基于实时力值跟踪及RCP的半主动悬架试验系统

A semi-active suspension bench with real-time force tracking detection and rapid control prototype

为开展半主动智能车辆悬架控制策略方面的验证研究,提出一种可实现减振器实时力值跟踪监测和快速控制原型(Rapid Control Prototype,RCP)的汽车悬架实验平台。基于建立的1/4悬架动力学控制方程和传递函数,分析了悬架的输出特性;为模拟真实车辆悬架的动态输出特性和实时监测执行器的控制力输出特性,开发了可实现实时力值跟踪监测的麦弗逊式1/4汽车悬架实验平台。该实验平台一方面可以依托快速控制原型技术开展半主动悬架最佳控制算法的研究,另一方面还可以基于平台特有的执行器输出力实时跟踪监测功能,开展执行器不确定性半主动控制策略及执行器状态观测器可靠性检验等方面的研究;通过定电流开环实验检验半主动汽车悬架系统的有效性和可控性,通过闭环控制实验分别对半主动悬架系统在半主动智能控制策略验证和悬架执行器阻尼力跟踪估计方面的有效性。

In order to carry out validation research on active or semi-active suspension actuators and control algorithms of intelligent vehicles,a vehicle suspension experimental platform is proposed here,which can realize real-time force tracking and monitoring of dampers and Rapid Control Prototype(RCP).A vibration evaluation scheme for vehicle suspension is firstly investigated,and the dynamic control equations and transfer functions for typical quarter suspension are developed.A McPherson quarter vehicle suspension test bench with real-time force tracking detection is developed to demonstrate the dynamic output characteristics of real vehicle suspensions and to real-time monitor the control force output characteristics of the actuators.The test bench provides the opportunity to conduct research the optimal trade-off between ride comfort and ride stability for passive suspensions.In addition,the test bench can carry out investigations on optimal control algorithms for active or semi-active suspensions with rapid control prototype technology,which can even conduct studies on actuator uncertainty semi-active control strategies and actuator state observer reliability verification based on the real-time actuator output force value tracking function unique to the test bench,and the validity of the suspension test bench has been examined by means of control algorithm prototype tests.