Control method of mixed semi-active variable structure of magneto-rheological intelligent vehicle suspension

A variable structure control and intelligent vehicle technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of MRD coordination control, MRD hysteresis nonlinear control, Lack of solutions for nonlinear control systems etc.

Inactive Publication Date: 2013-01-16
NANJING NORMAL UNIVERSITY
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AI Technical Summary

Problems solved by technology

[0003] The existing semi-active control methods specifically include the following aspects: 1) A semi-active sliding mode control strategy for the "quarter" MR vehicle suspension system, that is, an ideal ceiling semi-active suspension system is selected As a reference model, asymptotically stable sliding mode control is realized according to the error dynamics between the actual controlled system and the reference model, but it cannot effectively solve problems such as MRD hysteresis nonlinear control; 2) A method based on H ∞ The control method is a semi-active control strategy for the MR vehicle suspension system, which takes the mass of the car as an uncertain parameter of the system, but it cannot effectively solve the problem of coordinated control of the four MRDs; 3) a method for "quarter" MR A semi-active neural network control strategy for the vehicle suspension system, but only in the low frequency band has a more obvious control effect; 4) A semi-active control strategy for the nonlinearity and parameter uncertainty of the "quarter" MR vehicle suspension system Adaptive fuzzy control strategy, through the actual road ride test, it is found that its effect is not good in the low frequency band (1-3Hz); 5) An improved semi-active sliding mode for the "quarter" MR vehicle suspension system The control strategy, that is, the inverse model control method using the MRD polynomial hysteresis model to compensate the hysteresis nonlinear characteristics of the MRD, but due to the inaccuracy of the MRD polynomial hysteresis model, the control effect is general
The typical robust control methods mentioned above have strongly promoted the research on the semi-active control of MR intelligent vehicle suspensions with respect to the MRD hysteresis nonlinearity and the uncertainty of vehicle operating parameters. Research on semi-active control of the vehicle suspension subsystem, but there is still a lack of systematic solutions to the MRD hysteresis nonlinear control and the vehicle suspension MRD asymmetric suspension damping control requirements, and there is still a long way to go from practical application

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  • Control method of mixed semi-active variable structure of magneto-rheological intelligent vehicle suspension
  • Control method of mixed semi-active variable structure of magneto-rheological intelligent vehicle suspension
  • Control method of mixed semi-active variable structure of magneto-rheological intelligent vehicle suspension

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Embodiment 1

[0060] Embodiment 1. Comparative analysis of controller performance.

[0061] For the "quarter" vehicle MR suspension system, the magnetorheological intelligent vehicle suspension hybrid semi-active variable structure control method (HSMC), hybrid semi-active skyhook control (Skyhook) and MRD passive (Passive) working mode of the present invention Perform performance comparison analysis. Among them, the MRD passive working mode refers to the driving current i d is zero or a certain fixed value, i is taken here d =0.03A. The main parameter values ​​of hybrid semi-active skyhook control (Skyhook) are respectively: n=2, k d =2.5,p c =0, ξ c =10, p=0, ξ=30.

[0062] as attached Figure 4 As shown, under the harmonic excitation with amplitude of 2.5cm and frequency of 1.5Hz, the time-domain response of the "quarter" vehicle MR suspension system based on Passive, Skyhook and HSMC control is compared. The performance index of the system is drive current i d , damping force F...

Embodiment 2

[0069] Example 2, m s Changes have an impact on controller performance.

[0070] When the vehicle is running, it will inevitably encounter changes in road surface, vehicle speed and load, especially the change of vehicle load. There is a big difference between full load and no load. Therefore, the design of the MR suspension controller must consider the impact on the vehicle. Robustness to changes in parameters such as loads. The change of vehicle load can be determined by the vehicle sprung mass (m s ) changes are described. assuming m sChanges in its baseline value (m s0 =563kg), ±25% range, such as m s 25% reduction, both m s = 422 kg. Analysis of the MR suspension system of a "quarter" vehicle based on Passive, Skyhook and HSMC control on the m s Reduced robustness by 25%.

[0071] as attached Figure 7 Shown is when the sprung mass drops by 25%, under the harmonic signal with an amplitude of 2.5cm and a frequency of 1.5Hz, the absolute value of each indicator of...

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Abstract

Aiming at the hysteresis nonlinearity of a magneto-rheological damper (MRD) and the change of a vehicle load, the invention discloses a control method aiming at a mixed semi-active variable structure of a ''1 / 4'' magneto-rheological intelligent vehicle suspension, wherein an improved ceiling suspension system is used as a reference model, the asymptotically stable sliding mode control is realizeddynamically according to the error between the controlled system and the reference model, and an MRD inverse model and a symmetrical damping type MRD are used for generating two basic control policies of asymmetrical damping characteristics to realize real-time tracking control of the MRD damping force to the ideal damping force thereof, thereby improving the comprehensive performance of the ''1 / 4'' MR vehicle suspension system, enhancing the robustness to the change of the vehicle load, and effectively inhibiting the adverse effect on the system performance by the hysteresis nonlinearity of the MRD.

Description

technical field [0001] The invention relates to a hybrid semi-active variable structure control method for a magnetorheological intelligent vehicle suspension, belonging to the technical field of vehicle suspension system control. technical background [0002] The vehicle suspension system has a very important influence on the ride comfort, handling stability and running safety of road vehicles. Since the implementation cost and cost performance of active suspension are relatively high, and passive suspension cannot be adjusted in real time, it is necessary to use semi-active suspension. Although the research on the semi-active control of intelligent vehicle suspension using a new type of magneto-rheological damper (Magneto-rheological damper, MRD) has received extensive attention, due to the strong hysteresis loop nonlinearity of MRD and the uncertainty of operating parameters such as vehicle load, This makes the research work very challenging. [0003] The existing semi-...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04
Inventor 王恩荣宋慧颜伟刘太明应亮赵阳
Owner NANJING NORMAL UNIVERSITY
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