【摘要】 针对作动器较大等效惯性质量放大需求控制力，阻碍旋转电机式主动悬架性能改善问题，提出了一种衬套弹簧式主动悬架二级减振结构方案。根据多工况实测力学特性，提出包含“反S型”刚度及“准饱和”阻尼特性的衬套弹簧力学模型，并据此建立了衬套弹簧式二级减振主动悬架半车非线性动力学模型；在增加衬套弹簧虚拟阻尼项保证系统稳定的基础上，对刚度的高次非线性项、“准饱和”阻尼非线性项进行前馈反馈线性化，设计出非线性LQG(linear-quadratic-Gaussian)控制器；为获得最优的悬架工作效果，对衬套弹簧虚拟阻尼进行了优化。结果表明，除能获得与传统理想主动悬架非常接近的悬架综合性能外，衬套弹簧式二级减振主动悬架还具有较好的变行驶工况鲁棒性。更多还原

【Abstract】 Here, aiming at the problem of actuator’s larger equivalent inertia mass amplifying needed control force and hindering performance improvement of rotary motor type active suspension, a dual vibration reduction structure scheme for bushing spring type active suspension was proposed. Based on the measured mechanical characteristics under multi-operating condition, a bushing spring mechanical model including “inverse S shaped” stiffness and “quasi-saturated” damping characteristics was proposed, the nonlinear dynamic model for a half-vehicle with a bushing spring type two-stage damped active suspension was established based on the above bushing spring mechanical model. Based on adding a virtual damping term of bushing spring to ensure the system stability, a nonlinear LQG controller was designed by linearizing higher order nonlinear term of stiffness and “quasi-saturated” damping nonlinear term with feedforward feedback. In order to obtain the optimal suspension working effect, the virtual damping of bushing spring was optimized. The results showed that besides obtaining a very close comprehensive performance to that of traditional ideal active suspension, bushing spring type two-stage damped active suspension also has better robustness under variable driving conditions.更多还原