磁流变半主动悬架的泰勒系列反步法时延补偿控制研究

Jiangqi Long, Zhe Kong, Jianhong Zhang
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引用次数: 0

摘要

磁流变(MR)半主动悬架的研究对汽车应用至关重要。本文介绍了一种新方法,即考虑负载变化时的时间延迟效应,并将车辆的弹簧质量视为不确定参数。为应对这些挑战,本文提出了一种新型磁流变半主动四分之一车辆悬架控制器。控制器结合了逆模型和泰勒级数反步控制策略,根据系统的动态误差确定磁流变阻尼器提供的必要阻尼力。此外,还采用泰勒级数展开法对阻尼力进行补偿。通过非线性最小二乘遗传算法求解双曲正模型参数和逆模型,获得磁流变阻尼器的驱动电流。仿真实验比较了泰勒级数反步进控制(TBS)悬挂、受时间延迟影响的反步进控制悬挂、受时间延迟影响的 MSH 控制悬挂和被动悬挂的性能。对随机路面激励下的弹簧质量位移、速度、加速度、悬架动态位移和车轮动态载荷等各种指标进行了评估。仿真结果表明,所提出的系统能有效减轻由时间延迟和载荷变化引起的车辆振动,同时提高车辆的操控性和平顺性。
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Research on time delay compensation control of Taylor series backstepping for magnetorheological semi-active suspension
The investigation of magnetorheological (MR) semi-active suspension is crucial for automotive applications. This paper introduces a novel approach by considering time delay effect when load changes and considering vehicle’s spring-loaded mass as an uncertain parameter. To address these challenges, a new magnetorheological semi-active quarter-vehicle suspension controller is proposed. Controller combines inverse model with Taylor series backstepping control strategy to determine the necessary damping force provided by magnetorheological damper based on system’s dynamic error. Additionally, damping force is compensated using Taylor series expansion method. Drive current of magnetorheological damper is obtained by solving hyperbolic positive model parameters and inverse model through nonlinear least squares genetic algorithm. Simulation experiments are conducted to compare the performance of Taylor series backstepping control (TBS) suspension, backstepping control suspension affected by time delay, MSH control suspension affected by time delay and passive suspension. Various metrics such as spring-loaded mass displacement, velocity, acceleration, suspension dynamic displacement, and wheel dynamic load under random road excitation are evaluated. Simulation results demonstrate that proposed system effectively mitigates vehicle vibration caused by time delay and load variations, while enhancing vehicle’s handling and smoothness.
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来源期刊
CiteScore
4.40
自引率
17.60%
发文量
263
审稿时长
3.5 months
期刊介绍: The Journal of Automobile Engineering is an established, high quality multi-disciplinary journal which publishes the very best peer-reviewed science and engineering in the field.
期刊最新文献
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