基于半车解耦的半主动悬架模糊滑模控制

Fuzzy Sliding Mode Control of Semi-active Suspension Based on Half-car Decoupling

为提高车辆的舒适度,提出基于半车解耦模型的半主动座椅悬架的模糊滑模控制。建立并分析半车悬架系统的动力学模型,通过将其等效变换为两组标准的动力学方程,实现把半车悬架系统解耦成四分之一车悬架系统。基于解耦后的四分之一车悬架系统对含四分之一车的座椅悬架设计模糊滑模控制策略:把天棚阻尼系统作为参考模型,将实际被控系统和参考模型间的动态误差引入到滑动模态中,通过切换函数及其导数的模糊化处理,来抑制滑动模态中抖振现象。并通过比较磁流变阻尼器输出力和模糊滑模控制器(Fuzzy Sliding Mode Controller)解出的期望力的差值,来确定提供给磁流变阻尼器的电压。最后通过与PID、滑模(Sliding Mode Controller)和被动悬架仿真结果的对比,验证该方法对半车座椅悬架系统减振效果具有明显的改善作用。提出的控制方法对于半主动悬架的实际控制具有参考价值。

To improve car comfort, a fuzzy sliding mode control for semi- active seat suspension based on half- cardecoupling model is proposed. First of all, the half-car dynamic model of the passive suspension system is established andanalyzed. Then, it is converted equivalently into two sets of typical dynamic equations. Therefore, decoupling of the half-carsuspension system into a quarter-car suspension system is realized. A fuzzy sliding mode controller (FSMC) for the semiactiveseat suspension based on the decoupled quarter car is proposed. In the FSMC, an ideal skyhook model is taken as thereference model, and the dynamic errors between the seat suspension and reference model are introduced to the slidingmode. Further the fuzzy strategy is used suppress the chattering occurred in the above sliding mode control by fuzzifying theswitch function and its derivative. by comparing the output force of the magnetorheological (MR) damper with the desiredforce solved by the fuzzy sliding mode controller, the voltage to control the MR damper is calculated. The comparisonresults of FSMC with PID,sliding mode control by numerical simulations show that the vibration reduction effect of thesemi- active seat is obviously improved. The proposed method provides a reference for the control of the semi-active seats.