基于性能优化的磁流变阻尼器悬架系统参数自动调整控制

发布时间：2018-05-11 09:50

本文选题：汽车悬架系统 + 磁流变阻尼器　；参考：《哈尔滨工业大学》2014年硕士论文

【摘要】：随着人们生活条件的不断改善，汽车只发挥代步工具的作用已经无法满足乘客的要求，人们在选择汽车的时候，更多的关注于车辆的舒适性、操纵稳定性以及安全性。改善汽车悬架系统的减振功能是提高车辆行驶时舒适平稳性最有效的途径。现在对磁流变阻尼器悬架系统的控制所普遍使用的是天棚阻尼控制策略，它虽然能很好地提升系统性能，但还是存在Bang-Bang控制、控制力的方向不可控等不足。论文针对上述策略所存在的缺陷进行研究。论文首先对汽车悬架系统的发展以及磁流变阻尼器在该系统上的应用情况进行简要的描述。分析了磁流变液的流变机理，根据它的组成成分不同进行分类，由此可以选出适合汽车悬架的类型。再对磁流变阻尼器的工作原理进行简介并以用途不同进行分类，在多种分类中用于汽车悬架的通常是剪切阀式结构。又介绍了磁流变阻尼器的不同模型并分析各模型下的力学特性。重点研究参数化动力模型中的Bingham模型，该模型将可控力部分和粘滞阻尼力分开，在进行控制时大大降低其它模型所具有的复杂非线性。文中对于Bingham模型所存在的误差问题给出合理的修正模型。然后构建路出面扰动信号的激励模型并且以Bingham模型为基础创建汽车悬架系统的局部动力学模型。然后对天棚阻尼控制策略进行简要分析，此策略只能实现最大控制力和零控制力间切换的Bang-Bang控制，无法发挥磁流变阻尼器控制力连续可调的优势，而且对控制力方向无法控制。文中对此提出优化方案，将控制力的方向用簧载质量和簧下质量的速度差替换，经过推导求出最优的参数，最后实现对阻尼器的优化控制，仿真结果表明此方案确实是可行的。论文最后求取可控库仑力的计算公式，，并且为消除控制系统中的非线性部分拟合出可控库仑力的逆函数，经过这些过程控制系统基本上能够完成线性化的目标。然后搭建出完整的磁流变阻尼器悬架闭环控制系统并提出几个汽车悬架系统的评价参考量。
[Abstract]:With the continuous improvement of people's living conditions, the vehicle can not meet the requirements of passengers only as a means of transportation. When people choose a car, they pay more attention to the comfort, handling stability and safety of the vehicle. Improving the damping function of vehicle suspension system is the most effective way to improve the comfort and stability of vehicle. At present, the control strategy of magnetorheological damper suspension system is the ceiling damping control strategy. Although it can improve the performance of the system, but there are still some shortcomings such as Bang-Bang control, the direction of control force is not controllable and so on. In this paper, the defects of the above strategies are studied. Firstly, the development of automobile suspension system and the application of Mr damper in the system are briefly described. The rheological mechanism of magnetorheological fluid is analyzed and the type suitable for automobile suspension can be selected according to the different composition of magnetorheological fluid. The principle of magnetorheological damper (MRD) is briefly introduced and classified according to different uses. In many kinds of classification, the shear valve structure is usually used in automobile suspension. The different models of Mr damper are introduced and the mechanical properties of each model are analyzed. The Bingham model in the parameterized dynamic model, which separates the controllable force from the viscous damping force, greatly reduces the complex nonlinearity of the other models. In this paper, a reasonable modified model is given for the error problem of Bingham model. Then the excitation model of road disturbance signal is constructed and the local dynamic model of vehicle suspension system is established based on Bingham model. Then a brief analysis of the ceiling damping control strategy is made. This strategy can only realize the Bang-Bang control of switching between the maximum control force and the zero control force, and can not play the advantage of continuously adjusting the control force of the magnetorheological damper, and can not control the direction of the control force. In this paper, an optimization scheme is proposed, in which the direction of the control force is replaced by the velocity difference between the spring load mass and the underspring mass, the optimal parameters are derived and the optimal control of the damper is finally realized. The simulation results show that the scheme is feasible. At the end of this paper, the calculation formula of controllable Kulun force is obtained, and the inverse function of controllable Coulomb force is fitted to eliminate the nonlinear part of the control system. After these processes, the control system can basically achieve the goal of linearization. Then a complete closed loop control system of magnetorheological damper suspension is built and several evaluation references for vehicle suspension system are proposed.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB535.1;TP273

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