基于不变性原理解耦的半主动悬架控制仿真研究

Simulation Research of Semi-active Suspension Control by Decoupling Based on Invariance Principle

汽车悬架系统中,由于路面激励,簧上质量耦合了轮胎的振动.为了更好的对簧上质量减振,建立了1/4汽车半主动悬架模型,视路面激励为干扰输入.利用不变性原理对系统干扰解耦,得出半主动悬架作动器作动力的反馈控制律,使得簧上质量的振动不受路面激励影响.并利用磁流变阻尼器的磁滞多项式逆模型求得控制电流,使得控制律得以工程实现.仿真结果表明,簧上质量振动明显减弱,说明了该解耦方法在悬架控制方面的有效性.

In the vehicle suspension system,the vibration of the tire is coupled with the sprung mass due to the road excitation.In order to reduce the vibration of the sprung mass better,a semi-active suspension model of 1/4 vehicle is established.By using the invariance theory,the feedback control law of the semi-active suspension actuator is obtained,making the vibration of the sprung mass not affected by the road excitation.The control current is obtained by using the inversed polynomial model of magnetorheological damper.The simulation results show that the sprung mass vibration is weakened obviously,which indicates the effectiveness of this decoupling method in suspension control.