磁流变半主动悬架试验研究
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摘要
针对磁流变半主动悬架存在的控制策略设计和磁流变阻尼器逆模型求解复杂繁琐的问题,采用天棚控制、SH-ADD控制和频域控制3种典型的开关控制策略,基于具有并联旁通孔的磁流变阻尼器,在1/4车辆悬架试验台上进行半主动振动控制对比试验。结果表明,具有并联旁通孔的磁流变阻尼器与开关控制策略相结合可有效地抑制悬架振动,且控制过程简单,具有较好的实际应用价值。
Aiming at the complexities of control strategies design and the inverse-model solution of magnetorheological( MR) damper in MR semi-active suspension,three typical switch control strategies,i. e. sky-hook(SH) control,SH-ADD(acceleration driven damper) control and frequency domain control(FDC) are adopted to conduct a contrastive test for semi-active vibration control on a quarter vehicle suspension test bench based on a MR damper with parallel by-passing orifices. The results indicate that switch strategies combining with the special MR damper can effectively suppress suspension vibration with simple control process,having a good practical application value.
Aiming at the complexities of control strategies design and the inverse-model solution of magnetorheological( MR) damper in MR semi-active suspension,three typical switch control strategies,i. e. sky-hook(SH) control,SH-ADD(acceleration driven damper) control and frequency domain control(FDC) are adopted to conduct a contrastive test for semi-active vibration control on a quarter vehicle suspension test bench based on a MR damper with parallel by-passing orifices. The results indicate that switch strategies combining with the special MR damper can effectively suppress suspension vibration with simple control process,having a good practical application value.
引文
[1]周长城.车辆悬架设计及理论[M].北京:北京大学出版社,2011.
[2]SAVARESI S,POUSSOT-VASSAL C,SPELTA C,et al.Semiactive suspension control for vehicles[M].Elsevier,2010.
[3]Andrea C Wray,Francis B Hoogterp,et al.Magneto-rheological fluid semi-active suspension performance testing[R].U.S.TARDEC Technical Report,NO.13882,2003.
[4]Andrea C Wray,Alexander R Jimenez,et al.MRF semiactive suspension system performance testing on a stryker vehicle[R].U.S.TARDEC Technical Report,NO.15199,2005.
[5]LORD Corporation.LORD corporation awarded contract for MR suspension installation and test on U.S.army[EB/OL].http://www.caixun.com/orgarea/0000018e/00000dls/00000dmi/2425107.shtm.2010.
[6]SOLOMON U,PADMANABHAN C.Semi-active hydro-gas suspension system for a tracked vehicle[J].Journal of Terramechanics,2011,48:225-239.
[7]WANG D H,LIAO W H.Magnetorheological fluid dampers:a review of parametric modeling[J].Smart Material and Structure,2011,20:1-34.
[8]刘志平.磁流变阻尼器示功特性畸变原因分析与试验研究[D].重庆:重庆大学,2016.
[9]郭孔辉,隋记魁,郭耀华.基于天棚和地棚混合阻尼的高速车辆横向减振器半主动控制[J].振动与冲击,2013,32(2):18-23.
[10]庞辉,付文强,刘凯,等.基于天棚控制的半主动悬架建模及稳定性分析[J].汽车工程,2015,37(10):1167-1173.
[11]SAVARESI S,SICILIANI E,BITTANTI S.Acceleration driven damper(ADD):an optimal control algorithm for comfort oriented semi-active suspensions[J].ASME Transactions:Journal of Dynamic Systems,Measurements and Control,2005,127(2):218-229.
[12]郭全民,雷蓓蓓.半主动悬架PID控制的研究和优化[J].国外电子测量技术,2015,34(4):60-63.
[13]郑玲,邓兆祥,李以农.汽车半主动悬架的模型参考自适应控制[J].中国公路学报,2005,18(2):99-102.
[14]张志飞,刘建利,徐中明,等.基于改进层次分析法的半主动悬架LQG控制器的设计[J].汽车工程,2012,34(6):528-533.
[15]CHRISTOPH G,ANDREAS S,ANDREAS W,et al.Model predictive control of semi-active and active suspension systems with available road preview[C].2013 European Control Conference,2013,7:1499-1504.
[16]POUSSOT-VASSAL C,SENAME O,DUGARD L,et al.A new semi-active suspension control strategy through LPV technique[J].Control Engineering Practice,2008,16(12):1519-1534.
[17]陈长征,贺东宇,左秋阳,等.汽车半主动悬架神经模糊融合网络控制[J].沈阳工业大学学报,2014,36(2):170-175.
[18]严天一,闫海敬,侯兆萌,等.车辆半主动悬架粒子群模糊混合控制策略[J].农业机械学报,2013,44(8):1-7.
[19]曾洁如,谷正气,李伟平,等.基于遗传算法的半主动悬架模糊PID控制研究[J].汽车工程,2010,32(5):429-433.
[20]VASSAL C P,SPELTA C,SENAME O,et al.Survey on some automotive semi-active suspension control methods:A comparative study on a single-corner model[C].18thIFAC World Congress,Milan,Italy,2011.
[21]SAVARESI S,POUSSOT-VASSAL M,SPELTA C,et al.Semiactive suspension control for vehicles[M].Elsevier,2010.
[22]KASHEM S B A,EKTESABI M,NAGARAJAH R.Comparison between different sets of suspension parameters and introduction of new modified skyhook control strategy incorporating varying road condition[J].Vehicle System Dynamics,2012:1-18.
[23]SAMMIER D,SENAME O,DUGARD L.Skyhook and hinf control of semi-active suspensions:some practical aspects[J].Vehicle System Dynamics,2003,39(4):279-308.
[24]SAVARESI S,SPELTA C.Mixed sky-hook and ADD:approaching the filtering limits of a semi-active suspension[J].ASME Transactions:Journal of Dynamic Systems,Measurement and Control,2007,129(4):382-392.
[25]彭志召.履带车辆电磁悬挂系统振动控制与能量消耗研究[D].北京:装甲兵工程学院,2014.
[26]彭志召,张进秋,张雨,等.车辆半主动悬挂的频域控制算法[J].装甲兵工程学院学报,2013,27(4):36-42.
[27]HEDRIC J K,RAJAMANI R,YI K.Observer design for electronic suspension applications[J].Vehicle System Dynamics,1994,23(6):413-440.
[28]彭志召,张进秋,岳杰,等.具有并联常通孔的磁流变阻尼器设计与分析[J].机械工程学报,2015,51(8):172-177.
[29]丁法乾.履带式装甲车辆悬挂系统动力学[M].北京:国防工业出版社,2004.
[2]SAVARESI S,POUSSOT-VASSAL C,SPELTA C,et al.Semiactive suspension control for vehicles[M].Elsevier,2010.
[3]Andrea C Wray,Francis B Hoogterp,et al.Magneto-rheological fluid semi-active suspension performance testing[R].U.S.TARDEC Technical Report,NO.13882,2003.
[4]Andrea C Wray,Alexander R Jimenez,et al.MRF semiactive suspension system performance testing on a stryker vehicle[R].U.S.TARDEC Technical Report,NO.15199,2005.
[5]LORD Corporation.LORD corporation awarded contract for MR suspension installation and test on U.S.army[EB/OL].http://www.caixun.com/orgarea/0000018e/00000dls/00000dmi/2425107.shtm.2010.
[6]SOLOMON U,PADMANABHAN C.Semi-active hydro-gas suspension system for a tracked vehicle[J].Journal of Terramechanics,2011,48:225-239.
[7]WANG D H,LIAO W H.Magnetorheological fluid dampers:a review of parametric modeling[J].Smart Material and Structure,2011,20:1-34.
[8]刘志平.磁流变阻尼器示功特性畸变原因分析与试验研究[D].重庆:重庆大学,2016.
[9]郭孔辉,隋记魁,郭耀华.基于天棚和地棚混合阻尼的高速车辆横向减振器半主动控制[J].振动与冲击,2013,32(2):18-23.
[10]庞辉,付文强,刘凯,等.基于天棚控制的半主动悬架建模及稳定性分析[J].汽车工程,2015,37(10):1167-1173.
[11]SAVARESI S,SICILIANI E,BITTANTI S.Acceleration driven damper(ADD):an optimal control algorithm for comfort oriented semi-active suspensions[J].ASME Transactions:Journal of Dynamic Systems,Measurements and Control,2005,127(2):218-229.
[12]郭全民,雷蓓蓓.半主动悬架PID控制的研究和优化[J].国外电子测量技术,2015,34(4):60-63.
[13]郑玲,邓兆祥,李以农.汽车半主动悬架的模型参考自适应控制[J].中国公路学报,2005,18(2):99-102.
[14]张志飞,刘建利,徐中明,等.基于改进层次分析法的半主动悬架LQG控制器的设计[J].汽车工程,2012,34(6):528-533.
[15]CHRISTOPH G,ANDREAS S,ANDREAS W,et al.Model predictive control of semi-active and active suspension systems with available road preview[C].2013 European Control Conference,2013,7:1499-1504.
[16]POUSSOT-VASSAL C,SENAME O,DUGARD L,et al.A new semi-active suspension control strategy through LPV technique[J].Control Engineering Practice,2008,16(12):1519-1534.
[17]陈长征,贺东宇,左秋阳,等.汽车半主动悬架神经模糊融合网络控制[J].沈阳工业大学学报,2014,36(2):170-175.
[18]严天一,闫海敬,侯兆萌,等.车辆半主动悬架粒子群模糊混合控制策略[J].农业机械学报,2013,44(8):1-7.
[19]曾洁如,谷正气,李伟平,等.基于遗传算法的半主动悬架模糊PID控制研究[J].汽车工程,2010,32(5):429-433.
[20]VASSAL C P,SPELTA C,SENAME O,et al.Survey on some automotive semi-active suspension control methods:A comparative study on a single-corner model[C].18thIFAC World Congress,Milan,Italy,2011.
[21]SAVARESI S,POUSSOT-VASSAL M,SPELTA C,et al.Semiactive suspension control for vehicles[M].Elsevier,2010.
[22]KASHEM S B A,EKTESABI M,NAGARAJAH R.Comparison between different sets of suspension parameters and introduction of new modified skyhook control strategy incorporating varying road condition[J].Vehicle System Dynamics,2012:1-18.
[23]SAMMIER D,SENAME O,DUGARD L.Skyhook and hinf control of semi-active suspensions:some practical aspects[J].Vehicle System Dynamics,2003,39(4):279-308.
[24]SAVARESI S,SPELTA C.Mixed sky-hook and ADD:approaching the filtering limits of a semi-active suspension[J].ASME Transactions:Journal of Dynamic Systems,Measurement and Control,2007,129(4):382-392.
[25]彭志召.履带车辆电磁悬挂系统振动控制与能量消耗研究[D].北京:装甲兵工程学院,2014.
[26]彭志召,张进秋,张雨,等.车辆半主动悬挂的频域控制算法[J].装甲兵工程学院学报,2013,27(4):36-42.
[27]HEDRIC J K,RAJAMANI R,YI K.Observer design for electronic suspension applications[J].Vehicle System Dynamics,1994,23(6):413-440.
[28]彭志召,张进秋,岳杰,等.具有并联常通孔的磁流变阻尼器设计与分析[J].机械工程学报,2015,51(8):172-177.
[29]丁法乾.履带式装甲车辆悬挂系统动力学[M].北京:国防工业出版社,2004.