Skyhook-based Semi-active Control of Full-vehicle Suspension with Magneto-rheological Dampers

The control study of vehicle semi-active suspension with magneto-rheological (MR) dampers has been attracted much attention internationally. However, a simple, real time and easy implementing semi-active controller has not been proposed for the MR full-vehicle suspension system, and a systematic analysis method has not been established for evaluating the multi-objective suspension performances of MR full-vehicle vertical, pitch and roll motions. For this purpose, according to the 7-degree of freedom (DOF) fullvehicle dynamic system, a generalized 7-DOF MR and passive full-vehicle dynamic model is set up by employing the modified Boucwen hysteretic force-velocity (F-v) model of the MR damper. A semi-active controller is synthesized to realize independent control of the four MR quarter-vehicle sub-suspension systems in the full-vehicle, which is on the basis of the proposed modified skyhook damping scheme of MR quarter-vehicle sub-suspension system. The proposed controller can greatly simplify the controller design complexity of MR full-vehicle suspension and has merits of easy implementation in real application, wherein only absolute velocities of sprung and unsprung masses with reference to the road surface are required to measure in real time when the vehicle is moving. Furthermore, a systematic analysis method is established for evaluating the vertical, pitch and roll motion properties of both MR and passive full-vehicle suspensions in a more realistic road excitation manner, in which the harmonic, rounded pulse and real road measured random signals with delay time are employed as different road excitations inserted on the front and rear two wheels, by considering the distance between front and rear wheels in full-vehicle. The above excitations with different amplitudes are further employed as the road excitations inserted on left and right two wheels for evaluating the roll motion property. The multi-objective suspension performances of ride comfort and handling safety of the proposed MR full-vehicle suspension are thus thoroughly evaluated by comparing with those of the passive full-vehicle suspension. The results show that the proposed controller can ideally improve multiobjective suspension performances of the ride comfort and handling safety. The proposed harmonic, rounded pulse and real road measured random signals with delay time and asymmetric amplitudes are suitable for accurately analyzing the vertical, pitch and roll motion properties of MR full-vehicle suspension system in a more realistic road excitation manner. This research has important theoretical significance for improving application study on the intelligent MR semi-active suspension.

Skyhook Surface Sliding Mode Control on Semi-Active Vehicle Suspension System for Ride Comfort Enhancement

A skyhook surface sliding mode control method was proposed and applied to the control on the semi-active vehicle suspension system for its ride comfort enhancement. A two degree of freedom dynamic model of a vehicle semi-active suspension system was given, which focused on the passenger’s ride comfort perform-ance. A simulation with the given initial conditions has been devised in MATLAB/SIMULINK. The simula-tion results were showing that there was an enhanced level of ride comfort for the vehicle semi-active sus-pension system with the skyhook surface sliding mode controller.

基于磁流变阻尼器的隔震高架桥Skyhook控制

为进一步提高隔震高架桥的抗震性能,避免在强震下隔震支座位移过大,可以将附加减震措施与隔震支座配合使用,组成混合隔震系统。基于位移控制目标,研究了简化的两自由度高架桥线性模型分别在最优被动控制、LQR主动控制、LQR-Clipped磁流变(MR)阻尼器半主动控制及MR阻尼器Skyhook控制下的地震响应。研究结果表明,基于Skyhook控制的MR阻尼器控制效果可以达到LQR-Clipped控制的效果,相对最优被动控制也体现出一定的优越性。并且Skyhook控制系统简单,具有较强的实用价值。

Adaptive Backstepping Control Design for Semi-Active Suspension of Half-Vehicle With Magnetorheological Damper

This paper investigates the problem of controlling half-vehicle semi-active suspension system involving a magnetorheological(MR)damper.This features a hysteretic behavior that is presently captured through the nonlinear Bouc-Wen model.The control objective is to regulate well the heave and the pitch motions of the chassis despite the road irregularities.The difficulty of the control problem lies in the nonlinearity of the system model,the uncertainty of some of its parameters,and the inaccessibility to measurements of the hysteresis internal state variables.Using Lyapunov control design tools,we design two observers to get online estimates of the hysteresis internal states and a stabilizing adaptive state-feedback regulator.The whole adaptive controller is formally shown to meet the desired control objectives.This theoretical result is confirmed by several simulations demonstrating the supremacy of the latter compared to the skyhook control and passive suspension.

基于TruckSim的重型商用车半主动悬架天棚控制研究

悬架是车辆底盘系统的关键组成部分之一,对车辆平顺性有十分重要的影响。传统的被动悬架无法根据车辆运行工况调整自身阻尼,减振效果有限,半主动悬架能够根据不同的运行工况实时调整自身阻尼,能够有效提升车辆平顺性。文章通过TruckSim和MATLAB/Simulink建立基于天棚控制策略的某重型商用车半主动悬架仿真模型和传统被动悬架仿真模型,并对两种悬架的减振效果进行了对比分析,结果表明,相比传统被动悬架,基于天棚控制策略的半主动悬架能够有效提升车辆平顺性,其中车身加速度均方根值降低22.9%,悬架动挠度均方根值降低15.1%,轮胎动载荷均方根值降低9.8%。

Self-Powered Active Vibration Control:Concept,Modeling,and Testing

Despite their superior control performance,active vibration control techniques cannot be widely used in some engineering fields because of their substantial power demand in controlling large-scale structures.As an innovative solution to this problem,an unprecedented self-powered active vibration control system was developped in this study.The topological design,working mechanism,and power flow of the proposed system are presented herein.The self-powering ability of the system was confirmed based on a detailed power flow analysis of vibration control processes.A self-powered actively controlled actuator was designed and applied to a scaled active vibration isolation table.The feasibility and effectiveness of the innovative system were successfully validated through a series of analytical,numerical,and experimental investigations.The setup and control strategy of the proposed system can be readily extended to diversified active vibration control applications in various engineering fields.

基于模糊逻辑与天棚控制的半主动悬架策略研究

为了改善传统开关式天棚控制在切换状态时可能引起的震荡或不稳定情况,文章提出了一种融合天棚思想与模糊控制的半主动悬架控制策略。首先,通过将减振器动速度和簧载质量速度作为模糊控制的输入,经模糊规则运算求解出当前状态下的自适应阻尼系数;然后,输入至天棚控制中计算出当前状态的阻尼力,进而对车辆的动态性能进行调节;最后,使用CarSim及Simulink软件进行控制策略仿真验证。结果表明,较被动悬架及天棚控制,车辆质心垂向加速度均方根值分别下降了50.08%、6.41%,对车辆舒适性有一定程度上的提高。

无人机天钩回收航迹控制系统设计与实现

天钩回收无人机在回收时对于航迹偏差等的控制精度要求苛刻,这对控制系统提出了挑战。提出一种用于无人机天钩回收航迹控制的新方法,设计无人机天钩回收航迹控制策略与流程,给出控制系统组成,基于某型无人机风洞试验数据,构建天钩回收无人机的线性化和非线性模型,利用优化L1航迹控制方法设计了航迹控制律,并在实际飞行试验中得到了应用,验证了所设计控制系统的正确性与工程实现性,最终的飞行试验结果表明,无人机能够在控制系统作用下实现精确天钩回收,且具有良好的动态特性。

SEMI-ACTIVE CONTROL OF VEHICLE SUSPENSION WITH MAGNETO-RHEOLOGICAL DAMPERS:PART Ⅰ——CONTROLLER SYNTHESIS AND EVALUATION

A modified skyhook-based semi-active controller is proposed for implementing an asymmetric control suspension design with symmetric magneto-rheological （MR） dampers. The controller is formulated in current form, which is modulated by integrating a continuous modulation and an asymmetric damping force generation algorithms, so as to effectively minimize switching and hysteretic effects from the MR-damper. The proposed controller is implemented with a quarter-vehicle MR-suspension model, and its relative response characteristics are thus evaluated in terms of defined performance measures under varying amplitude harmonic, rounded pulse and random excitations. The sensitivity of the semi-active suspension performance to variations in controller parameters is thoroughly evaluated. The results illustrate that the proposed skyhook-based asymmetric semi-active MR-suspension controller has superior robustness on the system parameter variations, and can achieve desirable multi-objective suspension performance.

两种Skyhook阻尼实现方式在柔性隔振平台中的对比研究

利用Skyhook阻尼进行柔性隔振平台的主动隔振控制时,可以简单地通过调节控制增益实现对低频段隔振器模态共振响应的抑制,且不影响高频段的隔振性能。在实际使用中,Skyhook控制有两种常见的实现方式,即积分加速度反馈和积分力反馈。为分析两种实现方式用于柔性隔振平台时所产生的减振效果的差异,基于柔性Stewart型隔振平台,结合多个ADAMS和MATLAB联合仿真案例开展详细且直观的对比研究。结果表明,对于传统的柔性隔振平台,积分力反馈法会由于实际柔性铰链的残余刚度而不能完全抑制隔振器刚体模态的共振;并且对于有效载荷的低阶模态,同样以抑制低频刚体模态为目的而设计的积分加速度反馈主动控制比积分力反馈法有更好的阻尼效果。最后,给出了对于两种控制方式选取和相应平台设计的意见。

基于改进Skyhook算法的MRFDA系统抗震性能分析

为提高磁流变液阻尼器（magneto-rheological fluid damper,MRFD）控制系统的可靠性,提出一种基于改进Skyhook算法的MRFD Array（MRFDA）系统.通过该算法实现各MRFD单元间相互独立,多个单元组成具有互冗余性的平行阵列,单元失效不会导致全系统失效,使可靠性大幅提高.为验证实用效果,选用三条实际地震记录,对一栋7层钢框架结构进行双非线性时程分析.结果表明,按不同评价指标,该系统对位移响应和均方根加速度响应的控制能力,分别相当于经典Skyhook的76％～88％和165％～ 179％.基于改进Skyhook算法的MRFDA系统总体抗震性能不低于经典Skyhook,在可靠性、经济性、适用性和易维护性等方面有可观的优势,综合考虑,是一种很有潜力的结构控制新技术.

基于灰狼算法的矿用自卸车油气悬架半主动控制

为解决矿用自卸车乘坐舒适性与道路友好性相矛盾的问题,提出了一种可控阻尼阀式半主动油气悬架系统。搭建了包含摩擦力的油气弹簧AMESim物理模型,建立了可控阻尼阀的多项式力学模型;设计了一种以可控阻尼阀驱动电压为半主动控制对象的改进天棚控制策略,并基于灰狼优化算法对改进天棚策略关键控制参数进行优化。联合仿真结果表明:D级随机路面下,半主动油气悬架的车身加速度相比被动悬架减小了11.4%,而轮胎动载荷仅增加了1.1%,相比传统天棚控制策略,更好地兼顾了矿用自卸车的乘坐舒适性和道路友好性。硬件在环试验结果也验证了该控制策略的有效性和可行性。

阻尼连续可调半主动悬架平滑天棚控制策略研究

为了验证平滑天棚控制的有效性和其有效的参数优化算法,以2自由度悬架系统模型为研究对象,建立综合性能评价指标,经过粒子群算法优化参数,仿真结果表明,与被动悬架相比,综合性能评价指标提升11.17%。以舒适性为控制目标,采用随机路面激励,平滑天棚控制的簧上质量加速度均方根值与被动悬架和开关天棚控制相比,都有显著的降低;采用正弦扫频激励,对系统振动传递特性进行分析,仿真结果表明,在中高频段,平滑天棚控制对簧上质量振动有较好的抑制效果。最后,通过半主动需悬架机械硬件在环试验,试验结果表明,平滑天棚控制可以减少振颤,降低簧上质量加速度。

无人机天钩回收纵向控制系统设计与实现

相较于滑跑型和伞降型无人机,天钩回收无人机在回收时对于高度、速度等的控制精度要求更加苛刻;文中提出了一种无人机天钩回收过程纵向控制的新方法,设计了无人机天钩回收纵向控制策略与流程,给出了控制系统组成,基于某型无人机风洞试验数据,构建了天钩回收无人机的线性化和非线性模型,利用总能量思想设计了纵向轨迹控制律,并在实际飞行试验中得到了应用与验证,最终的飞行试验结果表明了所设计的控制系统的正确性,设计结果满足天钩回收的要求。

基于SA-PSO算法的履带车辆多工况振动优化控制研究

为提高履带车辆整车行驶平顺性,提出一种基于模拟退火和粒子群混合的智能算法的履带车辆半主动悬架控制策略.首先建立履带车辆的刚柔耦合动力学模型,然后基于天棚控制理论搭建半主动悬架控制模型,最后利用混合智能算法对天棚控制的参数进行寻优.结果表明,优化后的控制参数可显著提高整车的平顺性,证明所提方法的有效性.

超导电动磁悬浮列车模糊-改进型天棚阻尼横向半主动控制策略研究

为了提高超导电动磁悬浮列车动力学性能、改善列车运行平稳性和乘坐舒适性,提出基于可调因子的模糊-改进型天棚阻尼半主动复合控制方法。基于牛顿-欧拉方程建立车辆4自由度横向动力学模型,并通过逆傅里叶变换得到轨道随机不平顺激励;采用改进型天棚阻尼控制策略,结合模糊控制和可调因子方法,提出模糊-改进型天棚阻尼半主动复合控制策略和基于可调因子的模糊-改进型天棚阻尼半主动复合控制策略,探究列车在不同控制策略下的动力学性能。研究结果表明,模糊-改进型天棚阻尼策略和可调因子模糊-改进型天棚阻尼控制策略均可改善车辆的运行平稳性,且后者控制效果明显更优。

电磁式馈能悬架系统的建模及控制策略研究

针对悬架主动控制高能耗的问题,研究了双向AC/DC变换器的双波段滞环电流控制器,并提出了一种电磁式馈能悬架半主动控制系统。建立了悬架的机-电耦合模型,基于电流控制器和天棚算法设计了馈能减振控制电路,理论推导了电流控制器的电流波纹系数和开关周期,理论分析和仿真表明其有快速高精度的电流跟踪能力。此外,仿真表明,该耦合模型能描述相对位移、感应电动势和电流随负载电阻变化的合理变化趋势。该半主动控制系统能采集和存储振动能量,并利用存储的能量调节电阻尼力抑制悬架振动,具有低能耗减振特性。

天棚阻尼控制的快速原型验证

为提高车辆平顺性及驾乘体验,基于天棚阻尼控制策略,利用MATLAB/Simulink搭建了一套垂向减振器半主动悬架控制模型,并在扭曲路工况进行车辆动力学仿真分析,实现了该策略在软件层面的有效性验证;将上述模型进行通道匹配,并移植烧录至硬件dSPACE MicroAutoBoxⅢ中进行实车特征路的验证工作。主、客观相关数据表明,天棚阻尼控制下的半主动悬架,能使车辆主驾驶位座椅加速度均方根值明显减小,车辆的前后轴冲击、振动收敛、车身姿态等均有明显改善,验证了天棚阻尼控制策略在工程中的有效性。

车辆半主动悬架HSG阻尼控制策略仿真研究

半主动悬架具有成本适中、控制效果好的优势。天棚阻尼控制在降低簧上质量加速度的同时会导致轮胎动载荷恶化,而地棚阻尼控制则与之相反,降低轮胎动载荷但会增大簧上质量加速度。结合天棚、地棚阻尼控制各自优点,使用混合天棚地棚阻尼控制方法,并在1/4车辆模型上对该方法进行仿真分析。仿真结果显示,混合控制系统能够通过调节加权系数获得乘坐舒适性与操纵稳定性之间的平衡,在获得乘坐舒适性提升的同时,能够保持适当的操作性能。其具有计算量少、操作简单实用等特点,能较好地实现汽车振动的控制。

轨道工程车车体与车下悬挂设备耦合振动分析及减振研究(上)

为了研究轨道工程车高速运行时车体与车下悬挂设备的耦合振动,建立车体与车下悬挂设备垂向耦合振动力学模型,分别分析在简谐和随机轨道不平顺激励下,车下悬挂设备悬挂频率对车体和车下悬挂设备振动的影响规律。分析结果表明:相比于低速运行,轨道工程车在高速(大于160km/h)运行时,在线路不平顺波长范围更广的条件下,车下悬挂设备的悬挂频率影响设备振动,采用弹性悬挂的减振效果更好;车下悬挂设备的悬挂位置离车体中心越远,对车体、车下悬挂设备浮沉振动越不利,但是会改善车体的点头振动;车下悬挂设备质量越大,车体、车下悬挂设备振动响应越小。研究利用半主动控制技术改善车体与车下悬挂设备振动的可行性。当采用天棚阻尼控制时,车体振动得到改善,但车下悬挂设备振动加剧;相反,当采用地棚阻尼控制时,车下悬挂设备振动得到改善,车体振动却加剧。