基于分数阶的空气弹簧建模及电动汽车主动悬架控制研究  

Research on Air Spring Modeling Based on Fractional Order and Electric Vehicle Active Suspension Control

作　　者：冯桂珍[1,2] 赵东鹏 李韶华 Feng Guizhen;Zhao Dongpeng;Li Shaohua(Shijiazhuang Tiedao University,State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures,Shijiazhuang 050043;School of Mechanical Engineering,Shijiazhuang Tiedao University,Shijiazhuang 050043)

机构地区：[1]石家庄铁道大学,省部共建交通工程结构力学行为与系统安全国家重点实验室,石家庄050043 [2]石家庄铁道大学机械工程学院,石家庄050043

出　　处：《汽车工程》2024年第7期1282-1293,1301,共13页Automotive Engineering

基　　金：国家自然科学基金(U22A20246);河北省高等学校科学技术研究项目(JZX2023014);河北省省级科技计划资助项目(225676162GH)资助。

摘　　要：电控空气悬架系统(electrically controlled air suspension, ECAS)具有调节悬架刚度和车身高度的功能,可有效改善车辆乘坐舒适性和操纵稳定性。以某乘用车ECAS为对象,利用分数阶理论描述橡胶气囊的黏弹性阻尼特性,考虑等效阻尼及滞回特性对其热力学模型进行了优化,结果与实验数据吻合良好,验证了优化后的空气弹簧模型的精确性。在此基础上,考虑车辆纵横向动力学特性与Dugoff轮胎模型,建立14自由度整车ECAS动力学模型,提出模型预测(model predictive control, MPC)主动悬架控制方法,以可测变量为控制器输入,实现直线及转向行驶工况下的主动控制。仿真与整车台架实验研究表明,分数阶修正模型可以很好地反映ECAS变刚度特性,基于MPC的主动悬架控制策略能实时调整空气弹簧刚度,控制车身姿态,有效改善电动汽车行驶时的平顺性与稳定性。论文的研究方法为车辆悬架系统建模及主动控制提供了一种新思路。Electrically controlled air suspension(ECAS)has the function of adjusting suspension stiffness and body height,which can effectively improve vehicle ride comfort and handling stability.Taking a passenger car ECAS as an example,the viscoelastic damping characteristics of rubber airbag are described by fractional theory,and the thermodynamic model is optimized considering the equivalent damping and hysteretic characteristics,which is in good agreement with the experimental data,and the precision of the optimized air spring model is verified.On this basis,considering the longitudinal and lateral dynamic characteristics of the vehicle and the Dugoff tire model,a 14-degree-of-freedom vehicle ECAS dynamic model is established,and a Model Predictive Control(MPC)active suspension control method is proposed,with measurable variables as the input of the controller,to realize the active control under straight and turning driving conditions.Simulation and vehicle bench test show that the fractional cor-rection model can well reflect the variable stiffness characteristics of ECAS,and the active suspension control strate-gy based on MPC can adjust the air spring stiffness in real time,control the body posture,and effectively improve the ride comfort and stability of the electric vehicle.The research method in this paper provides a new idea for vehi-cle suspension system modeling and active control.

关 键 词：空气悬架 热力学 黏弹性阻尼 分数阶 模型预测控制 

分 类 号：U463.33[机械工程—车辆工程]