基于磁流变阻尼器整车半主动悬架的开关控制

THE ON-OFF CONTROL OF A SEMI-ACTIVE SUSPENSION OF THE FULL-VEHICLE MODEL BASED ON MR DAMPERS

利用一般系统的第2类Lagrange方程建立了适合磁流变阻尼器半主动悬架的Lagrange方程,并在此基础上建立了侧倾、俯仰和垂直运动完全耦合的整车半主动悬架系统运动方程和状态方程.以某种磁流变阻尼器作为作动器,系统地研究了整车半主动悬架开关控制的策略.仿真结果表明:开关控制对整车悬架的簧载质量的垂直加速度和侧倾角加速度的控制效果不明显,特别是对俯仰角加速度反而有所恶化.但是,对悬架动挠度和轮胎动挠度,和非簧载质量的垂直加速度,簧载质量的侧倾加速度可以进行有效的控制,特别是对后悬架的控制效果尤其显著.

According to the second type of the Lagrange equation, a special Lagrange equation for the semi-active suspension of the full-vehicle model was astablished. Then its motion equation and its state space form for the system were derived, which considered the comprehensive coupling of the vertical motion, the pitch motion and the roll motion of the sprung mass. The semi-active suspension of the full-vehicle model was controlled with some on-off control laws, using four MR dampers as actuators for the system. The simulation results demonstrated that the on-off control was just of little use for the control of the vertical acceleration and the roll angular acceleration of sprung mass,and that the pitch angular acceleration was even deteriorated. However, it can effectively control the dynamic deflection of the suspension, the dynamic deflection of the tire and the vertical acceleration of unsprung mass. Furthermore, the rear suspension was much better controlled than the front one.