基于双横臂的1/4汽车模型及其等效模型的建模控制研究
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摘要
建立了基于双横臂悬架的1/4汽车模型和等效的二自由度模型。根据基于双横臂悬架的1/4汽车模型的簧载质量和非簧载质量的动力学响应,通过参数辨识的方法,给出了辨识等效二自由度模型的质量、刚度和阻尼系数的方法。计算结果表明,等效二自由度模型辨识结果中的刚度和阻尼系数的数值与基于双横臂悬架的1/4汽车模型中相关参数的名义值有较大的差异。分析了悬架衬套、减振器上端支撑的刚度对等效二自由度模型参数辨识结果的影响。对比分析了采用辨识参数的等效二自由度模型和基于双横臂悬架的1/4汽车模型的簧载质量和非簧载质量的响应,证明了参数辨识方法的准确性。基于辨识参数的二自由度控制模型,给出了基于等效二自由度模型的参考模型滑模控制方法。试验和计算结果表明,与采用名义值相比,参考模型的刚度和阻尼系数采用辨识值时,等效二自由度控制模型可以获得更好的控制效果。
A quarter-car model with a double-wishbone suspension and its corresponding equivalent model which is a two degrees of freedom(2 DOFs) system with damping were proposed. Based on the calculated dynamic responses of the quarter-car model with the double-wishbone suspension, the method for identifying the mass, stiffness and damping parameters of the 2 DOFs model was developed. The dynamic responses of the 2 DOFs model with different values of mass, stiffness and damping were calculated and compared, where one set of mass, stiffness and damping parameters is of nominal values and another set is of the identified values. The influences of the stiffnesses of the bushing and top-mount of the suspension on the identified parameters were investigated. A sliding mode control algorithm based on a reference model with an equivalent 2 DOFs model was proposed. The influences of the mass, stiffness and damping parameters in the 2 DOFs model on the controlling effect was investigated to demonstrate the importance of the exactness of parameters.
A quarter-car model with a double-wishbone suspension and its corresponding equivalent model which is a two degrees of freedom(2 DOFs) system with damping were proposed. Based on the calculated dynamic responses of the quarter-car model with the double-wishbone suspension, the method for identifying the mass, stiffness and damping parameters of the 2 DOFs model was developed. The dynamic responses of the 2 DOFs model with different values of mass, stiffness and damping were calculated and compared, where one set of mass, stiffness and damping parameters is of nominal values and another set is of the identified values. The influences of the stiffnesses of the bushing and top-mount of the suspension on the identified parameters were investigated. A sliding mode control algorithm based on a reference model with an equivalent 2 DOFs model was proposed. The influences of the mass, stiffness and damping parameters in the 2 DOFs model on the controlling effect was investigated to demonstrate the importance of the exactness of parameters.
引文
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[14] 上官文斌,代林,林浩挺,等.汽车悬架系统中铰接点载荷的计算方法[J].汽车工程,2014,36(2):222-230.SHANGGUAN Wenbin,DAI Lin,LIN Haoting,et al.A calculation method of the loads in the hinge points of vehicle suspension system [J].Automotive Engineering,2014,36(2):222-230.
[15] 刘金琨.系统辨识理论及MATLAB仿真[M].北京:电子工业出版社,2013.
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[17] LIU H,LI P.Handbook of vehicle suspension control systems[M].London:The Institution of Engineering and Technology,2013.
[18] Quanser active suspension user manual[R].Canada:Markham,2013.附录
[ 2 ] HAMIDREZA B,CHRISTOPHER M C,FARID G.Development of a systematic and practical methodology for the design of vehicles semi-active suspension control system[J].Vehicle System Dynamics,2010,48(5):567-585.
[ 3 ] SAVARESI S M,SPELTA C.Mixed sky-hook and ADD:approaching the filtering limits of a semi-active suspension[J].Journal of Dynamic Systems Measurement & Control,2007,129(4):382-392.
[ 4 ] LIU Y,ZUO L.Mixed skyhook and PDD:a new low-jerk semi-active suspension control based on power flow analysis[J].Journal of Dynamic Systems Measurement & Control,2016,138(8):1-10.
[ 5 ] TSENG H E,HROVAT D.State of the art survey:active and semi-active suspension control[J].Vehicle System Dynamics,2015,53(7):1034-1062.
[ 6 ] TAGHIRAD H D.Automobile passenger comfort assured through LQG/LQR active suspension[J].Journal of Vibration & Control,1998,4(5):603-618.
[ 7 ] DESHPANDE V S,SHENDGE P D,PHADKE S B.Active suspension systems for vehicles based on a sliding-mode controller in combination with inertial delay control[J].Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,2013,227(5):675-690.
[ 8 ] NAKAI H,OOSAKU S,MOTOZONO Y.Application of practical observer to semi-active suspensions[J].Journal of Dynamic Systems Measurement & Control,2000,122(2):284-289.
[ 9 ] CUADRADO J,DOPICO D,PEREZ J A,et al.Automotive observers based on multibody models and the extended Kalman filter[J].Multibody System Dynamics,2012,27(1):3-19.
[10] YOUNG D M P.An insight into linear quarter car model accuracy[J].Vehicle System Dynamics,2011,49(3):463-480.
[11] KIM C.Effect of the suspension structure on equivalent suspension parameters[J].Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering,1999,213(5):457-470.
[12] 宋晓琳,张乐栋,于德介,等.基于免疫算法的悬架系统参数的辨识[J].湖南大学学报(自然科学版),2007,34(5):29-33.SONG Xiaolin,ZHANG Ledong,YU Dejie,et al.Parameters identification for automotive suspension based on immune algorithm[J].Journal of Hunan University(Natural Sciences),2007,34(5):29-33.
[13] 殷智宏,郭孔辉,宋晓琳,等.基于辨识模型的半主动悬架控制策略研究[J].湖南大学学报(自然科学版),2010,37(12):24-30.YIN Zhihong,GUO Konghui,SONG Xiaolin.Study of semi-active suspension control strategy based on an identification model[J].Journal of Hunan University(Natural Sciences),2010,37(12):24-30.
[14] 上官文斌,代林,林浩挺,等.汽车悬架系统中铰接点载荷的计算方法[J].汽车工程,2014,36(2):222-230.SHANGGUAN Wenbin,DAI Lin,LIN Haoting,et al.A calculation method of the loads in the hinge points of vehicle suspension system [J].Automotive Engineering,2014,36(2):222-230.
[15] 刘金琨.系统辨识理论及MATLAB仿真[M].北京:电子工业出版社,2013.
[16] POUSSOT-VASSAL C,SPELTA C,SENAME O,et al.Survey and performance evaluation on some automotive semi-active suspension control methods:a comparative study on a single-corner model[J].Annual Reviews in Control,2012,36(1):148-160.
[17] LIU H,LI P.Handbook of vehicle suspension control systems[M].London:The Institution of Engineering and Technology,2013.
[18] Quanser active suspension user manual[R].Canada:Markham,2013.附录