基于半主动悬架侧倾力矩分配的横摆稳定性控制
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- 英文论文题名：Control of the Yaw Stability Based on Roll Moment Distribution Via Semi-active Suspension
- 论文作者：姚嘉凌 ; 李智宏 ; 任杉
- 英文论文作者：Yao Jialing ; Li Zhihong ; Ren Shan ; College of Automobile and Traffic Engineering ; Nanjing Forestry University
- 年：2016
- 作者机构：南京林业大学汽车与交通工程学院;
- 论文关键词：半主动悬架 ; 磁流变减振器 ; 侧向稳定性 ; 变刚度变阻尼 ; 侧倾力矩分配
- 英文论文关键词：semi-active suspension ; magnetorheological damper ; lateral stability ; variable stiffness and damping ; roll moment distribution
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U463.33
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：6
- 文件大小：357k
- 原文格式：O
- 会议级别：全国
摘要
已有的利用阻尼可调半主动悬架进行侧倾力矩分配的控制策略缺乏有效的理论依据。借鉴调节阻尼以实现变刚度变阻尼装置的思路,将磁流变减振器(MRD)半主动悬架自身看作变刚度变阻尼的悬架系统,无须对结构进行修改。通过调节阻尼控制悬架的刚度以分配前轴和后轴的侧倾力矩,并以车体姿态3个方向的加速度最小以及中性转向为控制目标,设计侧倾力矩分配的非线性控制器以及控制车体姿态的3个模糊控制器。将侧倾力矩分配系数和模糊控制器的3个输出控制力相结合,通过解耦算法,使3个方向的控制力解耦成控制MRD的4个控制力。仿真试验证实了所提出的控制器不仅实现了良好的操纵性,同时也兼顾了平顺性。
Existing control schemes distribute damping forces between front and rear axles through semi-active suspension(SAS).However,these control schemes lack a theoretical foundation.Given that a new variable stiffness and damping system configuration may only require adjusting the damping force of a variable damper,this study considers an ordinary magnetorheological damper(MRD) SAS itself as a variable stiffness and variable damping suspension system.A novel control strategy is presented to consider the minimization of the body accelerations in three directions as well as the neutral steer as the control target.A nonlinear controller for the roll moment distribution and three fuzzy controllers for the control of the vehicle body attitude are designed.Through a decoupling arithmetic,the control forces in three directions are decoupled into four control forces generated by four MRDs.Simulation results demonstrate that the proposed control strategy can achieve both favorable handling stability and ride comfort.
Existing control schemes distribute damping forces between front and rear axles through semi-active suspension(SAS).However,these control schemes lack a theoretical foundation.Given that a new variable stiffness and damping system configuration may only require adjusting the damping force of a variable damper,this study considers an ordinary magnetorheological damper(MRD) SAS itself as a variable stiffness and variable damping suspension system.A novel control strategy is presented to consider the minimization of the body accelerations in three directions as well as the neutral steer as the control target.A nonlinear controller for the roll moment distribution and three fuzzy controllers for the control of the vehicle body attitude are designed.Through a decoupling arithmetic,the control forces in three directions are decoupled into four control forces generated by four MRDs.Simulation results demonstrate that the proposed control strategy can achieve both favorable handling stability and ride comfort.
引文
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[2]Daniel E Williams,Wassim M Haddad.Active suspension control to improve vehicle ride and handling[J].VEHICLE SYSTEM DYNAMICS,1997,28(1):1-24.
[3]Jun Wang,David A Wilson,Wenli Xu,David A Crolla.Integrated vehicle ride and steady-state handling control via active suspensions[J].International journal of vehicle design,2006,42(3-4):306-327.
[4]Mark O.Bodie,Aleksander Hac.Closed Loop Yaw Control of Vehicles Using Magneto-Rheological Dampers[C].SAE 2000 World Congress,Detroit,Michigan,2000,1-8.
[5]Georg Rill.Road Vehicle Dynamics:Fundamentals and Modeling[M],CRC Press,2011.
[6]Yanhai Xu,Mehdi Ahmadian.Improving the capacity of tire normal force via variable stiffness and damping suspension system[J].Journal of Terramechanics,2013,50(2):121-132.
[7]I.YOUN,A.HAC.Semi-active suspensions with adaptive capability[J].Journal of Sound and Vibration,1995,180(3):475-492.
[8]Yanqing Liu,Hiroshi Matsuhisa,Hideo Utsuno,Jeong Gyu Park.Vibration control by a variable damping and stiffness system with magnetorheological dampers[J].JSME International Journal,Series C,2006,49(2):411-417.
[9]Yanqing Liu,Hiroshi Matsuhisa,Hideo Utsuno,Jeong Gyu Park.Variable damping and stiffness vibration control with magnetorheological fluid dampers for two degree-offreedom system[J].JSME International Journal,Series C,2006,49(1):156-162.
[10]Yanqing Liu,Hiroshi Matsuhisa,Hideo Utsuno.Semiactive vibration isolation system with variable stiffness and damping control[J].Journal of Sound and Vibration,2008,313(1-2):16-28.
[11]Yanhai Xu,Mehdi Ahmadian,Renyun Sun.Improving Vehicle Lateral Stability Based on Variable Stiffness and Damping Suspension System via MR Damper[J].Ieee Transactions on Vehicular Technology,2014,63(3):1071-1078.
[12]Flavio Nardi,Nikolai Moshchuk,Jihan Ryu,Chandra Namuduri.Integrated Ride and Roll Control Using a Rotary Magneto-Rheological Damper[C].ASME 2010 International Mechanical Engineering Congress and Exposition,2010,41-45.
[13]陈杰平,冯武堂,郭万山,等.整车磁流变减振器半主动悬架变论域模糊控制策略[J].农业机械学报,2011,42(5):7-13+19.
[14]Fernando D Goncalves.Dynamic analysis of semi-active control techniques for vehicle applications[D].Blacksburg,Virginia,USA,Virginia Polytechnic Institute and State University,2001.
[15]Masato ABE.Trends of Intelligent Vehicle Dynamics Controls and Their Future[J].NTN TECHNICAL REVIEW,2013.
[16]Jo Yung Wong.Theory of ground vehicles[M],John Wiley&Sons,2001.
[17]Jean-Jacques E Slotine,Weiping Li.Applied nonlinear control[M],Prentice-hall Englewood Cliffs,NJ,1991.
[18]Kihong Park,Seung-Jin Heo.development of hardwarein-the-loop simulation system for design and validation of VDC logics[J].International Journal of the Korean society of precision Engineering,2003,4(3):28-35.
[19]Jialing Yao,Saied Taheri,Songmei Tian,Zhongnan Zhang,Liang Shen.A novel semi-active suspension design based on decoupling skyhook control[J].Journal of Vibroengineering,2014,16(3):1318-1325.
[20]Jialing Yao,Jiaqiang Zheng.Semi-active suspension system design for quarter-car model using model reference sliding mode control[C].Vehicular Electronics and Safety,2006,398-402.
[2]Daniel E Williams,Wassim M Haddad.Active suspension control to improve vehicle ride and handling[J].VEHICLE SYSTEM DYNAMICS,1997,28(1):1-24.
[3]Jun Wang,David A Wilson,Wenli Xu,David A Crolla.Integrated vehicle ride and steady-state handling control via active suspensions[J].International journal of vehicle design,2006,42(3-4):306-327.
[4]Mark O.Bodie,Aleksander Hac.Closed Loop Yaw Control of Vehicles Using Magneto-Rheological Dampers[C].SAE 2000 World Congress,Detroit,Michigan,2000,1-8.
[5]Georg Rill.Road Vehicle Dynamics:Fundamentals and Modeling[M],CRC Press,2011.
[6]Yanhai Xu,Mehdi Ahmadian.Improving the capacity of tire normal force via variable stiffness and damping suspension system[J].Journal of Terramechanics,2013,50(2):121-132.
[7]I.YOUN,A.HAC.Semi-active suspensions with adaptive capability[J].Journal of Sound and Vibration,1995,180(3):475-492.
[8]Yanqing Liu,Hiroshi Matsuhisa,Hideo Utsuno,Jeong Gyu Park.Vibration control by a variable damping and stiffness system with magnetorheological dampers[J].JSME International Journal,Series C,2006,49(2):411-417.
[9]Yanqing Liu,Hiroshi Matsuhisa,Hideo Utsuno,Jeong Gyu Park.Variable damping and stiffness vibration control with magnetorheological fluid dampers for two degree-offreedom system[J].JSME International Journal,Series C,2006,49(1):156-162.
[10]Yanqing Liu,Hiroshi Matsuhisa,Hideo Utsuno.Semiactive vibration isolation system with variable stiffness and damping control[J].Journal of Sound and Vibration,2008,313(1-2):16-28.
[11]Yanhai Xu,Mehdi Ahmadian,Renyun Sun.Improving Vehicle Lateral Stability Based on Variable Stiffness and Damping Suspension System via MR Damper[J].Ieee Transactions on Vehicular Technology,2014,63(3):1071-1078.
[12]Flavio Nardi,Nikolai Moshchuk,Jihan Ryu,Chandra Namuduri.Integrated Ride and Roll Control Using a Rotary Magneto-Rheological Damper[C].ASME 2010 International Mechanical Engineering Congress and Exposition,2010,41-45.
[13]陈杰平,冯武堂,郭万山,等.整车磁流变减振器半主动悬架变论域模糊控制策略[J].农业机械学报,2011,42(5):7-13+19.
[14]Fernando D Goncalves.Dynamic analysis of semi-active control techniques for vehicle applications[D].Blacksburg,Virginia,USA,Virginia Polytechnic Institute and State University,2001.
[15]Masato ABE.Trends of Intelligent Vehicle Dynamics Controls and Their Future[J].NTN TECHNICAL REVIEW,2013.
[16]Jo Yung Wong.Theory of ground vehicles[M],John Wiley&Sons,2001.
[17]Jean-Jacques E Slotine,Weiping Li.Applied nonlinear control[M],Prentice-hall Englewood Cliffs,NJ,1991.
[18]Kihong Park,Seung-Jin Heo.development of hardwarein-the-loop simulation system for design and validation of VDC logics[J].International Journal of the Korean society of precision Engineering,2003,4(3):28-35.
[19]Jialing Yao,Saied Taheri,Songmei Tian,Zhongnan Zhang,Liang Shen.A novel semi-active suspension design based on decoupling skyhook control[J].Journal of Vibroengineering,2014,16(3):1318-1325.
[20]Jialing Yao,Jiaqiang Zheng.Semi-active suspension system design for quarter-car model using model reference sliding mode control[C].Vehicular Electronics and Safety,2006,398-402.
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