基于电磁阀减振器的1/4车辆半主动悬架非线性控制

在电磁阀减振器力-速度特性试验基础上,针对电磁阀减振器1/4车辆半主动悬架非线性特性和电磁阀减振器可调阻尼力输出饱和特性,提出一种基于输入饱和的滑模控制策略。建立半主动悬架1/4车辆非线性模型和输入简化的悬架参考模型。设计半主动悬架1/4车辆非线性模型滑模控制器,同时考虑电磁阀减振器阻尼力存在的输出饱和特性,设计辅助分析系统,以控制补偿信号对滑模控制器进行饱和补偿。Matlab/Simulink仿真与台架试验结果表明:设计的输入饱和滑模控制器能有效消除电磁阀减振器输出饱和特性影响,使电磁阀减振器半主动悬架车身垂向加速度、悬架动挠度等性能指标很好地跟踪或接近悬架参考模型理想输出,优化电磁阀减振器半主动悬架非线性控制与设计,有效改善车辆乘坐舒适性。

Nonlinear Control of Quarter Vehicle Model with Semi-active Suspension Based on Solenoid Valve Damper

On the basis of experiments on force-speed characteristics of solenoid valve damper, a slide model control strategy based on saturated input was put forward for a quarter vehicle semi-active suspension with solenoid valve damper, which considered the nonlinear properties of vehicle semi-active suspension and output saturation properties of solenoid valve damper with adjustable damping force. A quarter vehicle nonlinear model with semi-active suspension and a suspension reference model with simplified input were built. A slide model controller was designed for a quarter vehicle nonlinear model. Meanwhile, considering the damping force output saturation property of solenoid valve damper, an assistant analysis system was designed to generate control compensation signal in order to compensate the saturation of the slide model controller. The results of simulation under Matlab/Simulink and experiments showed that the slide model controller based on saturated input could effectively eliminate the influence of output saturation of solenoid valve damper, and make the performance indexes, such as vehicle body vertical acceleration and suspension working space, close to the corresponding ideal output of a suspension reference model. It could also optimize the semi-active suspension design and control so as to improve vehicle ride comfort.