新型连续阻尼可调悬架系统超视距预瞄控制策略研究  

Research on Over-horizon Preview Control Strategy of a New Type of Continuous Damping Adjustable Suspension System

作　　者：桂永建 马英照 严天一[1] GUI Yongjian;MA Yingzhao;YAN Tianyi(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,Shandong,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《机械科学与技术》2023年第8期1324-1331,共8页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51475248);山东省自然科学基金面上项目(ZR2016EEM49)。

摘　　要：针对连续阻尼可调悬架系统中存在的典型时滞问题,本文提出一种基于云平台的超视距预瞄控制策略。首先,利用MATLAB/Simulink构建七自由度连续阻尼可调悬架系统整车动力学模型;然后利用云服务器搭建超视距预瞄控制策略运行平台,并基于消息队列遥测传输(Message queuing telemetry transport,MQTT)协议将车载控制单元与云服务器接入物联网平台,实现云端控制策略与车载控制单元的数据通讯;最后利用CarSim-Simulink联合仿真模型及车载控制单元进行硬件在环试验。结果表明,所提出的控制策略不仅能改善悬架系统的平顺性,而且将预瞄控制策略部署于云端的方式可有效降低车载电子控制单元负荷。Aiming at the typical time delay problem in the continuous damping adjustable suspension system,a cloud-based overthe-horizon preview control strategy is proposed in this paper.First,MATLAB/Simulink is used to build the vehicle dynamics model of the 7 DOF continuous damping suspension system;then,the cloud server is used to build the over-the-horizon preview control strategy operation platform,and the MQTT(Message queuing telemetry transport)is used to connect the vehicle control unit and the cloud server to the IoT platform to realize the data communication between the cloud control strategy and the vehicle control unit.Finally,the Carsim-Simulink co-simulation model and the vehicle control unit are used to conduct hardware-in-theloop tests.The results show that the proposed control strategy can not only improve the ride comfort of the suspension system,but also can effectively reduce the load of the vehicle electronic control unit by deploying the preview control strategy in the cloud.

关 键 词：新型连续阻尼可调悬架系统 超视距预瞄控制 云平台 消息队列遥测传输协议 硬件在环 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术] U461.4[自动化与计算机技术—计算机科学与技术]