磁流变阻尼器的动力学模型及其在车辆悬架中的应用研究
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摘要
高速铁路对我国的经济发展起着重要作用,但随着车辆运行速度的不断提高,车辆的振动不断加剧,这对车辆的行车安全性及乘坐舒适性都产生极其不利的影响。同时随着汽车逐渐成为人们出行中必不可少的交通工具,人们对汽车的NVH (Noise, Vibration, Harshness)特性提出了更高的要求,它直接关系到汽车的乘坐舒适性。悬架是改善车辆行车安全性及乘坐舒适性的关键部件之一。基于磁流变阻尼器的半主动悬架在控制效果上接近主动悬架,并且具有结构简单、能耗小、响应快和失效安全性高等特点,目前已成为车辆振动控制领域的研究热点。但磁流变半主动悬架技术还远未成熟,许多理论与应用问题仍需要进一步研究。为此,本文以降低汽车和高速列车的振动为目标,采用理论分析、数值仿真和实验研究相结合的方法,研究了磁流变阻尼器的动力学模型和半主动控制策略。具体工作包括以下几方面：
1、磁流变阻尼器的动力学建模。目前考虑激励性质的磁流变阻尼器动力学模型并不多,而考虑滞环非线性且适合于实际控制应用的逆向模型则更少。本文从模型准确性、简单性、适应性和可逆性等实际应用需求出发,提出了电流-激励依赖的扩展的双曲正切模型和简化的双曲正切模型,为设计更加有效的半主动控制器打下基础。
利用MTS测试系统分别测试了内通道式和旁通道式两种不同结构和尺寸的磁流变阻尼器的动力学特性,分析了控制电流和激励性质对阻尼力-速度特性的影响。在此基础上,提出了电流-激励依赖的扩展的双曲正切模型和简化的双曲正切模型,同时建立了双曲正切模型、现象模型、扩展的非线性滞环双粘性模型和通用Sigmoid滞环模型,采用遗传算法对各模型的参数进行了识别,并从模型精度、复杂度和可逆性等方面对各个模型进行了系统的对比分析。结果表明扩展的双曲正切模型具有最高的模型精度,而简化的双曲正切模型求逆方便。通过解析方法求得了简化的双曲正切模型的逆向模型,同时采用自适应神经网络模糊推理系统(ANFIS)建立了逆向模型,并从建模难易度和模型精度两方面对两种逆向模型进行了对比分析。
2、汽车悬架半主动控制研究。由于基于磁流变阻尼器的车辆悬架是一个复杂的非线性系统,因此半主动控制器的设计具有较大的挑战性。本文从系统控制器和阻尼器控制器两方面出发,对多种现有的半主动控制器进行研究和改进,并提出了一种LQG-Fuzzy半主动控制器,建立了一个通用的仿真平台和实验平台,对各半主动控制器的控制效果进行仿真和实验评估,为其在汽车悬架中的应用打下理论和实验基础。
建立了四分之一车辆悬架动力学模型和随机路面不平度输入模型。设计了不需要被控对象模型的On-Off控制器和模糊控制器,采用逆向简化的双曲正切模型,建立了考虑磁流变阻尼器滞环非线性的天棚阻尼和LQG半主动控制器,结合LQG控制和模糊控制,提出了一种LQG-Fuzzy半主动控制器。仿真评估了五种半主动控制器的控制效果,并分析了簧载质量和阻尼器性能的变化对各控制器性能的影响。建立了一套模拟四分之一车辆悬架的试验平台,采用基于MATLAB的快速控制原型开发系统编写了控制算法程序,对五种半主动控制器进行了实验对比研究。仿真和实验结果表明五种半主动控制器都能有效地降低簧载质量加速度和悬架动挠度,本文提出的LQG-Fuzzy半主动控制器具有较高的鲁棒性。
3、高速列车的鲁棒半主动控制研究。列车速度的不断提高对控制系统的鲁棒性提出了更高的要求,目前已提出的各类控制算法主要集中在经典控制领域,在鲁棒控制和滞环非线性抑制等方面缺乏深入的研究,因此本文将H∞鲁棒控制策略应用到高速列车中,提出了一种H∞-ANFIS鲁棒半主动控制器,为高速列车的半主动控制提供一种新的方法。
建立了17自由度高速列车横向运动的动力学模型和随机轨道不平顺输入模型。采用H∞鲁棒控制理论计算期望控制力,采用ANFIS技术计算所需的控制电流,提出了一种H∞-ANFIS半主动控制器,同时设计了On-Off控制器和模糊控制器。仿真评估了各半主动控制器的控制效果,并分析了时滞对各控制器性能的影响和磁流变半主动悬架的失效安全性。结果表明相比于被动控制,三种半主动控制都能大幅降低车体的横向振动,其中H∞-ANFIS控制的减振效果最佳,但转向架的振动则会出现一定程度的恶化,轮对的振动则基本不变。随着时滞时间的增加,各个控制算法的减振效果都会降低,并且时滞对H∞-ANFIS控制的影响最大。
本文以磁流变半主动悬架为研究对象,针对现有研究中的不足,建立了磁流变阻尼器的正向模型和逆向模型,基于此设计了多种半主动控制器,并进行了仿真和实验验证,为磁流变阻尼器在车辆半主动悬架中的应用提供了理论和实验基础。
High-speed railway plays an important role in China's economic development. However, the increase of the train's speed will amplify the train's vibration significantly, which will induce an obvious decrease of the ride stability and ride quality. At the same time, as cars becoming an indispensable meaning of transportation in people's travelling, people have made high demands on the cars' NVH (Noise, Vibration, Harshness) property, which is directly related to the ride comfort of the cars. A suspension is one of the key components in improving the ride comfort and driving safety. Magnetorheological damper-based (MR damper-based) semi-active suspensions have become a hot point in the field of vehicle vibration control, because they possess similar performance with active suspensions and have some attractive characters such as simple structure, low energy consumption, fast response, and high fail-safe. However, the MR semi-active suspension technology is far from mature and some theoretical and practical issues still need to be further studied. In this dissertation, in order to reduce the vibration of cars and high-speed trains, the dynamic models of MR dampers and semi-active control strategies are studied by adopting the methods of theoretical analysis, numerical simulation and experimental test. The main contributions of this dissertation are as follows:
1. Dynamic modeling of magnetorheological dampers. Currently, only a few dynamic models of MR dampers have considered the influences of the excitation properties and even fewer inverse models which consider the hysteresis nonlinearity and are suitable for the actual application. Thus, to meet the requirements of the actual application including model accuracy, simplicity, adaptability and reversibility, this work builds an excitation-current-dependent forward and inverse dynamic model for MR dampers, respectively. These could provide some bases for the design of effective semi-active controllers.
The dynamic properties of two kinds of different structure and size of MR dampers, including an inner-pass MR damper and a by-pass MR damper, are tested by using MTS test system. The influences of the force-velocity properties on the control current and the excitation property are analyzed. Based on the test data, an extended hyperbolic tangent function-based model and a simplified hyperbolic tangent function-based model are proposed. Then, a hyperbolic tangent function-based model, a phenomenon model, an extended nonlinear hysteretic biviscous model, and a generalized sigmoid hysteresis model are established. The parameters of all models are identified by using the genetic algorithm (GA). Systematic comparisons of all models are carried out from the aspects of the model accuracy, complexity and reversibility. Results show that the extended hyperbolic tangent function-based model possesses the highest model accuracy, and the simplified hyperbolic tangent function-based model is easy to be reversed. The inverse model of the simplified hyperbolic tangent function-based model is analytically obtained. The adaptive neural-fuzzy inference system (ANFIS) is also adopted to establish the inverse model of MR dampers. Comparisons between the two inverse models are carried out from the aspects of the model accuracy and modeling difficulty.
2. Researches on the semi-active control of automotive suspensions. As the MR damper-based vehicle suspension is a complex nonlinear system, the design of the semi-active controller is still a challenge. So some existing semi-active controllers are analyzed and improved, and then a LQG-Fuzzy semi-active controller is proposed. A generic simulation platform and experimental platform are established to assess the control effects of the established semi-active controllers. The results could provide theoretical and experimental bases for their application in automotive suspensions.
A1/4vehicle suspension dynamic model and a road random irregularity model are established. An On-Off controller and a Fuzzy controller are designed, which are not necessary to know the precise model of the controlled objects. By adopting the inverse model of the simplified hyperbolic tangent function-based model, a Skyhook semi-active controller and a LQG semi-active controller are built, in which the hysteresis nonlinearity of MR dampers are considered. Combining with LQG control algorithm and fuzzy control algorithm, a LQG-Fuzzy controller is proposed. The control effects of all five controllers are assessed by simulation. The influences of the control effects on the variation of the sprung mass and the property of MR dampers are also studied. Then, a simulated1/4vehicle suspension experimental platform is established. The programs of all the controllers are compiled by using MATLAB software-based rapid control prototyping system. The experimental comparisons of the five semi-active controllers are carried out. Simulation and experiment results indicate that all the five semi-active controllers can suppress the acceleration of the sprung mass and the deflection of the suspension, and the proposed LQG-Fuzzy semi-active controller possesses relatively high robustness.
3. Researches on the robust semi-active control of high-speed trains. Because of the increase of the train's speed, the robustness of the control system should be improved. The current control strategies are mainly concentrated in the field of classical control. The in-depth researches about robust control and hysteresis nonlinear suppression are still lack. So the H∞robust control algorithm is applied into high-speed trains in this section, and a H∞-ANFIS robust semi-active controller is proposed. This work provides a new method for the semi-active control of high-speed trains.
A17-degree-of-freedom (DOF) model for a full-scale railway vehicle is developed and random track irregularities are modeled. By adopting the H∞robust control theory to calculate the expected control force and the ANFIS technology to calculate the required control current, a H∞-ANFIS semi-active controller for the high-speed train's suspension is proposed. Moreover, an On-Off controller and a Fuzzy controller are also designed. The control effects of all three semi-active controllers are evaluated through simulation. The influences of the control effects on the time delay are studied, and the fail-safe of the MR damper-based semi-active suspension system is also analyzed. Results show that all the three semi-active controllers can significantly reduce the lateral vibration of the train's car body, among which the H∞-ANFIS semi-active controller possesses the best control effect. However, the vibration of the bogies could be increased to some extent. The vibration of the wheelsets is almost the same as the passive suspension. With increasing of the delay time, the control effects of all three semi-active controllers reduce, and the time delay has the biggest impact on the H∞-ANFIS semi-active controller.
This paper is focus on improving the deficiencies in the present magnetorheological semi-active suspension. Some forward models and inverse models of MR dampers are established, and a variety of semi-active controllers are designed. Simulation and experimental researches are carried out to valid these semi-active controllers. These studies can provide some theoretical and experimental bases for the application of MR dampers in the semi-active suspensions of vehicles.
1、磁流变阻尼器的动力学建模。目前考虑激励性质的磁流变阻尼器动力学模型并不多,而考虑滞环非线性且适合于实际控制应用的逆向模型则更少。本文从模型准确性、简单性、适应性和可逆性等实际应用需求出发,提出了电流-激励依赖的扩展的双曲正切模型和简化的双曲正切模型,为设计更加有效的半主动控制器打下基础。
利用MTS测试系统分别测试了内通道式和旁通道式两种不同结构和尺寸的磁流变阻尼器的动力学特性,分析了控制电流和激励性质对阻尼力-速度特性的影响。在此基础上,提出了电流-激励依赖的扩展的双曲正切模型和简化的双曲正切模型,同时建立了双曲正切模型、现象模型、扩展的非线性滞环双粘性模型和通用Sigmoid滞环模型,采用遗传算法对各模型的参数进行了识别,并从模型精度、复杂度和可逆性等方面对各个模型进行了系统的对比分析。结果表明扩展的双曲正切模型具有最高的模型精度,而简化的双曲正切模型求逆方便。通过解析方法求得了简化的双曲正切模型的逆向模型,同时采用自适应神经网络模糊推理系统(ANFIS)建立了逆向模型,并从建模难易度和模型精度两方面对两种逆向模型进行了对比分析。
2、汽车悬架半主动控制研究。由于基于磁流变阻尼器的车辆悬架是一个复杂的非线性系统,因此半主动控制器的设计具有较大的挑战性。本文从系统控制器和阻尼器控制器两方面出发,对多种现有的半主动控制器进行研究和改进,并提出了一种LQG-Fuzzy半主动控制器,建立了一个通用的仿真平台和实验平台,对各半主动控制器的控制效果进行仿真和实验评估,为其在汽车悬架中的应用打下理论和实验基础。
建立了四分之一车辆悬架动力学模型和随机路面不平度输入模型。设计了不需要被控对象模型的On-Off控制器和模糊控制器,采用逆向简化的双曲正切模型,建立了考虑磁流变阻尼器滞环非线性的天棚阻尼和LQG半主动控制器,结合LQG控制和模糊控制,提出了一种LQG-Fuzzy半主动控制器。仿真评估了五种半主动控制器的控制效果,并分析了簧载质量和阻尼器性能的变化对各控制器性能的影响。建立了一套模拟四分之一车辆悬架的试验平台,采用基于MATLAB的快速控制原型开发系统编写了控制算法程序,对五种半主动控制器进行了实验对比研究。仿真和实验结果表明五种半主动控制器都能有效地降低簧载质量加速度和悬架动挠度,本文提出的LQG-Fuzzy半主动控制器具有较高的鲁棒性。
3、高速列车的鲁棒半主动控制研究。列车速度的不断提高对控制系统的鲁棒性提出了更高的要求,目前已提出的各类控制算法主要集中在经典控制领域,在鲁棒控制和滞环非线性抑制等方面缺乏深入的研究,因此本文将H∞鲁棒控制策略应用到高速列车中,提出了一种H∞-ANFIS鲁棒半主动控制器,为高速列车的半主动控制提供一种新的方法。
建立了17自由度高速列车横向运动的动力学模型和随机轨道不平顺输入模型。采用H∞鲁棒控制理论计算期望控制力,采用ANFIS技术计算所需的控制电流,提出了一种H∞-ANFIS半主动控制器,同时设计了On-Off控制器和模糊控制器。仿真评估了各半主动控制器的控制效果,并分析了时滞对各控制器性能的影响和磁流变半主动悬架的失效安全性。结果表明相比于被动控制,三种半主动控制都能大幅降低车体的横向振动,其中H∞-ANFIS控制的减振效果最佳,但转向架的振动则会出现一定程度的恶化,轮对的振动则基本不变。随着时滞时间的增加,各个控制算法的减振效果都会降低,并且时滞对H∞-ANFIS控制的影响最大。
本文以磁流变半主动悬架为研究对象,针对现有研究中的不足,建立了磁流变阻尼器的正向模型和逆向模型,基于此设计了多种半主动控制器,并进行了仿真和实验验证,为磁流变阻尼器在车辆半主动悬架中的应用提供了理论和实验基础。
High-speed railway plays an important role in China's economic development. However, the increase of the train's speed will amplify the train's vibration significantly, which will induce an obvious decrease of the ride stability and ride quality. At the same time, as cars becoming an indispensable meaning of transportation in people's travelling, people have made high demands on the cars' NVH (Noise, Vibration, Harshness) property, which is directly related to the ride comfort of the cars. A suspension is one of the key components in improving the ride comfort and driving safety. Magnetorheological damper-based (MR damper-based) semi-active suspensions have become a hot point in the field of vehicle vibration control, because they possess similar performance with active suspensions and have some attractive characters such as simple structure, low energy consumption, fast response, and high fail-safe. However, the MR semi-active suspension technology is far from mature and some theoretical and practical issues still need to be further studied. In this dissertation, in order to reduce the vibration of cars and high-speed trains, the dynamic models of MR dampers and semi-active control strategies are studied by adopting the methods of theoretical analysis, numerical simulation and experimental test. The main contributions of this dissertation are as follows:
1. Dynamic modeling of magnetorheological dampers. Currently, only a few dynamic models of MR dampers have considered the influences of the excitation properties and even fewer inverse models which consider the hysteresis nonlinearity and are suitable for the actual application. Thus, to meet the requirements of the actual application including model accuracy, simplicity, adaptability and reversibility, this work builds an excitation-current-dependent forward and inverse dynamic model for MR dampers, respectively. These could provide some bases for the design of effective semi-active controllers.
The dynamic properties of two kinds of different structure and size of MR dampers, including an inner-pass MR damper and a by-pass MR damper, are tested by using MTS test system. The influences of the force-velocity properties on the control current and the excitation property are analyzed. Based on the test data, an extended hyperbolic tangent function-based model and a simplified hyperbolic tangent function-based model are proposed. Then, a hyperbolic tangent function-based model, a phenomenon model, an extended nonlinear hysteretic biviscous model, and a generalized sigmoid hysteresis model are established. The parameters of all models are identified by using the genetic algorithm (GA). Systematic comparisons of all models are carried out from the aspects of the model accuracy, complexity and reversibility. Results show that the extended hyperbolic tangent function-based model possesses the highest model accuracy, and the simplified hyperbolic tangent function-based model is easy to be reversed. The inverse model of the simplified hyperbolic tangent function-based model is analytically obtained. The adaptive neural-fuzzy inference system (ANFIS) is also adopted to establish the inverse model of MR dampers. Comparisons between the two inverse models are carried out from the aspects of the model accuracy and modeling difficulty.
2. Researches on the semi-active control of automotive suspensions. As the MR damper-based vehicle suspension is a complex nonlinear system, the design of the semi-active controller is still a challenge. So some existing semi-active controllers are analyzed and improved, and then a LQG-Fuzzy semi-active controller is proposed. A generic simulation platform and experimental platform are established to assess the control effects of the established semi-active controllers. The results could provide theoretical and experimental bases for their application in automotive suspensions.
A1/4vehicle suspension dynamic model and a road random irregularity model are established. An On-Off controller and a Fuzzy controller are designed, which are not necessary to know the precise model of the controlled objects. By adopting the inverse model of the simplified hyperbolic tangent function-based model, a Skyhook semi-active controller and a LQG semi-active controller are built, in which the hysteresis nonlinearity of MR dampers are considered. Combining with LQG control algorithm and fuzzy control algorithm, a LQG-Fuzzy controller is proposed. The control effects of all five controllers are assessed by simulation. The influences of the control effects on the variation of the sprung mass and the property of MR dampers are also studied. Then, a simulated1/4vehicle suspension experimental platform is established. The programs of all the controllers are compiled by using MATLAB software-based rapid control prototyping system. The experimental comparisons of the five semi-active controllers are carried out. Simulation and experiment results indicate that all the five semi-active controllers can suppress the acceleration of the sprung mass and the deflection of the suspension, and the proposed LQG-Fuzzy semi-active controller possesses relatively high robustness.
3. Researches on the robust semi-active control of high-speed trains. Because of the increase of the train's speed, the robustness of the control system should be improved. The current control strategies are mainly concentrated in the field of classical control. The in-depth researches about robust control and hysteresis nonlinear suppression are still lack. So the H∞robust control algorithm is applied into high-speed trains in this section, and a H∞-ANFIS robust semi-active controller is proposed. This work provides a new method for the semi-active control of high-speed trains.
A17-degree-of-freedom (DOF) model for a full-scale railway vehicle is developed and random track irregularities are modeled. By adopting the H∞robust control theory to calculate the expected control force and the ANFIS technology to calculate the required control current, a H∞-ANFIS semi-active controller for the high-speed train's suspension is proposed. Moreover, an On-Off controller and a Fuzzy controller are also designed. The control effects of all three semi-active controllers are evaluated through simulation. The influences of the control effects on the time delay are studied, and the fail-safe of the MR damper-based semi-active suspension system is also analyzed. Results show that all the three semi-active controllers can significantly reduce the lateral vibration of the train's car body, among which the H∞-ANFIS semi-active controller possesses the best control effect. However, the vibration of the bogies could be increased to some extent. The vibration of the wheelsets is almost the same as the passive suspension. With increasing of the delay time, the control effects of all three semi-active controllers reduce, and the time delay has the biggest impact on the H∞-ANFIS semi-active controller.
This paper is focus on improving the deficiencies in the present magnetorheological semi-active suspension. Some forward models and inverse models of MR dampers are established, and a variety of semi-active controllers are designed. Simulation and experimental researches are carried out to valid these semi-active controllers. These studies can provide some theoretical and experimental bases for the application of MR dampers in the semi-active suspensions of vehicles.
引文
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