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摘要
- -
I
摘要
悬架系统是汽车的重要组成部分,是车架与车桥之间传力装置的总称,用于减缓外
界扰动对车辆的冲击,它综合了多种作用力,影响着车辆的稳定性、舒适性和安全性。
被动悬架振动系统的主要参数是弹簧刚度和减振器阻尼系数,它们在设计时是按某种特
定工况下其平顺性和操纵稳定性综合性能最优来选取的,一旦选定后通常不能改变。由
于其特性参数不能根据使用工况和路面输入的变化来进行控制调整,因而难以满足汽车
平顺性和操纵稳定性的更高要求,其性能进一步提高受到限制。随着电子控制技术的发
展,为了克服被动悬架的缺陷,改善汽车悬架的性能,近年来国内外学者深入开展了汽
车主动悬架系统及其控制技术的研究。
本文以主动悬架为研究对象,在了解国内外悬架技术发展现状及发展趋势的基础
上,对主动悬架的控制策略和联合仿真进行深入的研究。首先,对车辆模型进行了简
化,分别建立了 1/4 车和半车主动悬架数学模型,并且建立路面输入模型,为后续的控
制策略研究和联合仿真做好准备;针对 1/4 的主动悬架,采用 PID 控制的方法,设计
PID 控制器,并运用粒子群算法对控制器参数进行优化,通过仿真对比优化前后的控制
效果,可以得出粒子群优化 PID 控制器的有效性;针对半车主动悬架,分别采用 LQG
和轴距预瞄的控制方法进行研究,在 MATLAB 中建立两种控制方法下的主动悬架的仿
真模型,运行仿真。对比被动悬架,LQG 控制的主动悬架和轴距预瞄控制的主动悬架
的平顺性指标,可以得出两种控制方法控制的主动悬架的平顺性均有提高,同时预瞄控
制的效果更佳。
最 后 , 应 用 ADAMS/View 软 件 建 立 了 1/4 车 和 半 车 悬 架 的 具 体 模 型 , 利 用
ADAMS/Controls 模块建立 ADAMS 软件和 MATLAB 软件之间的通信联接,将在
Simulink 中设计的基于 PID 控制的主动悬架控制器与二自由度 1/4 车悬架机械模型进行
了联合仿真分析,将基于预瞄控制的主动悬架控制器与半车模型进行联合仿真分析。仿
真结果表明主动悬架系统很好地改善了悬架的性能,有效地降低了车身加速度,提高了
汽车的平顺性。
关键词 汽车主动悬架;轴距预瞄;PID 控制;粒子群优化;联合仿真
Abstract
- -
II
Abstract
The suspension system is an important component of vehicle, which is the power
transmission junction device between the wheel and the vehicle chassis, used to reduce the
impact of external disturbance on vehicle. It combines a variety of forces, and determines the
ride comfort and handling stability of vehicle. Spring stiffness and damping coefficient are the
main parameters of suspension vibration system. They are chosen according to the optimal
comprehension of ride performance and handling performance under the specific working
condition. Once chosen, they can not be changed. Because the characteristic parameters of
passive suspension are not usually adjusted to the working condition and road profile, it is
difficult for passive suspension to meet higher requirements of automotive ride performance
and handling performance at the same time. The more improvement of its performance is
limited. With the development of electronic control technology, profound researches on active
suspension system and its control technology have been carried out to overcome the limitation
of passive suspension and improve its performance.
In this paper, the active suspension is the research object. On the basis of understanding
the development trend and development status of suspension technology both at home and
abroad. The active suspension control strategy and joint simulation is researched deeply. Firstly,
the mathematical model of 1/4-car and semi-motor active suspension is established, and the
road model is built, which is prepared for the control strategy research and joint simulation. For
the quarter active suspension, PID control method is considered, and PID controller is designed.
The particle swarm optimization algorithm is used to optimize the controller. Comparing the
results before and after optimization, It can be concluded that the particle swarm optimization
algorithm is useful. For one-half of the active suspension, LQG and wheelbase preview method
is studied. MATLAB is used to complete the control simulation. Two simulation models of
active suspension are established. The result of simulation is used to compare. It can be
concluded that the smoothness of the active suspension controlled by the two control methods
is improved, and the effect of the preview control is better.
Finally, the specific model of 1/4 and semi-vehicle suspension is established by ADAMS /
View software . ADAMS / Controls module is used to establish the communication connection
between the ADAMS software and MATLAB software. The active suspension controller based
on PID control and the 1/4 mechanical suspension model are jointly simulated. Also, the active
suspension controller based on the preview control and the semi-vehicle model are jointly
simulated. The simulation results show that the active suspension system can improve the
performance of the suspension, reduce the body acceleration effectively, also can improve the
Abstract
- -
III
smoothness of the suspension .
Keywords
Auto active suspension; wheelbase preview; PID control; particle swarm
optimization; joint simulation
目录
- -
IV
目录
摘要 ............................................................................................................................................... I
Abstract ...................................................................................................................................... II
1
绪论 ...........................................................................................................................................1
1.1 课题背景 ...............................................................................................................................1
1.2 车辆悬架系统概述 ...............................................................................................................1
1.2.1 悬架系统的分类 ................................................................................................................2
1.2.2 双横臂独立悬架 ................................................................................................................2
1.2.3 主动悬架控制理论 ............................................................................................................3
1.3 主动悬架国内外研究现状 ...................................................................................................5
1.4 本文主要研究内容 ...............................................................................................................6
2
悬架模型及路面模型的建立 ...................................................................................................7
2.1 悬架数学模型建立 ...............................................................................................................7
2.1.1 1/4 悬架模型 .......................................................................................................................7
2.1.2 半车悬架模型 ....................................................................................................................9
2.2 随机路面输入模型 ............................................................................................................. 11
2.2.1 路面不平度的空间频率谱 .............................................................................................. 11
2.2.2 空间谱密度转换时间谱密度 ..........................................................................................12
2.2.3 随机路面输入模型 ..........................................................................................................13
2.3 本章小结 .............................................................................................................................14
3
基于粒子群优化算法的 PID 控制器设计 ............................................................................15
3.1 PID 控制概述 .......................................................................................................................15
3.2 基于粒子群算法的 PID 控制器优化 .................................................................................16
3.2.1 粒子群优化算法原理 ......................................................................................................16
3.2.2 粒子群算法流程 ..............................................................................................................17
3.2.3 粒子群算法优化控制器 ..................................................................................................18
3.3 控制仿真 .............................................................................................................................19
3.3.1 主动悬架仿真 ..................................................................................................................19
3.3.2 仿真结果分析 ..................................................................................................................20
3.4 本章小结 .............................................................................................................................22
4
基于半车主动悬架的控制方法研究.....................................................................................23
4.1 LQG 线性最优控制 .............................................................................................................23
4.1.1 最优控制理论概述 ..........................................................................................................23
4.1.2 LQG 最优控制原理 ..........................................................................................................24
目录
- -
V
4.2 LQG 控制仿真 .....................................................................................................................24
4.2.1 仿真模型建立 ..................................................................................................................24
4.2.2 仿真结果分析 ..................................................................................................................26
4.3 预瞄控制 .............................................................................................................................27
4.3.1 预瞄技术介绍 ..................................................................................................................27
4.3.2 基于轴距预瞄的主动控制方法 ......................................................................................28
4.4 预瞄控制仿真 .....................................................................................................................30
4.4.1 预瞄控制仿真模型建立 ..................................................................................................30
4.4.2 仿真结果分析 ..................................................................................................................32
4.5 本章小结 .............................................................................................................................34
5
基于 ADAMS 和 MATLAB 的主动悬架控制联合仿真 .....................................................35
5.1 联合仿真 .............................................................................................................................35
5.1.1 ADAMS 软件介绍 ............................................................................................................35
5.1.2 联合仿真的优点 ..............................................................................................................36
5.2 基于 ADAMS 的悬架模型 .................................................................................................36
5.2.1 1/4 机械模型建立 .............................................................................................................37
5.2.2 半车机械模型建立 ..........................................................................................................38
5.3 PID 控制的 1/4 主动悬架联合仿真 ....................................................................................39
5.3.1 定义输入、输出变量 ......................................................................................................39
5.3.2 设置导出模块 ..................................................................................................................40
5.3.3 导入 ADAMS 子系统 .....................................................................................................40
5.3.4 联合仿真模块的建立 ......................................................................................................41
5.3.5 仿真结果分析 ..................................................................................................................41
5.4 预瞄控制的半车模型联合仿真 .........................................................................................43
5.4.1 仿真模型建立 ..................................................................................................................43
5.4.2 仿真结果分析 ..................................................................................................................43
5.5 本章小结 .............................................................................................................................45
结论 .............................................................................................................................................46
参考文献 .....................................................................................................................................47
攻读学位期间发表的学术论文 .................................................................................................50
致谢 .............................................................................................................................................51
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