电动轮汽车双磁流变减振器的悬架半主动控制研究

Semi-active control for a 2-MR damper suspension in motorized wheel vehicle

为解决电动轮汽车与传统悬架匹配中底盘占用空间大而主动悬架能耗高的问题,提出了在电动轮内集成对置布置的双磁流变减振器悬架结构。根据该悬架的结构特点,建立了1/4车辆模型,确定了磁流变阻尼器、路面激励等参数,对该悬架在天棚、天棚模糊半主动控制及无控制电流时的性能分别进行了时域与频域仿真分析。结果表明:天棚模糊控制较天棚控制具有更好的减振性能;在时域内,天棚模糊半主动控制下该悬架的车身加速度、悬架动行程及轮胎动载荷等参数分别下降了25.3%、27.7%、34.0%;在大于10rad/s的频域内,天棚模糊控制对悬架性能指标幅值抑制效果较好;且该悬架在无控制电流时,其性能相对传统悬架要好。

Matched with traditional suspension and active suspension,the motorized wheel vehicle will need large space occupancy and high energy consumption,respectively.Therefore,a new opposed 2-MR (magnetorhelogical) damper suspension integrated in the motorized wheel is proposed.According to the characteristic of suspension structure,this paper first establishes one quarter of vehicle model and determines the parameters of MR damper,road excitation,etc.Then the performances of suspension under sky-hook control,sky-hook fuzzy semi-active control and no current states are analyzed by simulations in the time domain and frequency domain.The results show that the suspension with the sky-hook fuzzy control can get a better comprehensive performance,and the vehicle body acceleration,suspension working space and dynamic tire load of the suspension are decreased by 25.3%,27.7%,34.0% in the time domain,respectively.Besides,when the frequency is greater than 10 rad/s,the suspension with the sky-hook fuzzy control can achieve a good effect on the amplitude suppression of suspension performance index,and the suspension without control current can obtain a slightly better performance than the traditional one.