基于T-S模糊方法的车辆主动悬架多目标控制研究  

Study on Multi-objective Control of Vehicle Active Suspension Based on T-S Fuzzy Method

作　　者：周辰雨[1] 周猛 余强[1] 赵轩[1] 张硕[1] ZHOU Chen-yu;ZHOU Meng;YU Qiang;ZHAO Xuan;ZHANG Shuo(School of Automobile,Chang’an University,Xi’an Shaanxi 710064,China)

机构地区：[1]长安大学汽车学院,陕西西安710064

出　　处：《公路交通科技》2021年第10期144-152,共9页Journal of Highway and Transportation Research and Development

基　　金：中央高校基本科研业务费项目(300102220114,300102229105);陕西省自然科学基础研究计划一般项目(青年)(2020JQ-364)。

摘　　要：为了研究因曲线运动引起的车辆侧翻及防测翻控制方法,提升车辆在不平整道路上的平顺性及紧急避障转向操纵下侧倾稳定性,采用Takagi-Sugeno(T-S)模糊建模方法,设计了主动悬架自适应多目标鲁棒控制策略。分析了基于车辆运动状态的模糊隶属度函数选择方法,当车辆直线行驶或动挠度较小时,保证车辆的行驶平顺性,当车辆发生极限转向或动挠度较大时,限制悬架相对运动量,增强对车身的垂向支撑。以优化加速度H_(∞)性能及悬架动挠度为控制目标,通过使用并行分布补偿方法将结果优化问题转换为线性矩阵不等式求解问题,确定反馈控制增益。采用自适应鲁棒控制(Aaptive Robust Control-ARC)保证系统在非线性、不确定性下,控制力跟踪的鲁棒性。通过SIMULINK及CARSIM联合仿真对主动悬架平顺性及侧倾稳定性控制效果进行验证,结果表明:该控制方法可以有效提升在良好路面正常行驶工况下车辆的平顺性,和被动悬架相比,小激励工况下,其加速度峰值降低了70%以上,在大激励下动挠度峰值相比被动悬架降低了15%以上。在随机路面输入下,车辆质心加速度均方根值相较被动悬架降低了4%以上,后轴悬架动挠度峰值降低近20%。当车辆发生侧翻危险工况时,基于T-S Fuzzy的主动悬架可以有效地增加车辆悬架支持力,减小车辆侧倾角,避免车辆发生侧翻。In order to study the anti-rollover control method and rollover accidents caused by curves motion,improve the ride comfort of vehicle on uneven road and the roll stability of emergency obstacle avoidance steering maneuver,an adaptive multi-objective robust control strategy of active suspension is designed by using Takagi-Sugeno(T-S)fuzzy modeling method.The method for selecting fuzzy membership function based on the vehicle motion state is analyzed.When the vehicle travels in a straight line or the dynamic deflection is small,the ride comfort of the vehicle is ensured.When the vehicle undergoes extreme steering or the dynamic deflection is large,the relative movement of the suspension is restricted to enhance the vertical support of the vehicle body.Taking the optimized acceleration H_(∞)performance and suspension dynamic deflection as the optimization control objective,the result optimization is converted into a linear matrix inequality solution to determine the feedback control gain by using the parallel distributed compensation method.The robustness of the control force tracking under the system’s nonlinear and uncertainty is ensured by using adaptive robust inner loop control(ARC).The control effects of active suspension ride comfort and roll stability are verified by Simulinkand CARSIMco-simulation.The result shows that(1)The control method can effectively improve the vehicle ride comfort under normal driving condition on good road.Compared with passive suspension,its peak acceleration is reduced by more than 70%under small excitation condition,and its peak dynamic deflection is reduced by more than 15%under large excitation.(2)Under random road input,the root mean square acceleration of the vehicle’s center of mass is reduced by 4%compared with the passive suspension,and the peak suspension dynamic deflection of rear axle is reduced by 20%compared with the passive suspension.(3)When the vehicle rolls dangerously,the active suspension based on T-S Fuzzy can effectively increase the support force

关 键 词：汽车工程 H_(∞)控制 T-S模糊技术 车辆侧倾稳定性 多目标控制 

分 类 号：U461.1[机械工程—车辆工程]