磁流变半主动悬架控制算法验证平台
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摘要
为实现对磁流变半主动悬架控制算法快速有效的验证,基于快速原型控制器,设计搭建了控制算法验证平台。1/4车辆悬架系统模型考虑了主销倾角及下摆臂空间角度;悬架安装了加速度及车身高度传感器;使用LMS Test Lab试验测试系统采集分析悬架系统振动状态;快速原型控制器作为开发调试控制算法的载体;通过平台验证试验,介绍了基于此平台开发调试算法的过程,验证了此平台控制过程监控、调试控制算法、量化分析控制效果的功能,表明此平台满足设计目标,可以方便、快捷及有效地开发、调试及验证半主动控制算法。
A control algorithm verification platform was built based on a rapid prototype controller to provide fast,effective verification of magnetorheological semi-active suspension control algorithms.The kingpin angle and the space angle of the lower arm were considered in the 1/4 vehicle suspension system model. The acceleration sensor and the body height sensor were mounted on the suspension.An LMS Test Lab system was used to collect and analyze the suspension system vibration data.The rapid prototype controller was used as the carrier for developing and debugging the control algorithms.Platform verification tests were used to verify the algorithm development,the control process monitoring,the control algorithm adjustments,and the quantitative analyses.This platform meets the design goals and is convenient,fast,and effective for developing, debugging, and verifying semi-active control algorithms.
A control algorithm verification platform was built based on a rapid prototype controller to provide fast,effective verification of magnetorheological semi-active suspension control algorithms.The kingpin angle and the space angle of the lower arm were considered in the 1/4 vehicle suspension system model. The acceleration sensor and the body height sensor were mounted on the suspension.An LMS Test Lab system was used to collect and analyze the suspension system vibration data.The rapid prototype controller was used as the carrier for developing and debugging the control algorithms.Platform verification tests were used to verify the algorithm development,the control process monitoring,the control algorithm adjustments,and the quantitative analyses.This platform meets the design goals and is convenient,fast,and effective for developing, debugging, and verifying semi-active control algorithms.
引文
[1]赵云堂,陈思忠,冯占宗,等.磁流变半主动悬架的天棚控制方法研究[J].汽车工程学报,2011,01(3):127-133.ZHAO Y T,CHEN S Z,FEND Z Z,et al.Study on the dynamic simulation of magneto-rheological semi-active suspension using sky-hook control method[J].Journal of Automotive Engineering,2011,01(3):127-133.(in Chinese)
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[3]魏特特.基于ControlBase的小型煤油活塞发动机控制策略研究[D].南京:南京航空航天大学,2016.WEI T T.Research on control strategy of small kerosene piston engine based on ControlBase[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2016.(in Chinese)
[4]PANG H,LIU F,XU Z R.Variable universe fuzzy control for vehicle semi-active suspension system with MRdamper combining fuzzy neural network and particle swarm optimization[J].Neurocomputing,2018,306(6):130-140.
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[8]禚帅帅.D级轿车磁流变半主动悬架状态灰预测模糊控制研究[D].长春:吉林大学,2015.ZHUO S S.Magnetorheological semi-active suspension control strategy with grey prediction and fuzzy for D class vehicle[D].Changchun:Jilin University,2015.(in Chinese)
[9]齐鲲鹏,隆武强,陈雷.硬件在环仿真在汽车控制系统开发中的应用及关键技术[J].内燃机,2006(5):24-27.QI K P,LONG W Q,CHEN L.Application of hardware-in-the-loop simulation in the development of control system for vehicle and its key technologies[J].Internal Combustion Engines,2006(5):24-27.(in Chinese)
[10]杨继伟.基于DSP的汽车磁流变半主动悬架智能测控系统研究[D].重庆:重庆大学,2014.YANG J W.Research on intelligent measurement and control system of automotive magnetorheological semi-active suspension based on DSP[D].Chongqing:Chongqing University,2014.(in Chinese)
[11]彭志召,张进秋,张建,等.磁流变半主动悬架试验研究[J].汽车工程,2018,40(5):561-567.PENG Z Z,ZHANG J Q,ZHANG J,et al.Experimental study on a semi-active magnetorheological suspension[J].Automotive Engineering,2018,40(5):561-567.(in Chinese)
[12]SONG B K,AN J H,CHOI S B.A new fuzzy sliding mode controller with a disturbance estimator for robust vibration control of a semi-active vehicle suspension system[J].Applied Sciences,2017,7:1053.
[13]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):36-42,50.PENG Z Z,ZHANG J Q,ZHANG Y,et al.Frequency domain control algorithm for semi-active suspension of vehicles[J].Journal of Academy of Armored Force Engineering,2013,27(4):36-42,50.(in Chinese)
[14]任宏斌,陈思忠,冯占宗.基于天棚on-off控制的磁流变半主动悬架研究[J].北京理工大学学报,2014,34(2):148-152.REN H B,CHEN S Z,FENG Z Z.The skyhook on-off control of semi-active suspension with magneto-rheological damper[J].Transaction of Beijing Institute of Technology,2014,34(2):148-152.(in Chinese)
[2]SAVARESIS S,POUSSOT V C,SPELTA C,et al.Semi-active suspension control for vehicles[M].Oxford,UK:Elsevier,2010:1-13.
[3]魏特特.基于ControlBase的小型煤油活塞发动机控制策略研究[D].南京:南京航空航天大学,2016.WEI T T.Research on control strategy of small kerosene piston engine based on ControlBase[D].Nanjing:Nanjing University of Aeronautics and Astronautics,2016.(in Chinese)
[4]PANG H,LIU F,XU Z R.Variable universe fuzzy control for vehicle semi-active suspension system with MRdamper combining fuzzy neural network and particle swarm optimization[J].Neurocomputing,2018,306(6):130-140.
[5]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.CHEN C Z,HE D Y,ZUO Q Y,et al.Neural-fuzzy fusion network control of vehicle semi-active suspension[J].Journal of Shenyang University of Technology,2014,36(2):170-175.(in Chinese)
[6]赵义伟.基于磁流变减振器的铁道车辆悬挂系统半主动硬件在环试验研究[D].石家庄:石家庄铁道大学,2017.ZHAO Y W.Hardware in the loop test research of railway vehicle suspension system semi-active based on the magnetorheological damper[D].Shijiazhuang:Shijiazhuang Tiedao University,2017.(in Chinese)
[7]KWAK M K,LEE.J H,YANG D H,et al.Hardware-in-the-loop simulation experiment for semi-active vibration control of lateral vibrations of railway vehicle by magneto-rheological fluid damper[J].Vehicle System Dynamics:International Journal of Vehicle Mechanics and Mobility,2014,52(7):891-908.
[8]禚帅帅.D级轿车磁流变半主动悬架状态灰预测模糊控制研究[D].长春:吉林大学,2015.ZHUO S S.Magnetorheological semi-active suspension control strategy with grey prediction and fuzzy for D class vehicle[D].Changchun:Jilin University,2015.(in Chinese)
[9]齐鲲鹏,隆武强,陈雷.硬件在环仿真在汽车控制系统开发中的应用及关键技术[J].内燃机,2006(5):24-27.QI K P,LONG W Q,CHEN L.Application of hardware-in-the-loop simulation in the development of control system for vehicle and its key technologies[J].Internal Combustion Engines,2006(5):24-27.(in Chinese)
[10]杨继伟.基于DSP的汽车磁流变半主动悬架智能测控系统研究[D].重庆:重庆大学,2014.YANG J W.Research on intelligent measurement and control system of automotive magnetorheological semi-active suspension based on DSP[D].Chongqing:Chongqing University,2014.(in Chinese)
[11]彭志召,张进秋,张建,等.磁流变半主动悬架试验研究[J].汽车工程,2018,40(5):561-567.PENG Z Z,ZHANG J Q,ZHANG J,et al.Experimental study on a semi-active magnetorheological suspension[J].Automotive Engineering,2018,40(5):561-567.(in Chinese)
[12]SONG B K,AN J H,CHOI S B.A new fuzzy sliding mode controller with a disturbance estimator for robust vibration control of a semi-active vehicle suspension system[J].Applied Sciences,2017,7:1053.
[13]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):36-42,50.PENG Z Z,ZHANG J Q,ZHANG Y,et al.Frequency domain control algorithm for semi-active suspension of vehicles[J].Journal of Academy of Armored Force Engineering,2013,27(4):36-42,50.(in Chinese)
[14]任宏斌,陈思忠,冯占宗.基于天棚on-off控制的磁流变半主动悬架研究[J].北京理工大学学报,2014,34(2):148-152.REN H B,CHEN S Z,FENG Z Z.The skyhook on-off control of semi-active suspension with magneto-rheological damper[J].Transaction of Beijing Institute of Technology,2014,34(2):148-152.(in Chinese)