阀控半主动减振器研究及整车应用
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摘要
汽车悬架是现代汽车上的重要总成之一，它是车架（或承载式车身）与车桥（或车轮）之间的一切传力装置的总称，其主要功用为：1）把路面作用于车轮上的垂直反力（支承力）、纵向反力（牵引力和制动力）和侧向反力以及这些反力所造成的力矩传递到车架（或承载式车身）上；2）缓和由不平路面传给车体的冲击载荷，衰减冲击载荷引起的承载系统的振动；3）导向车身与车轮的运动，决定车轮定位；4）在汽车侧倾或俯仰时，悬架要能及时控制车身姿态，以保证汽车的正常行驶。因此，汽车悬架系统的设计必须满足行驶平顺性（Ride Comfort）和操纵稳定性（Handling Stability）的要求，然而车在行驶过程中，其平顺性和操纵稳定性对悬架参数的要求是不同的，从平顺性角度来考虑，需要悬架具有较软的特性，而从操纵稳定角度考虑，需要较硬的悬架。现代汽车正朝着安全、舒适、节能、环保、智能化的方向发展，人们对汽车的舒适性和整体品质的追求日益提升。智能悬架系统能同时兼顾车辆的舒适性和稳定性，并能适应变化的行驶工况和任意道路激励，是当前关注的热点。半主动悬架在车辆性能、能量消耗和成本上能保证较好的折中，因此，本文将通过试验与理论相结合的方法探索阀控半主动减振器的特性及其在车辆中的应用，以期提高车辆的平顺性、操纵稳定性和整体品质，主要研究以下内容：
1）阀控半主动减振器特性研究。首先分析了被动减振器的工作原理，建立了考虑减振器阀系结构参数的被动减振器理论模型；然后研究阀控半主动减振器的结构与工作原理，并细致地研究了执行元件电磁阀的结构和工作原理；其次，在减振器示功机测试了阀控半主动减振器的外特性，探明了电压强度和速度对其对阀控半主动减振器外特性的影响规律：该阀控半主动减振器采用反比例控制，在同一速度下，电压越大，阻尼力越小，具有失效保护的功能，当电压强度相同时，速度越大，阻尼力越大；最后，基于试验测试佳果，以减振器活塞的速度、活塞离开平衡位置的位移和电磁阀的电压强度作为神经网络的输入，采用神经网络模型来逼近阀控半主动减振器的外特性，数值模拟效果表明该非参数模型与试验结果的一致性很好，能表达阀控半主动减振器的外特性，可用于动力学分析。
2）建立车辆悬架性能的综合评价指标。首先系统地阐述和分析了悬架特性的评价方法；其次，建立了考虑左右车轮路面的相干性随机路面的四轮激励模型；然后，建立了用于车辆平顺性的7自由度模型，推导得到整车模型广义加速度、动载荷和动挠度的传递函数；最后采用无量纲化和综合加权的方法，建立用于动力学控制的7自由度车辆模型的评价指标。
3）建立7自由度车辆的混合控制算法。应用Matlab/Simulink建立样车的7自由度车辆动力学模型。模型考虑了车辆的垂向振动，同时还能表达前后轴路面激励不同引起的车辆的俯仰运动和左右轮路面激励不同引起的侧倾运动，推导了基于Skyhook算法的混合控制算法，并将半主动算法集成于整车模型中；然后，在随机路面输入下优化反馈矩阵，最后应用数值模拟的手段对比研究了优化后的半主动模型与被动最优悬架的特性。相对于最优被动悬架，采用混合控制算法的7自由度车辆以36km/h的速度通过凹坑时，其垂向加速度、侧倾加速度和俯仰加速度的峰值均能降低30%以上，过凸块的仿真结果表明，采用混合控制的阀控半主动悬架性能也有了较大地提升，但是其效果会随着车速的升高而减弱，这需要进一步探索控制算法与激励频率的相关性。
4）建立考虑27自由度车辆横向运动及纵向运动带来的侧倾和俯仰运动改进混合控制算法。应用Carsim建立样车的车辆动力学模型，采用Matlab与Carsim联合仿真的方法，建立了用于操稳工况的俯仰、侧倾的控制算法，利用双移线及紧急制动工况仿真验证控制算法的有效性，并通过联合仿真的手段获得最优的控制增益系数K、Kp然后，对某公司提供的试验车辆的悬架系统进行改装，用阀控半主动减振器代替原车的被动减振器，并为其匹配好传感器与控制器，然后将控制算法植入到实车电控系统中，并完成系统标定；最后，根据国标平顺性以及操纵稳定性的实验方法进行道路实车试验，并与原车进行比较，试验结果表明改装车的平顺性和操纵稳定性均有较大地改善。
本文的主要贡献和创新点如下：
1）获得阀控半主动减振器外特性规律，阐明其外特性机理，建立可用于动力学计算的阀控半主动减振器外特性非参数模型；
2）采用无量纲化和综合加权的方法，建立用于动力学控制的7自由度车辆模型的评价指标；
3）建立7自由度车辆的混合控制算法及考虑27自由度车辆横向运动及纵向运动带来的侧倾和俯仰运动的混合控制算法，开发并集成控制器，并进行道路实车试验。
A suspension is the most important assembly of a vehicle, which is a general term forall force transfer between the body and the tire. Its main functions are as follows.1)transfer the force and torque acting on the tire to the body, including vertical force,longitudinal force and lateral force;2) relax the impact loads passed from the uneven road,damping the vibration caused by the impact loads;3) guiding the movement of the body andthe wheels, decided wheel alignment;4) control the body posture when the car roll or pitch.Hence, the design of the suspension must match the requirements for ride and handlingcharacteristics of full vehicle. However, the ride and handling of the vehicle need differentsuspension performance. To have good ride, the suspension must be soft, but to have goodhandling, the suspension must be hard. Contemporary automotive design philosophy issafety, comfort, energy saving and environment protection. And the pursuit of comfort andthe overall quality of the car is rising. Smart suspension can considering both ride andhandling, and can adapt to different driving conditions and different roads, is the currentfocus of attention. A semi-active suspension can make a good tradeoff during performance,energy consumption and manufacture cost. Hence, this dissertation expores thecharacteristics of a semi-active suspension with adjustable valve in order to improve thevehicle ride comfort, handling and stability. The main research contents are as follows:
1) The study of valve-controlled semi-active damper’s characteristics. First, theprinciple of the passive damper and a passive damper theory model considering thestructural parameters is presented and then, the structure and working principle of thevalve-controlled semi-active damper is presented and the structure and working principle ofthe actuator is also presented. Secondly, the external characteristics of valve-controlledsemi-active dampers was tested in the damper dynamometer machine, and the current andspeed showed their influences on the valve-controlled semi-active damper externalcharacteristic. The valve-controlled semi-active damper use inversely proportionalcontrol, at the same speed, the larger the current, the damping force is smaller, so we have a failsafe function, when the current is a constant, the greater the speed, the greater thedamping force. Finally, based on the results of the bench test, a neural network model isproposed to approximate the external characteristics of the valve-controlled semi-activedamper, the damper piston speed, piston displacement off the equilibrium position and thecurrent strength of the solenoid valve are the input of the neural network, numericalsimulation results show that the consistency of the non-parametric model match theexperimental results very well, so it can express the external characteristics valve-controlledsemi-active damper and can be used for dynamic analysis.
2) A comprehensive evaluation index for the performance of the7DOF (degrees offreedom) vehicle is proposed. Firstly, this dissertation expounds and analyzes theevaluation methods of the suspension characteristics systematically. Secondly, it builds afour-wheel incentive model for the stochastic road which considers the coherent of bothsides of wheel/road. Then, it establishes a7DOF vehicle model for the vehicle ride comfort,from which it derives the generalized acceleration of the whole vehicle model, the transferfunctions for the dynamic load and dynamic deflection; finally, builds the evaluation indexof7DOF vehicle model for the dynamic control using dimensionless and general weightedmethods.
3) The development of hybrid control algorithm of7DOF vehicle. This dissertationuses Matlab/Simulink to set up seven degree of freedom vehicle dynamics model. Themodel takes the vertical vibration of the vehicle into consideration, and at the same time itcan also express the pitching movement vehicle caused by different road excitation ofvehicle front-rear axle and the roll movement caused by different road excitation of right-leftvehicle wheels, and gets the derivation of the algorithm based on the Skyhook hybrid controlalgorithm, and puts the semi-active algorithm into the vehicle model. Then, it optimizesfeedback matrix in random road input and use numerical simulation method to study theoptimized semi-active model and the characteristics of optimal passive suspension. Acomparesion is presented between a passive vehicle and a vehicle with an adjustable vavleruns over a bump while the speed is36km/h, the peak value of vertical acceleration, rollacceleration and pitching acceleration all can be reduced more than30%. In other word,the semi-acive damper with adjustable valve can improve the vehicle performance significantly, but the effect will be decreased as speed increases. As a result, the correlationbetween control algorithm and the excitation frequency need to be explored in the further.
4) An advanced hybrid control algorithm for27DOF vehicle was developed andvalidated, considering the roll and pitch movement aroused by lateral movement andlongitudinal motion. With a27DOF vehicle model based on Carsim, an advanced controlalgorithm of pitch and roll for handling and stability conditions was established via theco-simulation between Matlab and Carsim. The effectiveness of the control algorithm wasverified by simulations of double lane change and emergency braking, and the optimal gaincoefficient K and Kp was obtained by co-simulation method. After then, a valve-controlledsemi-active damper and the controller were integrated and assembled on the test vehicle andthe advanced hybrid control algorithm were validated via the real road test, whichdemonstrated that the handling and ride comfort has significant improved.Major Innovations of the Dissertation:
1) The external characteristic of valve-controlled semi-active damper was obtained, thisdissertation clarifies its mechanism of external characteristics and establishes the externalcharacteristics non-parametric model of the valve controled semi-active damper which canbe used for dynamic analysis;
2) An evaluation index of seven degree of freedom of vehicle model for dynamicscontrol was proposed based on nondimensional and comprehensive weighted method;
3) A hybrid control algorithm of7DOF (degree of freedom) vehicle and a hybridcontrol algorithm for a27DOF vehicle considering the roll and pitch motions weredeveloped. And then, a valve-controlled semi-active damper and the controller wereintergrated and the advanced hybrid control algorithm is validated via the real road test.
1）阀控半主动减振器特性研究。首先分析了被动减振器的工作原理，建立了考虑减振器阀系结构参数的被动减振器理论模型；然后研究阀控半主动减振器的结构与工作原理，并细致地研究了执行元件电磁阀的结构和工作原理；其次，在减振器示功机测试了阀控半主动减振器的外特性，探明了电压强度和速度对其对阀控半主动减振器外特性的影响规律：该阀控半主动减振器采用反比例控制，在同一速度下，电压越大，阻尼力越小，具有失效保护的功能，当电压强度相同时，速度越大，阻尼力越大；最后，基于试验测试佳果，以减振器活塞的速度、活塞离开平衡位置的位移和电磁阀的电压强度作为神经网络的输入，采用神经网络模型来逼近阀控半主动减振器的外特性，数值模拟效果表明该非参数模型与试验结果的一致性很好，能表达阀控半主动减振器的外特性，可用于动力学分析。
2）建立车辆悬架性能的综合评价指标。首先系统地阐述和分析了悬架特性的评价方法；其次，建立了考虑左右车轮路面的相干性随机路面的四轮激励模型；然后，建立了用于车辆平顺性的7自由度模型，推导得到整车模型广义加速度、动载荷和动挠度的传递函数；最后采用无量纲化和综合加权的方法，建立用于动力学控制的7自由度车辆模型的评价指标。
3）建立7自由度车辆的混合控制算法。应用Matlab/Simulink建立样车的7自由度车辆动力学模型。模型考虑了车辆的垂向振动，同时还能表达前后轴路面激励不同引起的车辆的俯仰运动和左右轮路面激励不同引起的侧倾运动，推导了基于Skyhook算法的混合控制算法，并将半主动算法集成于整车模型中；然后，在随机路面输入下优化反馈矩阵，最后应用数值模拟的手段对比研究了优化后的半主动模型与被动最优悬架的特性。相对于最优被动悬架，采用混合控制算法的7自由度车辆以36km/h的速度通过凹坑时，其垂向加速度、侧倾加速度和俯仰加速度的峰值均能降低30%以上，过凸块的仿真结果表明，采用混合控制的阀控半主动悬架性能也有了较大地提升，但是其效果会随着车速的升高而减弱，这需要进一步探索控制算法与激励频率的相关性。
4）建立考虑27自由度车辆横向运动及纵向运动带来的侧倾和俯仰运动改进混合控制算法。应用Carsim建立样车的车辆动力学模型，采用Matlab与Carsim联合仿真的方法，建立了用于操稳工况的俯仰、侧倾的控制算法，利用双移线及紧急制动工况仿真验证控制算法的有效性，并通过联合仿真的手段获得最优的控制增益系数K、Kp然后，对某公司提供的试验车辆的悬架系统进行改装，用阀控半主动减振器代替原车的被动减振器，并为其匹配好传感器与控制器，然后将控制算法植入到实车电控系统中，并完成系统标定；最后，根据国标平顺性以及操纵稳定性的实验方法进行道路实车试验，并与原车进行比较，试验结果表明改装车的平顺性和操纵稳定性均有较大地改善。
本文的主要贡献和创新点如下：
1）获得阀控半主动减振器外特性规律，阐明其外特性机理，建立可用于动力学计算的阀控半主动减振器外特性非参数模型；
2）采用无量纲化和综合加权的方法，建立用于动力学控制的7自由度车辆模型的评价指标；
3）建立7自由度车辆的混合控制算法及考虑27自由度车辆横向运动及纵向运动带来的侧倾和俯仰运动的混合控制算法，开发并集成控制器，并进行道路实车试验。
A suspension is the most important assembly of a vehicle, which is a general term forall force transfer between the body and the tire. Its main functions are as follows.1)transfer the force and torque acting on the tire to the body, including vertical force,longitudinal force and lateral force;2) relax the impact loads passed from the uneven road,damping the vibration caused by the impact loads;3) guiding the movement of the body andthe wheels, decided wheel alignment;4) control the body posture when the car roll or pitch.Hence, the design of the suspension must match the requirements for ride and handlingcharacteristics of full vehicle. However, the ride and handling of the vehicle need differentsuspension performance. To have good ride, the suspension must be soft, but to have goodhandling, the suspension must be hard. Contemporary automotive design philosophy issafety, comfort, energy saving and environment protection. And the pursuit of comfort andthe overall quality of the car is rising. Smart suspension can considering both ride andhandling, and can adapt to different driving conditions and different roads, is the currentfocus of attention. A semi-active suspension can make a good tradeoff during performance,energy consumption and manufacture cost. Hence, this dissertation expores thecharacteristics of a semi-active suspension with adjustable valve in order to improve thevehicle ride comfort, handling and stability. The main research contents are as follows:
1) The study of valve-controlled semi-active damper’s characteristics. First, theprinciple of the passive damper and a passive damper theory model considering thestructural parameters is presented and then, the structure and working principle of thevalve-controlled semi-active damper is presented and the structure and working principle ofthe actuator is also presented. Secondly, the external characteristics of valve-controlledsemi-active dampers was tested in the damper dynamometer machine, and the current andspeed showed their influences on the valve-controlled semi-active damper externalcharacteristic. The valve-controlled semi-active damper use inversely proportionalcontrol, at the same speed, the larger the current, the damping force is smaller, so we have a failsafe function, when the current is a constant, the greater the speed, the greater thedamping force. Finally, based on the results of the bench test, a neural network model isproposed to approximate the external characteristics of the valve-controlled semi-activedamper, the damper piston speed, piston displacement off the equilibrium position and thecurrent strength of the solenoid valve are the input of the neural network, numericalsimulation results show that the consistency of the non-parametric model match theexperimental results very well, so it can express the external characteristics valve-controlledsemi-active damper and can be used for dynamic analysis.
2) A comprehensive evaluation index for the performance of the7DOF (degrees offreedom) vehicle is proposed. Firstly, this dissertation expounds and analyzes theevaluation methods of the suspension characteristics systematically. Secondly, it builds afour-wheel incentive model for the stochastic road which considers the coherent of bothsides of wheel/road. Then, it establishes a7DOF vehicle model for the vehicle ride comfort,from which it derives the generalized acceleration of the whole vehicle model, the transferfunctions for the dynamic load and dynamic deflection; finally, builds the evaluation indexof7DOF vehicle model for the dynamic control using dimensionless and general weightedmethods.
3) The development of hybrid control algorithm of7DOF vehicle. This dissertationuses Matlab/Simulink to set up seven degree of freedom vehicle dynamics model. Themodel takes the vertical vibration of the vehicle into consideration, and at the same time itcan also express the pitching movement vehicle caused by different road excitation ofvehicle front-rear axle and the roll movement caused by different road excitation of right-leftvehicle wheels, and gets the derivation of the algorithm based on the Skyhook hybrid controlalgorithm, and puts the semi-active algorithm into the vehicle model. Then, it optimizesfeedback matrix in random road input and use numerical simulation method to study theoptimized semi-active model and the characteristics of optimal passive suspension. Acomparesion is presented between a passive vehicle and a vehicle with an adjustable vavleruns over a bump while the speed is36km/h, the peak value of vertical acceleration, rollacceleration and pitching acceleration all can be reduced more than30%. In other word,the semi-acive damper with adjustable valve can improve the vehicle performance significantly, but the effect will be decreased as speed increases. As a result, the correlationbetween control algorithm and the excitation frequency need to be explored in the further.
4) An advanced hybrid control algorithm for27DOF vehicle was developed andvalidated, considering the roll and pitch movement aroused by lateral movement andlongitudinal motion. With a27DOF vehicle model based on Carsim, an advanced controlalgorithm of pitch and roll for handling and stability conditions was established via theco-simulation between Matlab and Carsim. The effectiveness of the control algorithm wasverified by simulations of double lane change and emergency braking, and the optimal gaincoefficient K and Kp was obtained by co-simulation method. After then, a valve-controlledsemi-active damper and the controller were integrated and assembled on the test vehicle andthe advanced hybrid control algorithm were validated via the real road test, whichdemonstrated that the handling and ride comfort has significant improved.Major Innovations of the Dissertation:
1) The external characteristic of valve-controlled semi-active damper was obtained, thisdissertation clarifies its mechanism of external characteristics and establishes the externalcharacteristics non-parametric model of the valve controled semi-active damper which canbe used for dynamic analysis;
2) An evaluation index of seven degree of freedom of vehicle model for dynamicscontrol was proposed based on nondimensional and comprehensive weighted method;
3) A hybrid control algorithm of7DOF (degree of freedom) vehicle and a hybridcontrol algorithm for a27DOF vehicle considering the roll and pitch motions weredeveloped. And then, a valve-controlled semi-active damper and the controller wereintergrated and the advanced hybrid control algorithm is validated via the real road test.
引文
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