考虑路面预瞄信息和参数不确定性的空气悬架半主动控制

张志勇1,2,王建波2,胡林1,2,黄彩霞3

振动与冲击 ›› 2020, Vol. 39 ›› Issue (23) : 21-29.

PDF(1023 KB)
PDF(1023 KB)
振动与冲击 ›› 2020, Vol. 39 ›› Issue (23) : 21-29.
论文

考虑路面预瞄信息和参数不确定性的空气悬架半主动控制

  • 张志勇1,2,王建波2,胡林1,2,黄彩霞3
作者信息 +

Semi-active control of air suspension considering pavement preview information and parametric uncertainty

  • ZHANG Zhiyong1,2, WANG Jianbo2, HU Lin1,2, HUANG Caixia3
Author information +
文章历史 +

摘要

针对带节流阻尼孔和附加气室的车辆空气悬架半主动控制问题,基于鲁棒控制理论,提出了考虑参数不确定性的车辆1/2空气悬架半主动控制策略;基于开关控制方法建立了期望控制力与节流阻尼孔面积的映射关系,实现阻尼力对期望控制力的跟踪;利用前轴车轮的路面信息作为后轴车轮的预瞄信息,建立了含路面预瞄信息的增广系统;开展了考虑路面预瞄信息和参数不确定性的空气悬架半主动控制系统数值仿真。结果表明,提出的控制策略不仅能改善悬架的平顺性,而且对参数不确定性具有较强的鲁棒性。

Abstract

Aiming at the semi-active control problem of vehicle air suspension with throttle damping hole and additional air chamber, based on the robust control theory, a semi-active control strategy for vehicle 1/2 air suspension considering parametric uncertainty was proposed.The mapping relationship between expected control force and orifice area was established based on the switch control method to realize the damping force’s tracking expected control force.The pavement information of the front axle wheel was taken as the preview information of the rear axle wheel to establish an augmentation system containing pavement preview information.Numerical simulation for the air suspension semi-active control system considering road surface preview information and parametric uncertainty was performed.Results showed that the proposed control strategy can not only improve the ride comfort of the air suspension, but also have stronger robustness to parametric uncertainty.

关键词

空气悬架 / 半主动控制 / 鲁棒控制 / 参数不确定性 / 轴距预瞄

Key words

air suspension / semi-active control / robust control / parametric uncertainty / wheelbase preview

引用本文

导出引用
张志勇1,2,王建波2,胡林1,2,黄彩霞3. 考虑路面预瞄信息和参数不确定性的空气悬架半主动控制[J]. 振动与冲击, 2020, 39(23): 21-29
ZHANG Zhiyong1,2, WANG Jianbo2, HU Lin1,2, HUANG Caixia3. Semi-active control of air suspension considering pavement preview information and parametric uncertainty[J]. Journal of Vibration and Shock, 2020, 39(23): 21-29

参考文献

[1] Zhu H, Yang J, Zhang Y, et al. Nonlinear dynamic model of air spring with a damper for vehicle ride comfort[J]. Nonlinear Dynamics, 2017, 89(4): 1-24.
[2] Shi J. Vehicle Ride Comfort Based on Matching Suspension System[J]. Chinese Journal of Mechanical Engineering, 2011, 24(2): 271-276.
[3] Tseng H E, Hrovat D. State of the art survey: active and emi-active suspension control[J]. Vehicle System Dynamics, 2015, 53(7): 1034-1062.
[4] 毕凤荣, 曹荣康, Xu Wang, 等. 基于MRE的变刚度变阻尼减振器设计研究[J]. 振动与冲击, 2019, 38(3): 192-198.
BI Feng-rong, CAO Rong-kang, XU Wang, et al.Variable stiffness and damping shock absorber design based on MRE[J].Journal of Vibration And Shock,2019, 38(3): 192-198.
[5] Li W, Chen Y, Zhang S, et al. Damping Characteristic Analysis and Experiment of Air Suspension with Auxiliary Chamber[J]. IFAC-PapersOnLine, 2018, 51(17): 166-172.
[6] Holtz M W, Van Niekerk J. Modelling and design of a novel air-spring for a suspension seat[M]. 329.  2010: 4354-4366.
[7] Alonso A, Gimenez J, G, Nieto J, et al. Air suspension characterisation and effectiveness of a variable area orifice[J]. Vehicle System Dynamics, 2010, 48(sup1): 271-286.
[8] Sun X, Cai Y, Chen L, et al. Vehicle height and posture control of the electronic air suspension system using the hybrid system approach[M]. 54.  2016: 1-25.
[9] Li Z, Ju L, Jiang H, et al. Imitated skyhook control of a vehicle laterally interconnected air suspension[J]. International Journal of Vehicle Design, 2017, 74(3): 204-230.
[10] 李仲兴, 琚龙玉, 江洪 等. 可变容积附加气室空气悬架的参数优化与控制[J]. 汽车工程, 2015, 37(8): 941-945.
LI Zhon-gxing, JU Long-yu, JIANG Hong, et al.Parameter Optimization and Control of Air Suspension with Adjustable Auxiliary Chamber[J].Automotive Engineering,2015, 37(8): 941-945.
[11] Li P, Lam J, Cheung K C. Multi-objective control for active vehicle suspension with wheelbase preview[J]. Journal of Sound and Vibration, 2014, 333(21): 5269-5282.
[12] Pang H, Wang Y, Zhang X, et al. Robust state feedback control design for active suspension system with time-varying input delay and wheelbase preview information[J]. Journal of the Franklin Institute, 2019, 356(4): 1899-1923.
[13] Xing X U, Zhou K, Zou N, et al. Hierarchical Control of Ride Height System for Electronically Controlled Air Suspension Based on Variable Structure and Fuzzy Control Theory[J]. Chinese Journal of Mechanical Engineering, 2015, 28(5): 945-953.
[14] Moheyeldein M M, Abd-El-Tawwab A M, Abd E-G K A, et al. An Analytical Study of the Performance Indices of Air Spring Suspensions Over the Passive Suspension[J]. Beni-Suef University journal of basic and applied sciences, 2018, 7(4): 525-534.
[15] 宋刚, 许长城. 考虑控制时滞的车辆主动悬架随机预瞄控制[J]. 农业机械学报, 2013, 44(6): 1-7.
SONG Gang, XU Chang-cheng. Stochastic Optimal Preview Control of Active Vehicle Suspension with Time-delay Consideration[J]. Transactions of The Chinese Society of Agricultural Machinery, 2013, 44(6): 1-7.
[16] Li P, Lam J, Cheung K C. Velocity-dependent multi-objective control of vehicle suspension with preview measurements[J]. Mechatronics, 2014, 24(5): 464-475.
[17] 陈长征, 王刚, 于慎波. 考虑时变输入时滞及频段约束的车辆主动悬架预瞄控制[J]. 机械工程学报, 2016, 52(16): 124-131.
CHEN Chang-zheng, WANG Gang, YU Shen-bo. Control of vehicle active suspensions with time-varying input delay and frequency band constraints[J]. Chinese Journal of Mechanical Engineering, 2016, 52(16): 124-131.
[18] Aristidou P, Lebeau S, Cutsem T V. Power System Dynamic Simulations Using a Parallel Two-Level Schur-Complement Decomposition[J]. IEEE Transactions on Power Systems, 2016, 31(5): 3984-3995.
[19] Witczak M, Buciakowski M, Puig V, et al. An LMI approach to robust fault estimation for a class of nonlinear systems[J]. International Journal of Robust & Nonlinear Control, 2016, 26(7): 1530-1548.
[20] Ning D, Sun S, Du H, et al. Integrated active and semi-active control for seat suspension of a heavy duty vehicle[J]. Journal of Intelligent Material Systems and Structures, 2018, 29(1): 91-100.
[21] 张磊, 张进秋, 彭志召, 等.车辆半主动悬架改进型天棚阻尼控制算法[J]. 汽车工程, 2015, 37(8): 931-935.
Zhang Lei, Zhang Jin-qiu, Peng Zhi-zhao, et al. Improved Sky-Hook Damping Control Algorithm for Semi-active Vehicle Suspensions[J]. Automotive Engineering, 2015, 37(8): 931-935.
[22] Sun W, Ye Z, Li J, et al. Active Suspension Control With Frequency Band Constraints and Actuator Input Delay[J]. IEEE Transactions on Industrial Electronics, 2012, 59(1): 530-537.

PDF(1023 KB)

Accesses

Citation

Detail

段落导航
相关文章

/