车辆磁流变半主动悬架系统理论和试验研究
|
摘要
磁流变半主动悬架系统的两个关键技术目前仍不成熟。磁流变减振器现有的数学模型普遍存在某些缺陷:要么简单但不精确,不能反映其滞回特性;要么精确但太复杂,不便于实施控制。控制策略也存在类似的问题,简单的控制策略效果差强人意,而复杂的控制策略则偏向复杂的控制理论,与实际工况差异很大,且多以仿真结束,没有试验验证。本文以“精确而简单”为目标,对磁流变半主动悬架系统进行研究,主要研究工作和结论如下:
(1)对磁流变减振器进行了特性试验,提出了磁流变减振器复合多项式模型。此模型能准确地反映控制电流的饱和特性,且在模型中引入频率和振幅因素。通过数值仿真与试验数据对比,证明其比一般多项式模型更能准确地反映实际工程应用情况。
(2)研制了1/4模拟悬架机械装置,并基于虚拟仪器系统建立了通用的磁流变半主动悬架实时测控试验平台,为控制器的快速原型开发奠定了基础。
(3)设计了一个新颖的半主动悬架模型参考滑模控制器。此控制器易于实现,不需要测量路面输入信号和减振器的阻尼力。其采用一个改进的理想天棚控制系统作为参考模型,使实际被控半主动悬架系统和参考模型问的误差动力学系统产生滑动模态,仿真计算和控制器快速原型试验证实了其比被动悬架、实际天棚控制及模糊控制具有更好的综合性能,可用于实车控制器的开发。
The two key technologies of magnetorheological (MR) semi-active suspension system are still immature. The present mathematic models of MR dampers have common limitation that either it is simple but imprecise, and can't reflect hysteretic characteristic of dampers, or it is accurate but too complex to conduct control conveniently. Meanwhile, there are the same problems for control strategy. Effect of a strategy won't be good enough if it is simple, while a complex control scheme usually utilizes complex automatic control theory and is large difference from the real conditions, and can only be verified by simulating but can't be by experiment. Therefore, taking accurate and simple as a goal, the MR semi-active suspension system has been researched. The main contributions and innovation conclusions of the dissertation include the followings:
(1) A composite polynomial model of MR dampers has been proposed after damping characteristic experiments have been conducted on a MR damper. The affections of amplitude and frequency are considered in this model which can accurately reflect current saturation behavior. Comparing numerical simulation with experiment data, it is verified that this model can more accurately reflect the real engineering conditions compared with the common polynomial model.
(2) A quarter-car suspension mechanical test rig has been set up, and based on virtual instrument system, the real time control experiment platform of MR suspension system in universal use has been set up, and it lays foundation on developing rapid control prototyping.
(3) A new model reference sliding mode controller for semi-active suspension system has been presented. The proposed controller is easy to be carried out and eliminates the necessity of road signal as well as measuring damping force. The controller uses an approximate ideal skyhook system as a reference model, and generates an asymptotically stable sliding mode in the error dynamics between the plant and the reference mode states. A simulation study and the rapid control prototyping experiments have been performed, and results show that compared to passive suspension, practical control and fuzzy logical control, the proposed controller shows better integrated performance, and should be directly transferable to commercial semi-active vehicle suspension implementations.
(1)对磁流变减振器进行了特性试验,提出了磁流变减振器复合多项式模型。此模型能准确地反映控制电流的饱和特性,且在模型中引入频率和振幅因素。通过数值仿真与试验数据对比,证明其比一般多项式模型更能准确地反映实际工程应用情况。
(2)研制了1/4模拟悬架机械装置,并基于虚拟仪器系统建立了通用的磁流变半主动悬架实时测控试验平台,为控制器的快速原型开发奠定了基础。
(3)设计了一个新颖的半主动悬架模型参考滑模控制器。此控制器易于实现,不需要测量路面输入信号和减振器的阻尼力。其采用一个改进的理想天棚控制系统作为参考模型,使实际被控半主动悬架系统和参考模型问的误差动力学系统产生滑动模态,仿真计算和控制器快速原型试验证实了其比被动悬架、实际天棚控制及模糊控制具有更好的综合性能,可用于实车控制器的开发。
The two key technologies of magnetorheological (MR) semi-active suspension system are still immature. The present mathematic models of MR dampers have common limitation that either it is simple but imprecise, and can't reflect hysteretic characteristic of dampers, or it is accurate but too complex to conduct control conveniently. Meanwhile, there are the same problems for control strategy. Effect of a strategy won't be good enough if it is simple, while a complex control scheme usually utilizes complex automatic control theory and is large difference from the real conditions, and can only be verified by simulating but can't be by experiment. Therefore, taking accurate and simple as a goal, the MR semi-active suspension system has been researched. The main contributions and innovation conclusions of the dissertation include the followings:
(1) A composite polynomial model of MR dampers has been proposed after damping characteristic experiments have been conducted on a MR damper. The affections of amplitude and frequency are considered in this model which can accurately reflect current saturation behavior. Comparing numerical simulation with experiment data, it is verified that this model can more accurately reflect the real engineering conditions compared with the common polynomial model.
(2) A quarter-car suspension mechanical test rig has been set up, and based on virtual instrument system, the real time control experiment platform of MR suspension system in universal use has been set up, and it lays foundation on developing rapid control prototyping.
(3) A new model reference sliding mode controller for semi-active suspension system has been presented. The proposed controller is easy to be carried out and eliminates the necessity of road signal as well as measuring damping force. The controller uses an approximate ideal skyhook system as a reference model, and generates an asymptotically stable sliding mode in the error dynamics between the plant and the reference mode states. A simulation study and the rapid control prototyping experiments have been performed, and results show that compared to passive suspension, practical control and fuzzy logical control, the proposed controller shows better integrated performance, and should be directly transferable to commercial semi-active vehicle suspension implementations.
引文
[1][美]Thomas D.Gillespie.车辆动力学基础[M].北京,清华大学出版社,2006,12.
[2][德]M.米奇克,陈荫三译.汽车动力学B卷(第二版)[M].北京,人们交通出版社,1994.
[3]Williams R.A.,Automotive Active Suspensions Par 1:Basic Principles[C].Proceeding of Institution of Mechanical Engineers,1997(211)Part D,427-444.
[4]Williams R.A.,Automotive Active Suspensions Par 1:Basic Principles[C].Proceeding of Institution of Mechanical Engineers,1997(211)Part D,415-426.
[5][英]Dave Crolla,喻凡.车辆动力学及其控制[M].北京,人民交通出版社,2004.
[6]Hrovat D.Survey of advanced suspension developments and related optimal control applications[J].Automatica,1997,33(10):1781-1817.
[7]Daniel Fischer,Roll Isermann.Mechatronic semi-active and active vehicle suspensions[J].Control Engineering Practice,2004,12:1353-1367.
[8]Jing Zhou,Peizhi Zhang.Digital Control of an Automotive Active Suspension System.ME561 Design of Digital Control Systems(Final Report),2003,4.
[9]姚嘉伶,蔡伟义,陈宁.汽车半主动悬架系统发展状况[J].汽车工程,2006,28(3):276-280.
[10]张庙康.胡海岩.车辆悬架振动控制系统研究的进展[J].振动、测试与诊断,1997,17(1):7-15.
[11]胡海岩,郭大蕾,翁建生.振动半主动控制技术的进展[J].振动、测试与诊断.2001,21(4):235-244.
[12]方子帆,邓兆祥,郑玲等.汽车半主动悬架系统研究进展[J].重庆大学学报,2003,26(1):104-108.
[13]王世明.王孙安,李天石.半主动悬架及其控制[J].汽车技术,1999(12):1-3.
[14]Xubin Song,Mehdi Ahmadian,Steve Southward.An adaptive semiactive control algorithm for vehicle suspension systems[C].Proceedings of ASME IMECE 2003:2003 International Mechanical Engineers Conference:1-9.
[15]H.Kim and Y.S.Yoon.Semi-active Suspension with Preview Using a Frequency-Shaped Performance Index[J].Vehicle Systems Dynamics,1995(24):R759-780.
[16]M.J.Crosby,D.C.Karnopp.The Active Damper-A New Concept for Shock and Vibration Control[J].The Shock and Vibration Bull,1973,43(4):119-133.
[17]D.C.Karnopp,M.J.Crosby and R.A.Harwood.Vibration Control Using Semi-active Force Generators[J].ASME Journal of Engineering for Industry,1974,96(2):P.619-626.
[18]Hrovat D.,Application of Optimal Control to advanced Automotive Suspension Design[J].Transactions of the ASME,Journal of Dynamic System Measurement and Control,1993,(115):328-342.
[19]林榆馨.电子控制悬架的应用[J].上海汽车,1996(4):18-29.
[20]D.L.Margolis,J.L.Tyle and D.Hrovat.Have Mode Dynamics of a Tracked Air Cushion Vehicle with Semi-active Airbag Secondary Suspension[J].Transactions of the ASME Journal of Dynamic System.Measurement and control,1997,119(4):399-407.
[21]http://www.delphiauto.com
[22]Damien Sammier,Olivier Sename,Luc Dugard.Skyhook and H_∞ control of semi-active suspensions:some practical aspects[J].Vehicle System Dynamics,2003,39(4):279-308.
[23]Alleyne A,Hedrick J.K.Nonlinear adaptive control of active suspensions[J].IEEE Transactions on Control Systems Technology,1995,3(1):94-101.
[24]王遂双.汽车电子控制系统的原理与检修(底盘和车身部分)[M].北京,北京理工大学出版社,1998.
[25]Reimpell J,Stoll H.The automotive chassis[M].Arnold.1996.
[26]http://www.sachs.de/
[27]李幼德,宋大凤,李静等.汽车可调阻尼半主动悬架控制器[J].吉林大学学报(工学版),2004,34(1):71-74.
[28]李智超,耿艳萍,陈朝阳等.一种可调阻尼减振器的设计与试验[J].合肥工业大学学报(自然科学版),1998,21(3):36-42.
[29]SHAMES I H,COZZARELLIFA.Elastic and Inelastic Stress Analysis[M].Englewood Cliffs:Prentice Hall,1992,120-122.
[30]Spencer B F,Dyke S J,Sainmk,et al.Phenomenological model for magnetorheological dampers[J].J of Eng Mech,1997,123(3):230-238.
[31]Spencer Jr.,B F,Yang G,Carlson J D,Yang G.(1997a).On the current status of magnetorheological dampers:seismic protection of full-scale structures[C].Proc.American Control Conference:458-462.
[32]S.B.Choi,S.K.Lee,Y.P.Park.A hysteresis model for the field-dependent damping force of a magnetorheological damper[J].Journal of Sound and Vibration 245(2)(2001) 375-383.
[33]周刚毅.一种测量磁流变液流变特性的系统研制[J].机械科学与技术,Vol.17(增刊),1998:P.101-102.
[34]廖昌荣.汽车悬架系统磁流变阻尼器研究[D].博士学位论文,重庆大学,2001:p.21-34.
[35]刘奇,张平,王东亚等.磁流变体(MRF)材料的制备与性能研究[J].功能材料,2001,32(3):257-259.
[36]翁建生,胡海岩,张庙康.磁流变阻尼器的实验建模[J].振动工程学报,2000,13(4):616-621.
[37]杨礼康,潘双夏,王维锐等.磁流变减振器滞环特性试验及建模方法[J].机械工程学报,2006,42(11):137-143.
[38]余淼,廖昌荣,杨建春等.磁流变阻尼器PWM快速控制[J].中国机械工程,13(14),2002:p.1238-1241.
[39]M.Yu,C.R.Liao,W.M.Chen,S.L.Huang.Vibration Control of Vehicle Semi-active Suspension System via Magnetorheological Fluid Damper[C].Proceedings of The 5th International Conference on Vibration Engineering,September18-20,2002,Nanjing China.
[40]C.R.Liao,M.Yu,W.M.Chen,S.L.Huang.Road testing of automotive MR shock absorber[C].Proceedings of The Ninth International Conference on Electrorheological(ER) Fluids and Magnetorheological(MR) Suspensions.August 29～September 3,2004 Beijing,China.
[41]余淼,李锐,廖昌荣,陈伟民.基于磁流变减振器的汽车前悬架半主动控制研究[J].机械工程,Vol.16(6),2005:p.545-549.
[42]李锐,余淼,陈伟民,廖昌荣,董小闵.基于磁流变振器的汽车悬架振动控制[J].机械工程学报,Vol.41(6),2005:p.128-132.
[43]董小闵,余淼,廖昌荣,陈伟民,黄尚廉.汽车磁流变半主动悬架自适应模糊控制研究[J].中国公路学报,Vol.19(2),2006:p.111-115.
[44]倪建华,张智谦,张可等.一种新型的磁流变阻尼器及其在半主动控制车辆悬架中的应用研究[J].机械科学与技术,2004,23(1):5-10.
[45]赵治国,余卓平,尹明陆.半主动悬架磁流变液减振器研究[J].汽车工程,2007,29(8):714-718.
[46]Massimiliano Gobbi,Francesco Levi,Giampiero Mastinu.Multi-objective stochastic optimization of the suspension system of road vehicles[J].Journal of Sound and Vibration,298(2006) 1055-1072.
[47]郭大蕾,胡海岩.基于磁流变阻尼器的车辆悬架半主动控制研究——间接自适应控制与实验[J].振动程学报,2002,15(3):285-289.
[48]喻凡,郭孔辉.自适应悬架对车辆性能改进的潜力[J].中国机械工程,1998,9(6):67-69.
[49]K Yi,B S Song.A new adaptive sky-hook control of vehicle semi-active suspensions[C].Proc Instn Mech Engrs,1999,213 Part D04298.
[50]赵成,胡增荣,陈大跃.半主动悬架的滑模变结构控制[J].中国公路学报,2007,20(3):109-114.
[51]郑玲,邓兆祥,李以农.汽车半主动恳架的滑模变结构控制[J].振动工程学报,2003,16(4):457-462.
[52]D.S.Joo,N.AI Holou.Development and Evaluation of Fuzzy Logic Controller for Vehicle Suspension System.System Theory[C].Proceeding of the Twenty-Seventh Southeastern Symposium on 12～14March 1995:295-299.
[53]S.Son,C.Isik.Application of Fuzzy Logic Control to an Automotive Active Suspension System.Fuzzy Systems[C].Proceedings of the Fifth IEEE International Connference on Vol.1.Sep.1996.p.548-553.
[54]S.J.Huang.W.C.Lin.Adaptive Fuzzy Controller with Sliding Surface for Vehicle Suspension Control[J].IEEE Transactions on Fuzzy Systems.Vol.11(4).August 2003.p.550-559.
[55]李以农,郑玲.车辆半主动悬架非线性控制方法的研究[J].农业机械学报,2005,5(3):9-15.
[56]Y.M.Rong,X.Y.Bao.An automobile Semi-active Suspension System Using Neural Network Control and Simulation[C].Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation.Chengdu,China August 2004:p.184-190.
[57]X.Feng,C.F.Lin,T.J.Yu,N.Coleman.Intelligent Control Design and Simulation Using Neural Networks[C].AIAA Guidance.Navigation and Control Conference.A Collection of Technical Papers.Part Ⅰ.New Orleans,LA,August 11-13,1997:p.294-299.
[58]郭大蕾.车辆悬架振动的神经网络半主动控制[D].博士学位论文,南京航空航天大学,2001,P.55-65.
[59]Haiping Du,Kam YIm Sze,James Lam.Semi-active H_∞ control of vehicle suspension with magneto-rheological dampers[J].Journal of Sound and Vibratin,383(2005)981-996.
[60]Hayakawa K.,Matsumoto K.,Yamashita M.,et al.Robust H_∞-Output Feedback Control of Decoupled Automobile Active Suspension Systems[J].Automatic Control,IEEE Transactions on Volume 44,Issue 2,1999,44(2):392-96.
[61]Sam Y.M.,Osman J.H.S..Robust.Controller for Active Suspension with Hydraulic[C].Dynamics Control Conference,2004.5th Asian Volume 1,2004,1(1)1:598-603.
[62]Bangsing N.,Sularso,Bagiasna K.,et al.An Experimental Investigation into the Design of a Robust Semi-Active Suspension System for a Quarter-Car Model,Control and Automation,2003.ICCA.Final Program and Book of Abstracts.The Fourth International Conference on 10-12 June 2003:85-85.
[63]Ramsbottom M.,Crolla D.A.,Plummer A.R..Robust Adaptive Control of an Active Vehicle Suspension System[C].Proceeding of Institution of Mechanical Engineers,1999(213) Part D:1-17.
[64]侯忠生.无模型自适应控制的现状与展望[J].控制理论与应用,2006,23(4):586-592.
[65]J.Sweversa,C.Lauwerysa,B.Vandersmissenb,M.Maesb,K.Reybrouckb,P.Sasa.A model-free control structure for the on-line tuning of the semi-active suspension of a passenger car[J].Mechanical Systems and Signal Processing,2006.
[66]Shiuh-Jer Huang,Hung-Yi Chen.Adaptive sliding controller with self-tuning fuzzy compensation for vehicle suspension control[J].Mechatronics 16(2006) 607-622.
[67]C Lauwerys,J Swevers,P Sas.Model free control design for a semi-active suspension of a passenger car[C].Proceedings of ISMA2004:75-86.
[68]S S Parthasarathy,Y G Srinivasa.Design of an active suspension system for a quarter-car road vehicle model using model reference control[C].Proc.IMechE Vol.220 Part Ⅰ:J.Systems and Control Engineering:91-108.
[69][美]Jean-Jacques E.Slotine,Weiping Li.应用非线性控制(Applied Nonlined Control)[M].机械工业出版社,2006,4.
[70]Ardeshir Karami mohammadi.Vehicle Active Suspension Control,Using A Variable Structure Model Reference Adaptive Controller[C].ACSE 05 Conference,19-21 December 2005,CICC,Cairo,Egypt.
[71]Alleyne A,Hedrick J.K.Nonlinear adaptive control of active suspensions[J].IEEE Transactions on Control Systems Technology,1995,3(1):94-101.
[72]Mohammadi,Ardeshir Karami.Vehicle active suspension control,using a variable structure model reference adaptive controller[C].American Society of Mechanical Engineers,Dynamic Systems and Control Division(Publication) DSC,v 74 DSC,n 1 PART A,Proceedings of the ASME Dynamic Systems and Control Division 2005,2005,p 611-616.
[73]郑玲,邓兆祥,李以农.汽车半主动悬架的模型参考自适应控制[J].中国公路学报,2005,18(2):99-102.
[74]G.Z.Yao,F.F.Yap,G.Chen,W.H.Li,S.H.Yeo.MR damper and its application for semi-active control of vehicle suspension system[J].Mechatronics,2002,12:963-973.
[75]张红辉,廖昌荣,余淼,陈伟民,黄尚谦.考虑磁场的磁流变效应Bingham建模[J].机械工程学报,2006,42(2):33-36.
[76]翁建生.基于磁流变阻尼器的车辆悬架系统半主动控制[D].博士学位论文,南京航空航天大学,2002.
[77]Kordonski W.I.,Gorodkin S.R.,NOvikova Z.A.Progress update in MR finishing.In:Nakano M,Koyama K.Proc of the 6th Int Conf on ER Fluids,MR Suspensions and their Applications[C].Singapore:World Scientific,1998,535-542.
[78]http://www.mrfluid.com
[79]Jolly M.R.,Carlson J.D.Controllable squeeze film damping using magnetorheological fuid[C].Proceedings of the 5th International Conference on New Actuators,June 1996,Bremen,Germany,333-336.
[80]王立忠,李云瑞,王峰.磁流变体研究状况及进展[J].航空制造工程,1997,7:9-11.
[81]余淼.汽车磁流变半主动悬架控制系统研究[D].博士学位论文,重庆大学,2003.
[82]Ralf Bolter.Et al.Design Rules for MR Fluid Actuators in Different Working Modes[J].SPIE,Vol.3045,1997:p.148-159.
[83]赵成章.磁流变减振器建模方法研究[D].硕士学位论文,南京理工大学,2006.
[84]邓志党,高峰,刘献栋,杜发荣.磁流变阻尼器力学模型的研究现状[J].振动与冲击,2006,25(3):121-126.
[85]Stanway R.,Sproston J.L.and Stevens N.G.Non-linear Identification of an Electrorheological Vibration Damper[J].J,Electrostatics,20:167-184.
[86]S.J.Dyke,B.F.Spencer,M.K.Sain.Modeling and Control of Magneto-rheological Damper for Seismic Response Reduction[J].Journal of Smart Materials and Structures,1996(5):565-575.
[87]Jolly M R,Jonathan W.Bender,J.David Carlson.Properties and Applications of Commercial Magnetorheological Fluids[C].SPIE 5th Annual Int Symposium on Smart Structures and Materials,1998,San Diego,USA.
[88]Carlson JD,Weiss K D.A growing attraction to magnetic fluids[J].Machine Design,August 8,1994,61-64.
[89]Petek N.K.,Romstadt D.J.,Lizell M.B.,and Weyenberg T.R.Demonstration of an automotive semi-active suspension using electro-rheological fluid[J].1995,SAE Paper(950586).
[90]Li Pang,Gopalakrishna M.Kamath,Norman M.Wereley.Dynamic characterization and analysis of magnetorheogial dampers behavior[C].SPIE,1998,3227:284-302.
[91]宋兆基,徐流美.MATLAB 6.5在科学计算中的应用[M].北京,清华大学出版社,2005.
[92]苏金明.MATLAB工具箱应用[M].北京,电子工业出版社,2004.
[93]李丽,王振领.MATLAB工程计算及应用[M].北京,人民邮电出版社,2003.
[94]余志生.汽车理论(第3版)[M].北京,机械工业出版社,2002.
[95]GB/T 7031-1986.车辆振动输入路面平度表示方法[S].
[96]GB/T 4970-1996.汽车平顺性随机输入行驶试验方法[S].
[97]檀润华,陈鹰,路甬祥.路面对汽车激励的时域模型建立及计算机仿真[J].中国公路学报,1997,11(3):96-102.
[98]刘习军,贾启芬等.工程振动与测试技术[M].天津,天津大学出版社,2002.
[99]靳晓雄,张立军,江浩.汽车振动分析[M].上海,同济大学出版社,2002.
[100]M.Valasek,M.Novak and Z.Sika.Extended Groundhook-New Concept of Semi-active Control of Truck's Suspension[J].Vehicle System Dynamics.Vol.27(6).1997:p.5-6.
[101]董小闵.汽车磁流变半主动悬架仿人智能控制研究[D].博士学位论文,重庆大学,2006,P.12-17.
[102]诸静.模糊控制理论与系统原理[M].北京,机械工业出版社,2005.
[103]佟绍成,王涛等.模糊控制系统的设计及稳定性分析[M].北京,科学出版社,2004.
[104]张彦如.汽车半主动悬架模糊控制研究[D].硕士学位论文,合肥工业大学,2005.
[105]黄忠霖.自动控制原理的MATLAB实现[M].北京,国防工业出版社,2007.
[106]薛定宇.控制系统计算机辅助设计——MATLAB语言与应用(第二版)[M].北京,清华大学出版社,2006.
[107]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].北京.清华大学出版社,2005.
[108]吴晓丽,林哲辉.MATLAB辅助模糊系统设计[M].西安,西安电子科技大学出版社,2002.
[109]张国良,曾静等.模糊控制及其MATLAB应用[M].西安,西安交通大学出版社,2002.
[110]吴晓莉,林哲辉等.MATLAB辅助模糊系统设计[M].西安,西安电子科技大学出版社,2002.
[111]高为炳.变结构控制的理论及设计方法[M].北京,科学出版社.1996.
[112]胡跃明著.变结构控制理论与应用[M].北京,科学出版社,2003.
[113]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆,重庆大学出版社,1997.
[114]王丰尧.滑模变结构控制[M].北京,机械工业出版社,2001.
[115]高为炳.变结构控制研究的发展与现状[J].控制与决策.1993,8(4):241-248.
[116]V.I.Utkin.Sliding modes and their application in discontinuous systems[J].Automation and Remote Control,1974,No.21:1898-1907.
[117]高为炳.变结构控制理论基础[M].北京,中国科学技术出版社,1990.
[118]于长官.现代控制理论及应用[M].哈尔滨,哈尔滨工业大学出版社,2005.
[119]郑大钟.线性系统理论[M].北京,清华大学出版社(第2版)[M].2002.
[120]胡寿松.自动控制原理[M].北京.科学出版社(第4版)[M].2001.
[121]KAR-KEUNG D.YOUNG,Design of Variable Structure Model-Following Control Systems[J].IEEE 1978.
[122]张晓宇,苏宏业.滑模变结构控制理论进展综述[J].化工自动化及仪表,2006,33(2):1-8.
[123]S.B.Choi,Y.T.Choi,D.W.Park.A Sliding Mode Control of a Full-Car Electrorheological Suspension System Via Hardware in-the-Loop Simulation[J].Transactions of the ASME,2000,122(3):114-121.
[124]Abbas Chamseddine,Hassan Noura and Thibaut Raharijaona.Control of Linear Full Vehicle Active Suspension System Using Sliding Mode Techniques[C].Proceedings of the 2006 IEEE International Conference on Control Applications,Munich,Germany,October 4-6,2006.
[125]T.Yoshimura,A.Kume,M.Kurimoto and J.Hino.Construction of an Active Suspension System of A Quarter Car Model Using The Concept of Sliding Mode Control[J].Journal of Sound and Vibration,2001,239(2):187-199.
[126]Dyke S J,Spencer B F Jr,Sain M K,et al.Seismic Response Reduction Using Magneto-theological Dampers[C].Proc.of the IFAC World Congress,L,1996,145-150.
[127]Sunwoo M,Cheok K C.Model reference adaptive control for vehicle active suspension systems[C].IEEE Trans.Ind.Electronics,1991,38(3):217-222.
[128]Yao Jialing(姚嘉凌),Zheng Jiaqiang.Semi-active Suspension System Design for Quarter-car Model using Model Reference Sliding Mode Control[C].Proceedings of the 2006 IEEE International Conference on Vehicular Electronics and Safety.December 13-15,2006,Shanghai,China:398-402.
[129]姚嘉伶,蔡伟义,陈宁.汽车半主动悬架系统发展状况[J].汽车工程,2006,28(3):276-280.
[130]杨金霞.车辆半主动悬架模型跟踪变结构控制的研究[D].硕士学位论文,南京林业大学,2006.
[131]樊登柱.车辆磁流变半主动悬架控制系统仿真及试验研究[D].硕士学位论文,南京林业大学.2007.
[132]Nagai M.Recent researches on active suspension for ground vehicles[J].Jap.Soc.Mech.Engrs Int.J.Ser.C,1993,36(2):161-170.
[133]Karnopp D.Active damping in road vehicle suspension systems[J].Veh.System Dynamics,1983,12,:291-316.
[134]姚嘉凌.汽车四分之一模拟悬架系统及减振器特性综合试验台:中国,ZL200720036125.5[P].2007-04-12.
[135]陈锡辉,张银鸿.LabVIEW 8.20程序设计——从入门到精通[M].北京,清华大学出版社,2007.
[136]龙华伟,顾永刚.LabVIEW 8.2.1与DAQ数据采集[M].北京,清华大学出版社,2008.
[137]侯国屏,王坤,叶齐鑫.LabVIEW 7.1编程与虚拟仪器设计[M].北京.清华大学出版社,2005.
[138]金振华,欧阳明高,卢青春.燃料电池动力系统仿真及实时控制平台开发[J].中国机械工程,2008,19(15):1879-1882.
[139]李万里.对我国汽车产业发展目标及政策导向的思考[J].汽车工程,2007,29(1):1-7.
[140]Du,Haiping,Zhang,Nong.H infinity control of active vehicle suspensions with actuator time delay[J].Journal of Sound and Vibration,v 301,n 1-2,Mar 20,2007,p 236-252.
[141]翁建生等.时滞‘天棚'阻尼控制的车辆悬架系统特性研究[J].南京建筑工程学院学报,1999,50(3):1-6.
[142]张文丰,胡海岩.含时滞的LQ控制车辆悬架的研究[J].应用力学学报,2003,20(1):37-41.
[143]汪若尘,陈龙,江浩斌.时滞半主动悬架大系统递阶控制研究[J].中国机械工程,2007,18(11):1382-1385.
[144]Qin Zhu a,Mitsuaki Ishitobi.Chaotic vibration of a nonlinear full-vehicle model[J].International Journal of Solids and Structures 43(2006) 747-759.
[145]Borowiec M.,Litak G.,Friswell M.I..Nonlinear response of an oscillator with a magneto-rheological damper subjected to external forcing[C].Applied Mechanics and Materials,v 5-6,Modern Practice in Stress and Vibration Analysis Ⅵ-Proceedings of the 6th Internaional Conference on Modern Practice in Stress and Vibration Analysis,2006,p 277-284.
[146]Shukla,Amit,Koo,Jeong Hoi.Control bifurcations in a nonlinear active suspension system for system design[C].American Society of Mechanical Engineers,Design Engineering Division(Publication) DE,v 118 B,n 2,Proceedings of the ASME Design Engineering Division 2005,2005,p 1177-1182.
[147]杨绍普,李韶华,郭文武.随机激励滞后非线性汽车悬架系统的混沌运动[J].振动、测试与诊断,2005,25(1):22-25.
[148]Suda Yoshihiro,Nakadai Shigeyuki,Nakano Kimihiko.Hybrid Suspension System with Skyhook Control and Energy Regeneration[J].Vehicle System Dynamics supplement,1998,28:619-634.
[149]陈士安,何仁,陆森林.馈能型悬架的仿真与性能评价研究[J].汽车工程,2006,28(2):167-171.
[150]喻凡,曹民,郑雪春.能量回馈式车辆主动悬架的可行性研究[J].振动与冲击,2005,24(4):27-30.
[151]寇发荣,方宗德.能量可再生的新型汽车半主动悬架系统研究[J].西安科技大学学报, 2007,26(7):935-939.
[152]李铁军.赵海文,李慨等.基于振动能量回馈的电流变流体阻尼器及其自适应控制[C].2003,2003年中国智能自动化会议论文集(下册):1294-1298.
[2][德]M.米奇克,陈荫三译.汽车动力学B卷(第二版)[M].北京,人们交通出版社,1994.
[3]Williams R.A.,Automotive Active Suspensions Par 1:Basic Principles[C].Proceeding of Institution of Mechanical Engineers,1997(211)Part D,427-444.
[4]Williams R.A.,Automotive Active Suspensions Par 1:Basic Principles[C].Proceeding of Institution of Mechanical Engineers,1997(211)Part D,415-426.
[5][英]Dave Crolla,喻凡.车辆动力学及其控制[M].北京,人民交通出版社,2004.
[6]Hrovat D.Survey of advanced suspension developments and related optimal control applications[J].Automatica,1997,33(10):1781-1817.
[7]Daniel Fischer,Roll Isermann.Mechatronic semi-active and active vehicle suspensions[J].Control Engineering Practice,2004,12:1353-1367.
[8]Jing Zhou,Peizhi Zhang.Digital Control of an Automotive Active Suspension System.ME561 Design of Digital Control Systems(Final Report),2003,4.
[9]姚嘉伶,蔡伟义,陈宁.汽车半主动悬架系统发展状况[J].汽车工程,2006,28(3):276-280.
[10]张庙康.胡海岩.车辆悬架振动控制系统研究的进展[J].振动、测试与诊断,1997,17(1):7-15.
[11]胡海岩,郭大蕾,翁建生.振动半主动控制技术的进展[J].振动、测试与诊断.2001,21(4):235-244.
[12]方子帆,邓兆祥,郑玲等.汽车半主动悬架系统研究进展[J].重庆大学学报,2003,26(1):104-108.
[13]王世明.王孙安,李天石.半主动悬架及其控制[J].汽车技术,1999(12):1-3.
[14]Xubin Song,Mehdi Ahmadian,Steve Southward.An adaptive semiactive control algorithm for vehicle suspension systems[C].Proceedings of ASME IMECE 2003:2003 International Mechanical Engineers Conference:1-9.
[15]H.Kim and Y.S.Yoon.Semi-active Suspension with Preview Using a Frequency-Shaped Performance Index[J].Vehicle Systems Dynamics,1995(24):R759-780.
[16]M.J.Crosby,D.C.Karnopp.The Active Damper-A New Concept for Shock and Vibration Control[J].The Shock and Vibration Bull,1973,43(4):119-133.
[17]D.C.Karnopp,M.J.Crosby and R.A.Harwood.Vibration Control Using Semi-active Force Generators[J].ASME Journal of Engineering for Industry,1974,96(2):P.619-626.
[18]Hrovat D.,Application of Optimal Control to advanced Automotive Suspension Design[J].Transactions of the ASME,Journal of Dynamic System Measurement and Control,1993,(115):328-342.
[19]林榆馨.电子控制悬架的应用[J].上海汽车,1996(4):18-29.
[20]D.L.Margolis,J.L.Tyle and D.Hrovat.Have Mode Dynamics of a Tracked Air Cushion Vehicle with Semi-active Airbag Secondary Suspension[J].Transactions of the ASME Journal of Dynamic System.Measurement and control,1997,119(4):399-407.
[21]http://www.delphiauto.com
[22]Damien Sammier,Olivier Sename,Luc Dugard.Skyhook and H_∞ control of semi-active suspensions:some practical aspects[J].Vehicle System Dynamics,2003,39(4):279-308.
[23]Alleyne A,Hedrick J.K.Nonlinear adaptive control of active suspensions[J].IEEE Transactions on Control Systems Technology,1995,3(1):94-101.
[24]王遂双.汽车电子控制系统的原理与检修(底盘和车身部分)[M].北京,北京理工大学出版社,1998.
[25]Reimpell J,Stoll H.The automotive chassis[M].Arnold.1996.
[26]http://www.sachs.de/
[27]李幼德,宋大凤,李静等.汽车可调阻尼半主动悬架控制器[J].吉林大学学报(工学版),2004,34(1):71-74.
[28]李智超,耿艳萍,陈朝阳等.一种可调阻尼减振器的设计与试验[J].合肥工业大学学报(自然科学版),1998,21(3):36-42.
[29]SHAMES I H,COZZARELLIFA.Elastic and Inelastic Stress Analysis[M].Englewood Cliffs:Prentice Hall,1992,120-122.
[30]Spencer B F,Dyke S J,Sainmk,et al.Phenomenological model for magnetorheological dampers[J].J of Eng Mech,1997,123(3):230-238.
[31]Spencer Jr.,B F,Yang G,Carlson J D,Yang G.(1997a).On the current status of magnetorheological dampers:seismic protection of full-scale structures[C].Proc.American Control Conference:458-462.
[32]S.B.Choi,S.K.Lee,Y.P.Park.A hysteresis model for the field-dependent damping force of a magnetorheological damper[J].Journal of Sound and Vibration 245(2)(2001) 375-383.
[33]周刚毅.一种测量磁流变液流变特性的系统研制[J].机械科学与技术,Vol.17(增刊),1998:P.101-102.
[34]廖昌荣.汽车悬架系统磁流变阻尼器研究[D].博士学位论文,重庆大学,2001:p.21-34.
[35]刘奇,张平,王东亚等.磁流变体(MRF)材料的制备与性能研究[J].功能材料,2001,32(3):257-259.
[36]翁建生,胡海岩,张庙康.磁流变阻尼器的实验建模[J].振动工程学报,2000,13(4):616-621.
[37]杨礼康,潘双夏,王维锐等.磁流变减振器滞环特性试验及建模方法[J].机械工程学报,2006,42(11):137-143.
[38]余淼,廖昌荣,杨建春等.磁流变阻尼器PWM快速控制[J].中国机械工程,13(14),2002:p.1238-1241.
[39]M.Yu,C.R.Liao,W.M.Chen,S.L.Huang.Vibration Control of Vehicle Semi-active Suspension System via Magnetorheological Fluid Damper[C].Proceedings of The 5th International Conference on Vibration Engineering,September18-20,2002,Nanjing China.
[40]C.R.Liao,M.Yu,W.M.Chen,S.L.Huang.Road testing of automotive MR shock absorber[C].Proceedings of The Ninth International Conference on Electrorheological(ER) Fluids and Magnetorheological(MR) Suspensions.August 29～September 3,2004 Beijing,China.
[41]余淼,李锐,廖昌荣,陈伟民.基于磁流变减振器的汽车前悬架半主动控制研究[J].机械工程,Vol.16(6),2005:p.545-549.
[42]李锐,余淼,陈伟民,廖昌荣,董小闵.基于磁流变振器的汽车悬架振动控制[J].机械工程学报,Vol.41(6),2005:p.128-132.
[43]董小闵,余淼,廖昌荣,陈伟民,黄尚廉.汽车磁流变半主动悬架自适应模糊控制研究[J].中国公路学报,Vol.19(2),2006:p.111-115.
[44]倪建华,张智谦,张可等.一种新型的磁流变阻尼器及其在半主动控制车辆悬架中的应用研究[J].机械科学与技术,2004,23(1):5-10.
[45]赵治国,余卓平,尹明陆.半主动悬架磁流变液减振器研究[J].汽车工程,2007,29(8):714-718.
[46]Massimiliano Gobbi,Francesco Levi,Giampiero Mastinu.Multi-objective stochastic optimization of the suspension system of road vehicles[J].Journal of Sound and Vibration,298(2006) 1055-1072.
[47]郭大蕾,胡海岩.基于磁流变阻尼器的车辆悬架半主动控制研究——间接自适应控制与实验[J].振动程学报,2002,15(3):285-289.
[48]喻凡,郭孔辉.自适应悬架对车辆性能改进的潜力[J].中国机械工程,1998,9(6):67-69.
[49]K Yi,B S Song.A new adaptive sky-hook control of vehicle semi-active suspensions[C].Proc Instn Mech Engrs,1999,213 Part D04298.
[50]赵成,胡增荣,陈大跃.半主动悬架的滑模变结构控制[J].中国公路学报,2007,20(3):109-114.
[51]郑玲,邓兆祥,李以农.汽车半主动恳架的滑模变结构控制[J].振动工程学报,2003,16(4):457-462.
[52]D.S.Joo,N.AI Holou.Development and Evaluation of Fuzzy Logic Controller for Vehicle Suspension System.System Theory[C].Proceeding of the Twenty-Seventh Southeastern Symposium on 12～14March 1995:295-299.
[53]S.Son,C.Isik.Application of Fuzzy Logic Control to an Automotive Active Suspension System.Fuzzy Systems[C].Proceedings of the Fifth IEEE International Connference on Vol.1.Sep.1996.p.548-553.
[54]S.J.Huang.W.C.Lin.Adaptive Fuzzy Controller with Sliding Surface for Vehicle Suspension Control[J].IEEE Transactions on Fuzzy Systems.Vol.11(4).August 2003.p.550-559.
[55]李以农,郑玲.车辆半主动悬架非线性控制方法的研究[J].农业机械学报,2005,5(3):9-15.
[56]Y.M.Rong,X.Y.Bao.An automobile Semi-active Suspension System Using Neural Network Control and Simulation[C].Proceedings of the 2004 International Conference on Intelligent Mechatronics and Automation.Chengdu,China August 2004:p.184-190.
[57]X.Feng,C.F.Lin,T.J.Yu,N.Coleman.Intelligent Control Design and Simulation Using Neural Networks[C].AIAA Guidance.Navigation and Control Conference.A Collection of Technical Papers.Part Ⅰ.New Orleans,LA,August 11-13,1997:p.294-299.
[58]郭大蕾.车辆悬架振动的神经网络半主动控制[D].博士学位论文,南京航空航天大学,2001,P.55-65.
[59]Haiping Du,Kam YIm Sze,James Lam.Semi-active H_∞ control of vehicle suspension with magneto-rheological dampers[J].Journal of Sound and Vibratin,383(2005)981-996.
[60]Hayakawa K.,Matsumoto K.,Yamashita M.,et al.Robust H_∞-Output Feedback Control of Decoupled Automobile Active Suspension Systems[J].Automatic Control,IEEE Transactions on Volume 44,Issue 2,1999,44(2):392-96.
[61]Sam Y.M.,Osman J.H.S..Robust.Controller for Active Suspension with Hydraulic[C].Dynamics Control Conference,2004.5th Asian Volume 1,2004,1(1)1:598-603.
[62]Bangsing N.,Sularso,Bagiasna K.,et al.An Experimental Investigation into the Design of a Robust Semi-Active Suspension System for a Quarter-Car Model,Control and Automation,2003.ICCA.Final Program and Book of Abstracts.The Fourth International Conference on 10-12 June 2003:85-85.
[63]Ramsbottom M.,Crolla D.A.,Plummer A.R..Robust Adaptive Control of an Active Vehicle Suspension System[C].Proceeding of Institution of Mechanical Engineers,1999(213) Part D:1-17.
[64]侯忠生.无模型自适应控制的现状与展望[J].控制理论与应用,2006,23(4):586-592.
[65]J.Sweversa,C.Lauwerysa,B.Vandersmissenb,M.Maesb,K.Reybrouckb,P.Sasa.A model-free control structure for the on-line tuning of the semi-active suspension of a passenger car[J].Mechanical Systems and Signal Processing,2006.
[66]Shiuh-Jer Huang,Hung-Yi Chen.Adaptive sliding controller with self-tuning fuzzy compensation for vehicle suspension control[J].Mechatronics 16(2006) 607-622.
[67]C Lauwerys,J Swevers,P Sas.Model free control design for a semi-active suspension of a passenger car[C].Proceedings of ISMA2004:75-86.
[68]S S Parthasarathy,Y G Srinivasa.Design of an active suspension system for a quarter-car road vehicle model using model reference control[C].Proc.IMechE Vol.220 Part Ⅰ:J.Systems and Control Engineering:91-108.
[69][美]Jean-Jacques E.Slotine,Weiping Li.应用非线性控制(Applied Nonlined Control)[M].机械工业出版社,2006,4.
[70]Ardeshir Karami mohammadi.Vehicle Active Suspension Control,Using A Variable Structure Model Reference Adaptive Controller[C].ACSE 05 Conference,19-21 December 2005,CICC,Cairo,Egypt.
[71]Alleyne A,Hedrick J.K.Nonlinear adaptive control of active suspensions[J].IEEE Transactions on Control Systems Technology,1995,3(1):94-101.
[72]Mohammadi,Ardeshir Karami.Vehicle active suspension control,using a variable structure model reference adaptive controller[C].American Society of Mechanical Engineers,Dynamic Systems and Control Division(Publication) DSC,v 74 DSC,n 1 PART A,Proceedings of the ASME Dynamic Systems and Control Division 2005,2005,p 611-616.
[73]郑玲,邓兆祥,李以农.汽车半主动悬架的模型参考自适应控制[J].中国公路学报,2005,18(2):99-102.
[74]G.Z.Yao,F.F.Yap,G.Chen,W.H.Li,S.H.Yeo.MR damper and its application for semi-active control of vehicle suspension system[J].Mechatronics,2002,12:963-973.
[75]张红辉,廖昌荣,余淼,陈伟民,黄尚谦.考虑磁场的磁流变效应Bingham建模[J].机械工程学报,2006,42(2):33-36.
[76]翁建生.基于磁流变阻尼器的车辆悬架系统半主动控制[D].博士学位论文,南京航空航天大学,2002.
[77]Kordonski W.I.,Gorodkin S.R.,NOvikova Z.A.Progress update in MR finishing.In:Nakano M,Koyama K.Proc of the 6th Int Conf on ER Fluids,MR Suspensions and their Applications[C].Singapore:World Scientific,1998,535-542.
[78]http://www.mrfluid.com
[79]Jolly M.R.,Carlson J.D.Controllable squeeze film damping using magnetorheological fuid[C].Proceedings of the 5th International Conference on New Actuators,June 1996,Bremen,Germany,333-336.
[80]王立忠,李云瑞,王峰.磁流变体研究状况及进展[J].航空制造工程,1997,7:9-11.
[81]余淼.汽车磁流变半主动悬架控制系统研究[D].博士学位论文,重庆大学,2003.
[82]Ralf Bolter.Et al.Design Rules for MR Fluid Actuators in Different Working Modes[J].SPIE,Vol.3045,1997:p.148-159.
[83]赵成章.磁流变减振器建模方法研究[D].硕士学位论文,南京理工大学,2006.
[84]邓志党,高峰,刘献栋,杜发荣.磁流变阻尼器力学模型的研究现状[J].振动与冲击,2006,25(3):121-126.
[85]Stanway R.,Sproston J.L.and Stevens N.G.Non-linear Identification of an Electrorheological Vibration Damper[J].J,Electrostatics,20:167-184.
[86]S.J.Dyke,B.F.Spencer,M.K.Sain.Modeling and Control of Magneto-rheological Damper for Seismic Response Reduction[J].Journal of Smart Materials and Structures,1996(5):565-575.
[87]Jolly M R,Jonathan W.Bender,J.David Carlson.Properties and Applications of Commercial Magnetorheological Fluids[C].SPIE 5th Annual Int Symposium on Smart Structures and Materials,1998,San Diego,USA.
[88]Carlson JD,Weiss K D.A growing attraction to magnetic fluids[J].Machine Design,August 8,1994,61-64.
[89]Petek N.K.,Romstadt D.J.,Lizell M.B.,and Weyenberg T.R.Demonstration of an automotive semi-active suspension using electro-rheological fluid[J].1995,SAE Paper(950586).
[90]Li Pang,Gopalakrishna M.Kamath,Norman M.Wereley.Dynamic characterization and analysis of magnetorheogial dampers behavior[C].SPIE,1998,3227:284-302.
[91]宋兆基,徐流美.MATLAB 6.5在科学计算中的应用[M].北京,清华大学出版社,2005.
[92]苏金明.MATLAB工具箱应用[M].北京,电子工业出版社,2004.
[93]李丽,王振领.MATLAB工程计算及应用[M].北京,人民邮电出版社,2003.
[94]余志生.汽车理论(第3版)[M].北京,机械工业出版社,2002.
[95]GB/T 7031-1986.车辆振动输入路面平度表示方法[S].
[96]GB/T 4970-1996.汽车平顺性随机输入行驶试验方法[S].
[97]檀润华,陈鹰,路甬祥.路面对汽车激励的时域模型建立及计算机仿真[J].中国公路学报,1997,11(3):96-102.
[98]刘习军,贾启芬等.工程振动与测试技术[M].天津,天津大学出版社,2002.
[99]靳晓雄,张立军,江浩.汽车振动分析[M].上海,同济大学出版社,2002.
[100]M.Valasek,M.Novak and Z.Sika.Extended Groundhook-New Concept of Semi-active Control of Truck's Suspension[J].Vehicle System Dynamics.Vol.27(6).1997:p.5-6.
[101]董小闵.汽车磁流变半主动悬架仿人智能控制研究[D].博士学位论文,重庆大学,2006,P.12-17.
[102]诸静.模糊控制理论与系统原理[M].北京,机械工业出版社,2005.
[103]佟绍成,王涛等.模糊控制系统的设计及稳定性分析[M].北京,科学出版社,2004.
[104]张彦如.汽车半主动悬架模糊控制研究[D].硕士学位论文,合肥工业大学,2005.
[105]黄忠霖.自动控制原理的MATLAB实现[M].北京,国防工业出版社,2007.
[106]薛定宇.控制系统计算机辅助设计——MATLAB语言与应用(第二版)[M].北京,清华大学出版社,2006.
[107]黄永安,马路,刘慧敏.MATLAB7.0/Simulink6.0建模仿真开发与高级工程应用[M].北京.清华大学出版社,2005.
[108]吴晓丽,林哲辉.MATLAB辅助模糊系统设计[M].西安,西安电子科技大学出版社,2002.
[109]张国良,曾静等.模糊控制及其MATLAB应用[M].西安,西安交通大学出版社,2002.
[110]吴晓莉,林哲辉等.MATLAB辅助模糊系统设计[M].西安,西安电子科技大学出版社,2002.
[111]高为炳.变结构控制的理论及设计方法[M].北京,科学出版社.1996.
[112]胡跃明著.变结构控制理论与应用[M].北京,科学出版社,2003.
[113]姚琼荟,黄继起,吴汉松.变结构控制系统[M].重庆,重庆大学出版社,1997.
[114]王丰尧.滑模变结构控制[M].北京,机械工业出版社,2001.
[115]高为炳.变结构控制研究的发展与现状[J].控制与决策.1993,8(4):241-248.
[116]V.I.Utkin.Sliding modes and their application in discontinuous systems[J].Automation and Remote Control,1974,No.21:1898-1907.
[117]高为炳.变结构控制理论基础[M].北京,中国科学技术出版社,1990.
[118]于长官.现代控制理论及应用[M].哈尔滨,哈尔滨工业大学出版社,2005.
[119]郑大钟.线性系统理论[M].北京,清华大学出版社(第2版)[M].2002.
[120]胡寿松.自动控制原理[M].北京.科学出版社(第4版)[M].2001.
[121]KAR-KEUNG D.YOUNG,Design of Variable Structure Model-Following Control Systems[J].IEEE 1978.
[122]张晓宇,苏宏业.滑模变结构控制理论进展综述[J].化工自动化及仪表,2006,33(2):1-8.
[123]S.B.Choi,Y.T.Choi,D.W.Park.A Sliding Mode Control of a Full-Car Electrorheological Suspension System Via Hardware in-the-Loop Simulation[J].Transactions of the ASME,2000,122(3):114-121.
[124]Abbas Chamseddine,Hassan Noura and Thibaut Raharijaona.Control of Linear Full Vehicle Active Suspension System Using Sliding Mode Techniques[C].Proceedings of the 2006 IEEE International Conference on Control Applications,Munich,Germany,October 4-6,2006.
[125]T.Yoshimura,A.Kume,M.Kurimoto and J.Hino.Construction of an Active Suspension System of A Quarter Car Model Using The Concept of Sliding Mode Control[J].Journal of Sound and Vibration,2001,239(2):187-199.
[126]Dyke S J,Spencer B F Jr,Sain M K,et al.Seismic Response Reduction Using Magneto-theological Dampers[C].Proc.of the IFAC World Congress,L,1996,145-150.
[127]Sunwoo M,Cheok K C.Model reference adaptive control for vehicle active suspension systems[C].IEEE Trans.Ind.Electronics,1991,38(3):217-222.
[128]Yao Jialing(姚嘉凌),Zheng Jiaqiang.Semi-active Suspension System Design for Quarter-car Model using Model Reference Sliding Mode Control[C].Proceedings of the 2006 IEEE International Conference on Vehicular Electronics and Safety.December 13-15,2006,Shanghai,China:398-402.
[129]姚嘉伶,蔡伟义,陈宁.汽车半主动悬架系统发展状况[J].汽车工程,2006,28(3):276-280.
[130]杨金霞.车辆半主动悬架模型跟踪变结构控制的研究[D].硕士学位论文,南京林业大学,2006.
[131]樊登柱.车辆磁流变半主动悬架控制系统仿真及试验研究[D].硕士学位论文,南京林业大学.2007.
[132]Nagai M.Recent researches on active suspension for ground vehicles[J].Jap.Soc.Mech.Engrs Int.J.Ser.C,1993,36(2):161-170.
[133]Karnopp D.Active damping in road vehicle suspension systems[J].Veh.System Dynamics,1983,12,:291-316.
[134]姚嘉凌.汽车四分之一模拟悬架系统及减振器特性综合试验台:中国,ZL200720036125.5[P].2007-04-12.
[135]陈锡辉,张银鸿.LabVIEW 8.20程序设计——从入门到精通[M].北京,清华大学出版社,2007.
[136]龙华伟,顾永刚.LabVIEW 8.2.1与DAQ数据采集[M].北京,清华大学出版社,2008.
[137]侯国屏,王坤,叶齐鑫.LabVIEW 7.1编程与虚拟仪器设计[M].北京.清华大学出版社,2005.
[138]金振华,欧阳明高,卢青春.燃料电池动力系统仿真及实时控制平台开发[J].中国机械工程,2008,19(15):1879-1882.
[139]李万里.对我国汽车产业发展目标及政策导向的思考[J].汽车工程,2007,29(1):1-7.
[140]Du,Haiping,Zhang,Nong.H infinity control of active vehicle suspensions with actuator time delay[J].Journal of Sound and Vibration,v 301,n 1-2,Mar 20,2007,p 236-252.
[141]翁建生等.时滞‘天棚'阻尼控制的车辆悬架系统特性研究[J].南京建筑工程学院学报,1999,50(3):1-6.
[142]张文丰,胡海岩.含时滞的LQ控制车辆悬架的研究[J].应用力学学报,2003,20(1):37-41.
[143]汪若尘,陈龙,江浩斌.时滞半主动悬架大系统递阶控制研究[J].中国机械工程,2007,18(11):1382-1385.
[144]Qin Zhu a,Mitsuaki Ishitobi.Chaotic vibration of a nonlinear full-vehicle model[J].International Journal of Solids and Structures 43(2006) 747-759.
[145]Borowiec M.,Litak G.,Friswell M.I..Nonlinear response of an oscillator with a magneto-rheological damper subjected to external forcing[C].Applied Mechanics and Materials,v 5-6,Modern Practice in Stress and Vibration Analysis Ⅵ-Proceedings of the 6th Internaional Conference on Modern Practice in Stress and Vibration Analysis,2006,p 277-284.
[146]Shukla,Amit,Koo,Jeong Hoi.Control bifurcations in a nonlinear active suspension system for system design[C].American Society of Mechanical Engineers,Design Engineering Division(Publication) DE,v 118 B,n 2,Proceedings of the ASME Design Engineering Division 2005,2005,p 1177-1182.
[147]杨绍普,李韶华,郭文武.随机激励滞后非线性汽车悬架系统的混沌运动[J].振动、测试与诊断,2005,25(1):22-25.
[148]Suda Yoshihiro,Nakadai Shigeyuki,Nakano Kimihiko.Hybrid Suspension System with Skyhook Control and Energy Regeneration[J].Vehicle System Dynamics supplement,1998,28:619-634.
[149]陈士安,何仁,陆森林.馈能型悬架的仿真与性能评价研究[J].汽车工程,2006,28(2):167-171.
[150]喻凡,曹民,郑雪春.能量回馈式车辆主动悬架的可行性研究[J].振动与冲击,2005,24(4):27-30.
[151]寇发荣,方宗德.能量可再生的新型汽车半主动悬架系统研究[J].西安科技大学学报, 2007,26(7):935-939.
[152]李铁军.赵海文,李慨等.基于振动能量回馈的电流变流体阻尼器及其自适应控制[C].2003,2003年中国智能自动化会议论文集(下册):1294-1298.