基于模糊动态输出反馈的重载运输车舒适性研究

Research on comfort improvement of heavy haul transport vehicle based on fuzzy dynamic output feedback

为改善重载运输车辆行驶平顺性和驾驶舒适性的问题,以半主动油气悬架及人-椅集中质量模型为研究对象,设计基于模糊动态输出反馈的增量式PID油气悬架控制系统,综合考虑驾驶员的主观感受和烦恼率,以车身垂向加速度、车轮动载荷、悬架动挠度和驾驶员烦恼率为评价指标,对被动悬架、模糊PID和模糊动态输出反馈增量式PID控制油气悬架系统进行研究。仿真结果表明:与被动油气悬架系统相比,基于模糊动态输出反馈的增量式PID控制油气悬架系统的车身垂向加速度的均方根值降低52%、悬架动挠度降低24%、车轮动载荷降低44%、驾驶员烦恼率降低38.5%;与模糊PID控制油气悬架系统相比,其车身垂向加速度的均方根值降低37%、悬架动挠度降低14%、车轮动载荷降低21%。因此,基于模糊动态输出反馈的增量式PID控制油气悬架系统能够提升重载运输车辆的行驶平顺性和驾驶舒适性。

In order to improve the ride comfort and driving comfort of heavy-duty transport vehicles,an incremental PID hydro pneumatic suspension control system based on fuzzy dynamic output feedback is designed,which takes the semi-active hydro pneumatic suspension and human chair mass model as the research object,comprehensively consider the subjective feelings and annoyance rate of the driver,the vertical acceleration of the body,the dynamic load of the wheel,the dynamic deflection of the suspension and the annoyance rate of the driver are taken as the evaluation indexes.Passive suspension,fuzzy PID and fuzzy dynamic output feedback incremental PID control hydro pneumatic suspension system are studied.The simulation results show that,compared with the passive hydro pneumatic suspension system,the root mean square value of the vertical acceleration of the vehicle body,the dynamic deflection of the suspension,the dynamic load of the wheel and the driver s annoyance rate of the incremental PID control hydro pneumatic suspension system are reduced by 52%,24%,44%and 38.5%respectively;Compared with the fuzzy PID control hydro pneumatic suspension system,the root mean square value of the vertical acceleration of the vehicle body,the dynamic deflection of the suspension and the dynamic load of the wheel of the incremental PID control hydro pneumatic suspension system are reduced by 37%,14%and 21%respectively.It can be seen that the ride comfort and driving comfort of heavy transport vehicles can be improved with the incremental PID control hydro pneumatic suspension system based on fuzzy dynamic output feedback.