外文翻譯--基于MR阻尼器的半主動(dòng)懸架控制方法研究

Study on Control Method of Automotive Semi-active Suspension System Based on MR Damper The semi-active suspension is main research aspect of automobile suspension engineering, because of its performance is close to active suspension, its manufacture and useful cost is under active suspension. After finishing development of MR damper, to study control arithmetic is main problem. At present, the control arithmetic of semi-active suspension is skyhook damping control and fuzzy control. Although the skyhook damping control provides good ride quality improvement, it does not provide adequate damping in the wheel hop frequency； the dynamic tyre force is increased. Fuzzy logic control arithmetic has well robust but has bigger steady error. Three are some problems to study for semi-active suspension, they are system control strategy and automobile vehicle vibrating control with semi-active suspension and control system performance. In this paper, the methods of theoretical analysis, numerical simulation and road testing are applied to study system modeling and control method of semi-active suspension system based on MR damper. The Natural Science Foundation of China financially supported the research project.Firstly, the automobile vibrating system dynamic model and simple damping force model are given in this paper. The model parameter is getting by the method of CAD/CAE and testing and force calculating. The measuring device named double spring inversion pendulum is designed based on the mass-period method. With vibrating signal test apparatus and clamps, the mass parameters testing system is constituted. The effect of nonlinear on measuring device is amended with period formula. The mass parameter of parts of engine-box and automobile-doors and automobile-chairs is measuring with double spring inversion pendulum, the suspension system and tires damp and stiff numerical value is provided by testing. The mass parameter of automobile body is getting by CAD/CAE. The parallel forces of parts of automobile are constituted. The mass parameter of sprung mass and unsprung mass is calculated. So, the mass parameters and geometrical parameters and mechanical parameters of 2DOF/7DOF automobile vibrating system are obtained by combining testing with CAD/CAE modeling with calculating. The dynamics differential equation of 2DOF/7DOF automobile vibrating system motion is derived using Lagrange equation. The state space model for 2DOF/7DOF automobile vibrating system is constructed by system state space describing method. 基于 MR阻尼器的半主動(dòng)懸架控制方法研究 汽車半主動(dòng)懸架的性能可以接近主動(dòng)懸架 ,其制造成本和使用成本都遠(yuǎn)低于主動(dòng)懸架 ,是汽車懸架技術(shù)發(fā)展的主要方向。在車用 MR 阻尼器研制成功后 ,控制器的設(shè)計(jì)是半主動(dòng)懸架研究的關(guān)鍵問題。目前 ,半主動(dòng)懸架控制算法主要集中在天棚阻尼控制和模糊控制等方面 ,天棚阻尼控制算法具有較好的舒適性卻犧牲了安全性 ,模糊控制具有較好的魯棒性但穩(wěn)態(tài)精度較低。半主動(dòng)懸架的控制算法、由半主動(dòng)懸架實(shí)現(xiàn)整車振動(dòng)控制方式以及系統(tǒng)性能等問題仍需深入研究。因此 ,在國(guó)家自然科學(xué)基金“典型智能機(jī)械結(jié)構(gòu)若干基礎(chǔ)問題”重 點(diǎn)項(xiàng)目的資助下 ,論文對(duì)基于 MR 阻尼器半主動(dòng)懸架的控制方法進(jìn)行研究具有十分重要的意義。首先 ,建立汽車振動(dòng)系統(tǒng)動(dòng)力學(xué)模型和 MR 阻尼器的簡(jiǎn)化力學(xué)模型。用 CAD/CAE 建模分析法與試驗(yàn)及計(jì)算相結(jié)合的方法獲取模型參數(shù)。由研制的汽車復(fù)雜零部件質(zhì)量參數(shù)測(cè)試裝置及夾具和信號(hào)測(cè)試儀器組成測(cè)試系統(tǒng) ,用周期計(jì)算式修正試驗(yàn)臺(tái)的非線性影響 ,實(shí)現(xiàn)了被測(cè)物體的質(zhì)心高度和轉(zhuǎn)動(dòng)慣量的測(cè)試。由質(zhì)量參數(shù)測(cè)試裝置測(cè)試發(fā)動(dòng)機(jī)變速箱總成、車門與車椅的質(zhì)量參數(shù) ,實(shí)驗(yàn)法獲取輪胎與懸架的剛度與阻尼參數(shù) ,CAD/CAE 建模分析法獲取車身和前后橋及車輪的質(zhì)量參 數(shù) ,組合力系計(jì)算出懸掛質(zhì)量和非懸掛質(zhì)量的質(zhì)量參數(shù)。 由這種綜合方法建立了二自由度和七自由度車輛振動(dòng)系統(tǒng)的動(dòng)力學(xué)參數(shù)。應(yīng)用拉格朗日方程 ,推導(dǎo)出車輛振動(dòng)系統(tǒng)運(yùn)動(dòng)微分方程 ,基于狀態(tài)描述法建立了二自由度和七自由度車輛振動(dòng)系統(tǒng)的狀態(tài)空間模型。其次 ,用 Bingham 流體的本構(gòu)方程推導(dǎo)出基于平板模型的 MR阻尼器流變學(xué)方程 ,得到其阻尼力計(jì)算方法。當(dāng)其結(jié)構(gòu)和材料確定后 ,MR 阻尼器的粘滯阻尼力是活塞運(yùn)動(dòng)速度的函數(shù) ,庫侖阻尼力是勵(lì)磁電流的函數(shù) ,因此 ,對(duì)阻尼力計(jì)算式進(jìn)行簡(jiǎn)化推導(dǎo)出其簡(jiǎn)化力學(xué)模型。根據(jù) MR 阻尼器的試驗(yàn)數(shù)據(jù) ,確定了模型的待定系數(shù)。對(duì) MR阻尼器電磁系統(tǒng)的動(dòng)態(tài)特性分析 ,推導(dǎo)出其響應(yīng)時(shí)間計(jì)算式 ,建立了其帶時(shí)滯因素的簡(jiǎn)化力學(xué)模型。根據(jù)變論域理論對(duì)經(jīng)典模糊控制進(jìn)行改進(jìn)研究并應(yīng)用到汽車懸架阻尼力控制策略中 ,提出了懸架阻尼力的變論域模糊控制算法。根據(jù)懸架控制阻尼力與 MR 阻尼器輸出阻尼力的誤差對(duì) MR 阻尼器驅(qū)動(dòng)電流進(jìn)行 PD