主动油气悬架自动调平技术研究

发布时间：2018-05-18 00:19

本文选题：油气悬架 + 自动调平　；参考：《北京理工大学》2016年硕士论文

【摘要】：油气悬架因其良好的非线性及较高的承载能力,越来越多的装备在军用车辆、大型载重车辆、高级越野车辆及少量轿车上。而油气悬架的另一大优势是可以利用液压缸及配套设备,实现调节车身姿态控制车身高度的目的。以自适应backstepping控制理论与滑模控制理论为基础,以车身的自动调平为目的,分别以传统单轮悬架系统、单轮油气悬架系统及整车悬架系统为对象,设计满足控制目标的控制策略,使其满足在不同路面干扰及控制系统内部参数不确定的情况下,实现车身的自动调平控制,并对其进行数字仿真,分析调节过程中内部变量的详细变化曲线,得出控制策略的优劣。建立了单轮悬架系统模型,利用backstepping控制算法实现了对车身高度的控制。控制策略中结合自适应律,实现了自校正控制系统内部参数的不确定摄动及未建模动态特性。通过仿真,详细分析了调节过程中变量的变化规律,验证了控制策略的有效性。建立了单轮油气悬架系统模型,采用内外环分层控制策略。外环利用单轮悬架系统自适应backstepping控制,实现对车身高度的调节。内环利用滑模控制算法,跟踪外环给定的期望跟踪力,并实现对油气悬架刚度非线性及阀组非线性的补偿。提出一种特殊的切换函数代替传统滑模控制中的符号函数切换律,解决了滑模颤振问题。通过仿真分析验证,控制策略可以实现对车身高度的控制,并有抑制路面干扰的作用。建立了整车油气悬架系统模型,借鉴单轮油气悬架高度控制的思路,利用双闭环的控制策略。外环自适应控制策略解决了由于负载变化造成的车身质量、转动惯量变化对控制的影响。内环同样利用改善后的滑模控制策略改善滑模颤振问题,精确跟踪外环期望控制力。通过仿真,验证了控制策略的有效性及对不同路面干扰饿抑制作用。设计了可实现车身调平控制的硬件电路及其软件实现。硬件电路采用双控制芯片的控制方式,避免了单个控制芯片造成的程序臃肿及逻辑不清晰问题,也实现了主控板的节能目标及电压保护功能。
[Abstract]:Because of its good nonlinearity and high bearing capacity, more and more oil and gas suspensions are equipped on military vehicles, large load-carrying vehicles, advanced off-road vehicles and a small number of cars. The other advantage of the hydro-pneumatic suspension is that it can adjust the body height by using the hydraulic cylinder and supporting equipment. On the basis of adaptive backstepping control theory and sliding mode control theory, aiming at auto leveling of body, the traditional single wheel suspension system, single wheel oil and gas suspension system and whole vehicle suspension system are taken as objects, respectively, and the control strategy to meet the control objectives is designed. In the case of different road disturbance and uncertain internal parameters of the control system, the automatic leveling control of the car body is realized, and the digital simulation is carried out to analyze the detailed variation curve of the internal variables in the process of adjustment. The merits and demerits of the control strategy are obtained. The model of single wheel suspension system is established, and the height control of car body is realized by using backstepping control algorithm. In the control strategy, the uncertain perturbation and unmodeled dynamic characteristics of the internal parameters of the self-tuning control system are realized by combining the adaptive law. Through simulation, the variation of variables in the process of regulation is analyzed in detail, and the effectiveness of the control strategy is verified. The model of single-wheel oil-gas suspension system is established, and the internal and external loop stratification control strategy is adopted. The outer ring adopts the adaptive backstepping control of the single-wheel suspension system to adjust the body height. The inner loop uses a sliding mode control algorithm to track the desired tracking force given by the outer loop and to compensate for the nonlinear stiffness of the suspension and the nonlinear valve group. A special switching function is proposed to replace the sign function switching law in traditional sliding mode control, which solves the problem of sliding mode flutter. The simulation results show that the control strategy can control the body height and restrain the road disturbance. The model of vehicle suspension system is established, and the control strategy of double closed loop is used for reference of single wheel suspension height control. The outer loop adaptive control strategy solves the influence of the change of inertia on the quality of the body caused by the load change. The inner loop also uses the improved sliding mode control strategy to improve the sliding mode flutter problem and accurately track the expected control force of the outer loop. The simulation results show that the control strategy is effective and can suppress the disturbance of different roads. The hardware circuit and its software are designed to realize the body leveling control. The hardware circuit adopts the control mode of dual control chip to avoid the problems of program bloated and logic indistinct caused by single control chip and to realize the energy saving target and voltage protection function of the main control board.
【学位授予单位】：北京理工大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.33

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