【作者】 陈杰平；

【导师】 陈无畏；

【作者基本信息】 合肥工业大学 ， 车辆工程， 2010， 博士

【摘要】 高速公路网的建设和延伸、点对点运输的实现、出行和运输效率要求的提高,促进了汽车工业的飞速发展。由于汽车行驶速度的提高,人们对汽车的行驶安全性、乘坐舒适性、操纵稳定性、道路友好性等提出了更高的要求。现代电子技术、信息技术、计算机技术和自动化技术的发展和在汽车上的应用,为改善汽车性能和满足人们对汽车性能的要求提供了手段,各类先进的技术在汽车上得到了应用,汽车正成为现代技术的试验场,集中体现着一个国家技术发展的水平。主动/半主动悬架是实现汽车底盘控制的重要部件之一,对改善汽车的行驶、操纵性能至关重要。以智能材料磁流变液制作的磁流变减振器具有响应快、动态范围宽、功耗低、结构简单等特点,在建筑、桥梁和汽车上的应用成为目前研究的热点,磁流变减振器为半主动悬架的开发和应用提供了新的途径。但是,除美国Lord公司推出的磁流变座椅减振器安装在凯迪拉克汽车上之外,国内外对磁流变半主动悬架的研究大多仍处于理论和实验室研究之中,主要原因是磁流变半主动悬架是一个存在不确定因素复杂非线性系统。尽管先前的一些针对具体问题的半主动控制算法取得了一定的控制效果,但较少从整车的角度对悬架进行控制。同时,磁流变减振器本身的设计制造技术仍不完善,过去的研究多以双出杆或者旁路等其它结构,无法满足汽车对减振器的要求。因此,以汽车磁流变减振器设计为核心,考虑整车的磁流变减振器半主动悬架控制,不但具有很高的理论研究价值,而且具有广泛的应用前景。本文以单出杆汽车磁流变减振器的设计制作为核心,完成了整车半主动悬架的数学建模、实车改装,设计了模糊控制、自适应变论域模糊控制、鲁棒控制和鲁棒/自适应变论域模糊复合控制系统,进行了大量的仿真和实验研究。主要包括以下内容:(1)回顾了国内外汽车悬架技术的发展和研究现状,分析了汽车磁流变减振器的研究现状及存在的问题,给出了本文的研究内容和创新点。(2)在认真分析磁流变减振器动力学模型基础上,完成了磁流变减振器的数学建模和理论分析,根据汽车对悬架的要求,设计了两款汽车磁流变减振器,完成了磁流变减振器的总体设计和部件设计,为样品的制作和研究提供了基础。(3)在前一章基础上,对磁流变减振器进行了仿真研究,制作了悬架前后四个磁流变减振器,进行了大量的试验,证明所设计的磁流变减振器可以满足汽车半主动控制的要求,为下一步进行整车半主动悬架控制的设计与试验提供了条件。(4)完成了转向工况下的整车磁流变半主动悬架建模,研究了道路激励信号的生成和验证问题,设计了整车模糊控制器和利用模糊控制器改变伸缩因子的自适应变论域模糊控制器。仿真结果表明:自适应变论域模糊控制效果优于模糊控制。(5)在设计整车鲁棒控制的基础上,设计了鲁棒/自适应变论域模糊复合控制器,通过仿真进行了鲁棒控制和复合控制策略的性能比较。仿真表明:鲁棒控制和鲁棒/自适应变论域模糊复合控制都可以有效改善汽车的平顺性,但复合控制效果优于鲁棒控制。(6)利用四个自制的磁流变减振器完成了半主动悬架试验汽车的改装,以ARM单片机LPC2292为核心组建了控制系统,以嵌入式实时操作系统μC/OS-Ⅱ为平台移植了控制算法,分别进行了台架谐波激励振动试验、车辆驶过凸块和随机路面上的行驶试验。(7)总结了全文的研究内容,对下一步的研究方向和工作内容提出一些建议。更多还原

【Abstract】 Highway network construction and extension, point to point transportation, and the increasing requirements for travel and transport efficiency promote the rapid development of the automobile industry. As the speed of cars’has improved, there are demands for cars’safety, comfortableness, handling stability, and road-friendliness. In order to improve vehicle performance and meet people’s requirements, modern electronic, information, computer and automation technology have been applied. Cars have become a testing field for modern technology and embody the level of a country’s technological development.Active/semi-active suspension is not only one of the important parts to control the vehicle chassis, but also an important part for the improvement of the vehicle operating performance. Magneto-rheological damper (MRD) made with magneto-rheological fluids, which are one of“smart materials”, has features of fast response, wide dynamic range, low power consumption, simple structure and so on. The applications in buildings, bridges and vehicle are the present research hotspots. MRD provides a new way for the development and application of semi-active suspension shock absorber. However, apart from the magneto-rheological damper produced by the U.S. Lord company, which are installed in the Cadillac cars, magneto-rheological semi-active suspension is still in theoretical and laboratory studies at home and abroad. The main reason is magneto-rheological semi-active suspension is a complex nonlinear system with uncertainty. Semi-active control algorithm aimed at specific issues has achieved certain degree of control effect, but not from the perspective of vehicle suspension control as a whole. Meanwhile, the design and manufacturing technology of magneto-rheological damper is still not perfect. Previous studies used two-end out pole, bypassing, or other structures mostly, which cannot meet the shock absorber requirements of cars. Therefore, the design of magneto-rheological damper, considering vehicle magneto-rheological semi-active suspension control, not only has a very high theoretical research value, but also has a wide application prospects.In the paper, based on the design and manufacture of magneto-rheological damper, mathema- tical modeling of vehicle semi-active suspension and vehicle testing have been completed. We designed fuzzy control, adaptive variable universe fuzzy control,robust control and robust/ adaptive variable universe fuzzy compound control systems. Large numbers of simulations and experiments have been done. Mainly include the following:(1) Firstly, reviews the automotive suspension technology development and research status at home and abroad. Then, analysis magneto-rheological damper research status and problems. Finally, gives the content of this research and innovation points. (2) Magneto-rheological damper mathematical modeling and theoretical analysis was completed based on a careful analysis of magneto-rheological damper dynamic model. Conceptual design of two magneto-rheological dampers according to the suspension requirements of cars will provide the foundation for samples production and research.(3)On the basis of previous chapter, two front and rear MRDs have been manufactured based on simulation studies. Large numbers of experiments have been carried out which will provide design and experiment conditions for semi-active suspension control design on the next step.(4) Firstly, MRD semi-active suspension modeling under the condition of vehicle steering was completed. Secondly, excitation and verification of road signal has been studied. Thirdly, vehicle fuzzy controller and adaptive variable universe fuzzy controller,which adjustable factor is change by fuzzy controller, have been designed. Finally, simulations and comparisons were conducted. Simulation results show that adaptive variable universe fuzzy control effect is better than the fuzzy control.(5)In base the design of robust control of vehicle, the robust/ adaptive variable universe fuzzy combined controller was designed. Through the simulation, robust control and the composite control strategy effectiveness was compared. Simulation indicates: robust control and robust/ adaptive variable universe fuzzy composite control can effectively improve the vehicle’s ride, but the composite control is better than robust control.( 6 ) Using four self-made magneto-rheological dampers completed the semi-active experimental vehicle conversions, to arm LPC2292 as the core formed a control system that utilizes embedded real-time operating systemμC/OS-Ⅱtransplant a control algorithm, bench test, a road pulse inpu, and random road test is conducted.(7) Summarize up the research and put forward some suggestions for the next stage of study.更多还原