基于整车十自由度模型的商用车驾驶室半主动悬置系统研究

Analysis of the semi-active suspension system of a commercial vehicle cab based on a ten degrees of freedom model

商用车驾驶室采用阻尼可调式半主动悬置能使车辆在各种行驶工况下得到较好的乘坐舒适性。以往研究以驾驶室悬置作为隔离体来单独研究其控制策略,控制精度较低,通过整合整车其他振动系统,建立了轮胎-主悬架-驾驶室悬置的整车十自由度振动模型,并以此为基础研究驾驶室半主动悬置系统的控制算法。考虑到系统滞后特性及算法特性,采用Smith-PID和模糊自适应PID两种算法进行研究,结果表明基于两种算法所设计的控制器均能有效抑制驾驶室的振动响应。其中模糊自适应PID比Smith-PID在控制驾驶室振动响应方面更优越、控制力曲线更平滑、PSD曲线峰值抑制效果更好,以上结果均在路面试验中得到验证。

The semi-active suspension with adjustable damping in the cab of a commercial vehicle can make the vehicle get better ride comfort under various driving conditions.In previous studies,the control strategy of the cab suspension was studied,taking the cab as an individual isolated body,and the control accuracy was at lower level.A ten degree-of-freedom vibration model of the whole vehicle was established by integrating all the parts of the vehicle into a whole model.Based on this,the control algorithm of the cab semi-active suspension system was explored.Considering the hysteretic characteristics of the system and the algorithm characteristics,two algorithms,the Smith-proportional integral derivative(PID)and the fuzzy adaptive PID,were proposed.The results show that the controllers based on the two algorithms can effectively restrain the vibration responses of the cab.Between them,the fuzzy adaptive PID is superior to the Smith-PID in the control of cab vibration response,the control force curve is smoother,and the peak suppression effect on its PSD curve is more obvious.All of the above results have been verified by road test.