主动悬架与多桥转向混合控制器的设计与仿真分析  

Design and simulation of hybrid controller of active suspension and multi-axle steering

作　　者：王欢[1] 高秀华[1] 杨铭[1] 杨圣印[1] 陈建凯[1] 

机构地区：[1]吉林大学机械科学与工程学院,长春130022

出　　处：《农业工程学报》2011年第1期208-214,共7页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国防科研(军工)项目(CNK-B04018);吉林大学创新基金资助项目(2004CX021);江苏省科技成果转化专项资金项目(BA2007038)

摘　　要：为了改善多桥车辆操纵稳定性和行驶平顺性,通过建立多桥车辆的5+2n自由度动力学模型,设计了主动悬架与多桥转向线性系统二次型最优控制(LQG)综合控制器。通过仿真试验,对比分析了采用与不采用综合控制器2种情况下,多桥车辆不同车速下对阶跃信号的各项性能指标的响应。结果表明:低速情况下,采用综合控制器较不采用控制器的多桥车辆侧偏角峰值减小0.03rad、横摆角速度峰值减小0.1rad/s、车身侧倾角峰值减小0.015rad、俯仰角峰值减小0.015rad、车身垂直加速度峰值减小0.3m/s2、轮胎动位移峰值减小0.009m;高速情况下,以上各性能指标峰值分别减小0.095rad、0.4rad/s、0.075rad、0.09rad、2.1m/s2、0.018m。多桥车辆采用综合控制器相对于不采用控制器时的操纵稳定性和行驶平顺性都有显著改善。In order to improve the handling stability and the ride performance of multi-axle vehicle,through building a 5＋2n degree of freedom multi-axle vehicle dynamic model,a LQG controller was designed. According to the simulation test,the responses of active suspension vehicle and passive suspension vehicle to the performance index of the step signal at low and high speed were analyzed and compared. Results of the analysis indicated that the peak side angle decreased by 0.03 rad,the peak vehicle yaw rate,by 0.1 rad/s,the peak rolling angle,by 0.015 rad,the peak pitching angle,by 0.015 rad,the peak vehicle vertical acceleration,by 0.3 m/s2 and the peak tire dynamic displacement,by 0.009 m,comparing active suspension vehicle with passive suspension vehicle at low-speed. At high-speed,the peak of performance indexes above respectively decreased by 0.095 rad,0.4 rad/s,0.075 rad,0.09 rad,2.1 m/s2 and 0.018 m. The handling stability and the ride performance of active suspension vehicle are improved significantly comparing with passive suspension vehicle.

关 键 词：车辆 混合控制 设计 多桥转向 主动悬架 零侧偏角控制策略 

分 类 号：U273[机械工程—车辆工程]