摘要
考虑磁流变阻尼器磁饱和特性这一非线性因素,设计了一种基于微分几何理论的反馈线性化卡尔曼观测器(FLKO),进行了磁流变阻尼器力学试验并建模,进而设计了非线性悬架系统卡尔曼观测器,开展了观测器仿真分析.FLKO对悬架控制算法所需状态变量的估计精度都超过85%,能够满足悬架控制器使用要求.为验证FLKO实际工作效果,开发了悬架电子控制单元(ECU),搭建了1/4悬架台架进行台架试验.试验结果表明:C级随机路面下,带有FLKO的磁流变半主动悬架车身加速度和悬架动挠度相比被动悬架降低了12.57%和7.32%,车辆乘坐舒适性明显改善.
The feedback linearization Kalman observer(FLKO) based on differential geometry theory was designed,considering the nonlinear factor of magnetic saturation characteristics of magnetorheological damper.The damper was experimented mechanically and modelled.FLKO of nonlinear suspension system was designed.Simulation and analysis of FLKO was carried out.The results show that estimation accuracy of state variables exceeds 85%,which can meet the requirements of suspension controller.To verify the actual working effect of FLKO,a suspension ECU(electronic control unit) was developed,and a 1/4 suspension bench was built for bench test.The test results show that body acceleration and suspension stroke with FLKO are reduced by 12.57% and 7.32% compared to the passive suspension on the C-level random road,and ride comfort of vehicles is significantly improved.
作者
汪若尘
王英杰
丁仁凯
孙东
WANG Ruochen;WANG Yingjie;DING Renkai;SUN Dong(School of Automotive and Traffic Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu China)
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2020年第12期49-54,共6页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
基金
国家自然科学基金面上项目(51575240)。
关键词
半主动悬架
控制算法
磁流变阻尼器
状态观测
试验
semi-active suspension
control algorithm
magnetorheological damper
state observation
experiment
