刀锋臂悬架运动学实时算法及其验证和应用*

doi:10.19562/j.chinasae.qcgc.2020.12.008

摘要/Abstract

摘要： 底盘开发需要快速的悬架运动学算法以提高开发效率,自动驾驶需要稳定的悬架运动学实时算法以提高非稳态工况下模型预测控制精度。本文中首先利用向量及矩阵工具建立刀锋臂后悬架轮心瞬时速度线性方程组,并结合动态显式积分实时求解悬架运动轨迹。然后,将实时算法得出的5项典型运动学特性曲线与ADAMS仿真及整车实测结果进行对比分析。结果表明:3种方法的结果一致性优秀,实时算法精度好于ADAMS仿真。最后,基于实时算法建立悬架辅助设计软件,其速度比传统ADAMS仿真提升数十倍。

关键词: 刀锋臂悬架, 多连杆悬架, 悬架运动学, 车辆动力学, 模型预测控制

Abstract: Chassis development requires fast algorithms of suspension kinematics to improve the development efficiency and autonomous driving needs stable and real time algorithms of suspension kinematics to improve the accuracy of model predictive control under unsteady conditions. In this paper, the linear equations for the instantaneous velocity of the wheel center of the blade arm suspension are firstly established using vector and matrix tools and they are combined with the dynamic explicit integration to solve the trajectory of the suspension in real time. Then, the five typical characteristic curves obtained from the algorithm are compared with those acquired from ADAMS simulations and vehicle tests. The results show that the three methods have high consistency, while the real-time algorithm have higher accuracy compared to ADAMS simulation. Finally, the suspension CAD software is established based on the real-time algorithm, with a speed dozens of times faster than ADAMS simulation

Key words: blade arm suspension, multi-link suspension, suspension kinematics, vehicle dynamics, model predictive control

谭侃伦, 邓嘉庆, 唐倬, 袁登木. 刀锋臂悬架运动学实时算法及其验证和应用^*[J]. 汽车工程, 2020, 42(12): 1665-1670.

Tan Kanlun, Deng Jiaqing, Tang Zhuo, Yuan Dengmu. Real Time Algorithm for Blade Arm Suspension Kinematics and Its Verification and Application[J]. Automotive Engineering, 2020, 42(12): 1665-1670.

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刀锋臂悬架运动学实时算法及其验证和应用^*

Real Time Algorithm for Blade Arm Suspension Kinematics and Its Verification and Application

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