Magneto-rheological suspension semi-active control method and system based on motion diagram

Abstract

The invention discloses a magneto-rheological suspension semi-active control method and system based on a motion diagram. The method comprises the following steps: 1, enabling a gray prediction system to be connected to the output ends of signals of the vertical speed, the roll angle speed and the pitch angle speed of a suspension, compensating the lagged vibration attitude response of a vehicle in real time, and obtaining predicted values of the vertical displacement, the roll angle and the pitch angle of the vehicle body; step 2, performing kinetic analysis based on the whole vehicle magnetorheological suspension, and designing a motion diagram type controller for whole vehicle sub-attitude control; step 3, inputting the predicted value obtained in the step 1 into the motion graph type controller obtained in the step 2 to obtain expected control force; and 4, inputting the expected control force obtained in the step 3 into the magneto-rheological damper inverse model to obtain expected control voltage, thereby realizing semi-active control of the magneto-rheological suspension based on the expected control voltage. According to the method, the gray prediction system is introduced to predict the vehicle attitude, the time lag of the suspension damping system can be compensated, and the real-time performance is improved.

Description

technical field [0001] The invention belongs to the technical field of vehicle control, relates to the field of magnetorheological suspension control, in particular to a semi-active control method and system for magnetorheological suspension based on motion patterns. Background technique [0002] Off-road performance refers to the passability of vehicles on complex road surfaces, and is an important indicator of vehicle mobility. With the expansion of off-road vehicle application fields, its environment may be an unknown or incompletely known dangerous environment, which may have rocks, potholes, and soft, rough terrain with complex geological conditions . This unstructured environment adversely affects the passing performance of off-road vehicles. [0003] The magnetorheological semi-active suspension can adjust its damping characteristics in real time according to the road surface excitation and the state of the vehicle body, so that the vehicle is always in the best vib...

AI Technical Summary

Problems solved by technology

At home and abroad, the control of the existing magneto-rheological suspension system mainly focuses on the vibration control of the vehicle, including ceiling damping control, PID control, optimal control, neural network control, fuzzy control, etc. These control methods are mostly "after-event control". ", these control methods are effective for system control in most cases, but due to the inertia of the system, it is difficult to achieve real real-time control, and usually cannot consider the body attitude control

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