基于能量分析的自供能式电磁混合悬架分层协调控制

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摘要为了在保证减振性能的同时提高主动悬架的能量回收性能，提出一种基于电磁混合作动器的自供能式主动悬架系统，采用分层协调切换控制策略，包括上层控制器和下层控制器。在考虑电机损耗的情况下分析作动器的能量流动状态，得出自供能判据，设计下层非线性双闭环控制器通过馈能/供能电路实现对作动器的控制；根据对下层系统的分析，设计拥有主动、半主动、馈能三种模式的上层协调切换控制器。在MATLAB/Simulink环境中对控制策略有效性进行仿真验证，并分析电磁混合主动悬架性能，结果表明，所提出的悬架系统动态性能与无能量回收功能的主动悬架基本一致，且储能模块的平均功率小于0，符合自供能判据，在该控制策略下悬架系统可实现自供能。

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	寇发荣
	李孟欣
	贺嘉杰
	许家楠
	武江浩

关键词 ：电磁混合式悬架, 能量流动分析, 协调切换, 能量回收, 非线性双闭环控制

Abstract：In order to ensure the damping performance and improve the energy recovery performance of active suspension, a self powered active suspension system based on electromagnetic hybrid actuator is proposed, which adopts hierarchical coordinated switching control strategy, including upper controller and lower controller. Considering the motor loss, the energy flow state of the actuator is analyzed, and the self energy supply criterion is obtained. The lower nonlinear double closed-loop controller is designed to control the actuator through the energy feed / energy supply circuit; According to the analysis of the lower system, the upper coordinated switching controller with active, semi-active and energy feedback modes is designed. The effectiveness of the control strategy is simulated and verified in Matlab / Simulink environment, and the performance of electromagnetic hybrid active suspension is analyzed. The results show that the dynamic performance of the proposed suspension system is basically consistent with the active suspension without energy recovery function, and the average power of the energy storage module is less than 0, which conforms to the self energy supply criterion. Under this control strategy, the suspension system can realize self energy supply.

Key words： Electromagnetic hybrid suspension Energy flow analysis Coordinated switching Energy recovery Nonlinear double closed loop control

收稿日期: 2022-05-18 出版日期: 2023-06-28

引用本文:

寇发荣，李孟欣，贺嘉杰，许家楠，武江浩. 基于能量分析的自供能式电磁混合悬架分层协调控制[J]. 振动与冲击, 2023, 42(12): 98-108.
KOU Farong，LI Mengxin，HE Jiajie，XU Jianan，WU Jianghao. Layered coordinated control of self-powered electromagnetic hybrid suspension based on energy analysis. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(12): 98-108.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I12/98

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