汽车工程 ›› 2024, Vol. 46 ›› Issue (5): 913-922.doi: 10.19562/j.chinasae.qcgc.2024.05.017

• • 上一篇    

考虑CDC系统时滞的半主动悬架控制器设计研究

李靖玮1,罗建南1(),黄震2   

  1. 1.上海大学机电工程与自动化学院,上海 200444
    2.西格迈股份有限公司,三门 317100
  • 收稿日期:2023-10-22 修回日期:2023-12-06 出版日期:2024-05-25 发布日期:2024-05-17
  • 通讯作者: 罗建南 E-mail:jjnluo@shu.edu.cn
  • 基金资助:
    上海市青年科技英才扬帆计划项目(21YF1412600)

Study on a Semi-active Suspension Controller Considering Time Delay of CDC System

Jingwei Li1,Jiannan Luo1(),Zhen Huang2   

  1. 1.School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444
    2.XGM Corporation Limited,Sanmen 317100
  • Received:2023-10-22 Revised:2023-12-06 Online:2024-05-25 Published:2024-05-17
  • Contact: Jiannan Luo E-mail:jjnluo@shu.edu.cn

摘要:

针对某高级轿车研制的CDC减振器原理样机,通过实验测试及其数据分析,建立了考虑CDC系统时滞影响的非线性系统模型。分别对单、双电磁阀两种模式CDC减振器进行了研究。充分考虑复杂多变的车辆实际运行工况及系统非线性因素(包括路面激励较大时可能导致的悬架缓冲块撞击,以及轮胎跳离地面等情况),基于建立的非线性车辆系统模型及不同激励水平输入下的非线性系统仿真,研究了减振器系统时滞对车辆性能的影响。结合NSGA-Ⅱ算法优化结果,设计了一个改进的天棚控制算法,分别对单、双阀减振器进行了车辆性能分析与对比。研究结果表明,采用最优天棚控制的双阀CDC减振器相比于单阀CDC减振器有更好的控制效果,且对CDC系统时滞适应能力更强。研究结果可为自主研发的减振器设计和改进提供指导,并为CDC半主动悬架控制算法设计提供重要依据。

关键词: CDC减振器, 系统时滞, 控制阀方案对比, 控制算法, 非线性系统建模与仿真

Abstract:

A non-linear system model is established which considering the time delay effect of the CDC systems based on experimental tests and data analysis for the CDC shock absorber prototype developed for a high-class passenger vehicle. Two modes of the CDC shock absorber, respectively with one and two solenoid valves, are investigated. Fully considering complex and changeable operating conditions of vehicle and nonlinear factors, including possible suspension bump stops impacting, and lost contact of tires in severe road excitations conditions etc., the influence of the time delay in shock absorber systems on vehicle performance is studied based on the established non-linear vehicle system modal and non-linear system simulation under different excitation levels. Combined with the optimization results based on NSGA-II algorithm, a modified skyhook control algorithm is designed and employed to analyze and compare the performance of vehicles with single and double valve shock absorbers. The study results show that, by using the designed optimal skyhook algorithm, better control effect and adaptive capability to CDC system delay can be achieved by the double-valve configuration compared with that single-valve configuration. The research results can provide valuable guidance for the design and improvement of independently-developed shock absorbers and provide crucial insights into the design of control algorithms for CDC semi-active suspension systems.

Key words: CDC shock absorber, system time delay, control valve scheme comparison, improved control algorithm, nonlinear modeling and simulation