基于气动人工肌肉理论的半主动空气悬架研究

Research on thesemi-active control air suspension basedon the pneumatic artificial muscle theory

以改善空气悬架动态性能为目标,提出一种基于气动人工肌肉理论的空气悬架系统。在建立二自由度车辆悬架系统模型、空气弹簧模型、气动人工肌肉动态模型以及迟滞特性数学模型的基础上,依据气动人工肌肉理论的执行器动态特性,设计模糊PID控制策略。对不同路面的仿真结果表明:与被动悬架相比,采用模糊PID控制的空气悬架动态特性有一定改善;对于基于气动人工肌肉理论的模糊PID控制的空气悬架,车身垂向加速度和车轮动载荷均方根值分别降低72%和41%,两指标的功率谱密度在人体敏感频率区域得到明显改善。仿真实验验证了采用基于气动人工肌肉理论的空气悬架系统对车辆行驶平顺性改善的可行性。

In order to improve the dynamic performance of air suspension,an air suspension system based on the theory of pneumatic artificial muscle was proposed.The fuzzy PID control strategy is designed based on the two degrees of freedom vehicle suspension system model,air spring model,dynamic model of pneumatic artificial muscle and mathematical model of hysteresis characteristics.The simulation results of different road surface show that compared with the passive suspension,using fuzzy PID control of the dynamic characteristics of air suspension has certain improvement,for fuzzy PID control based on the theory of the pneumatic artificial muscle of air suspension,body vertical acceleration and the wheel dynamic load root mean square value reduced by 72%and 41%respectively,the two indicators of power spectral density of significant improvement in the human sensitive frequency area.The simulated tests verified the feasibility to improve the vehicle riding comfort by the air suspension system based on the theory of the pneumatic artificial muscle.