏大学,2013.Wang Shaohua.Research on multi-mode switching control of semi-active air suspension hybrid system[D].Zhenjiang:Jiangsu University,2013.(in Chinese)
19 张明君,张化光.基于遗传算法优化的神经网络PID控制器[J].吉林大学学报:工学版,2005,35(1):91-96.Zhang Mingjun,Zhang Huaguang.Neural network PID controller optimized by GA[J].Journal of Jilin University:Engineering and Technology Edition,2005,35(1):91-96.(in Chinese)
20 吴志成,陈思忠,杨林,等.基于有理函数的路面不平度时域模型研究[J].北京理工大学学报,2009,29(9):795-798.Wu Zhicheng,Chen Sizhong,Yang Lin,et al.Model of road roughness in time domain based on rational function[J].Transactions of Beijing Institute of Technology,2009,29(9):795-798.(in Chinese)
2 汪少华,陈龙,孙晓强,等.电控空气悬架系统阻尼多模式自适应切换控制研究[J].农业机械学报,2013,44(12):22-28.Wang Shaohua,Chen Long,Sun Xiaoqiang,et al.Damping multi-mode adaptive switching control of ECAS system[J].Transactions of the Chinese Society for Agricultural Machinery,2013,44(12):22-28.(in Chinese)
3 Bao W N,Chen L P,Zhang Y Q,et al.Fuzzy adaptive sliding mode controller for an air spring active suspension[J].International Journal of Automotive Technology,2012,13(7):1057-1065.
4 孙晓强,陈龙,汪少华,等.半主动空气悬架阻尼多模型自适应控制研究[J].农业机械学报,2015,46(3):351-357.Sun Xiaoqiang,Chen Long,Wang Shaohua,et al.Research on damping multi-model adaptive control of semi-active air suspension[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(3):351-357.(in Chinese)
5 吴光强,黄焕军,叶光湖.基于分数阶微积分的汽车空气悬架半主动控制[J].农业机械学报,2014,45(7):19-25.Wu Guangqiang,Huang Huanjun,Ye Guanghu.Semi-active control of automotive air suspension based on fractional calculus[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(7):19-25.(in Chinese)
6 张军,雷帅,段嗣盛.空气悬架大客车高度控制仿真与试验研究[J].武汉理工大学学报,2012,34(4):123-126.Zhang Jun,Lei Shuai,Duan Sisheng.Simulation and experimental research on air suspension couch height control[J].Journal of Wuhan University of Technology,2012,34(4):123-126.(in Chinese)
7 汪少华,陈龙,孙晓强.半主动空气悬架多模式切换控制模型的分析[J].江苏大学学报:自然科学版,2013,34(6):637-642.Wang Shaohua,Chen Long,Sun Xiaoqiang.A multi-mode switching control model for semi-active air suspension[J].Journal of Jiangsu University:Nature Science Edition,2013,34(6):637-642.(in Chinese)
8 徐兴,陈照章,李仲兴.ECAS客车车身高度调节建模及其控制研究[J].汽车技术,2009(11):42-46.Xu Xing,Chen Zhaozhang,Li Zhongxing.Investigation on modeling and control of body height adjustment for bus with electrically controlled air suspension[J].Automobile Technology,2009(11):42-46.(in Chinese)
9 Hyunsup Kim,Hyeongcheo Lee.Fault-tolerant control algorithm for a four-corner closed-loop air suspension system[J].IEEE Transactions on Industrial Electronics,2011,58(10):4866-4879.
10 Hyunsup Kim,Hyeongcheo Lee.Height and leveling control of automotive air suspension system using sliding mode approach[J].IEEE Transactions on Vehicular Technology,2011,60(5):2027-2041.
11 何二宝,杜群贵,冯元元.电控空气悬架车身高度调节的模糊PID控制[J].机床与液压,2012,40(5):86-88.He Erbao,Du Qungui,Feng Yuanyuan.Fuzzy-PID control of body height adjustment for vehicles with electrically controlled air suspension[J].Machine Tool and Hydraulics,2012,40(5):86-88.(in Chinese)
12 黄俊明,周孔亢,徐兴.电子控制空气悬架高度调节过程非线性模型[J].机械工程学报,2009,45(6):278-283.Huang Junming,Zhou Kongkang,Xu Xing.Nonlinear model on leveling procedure of electronically controlled air suspension[J].Chinese Journal of Mechanical Engineering,2009,45(6):278-283.(in Chinese)
13 曹玉平,阎祥安.气压传动与控制[M].天津:天津大学出版社,2010.
14 孙丽群,李仲兴,徐兴.半主动空气悬架阻尼准滑模变结构控制与试验[J].江苏大学学报:自然科学版,2014,35(6):621-626.Sun Liqun,Li Zhongxing,Xu Xing.Quasi-sliding mode variable structure control and test of semi-active air suspension damping[J].Journal of Jiangsu University:Nature Science Edition,2014,35(6):621-626.(in Chinese)
15 夏晶晶.基于空气弹簧充放气特性的汽车运行姿态控制[J].江苏大学学报:自然科学版,2013,34(1):13-16.Xia Jingjing.Attitude control of automobile based on inflation/deflation of air spring[J].Journal of Jiangsu University:Nature Science Edition,2013,34(1):13-16.(in Chinese)
16 高原,刘奇芳,卢晓晖,等.车辆起步过程神经网络PID控制研究[J].吉林大学学报:信息科学版,2013,31(4):389-396.Gao Yuan,Liu Qifang,Lu Xiaohui,et al.Research on launch control strategy for AMT vehicles based on neural network PID[J].Journal of Jilin University:Information Science Edition,2013,31(4):389-396.(in Chinese)
17 熊蕊,刘向东.含PID控制器的迟滞非线性控制系统的主共振及奇异性[J].振动与冲击,2014,33(8):72-77.Xiong Rui,Liu Xiangdong.Principal resonance and singularity of a hysteretic nonlinear control system with a PID controller[J].Journal of Vibration and Shock,2014,33(8):72-77.(in Chinese)
18 汪少华.半主动空气悬架混杂系统的多模式切换控制研究[D].镇江:江苏大学,2013.Wang Shaohua.Research on multi-mode switching control of semi-active air suspension hybrid system[D].Zhenjiang:Jiangsu University,2013.(in Chinese)
19 张明君,张化光.基于遗传算法优化的神经网络PID控制器[J].吉林大学学报:工学版,2005,35(1):91-96.Zhang Mingjun,Zhang Huaguang.Neural network PID controller optimized by GA[J].Journal of Jilin University:Engineering and Technology Edition,2005,35(1):91-96.(in Chinese)
20 吴志成,陈思忠,杨林,等.基于有理函数的路面不平度时域模型研究[J].北京理工大学学报,2009,29(9):795-798.Wu Zhicheng,Chen Sizhong,Yang Lin,et al.Model of road roughness in time domain based on rational function[J].Transactions of Beijing Institute of Technology,2009,29(9):795-798.(in Chinese)