滞回模型磁流变减振器半主动悬架模糊控制

Fuzzy Control of Vehicle Semi-active Suspension With Magnetorheological Damper Having a Hysteresis Model

为了获得磁流变减振器便于控制的精确力学模型,在正弦激励下对磁流变减振器进行了特性试验,利用试验数据拟合了一种滞回模型,以此来表示磁流变减振器的动态响应特性,比较由此模型仿真和实测的阻尼力,表明此模型既能较好地描述其滞回特征,亦能简单明了地表达逆向动态特性,可在开环控制策略下容易地获得理想的阻尼力,利用此模型设计了一个开环控制策略下的模糊控制器,比较所设计的模糊控制器和天棚控制器及被动悬架的性能,采用四分之一悬架模型来进行分析和仿真,随机路面激励下的数值仿真进一步证实了此控制器的有效性,其综合性能比天棚控制和被动悬架均有较大幅度的提高。

To obtain the accurate dynamical model of a magnetorheological （MR） damper for convenient control, damping characteristic experiments were conducted on a MR damper subjected to cyclic excitation, and the experimental data were used to fit the hysteresis model could be adopted to characterize the dynamic response of the MR damper. Comparing the damping forces obtained from simulation with this model and experimental testing, the model could not only describe the hysteresis property of the damper force, but also represent the inverse dynamics of the MR damper concisely and easily, so that the desired damping force in open-loop control scheme could be obtained easily. Using this model, a fuzzy controller with an open-loop scheme was designed. A quarter-car suspension model was considered for analysis and simulation so as to compare the proposed fuzzy controller properties with skyhook controller and passive suspension. The proposed control scheme was further validated by numerical simulation under random road surface excitation, and the suspension comprehensive performances were considerably better as compared to the skyhook controller and the passive suspension.