基于全尺寸模型的半主动悬架车辆平顺性研究
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摘要
为改善汽车的平顺性,提出一种半主动悬架的自适应模糊PID算法;选用二自由度1/4车半主动全尺寸悬架为研究对象,用Adams软件建立半主动悬架全尺寸模型,对模型自适应模糊PID控制器进行设计,利用联合仿真分析技术,对建立的机械模型和控制算法进行分析并与被动悬架及模糊控制方式进行了对比。研究表明:采用自适应糊PID控制策略的主动悬架相对采用模糊控制的主动悬架以及被动悬架,车身加速度峰值分别降低了5.0%和2.9%,悬架动行程分别降低了3.2%和1.68%,轮胎动位移分别降低了0.29%和0.25%。采用自适应模糊PID算法的半主动悬架,在改善汽车的行驶平顺性方面有良好的效果,为研究车辆平顺性研究提供一种有效方法。
In order to improve the ride comfort of the vehicle,the self-adaptive fuzzy PID algorithm of a semi-active suspension was proposed.Taking the two-degree-of-freedom 1/4 vehicle semi-active suspension of full size as the research object,a semi-active suspension model of full size was established by software Adams,and the model selfadaptive fuzzy PID controller was designed.The proposed mechanical model and control algorithm were analyzed by joint simulation analysis technology,and compared with passive suspension and its fuzzy control methods.The results show that:compared with active suspension and passive suspension with fuzzy control,active suspension with self-adaptive fuzzy PID control strategy reduces vehicle body acceleration peak by 5.0% and 2.9%,suspension dynamic stroke by 3.2% and 1.68%,and tire dynamic displacement by 0.29% and 0.25%,respectively.The semiactive suspension based on self-adaptive fuzzy PID algorithm has good effect in improving vehicle ride comfort,and provides an effective method for the study of vehicle ride comfort.
In order to improve the ride comfort of the vehicle,the self-adaptive fuzzy PID algorithm of a semi-active suspension was proposed.Taking the two-degree-of-freedom 1/4 vehicle semi-active suspension of full size as the research object,a semi-active suspension model of full size was established by software Adams,and the model selfadaptive fuzzy PID controller was designed.The proposed mechanical model and control algorithm were analyzed by joint simulation analysis technology,and compared with passive suspension and its fuzzy control methods.The results show that:compared with active suspension and passive suspension with fuzzy control,active suspension with self-adaptive fuzzy PID control strategy reduces vehicle body acceleration peak by 5.0% and 2.9%,suspension dynamic stroke by 3.2% and 1.68%,and tire dynamic displacement by 0.29% and 0.25%,respectively.The semiactive suspension based on self-adaptive fuzzy PID algorithm has good effect in improving vehicle ride comfort,and provides an effective method for the study of vehicle ride comfort.
引文
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[2]TAGHAVIFAR H,MARDANI A,HOSSEINLOO A H.Off-road vehicle dynamics:Stability,ride comfort,vehicle performance and modeling[J].Advances in Mechanical Engineering,2016,8(8):101-111.
[3]潘公宇,徐腾跃,张树,等.基于货车车身悬架的最佳主动控制[J].重庆交通大学学报(自然科学版),2015,34(4):143-146.PAN Gongyu,XU Tengyue,ZHANG Shu,et al.Optimal active control based on trucks body suspension[J].Journal of Chongqing Jiaotong University(Natural Science),2015,34(4):143-146.
[4]刘静.带天棚阻尼的1/2车辆主动悬架仿真研究[J].公路与汽运,2015,166(3):15-20.LIU Jing.Asimulation study on half active vehicle suspension with cradles[J].Journal of Highway and Transportation Research,2015,166(3):15-20.
[5]王孝鹏,陈秀萍,纪联南,等.基于模糊PID控制策略的二自由度半主动悬架仿真研究[J].广西科技大学学报,2017,28(2):35-41.WANG Xiaopeng,CHEN Xiuping,JI Liannan,et al.Cosimulation based on 2degrees of freedom semi-active suspension with fuzzy PID controller[J].Journal of Guangxi University of Science and Technology,2017,28(2):35-41.
[6]秦也辰,董明明,赵丰,等.基于路面识别的车辆半主动悬架控制[J].东北大学学报(自然科学版),2016,37(8):1138-1143.QIN Yechen,DONG Mingming,ZHAO Feng,et al.Suspension semi-active control of vehicles based on road profile classification[J].Journal of Northeastern University(Natural Science),2016,37(8):1138-1143.
[7]REN H,CHEN S,ZHAO Y,et al.State observer-based sliding mode control for semi-active hydro-pneumatic suspension[J].Vehicle System Dynamics,2016,54(2):168-190.
[8]SHI Hongyan,PAN Shouli,LIU Liping,et al.Research on active suspension control strategy based on fuzzy PID control[J].Hydromechatronics Engineering,2015,43(24):67-74.
[9]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.ZHANG Zhifei,LIU Jianli,XU Zhongming,et al.Design of LQG controller for semi-active suspension based on improved analytic hierarchy process[J].Automotive Engineering,2012,34(6):528-533.
[10]ZHU H,YANG J,ZHANG Y,et al.Nonlinear dynamic model of air spring with a damper for vehicle ride comfort[J].Nonlinear Dynamics,2017,89(4):1-24.
[11]吴颖熹,周鋐,王二兵,等.基于十自由度车辆模型的汽车平顺性分析[J].佳木斯大学学报(自然科学版),2011,29(5):684-688.WU Yingxi,ZHOU Hong,WANG Erbing,et al.Analysis of vehicle ride comfort based on vehicle dynamic model with ten degrees of freedom[J].Journal of Jiamusi University(Natural Science Edition),2011,29(5):684-688.