考虑时滞的磁流变半主动悬架控制  

Control of Magneto-rheological Semi-active Suspension with Time Delay

作　　者：张志勇[1,2] 王建波 蒋文杰 李博浩 ZHANG Zhiyong;WANG Jianbo;JIANG Wenjie;LI Bohao(Hunan Provincial Key Laboratory of Intelligent Manufacturing Technology for High-performance Mechanical Equipment,Changsha University of Science and Technology,Changsha 410114 China;College of Automobile and Mechanical Engineering,Changsha University of Science and Technology,Changsha 410114 China)

机构地区：[1]机械装备高性能智能制造关键技术湖南省重点实验室,长沙理工大学,湖南长沙410114 [2]长沙理工大学汽车与机械工程学院,湖南长沙410114

出　　处：《西华大学学报（自然科学版）》2021年第2期39-46,共8页Journal of Xihua University:Natural Science Edition

基　　金：国家自然科学基金资助项目(51675057);湖南省教育厅资助科研项目(15B008)。

摘　　要：为改善车辆的舒适性,对考虑时滞的磁流变半主动悬架控制进行研究。首先根据鲁棒控制理论设计出能够获得悬架期望控制力的H∞控制律,然后建立能够反映期望控制力与控制电压关系的逆模型,实现主动控制到半主动控制转变。在控制策略中,针对控制系统存在的时滞问题,分别设计时滞独立和时滞依赖两个稳定性条件下的控制律;针对磁流变阻尼器难以建立解析形式的逆模型问题,采用BP神经网络建立期望控制力与控制电压关系。最后,开展半主动悬架控制性能验证。结果表明:时滞独立条件下悬架控制性能较保守,但稳定性高;时滞依赖条件下悬架控制性能优于时滞独立条件,但时滞边界对控制性能影响较大。In order to improve the comfort of the vehicle,the research on magnetorheological semi-active suspension control considering time delay is carried out.Firstly,according to the robust control theory,the H∞control method which can obtain the desired control force of the suspension was worked out.Then,the inverse model which can reflect the relationship between the desired control force and the control voltage was established,and the active control to semi-active control transition was realized.In the control strategy,for the time-delay problem of the control system,the control method under the two stability conditions of time-delay independence and time-delay dependence was obtained respectively.It is difficult to establish an inverse model of the analytical form for the magnetorheological damper.The BP neural network was utilized to setup the relationship between the desired control force and the control voltage.Finally,the semi-active suspension control performance verification was carried out.The results show that the suspension control performance is conservative under time-delay independent conditions,but the stability is high.The suspension control performance under time-delay dependent conditions is better than that under the time-delay independent conditions,but the time-delay boundary has great influence on the control performance.

关 键 词：磁流变阻尼器 半主动悬架 鲁棒H∞控制 时滞独立 时滞依赖 

分 类 号：U463.33[机械工程—车辆工程]