自适应半主动悬架系统机械硬件在环试验研究

Experimental Study on Adaptive Semi-active Suspension Systems Using Mechanical Hardware-in-the-loop Technique

车辆处于加速、制动或转向工况时,运动惯性会导致车身发生俯仰、侧倾运动,如果幅值过大将使乘员产生紧张、眩晕等不舒适感。为解决此问题,提出一种基于车身姿态补偿控制与天棚加速度控制相结合的算法,建立自适应阻尼控制系统,不仅可使车辆垂向运动的振动效果得到改善,还能兼顾车身俯仰、侧倾控制,使其控制效果更加接近主动悬架。另外,搭建一种新型的减振器机械硬件在环试验台,可以对车辆垂向、俯仰及侧倾运动进行控制算法有效性验证,能克服四分之一减振器台架仅能验证车辆垂向运动的局限性。试验结果表明,与被动悬架相比,该算法在不同车速工况下B级路面和C级路面质心加速度幅值平均降幅达21.16%和13.21%,不同减速度和加速度工况下俯仰角波动峰峰值平均降幅达25.50%和28.82%,蛇形工况下不同车速的侧倾角幅值也均有降低。

When the vehicle is under acceleration,braking or steering conditions,its body will tilt and roll due to its inertia.If the amplitude is too high,the occupants will feel nervous,dizzy and uncomfortable.To solve this problem,this paper proposes an algorithm combining the vehicle posture compensation control with the mixed skyhook(SH)and acceleration(ADD)control,and establishes an adaptive damping control system(ADS).This method can not only improve vertical vibration effect of the vehicle,but also give consideration to the pitch and roll control of the vehicle body,making the control effect closer to the active suspension.In addition,a new damper mechanical hardware-in--the-loop test bench is built,which can verify the effectiveness of the control algorithms for vehicle vertical,pitch and roll motions,and overcome the limitation that the one-quarter damper platform can only verify vehicle vertical motion.Results of the test show that compared with passive suspension,the acceleration amplitude of the gravity center by means of this algorithm decreases by 21.16%and 13.21%in average at different speeds on B-class road and C-class road,the amplitude of pitch angle drops by 25.50%and 28.82%in average at different deceleration and acceleration conditions,and the amplitude of roll angle is also reduced in slalom condition at different speeds.