磁流变减振器多目标优化设计及半主动悬架仿真研究

发布时间：2019-04-27 15:14

【摘要】：随着高速公路的大量建设，车速不断提高，人们对车辆的舒适性和安全性给予了更高的关注。悬架作为影响车辆性能的关键部件，采用能够根据路面情况和车辆运行工况实时控制的智能悬架是提高车辆性能的一条重要途径。近二十多年来，由于具有响应快，动态范围宽，，功耗低，结构简单等特点，学者和工程师们对磁流变半主动悬架进行了深入的研究，在磁流变减振器设计、力学建模、悬架系统的建模和控制等方面取得了丰硕的成果，这些研究大多没有考虑到各构件空间位置变化几何非线性对力学模型和控制的影响，有必要明确这些影响的大小。基于此，本文以麦弗逊（Macpherson）悬架为研究对象，利用多目标优化理论设计并研制了汽车磁流变减振器，建立了相应的控制模型；并利用多体动力学理论和数值仿真方法分别针对几何非线性对被动和半主动控制悬架系统动力学行为的影响进行了研究。具体工作主要包括以下几个方面：（1）在分析、总结现有车辆悬架减振器结构和性能优缺点的基础之上，提出了适合麦弗逊悬架的磁流变减振器设计方案；利用modeFRONTIER多目标优化软件平台，以最大阻尼力及其可调动态范围为优化目标，基于宾汉姆塑性非线性流体修正模型和ANSYS命令流磁路计算为基础，通过多目标遗传算法进行求解计算，并结合优化结果进行线性相关度和响应面分析，确定减振器活塞的关键尺寸。（2）根据减振器结构的设计方案和优化计算确定的减振器活塞尺寸参数，加工研制出了磁流变减振器，并利用搭建的MTS电磁测试系统对其示功特性、速度特性和温度特性进行了测试，比较了设计阻尼力与试验测试得到的阻尼力变化规律，分析了产生误差的主要原因，建立了减振器阻尼力的控制模型。（3）以多刚体系统动力学理论为基础，应用机械系统动力学仿真软件ADAMS的轿车模块ADAMS/Car建立了整车模型；利用位移矩阵法推导了悬架各构件因空间位置变化导致的几何非线性动力学模型。通过这两种方法分析了几何非线性对被动悬架系统减振效果的影响。（4）基于几何非线性磁流变悬架动力学模型，分别设计了天棚阻尼控制器、模糊控制器和滑模控制器，研究了几何非线性对半主动控制悬架系统性能的影响。最后通过合理的补偿，减小了因悬架建模的简化带来的影响。
[Abstract]:With the large number of highway construction and speed increasing, people pay more attention to the comfort and safety of vehicles. Suspension is a key component affecting vehicle performance. It is an important way to improve vehicle performance by adopting intelligent suspension which can be controlled in real time according to road condition and vehicle operating condition. Over the past two decades, due to the characteristics of fast response, wide dynamic range, low power consumption and simple structure, scholars and engineers have carried out in-depth research on the magnetorheological semi-active suspension, in the design of magnetorheological shock absorbers, mechanical modeling, and so on. Many achievements have been made in modeling and control of suspension systems. Most of these studies do not take into account the influence of geometric nonlinearity on the mechanical model and control caused by the spatial position variation of each component. It is necessary to clarify the magnitude of these effects. Based on this, this paper takes the Madison (Macpherson) suspension as the research object, designs and develops the automobile magnetorheological damper by using the multi-objective optimization theory, and establishes the corresponding control model. The effects of geometric nonlinearity on the dynamic behavior of passive and semi-active suspension systems are studied by means of multi-body dynamics theory and numerical simulation method. The concrete work mainly includes the following aspects: (1) on the basis of analyzing and summarizing the advantages and disadvantages of the structure and performance of the existing vehicle suspension damper, the design scheme of the Mr damper suitable for the McPherson suspension is put forward; Taking the maximum damping force and its adjustable dynamic range as the optimization objective, based on Bingham plastic nonlinear fluid correction model and the magnetic circuit calculation of ANSYS command flow, the modeFRONTIER multi-objective optimization software platform is used. The key dimensions of shock absorber piston are determined by multi-objective genetic algorithm, linear correlation and response surface analysis combined with optimization results. (2) according to the design scheme of the shock absorber structure and the dimension parameters of the piston determined by the optimization calculation, the magnetorheological shock absorber is fabricated, and the MTS electromagnetic testing system is used to show the power characteristics of the damper. The velocity characteristic and the temperature characteristic are tested, the variation rule of the damping force is compared between the designed damping force and the experimental test, the main causes of the error are analyzed, and the control model of damping force of the shock absorber is established. (3) based on the theory of multi-rigid body system dynamics, the whole vehicle model is established by using the car module ADAMS/Car of mechanical system dynamics simulation software ADAMS. Based on the displacement matrix method, the geometric nonlinear dynamic model of each suspension member due to the change of space position is derived. Through these two methods, the influence of geometric nonlinearity on the damping effect of passive suspension system is analyzed. (4) based on the geometric nonlinear magnetorheological suspension dynamics model, the ceiling damping controller, fuzzy controller and sliding mode controller are designed, and the influence of geometric nonlinearity on the semi-active control suspension system performance is studied. At last, through reasonable compensation, the influence of the simplification of suspension modeling is reduced.
【学位授予单位】：重庆大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TB535.1

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