【摘要】 为了改善车辆在行驶过程中产生的垂向、俯仰以及侧倾运动的影响，提出了一种主动悬架多目标切换控制策略。以扩展零力矩点理论为基础，建立车辆在复杂地形下的俯仰和侧倾评价指标；在ADAMS/Car环境下建立整车模型，并基于随机路面进行实车试验，验证模型准确性；根据图形化评价指标及方向盘转角值作为状态切换的逻辑判断条件，在MATLAB/Stateflow上建立多目标切换控制策略，以此控制策略为基础建立多目标切换模糊PID控制器；选取某型号直线电机作为主动悬架的力源，通过ADAMS/Car和MATLAB/Simulink分别进行了C级路面匀速行驶、双移线和加减速上下坡3种不同工况下的联合仿真。仿真结果表明：所提主动悬架多目标切换控制策略有效的降低了车辆垂向、俯仰以及侧倾运动的发生，从整体上提升了车辆的乘坐舒适性与行驶安全性。更多还原

【Abstract】 In order to improve the impact of vertical, pitch and roll motion of the vehicle in the process of driving, a multi-objective switching control strategy of active suspension is proposed. Based on the extended zero moment point theory, the pitch and roll evaluation indexes of the vehicle in complex terrain are established. The vehicle model is established in ADAMS/Car environment, and the accuracy of the model is verified by real vehicle tests based on random roads. According to the graphical evaluation index and the steering wheel Angle value as the logical judgment condition of state switching, a multi-objective switching control strategy is established on MATLAB/Stateflow, and a multi-objective switching fuzzy PID controller is established based on the control strategy. A certain type of linear motor is selected as the force source of active suspension, and the co-simulation under three different conditions of constant speed driving on C-class road, double line shifting, acceleration and deceleration up and down slope is carried out by ADAMS/Car and MATLAB/Simulink respectively. The simulation results show that the proposed multi-objective switching control strategy of active suspension effectively reduces the occurrence of vertical, pitch and roll motion of the vehicle, and improves the ride comfort and driving safety of the vehicle as a whole.更多还原