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为研究主动悬架车辆行驶平顺性,在7自由度整车动力学模型基础上,加入阀控非对称液压缸动力学模型并实现自适应控制,同时结合车辆主动悬架模块化控制思想和变论域模糊控制理论,以4个悬架作用点速度、加速度为输入,车身等效反作用力或力矩为输出,设计了变论域模块化模糊控制器。以B级模拟路面为输入,采用AMESim和MATLAB/Simulink软件对车辆行驶平顺性进行了联合仿真和分析,并以自制样车为对象进行了路面试验和台架试验,对仿真结果进行验证。试验结果表明:与被动悬架相比,主动悬架在降低车辆车身垂向加速度、俯仰角加速度、侧倾角加速度的均方根值方面效果明显,这些指标值在20m·s~(-1)车速下的仿真结果和台架试验结果分别降低了51.5%、47.2%、59.8%和36%、32.9%、33.4%;基于变论域模块化模糊控制器的主动悬架能显著减少车身振动,提高车辆的行驶平顺性。
In order to study the ride comfort of active suspension vehicles, based on the 7-DOF vehicle dynamics model, the valve-controlled asymmetric hydraulic cylinder dynamic model is added and adaptive control is achieved. Combined with the modularized control idea of active suspension of vehicle and variable Based on the theory of domain fuzzy control, a four-suspension point velocity and acceleration are input, and the equivalent reaction force or moment of the vehicle body is output. A variable-domain modular fuzzy controller is designed. Taking Class B simulated road surface as input, AMESim and MATLAB / Simulink software were used to simulate and analyze vehicle ride comfort. Pavement test and bench test were carried out for self-made prototype vehicle, and the simulation results were verified. The test results show that the active suspension has obvious effect in reducing the root mean square value of vehicle body vertical acceleration, pitch acceleration and roll angle acceleration compared with passive suspension. The indexes are within 20m · s ~ (-1) The simulation results and bench test results under the vehicle speed reduced by 51.5%, 47.2%, 59.8% and 36%, 32.9% and 33.4% respectively. The active suspension based on the variable universe modular fuzzy controller can significantly reduce body vibration, Improve vehicle ride comfort.