并联复合式电磁悬挂模型参考多模式切换控制研究
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摘要
传统馈能悬挂难以平衡减振和馈能之间的矛盾关系,针对该问题提出由电磁作动器和磁流变减振器组成的并联复合式电磁悬挂结构方案。为提高并联复合式电磁悬挂对不同路况的适应能力,考虑其具备不同工作模式的特点,设计了模型参考多模式切换控制器,并以提高乘坐舒适性为目标确定了切换指标、阈值及相应的控制参数。针对切换指令的离散特性和悬挂系统状态变化的连续特性,基于Stateflow软件设计了多模式切换控制系统,并确定了相应的切换规则和切换流程。对模型参考多模式切换控制器的性能进行了仿真和试验验证。结果表明:该模型参考多模式切换控制器可有效地实现并联复合式电磁悬挂各工作模式之间的切换,提高了并联复合式电磁悬挂对不同路况和驾驶需求的适应性,有效平衡了减振及馈能之间的矛盾关系。
In order to solve the problem that the traditional energy-regenerative suspension is difficult to balance the contradiction between the vibration reduction and energy-regeneration,a parallel composite electromagnetic suspension structure consisting of electromagnetic actuator and magneto-rheological damper is proposed. A model reference multi-mode switch controller is designed to improve the adaptability of parallel composite electromagnetic suspension to different road conditions,in which the characteristics of different working modes are considered,and the switching index,threshold value and corresponding control parameters are determined for the purpose of improving ride comfort. A multi-mode switching control system is designed based on Stateflow for the discrete character of switching instruction and the continuous character of state change of suspension system. The performance of model reference multi-mode switch controller are simulated and tested. The results show that the model reference multi-mode switch controller can be used to effectively implement the switching between working modes of parallel composite elec-tromagnetic suspension,which improves its adaptability to different road conditions,and effectively balances the contradiction between vibration reduction and energy-regeneration.
In order to solve the problem that the traditional energy-regenerative suspension is difficult to balance the contradiction between the vibration reduction and energy-regeneration,a parallel composite electromagnetic suspension structure consisting of electromagnetic actuator and magneto-rheological damper is proposed. A model reference multi-mode switch controller is designed to improve the adaptability of parallel composite electromagnetic suspension to different road conditions,in which the characteristics of different working modes are considered,and the switching index,threshold value and corresponding control parameters are determined for the purpose of improving ride comfort. A multi-mode switching control system is designed based on Stateflow for the discrete character of switching instruction and the continuous character of state change of suspension system. The performance of model reference multi-mode switch controller are simulated and tested. The results show that the model reference multi-mode switch controller can be used to effectively implement the switching between working modes of parallel composite elec-tromagnetic suspension,which improves its adaptability to different road conditions,and effectively balances the contradiction between vibration reduction and energy-regeneration.
引文
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[15]汪若尘,马晓炜,丁仁凯,等.基于模型参考的混合悬架多模式切换控制研究[J].农业机械学报,2017,48(7):353-360.WANG R C,MA X W,DING R K,et al. Multi-mode switching control system for hybrid suspension based on model reference[J]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):353-360.(in Chinese)
[16]张进秋,岳杰,彭志召,等.军用履带车辆电磁悬挂结构设计与控制算法研究[J].机械科学与技术,2016,35(1):132-138.ZHANG J Q,YUE J,PENG Z Z,et al. Study on structure design and vibration control algorithm of electromagnetic suspension for military tracked vehicle[J]. Mechanical Science and Technology for Aerospace Engineering,2016,35(1):132-138.(in Chinese)
[17]张威. Stateflow逻辑系统建模[M].西安:西安电子科技大学出版社,2007.ZHANG W. Stateflow logical system modeling[M]. Xi'an:Xi'an University of Electronic Science and Technology Press,2007.(in Chinese)
[18]余志生.汽车理论[M].第5版.北京:机械工业出版社,2009.YU Z S. Automobile theory[M]. 5th ed. Beijing:China Machine Press,2009.(in Chinese)
[2]王加刚,余永刚,廖昌荣,等.考虑边界滑移和惯性效应的磁流变液缓冲器特性分析[J].兵工学报,2018,39(4):672-680.WANG J G,YU Y G,LIAO C R,et al. Characteristic analysis of magneto-rheological fluid damper considering slip boundary and inertial effect[J]. Acta Armamentarii,2018,39(4):672-680.(in Chinese)
[3]毛明,王乐,陈轶杰,等.惯容器及惯容器-弹簧-阻尼器悬架研究进展[J].兵工学报,2016,37(3):525-534.MAO M,WANG L,CHEN Y J,et al. Research progress in inerter and inerter-spring-damper suspension[J]. Acta Armamentarii,2016,37(3):525-534.(in Chinese)
[4] GALLUZZI R,XU Y,AMATI N,et al. Optimized design and characterization of motor-pump unit for energy-regenerative shock absorbers[J]. Applied Energy,2018,210:16-27.
[5] SHARIPOV G M,PARAFOROS D S,GRIEPENTROG H W. Implementation of a magnetorheological damper on a no-till seeding assembly for optimising seeding depth[J]. Computers and Electronics in Agriculture,2018,150:465-475.
[6] KIM D,YOON J H,PARK N C. Design of a linear electromagnetic actuator for secondary suspension in a railway vehicle considering electromagnetic-thermal coupled field analysis under geometrical constraints[J]. Transactions of the Korean Society of Mechanical Engineers A,2018,42(2):153-158.
[7] PARK J H,KIM W H,SHIN C S,et al. A comparative work on vibration control of a quarter car suspension system with two different magneto-rheological dampers[J]. Smart Material Structures,2017,26(1):015009.
[8]尹安东,赵韩.基于混合系统理论的混合动力城市客车控制策略研究[J].汽车工程,2010,32(2):98-102.YIN A D,ZHAO H. A study on the energy control strategy for hybrid electric bus based on hybrid system theory[J]. Automotive Engineering,2010,32(2):98-102.(in Chinese)
[9]王庆年,冀尔聪,王伟华.并联混合动力汽车模式切换过程的协调控制[J].吉林大学学报(工学版),2008,38(1):2-6.WANG Q N,JI E C,WANG W H. Coordinated control for mode switch of parallel hybrid electric vehicle[J]. Journal of Jilin University(Engineering and Technology Edition),2008,38(1):2-6.(in Chinese)
[10]秦大同,杨官龙,刘永刚.插电式混合动力汽车能耗优化控制策略的研究[J].汽车工程,2015,37(12):1366-1377.QIN D T,YANG G L,LIU Y G. A research on energy consumption optimization control strategy for plug-in hybrid electric vehicle[J]. Automotive Engineering,2015,37(12):1366-1377.(in Chinese)
[11] DAVID S B,BOBROVSKY B Z. Actively controlled vehicle suspension with energy regeneration capabilities[J]. Vehicle System and Dynamics,2011,49(6):833-854.
[12] PIKES L,SMITH M C,HOUGHTON N,et al. Design trade-offs for energy regeneration and control in vehicle suspensions[J].International Journal of Control,2013,86(11):2022-2034.
[13]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 S H,CHEN L,SUN X Q,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)
[14]寇发荣,杜嘉峰,张传伟,等.电液自供能式车辆主动悬架多模式切换控制[J].机械科学与技术,2016,35(12):1937-1943.KOU F R,DU J F,ZHANG C W,et al. Multi-mode switching control of self-powered active suspension with electro-hydrostatic actuator[J]. Mechanical Science and Technology for Aerospace Engineering,2016,35(12):1937-1943.(in Chinese)
[15]汪若尘,马晓炜,丁仁凯,等.基于模型参考的混合悬架多模式切换控制研究[J].农业机械学报,2017,48(7):353-360.WANG R C,MA X W,DING R K,et al. Multi-mode switching control system for hybrid suspension based on model reference[J]. Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):353-360.(in Chinese)
[16]张进秋,岳杰,彭志召,等.军用履带车辆电磁悬挂结构设计与控制算法研究[J].机械科学与技术,2016,35(1):132-138.ZHANG J Q,YUE J,PENG Z Z,et al. Study on structure design and vibration control algorithm of electromagnetic suspension for military tracked vehicle[J]. Mechanical Science and Technology for Aerospace Engineering,2016,35(1):132-138.(in Chinese)
[17]张威. Stateflow逻辑系统建模[M].西安:西安电子科技大学出版社,2007.ZHANG W. Stateflow logical system modeling[M]. Xi'an:Xi'an University of Electronic Science and Technology Press,2007.(in Chinese)
[18]余志生.汽车理论[M].第5版.北京:机械工业出版社,2009.YU Z S. Automobile theory[M]. 5th ed. Beijing:China Machine Press,2009.(in Chinese)