混合悬架半主动控制器设计与试验

为改善传统被动悬架的动力学性能,回收悬架振动能量,设计了一种半主动混合悬架系统。建立1/4车动力学方程,分别研究馈能回路处于Boost模式和Buck模式时馈能回路内电流的变化情况,并分析MOS管占空比对直线电动机电磁阻尼力的影响。在此基础上,引入基于天棚和地棚混合控制的半主动控制策略。提出半主动控制参考力的概念,并运用粒子群算法确定其最优控制参数。通过对不同工作模式下电路电流的追踪,达到对电动机电磁阻尼力实时控制的目的。接着运用Simulink仿真搭建混合悬架系统模型,分别进行动力学性能、馈能性能以及电流跟踪控制效果对比。仿真结果表明,半主动混合悬架能够在改善车辆动力学性能的同时回收部分振动能量,所设计的半主动控制器对电流有较好的控制效果。最后,进行台架试验,通过对比试验结果验证了仿真结果的正确性。

Design and Experiment on Semi-active Controller for Hybrid Suspension

In order to improve the dynamic performance of traditional passive suspension and recovery vibration energy from it, a semiactive hybrid suspension system was designed. The dynamic equation of the 1/4 vehicle was established, and then the variations of current in the Boost mode and Buck mode were studied respectively, and the influence of duty cycle of Mosfet on electromagnetic damping force of the linear motor was also analyzed. On this basis, semi active control strategy based on skyhook and groundhook hybrid control was introduced. The concept of semiactive control reference force (Fref) was proposed, and the optimal control parameters of the semi-active control reference force were determined by using the particle swarm optimization algorithm. Through tracking the current in different working modes, the purpose of real-time control of the motor electromagnetic damping force was reached. Then the hybrid suspension system model was built by Simulink simulation, and the dynamic and regenerative performance of the hybrid suspension system and the current tracking control effect of the semi-active controller were compared respectively. The simulation results showed that the semi-active hybrid suspension could improve the dynamic performance of vehicle, and partial vibration energy was recovered at the same time, the semi-active controller that designed had better control effect on current. Finally, the bench test was carried out, and the correctness of the simulation results was verified by comparing with the test results.