基于磁流变减振器的汽车半主动悬架研究
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摘要
以车辆悬架系统中的半主动减振器和半主动悬架为研究对象,对半主动减振器的结构设计、数学建模和半主动悬架系统控制策略进行了深入研究,主要涉及以下几个方面:
(1)提出一种基于遗传算法的磁流变减振器多目标优化设计方法。该方法兼顾对动力性能、响应速度和能耗的要求,能够快速设计出满足性能要求的磁流变减振器。应用该方法实际设计和制造了减振器样机,并通过台架试验对优化设计方法的有效性进行了验证。
(2)提出了一种基于修正Backlash滞环的磁流变减振器参数化模型。该模型结构简单,参数意义明确,能准确描述和预测磁流变减振器在不同励磁电流和激振频率下的动特性。
(3)研究基于磁流变减振器的半主动悬架系统控制策略。对磁流变减振器的反馈线性化控制、神经网络逆模型控制和Sigmoid逆模型控制进行了对比研究;提出连续型负刚度半主动控制方法,该方法能有效避免开关型负刚度控制中的“颤振”现象,在此基础上提出反馈线性化-连续负刚度、神经网络-连续负刚度和Sigmoid逆模型-连续负刚度三种系统级控制策略,并对其控制效果进行了对比研究。
The research objects of this thesis are semi-active damper and semi-active suspension of vehicle suspension system. The structure design of magnetorheological damper, parametric modeling and the control strategies of semi-active suspension system are studied. Main tasks are as follows:
(1) A genetic algorithm-based multi-objective optimization of magnetorheological damper design method was presented. The magnetorheological damper could be quickly designed to meet the performance requirements by using the method. The requirements of dynamic performance, response speed and power consumption had been taken into account. A damper prototype was designed and manufactured by using the method. Then, the damper was tested on the bench to vertify the effectiveness of the optimization design method.
(2) A modified Backlash hysteresis model was presented. The model was simple in structure. The parameter meaning was clear. The model was able to describe and predict the dynamic characteristics of magnetorheological damper accurately in different currents and frequencies.
(3) The semi-active suspension system control strategies based on the magnetorheological damper was studied. The feedback linearization control, neural network inverse model control and sigmoid inverse model control of the magnetorheological damper had been studied contrastively. A continuous negative stiffness semi-active control strategy had been presented, which can avoid the "chatter" phenomenon effectively in the switching of the negative stiffness control. On the basis, three system-level control strategied which called the feedback linearization- continuous negative stiffness, neural networks-continuous negative stiffness and sigmoid inverse model- continuous negative stiffness were presented. The performances of these strategies were studied contrastively.
(1)提出一种基于遗传算法的磁流变减振器多目标优化设计方法。该方法兼顾对动力性能、响应速度和能耗的要求,能够快速设计出满足性能要求的磁流变减振器。应用该方法实际设计和制造了减振器样机,并通过台架试验对优化设计方法的有效性进行了验证。
(2)提出了一种基于修正Backlash滞环的磁流变减振器参数化模型。该模型结构简单,参数意义明确,能准确描述和预测磁流变减振器在不同励磁电流和激振频率下的动特性。
(3)研究基于磁流变减振器的半主动悬架系统控制策略。对磁流变减振器的反馈线性化控制、神经网络逆模型控制和Sigmoid逆模型控制进行了对比研究;提出连续型负刚度半主动控制方法,该方法能有效避免开关型负刚度控制中的“颤振”现象,在此基础上提出反馈线性化-连续负刚度、神经网络-连续负刚度和Sigmoid逆模型-连续负刚度三种系统级控制策略,并对其控制效果进行了对比研究。
The research objects of this thesis are semi-active damper and semi-active suspension of vehicle suspension system. The structure design of magnetorheological damper, parametric modeling and the control strategies of semi-active suspension system are studied. Main tasks are as follows:
(1) A genetic algorithm-based multi-objective optimization of magnetorheological damper design method was presented. The magnetorheological damper could be quickly designed to meet the performance requirements by using the method. The requirements of dynamic performance, response speed and power consumption had been taken into account. A damper prototype was designed and manufactured by using the method. Then, the damper was tested on the bench to vertify the effectiveness of the optimization design method.
(2) A modified Backlash hysteresis model was presented. The model was simple in structure. The parameter meaning was clear. The model was able to describe and predict the dynamic characteristics of magnetorheological damper accurately in different currents and frequencies.
(3) The semi-active suspension system control strategies based on the magnetorheological damper was studied. The feedback linearization control, neural network inverse model control and sigmoid inverse model control of the magnetorheological damper had been studied contrastively. A continuous negative stiffness semi-active control strategy had been presented, which can avoid the "chatter" phenomenon effectively in the switching of the negative stiffness control. On the basis, three system-level control strategied which called the feedback linearization- continuous negative stiffness, neural networks-continuous negative stiffness and sigmoid inverse model- continuous negative stiffness were presented. The performances of these strategies were studied contrastively.
引文
[1]余志生.汽车理论(第三版).北京:清华大学出版社,2002:170-213
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[4][英]Dave Crolla,喻凡.车辆动力学及其控制.北京:人民交通出版社,2004:23-144
[5]杨礼康.基于磁流变技术的车辆半主动悬挂系统理论与试验研究[博士学位论文].杭州:浙江大学机械设计研究所,2003:86-131
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[18]刘韶庆,周孔亢等.单筒磁流变减振器散热性能研究,2008,35(2):14-16
[19]郑玲,李以农.磁流变减振器磁路设计与结构优化.振动工程学报,2008,21(2):173-178.
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[2][美]Thomas D.Gillespie(赵六奇,金达锋 译).车辆动力学基础.北京:清华大学出版社,2006:88-130
[3]周云山,钟勇.汽车电子控制技术.北京:机械工业出版社,2004:81-117
[4][英]Dave Crolla,喻凡.车辆动力学及其控制.北京:人民交通出版社,2004:23-144
[5]杨礼康.基于磁流变技术的车辆半主动悬挂系统理论与试验研究[博士学位论文].杭州:浙江大学机械设计研究所,2003:86-131
[6]王维锐.车辆悬架系统关键技术研究[博士学位论文].杭州:浙江大学机械设计研究所,2006:39-93
[7]Jason E.Lindler,Glen A.Dimock and Norman M.Wereley,Design of a Magnetorheological Automotive Shock Absorber.Proceedings of SPIE,2000,Vol.3985(2000):p.426-437.
[8]Yang,G.,Large-Scale Magnetorheological Fluid Damper for Vibration Mitigation:Modeling,Testing and Control,in Department of Civil Engineering and Geological Sciences[D].Indiana:University of Notre Dame:Notre Dame.2001:p.42-71
[9]www.lord.com,Lord Corporation Magnetorheological(MR) Fluid for Automotive Damping Systems.
[10]SPENCER Jr B F,DYKE S J,SAIN M K,et al.Phenomenological model for magnetorheological dampers.Journal of Engineering Mechanics,1997,Vol.123(3):p.230-238
[11]Li Pang,Gopalakrishna M.Kamath and Norman M.Wereley.Dynamic Characterization and Analysis of Magnetorheological Damper Behavior.Proceedings of SPIE,1998,Vol.3327(1998):p.284-302
[12]Rebecca A.Snyder and Norman M.Wereley.Characterization of a Magnetorheological Fluid Damper Using a Quasi-Steady Model.Proceedings of SPIE,1999,Vol.3668:p.507-519
[13]Henri Gavin,Jesse Hoagg,Optimal design of MR Dampers.Proc.U.S.-Japan Workshop on Smart Structures for Improved Seismic Performance in Urban Regions,Seattle WA,2001:p.225-236.
[14]Darrell G.Breese,Faramarz Gordaninejad,Heating of Magneto-Rheological Fluid Dampers:A Theoretical Study,SPIE Conference on Smart Systems for Bridges,Structures,and Highways,1999,Vol.3671(1999):p.2-10
[15]Jeong-Hoi Koo,Fernando D.Goncalves,Mehdi Ahmadian,Investigation of the response time of magnetorheological fluid dampers,Proc.of SPIE,2004,Vol.5386(2004):p.63-71
[16]张进秋,欧进萍等.半主动悬挂系统磁流变减振器的阻尼力实验与分析.地震工程与工程振动,2003,23(1):122-127
[17]曹民,喻凡.车用磁流变减振器的研制.机械工程学报,2004,40(3):186-190.
[18]刘韶庆,周孔亢等.单筒磁流变减振器散热性能研究,2008,35(2):14-16
[19]郑玲,李以农.磁流变减振器磁路设计与结构优化.振动工程学报,2008,21(2):173-178.
[20]Gavin H P,Hanson R D and Filisko F E.Electrorheological damper Ⅰ:analysis and design.Transactions of the ASME Journal Applied Mechanic,1996,Vol.63(1996):p.669-675
[21]Choi S.B.and Lee S.K.A hysteresis model for the field-dependent damping force of a magnetorheological damper.Journal of Sound and Vibration,2001,Vol.245(2):p.375-383
[22]廖昌荣等.汽车磁流变减振器神经网络模型研究.中国公路学报,2003,16(4):94-97
[23]涂建维等.MR智能阻尼器实验研究及径向基网络模型.武汉理工大学学报,2003,25(1):43-45
[24]夏品奇.基于系统识别理论的磁流变阻尼器模型.工程力学,2003,20(3):115-119
[25]Occhiuzzi A,Spizzuoco M and Serino G,Experimental analysis of magnetorheological dampers for structural control.Smart Materials &Structures,2003,(10):p.703-711
[26]Snyder R A,Kamath G M and Wereley N M.Characterization and analysis of magnetorheological damper behavior due to sinusoidal loading.Proceedings of SPIE,2000,Vol.3989:p.213-218
[27]Dimock G A,Lindler J E and Werwley N M.Bingham biplastic analysis of shear thinning and thickening in magnetorheological damper.Proceedings of SPIE,2000,Vol.3985(49):p.444-455
[28]Dyke S J,Spencer Jr B F,Sain M K and Carlson J D.An experimental study of MR dampers for seismic protection.Smart Materials & Structures,1998(7):p.693-703
[29]周强等.磁流变阻尼器的两种力学模型和试验验证.地震工程与工程振动,2002,22(4):144-150
[30]高国生,杨绍普,陈恩利等.汽车悬架磁流变阻尼器的试验建模.汽车工程,2004,6(26):683-685.
[31]杨礼康,潘双夏 等.磁流变减振器滞环特性试验及建模方法.机械工程学报,2006,42(11):137-143
[32]李秀领,李宏男.磁流变阻尼器的双sigmoid模型及试验验证.振动工程学报,2006,19(2):168-172.
[33]王唯,夏品奇,刘朝勇.基于Bouc-Wen方程的磁流变阻尼器实验建模.振动工程学报,2006,19(3):196-301.
[34]Reichert,B.A.J.,Application of Magneto-Rheological Dampers for Vehicle Seat Suspensions[M].Blacksburg:Virginia Polytechnic Institute and State University,1997:p.9-81
[35]Simon,D.E.,Experimental Evaluation of Semiactive Magnetorheological Primary Suspensions for Heavy Truck Applications[M].Blacksburg:Virginia Polytechnic Institute and State University,1998:p.17-84
[36]Simon,D.E.,An Investigation of the Effectiveness of Skyhook Suspensions for Controlling Roll Dynamics of Sport Utility Vehicles Using Magneto-Rheological Dampers[D].Blacksburg:Virginia Polytechnic Institute and State University. 2001: p. 16-161
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