磁流变半主动悬挂引入位置阈值的改进Bang-Bang控制
|
摘要
以提高车辆乘坐舒适性为目的,针对简单Bang-Bang控制算法存在过平衡位置时穿越速度过大的问题,提出引入位置阈值从而减小穿越速度的改进型Bang-Bang控制算法。针对单一的性能指标难以实现对悬挂性能进行综合评价的问题,建立考虑各指标权重的加权综合评价指标。基于磁流变半主动悬挂,对简单Bang-Bang控制算法及改进型Bang-Bang控制算法的原理、取值进行分析,并对振动控制性能进行仿真及试验验证。结果表明:该综合评价指标可有效实现对悬挂性能的综合评价;改进Bang-Bang控制算法可有效降低车身过平衡位置时的穿越速度,降低车身垂直加速度,从而提高乘坐舒适性。
To improve the ride comfort of vehicles, the problem of overlarge passing-through velocity across the balance location in the Bang-Bang control algorithm is studied. An improved Bang-Bang control algorithm with position threshold introduced is proposed to reduce the crossing speed. Since a single performance index is difficult to realize comprehensive evaluation of suspension performance, a weighted comprehensive evaluation index considering the weight of each index is built. Based on a magneto-rheological semi-active suspension, the principle and value acquisition of the simple Bang-Bang control algorithm and the improved Bang-Bang control algorithm are analyzed. And their performances of vibration control are simulated and tested. The results indicate that the comprehensive evaluation index can effectively realize the comprehensive evaluation of suspension performance; the improved Bang-Bang control algorithm can effectively decrease the passing-through velocity of the vehicle's body across the balance location, reduce the vertical acceleration of the vehicle's body, and then improve the ride comfort.
To improve the ride comfort of vehicles, the problem of overlarge passing-through velocity across the balance location in the Bang-Bang control algorithm is studied. An improved Bang-Bang control algorithm with position threshold introduced is proposed to reduce the crossing speed. Since a single performance index is difficult to realize comprehensive evaluation of suspension performance, a weighted comprehensive evaluation index considering the weight of each index is built. Based on a magneto-rheological semi-active suspension, the principle and value acquisition of the simple Bang-Bang control algorithm and the improved Bang-Bang control algorithm are analyzed. And their performances of vibration control are simulated and tested. The results indicate that the comprehensive evaluation index can effectively realize the comprehensive evaluation of suspension performance; the improved Bang-Bang control algorithm can effectively decrease the passing-through velocity of the vehicle's body across the balance location, reduce the vertical acceleration of the vehicle's body, and then improve the ride comfort.
引文
[1]陈昭晖,倪一清.自传感磁流变阻尼器实时阻尼力跟踪控制[J].浙江大学学报(工学版),2017,51(8):1551-1558.
[2]TSENG H E,HROVAT D.State of the art survey:active and semi-active suspension control[J].Vehicle System Dynamics,2015,53(7):34-1062.
[3]张进秋,黄大山,刘义乐.改进的地棚半主动控制算法及其性能分析[J].华中科技大学学报(自然科学版),2017,45(4):84-89.
[4]YAN HONG YAN,ZHU YUAN GUO.Bang-bang control model with optimistic value criterion for uncertain switched systems[J].J Intell Manuf,2017,2:527-534.
[5]KIM D,YOON JH,PARK NC.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.
[6]金耀,于德介,陈忠祥,等.内分泌LQR控制策略及其主动悬架减振研究[J].振动与冲击,2016,35(10):49-54.
[7]CHALANGA A,KAMAL S,BANDYOPADHYAY B.Anew algorithm for continuous sliding mode control with implementation to industrial emulator setup[J].IEEE/ASME Trans on Mechatronics,2015,20(5):194-2204.
[8]桑楠,魏民祥.车辆主动前轮转向与主动悬架的自抗扰控制方法[J].南京理工大学学报,2017,41(2):156-172.
[9]柳江,林晨,叶明,等.馈能悬架变论域模糊控制[J].上海交通大学学报,2016,50(8):1139-1143.
[10]赵智敏,韩振南.基于神经网络PID理论的井下车辆主动悬架控制技术[J].矿山机械,2013,41(11):40-44.
[11]INTERNATIONAL STANDARDS ORGANIZATION.Mechanical Vibration and Shock Evaluation of Human Exposure to Whole-Body Vibration-Part 1:General Requirements[S]ISO 2631-1:1997(E).Switzerland:InternationalOrganization for Standardization,1997.
[12]喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2005.
[13]黄大山.馈能悬架振动控制与能量回收技术研究[D].北京:装甲兵工程学院,2017.
[14]KLAUS DECKELNICK,MICHAEL HINZE.A note on the approximation of elliptic control problems with bangbang controls[J].Comput Optim Appl,2012,51:931-939.
[2]TSENG H E,HROVAT D.State of the art survey:active and semi-active suspension control[J].Vehicle System Dynamics,2015,53(7):34-1062.
[3]张进秋,黄大山,刘义乐.改进的地棚半主动控制算法及其性能分析[J].华中科技大学学报(自然科学版),2017,45(4):84-89.
[4]YAN HONG YAN,ZHU YUAN GUO.Bang-bang control model with optimistic value criterion for uncertain switched systems[J].J Intell Manuf,2017,2:527-534.
[5]KIM D,YOON JH,PARK NC.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.
[6]金耀,于德介,陈忠祥,等.内分泌LQR控制策略及其主动悬架减振研究[J].振动与冲击,2016,35(10):49-54.
[7]CHALANGA A,KAMAL S,BANDYOPADHYAY B.Anew algorithm for continuous sliding mode control with implementation to industrial emulator setup[J].IEEE/ASME Trans on Mechatronics,2015,20(5):194-2204.
[8]桑楠,魏民祥.车辆主动前轮转向与主动悬架的自抗扰控制方法[J].南京理工大学学报,2017,41(2):156-172.
[9]柳江,林晨,叶明,等.馈能悬架变论域模糊控制[J].上海交通大学学报,2016,50(8):1139-1143.
[10]赵智敏,韩振南.基于神经网络PID理论的井下车辆主动悬架控制技术[J].矿山机械,2013,41(11):40-44.
[11]INTERNATIONAL STANDARDS ORGANIZATION.Mechanical Vibration and Shock Evaluation of Human Exposure to Whole-Body Vibration-Part 1:General Requirements[S]ISO 2631-1:1997(E).Switzerland:InternationalOrganization for Standardization,1997.
[12]喻凡,林逸.汽车系统动力学[M].北京:机械工业出版社,2005.
[13]黄大山.馈能悬架振动控制与能量回收技术研究[D].北京:装甲兵工程学院,2017.
[14]KLAUS DECKELNICK,MICHAEL HINZE.A note on the approximation of elliptic control problems with bangbang controls[J].Comput Optim Appl,2012,51:931-939.