【摘要】 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。更多还原

【Abstract】 To investigate the ride comfort of vehicle with active suspension,on the basis of seven degree-of-freedom dynamical model of overall vehicle,a dynamical model of valve-controlled asymmetrical cylinder was built with adaptive controller.At the same time,a variable universe modular fuzzy controller was designed combining the modular control thought with variable universe fuzzy control theory for vehicle active suspension.Velocities and accelerations of the four action points of suspension were the inputs,and equivalent counter-acting force or torque of vehicle body was the output.Taking simulation road condition of class B as input,AMEsim and MATLAB/Simulink were used for co-simulation and analysis of vehicle ride comfort.Road tests and bench tests were also conducted by taking self-made sample vehicle as the object.The results show that the simulation results was verified the effect of decreasing the acceleration RMS of the vehicle body’s vertical vibration,pitch motion and roll motion of vehicle body with active suspension is better than the one with passive suspension:at the speed of 20 m·s^-1,the simulation results for the three RMSs decrease by 51.1%,47.2% and 59.8%,and bench test results decrease by 36%,32.9% and 33.4%.The use of variable universe modular fuzzy control for active suspension can effectively decrease vibration of vehicle body and improve the ride comfort of vehicle.更多还原