外文翻译--基于MR阻尼器的半主动悬架控制方法研究

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阻尼器的半主动悬架控制方法研究 汽车半主动悬架的性能可以接近主动悬架 ,其制造成本和使用成本都远低于主动悬架 ,是汽车悬架技术发展的主要方向。在车用 MR 阻尼器研制成功后 ,控制器的设计是半主动悬架研究的关键问题。目前 ,半主动悬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较好的舒适性却牺牲了安全性 ,模糊控制具有较好的鲁棒性但稳态精度较低。半主动悬架的控制算法、由半主动悬架实现整车振动控制方式以及系统性能等问题仍需深入研究。因此 ,在国家自然科学基金“典型智能机械结构若干基础问题”重 点项目的资助下 ,论文对基于 MR 阻尼器半主动悬架的控制方法进行研究具有十分重要的意义。首先 ,建立汽车振动系统动力学模型和 MR 阻尼器的简化力学模型。用 CAD/CAE 建模分析法与试验及计算相结合的方法获取模型参数。由研制的汽车复杂零部件质量参数测试装置及夹具和信号测试仪器组成测试系统 ,用周期计算式修正试验台的非线性影响 ,实现了被测物体的质心高度和转动惯量的测试。由质量参数测试装置测试发动机变速箱总成、车门与车椅的质量参数 ,实验法获取轮胎与悬架的刚度与阻尼参数 ,CAD/CAE 建模分析法获取车身和前后桥及车轮的质量参 数 ,组合力系计算出悬挂质量和非悬挂质量的质量参数。 由这种综合方法建立了二自由度和七自由度车辆振动系统的动力学参数。应用拉格朗日方程 ,推导出车辆振动系统运动微分方程 ,基于状态描述法建立了二自由度和七自由度车辆振动系统的状态空间模型。其次 ,用 Bingham 流体的本构方程推导出基于平板模型的 MR阻尼器流变学方程 ,得到其阻尼力计算方法。当其结构和材料确定后 ,MR 阻尼器的粘滞阻尼力是活塞运动速度的函数 ,库仑阻尼力是励磁电流的函数 ,因此 ,对阻尼力计算式进行简化推导出其简化力学模型。根据 MR 阻尼器的试验数据 ,确定了模型的待定系数。对 MR阻尼器电磁系统的动态特性分析 ,推导出其响应时间计算式 ,建立了其带时滞因素的简化力学模型。根据变论域理论对经典模糊控制进行改进研究并应用到汽车悬架阻尼力控制策略中 ,提出了悬架阻尼力的变论域模糊控制算法。根据悬架控制阻尼力与 MR 阻尼器输出阻尼力的误差对 MR 阻尼器驱动电流进行 PD