汽车磁流变半主动悬架系统设计与试验

Design and Test of Vehicle Semi-active Suspension with Magnetorheological Damper

为了提高汽车的平顺性和行驶稳定性,设计了一种安装双出杆式磁流变减振器的汽车半主动悬架系统。在分析传统的磁流变减振器力学模型的基础上,提出了一种改进的磁流变减振器多项式模型,建立了基于磁流变减振器的半主动悬架系统动力学模型;设计了磁流变减振器物理样机,进行了磁流变减振器的力学特性试验,获得该磁流变减振器的示功特性和速度特性曲线,并利用试验结果进行了模型参数识别与模型验证。考虑时滞对悬架系统的影响,计算了该磁流变半主动悬架的临界时滞,采用Smith预估时滞补偿控制策略,设计了磁流变半主动悬架模糊时滞控制器;利用Matlab软件进行了磁流变半主动悬架时滞补偿控制仿真对比分析;研制了汽车半主动悬架测试系统,开展了磁流变半主动悬架控制台架试验。仿真与试验结果表明,所研制的磁流变减振器耗能效果良好,控制灵敏;试验建模所获得的改进型磁流变减振器多项式力学模型是正确的。与被动悬架相比,在正弦激励和随机路面谱输入下磁流变半主动悬架的簧载质量加速度下降30%左右,减振效果明显。

To improve ride comfort and stability of vehicle,a kind of semi-active suspension with double pole magnetorheological damper was designed. Based on the analyses of mechanical model for magnetorheological damper,an improved polynomial model of magnetorheological damper was proposed and a dynamic model of semi-active suspension system with magnetorheological damper was established.The physical prototype for magnetorheological damper was made and the mechanical property tests of the magnetorheological damper were completed. The curves of damping force-displacement and damping force-speed were acquired. By using the test results,the model parameters were identified and the improved polynomial mechanical model of the magnetorheological damper was verified. Considering the time-delay impact on the suspension system,the critical time-delay for the magnetorheological suspension was calculated. Smith forecasting compensation control strategy was used and the time-delay fuzzy controller of semi-active suspension with magnetorheological damper was designed. The simulations of time-delay compensation control were carried out by Matlab software. And the test bench systems for semi-active suspension were developed. Then, the tests of the semi-active suspension with magnetorheological damper were done. The simulation and experimental results showed that the magnetorheological damper had good energy dissipation effect,good controllability and the maximum of vibration attenuation function. The improved polynomial mechanical model of the magnetorheological damper was correct. Compared with the passive suspension, sprung mass accelerations formagnetorheological semi-active suspension were dropped by about 30%. The damping effect of the developed semi-active suspension was obvious.