变构型液压互联悬架设计与仿真研究

Design and simulation of variable configuration hydraulically interconnected suspension

针对越野汽车在非铺装路面上行驶时操纵稳定性和通过性的矛盾关系,提出了一种变构型液压互联悬架系统。介绍了该悬架系统的工作原理,并建立时域仿真模型;基于模态能量法和LQR算法提出了车辆运动状态辨识和悬架目标控制力的上层控制器,基于分层控制策略设计了悬架刚度-阻尼协同控制的下层控制器;利用MATLAB/Simulink软件搭建了该悬架系统的动力学模型,在不同工况下对装备该悬架的车辆的侧倾角、俯仰角、车身扭转载荷和车轮接地性等指标进行仿真。仿真结果表明,该悬架系统能有效提高车辆的行驶性能。

In view of the contradictory relationship between handling stability and transmissibility of off-road vehicles driving on non-pavement,a variable configuration hydraulically interconnected suspension system was proposed.Firstly,the working principle of the suspension system was introduced,and its time-domain simulation model was established.Based on modal energy method and LQR algorithm,the upper controller of vehicle motion state identification and suspension target control was proposed.Then,based on the layered control strategy,the lower controller of suspension rigidity-damping cooperative control was designed.Finally,MATLAB/Simulink software was used to build the dynamic model of the suspension system,and the indexes of the vehicle equipped with the system such as roll angle,pitch angle,body torsional load and wheel grounding were simulated under different working conditions.The simulation results showed that the suspension system could effectively improve the driving performance of the vehicle.