七自由度整车半主动悬架仿真研究

A Simulation Research on Seven DOF Semi-Active Full Vehicle Suspension

通过MATLAB软件建立整车七自由度的动力学仿真模型。半主动悬架采用双模糊控制器,将计算出的刚性车身与悬架连接处的速度、动行程与俯仰角参数作为主动悬架控制的输入量;前轴左右车轮,悬架与车身连接处的速度与其期望值的误差及其变化率作为第一控制力输入量,刚性车身质心俯仰角速度与其期望值的误差及其变化率作为第二控制力输入量;后轴左右车轮,车悬架与车身连接处的速度与其期望值的误差及其变化率作为第一控制力输入量,悬架动行程与其期望值的误差及其变化率作为第二控制力输入量。计算结果表明:采用双模糊控制器能明显改善整车行驶的舒适性与稳定性,系统综合特性较好,刚性车身的垂向加速度、俯仰角加速度、前后悬架动行程性能提升明显,分别提升27.2%,19.6%,95.5%,33.8%。

A dynamic simulation model of seven DOF full vehicle has been established by using MATLAB software.By adopting the dual mode fuzzy controller as the semi-active suspension,the velocity of rigid body and suspension joints,as well as the input quantity,with the dynamic displacement and pitch angle parameters being the active suspension control,are to be worked out.The front left and right wheels are to take the error between the speed of the connection linking the suspension and the body and the expected value,as well as its rate of change,as the input quantity of the first control force,and to take the error between the angular velocity of the rigid body and the expected value,as well as its rate of change,as the input quantity of the second control force.The rear left and right wheels are to take the error between the speed of the connection linking the suspension and the body and the expected value,as well as its rate of change,as the input quantity of the first control force,and to take the error between the suspension working space and the expected value,as well as its rate of change,as the input quantity of the second control force.The numerical results of the simulation show that the adoption of the dual fuzzy controller helps to greatly improve the ride comfort and stability in vehicle driving,with a better performance exhibited in the comprehensive system,and with a significant increase as high as27.2%in the rigid body vertical acceleration,19.6%in the pitch angular acceleration,95.5%in the dynamic travel performance of the front suspension,and33.8%in the dynamic travel performance of the rear suspension,respectively.