电动轮汽车双磁流变减振器的悬架半主动控制研究
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摘要
为解决电动轮汽车与传统悬架匹配中底盘占用空间大而主动悬架能耗高的问题,提出了在电动轮内集成对置布置的双磁流变减振器悬架结构。根据该悬架的结构特点,建立了1/4车辆模型,确定了磁流变阻尼器、路面激励等参数,对该悬架在天棚、天棚模糊半主动控制及无控制电流时的性能分别进行了时域与频域仿真分析。结果表明:天棚模糊控制较天棚控制具有更好的减振性能;在时域内,天棚模糊半主动控制下该悬架的车身加速度、悬架动行程及轮胎动载荷等参数分别下降了25.3%、27.7%、34.0%;在大于10rad/s的频域内,天棚模糊控制对悬架性能指标幅值抑制效果较好;且该悬架在无控制电流时,其性能相对传统悬架要好。
Matched with traditional suspension and active suspension,the motorized wheel vehicle will need large space occupancy and high energy consumption,respectively.Therefore,a new opposed 2-MR(magnetorhelogical)damper suspension integrated in the motorized wheel is proposed.According to the characteristic of suspension structure,this paper first establishes one quarter of vehicle model and determines the parameters of MR damper,road excitation,etc.Then the performances of suspension under sky-hook control,sky-hook fuzzy semi-active control and no current states are analyzed by simulations in the time domain and frequency domain.The results show that the suspension with the sky-hook fuzzy control can get a better comprehensive performance,and the vehicle body acceleration,suspension working space and dynamic tire load of the suspension are decreased by25.3%,27.7%,34.0%in the time domain,respectively.Besides,when the frequency is greater than 10 rad/s,the suspension with the sky-hook fuzzy control can achieve a good effect on the amplitude suppression of suspension performance index,and the suspension without control current can obtain a slightly better performance than the traditional one.
Matched with traditional suspension and active suspension,the motorized wheel vehicle will need large space occupancy and high energy consumption,respectively.Therefore,a new opposed 2-MR(magnetorhelogical)damper suspension integrated in the motorized wheel is proposed.According to the characteristic of suspension structure,this paper first establishes one quarter of vehicle model and determines the parameters of MR damper,road excitation,etc.Then the performances of suspension under sky-hook control,sky-hook fuzzy semi-active control and no current states are analyzed by simulations in the time domain and frequency domain.The results show that the suspension with the sky-hook fuzzy control can get a better comprehensive performance,and the vehicle body acceleration,suspension working space and dynamic tire load of the suspension are decreased by25.3%,27.7%,34.0%in the time domain,respectively.Besides,when the frequency is greater than 10 rad/s,the suspension with the sky-hook fuzzy control can achieve a good effect on the amplitude suppression of suspension performance index,and the suspension without control current can obtain a slightly better performance than the traditional one.
引文
[1]JIN Liqiang,YU Yajing,FU Yue.Study on the ride comfort of vehicles driven by in-wheel motors[J].Advances in Mechanical Engineering,2016,8(3):1-9.
[2]ZHAO Wanzhong,WANG Yunqi,WANG Chunyan.Multidisciplinary optimization of electric-wheel vehicle integrated chassis system based on steady endurance performance[J].Journal of Cleaner Production,2018,186(1):640-651.
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[11]SHAO Xinxin,NAGHDY F,HAIPING D.Reliable fuzzy H∞control for active suspension of in-wheel-motor electric vehicles with dynamic damping[J].Mechanical Systems and Signal Processing,2017,87:365-383.
[12]ZHANG Guoguang,ZHANG Hui,HUANG Xiaoyu,et al.Active fault-tolerant control for electric vehicle with independently driven rear in-wheel motors against certain actuator faults[J].IEEE Transactions on Control Systems Technology,2016,24(5):1557-1572.
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[14]GB/T 3487-2005.汽车轮辋规格系列[S].GB/T 3487-2005.Rim contours for motor vehicles[S].(in Chinese)
[15]寇发荣,李立博,曾宪梓,等.一种馈能式磁流变减振器特性研究[J].中国科技论文,2018,13(10):1095-1100.KOU Farong,LI Libo,ZENG Xianzi,et al.Characteristics research on an energy regenerative magnetorheological damper[J].China Sciencepaper,2018,13(10):1095-1100.(in Chinese)
[16]卢少波,李以农,SEUNG-BOK C.磁流变悬架灰预测模糊控制仿真与试验研究[J].振动与冲击,2011,30(5):63-68.LU Shaobo,LI Yinong,SEUNG-BOK C.Simulation and test study on grey predictive-fuzzy control for a magneto-rheological suspension[J].Journal of Vibration and Shock,2011,30(5):63-68.(in Chinese)
[17]石晓辉,蒋欣,赵军,等.不平路面车路耦合动载研究[J].中国科技论文,2018,13(4):408-413.SHI Xiaohui,JIANG Xin,ZHAO Jun,et al.Research onvehicle-rode coupling dynamic load on uneven pavement[J].China Sciencepaper,2018,13(4):408-413.(in Chinese)
[18]CHOI S B,LEE H S.H∞control performance of a fullvehicle suspension featuring magnetorheological dampers[J].Vehicle System Dynamics,2002,38(5):341-360.
[19]解书艳.汽车磁流变半主动悬架控制策略研究与仿真[D].武汉:武汉理工大学,2010.XIE Shuyan.Study control strategy and simulation of automotive magnetorheological semi-active suspension[D].Wuhan:Wuhan University of Technology,2010.(in Chinese)
[2]ZHAO Wanzhong,WANG Yunqi,WANG Chunyan.Multidisciplinary optimization of electric-wheel vehicle integrated chassis system based on steady endurance performance[J].Journal of Cleaner Production,2018,186(1):640-651.
[3]WANG Rongrong,JING Hui,YAN Fengjun,et al.Optimization and finite-frequency H∞control of active suspensions in in-wheel motor driven electric ground vehicles[J].Journal of the Franklin Institute,2015,352(2):468-484.
[4]刘鹏.电动轮驱动汽车双横臂悬架运动学特性分析及优化[D].长春:吉林大学,2017.LIU Peng.Analysis and optimization of kinematics characteristics for double wishbone suspension of motorized-driven electric vehicle[D].Changchun:Jilin U-niversity,2017.(in Chinese)
[5]陈辛波,万钢,李晏,等.双横臂悬架-扭杆弹簧-电动轮模块的开发与应用[J].机械工程学报,2005,41(12):92-95.CHEN Xinbo,WAN Gang,LI Yan,et al.Development and application of the model structure of in-wheelmotor and double wishbone suspension with torsion bar[J].Chinese Journal of Mechanical Engineering,2005,41(12):92-95.(in Chinese)
[6]陈龙,董红亮,李利明.适合轮毂电机驱动的新型悬架系统设计[J].振动与冲击,2015,34(8):174-180.CHEN Long,DONG Hongliang,LI Liming.A new type suspension design suitable for an in-wheel motor driving system[J].Journal of Vibration and Shock,2015,34(8):174-180.(in Chinese)
[7]GEORGE A D,BESSELINK I.Rear suspension design for an in-wheel-drive electric car[J].Journal of Vibroengineering,2016,18(6):3915-3929.
[8]NEMETH B,FENYES D,GASPAR P.Independent wheel steering control design based on variable-geometry suspension[J].IFAC-Papers Online,2016,49(11):426-431.
[9]钟银辉,李以农,杨超,等.基于主动悬架控制轮边驱动电动车垂向振动研究[J].振动与冲击,2017,36(11):242-247.ZHONG Yinhui,LI Yinong,YANG Chao,et al.Vertical vibration of in-wheel motor electric vehicles based on active suspension control[J].Journal of Vibration and Shock,2017,36(11):242-247.(in Chinese)
[10]TAN D,LU C,ZHANG X.Dual-loop PID control with PSO algorithm for the active suspension of the electric in-wheel-drive electric car[J].Journal of Vibroengineering,2016,18(6):3915-3929.
[11]SHAO Xinxin,NAGHDY F,HAIPING D.Reliable fuzzy H∞control for active suspension of in-wheel-motor electric vehicles with dynamic damping[J].Mechanical Systems and Signal Processing,2017,87:365-383.
[12]ZHANG Guoguang,ZHANG Hui,HUANG Xiaoyu,et al.Active fault-tolerant control for electric vehicle with independently driven rear in-wheel motors against certain actuator faults[J].IEEE Transactions on Control Systems Technology,2016,24(5):1557-1572.
[13]KOCH G,KLOIBER T.Driving state adaptive control of an active vehicle suspension system[J].IEEETransactions on Control Systems Technology,2014,22(1):44-57.
[14]GB/T 3487-2005.汽车轮辋规格系列[S].GB/T 3487-2005.Rim contours for motor vehicles[S].(in Chinese)
[15]寇发荣,李立博,曾宪梓,等.一种馈能式磁流变减振器特性研究[J].中国科技论文,2018,13(10):1095-1100.KOU Farong,LI Libo,ZENG Xianzi,et al.Characteristics research on an energy regenerative magnetorheological damper[J].China Sciencepaper,2018,13(10):1095-1100.(in Chinese)
[16]卢少波,李以农,SEUNG-BOK C.磁流变悬架灰预测模糊控制仿真与试验研究[J].振动与冲击,2011,30(5):63-68.LU Shaobo,LI Yinong,SEUNG-BOK C.Simulation and test study on grey predictive-fuzzy control for a magneto-rheological suspension[J].Journal of Vibration and Shock,2011,30(5):63-68.(in Chinese)
[17]石晓辉,蒋欣,赵军,等.不平路面车路耦合动载研究[J].中国科技论文,2018,13(4):408-413.SHI Xiaohui,JIANG Xin,ZHAO Jun,et al.Research onvehicle-rode coupling dynamic load on uneven pavement[J].China Sciencepaper,2018,13(4):408-413.(in Chinese)
[18]CHOI S B,LEE H S.H∞control performance of a fullvehicle suspension featuring magnetorheological dampers[J].Vehicle System Dynamics,2002,38(5):341-360.
[19]解书艳.汽车磁流变半主动悬架控制策略研究与仿真[D].武汉:武汉理工大学,2010.XIE Shuyan.Study control strategy and simulation of automotive magnetorheological semi-active suspension[D].Wuhan:Wuhan University of Technology,2010.(in Chinese)