空气悬架系统的理想孪生动挠度跟踪控制策略  

Ideal Twin Dynamic Deflection Tracking Control Strategy for Air Suspension Systems

作　　者：赵雷雷[1,2] 张浩 于曰伟 甄冉 丁钒 单溪玉 丁家和 ZHAO Leilei;ZHANG Hao;YU Yuewei;ZHEN Ran;DING Fan;SHAN Xiyu;DING Jiahe(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo,Shandong 255000,China;R&D Department,Shandong Anbo Machinery Technology Co.,Ltd.,Zibo,Shandong 255000,China;R&D Center,Shandong Meichen Industry Group Co.,Ltd.,Weifang,Shandong 262200,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255000 [2]山东安博机械科技股份有限公司研发部,山东淄博255000 [3]山东美晨工业集团有限公司研发中心,山东潍坊262200

出　　处：《西安交通大学学报》2025年第1期159-171,共13页Journal of Xi'an Jiaotong University

基　　金：2024年度北京市自然科学基金-小米联合创新基金资助项目(L243024);山东省重点扶持区域引进急需紧缺人才项目(2022-30)。

摘　　要：为解决车辆主动悬架系统减振效果与控制能耗间的矛盾,基于“数字孪生、以虚控实、节能减振”理念,提出了主动空气悬架系统的理想孪生动挠度跟踪控制策略。首先,以车辆座椅主动空气悬架系统为例,利用准零刚度系统构建了真实空气悬架系统的理想数字孪生体,同时建立了该孪生体的参数匹配设计方法;然后,以空气弹簧气体压力控制为节点,设计了外环位置模糊非奇异快速终端滑模控制器,以及考虑空气弹簧充放气过程中电磁阀非线性流量特性的内环气压控制器,进而实现真实悬架系统对实际激励下孪生体动挠度的跟踪;最后,通过台架模拟实验与整车平顺性仿真实验,对所提控制策略的有效性与先进性进行了验证。结果表明:与以降低加速度为控制目标的传统控制策略相比,所提策略在随机路况下的座椅垂向振动加速度均方根更小且控制能耗均方根最小降幅达65.0%,冲击路况下座椅垂向振动剂量也更小且主动控制力最大降幅高达45.5%。所提策略性能明显优于传统策略,能在有效提高悬架系统减振性能的同时大幅降低主动控制能耗,有效解决了上述矛盾,可推广应用于各类主动悬架系统,为节能减振提供新的研究思路。To address the conflict between damping effectiveness and control energy consumption in active suspension systems,an ideal twin dynamic deflection tracking control strategy for active air suspension systems is introduced.The strategy is founded on the research concept of“digital twins,virtual-to-real control,and energy-efficient damping”.Firstly,taking the vehicle seat active air suspension system as an example,a genuine air suspension system's ideal digital twin is formulated using a quasi-zero stiffness system,alongside the development of a parameter matching design methodology for this digital twin.Subsequently,with the air spring gas pressure control as a key point.An outer-loop position fuzzy non-singular fast terminal sliding mode controller and an inner-loop air pressure controller considering the nonlinear flow characteristics of the solenoid valve during air spring inflation and deflation processes are designed to achieve the tracking of the twin body deflection under actual excitations by the real suspension system.Finally,through bench simulation experiments and comprehensive vehicle ride comfort simulations,the efficacy and progressiveness of the proposed control strategy are validated.The results show that,compared to the traditional control strategy aiming at reducing the acceleration,the proposed strategy showcases reduced root mean square values of vertical vibration acceleration of the seat under random road conditions and a reduction exceeding 65.0%in the root mean square value of control energy consumption.Furthermore,under impact road conditions,the vertical vibration amplitude of the seat is diminished,with a maximum reduction in active control force exceeding 45.5%.The proposed strategy significantly outperforms the traditional strategy,effectively enhancing the damping capabilities of the suspension system while markedly significantly reducing the active control energy consumption.This strategy adeptly resolves the aforementioned conflict and can be broadly implemented across various ac

关 键 词：车辆 空气悬架 节能减振 理想孪生动挠度 

分 类 号：U463.33[机械工程—车辆工程]