HMDV可控动惯性悬架优化设计与分数阶滑模控制研究

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振动与冲击 ›› 2025, Vol. 44 ›› Issue (1) : 70-81.

振动理论与交叉研究

HMDV可控动惯性悬架优化设计与分数阶滑模控制研究

杨晓峰*1,2，汪伟1,2，李谕1，刘昌宁1,2，沈钰杰2,3，刘雁玲1,2，张天一1,2

作者信息 +

Optimization design and fractional order sliding mode control of HMDV controllable dynamic inertial suspension#br#

YANG Xiaofeng*1,2, WANG Wei1,2, LI Yu1, LIU Changning1,2, SHEN Yujie2,3, LIU Yanling1,2, ZHANG Tianyi1,2#br#

Author information +

文章历史 +

摘要

针对轮毂电机驱动汽车(Hub motor driven vehicle，HMDV)因开关磁阻电机自重和电机气隙偏心导致产生的垂向振动负效应严重恶化车辆的平顺性和操稳性的问题，提出一种基于分数阶滑模控制的HMDV可控动惯性悬架优化设计方法。首先，在轮毂驱动电机气隙偏心产生的不平衡径向力基础上，建立HMDV四分之一混棚动惯性悬架，理论证明二阶混棚正实网络的优异性能；进而，采用HMDV二阶混棚正实网络作为参考模型，构建基于分数阶滑模控制理论的HMDV协调控制系统，在随机路面下进行平顺性仿真和分析；最后，进行HMDV四分之一悬架台架试验。试验结果表明，HMDV可控动惯性悬架与HMDV传统被动悬架相比，车身加速度均方根值、悬架动行程均方根值以及轮胎动载荷均方根值最大降幅分别为7.72%、30.64%以及11.54%。验证了所设计的HMDV可控动惯性悬架对于由开关磁阻电机造成的垂向振动负效应有优异的抑制性能。

Abstract

Aiming at the problem that the negative vertical vibration effect caused by switched reluctance motor (HMDV) dead weight and motor air gap eccentricity seriously deteriorates vehicle ride comfort and operating stability, an optimal design method of HMDV controllable dynamic inertial suspension based on fractional order sliding mode control was proposed. Firstly, based on the unbalanced radial force generated by the air gap eccentricity of the hub-driven motor, the HMDV quarter-frame dynamic inertial suspension was established, and the excellent performance of the second-order hybrid-hook positive real network was proved theoretically. Then, the HMDV coordination control system based on fractional order sliding mode control theory was constructed by using the HMDV second-order hybrid-hook positive real network as the reference model, and the ride comfort simulation and analysis were carried out under random pavement. Finally, the HMDV quarter suspension bench test was carried out. The test results show that compared with HMDV traditional passive suspension, the root-mean-square value of body acceleration, root-mean value of suspension dynamic travel and root-mean value of tire dynamic load decrease by 7.72%, 30.64% and 11.54% respectively. This validates the excellent suppression performance of the proposed HMDV controllable inertial suspension against the adverse effects of vertical vibrations caused by the switched reluctance motor.

导出引用

杨晓峰1, 2, 汪伟1, 2, 李谕1, 刘昌宁1, 2, 沈钰杰2, 3, 刘雁玲1, 2, 张天一1, 2. HMDV可控动惯性悬架优化设计与分数阶滑模控制研究[J]. 振动与冲击, 2025, 44(1): 70-81

YANG Xiaofeng1, 2, WANG Wei1, 2, LI Yu1, LIU Changning1, 2, SHEN Yujie2, 3, LIU Yanling1, 2, ZHANG Tianyi1, 2. Optimization design and fractional order sliding mode control of HMDV controllable dynamic inertial suspension#br#[J]. Journal of Vibration and Shock, 2025, 44(1): 70-81

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