Time-varying compensation control system for damper mechanical characteristics of magnetorheological semi-active suspension and construction method of time-varying compensation control system

Abstract

The invention discloses a time-varying compensation control system for damper mechanical characteristics of a magnetorheological semi-active suspension and a construction method of the time-varying compensation control system. The output ends of a sprung mass acceleration sensor and a wheel mass acceleration sensor are connected to an extended Kalman filter, and the output end of the extended Kalman filter is connected to a soft-constraint Taylor series LQG time-delay compensation controller. The soft-constraint Taylor series LQG time-delay compensation controller is connected with a time-delay compensation prediction controller and a semi-active power acquisition controller separately, and the time-delay compensation prediction controller is connected to the input end of the soft-constraint Taylor series LQG time-delay compensation controller. The semi-active power acquisition controller is connected with the extended Kalman filter and a control current solution controller separately,the control current solution controller is connected to a numerical control current source to realize the compensation control over damper response time delay and mechanical characteristic time variation of the magnetorheological semi-active suspension, the situation that a hard-constraint Taylor series LQG time-delay compensation control method directly utilizes a saturation function to performhard constraint on the predictive control force can be avoided, and thus a more ideal time-delay compensation control effect can be achieved.

Description

technical field [0001] The invention belongs to the field of vehicle suspension control, and in particular relates to a time-varying compensation control system for shock absorber mechanical characteristics of a magneto-rheological semi-active suspension and a construction method thereof. Background technique [0002] Suspension is an important structural and functional part of a car, which has an important impact on the ride comfort and driving safety of the car. Magneto-rheological semi-active suspension does not need to output active power, and can output semi-active control force with positive damping characteristics according to changes in vehicle driving conditions. Comprehensive performance. [0003] However, the existing problem of the magneto-rheological semi-active suspension is that the mechanical characteristics of the magneto-rheological shock absorber will change with time, and the response will be delayed, which will affect the ride comfort and safety of the ...

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Problems solved by technology

[0003] However, the existing problem of magneto-rheological semi-active suspension is that the mechanical characteristics of the magneto-rheological shock absorber will change with time, and the response will be delayed, which will affect the ride comfort and safety of the vehicle.

Therefore, when designing the control system of the magneto-rheological semi-active suspension, the time-varying mechanical characteristics of the magneto-rheological shock absorber must be considered. However, there is no control system that can solve this problem well.

[0004] At present, the research on the time-varying mechanical characteristics of magnetorheological shock absorbers mainly focuses on the change of temperature change in the viscosity of magnetorheological fluid, which in turn leads to changes in the mechanical characteristics of magnetorheological shock absorbers. In the control of magnetorheological semi-active suspension , introducing the mechanical model of the magneto-rheological shock absorber considering the temperature parameters. Although this can improve the control accuracy of the magnetorheological semi-active suspension to a certain extent, the modeling is complicated, the calculation is large, and the aging of components and iron Magnetic Particle Deposition, etc.

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