整车半主动悬架系统的姿态补偿控制策略研究  

Research on Attitude Compensation Control Strategy of Vehicle Semi-Active Suspension System

作　　者：吴麟麟[1] 许春妞 汪若尘[1] 丁仁凯[1] WU Linlin;XU Chunniu;WANG Ruochen;DING Renkai(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2021年第11期1-9,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金面上项目(51575240)。

摘　　要：针对车辆运动过程中产生的车身姿态恶化问题,设计一种基于姿态补偿的整车半主动悬架控制方法。针对车身垂向运动以及俯仰和侧倾运动,分别采用天棚控制及姿态补偿控制:首先根据车身纵向以及侧向加速度求得所需俯仰、侧倾补偿力,然后对整车系统进行模态分析分别计算出车身俯仰及侧倾能量并进行比较,从而进行补偿力权重系数的计算及分配,最后将天棚控制力以及姿态补偿力这两部分力合成为减振器阻尼力,电流驱动磁流变减振器输出阻尼力至悬架系统,从而达到对车身姿态进行控制的效果。仿真结果表明:C级路面下车身加速度、车身俯仰角加速度以及侧倾角加速度分别改善了18.3%、21.2%、18.7%;凸块路面下车辆车身加速度、最大俯仰角分别改善了20.8%、20.5%,且先于被动悬架0.72 s恢复稳态。In order to improve the vehicle body attitude deterioration during vehicle motion,a vehicle semi-active suspension control method based on attitude compensation was designed.The skyhook control method was adopted for the vertical movement of vehicle body during vehicle motion,and the attitude compensation control method was adopted for the pitch and roll movement of the vehicle body.The skyhook control mainly uses the damping force generated by the actuator added between the sprung mass and the unsprung mass to equivalent the virtual skyhook to generate the damping force.The attitude compensation force is mainly divided into longitudinal and lateral damping forces.During vehicle motion,firstly,the required pitch and roll compensation force was calculated according to the longitudinal and lateral acceleration of the vehicle body,and then the pitch and roll energy of the vehicle body were calculated and compared through the modal analysis of the vehicle semi-active suspension system.According to the comparison results,the weight coefficients of pitch and roll compensation force were calculated and distributed respectively,At this time,the pitch and roll attitude compensation forces were the attitude compensation forces calculated according to the longitudinal and lateral acceleration of the vehicle body multiplied by their respective compensation force weight coefficients.Finally,the damping force generated by the vertical skyhook control and the pitch and roll attitude compensation forces were combined into the required damper damping force of vehicle semi-active suspension system at this time,The current drives the MR damper to output the required damping force to the semi-active suspension system,so as to control the vertical,pitch and roll attitude of the vehicle body.The simulation results show that the attitude deterioration of the vehicle using the attitude compensation control algorithm is better improved under the condition of driving at a constant speed of 20 m/s under the C-level road surface.Compared wi

关 键 词：半主动悬架 天棚控制 姿态补偿 模态分析 硬件在环 

分 类 号：U463.33[机械工程—车辆工程]