具有非线性时滞的汽车磁流变悬架系统自适应模糊滑模控制
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摘要
针对磁流变悬架系统执行器件非线性及其时滞的不确定性,提出采用基于自适应模糊逻辑的滑模控制策略。首先基于磁流变减振器试验测试数据建立了能精确描述执行器非线性动力学行为的控制模型,进而建立了具有不确定时滞的磁流变减振器控制模型;基于建立的1/4半主动悬架动力学模型,设计了自适应模糊滑模控制器;作为比较,基于1/4车辆悬架模型还设计了简单滑模控制器;最后进行了仿真分析和道路试验。试验结果表明,基于自适应模糊滑模控制能消除减振器强非线性和不确定时滞的影响,显著提高车辆的平顺性,其控制效果要优于简单滑模控制。
Due to the nonlinearity and time delay uncertainty of magneto-rheologcial(MR) suspension,one of the main challenges in the application of MR technology is to derive an appropriate control algorithm.The main purpose of the study is to propose a new adaptive fuzzy sliding mode control(AFSMC) for MR suspension application.An accurate control model of a MR damper was formulated by using the measured experimental data,and the control model considering the time delay uncertainty of MR damper was also developed.A quarter car model equipped with MR damper was constructed and the AFSMC was formulated.For comparison,a simple sliding mode controller based on the quarter car model was also designed.The numerical simulation and the road test were adopted to validate the proposed control algorithm.The results show that the MR suspension system with AFSMC can improve greatly the ride comfort and avoid the effects of nonlinearity and time delay uncertainty of MR damper.Furthermore,the control performance of the proposed control algorithm is superior to that of the simple sliding mode control algorithm.
Due to the nonlinearity and time delay uncertainty of magneto-rheologcial(MR) suspension,one of the main challenges in the application of MR technology is to derive an appropriate control algorithm.The main purpose of the study is to propose a new adaptive fuzzy sliding mode control(AFSMC) for MR suspension application.An accurate control model of a MR damper was formulated by using the measured experimental data,and the control model considering the time delay uncertainty of MR damper was also developed.A quarter car model equipped with MR damper was constructed and the AFSMC was formulated.For comparison,a simple sliding mode controller based on the quarter car model was also designed.The numerical simulation and the road test were adopted to validate the proposed control algorithm.The results show that the MR suspension system with AFSMC can improve greatly the ride comfort and avoid the effects of nonlinearity and time delay uncertainty of MR damper.Furthermore,the control performance of the proposed control algorithm is superior to that of the simple sliding mode control algorithm.
引文
[1]Goncalves F D,Koo J H,Ahmadian M.A reviewof the stateof the art in magnetorheological fluid technologies-Part I:MRfluid and MR fluid models[J].Shock and vibration digest,2006,38(3):203-219.
[2]Muhammad A,Yao Xiong-liang,Deng Zhong-chao.Reviewof magnetorheological(MR)fluids and its applications invibration control[J].Journal of Marine Science and Applica-tion,2006,5(3):17-29.
[3]Choi S B,Sung K G.Vibration control of magnetorheologicaldamper system subjected to parameter variations[J].Interna-tional Journal of Vehicle Design,2008,46(1):94-110.
[4]Ahmadian,M,Marjoram R H.Effects of Passive and Semiac-tive suspensions on Body and Wheel Hop Control[J].Journalof Commercial Vehicles,1989,98,596-604.
[5]Ahmadian M.A Hybrid Semiactive Control for Secondary Sus-pension Applications[C].Proceedings of the Sixth ASMESymposium on Advanced Automotive Technologies,1997ASME International Congress and Exposition,November1997.
[6]Alessandro Giua,Andrea Savastano,Carla Seatzu,GiampaoloUsai.Approximation of an Optimal Gain Swtching Active Lawwith a Semiactive Suspension[C].Proceedings of the 1998IEEE International Conference on Control Applications Tries-te,Italy 1-4 September 1998,248-252.
[7]Makoto Yokoyama,J.Karl Hedrick,Shigehiro Toyama.AModel Following Sliding Mode Controller for Semi-Active Sus-pension Systems with MR Dampers[C].Proceedings of theAmerican Control Conference Arlington,VA June 25-27,2001,2652-2657.
[8]Alan Hiu-Fung Lam,Wei-Hsin Liao.Semi-active control ofautomotive suspension systems with magneto-rheologicaldampers[J].International Journal of Vehicle Design 2003,33(1/2/3):50-75.
[9]关新春,欧进萍.磁流变减振驱动器的响应时间试验与分析[J].地震工程与工程振动,2002,22(5):96-102.
[10]任建亭,邓长华,姜节胜.磁流变阻尼器瞬态响应性能的研究[J].功能材料,2006,37(5):729-732.
[11]Hans Martin Laun,Claus Gabriel.Measurement Modes of theResponse Time of a Magnetorheological Fluid(MRF)forChanging Magnetic Flux Density[J].Rheol Acta,2007,46:665-676.
[12]Koo J H,Goncalves F D,Ahmadian MA.Comprehensive A-nalysis of the Response Time of MR Dampers[J].Smart Ma-ter Struct,2006(15):351-358.
[13]祝长生.盘型磁流变流体阻尼器悬臂转子系统响应时间测试[J].航空动力学报,2006,21(3):550-555.
[14]潘存治,杨绍普,邢海军,等.磁流变阻尼器半主动隔振系统试验研究[J].石家庄铁道学院学报,2006,19(3):36-39.
[15]黄曦,余淼,陈爱军,等.磁流变液阻尼器动态响应及其影响因素分析[J].功能材料,2006,37(5):808-811.
[16]余淼.汽车磁流变半主动悬架控制系统研究[D].重庆:重庆大学,2003.
[17]廖昌荣.汽车悬架系统磁流变阻尼器研究[D].重庆:重庆大学,2001.
[18]李锐,余淼,陈伟民,等.基于磁流变减振器的汽车悬架振动控制[J].机械工程学报,2005,46(5):128-132.
[19]Choi S B,Lee S K,Park Y P.A Hysteresis Model for theField-dependent Damping Force of a Magneto-rheologicalDamper[J].Journal of Sound and Vibration,2001,245(2):375-383.
[20]陈爱军.汽车磁流变阻尼器动态响应特性的研究[D].重庆:重庆大学,2005.
[21]刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.
[22]董小闵,余淼,黄尚廉,等.汽车磁流变半主动控制系统中的时滞与补偿[J].计算机仿真,2006,23(4):229-232.
[2]Muhammad A,Yao Xiong-liang,Deng Zhong-chao.Reviewof magnetorheological(MR)fluids and its applications invibration control[J].Journal of Marine Science and Applica-tion,2006,5(3):17-29.
[3]Choi S B,Sung K G.Vibration control of magnetorheologicaldamper system subjected to parameter variations[J].Interna-tional Journal of Vehicle Design,2008,46(1):94-110.
[4]Ahmadian,M,Marjoram R H.Effects of Passive and Semiac-tive suspensions on Body and Wheel Hop Control[J].Journalof Commercial Vehicles,1989,98,596-604.
[5]Ahmadian M.A Hybrid Semiactive Control for Secondary Sus-pension Applications[C].Proceedings of the Sixth ASMESymposium on Advanced Automotive Technologies,1997ASME International Congress and Exposition,November1997.
[6]Alessandro Giua,Andrea Savastano,Carla Seatzu,GiampaoloUsai.Approximation of an Optimal Gain Swtching Active Lawwith a Semiactive Suspension[C].Proceedings of the 1998IEEE International Conference on Control Applications Tries-te,Italy 1-4 September 1998,248-252.
[7]Makoto Yokoyama,J.Karl Hedrick,Shigehiro Toyama.AModel Following Sliding Mode Controller for Semi-Active Sus-pension Systems with MR Dampers[C].Proceedings of theAmerican Control Conference Arlington,VA June 25-27,2001,2652-2657.
[8]Alan Hiu-Fung Lam,Wei-Hsin Liao.Semi-active control ofautomotive suspension systems with magneto-rheologicaldampers[J].International Journal of Vehicle Design 2003,33(1/2/3):50-75.
[9]关新春,欧进萍.磁流变减振驱动器的响应时间试验与分析[J].地震工程与工程振动,2002,22(5):96-102.
[10]任建亭,邓长华,姜节胜.磁流变阻尼器瞬态响应性能的研究[J].功能材料,2006,37(5):729-732.
[11]Hans Martin Laun,Claus Gabriel.Measurement Modes of theResponse Time of a Magnetorheological Fluid(MRF)forChanging Magnetic Flux Density[J].Rheol Acta,2007,46:665-676.
[12]Koo J H,Goncalves F D,Ahmadian MA.Comprehensive A-nalysis of the Response Time of MR Dampers[J].Smart Ma-ter Struct,2006(15):351-358.
[13]祝长生.盘型磁流变流体阻尼器悬臂转子系统响应时间测试[J].航空动力学报,2006,21(3):550-555.
[14]潘存治,杨绍普,邢海军,等.磁流变阻尼器半主动隔振系统试验研究[J].石家庄铁道学院学报,2006,19(3):36-39.
[15]黄曦,余淼,陈爱军,等.磁流变液阻尼器动态响应及其影响因素分析[J].功能材料,2006,37(5):808-811.
[16]余淼.汽车磁流变半主动悬架控制系统研究[D].重庆:重庆大学,2003.
[17]廖昌荣.汽车悬架系统磁流变阻尼器研究[D].重庆:重庆大学,2001.
[18]李锐,余淼,陈伟民,等.基于磁流变减振器的汽车悬架振动控制[J].机械工程学报,2005,46(5):128-132.
[19]Choi S B,Lee S K,Park Y P.A Hysteresis Model for theField-dependent Damping Force of a Magneto-rheologicalDamper[J].Journal of Sound and Vibration,2001,245(2):375-383.
[20]陈爱军.汽车磁流变阻尼器动态响应特性的研究[D].重庆:重庆大学,2005.
[21]刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2005.
[22]董小闵,余淼,黄尚廉,等.汽车磁流变半主动控制系统中的时滞与补偿[J].计算机仿真,2006,23(4):229-232.
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