采用路面识别方法的重型救援车辆主动悬架控制策略

巩明德 1; 颜鑫 2

doi:10.7652/xjtuxb201902005

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采用路面识别方法的重型救援车辆主动悬架控制策略

更新时间：2025-07-09

- 采用路面识别方法的重型救援车辆主动悬架控制策略
- A Control Strategy for Active Suspension of Heavy Rescue Vehicles Based on Road Level Estimation
- 西安交通大学学报 2019年53卷第2期页码：32-39
- 作者机构：
  
  燕山大学机械工程学院,河北,秦皇岛,066004
- 作者简介：
- 基金信息：
  
  : 2018-05-18。作者简介: 巩明德(1971—),男,教授,博士生导师。基金项目: 国家重点研发计划资助项目(2016YFC0802900)
- DOI：10.7652/xjtuxb201902005
  中图分类号： TH113
- 网络首发：2019-02-10，
  
  纸质出版：2019
- 稿件说明：
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巩明德 1, 颜鑫 2. 采用路面识别方法的重型救援车辆主动悬架控制策略[J]. 西安交通大学学报, 2019,53(2):32-39.

A Control Strategy for Active Suspension of Heavy Rescue Vehicles Based on Road Level Estimation[J]. 2019, 53(2): 32-39.
巩明德 1, 颜鑫 2. 采用路面识别方法的重型救援车辆主动悬架控制策略[J]. 西安交通大学学报, 2019,53(2):32-39. DOI： 10.7652/xjtuxb201902005.

A Control Strategy for Active Suspension of Heavy Rescue Vehicles Based on Road Level Estimation[J]. 2019, 53(2): 32-39. DOI： 10.7652/xjtuxb201902005.

摘要

针对重型救援车辆在复杂路况行驶时存在的行驶平顺性差及操纵不稳定等问题

提出了采用路面识别方法的重型救援车辆主动悬架控制策略。识别方法以不同等级路面激励引起的相对路面粗糙度为依据

通过建立T-S型模糊控制规则实现路面等级识别; 控制策略根据识别的路面等级、非簧载质量、簧载质量、悬架刚度、悬架阻尼和轮胎刚度

设计最优H

∞

控制器参数矩阵

计算主动悬架作动力

实现主动悬架在不同等级路面行驶时的自适应控制。试验结果表明:采用路面识别方法的主动悬架控制系统能够通过调节鲁棒控制器参数矩阵

自适应地控制悬架刚度和阻尼

提高了不同路面行驶条件下的平顺性与操纵稳定性; 在不同等级路面情况下与被动悬架相比

簧载质量加速度均方根值减小了20%以上

且在4～8 Hz频段内

簧载质量加速度幅值均小于被动悬架。

Abstract

A new adaptive robust control strategy for heavy rescue vehicles is proposed based on road level estimation to solve the problem that heavy vehicles have poor ride comfort and unstable handling when they are derived on complex road conditions. The road estimation method takes the relative roughness indicator(RRI)

which is caused by different road level

as the basis of estimation

and T-S fuzzy control rules are then designed to estimate the final road level. Then the control strategy gives a parameter matrix for an adaptive optimal H

∞

controller from the estimated road level

unsprung mass

sprung mass

suspension stiffness

suspension damping and tire stiffness. The control force of active suspension is calculated to realize t

he adaptive control of active suspension when derived on different road levels. Experimental results show that active suspension control systems based on the road level estimation adaptively control suspension stiffness and damping by adjusting the parameter matrix of the robust controller. The proposed control strategy improves both ride comfort and handling stability in different road levels. A comparison with the passive suspension in different road leveles show that the active suspension reduces the RMS of the sprung mass acceleration more than 20%

and the amplitude of the sprung mass acceleration of the active suspension is smaller than that of the passive suspension in the 4-8 Hz band.

关键词

Keywords

references

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