基于四分之一悬架模型与整车虚拟样机的主动悬架控制系统仿真研究
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摘要
随着现代汽车对乘坐舒适性和行驶安全性的要求越来越高,设计一个具有良好综合性能的悬架成为现代汽车研究的一个重要课题。传统的被动悬架系统的弹性元件和阻尼元件的刚度值和阻尼值是固定的,在汽车行驶过程中无法随路面状况、载荷等因素的变化而变化,所以有必要设计一种不同于被动悬架的新型悬架。主动悬架是随着现代控制理论和电子技术的发展而发展起来的,可以随汽车的行驶状态而自适应地改变其刚度和阻尼参数,具有优良的减振性能和操纵稳定性,是未来汽车悬架研究的一个重要方向。
对主动悬架的研究主要从两个方面展开：一是四分之一主动悬架模型结构形式的研究,采用不同的控制方法,以达到较好的控制效果,并对汽车主动悬架控制系统进行了深入的研究。二是鉴于汽车结构和运动方式十分复杂,四分之一悬架模型仅仅考虑了汽车的垂直运动情况,为了能更好的反映主动悬架对俯仰、侧倾运动的影响,又采用虚拟样机建立了整车模型,进行了整车的平顺性实验台实验。
首先,对悬架系统中几种控制方法进行了理论分析和算法研究,包括PID控制,模糊控制和模糊自适应PID控制等。
其次,在理论研究的基础之上,分别以1/4车二自由度悬架系统模型为控制对象进行了主动悬架控制算法的计算机仿真。仿真试验的结果表明,对于不同的路面激励,各个控制算法都明显地抑制了车体振动,其中以模糊控制和模糊自适应PID控制方法效果最好。因此,车辆主动悬架系统采用这些控制是可行的和有效的。
然后,本论文采用ADAMS/Car和MATLAB/Simulink联合仿真方法,分别对装配被动悬架和装配主动悬架整车的平顺性进行了分析。在ADAMS/Car环境中建立了装配可控悬架的整车虚拟样机模型；并利用MATLAB/Simulink建立主动悬架控制模型,考虑到控制器结构以及传感器个数,采用了上述模糊控制方法。联合ADAMS/Car中建立的整车虚拟样机模型和MATLAB/Simulink中建立的控制器模型进行了仿真。
仿真结果表明,装备了主动悬架的整车平顺性比采用被动悬架的性能要好。联合仿真避免了建立整车动力学方程及推导传递函数,为复杂机械系统的控制与仿真提供了新思路。同时,采用虚拟样机协同设计、调试和试验的方法,同传统的设计方法相比有明显的优势,可以大大地提高设计效率,缩短开发周期,降低开发产品的成本,获得优化的系统整体性能。
With the increasing requirement of the vehicle's ride comfort and road security, the design of suspension with good performance has become more and more important. As the conventional passive suspension has the constant spring stiffness and damper coefficient, it can not change with the road disturbances and loads, so it is necessary to design a new-style suspension—active suspension. Active suspension develops with the modern control theory and the electronic technique, its stiffness and damper coefficient can change to adapt the different work circumstances, and it improves the vehicle ride comfort and road holding. So it is significant to research and develop active suspension.
The study of active suspension can divide into two aspects:first, the different control laws of 1/4 vehicle active suspension system. In order to get the good performance, the different control laws will be used. At the same time, this thesis makes a deep study and analysis of automobile active suspension control system. Second, because of complexity in vehicle's structure and movement, the thesis analyses the ride comfort of whole vehicle, which is respectively equipped with passive suspension and active suspension.
Firstly, this thesis analyze and research some familiar active suspension control algorithm, just as PID, FUZZY, FUZZY self-adapt PID(FAPID). Moreover it lays emphasis on the excellence of the application of the FAPID.
Secondly, based on theoretical study, this thesis takes 1/4 vehicle 2 DOF suspension system model as control object to do computer simulation. FUZZY and FAPID control can obviously restrain the vibration of vehicles in terms of different stimulation. Therefore, they are practical and effective.
Thirdly, based on the co-simulation method with ADAMS/Car and MATLAB/Simulink, the thesis analyses the ride comfort of whole vehicle, which is respectively equipped with passive suspension and active suspension. Virtual prototype models furnished with controlled suspension are established under the environment of ADAMS. In addition, the controller models of active suspension are set up using MATLAB/Simulink software and simulations are done.
The results show the ride comfort of active suspension is better than that of traditional suspension. The co-simulation method, where no complex dynamic equation and transfer function is needed, offers a new approach to control and simulation of complicated mechanism. At the same time, comparing with the conventional means of design, it is much useful to assist designing, adjusting and testing via Virtual Prototype Technology. This means can highly enhance the efficiency of design, decrease the developing periods, cut down the cost of developing products and acquire the optimized integrated performance of the system.
对主动悬架的研究主要从两个方面展开：一是四分之一主动悬架模型结构形式的研究,采用不同的控制方法,以达到较好的控制效果,并对汽车主动悬架控制系统进行了深入的研究。二是鉴于汽车结构和运动方式十分复杂,四分之一悬架模型仅仅考虑了汽车的垂直运动情况,为了能更好的反映主动悬架对俯仰、侧倾运动的影响,又采用虚拟样机建立了整车模型,进行了整车的平顺性实验台实验。
首先,对悬架系统中几种控制方法进行了理论分析和算法研究,包括PID控制,模糊控制和模糊自适应PID控制等。
其次,在理论研究的基础之上,分别以1/4车二自由度悬架系统模型为控制对象进行了主动悬架控制算法的计算机仿真。仿真试验的结果表明,对于不同的路面激励,各个控制算法都明显地抑制了车体振动,其中以模糊控制和模糊自适应PID控制方法效果最好。因此,车辆主动悬架系统采用这些控制是可行的和有效的。
然后,本论文采用ADAMS/Car和MATLAB/Simulink联合仿真方法,分别对装配被动悬架和装配主动悬架整车的平顺性进行了分析。在ADAMS/Car环境中建立了装配可控悬架的整车虚拟样机模型；并利用MATLAB/Simulink建立主动悬架控制模型,考虑到控制器结构以及传感器个数,采用了上述模糊控制方法。联合ADAMS/Car中建立的整车虚拟样机模型和MATLAB/Simulink中建立的控制器模型进行了仿真。
仿真结果表明,装备了主动悬架的整车平顺性比采用被动悬架的性能要好。联合仿真避免了建立整车动力学方程及推导传递函数,为复杂机械系统的控制与仿真提供了新思路。同时,采用虚拟样机协同设计、调试和试验的方法,同传统的设计方法相比有明显的优势,可以大大地提高设计效率,缩短开发周期,降低开发产品的成本,获得优化的系统整体性能。
With the increasing requirement of the vehicle's ride comfort and road security, the design of suspension with good performance has become more and more important. As the conventional passive suspension has the constant spring stiffness and damper coefficient, it can not change with the road disturbances and loads, so it is necessary to design a new-style suspension—active suspension. Active suspension develops with the modern control theory and the electronic technique, its stiffness and damper coefficient can change to adapt the different work circumstances, and it improves the vehicle ride comfort and road holding. So it is significant to research and develop active suspension.
The study of active suspension can divide into two aspects:first, the different control laws of 1/4 vehicle active suspension system. In order to get the good performance, the different control laws will be used. At the same time, this thesis makes a deep study and analysis of automobile active suspension control system. Second, because of complexity in vehicle's structure and movement, the thesis analyses the ride comfort of whole vehicle, which is respectively equipped with passive suspension and active suspension.
Firstly, this thesis analyze and research some familiar active suspension control algorithm, just as PID, FUZZY, FUZZY self-adapt PID(FAPID). Moreover it lays emphasis on the excellence of the application of the FAPID.
Secondly, based on theoretical study, this thesis takes 1/4 vehicle 2 DOF suspension system model as control object to do computer simulation. FUZZY and FAPID control can obviously restrain the vibration of vehicles in terms of different stimulation. Therefore, they are practical and effective.
Thirdly, based on the co-simulation method with ADAMS/Car and MATLAB/Simulink, the thesis analyses the ride comfort of whole vehicle, which is respectively equipped with passive suspension and active suspension. Virtual prototype models furnished with controlled suspension are established under the environment of ADAMS. In addition, the controller models of active suspension are set up using MATLAB/Simulink software and simulations are done.
The results show the ride comfort of active suspension is better than that of traditional suspension. The co-simulation method, where no complex dynamic equation and transfer function is needed, offers a new approach to control and simulation of complicated mechanism. At the same time, comparing with the conventional means of design, it is much useful to assist designing, adjusting and testing via Virtual Prototype Technology. This means can highly enhance the efficiency of design, decrease the developing periods, cut down the cost of developing products and acquire the optimized integrated performance of the system.
引文
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2.常明.汽车底盘构造[M],北京：国防工业出版社,2005,3
3. Dave Crolla. A Vehicle Dynamics Theory into Practice. Journal of Automobile Engineering[J],1996,Vol.210,No,210,No.2, pp.83-94.
4. Crosby M J, Karnopp D C. The Active Damper-a New Concept for Shock and Vibration Control[J], The 43rd Shock and Vibration Bulletin, part H,1973,6.
5.王遂双.汽车电子控制系统的原理与检修[M],北京：北京理工大学出版社,2005,8
6.李春明.汽车底盘电控技术[M],北京：机械工业出版社,2004,2
7.俞凡,林逸.汽车系统动力学[M],北京：机械工业出版社,2005
8.Dave Crolla,俞凡.车辆动力学及其控制[M],北京：人民交通出版社,2003.
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