基于电液伺服主动悬架的车身位姿稳定性控制研究

发布时间：2018-06-08 22:00

本文选题：主动悬架 + 位姿稳定控制　；参考：《吉林大学》2017年博士论文

【摘要】：悬架系统是车辆重要组成部分,其性能好坏直接影响到车辆行驶平顺性、通过性以及操纵稳定性。特种车辆对悬架系统有着更高的性能需求,尤其是应急救援车辆有时需要在行进中作业,对保持车身位姿平稳有着特殊要求,传统悬架系统难以达到这个目标。主动悬架可以实时控制车身位姿,使车身成为一个惯性稳定平台以完成上述情况对车身位姿稳定控制的要求。本文结合国家重点研发项目“高机动应急救援车辆(含消防车辆)专用底盘及悬挂关键技术研究”(项目编号:2016YFC0802902)和吉林省汽车产业发展专项资金项目“轿车惯性调控主动悬架研制开发”(项目编号:20112330),聚焦特种应急救援车辆行进中需要保持车身位姿平稳的问题,主要对主动悬架系统作动器的伺服控制和车身姿态稳定自抗扰控制进行系统深入的研究,主要研究工作如下:(1)建立了基于非对称液压缸作动器的1/4主动悬架非线性模型,针对不同工况建立了阀控非对称缸非线性模型。通过对弹簧和减振器非线性环节的分析,建立了1/4主动悬架非线性模型。根据多组实验数据,通过参数辨识获得相对准确的模型参数。(2)设计了主动悬架系统作动器的伺服控制器。根据分数阶微积分定义和分数阶系统原理,以Oustaloup近似法针对辨识后的作动器模型设计了分数阶PID伺服控制器。提出了并行自适应克隆选择算法用于分数阶PID参数整定。(3)设计了主动悬架系统车身姿态稳定自抗扰控制器。根据自抗扰控制器特性,通过设计虚拟控制量的方法解决了车身姿态稳定控制系统的多输入多输出耦合问题,对解耦后的垂向位移、俯仰角和侧倾角三个控制通道分别设计了位移-速度(或角度-角速度)双环自抗扰控制器。通过仿真验证了该控制算法的解耦效果和位姿稳定性控制效果。(4)对主动悬架作动器位移输出饱和的问题进行了研究。针对路面冲击造成的作动器位移输出饱和,在分析该问题传统处理方法的基础上设计了虚拟限位块控制策略。针对坡路起伏造成的作动器位移输出饱和,提出了估计坡路包络线方法,分别对垂向稳定控制器和俯仰稳定控制器进行改进。通过仿真分析验证了所提出改进方法的有效性。(5)基于一汽集团“奔腾”牌轿车悬架制作了主动悬架试验样车,并进行了车身位姿稳定控制的路面试验。以脉冲输入路面和起伏障碍路面两种路面输入作为实验条件,应用本文提出的位移-速度(或角度-角速度)双环自抗扰解耦控制器,对主动悬架试验样车进行了越障试验,并通过比较同一试验样车的被动悬架越障试验结果,验证了双环自抗扰解耦控制器的控制效果。
[Abstract]:Suspension system is an important part of vehicle, and its performance directly affects the ride comfort, passability and handling stability. Special vehicles have higher performance requirements for suspension systems, especially emergency rescue vehicles sometimes need to work in progress, and have special requirements to keep body posture stable. Traditional suspension system is difficult to achieve this goal. The active suspension can control the position and pose of the car body in real time, and make the vehicle body become an inertial stable platform to fulfill the requirements of the position and attitude stability control of the vehicle body in the above situation. This paper combines the national key R & D project, "study on the key technology of chassis and suspension for high motorized emergency rescue vehicles (including fire fighting vehicles)" (Project No.: 2016YFC0802902) and the special fund project for the development of automobile industry in Jilin Province, "inertia of cars" Control active suspension R & D "(item No.: 20112330) focus on the need to maintain a steady posture of the body of a special emergency rescue vehicle." The servo control of active suspension system actuators and auto disturbance rejection control of body attitude stability are studied systematically and deeply. The main research work is as follows: 1: 1) A 1 / 4 nonlinear model of active suspension based on asymmetric hydraulic cylinder actuator is established. A nonlinear model of valve controlled asymmetric cylinder is established for different working conditions. By analyzing the nonlinear links of spring and shock absorber, a 1 / 4 nonlinear model of active suspension is established. The servo controller of active suspension system actuators is designed based on the experimental data and the relative accurate model parameters obtained by parameter identification. According to the definition of fractional calculus and the principle of fractional order system, a fractional pid servo controller is designed for the identified actuator model by using the Oustaloup approximation method. A parallel adaptive clonal selection algorithm is proposed for fractional order pid parameter tuning. An active suspension system vehicle body attitude stabilized auto disturbance rejection controller is designed. According to the characteristics of the active disturbance rejection controller, the multi-input and multi-output coupling problem of the vehicle body attitude stability control system is solved by designing the virtual control quantity, and the vertical displacement after decoupling is analyzed. The displacement-velocity (or angle-angular velocity) dual loop ADRC is designed for the three control channels of pitch angle and side dip angle respectively. Simulation results show that the decoupling effect of the control algorithm and the effect of attitude stability control. 4) the problem of displacement output saturation of active suspension actuator is studied. In view of the displacement saturation of actuators caused by road impact, a virtual limit block control strategy is designed based on the analysis of the traditional method of dealing with this problem. Aiming at the saturation of actuator displacement due to slope fluctuation, a method of estimating slope envelope is proposed, which improves the vertical stabilization controller and the pitch stability controller respectively. The effectiveness of the improved method is verified by simulation analysis. (5) based on the suspension of "Pentium" car of FAW Group, the active suspension test prototype is made, and the road surface test of body position and pose stability control is carried out. Taking the impulse input pavement and the undulating road surface as the experimental conditions, using the displacement-velocity (or angle-angular velocity) dual-ring auto-disturbance rejection decoupling controller proposed in this paper, an obstacle surmounting test was carried out on the active suspension test sample vehicle. The control effect of the dual loop ADRC is verified by comparing the results of the passive suspension obstacle crossing test of the same test sample vehicle.
【学位授予单位】：吉林大学
【学位级别】：博士
【学位授予年份】：2017
【分类号】：U463.33

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