Design of Active Suspension Control Systems for a Flexible Vehicle Body

柔性车身主动悬架控制系统设计

• 批准号: 60550173
• 负责人: NAGAI Masao
• 金额: $ 1.28万
• 依托单位: Tokyo University of Agriculture and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1985
• 资助国家: 日本
• 起止时间: 1985 至 1986
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-60550173/
• 关键词: Active Control Technology; Vehicles; Active Suspension; Ride Quality; Optimal Control; Vibration Control; Flexible Structure Control; 空気圧支持

From a viewpoint of energy saving, it is required to design a lightweight vehicle body for high speed ground vehicles. But some problems will occur such as an elastic vibration of the flexible structure which leads to an uncomfortable ride quality and bad running stability. In such cases, active suspensions are required to realize a high stability and ride quality of the vehicles running on rough surface of roads and tracks.At first, an experimental apparatus has been made up so that the scale model of the vehicle body is suspended by the pneumatic spring and the actuator, the pressure of which is controlled by servo-valves. The servo-valves are driven by PWM (Pulse Width Modulation) and controlled by both the digital PID compensation of the vertical acceleration and the optimal feed back control law. These feed back control systems are realized by a 16 bit micro-computer. According to the result of this experiment, the amplitude of the vibration at resonant frequency 4.5 Hz is sufficiently suppressed up to 70 % the passive system.Next, it is proposed to design the control systems of a flexible vehicle body with front and rear suspensions, by use of multi-variable control method of centralized and decentralized controls. These control systems are aimed to suppress not only rigid body motions but also structural vibrations. According to the computer simulation, it is found the ride quality and the stability of the flexible vehicles are clearly improved by the actively controlled suspensions.

从节能的观点来看，需要设计用于高速地面车辆的轻质车体。但也会出现一些问题，如柔性结构的弹性振动，这导致不舒适的乘坐质量和运行稳定性差。为了使车辆在粗糙路面和轨道上行驶时具有良好的稳定性和平顺性，需要采用主动悬架技术。首先，利用气动弹簧和伺服阀控制压力的作动器，建立了一套主动悬架试验装置。伺服阀采用脉宽调制（PWM）驱动，并采用垂直加速度数字PID补偿和最优反馈控制律进行控制。这些反馈控制系统是由一台16位微机实现的。根据实验结果，在共振频率为4.5Hz处的振动幅值被充分抑制，达到被动系统的70%。其次，提出了采用集中控制和分散控制相结合的多变量控制方法，设计具有前后悬架的柔性车身控制系统。这些控制系统的目的是不仅抑制刚体运动，而且抑制结构振动。仿真结果表明，主动控制悬架能明显改善柔性车辆的行驶平顺性和稳定性。

项目成果

永井正夫,沢田康宏: 日本機械学会 第15回技術講演会 車両の運動力学講演論文集. 860-13. 77-80 (1986)

Masao Nagai，Yasuhiro Sawada：日本机械工程师学会第 15 届车辆动力学讲座技术会议论文集 860-13 (1986)。

M.Nagai and Y.Sawada: "Optimal Control of Active Suspension for High Speed Ground Vehicles" Transactions of JSME. 53-487C. (1987)

M.Nagai 和 Y.Sawada：“高速地面车辆主动悬架的优化控制”JSME 交易。

M.Nagai and Y.Sawada: "Optimal Control of Active Suspension for High Speed Ground Vehicles" Proc. JSME 938th Conference on Mechanical Vibration. 860-5. 1-7 (1986)

M.Nagai 和 Y.Sawada：“高速地面车辆主动悬架的优化控制”Proc。

M.Nagai and Y.Sawada: "Active Suspension Control for the Flexible Structure of an Elastic Vehicle Body" Proc. JSME 15th Technical Conference on Vehicle Dynamics. 860-13. 77-80 (1986)

M.Nagai 和 Y.Sawada：“弹性车身柔性结构的主动悬架控制”Proc。

M.Nagai and Y.Sawada: "Active Suspension for Flexible Structure Control of High Speed Ground Vehicles" Proc. 10th IFAC World Congress in Munich. (1987)

M.Nagai 和 Y.Sawada：“用于高速地面车辆柔性结构控制的主动悬架”Proc。