基于磁流变半主动悬架的整车姿态补偿控制  

Vehicle attitude compensation control based on magnetorheological semi⁃active suspension

作　　者：汪若尘[1] 盛富鹏 丁仁凯[2] 孟祥鹏[2] 孙泽宇[1] WANG Ruochen;SHENG Fupeng;DING Renkai;MENG Xiangpeng;SUN Zeyu(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China;Automotive Engineering Research Institute,Jiangsu University,Zhenjiang,Jiangsu 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 [2]江苏大学汽车工程研究院,江苏镇江212013

出　　处：《江苏大学学报（自然科学版）》2022年第5期524-532,共9页Journal of Jiangsu University：Natural Science Edition

基　　金：国家自然科学基金资助项目(51975253)。

摘　　要：针对车辆行驶工况及路面不平引起的车身姿态变化和垂向振动问题,基于磁流变半主动悬架系统,设计了一种整车半主动悬架控制方法,其主要包括姿态补偿控制算法、磁流变减振器控制算法与精确状态观测器设计方法.姿态补偿控制算法综合考虑整车姿态控制和悬架垂向振动控制,并通过磁流变减振器控制算法对半主动悬架系统进行等效阻尼控制,以实现车身姿态优化和车辆乘坐舒适性改善.为了更为精确地估计所需速度信号,利用实际等效阻尼实时更新观测器中参数矩阵,设计了精确状态观测器.仿真和试验结果表明:在该控制算法下,悬架系统的质心、俯仰角以及侧倾角加速度均得以改善,其均方根值分别降低了14.03%、18.26%和21.39%,验证了所设计控制算法的有效性.To solve the problems of vehicle body attitude change and vertical vibration due to vehicle driving conditions and uneven road surface,a control method for vehicle semi⁃active suspension was designed based on magnetorheological semi⁃active suspension system,which was composed of attitude compensation control algorithm,magnetorheological damper control algorithm and accurate state observer design method.The vehicle attitude control and the suspension vertical vibration control were considered in the attitude compensation control algorithm,and the equivalent damping control of the magnetorheological semi⁃active suspension system was carried out by the magnetorheological damper control algorithm to optimize the body attitude and improve the vehicle comfort.To estimate the required speed signals more accurately,the actual equivalent damping was used to update the parameter matrices in the observer in real time,and the accurate state observer was constructed.The simulation and experimental results show that body acceleration,pitch angle acceleration and roll angle acceleration can be improved effectively by the proposed control algorithm,and RMS values of them are respectively reduced by 14.03%,18.26%and 21.39%,which implies the effectiveness of the designed control algorithm.

关 键 词：磁流变半主动悬架 姿态补偿控制 磁流变减振器控制 状态观测器 等效阻尼控制 

分 类 号：U463.33[机械工程—车辆工程]