基于机电惯容的车辆ISD悬架的分数阶控制系统

doi:10.3969/j.issn.1674-8484.2022.01.005

汽车安全与节能学报 ›› 2022, Vol. 13 ›› Issue (1): 63-69.DOI: 10.3969/j.issn.1674-8484.2022.01.005

基于机电惯容的车辆ISD悬架的分数阶控制系统

花杰¹(), 沈钰杰¹(), 陈龙¹, 刘雁玲², 杨晓峰²

1.江苏大学汽车工程研究院,镇江212013,中国
2.江苏大学汽车与交通工程学院,镇江212013,中国

收稿日期:2021-06-28 修回日期:2021-10-06 出版日期:2022-03-31 发布日期:2021-04-02
通讯作者: 沈钰杰
作者简介:*沈钰杰,副教授。E-mail: shenyujie@ujs.edu.cn。
花杰(1997–),男(汉族),江苏,硕士研究生。E-mail:huajie0214@163.com。
基金资助:
国家自然科学基金资助项目(52002156);国家自然科学基金资助项目(52072157);江苏自然科学基金项目(BK20200911);汽车安全与节能国家重点实验室开放基金项目(KF2001);中国博士后科学基金资助项目(2019M651723);中国博士后科学基金资助项目(2020M671355)

Fractional-order control system for vehicle ISD suspension based on the mechatronic inerter

HUA Jie¹(), SHEN Yujie¹(), CHEN Long¹, LIU Yanling², YANG Xiaofeng²

1. Automotive Engineering Research Institute, Zhenjiang 212013, China
2. School of Automotive and Traffic Engineering, Zhenjiang 212013, China

Received:2021-06-28 Revised:2021-10-06 Online:2022-03-31 Published:2021-04-02
Contact: SHEN Yujie

摘要/Abstract

摘要：

为改善车辆惯性容器-弹簧-阻尼(ISD)悬架隔振性能,改善驾驶平顺性,建立了一个1/4比例的悬架动力学模型。以乘坐舒适性为目标,搭建悬架分数阶比例积分微(PID)控制系统。考虑车身加速度、悬架动行程和轮胎动载荷等指标,用多目标遗传算法,优化求解模型参数。在Matlab/Simulink中仿真分析了悬架动态性能。结果表明：相较于传统被动悬架,用整数阶控制的悬架车身加速度、悬架动行程和轮胎动载荷的均方根值分别降低了13.9%、26.2%和1.5%;相较于用整数阶控制的车辆,用分数阶控制的悬架的这3个参数分别降低了15.4%、31.5%和6.8%; 因此,分数阶控制系统,提高了行驶平顺性和操纵稳定性。

关键词: 车辆, 悬架, 机电惯性容器, 惯性容器-弹簧-阻尼(ISD), 隔振性能, 分数阶控制

Abstract:

A quarter suspension dynamic model was established to improve the vibration isolation performances of vehicle suspension with inerter-spring-damper (ISD). A fractional order PID (proportion integration differentiation) control system of suspension was built taking the vehicle riding comfort as the object; Considering the vehicle body acceleration, the suspension working space and the dynamic tire load; Using a multi-objective genetic algorithm to optimize the parameters of both integer order and fractional order control model for the ISD suspension; The dynamic performances were simulated and analyzed in Matlab/Simulink for vehicle ISD suspension. The results show that compared with the traditional passive suspension, the root mean square values of the body acceleration, the suspension dynamic travel and the dynamic tire load of the ISD suspension with integer order control are reduced by 13.9%, 26.2% and 1.5% respectively, and the ISD suspension with fractional order control is reduced by 15.4%, 31.5% and 6.8% respectively. Therefore, the fractional order control system improves the ride comfort and handling stability.

Key words: vehicles, suspensions, mechatronic inerters, inerter-spring-damper (ISD), vibration isolation performances, fractional order control

中图分类号:

TB114.3

花杰, 沈钰杰, 陈龙, 刘雁玲, 杨晓峰. 基于机电惯容的车辆ISD悬架的分数阶控制系统[J]. 汽车安全与节能学报, 2022, 13(1): 63-69.

HUA Jie, SHEN Yujie, CHEN Long, LIU Yanling, YANG Xiaofeng. Fractional-order control system for vehicle ISD suspension based on the mechatronic inerter[J]. Journal of Automotive Safety and Energy, 2022, 13(1): 63-69.

图/表 6

参考文献 21

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控制方法	车身加速度
控制方法	均方根值/ (m·s^-2)	优化比/ %	均方根值/ mm	优化比/ %	均方根值/ N	优化比/ %
传统被动悬架	1.309 6	—	13.0	—	900.5	—
整数阶控制ISD悬架	1.127 7	13.9	9.6	26.2	886.8	1.5
分数阶控制ISD悬架	1.107 7	15.4	8.9	31.5	839.4	6.8

控制方法	车身加速度
控制方法	均方根值/ (m·s^-2)	优化比/ %	均方根值/ mm	优化比/ %	均方根值/ N	优化比/ %
传统被动悬架	1.309 6	—	13.0	—	900.5	—
整数阶控制ISD悬架	1.127 7	13.9	9.6	26.2	886.8	1.5
分数阶控制ISD悬架	1.107 7	15.4	8.9	31.5	839.4	6.8

基于机电惯容的车辆ISD悬架的分数阶控制系统

Fractional-order control system for vehicle ISD suspension based on the mechatronic inerter

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