刚度和阻尼可调式半主动空气悬架及控制系统研究
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摘要
刚度和阻尼可调式半主动空气悬架表现出诸多优越性。调节悬架刚度可有效避开系统共振频率,避免发生共振,再根据行驶工况对阻尼的需要,通过调节阻尼进一步衰减振动。不仅对道路车辆,对行驶工况更为复杂的农用车辆、军用车辆等非道路车辆来说,应用刚度和阻尼连续可调的半主动悬架可增大刚度和阻尼调节范围,有效提高车辆对复杂工况的适应能力,减振效果更佳。
本文以刚度和阻尼可调式半主动空气悬架系统的设计制作为核心,完成了阻尼元件磁流变减振器的研制,利用带附加气室的Firestone1T15M-2膜式空气弹簧为弹性元件,构建了半主动悬架系统。结合国内外研究成果,利用理论分析与试验结合的方法对磁流变减振器的力学特性进行了系统研究；试验研究了所构建的半主动悬架系统的振动特性；提出半主动悬架的控制理论与策略,设计了刚度和阻尼连续调节的半主动悬架电控试验系统。所完成的工作及取得的结论归纳如下：
1.建立了刚度和阻尼可调式半主动悬架系统振动微分方程,推导了振动响应量的标准差解析式,利用逐步选优求解法,分析不同路面和行驶速度下刚度和阻尼的最优匹配,设计了空气弹簧刚度和磁流变减振器阻尼的匹配方案；建立车辆转向时的操纵动力学模型及1/4悬架模型,分析悬架刚度和阻尼对操纵稳定性的影响,并对悬架性能作出了评价。研究结果表明,空气弹簧与磁流变减振器的匹配方案合理。
2.提出了流动模式磁流变减振器,建立了磁路仿真模型,基于ansys仿真分析了磁路磁场分布规律及结构参数对磁场特性的影响,完成了磁流变减振器的结构设计；对自行研制的磁流变减振器进行了外特性试验,研究磁流变减振器活塞速度和励磁电流对其力学特性的影响。研究结果表明,磁流变减振器的磁路设计方法合理,合理选择磁路结构参数可使磁流变液的流变性能得到最大发挥；通过调节励磁线圈中的电流可改变减振器的输出阻尼力,实现阻尼力可控,减振器的饱和工作电流在1.6～1.8A之间,阻尼力可控倍数达5.9。试验进一步验证了磁流变减振器设计方法的有效性,并为阻尼可调式半主动空气悬架的控制研究提供了依据。
3.为了定量分析磁流变减振器的力学特性,基于流体动力学理论对流经阻尼通道的磁流变液进行了动力学分析,研究了阻尼通道内磁流变液的流动特性,建立了流量连续性方程,结合磁场分析建立了阻尼力数学模型,对模型系数进行了试验辨识,建立了阻尼力简化模型并对其进行了精度验证。
4.构建了刚度和阻尼连续可调的半主动悬架振动响应特性试验系统,通过调节定位控制阀输入电压和磁流变减振器励磁电流来改变悬架的刚度和阻尼,试验研究了定位控制阀输入电压、磁流变减振器励磁电流及激励频率对悬架振动特性的影响规律。试验结果表明,定位控制阀输入电压逐渐增大的过程中,系统共振频率有所降低,系统位移传递率、响应加速度均方根值和最大动载荷均迅速降低,在电压增大到4.6V时降至最小值,之后随电压继续增大,三者变化不再明显；定位控制阀输入电压在3V以内时,电压越小,励磁电流对共振点的振动衰减作用越明显,在电流由0增大到0.6A的过程中,振动衰减幅度最大,当定位控制阀电压大于3V时,励磁电流对振动衰减基本无影响。
5.为了实现悬架刚度和阻尼的实时控制,改善悬架系统的减振性能,提出频域快速控制方法,采用labview作为软件设计开发平台、以PCI6024E数据采集卡为核心组建了控制系统,进行了台架正弦激励振动试验,比较分析了刚度、阻尼可实时控制的半主动悬架与被动悬架的平顺性性能指标,完成了对控制策略和控制系统硬件设计的正确性和有效性检验。试验结果表明,控制系统稳定可靠,采用的控制方法可行,所设计的半主动控制策略能有效抑制簧上质量的垂向振动。
通过本课题的研究,可系统掌握基于磁流变减振器的带附加气室空气悬架系统的动力学特性,进一步完善悬架半主动控制理论体系,实现刚度和阻尼可控的半主动空气悬架系统的设计制作,对促进该系统在车辆减振系统中的应用,改善车辆悬架系统的减振性能具有重要的理论意义和实用价值。
The semi-active air suspension with adjustable stiffness and adjustable damping has many advantages. Regulating suspension stiffness can avoid system resonance frequency to avoid resonance effectively, and then adjusting damping can damped vibration further. Not only for the road vehicles, but for the off-road vehicles such as agriculture vehicles, military vehicles, the application of semi-active air suspension would help to improve their ability to adapt running road condition, thus improve the damping effect.
Based on the design and manufacture of semi-active suspension with stiffness and damping continuous adjustable, the Magnetorheological damper have been developed, and then taking firestone1T15M-2type air spring as elastic element, the semi-active suspension with adjustable stiffness and adjustable damping have been established. According to related studies at home and abroad in present, the dynamic characteristics of Magnetorheological damper was systematically researched using the methods of theoretical analysis combining with experiments. The semi-active suspension system vibration characteristics were experimentally studied, and the semi-active suspension control theory and strategy were put forward. Finally the design of semi-active control system was completed. The completed work and achieved results are generalized as follows:
1. The suspension model with adjustable stiffness and adjustable damping and the standard deviation analytic expression of vibration response were established, then the optimum matching between stiffness and damping under different working conditions was analyzed, and the matching scheme of air spring and magnetorheological damper was determined. The control dynamics model and a quarter-vehicle suspension model were established, then the influences of suspension parameters to steering stability were analyzed and the suspension performance was evaluated. The results showed that, air spring and magnetorheological damper matching scheme is reasonable.
2. The flow mode magnetorheological damper was puts forward, then the magnetic circuit simulation model was established. The magnetic field distribution and structure parameters'effects on magnetic field characteristics were analyzed, and then the magnetorheological damper structure design was completed. Experiments were conducted to study the impact of input current and the excitation rate on the magnetorheological damper's damping force. The results showed that, the magnetic circuit design method is reasonable, and choosing appropriate parameters can make the magnetic function better. The output damping force can change by adjusting the applied current. The saturated working current is between1.6and1.8and the damping force controllable ratio reaches5.9. Perceived results justify the validity of the design and provide evidence to damping adjustable semi-active air suspension control research.
3. In order to obtain the mechanical properties of the magnetorheological damper, the fluid dynamic analysis including the magnetorheological fluid flow characteristic and the establishment of a flow continuity equation was done based on fluid dynamics theory. The mathematical model was established combined with magnetic field analysis. The model coefficients were identified so as to establish the damping force simplified model, and then the precision verification was done.
4. The experimental system of semi-active air suspension with adjustable stiffness and adjustable damping was established. Suspension stiffness and damping were respectively adjusted by position control valve input voltage and damper excitation current. The effects of position control valve input voltage, damper excitation current and actuating frequency on the suspension vibration characteristics were experimentally studied. Experiments showed that, the resonance frequency is reduced with the increase of the positioning control valve input voltage, and at the same time, displacement transmissibility, response acceleration root-mean-square value and maximum dynamic load are reduced quickly. The three indexes all drop to the minimum when the voltage increases to4.6V. In the case of that the position control valve input voltage is less than3V, vibration can be greatly attenuated when the damper excitation current is increased from0to0.6A. However, when position control valve voltage is greater than3V, excitation current has less effect to damped vibration.
5. A frequency adjust based control strategy was presented in order to real-time control stiffness and damping, so as to improve the suspension performance. Using labview for software development platform, the PCI6024E DAQ as the core, the control system was established. Based on the bench sine excitation vibration test, comfort performance index of semi-active and passive suspension were compared and the control strategy and control system hardware design were verified. Experiments showed that, the control system is stable and reliable, the control method is feasible, the designed semi-active control strategy can effectively suppress sprung mass vertical vibration.
Through the research in this project, the dynamics characteristics of air suspension system based on the magnetorheological damper can be systematically attained, and the semi-active control theory system will be further improved, so as to realize the semi-active suspension design and production. This research is of important theoretical significance and practical value to promote the application of semi-active air suspension system to vehicle and to improve the performance of vehicle suspension system.
本文以刚度和阻尼可调式半主动空气悬架系统的设计制作为核心,完成了阻尼元件磁流变减振器的研制,利用带附加气室的Firestone1T15M-2膜式空气弹簧为弹性元件,构建了半主动悬架系统。结合国内外研究成果,利用理论分析与试验结合的方法对磁流变减振器的力学特性进行了系统研究；试验研究了所构建的半主动悬架系统的振动特性；提出半主动悬架的控制理论与策略,设计了刚度和阻尼连续调节的半主动悬架电控试验系统。所完成的工作及取得的结论归纳如下：
1.建立了刚度和阻尼可调式半主动悬架系统振动微分方程,推导了振动响应量的标准差解析式,利用逐步选优求解法,分析不同路面和行驶速度下刚度和阻尼的最优匹配,设计了空气弹簧刚度和磁流变减振器阻尼的匹配方案；建立车辆转向时的操纵动力学模型及1/4悬架模型,分析悬架刚度和阻尼对操纵稳定性的影响,并对悬架性能作出了评价。研究结果表明,空气弹簧与磁流变减振器的匹配方案合理。
2.提出了流动模式磁流变减振器,建立了磁路仿真模型,基于ansys仿真分析了磁路磁场分布规律及结构参数对磁场特性的影响,完成了磁流变减振器的结构设计；对自行研制的磁流变减振器进行了外特性试验,研究磁流变减振器活塞速度和励磁电流对其力学特性的影响。研究结果表明,磁流变减振器的磁路设计方法合理,合理选择磁路结构参数可使磁流变液的流变性能得到最大发挥；通过调节励磁线圈中的电流可改变减振器的输出阻尼力,实现阻尼力可控,减振器的饱和工作电流在1.6～1.8A之间,阻尼力可控倍数达5.9。试验进一步验证了磁流变减振器设计方法的有效性,并为阻尼可调式半主动空气悬架的控制研究提供了依据。
3.为了定量分析磁流变减振器的力学特性,基于流体动力学理论对流经阻尼通道的磁流变液进行了动力学分析,研究了阻尼通道内磁流变液的流动特性,建立了流量连续性方程,结合磁场分析建立了阻尼力数学模型,对模型系数进行了试验辨识,建立了阻尼力简化模型并对其进行了精度验证。
4.构建了刚度和阻尼连续可调的半主动悬架振动响应特性试验系统,通过调节定位控制阀输入电压和磁流变减振器励磁电流来改变悬架的刚度和阻尼,试验研究了定位控制阀输入电压、磁流变减振器励磁电流及激励频率对悬架振动特性的影响规律。试验结果表明,定位控制阀输入电压逐渐增大的过程中,系统共振频率有所降低,系统位移传递率、响应加速度均方根值和最大动载荷均迅速降低,在电压增大到4.6V时降至最小值,之后随电压继续增大,三者变化不再明显；定位控制阀输入电压在3V以内时,电压越小,励磁电流对共振点的振动衰减作用越明显,在电流由0增大到0.6A的过程中,振动衰减幅度最大,当定位控制阀电压大于3V时,励磁电流对振动衰减基本无影响。
5.为了实现悬架刚度和阻尼的实时控制,改善悬架系统的减振性能,提出频域快速控制方法,采用labview作为软件设计开发平台、以PCI6024E数据采集卡为核心组建了控制系统,进行了台架正弦激励振动试验,比较分析了刚度、阻尼可实时控制的半主动悬架与被动悬架的平顺性性能指标,完成了对控制策略和控制系统硬件设计的正确性和有效性检验。试验结果表明,控制系统稳定可靠,采用的控制方法可行,所设计的半主动控制策略能有效抑制簧上质量的垂向振动。
通过本课题的研究,可系统掌握基于磁流变减振器的带附加气室空气悬架系统的动力学特性,进一步完善悬架半主动控制理论体系,实现刚度和阻尼可控的半主动空气悬架系统的设计制作,对促进该系统在车辆减振系统中的应用,改善车辆悬架系统的减振性能具有重要的理论意义和实用价值。
The semi-active air suspension with adjustable stiffness and adjustable damping has many advantages. Regulating suspension stiffness can avoid system resonance frequency to avoid resonance effectively, and then adjusting damping can damped vibration further. Not only for the road vehicles, but for the off-road vehicles such as agriculture vehicles, military vehicles, the application of semi-active air suspension would help to improve their ability to adapt running road condition, thus improve the damping effect.
Based on the design and manufacture of semi-active suspension with stiffness and damping continuous adjustable, the Magnetorheological damper have been developed, and then taking firestone1T15M-2type air spring as elastic element, the semi-active suspension with adjustable stiffness and adjustable damping have been established. According to related studies at home and abroad in present, the dynamic characteristics of Magnetorheological damper was systematically researched using the methods of theoretical analysis combining with experiments. The semi-active suspension system vibration characteristics were experimentally studied, and the semi-active suspension control theory and strategy were put forward. Finally the design of semi-active control system was completed. The completed work and achieved results are generalized as follows:
1. The suspension model with adjustable stiffness and adjustable damping and the standard deviation analytic expression of vibration response were established, then the optimum matching between stiffness and damping under different working conditions was analyzed, and the matching scheme of air spring and magnetorheological damper was determined. The control dynamics model and a quarter-vehicle suspension model were established, then the influences of suspension parameters to steering stability were analyzed and the suspension performance was evaluated. The results showed that, air spring and magnetorheological damper matching scheme is reasonable.
2. The flow mode magnetorheological damper was puts forward, then the magnetic circuit simulation model was established. The magnetic field distribution and structure parameters'effects on magnetic field characteristics were analyzed, and then the magnetorheological damper structure design was completed. Experiments were conducted to study the impact of input current and the excitation rate on the magnetorheological damper's damping force. The results showed that, the magnetic circuit design method is reasonable, and choosing appropriate parameters can make the magnetic function better. The output damping force can change by adjusting the applied current. The saturated working current is between1.6and1.8and the damping force controllable ratio reaches5.9. Perceived results justify the validity of the design and provide evidence to damping adjustable semi-active air suspension control research.
3. In order to obtain the mechanical properties of the magnetorheological damper, the fluid dynamic analysis including the magnetorheological fluid flow characteristic and the establishment of a flow continuity equation was done based on fluid dynamics theory. The mathematical model was established combined with magnetic field analysis. The model coefficients were identified so as to establish the damping force simplified model, and then the precision verification was done.
4. The experimental system of semi-active air suspension with adjustable stiffness and adjustable damping was established. Suspension stiffness and damping were respectively adjusted by position control valve input voltage and damper excitation current. The effects of position control valve input voltage, damper excitation current and actuating frequency on the suspension vibration characteristics were experimentally studied. Experiments showed that, the resonance frequency is reduced with the increase of the positioning control valve input voltage, and at the same time, displacement transmissibility, response acceleration root-mean-square value and maximum dynamic load are reduced quickly. The three indexes all drop to the minimum when the voltage increases to4.6V. In the case of that the position control valve input voltage is less than3V, vibration can be greatly attenuated when the damper excitation current is increased from0to0.6A. However, when position control valve voltage is greater than3V, excitation current has less effect to damped vibration.
5. A frequency adjust based control strategy was presented in order to real-time control stiffness and damping, so as to improve the suspension performance. Using labview for software development platform, the PCI6024E DAQ as the core, the control system was established. Based on the bench sine excitation vibration test, comfort performance index of semi-active and passive suspension were compared and the control strategy and control system hardware design were verified. Experiments showed that, the control system is stable and reliable, the control method is feasible, the designed semi-active control strategy can effectively suppress sprung mass vertical vibration.
Through the research in this project, the dynamics characteristics of air suspension system based on the magnetorheological damper can be systematically attained, and the semi-active control theory system will be further improved, so as to realize the semi-active suspension design and production. This research is of important theoretical significance and practical value to promote the application of semi-active air suspension system to vehicle and to improve the performance of vehicle suspension system.
引文
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