半主动空气悬架混杂系统的多模式切换控制研究
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摘要
与传统悬架相比,半主动空气悬架能够实现车身高度的主动控制和阻尼的自适应调节,对于改善车辆在行驶过程中的乘坐舒适性、行驶安全性以及燃油经济性有着重要作用,已成为汽车工程界的研究热点。随着空气弹簧和可调阻尼减振器研究的日益成熟,控制系统的设计已经成为实现半主动空气悬架控制功能要求、提高半主动空气悬架自适应能力的瓶颈和关键。
本文以变阻尼与变车身高度集成的某空气悬架轿车为研究对象,通过分析系统的工作原理和运行状态,将非线性的半主动空气悬架综合为包含悬架系统自身物理特性所约束的连续动态过程行为和多工况使能／失能切换输入、多工况控制输出等离散动态行为的集合。根据这两类不同性质行为之间的相互混合和相互影响,本文的主要内容将围绕半主动空气悬架控制策略的设计、半主动空气悬架混杂系统动态行为分析及其控制等工作进一步展开。
构建半主动空气悬架混杂系统。分析了半主动空气悬架的控制模式和性能特点,进行了半主动空气悬架混杂特性的解析和研究,将半主动空气悬架的阻尼控制过程描述为一类混杂系统,引入混杂系统理论,构建了半主动空气悬架混杂系统功能模型结构和实现模型结构,为半主动空气悬架混杂系统的控制奠定基础。
确定半主动空气悬架的控制模式与切换参数。根据半主动空气悬架混杂系统的控制特点,对其进行了多模式切换控制研究。将车身高度分为“高位、中位和低位”三种控制模式,并根据车辆的行驶路面与车速变化确定各个模式之间的切换参数。考虑车身高度控制与阻尼自适应调节之间的耦合关系,提出以车身高度切换优先为原则,将车身高度控制与阻尼控制解耦,并采用模糊控制算法实现三种车身高度间的稳定性调节。针对转向工况下不进行车身高度调节的特点,增加了转向工况控制模式。
设计半主动空气悬架混杂系统局部控制器。根据悬架的偏频特性确定空气弹簧的可调高度,并在此基础上建立包含空气弹簧非线性的半主动空气悬架整车动力学模型,针对直线行驶工况下不同车身高度所反映的阻尼控制目标不同,分别设计了相应的阻尼力模糊PID控制算法,同时进行了转向工况下的基于模糊神经网络的阻尼力控制研究,对局部控制器的性能进行仿真分析,验证了控制算法的有效性。
提出了半主动空气悬架混杂系统切换监督控制方法。建立了半主动空气悬架多工况性能评价指标体系,分析了系统无监督切换控制性能。针对系统在切换过程由于局部控制器输出跃变引起的失稳和振荡,基于模糊理论设计了混杂系统切换过程监督控制器,通过对局部控制器的输出进行加权和得到系统的最终控制输入,从而实现半主动空气悬架混杂系统的平滑切换,通过仿真验证了所设计的监督器的有效性。
开发了基于MC9S08单片机的半主动空气悬架混杂系统多模式切换控制器,并进行了控制系统的软硬件设计。针对车辆的行驶平顺性和操纵稳定性分别进行了局部工况的实车道路性能验证,对试验结果进行了分析研究。
研究结果表明,通过建立半主动空气悬架混杂系统,并对其进行多模式切换监督控制,既满足了悬架在不同行驶工况下的控制要求,同时改善了系统在控制模式切换过程中的振荡和冲击,悬架性能指标在模式切换过程中的超调幅度最高可降低19.4%。在局部工况随机路面试验中,半主动空气悬架混杂系统控制可使车辆的行驶平顺性平均提高11.15%;在蛇形试验中,车辆的车身侧倾角均值平均降低了6.18%、横摆角速度均值平均降低了7.24%、侧向加速度均值平均降低了5.43%,车辆的操纵稳定性达到并超越了原车的控制水平。
Because the semi-active air suspension could achieve active controls of body height and damping compared with traditional suspensions, it has played a significant role in improving the ride comfort, driving safety and fuel economy of the vehicle in the driving process and become a research hotspot of vehicle engineering. Along with the increasing maturity of researches about air spring and adjustable damping shock absorber, the design of control system has become a bottleneck to realize the control requirements and improve adaptive capacity of semi-active air suspension.
This dissertation took a car with air suspension integrating variable damping and variable body height as the objects of study. By analyzing the working principles and running states of the vehicle system, the nonlinear semi-active air suspension system was described as an aggregation of continuous dynamic process behaviors constrained by the physical properties of suspension system and discrete dynamic behaviors such as multi-condition enable/disable switching inputs and multi-condition control outputs. According to the mixture and influence between the two different behaviors, the main tasks of the dissertation were to design the control strategy of semi-active air suspension, analyze the hybrid dynamic behaviors of the suspension system and then realize the corresponding control.
A semi-active air suspension hybrid system was built in the dissertation firstly. By analyzing the control mode and performance characteristics and studying the hybrid characteristic of semi-active air suspension, the damping control process was described as a hybrid system. Based on hybrid system theory, the functional model structure and implementation model structure of semi-active air suspension hybrid system were built, which laid the foundation of control.
A suitable control mode and switching parameters of semi-active air suspension were determined secondly. According to the control feature of semi-active air suspension hybrid system, a multi-model switching control was studied. The body height control was divided into three control modes, such as the high, the middle and the low. The parameters of modes'switch were determined based on the road conditions and the speed changes of vehicle. Because of the coupling relationship between the body height control and the damping self-adjustment, a new control strategy was put forward, which set the principles ensuring the priority of body height switching, then decoupled the body height control and damping control, and realized the stability of body height adjustment by fuzzy control algorithm finally. Because the vehicle height couldn't be adjusted in steering condition, the new control strategy added a steering control mode on the base of three body height control modes.
A local controller of semi-active air suspension hybrid system was designed thirdly. The adjustable height of air spring was determined by offset frequency characteristic of suspension, and on this basis, a nonlinear dynamics vehicle model with semi-act've air suspension was then established. According to different damping control targets in accord with different body height modes under straight-line driving condition, three corresponding damping force fuzzy-PID control algorithms were designed. At the same time, the damping force control based on fuzzy neural network under steering condition was studied. The effectiveness of the control algorithms was verified by the performance simulation of the local controllers.
A switching supervisory control method of semi-active air suspension hybrid system was proposed then in this dissertation. A multi-condition performance evaluation index system of semi-active air suspension was built, which could analyze the control performance of the unsupervised switching system. According to the instability and oscillation problem caused by the output jumps of local controllers during switching process, a switching process supervisory controller of hybrid system was designed based on fuzzy theory. The system's final control inputs obtained as the weighted sum of the local controller outputs could realize the smooth transitions between different control modes of semi-active air suspension hybrid system. The effectiveness of the designed supervisory controller was verified by simulation.
Finally, with the single chip microcomputer MC9S08A, a multi-mode switching controller of semi-active air suspension hybrid system was explored and the control system's software and hardware were designed then. Under local conditions, real vehicle road tests were carried out individually to verify the ride comfort and handling stability, and the test results were analyzed and studied then.
The research results showed that the semi-active air suspension hybrid system built in the dissertation and its corresponding multi-mode switching supervisory control strategy could not only meet the suspension control requirements under different driving conditions, but also ameliorate the vibration and shock performance in switching process of different modes. The overshoot amplitude of suspension performance in switching process could be reduced by19.4%in maximum. Compared with original car control, in the random rode tests under local conditions, the semi-active air suspension hybrid control of system could improve the ride comfort by11.15%on average. Additionally, in the pylon course slalom tests, the mean values of body side angles, yawing rates and lateral accelerations were respectively reduced by6.18%,7.24%and5.43%on average. The vehicle's manipulation stability with semi-active air suspension hybrid system reached and transcended the control effectiveness of the original car control system.
本文以变阻尼与变车身高度集成的某空气悬架轿车为研究对象,通过分析系统的工作原理和运行状态,将非线性的半主动空气悬架综合为包含悬架系统自身物理特性所约束的连续动态过程行为和多工况使能／失能切换输入、多工况控制输出等离散动态行为的集合。根据这两类不同性质行为之间的相互混合和相互影响,本文的主要内容将围绕半主动空气悬架控制策略的设计、半主动空气悬架混杂系统动态行为分析及其控制等工作进一步展开。
构建半主动空气悬架混杂系统。分析了半主动空气悬架的控制模式和性能特点,进行了半主动空气悬架混杂特性的解析和研究,将半主动空气悬架的阻尼控制过程描述为一类混杂系统,引入混杂系统理论,构建了半主动空气悬架混杂系统功能模型结构和实现模型结构,为半主动空气悬架混杂系统的控制奠定基础。
确定半主动空气悬架的控制模式与切换参数。根据半主动空气悬架混杂系统的控制特点,对其进行了多模式切换控制研究。将车身高度分为“高位、中位和低位”三种控制模式,并根据车辆的行驶路面与车速变化确定各个模式之间的切换参数。考虑车身高度控制与阻尼自适应调节之间的耦合关系,提出以车身高度切换优先为原则,将车身高度控制与阻尼控制解耦,并采用模糊控制算法实现三种车身高度间的稳定性调节。针对转向工况下不进行车身高度调节的特点,增加了转向工况控制模式。
设计半主动空气悬架混杂系统局部控制器。根据悬架的偏频特性确定空气弹簧的可调高度,并在此基础上建立包含空气弹簧非线性的半主动空气悬架整车动力学模型,针对直线行驶工况下不同车身高度所反映的阻尼控制目标不同,分别设计了相应的阻尼力模糊PID控制算法,同时进行了转向工况下的基于模糊神经网络的阻尼力控制研究,对局部控制器的性能进行仿真分析,验证了控制算法的有效性。
提出了半主动空气悬架混杂系统切换监督控制方法。建立了半主动空气悬架多工况性能评价指标体系,分析了系统无监督切换控制性能。针对系统在切换过程由于局部控制器输出跃变引起的失稳和振荡,基于模糊理论设计了混杂系统切换过程监督控制器,通过对局部控制器的输出进行加权和得到系统的最终控制输入,从而实现半主动空气悬架混杂系统的平滑切换,通过仿真验证了所设计的监督器的有效性。
开发了基于MC9S08单片机的半主动空气悬架混杂系统多模式切换控制器,并进行了控制系统的软硬件设计。针对车辆的行驶平顺性和操纵稳定性分别进行了局部工况的实车道路性能验证,对试验结果进行了分析研究。
研究结果表明,通过建立半主动空气悬架混杂系统,并对其进行多模式切换监督控制,既满足了悬架在不同行驶工况下的控制要求,同时改善了系统在控制模式切换过程中的振荡和冲击,悬架性能指标在模式切换过程中的超调幅度最高可降低19.4%。在局部工况随机路面试验中,半主动空气悬架混杂系统控制可使车辆的行驶平顺性平均提高11.15%;在蛇形试验中,车辆的车身侧倾角均值平均降低了6.18%、横摆角速度均值平均降低了7.24%、侧向加速度均值平均降低了5.43%,车辆的操纵稳定性达到并超越了原车的控制水平。
Because the semi-active air suspension could achieve active controls of body height and damping compared with traditional suspensions, it has played a significant role in improving the ride comfort, driving safety and fuel economy of the vehicle in the driving process and become a research hotspot of vehicle engineering. Along with the increasing maturity of researches about air spring and adjustable damping shock absorber, the design of control system has become a bottleneck to realize the control requirements and improve adaptive capacity of semi-active air suspension.
This dissertation took a car with air suspension integrating variable damping and variable body height as the objects of study. By analyzing the working principles and running states of the vehicle system, the nonlinear semi-active air suspension system was described as an aggregation of continuous dynamic process behaviors constrained by the physical properties of suspension system and discrete dynamic behaviors such as multi-condition enable/disable switching inputs and multi-condition control outputs. According to the mixture and influence between the two different behaviors, the main tasks of the dissertation were to design the control strategy of semi-active air suspension, analyze the hybrid dynamic behaviors of the suspension system and then realize the corresponding control.
A semi-active air suspension hybrid system was built in the dissertation firstly. By analyzing the control mode and performance characteristics and studying the hybrid characteristic of semi-active air suspension, the damping control process was described as a hybrid system. Based on hybrid system theory, the functional model structure and implementation model structure of semi-active air suspension hybrid system were built, which laid the foundation of control.
A suitable control mode and switching parameters of semi-active air suspension were determined secondly. According to the control feature of semi-active air suspension hybrid system, a multi-model switching control was studied. The body height control was divided into three control modes, such as the high, the middle and the low. The parameters of modes'switch were determined based on the road conditions and the speed changes of vehicle. Because of the coupling relationship between the body height control and the damping self-adjustment, a new control strategy was put forward, which set the principles ensuring the priority of body height switching, then decoupled the body height control and damping control, and realized the stability of body height adjustment by fuzzy control algorithm finally. Because the vehicle height couldn't be adjusted in steering condition, the new control strategy added a steering control mode on the base of three body height control modes.
A local controller of semi-active air suspension hybrid system was designed thirdly. The adjustable height of air spring was determined by offset frequency characteristic of suspension, and on this basis, a nonlinear dynamics vehicle model with semi-act've air suspension was then established. According to different damping control targets in accord with different body height modes under straight-line driving condition, three corresponding damping force fuzzy-PID control algorithms were designed. At the same time, the damping force control based on fuzzy neural network under steering condition was studied. The effectiveness of the control algorithms was verified by the performance simulation of the local controllers.
A switching supervisory control method of semi-active air suspension hybrid system was proposed then in this dissertation. A multi-condition performance evaluation index system of semi-active air suspension was built, which could analyze the control performance of the unsupervised switching system. According to the instability and oscillation problem caused by the output jumps of local controllers during switching process, a switching process supervisory controller of hybrid system was designed based on fuzzy theory. The system's final control inputs obtained as the weighted sum of the local controller outputs could realize the smooth transitions between different control modes of semi-active air suspension hybrid system. The effectiveness of the designed supervisory controller was verified by simulation.
Finally, with the single chip microcomputer MC9S08A, a multi-mode switching controller of semi-active air suspension hybrid system was explored and the control system's software and hardware were designed then. Under local conditions, real vehicle road tests were carried out individually to verify the ride comfort and handling stability, and the test results were analyzed and studied then.
The research results showed that the semi-active air suspension hybrid system built in the dissertation and its corresponding multi-mode switching supervisory control strategy could not only meet the suspension control requirements under different driving conditions, but also ameliorate the vibration and shock performance in switching process of different modes. The overshoot amplitude of suspension performance in switching process could be reduced by19.4%in maximum. Compared with original car control, in the random rode tests under local conditions, the semi-active air suspension hybrid control of system could improve the ride comfort by11.15%on average. Additionally, in the pylon course slalom tests, the mean values of body side angles, yawing rates and lateral accelerations were respectively reduced by6.18%,7.24%and5.43%on average. The vehicle's manipulation stability with semi-active air suspension hybrid system reached and transcended the control effectiveness of the original car control system.
引文
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