时滞对半主动悬架不同控制策略的影响

于曰伟; 宋云鹏; 李波; 赵雷雷; 焦国开

doi:10.7652/xjtuxb202506020

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时滞对半主动悬架不同控制策略的影响

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- 时滞对半主动悬架不同控制策略的影响
- The Influence of Time Delay on Different Control Strategies of Semi-Active Suspension
- 西安交通大学学报 2025年59卷第6期页码：198-208
- 作者机构：
  
  山东理工大学交通与车辆工程学院， 255000，山东淄博
- 作者简介：
  
  于曰伟（1989—），男，副教授，博士生导师；
  李波，男，教授，博士生导师。
- 基金信息：
  
  国家自然科学基金资助项目(52305266;52375105);山东省优秀青年人才基金资助项目(ZR2022YQ51)
- DOI：10.7652/xjtuxb202506020
  中图分类号： U461.1
- 收稿：2025-01-15，
  
  网络首发：2025-02-26，
  
  纸质出版：2025-06-10
- 稿件说明：
移动端阅览
于曰伟, 宋云鹏, 李波, 等. 时滞对半主动悬架不同控制策略的影响[J]. 西安交通大学学报, 2025,59(6):198-208.

YU Yuewei, SONG Yunpeng, LI Bo, et al. The Influence of Time Delay on Different Control Strategies of Semi-Active Suspension[J]. Journal of Xi’an Jiaotong University, 2025, 59(6): 198-208.
于曰伟, 宋云鹏, 李波, 等. 时滞对半主动悬架不同控制策略的影响[J]. 西安交通大学学报, 2025,59(6):198-208. DOI： 10.7652/xjtuxb202506020.

YU Yuewei, SONG Yunpeng, LI Bo, et al. The Influence of Time Delay on Different Control Strategies of Semi-Active Suspension[J]. Journal of Xi’an Jiaotong University, 2025, 59(6): 198-208. DOI： 10.7652/xjtuxb202506020.

摘要

为了揭示时滞对阻尼连续可调（CDC）半主动悬架控制策略的影响，便于控制策略选取，采用理论分析、仿真模拟和试验研究相结合的方法，探讨了时滞影响下CDC半主动悬架不同控制策略之间的差异。首先，利用数据驱动建模方法，构建了CDC减振器力学本构模型，并利用台架试验验证了模型的正确性；然后，以车辆二自由度半主动悬架模型为基础，开发了天棚阻尼控制、线性二次型最优控制、滑模变结构控制、模糊控制4种代表性控制策略；最后，利用Matlab/Simulink和CarSim联合仿真方法，建立了含时滞影响的CDC半主动悬架闭环控制系统整车仿真模型，分析了时滞影响下CDC半主动悬架不同控制策略的动态响应特征。结果表明，在较小时滞影响下，4种控制策略仍能对系统进行有效控制，但随着时滞的增大，天棚阻尼控制、滑模变结构控制显著恶化，最优控制、模糊控制受其影响较小，整体而言，在时滞因素影响下模糊控制策略的综合性能最优。

Abstract

In order to reveal the influence of time delay on the continuous damping control (CDC) suspension system’s control strategy and facilitate the selection of control strategies

the differences between different control strategies for CDC semi-active suspensions under time delay effect were explored by combining theoretical analysis

simulation and experimental research. Firstly

a mechanical constitutive model for CDC dampers was established based on data-driven modeling method

and the model was verified through bench test. Then

based on the two degrees of freedom vehicle semi-active suspension model

four representative control strategies were developed

including the sky-hook damping control

linear quadratic optimal control

sliding mode variable structure control

and fuzzy control. Finally

a vehicle simulation model of CDC semi-active suspension closed-loop control system with time delay effect was established by using Matlab/Simulink and CarSim joint simulation

and the dynamic characteristics of different control strategies of CDC semi-active suspension under time delay effect were analyzed. The results showed that when the time delay was small

the four control strategies could still effectively control the system. With the increase of time delay

the sky-hook damping control and sliding mode variable structure control obviously deteriorated

while the linear quadratic optimal control and fuzzy control changed little. Overall

the comprehensive performance of the fuzzy control strategy is optimal under the effect of time delay factors.

关键词

Keywords

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