汽车磁流变半主动悬架系统的7+k自由度动力学模型与模态控制  

The 7+k DOF Vehicle Dynamic Model and Modal Space Control

作　　者：王波[1] 王荣秀[2] 殷学纲[1] 陈伟民[1] 廖昌荣[1] 余淼[1] 

机构地区：[1]重庆大学 [2]重庆工商大学,重庆400067

出　　处：《中国机械工程》2006年第24期2631-2634,2638,共5页China Mechanical Engineering

基　　金：国家自然科学基金资助重点项目(51035030);重庆市自然科学基金资助重点项目(048414);重庆工学院博士基金资助项目(2004ZD89)

摘　　要：在全车7自由度模型的基础上,提出了附加司机与乘员-座椅系统的7+k自由度汽车动力学模型,并给出了在此模型上安装有4个磁流变可控阻尼器的半主动悬架系统的闭环动力学方程。利用独立模态与耦合模态二次优化控制原理,对系统进行了半主动控制律设计。以小轿车的11自由度模型为例进行数字仿真计算分析,说明了采用7+k自由度车辆动力学模型的合理性以及采用模态控制方法对其进行控制律设计的优点及其良好的总体控制效果。Based on the 3 D vehicle model with 7 degrees of freedom, the dynamic model with 7＋ k degrees of freedom was introduced for the comfort analysis. In such a model, the influences due to the existence of the passengers, including the drivers, and their seats were considered and represented by k mass-spring subsystems incorporated into the 3-D model. With this model, the closed loop dy namic mathematical model was derived to simulate the dynamic behavior of the system. To design the optimal semi-active control rules, the modal space control method, independent modal space control and coupled modal space control, and the linear quadrate optimal theory （LQR） were applied. Numerical examples of a car with 11 degrees of freedom were configurated to investigate validities of this ap proach. The results obtained from the numerical simulation demonstrate the applicability and suitability of both the 3-D vehicle model with 7＋k degrees of freedom and the modal space control method.

关 键 词：汽车 磁流变阻尼器 半主动悬架 振动 模态控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]