【摘要】 提出了带有4个磁流变可控阻尼器的汽车半主动悬架的7+k自由度动力学模型及其闭环控制方程,基于此模型,用2个可控阻尼器对系统的两个最大的模态实施独立模态控制,而另外两个可控阻尼器则对其余的模态实施耦合模态控制,并实时地根据传感器所获得的相关信息提取系统的模态坐标,实时跟踪最大模态,切换主控模态,并对其实施独立模态控制。这种独立/耦合模态联合控制方法,可以较好地发挥独立与耦合模态控制的优点而避免其缺点。仿真实例证实了独立/耦合模态联合控制具有比单独采用独立模态控制及耦合模态控制时更好的控制效果。更多还原

【Abstract】 The primary purpose of this paper is to analyze the vibration suppression effects by the application of combinative modal space control on the comfort of road vehicles through the use of four MR active and semi-active suspensions. Based on the 3-D vehicle model with 7 degrees of freedom,the dynamic model with 7+k degrees of freedom is introduced.With this model,the dynamic mathematical closed loop model is derived to simulate the dynamic behavior of the system.To design the optimal semi-active control laws,the Modal Space Control method and the Linear Quadratic Optimal theory(LQR) are applied and Combinative Modal Space Control method is proposed and formulated.Then numeric examples are configurated to investigatisons of the validities of this approach and compareison of the vibration control performances under Independence/Coupled Modal Space Control with that under Combinative Modal Space Control.The results obtained from the numeric simulations demonstrate the applicability,and suitability and advantages of Combinative Modal Space Control method over both Independence Modal Space Control and Coupled Modal Space Control.更多还原