基于加速度阻尼控制的半主动悬挂研究

Study on Lateral Semi-active Suspension Based on Acceleration Damping Control

半主动悬挂是改善铁道车辆振动、提高乘坐舒适度的有效对策。但由于铁道车辆的特殊性和复杂性，车辆动力学系统的精确数学模型很难获得，这限制了现代控制理论在实用化半主动悬挂中的应用；而天棚阻尼控制所需车体的绝对速度很难测量，若采用测得车体加速度积分得到车体绝对速度的方法，其传感器的误差和系统噪声会导致车体绝对速度产生误差，从而影响减振效果。基于上述原因，本文提出加速度阻尼控制方法，即采用与车体加速度成正比的振动衰减力来抑制车体振动，并对加速度阻尼控制方法稳定性进行理论分析和仿真研究。仿真结果证明：与被动悬挂相比，车体振动加速度有效值和最大值在各速度级分别减少了55％～63％和53％～66％，Sperling乘坐指数也得到明显改善；且加速度阻尼控制具有很好的鲁棒性和适应性。可见该方法能有效地提高铁道车辆的平稳性和乘坐舒适性。

Semi-active suspension is an efficient measure to attenuate vehicle-body vibration and improve ride comfort. The accurate mathematics model of the dynamics system is difficult to establish due to the particularity and complexity of railway vehicles, which restricts the application of the modern control theory in the practical semi-active suspension systems. To the Karnopp Control, the absolute velocity is difficult to measure; in the case of achieving the absolute velocity by testing accelerated velocities and calculating integrally, the sensor errors and system noises will produce absolute velocity errors and reduce the damping performance. So the acceleration damping control method is developed in the paper. The method damps vehicle-body vibration by adopting the vibration attenuation force directly proportionate to the vehicle-body acceleration. The stability of the acceleration damping control method is analyzed theoretically, and the control performance is simulated. The simulation results show that the RMS and maximum values of vehicle-body vibration accelerations can be reduced by 55%-63% and 53%-66% separately in comparison with passive suspension control at different speed grades and the Sperling Ride Index is improved. The acceleration damping control has the good robust ability and adaptability. The proposed method can improve the steadiness and comfort of railway vehicles effectively.