基于磁流变阻尼器的汽车悬架系统切换控制
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摘要
随着社会的发展和技术的进步，人们对汽车行驶舒适性提出了更高的要求，而悬架系统的减振效果一直是影响舒适性的关键性因素。上个世纪磁流变阻尼器的出现促进了减振技术的新发展，它具有抗干扰能力强、响应速度快和能量消耗低等优点，为其在汽车悬架系统中的应用奠定了物理基础。然而由于磁流变阻尼器具有复杂的非线性物理特征，目前基于磁流变阻尼器悬架系统的控制多采用智能控制算法和天棚控制策略，但是智能控制算法存在控制精度低，频响速度慢等缺点，而天棚控制策略未能充分利用磁流变阻尼器输出库伦力连续可控的优点，难于进一步改善磁流变阻尼器悬架系统的性能。本论文针对如何解决目前控制策略存在的问题展开研究。
论文首先讨论了磁流变阻尼器悬架系统模型建立问题。在系统建模中，基于Bingham模型提出了一种新的磁流变阻尼力的处理方法，该方法仅将其中同速度方向有关而与速度大小无关的库伦力单独分离出来考虑，使磁流变库伦力对于悬架系统而言不仅在形式上而且在某些特定状态条件下等效为一个主动执行力；然后又提出一种磁流变库伦力静态非线性的反函数拟合串联校正线性化方法，该方法先对磁流变库伦力关于其控制电流的复杂非线性函数的反函数进行多项式拟合，再将这种拟合处理环节串入磁流变阻尼器控制电流输入通道，从而消除了磁流变阻尼器库伦力复杂非线性给悬架系统控制带来的困扰；最后基于以上处理，从控制系统角度出发对磁流变阻尼器悬架系统进行了深入的理论分析，并建立了相对完善的磁流变阻尼器悬架系统的控制系统模型，此外结合车辆行驶时的状况，建立了扰动模型和舒适性评价指标，为磁流变阻尼器悬架系统的控制和性能评价奠定了基础。
其次本文系统地研究了天棚控制和被动悬架系统的车辆行驶平顺性、舒适性和操纵稳定性，提出了库伦力多分段悬架系统切换控制方法，该方法综合了天棚控制和被动悬架系统的优点。数值仿真结果表明，该方法不仅能够获得比天棚控制方法更好的车辆行驶平顺性、舒适性，而且也能获得比被动悬架系统更优的车辆操纵稳定系。
进一步针对具有饱和及不确定性的磁流变阻尼器悬架系统，提出了一种基于状态反馈闭环控制的多反馈矩阵切换控制方法，并利用公共李雅普诺夫函数对切换系统进行了稳定性分析和证明。该方法针对磁流变悬架系统的运行特性，分别设计三种不同状态反馈矩阵，其中一个闭环控制子系统的状态反馈矩阵根据H∞性能指标最优来设计，以保证悬架系统切换到此闭环控制模式时能获得最佳的减振性能；然后设计一个切换控制律，使悬架系统运行于不同的状态反馈闭环控制模式，确保磁流变悬架系统在任何运行状态下都能为车辆提供良好的行驶平顺性和乘员乘坐舒适性。
此外，由于在实际工程中有些状态变量往往难于测量，限制了状态反馈矩阵切换控制在实际工程中的应用，为此本文针对具有饱和及不确定性的磁流变阻尼器悬架系统提出了一种多输出反馈参数切换控制方法。该方法根据设计的切换控制律使悬架系统在三种不同闭环子系统控制模式间交替切换以确保车辆具有良好的行驶平顺性。其中一个闭环控制子系统设计时先基于可降低求解保守性的ILMI技术将以H∞性能优化设计的BMI约束条件等效转化为LMI约束条件，然后采用交替迭代方法求解出其静态输出反馈控制参数，以保证悬架系统运行在此闭环控制模式时能获得最佳的减振性能。数值仿真结果表明，多输出反馈参数切换控制方法对悬架系统的减振效果有明显作用。
论文最后，设计了磁流变阻尼器悬架系统减振实验台，针对具有饱和及不确定性的磁流变阻尼器悬架系统进行了基于状态反馈矩阵切换控制的半物理仿真实验。实验结果表明，本文所提出磁流变阻尼器悬架系统的控制方法切实有效，并有可能在将来的实际工程得到成功应用。
With the development of society and the advances in technology, people havehigher requirement for vehicle riding comfort, while the reducing vibration ofsuspension systems always is a key factor that affects the improving of thisperformance. In the last century, the invention of a megnetorheological damperpromotes the development of the reducing vibration techniques. Themegnetorheological damper has many advantages such as strong anti-interferencecapability, fast response and low energy consumption and so on. This presents achance to its application in the vehicle suspension system. Since themegnetorheological damper has complex nonlinear physical character, the controlsystem of the suspension system based on a megnetorheological damper usuallyadopt the strategy of the intelligent control or the Skyhook control, but theintelligent control algorithm has some disadvantages such as low control precisionand slowly frequency response and so on, and the Skyhook control strategy hasfailed to make full use of the merit that the coulomb force of a megnetorheologicaldamper can be continuous controlled, so it is difficult to further improve theperformance of the megnetorheological suspension system based on the intelligentcontrol or the Skyhook control. This thesis will research how to solve the problemsexisting in the current control strategies.
In this thesis, that how to establish the model of the suspension system basedon the megnetorheological damper is discussed firstly. In the processes ofestablishing model, a new processing method that handles megnetorheologicaldamping force in Bingham model is proposed. This method separates the coulombforce only related with the speed direction from megnetorheological damping forceto make megnetorheological coulomb force for the suspension system be equivalentto an active execution force in form and under some particular state conditions. Andthen a linearization method is given, which introduce the fitting function of the static nonlinear inverse function of megnetorheological coulomb force to the frontof the megnetorheological damper so as to eliminate the complex nonlinear. Finally,based on the control system point of view and according to the above processing,the thorough theoretical analysis of the megnetorheological damper suspensionsystem is presented and a relatively perfect control system model of themegnetorheological damper suspension system is established. In addition,according to the condition of road surface, a perturbation model and a comfortevaluation index are set up. This builds the foundation for the control systemanalysis and performance evaluation of the suspension system with themegnetorheological damper.
Secondly, the vehicle riding comfort and handing stability of the suspensionsystem with the Skyhook control and the passive suspension system aresystematically studied in this thesis, and then multiple segmented coulomb forceswitched control method is put forward, this method takes advantages of both theSkyhook control and the passive suspension. The numerical simulation results showthat this method not only can gain vehicle riding comfort better than the Skyhookcontrol but also can obtain vehicle handing stability better than the passivesuspension system.
Furthermore, aimed at the megnetorheological damper suspension system withinput saturation and uncertain, put forward a multiple feedback matrix switchedcontrol method based on the state feedback closed loop control and the stability ofthis switched control system has be analyzed and proved by common Lyapunovfunction. Based on the running characteristics of the megnetorheological dampersuspension system, three different state feedback matrixes, one of the feedbackmatrixes can let the corresponding closed-loop sub-system obtain the optimal H∞performance thereby ensure that the suspension system under this closed loopcontrol mode can get the best vibration reduction performance, are designedrespectively. Then according to the state running track of the suspension system todesign a switched law to guarantee the suspension system can provide vehicle with better riding comfort in any switched state.
In addition, considering some state variables are often difficult to be measuredin the actual engineering, which limits the switched control based on the statefeedback matrix switching be used in the practical engineering, for this reason, anew control method based on multiple output feedback parameters switching isproposed for the megnetorheological damper suspension system with the inputsaturation and uncertain parameters in this thesis. The method, according to thedesigned switching control law, lets the suspension system alternately run underthree kinds of closed-loop sub-system control modes to ensure better rideperformance of the vehicle. Using ILMI technology which reduces the solvingconservatism, the BMI constraints based on H∞optimization performance istransformed into LMI constraints. Then by the alteration iteration method, one ofthe closed-loop control sub-systems static output feedback controller parameters aregot to ensure the suspension system running in this closed-loop control mode canobtain the best vibration reduction performance. The numerical simulation resultsshow that the control method based on the multiple output feedback parametersswitching has obvious effect on the vibration reduction of the suspension system.
Lastly, the vibration experiment bench of the megnetorheological dampersuspension system is designed, and then the semi-physical simulation experimenthas been done for the megnetorheological damper suspension system based on statefeedback matrixes switched control. Experimental results show that the presentedswitched control method for the megnetorheological damper suspension system iseffective and is likely to be successfully applied to practical engineering in thefuture.
论文首先讨论了磁流变阻尼器悬架系统模型建立问题。在系统建模中，基于Bingham模型提出了一种新的磁流变阻尼力的处理方法，该方法仅将其中同速度方向有关而与速度大小无关的库伦力单独分离出来考虑，使磁流变库伦力对于悬架系统而言不仅在形式上而且在某些特定状态条件下等效为一个主动执行力；然后又提出一种磁流变库伦力静态非线性的反函数拟合串联校正线性化方法，该方法先对磁流变库伦力关于其控制电流的复杂非线性函数的反函数进行多项式拟合，再将这种拟合处理环节串入磁流变阻尼器控制电流输入通道，从而消除了磁流变阻尼器库伦力复杂非线性给悬架系统控制带来的困扰；最后基于以上处理，从控制系统角度出发对磁流变阻尼器悬架系统进行了深入的理论分析，并建立了相对完善的磁流变阻尼器悬架系统的控制系统模型，此外结合车辆行驶时的状况，建立了扰动模型和舒适性评价指标，为磁流变阻尼器悬架系统的控制和性能评价奠定了基础。
其次本文系统地研究了天棚控制和被动悬架系统的车辆行驶平顺性、舒适性和操纵稳定性，提出了库伦力多分段悬架系统切换控制方法，该方法综合了天棚控制和被动悬架系统的优点。数值仿真结果表明，该方法不仅能够获得比天棚控制方法更好的车辆行驶平顺性、舒适性，而且也能获得比被动悬架系统更优的车辆操纵稳定系。
进一步针对具有饱和及不确定性的磁流变阻尼器悬架系统，提出了一种基于状态反馈闭环控制的多反馈矩阵切换控制方法，并利用公共李雅普诺夫函数对切换系统进行了稳定性分析和证明。该方法针对磁流变悬架系统的运行特性，分别设计三种不同状态反馈矩阵，其中一个闭环控制子系统的状态反馈矩阵根据H∞性能指标最优来设计，以保证悬架系统切换到此闭环控制模式时能获得最佳的减振性能；然后设计一个切换控制律，使悬架系统运行于不同的状态反馈闭环控制模式，确保磁流变悬架系统在任何运行状态下都能为车辆提供良好的行驶平顺性和乘员乘坐舒适性。
此外，由于在实际工程中有些状态变量往往难于测量，限制了状态反馈矩阵切换控制在实际工程中的应用，为此本文针对具有饱和及不确定性的磁流变阻尼器悬架系统提出了一种多输出反馈参数切换控制方法。该方法根据设计的切换控制律使悬架系统在三种不同闭环子系统控制模式间交替切换以确保车辆具有良好的行驶平顺性。其中一个闭环控制子系统设计时先基于可降低求解保守性的ILMI技术将以H∞性能优化设计的BMI约束条件等效转化为LMI约束条件，然后采用交替迭代方法求解出其静态输出反馈控制参数，以保证悬架系统运行在此闭环控制模式时能获得最佳的减振性能。数值仿真结果表明，多输出反馈参数切换控制方法对悬架系统的减振效果有明显作用。
论文最后，设计了磁流变阻尼器悬架系统减振实验台，针对具有饱和及不确定性的磁流变阻尼器悬架系统进行了基于状态反馈矩阵切换控制的半物理仿真实验。实验结果表明，本文所提出磁流变阻尼器悬架系统的控制方法切实有效，并有可能在将来的实际工程得到成功应用。
With the development of society and the advances in technology, people havehigher requirement for vehicle riding comfort, while the reducing vibration ofsuspension systems always is a key factor that affects the improving of thisperformance. In the last century, the invention of a megnetorheological damperpromotes the development of the reducing vibration techniques. Themegnetorheological damper has many advantages such as strong anti-interferencecapability, fast response and low energy consumption and so on. This presents achance to its application in the vehicle suspension system. Since themegnetorheological damper has complex nonlinear physical character, the controlsystem of the suspension system based on a megnetorheological damper usuallyadopt the strategy of the intelligent control or the Skyhook control, but theintelligent control algorithm has some disadvantages such as low control precisionand slowly frequency response and so on, and the Skyhook control strategy hasfailed to make full use of the merit that the coulomb force of a megnetorheologicaldamper can be continuous controlled, so it is difficult to further improve theperformance of the megnetorheological suspension system based on the intelligentcontrol or the Skyhook control. This thesis will research how to solve the problemsexisting in the current control strategies.
In this thesis, that how to establish the model of the suspension system basedon the megnetorheological damper is discussed firstly. In the processes ofestablishing model, a new processing method that handles megnetorheologicaldamping force in Bingham model is proposed. This method separates the coulombforce only related with the speed direction from megnetorheological damping forceto make megnetorheological coulomb force for the suspension system be equivalentto an active execution force in form and under some particular state conditions. Andthen a linearization method is given, which introduce the fitting function of the static nonlinear inverse function of megnetorheological coulomb force to the frontof the megnetorheological damper so as to eliminate the complex nonlinear. Finally,based on the control system point of view and according to the above processing,the thorough theoretical analysis of the megnetorheological damper suspensionsystem is presented and a relatively perfect control system model of themegnetorheological damper suspension system is established. In addition,according to the condition of road surface, a perturbation model and a comfortevaluation index are set up. This builds the foundation for the control systemanalysis and performance evaluation of the suspension system with themegnetorheological damper.
Secondly, the vehicle riding comfort and handing stability of the suspensionsystem with the Skyhook control and the passive suspension system aresystematically studied in this thesis, and then multiple segmented coulomb forceswitched control method is put forward, this method takes advantages of both theSkyhook control and the passive suspension. The numerical simulation results showthat this method not only can gain vehicle riding comfort better than the Skyhookcontrol but also can obtain vehicle handing stability better than the passivesuspension system.
Furthermore, aimed at the megnetorheological damper suspension system withinput saturation and uncertain, put forward a multiple feedback matrix switchedcontrol method based on the state feedback closed loop control and the stability ofthis switched control system has be analyzed and proved by common Lyapunovfunction. Based on the running characteristics of the megnetorheological dampersuspension system, three different state feedback matrixes, one of the feedbackmatrixes can let the corresponding closed-loop sub-system obtain the optimal H∞performance thereby ensure that the suspension system under this closed loopcontrol mode can get the best vibration reduction performance, are designedrespectively. Then according to the state running track of the suspension system todesign a switched law to guarantee the suspension system can provide vehicle with better riding comfort in any switched state.
In addition, considering some state variables are often difficult to be measuredin the actual engineering, which limits the switched control based on the statefeedback matrix switching be used in the practical engineering, for this reason, anew control method based on multiple output feedback parameters switching isproposed for the megnetorheological damper suspension system with the inputsaturation and uncertain parameters in this thesis. The method, according to thedesigned switching control law, lets the suspension system alternately run underthree kinds of closed-loop sub-system control modes to ensure better rideperformance of the vehicle. Using ILMI technology which reduces the solvingconservatism, the BMI constraints based on H∞optimization performance istransformed into LMI constraints. Then by the alteration iteration method, one ofthe closed-loop control sub-systems static output feedback controller parameters aregot to ensure the suspension system running in this closed-loop control mode canobtain the best vibration reduction performance. The numerical simulation resultsshow that the control method based on the multiple output feedback parametersswitching has obvious effect on the vibration reduction of the suspension system.
Lastly, the vibration experiment bench of the megnetorheological dampersuspension system is designed, and then the semi-physical simulation experimenthas been done for the megnetorheological damper suspension system based on statefeedback matrixes switched control. Experimental results show that the presentedswitched control method for the megnetorheological damper suspension system iseffective and is likely to be successfully applied to practical engineering in thefuture.
引文
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