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Hybrid Vibration Control Adapting to State Variation of Suspension System

适应悬架系统状态变化的混合振动控制

基本信息

批准号：
16560203
负责人：
NISHIMURA Hidekazu
金额：
$ 2.37万
依托单位：
Chiba University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2004
资助国家：
日本
起止时间：
2004 至 2005
项目状态：
已结题

项目摘要

In order to verify variation of suspension stiffness by considering its geometry, the suspension was analyzed using multi-body dynamics theory. It was verified from the simulation results that the stiffness at around its stroke end becomes higher than that in the nominal state. Also, the amount of shock at the stroke end was estimated and the method to suppress the shock was examined. The switching control from nominal damping to higher damping may make the acceleration response worse. It was found out that it is important to activate the actuator before the suspension approaches to its stroke end.By using sliding-mode control method, the control system was designed in order to improve the nominal performance and maintain it even when the stiffness changes in the stroke end. VSS (variable structural system) observer was designed to estimate the state of the quarter-car suspension system and the experiments are performed. A linear motor was used as the actuator in the experimental setup and the AC servo motor was used as the shaker to generate the road disturbance. VSS observer utilized the acceleration of the vehicle and did not need the stiffness force varying as the stroke approaches the end. The nonlinear force of the suspension stiffness was simulated by the linear motor. By carrying out simulations and experiments it was verified that the experimental results coincide with the simulation results and the controller designed was adaptable to the state varying according to the nonlinearity of the suspension system.

为了验证考虑悬架几何形状后悬架刚度的变化，采用多体动力学理论对悬架进行了分析。从仿真结果可以看出，在其行程末端附近的刚度变得高于标称状态下的刚度。此外，在行程结束时的冲击量进行了估计和抑制冲击的方法进行了检查。从标称阻尼到更高阻尼的切换控制可能使加速度响应变差。研究发现，在悬架接近其行程末端之前激活执行器是非常重要的。采用滑模控制方法，设计了控制系统，以提高标称性能，即使在行程末端刚度发生变化时也能保持标称性能。设计了变结构系统（VSS）观测器对四分之一车辆悬架系统的状态进行估计，并进行了实验。实验装置采用直线电机作为驱动器，交流伺服电机作为振动台，产生路面扰动。VSS观测器利用了车辆的加速度，不需要刚度力随行程结束而变化。用直线电机模拟悬架刚度的非线性力。通过仿真和实验验证了仿真结果与实验结果的一致性，所设计的控制器能够适应悬架系统的非线性状态变化。