含磁流变阻尼器重卡驾驶室悬置系统的半主动控制研究

发布时间：2018-05-15 05:12

本文选题：驾驶室 + 半主动悬置　；参考：《哈尔滨工业大学》2015年博士论文

【摘要】：近年来,随着我国电子商务的快速发展,货运物流的需求也不断提高。然而在长时间的运输途中,重卡驾驶室内的振动直接影响着驾乘人员的身心健康和运输安全。磁流变阻尼器(magnetorheological damper,MRD)是一种高效的振动半主动控制执行器件,具有结构简单可靠、出力大、抗干扰能力强和能耗低等优点,是目前振动控制领域应用研究的热点。本文基于磁流变阻尼器,研究全浮式重卡驾驶室半主动悬置在振动控制中存在的若干问题。由于MRD复杂的非线性物理特性,建立其准确的控制模型并设计高效的半主动控制器具有一定难度,而这也是国内外学者研究的热点。目前基于MRD的振动半主动控制系统多采用天棚控制策略和智能控制算法,然而天棚控制策略和智能控制算法在控制精度上和响应速度方面存在天然的缺陷。同时以电磁场和流体驱动的MRD含有不可忽略的时滞,而这也将降低甚至恶化振动半主动控制的效果。本文针对目前振动半主动控制中存在的问题展开研究。论文首先讨论了MRD在稳态电流输入下的动力学模型的建立。在MRD稳态电流动力模型的建立中,以驾驶室悬置用MRD动力特性测试数据为基础,研究传统MRD的动力模型,在MRD的动力特性曲线分析的基础上,提出了考虑机械柔度和装配间隙的机械滞后模型。从模型精度、可逆性和复杂度角度将各模型进行对比分析。结果表明基于Tanh函数的机械滞后模型综合精度最高,而简化的Tanh函数模型逆函数求解方便,同时也具备较高的精度。基于机械滞后模型,分析机械系统柔度和间隙对MRD瞬态响应特性的影响。利用电路理论,预测电流源驱动模式和电压源驱动模式下MRD电流响应时间。针对驾驶室悬置用MRD进行阶跃电流响应测试,并研究速度和驱动电流幅值对MRD响应时间的影响。数值仿真结果表明,MRD时滞模型能够较好的解释MRD阻尼力随电流瞬态变化的响应特性。基于MRD动力模型,提出一种磁流变阻尼力线性化控制的方法。对MRD的阻尼力进行分解,并将简化的Tanh函数模型分解并求其逆函数,并将逆函数串联至MRD控制电流输入通道,通过引入闭环控制策略,实现MRD库仑力和黏性阻尼力近似线性化,为振动半主动控制系统的设计和分析奠定了基础。以MRD简化Tanh函数模型为基础,研究了两种1/4驾驶室半主动悬置系统(车架-驾驶室系统和车架-驾驶室-座椅系统)的振动传递特性。依据振动半主动控制特点,并基于振动传递特性,提出振动隔离抑制率和综合传递率作为半主动控制效果的评价准则。基于该准则,研究时滞对天棚阻尼控制和状态反馈最优控制效果造成的影响。结果表明,对于车架-驾驶室系统和车架-驾驶室-座椅系统,时滞均能不同程度地影响了天棚阻尼控制和状态反馈最优控制的振动控制效果。其中,时滞对天棚阻尼控制影响更为显著。基于Smith预估补偿设计含可变时滞补偿环节的自适应天棚控制器。利用等维变换理论,推导并设计基于状态反馈最优控制的时滞最优控制器,并将MRD的时滞表达式引入时滞补偿环节,得到可变时滞的时滞最优控制器。针对两种1/4驾驶室悬置系统进行仿真评估,结果表明自适应天棚控制器和时滞最优控制器均能很好的减小时滞对控制系统产生的影响。建立重卡驾驶室悬置系统10自由度动力学模型,研究并设计了自适应PID控制器、自适应天棚阻尼控制器和时滞最优控制器。仿真研究控制器失效情况下悬置系统的传递特性。结果表明,在三种失效模式下,虽然重卡驾驶室悬置系统的舒适度有所降低,但均未出现失稳现象。通过仿真计算,评估了三种控制器对重卡驾驶室半主动悬置系统振动控制的效果。结果表明,在三种控制算法中,时滞最优控制效果最佳,其次是自适应PID控制和自适应天棚阻尼控制,但就降低幅度言两者差别不大。文章最后建立一套1/4驾驶室悬置系统实验台,基于Matlab快速控制原型开发技术,实验验证了四种控制器对车架-驾驶室系统和车架-驾驶室-座椅系统的振动控制效果。实验结果表明,相比于不考虑时滞的天棚阻尼控制器和状态反馈最优控制器,自适应天棚控制器和时滞最优控制器具有更高的控制效率和更好的舒适性。为进一步研究半主动控制算法在实际驾驶室悬置系统中的有效性,利用实际重卡进行路面实验。实验结果表明相比于被动方式,两种半主动控制方法均能有效的抑制或隔离驾驶室座椅处的振动,其中最优控制的整体效果较好。本文以基于MRD的重卡驾驶室悬置为研究对象,分析并建立了MRD的瞬态动力模型并提出控制方法,并研究时滞对传统半主动控制算法的影响。研究含时滞补偿的半主动控制方法,并进行仿真和实验验证,为MRD在重卡驾驶室半主动悬置系统中的应用提供了理论和实验基础。
[Abstract]:In recent years, with the rapid development of electronic commerce in China, the demand for freight logistics is increasing. However, in the long time of transportation, the vibration of the heavy truck driver is directly affected by the driver's physical and mental health and transportation safety. The magnetorheological damper (MRD) is a highly efficient and semi-active control of the vibration. The device has the advantages of simple and reliable structure, great power, strong anti-interference ability and low energy consumption. It is a hot spot in the field of application of vibration control. Based on the magnetorheological damper, this paper studies some problems in the vibration control of the semi-active suspension of the full floating heavy truck cab. The complex nonlinear physical characteristics of MRD have been established. The accurate control model and the design of efficient semi-active controller are difficult, which is also the hot spot of scholars at home and abroad. At present, the vibration semi-active control system based on MRD mostly adopts the ceiling control strategy and the intelligent control algorithm. However, the control precision and the response speed of the ceiling control strategy and the intelligent control algorithm are in the control precision and the response speed. There are natural defects. Both electromagnetic and fluid driven MRD contain unnegligible time-delay, and this will also reduce and even deteriorate the effect of vibration semi-active control. This paper studies the problems existing in the current vibration semi-active control. The paper first discusses the establishment of the dynamic model of MRD under the steady current input. In the establishment of MRD steady current dynamic model, based on the test data of MRD dynamic characteristics of cab suspension, the dynamic model of the traditional MRD is studied. On the basis of the analysis of the dynamic characteristic curve of MRD, a mechanical delay model considering mechanical flexibility and assembly gap is put forward. The results show that the mechanical lag model based on the Tanh function has the highest comprehensive precision, while the simplified Tanh function model is convenient to solve the inverse function and also has high accuracy. Based on the mechanical lag model, the effect of the mechanical system flexibility and clearance on the transient response characteristics of the MRD is analyzed. The circuit theory is used to predict the current source drive. The response time of MRD current in mode and voltage source driven mode. The step current response test is carried out for the cab suspension with MRD, and the effect of speed and driving current amplitude on the response time of MRD is studied. The numerical simulation results show that the MRD time-delay model can explain the response characteristic of MRD damping force with the current transient change better. Based on the MRD motion. A method of linearization of magnetorheological damping force is proposed. The damping force of MRD is decomposed. The simplified Tanh function model is decomposed and its inverse function is solved. The inverse function is connected to MRD to control the current input channel. By introducing the closed loop control strategy, the MRD Coulomb force and the viscous damping force are approximately linearized. The foundation of the design and analysis of the active control system is laid. Based on the simplified Tanh function model of MRD, the vibration transfer characteristics of two kinds of 1/4 cab semi-active suspension systems (the frame - cab system and the frame - cab seat system) are studied. Based on the characteristics of the vibration semi-active control, and based on the vibration transfer characteristics, the vibration isolation and suppression are proposed. Based on this criterion, the effect of time delay on the control effect of the canopy damping and the state feedback optimal control is studied. The results show that the time delay can affect the control and shape of the canopy damping to varying degrees for the frame - cab system and the frame - cab seat system. The effect of state feedback optimal control on vibration control. Among them, the effect of time delay on the canopy damping control is more significant. Based on the Smith prediction compensation, the adaptive canopy controller with variable time delay compensation is designed. The time delay optimal controller based on the state feedback optimal control is derived and designed, and the time delay expression of MRD is expressed. The time-delay compensation link is introduced to obtain a time-delay optimal controller with variable delay. The simulation evaluation of two 1/4 cab suspension systems shows that the adaptive canopy controller and the time delay optimal controller can reduce the effect of time delay on the control system well. The 10 degree of freedom dynamics of the heavy truck cab suspension system is established. An adaptive PID controller, an adaptive canopy damping controller and a time-delay optimal controller are studied and designed. The simulation studies the transmission characteristics of the suspension system under the failure of the controller. The results show that, although the comfort degree of the heavy card cab suspension system is reduced in the three failure modes, it does not appear to be unstable. True calculation, the effect of three controllers on the vibration control of the semi-active suspension system of heavy truck cab is evaluated. The results show that in the three control algorithms, the optimal time delay control effect is the best, followed by adaptive PID control and adaptive canopy damping control, but the difference is not significant. Finally, a set of 1/4 cabs is set up. The suspension system experiment platform, based on the Matlab rapid control prototype development technology, verified the vibration control effect of four controllers to the frame cab system and the frame and cab seat system. The experimental results show that the adaptive canopy controller and the adaptive canopy controller are compared to the time lag damper controller and the state feedback optimal controller. The time delay optimal controller has higher control efficiency and better comfort. In order to further study the effectiveness of the semi-active control algorithm in the actual cab suspension system, the practical heavy truck is used to carry out the pavement experiment. The experimental results show that the two semi-active control methods can effectively suppress or isolate the cabs compared to the passive way. In this paper, the overall effect of the optimal control is better. This paper takes the MRD based heavy card cab suspension as the research object, analyzes and establishes the transient dynamic model of the MRD and puts forward the control method, and studies the influence of the time delay on the traditional semi-active control algorithm. And experimental verification, which provides a theoretical and experimental basis for the application of MRD in the semi-active suspension system of heavy truck cab.

【学位授予单位】：哈尔滨工业大学
【学位级别】：博士
【学位授予年份】：2015
【分类号】：U463.81

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