基于磁流变阻尼器的车辆悬架半主动控制研究——建模与直接自适应控制

Semi-Active Control of Vehicle Suspensions Based on Magnetorheological Damper:Modeling and Directive Adaptive Control

利用磁流变液体的特点 ,采用磁流变阻尼器实现车辆悬架减振系统的半主动控制。由于磁流变液体的滞回特性及其在固液态之间的转换引起半主动悬架系统强烈的非线性特性 ,为此 ,设计了神经网络直接自适应控制。仿真表明 ,由磁流变阻尼器和神经网络相结合实现的车辆悬架半主动控制系统能够较好地提高车辆的行驶平顺性。

Because of the natural characteristics of the variable of running dynamic system it is a key technology to realize a variable viscosity in adopting damper in which the components or the control law to isolate vibration are only designed for a specific condition. As a non Newtonian fluid magnetorheological fluid shows a large increase in the apparent viscosity when an external magnetic field is applied and it returns to its original state if the magnetic field is removed. The nonlinear semi active two degree freedom vehicle suspension model containing magnetorheological damper and the dynamic equation of motion are established. Due to the hysteretic and the frequency shift characteristic of the magnetorheological fluid a directive adaptive control based on neural networks is put forward to simulate and control the semi active suspension system. The results of computer simulation in the platform Turbo C using Runge Kutta numerical integration demonstrate that the controllable viscosity damper can bring more ride comfort than passive and linear damper do. On the other hand the quick millisecond response of magnetorheological fluid provides the realization condition in real time for this semi active vehicle suspension. And this section will be presented in the part Ⅱ.