基于鲁棒控制的电磁主动悬架整车平顺性分析  

Riding comfort analysis based on robust control of electromagnetic active suspension for whole vehicle

作　　者：孙凤[1] 赵杰 周冉 汪思卓 徐方超[1] 金俊杰[1] SUN Feng;ZHAO Jie;ZHOU Ran;WANG Si-zhuo;XU Fang-chao;JIN Jun-jie(School of Mechamical Engineering,Shenyang University of Technology,Shenyang 110870,China;Tianjin Launch Automotive Technology Co.Ltd.,Tianjin 300300,China)

机构地区：[1]沈阳工业大学机械工程学院,沈阳110870 [2]天津龙创世纪汽车设计有限公司,天津300300

出　　处：《沈阳工业大学学报》2023年第4期418-427,共10页Journal of Shenyang University of Technology

基　　金：国家自然科学基金项目(52005345,52005344);国家重点研发计划项目(2020YFC2006701);辽宁省教育厅项目(LFGD2020002);辽宁省“揭榜挂帅”科技重大专项(2022JH1/10400027).

摘　　要：针对传统被动悬架系统无法在复杂工况时保持较好行驶平顺性的问题,为电磁主动悬架设计了鲁棒控制器.建立整车七自由度电磁悬架动力学模型,利用鲁棒控制理论对被控输出和控制输入量进行加权处理,设计了H∞鲁棒控制器.在车速为30 km/h和60 km/h的随机路面、20 km/h和45 km/h的正弦冲击路面时,对电磁主动悬架系统进行仿真分析.结果表明,鲁棒控制的电磁主动悬架与被动悬架相比,主要性能指标均有所改善,在随机路面下车身垂向加速度改善28.03%,说明所设计的鲁棒控制器比较合理,采用鲁棒控制的电磁主动悬架可以有效改善汽车行驶的平顺性.Aiming at the problem that the traditional passive suspension system cannot maintain good riding comfort under complex working conditions,a robust controller of electromagnetic active suspension was designed.The dynamic model of 7-DOF electromagnetic active suspension for whole vehicle was established,the robust control theory was used to weight the controlled output and input,and the H∞robust controller was designed.The electromagnetic active suspension system was simulated and analyzed under the conditions of random road surface at the speed of 30 km/h and 60 km/h,as well as the sinusoidal pulse road surface at the speed of 20 km/h and 45 km/h,respectively.The results show that the main performance indexes of electromagnetic active suspension with robust control get improved compared with those of passive suspension.Under the random road surface,the vertical acceleration of vehicle body is improved by 28.03%,indicating that the designed robust controller is reasonable.The electromagnetic active suspension with robust control can effectively improve the riding comfort of the vehicle.

关 键 词：汽车平顺性 鲁棒控制 电磁主动悬架 整车模型 加权函数 随机路面 正弦冲击 仿真分析 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]