针对轮毂电机驱动汽车(hub motor driven vehicle,HMDV)因开关磁阻电机自重和电机气隙偏心导致产生的垂向振动负效应严重恶化车辆的平顺性和操稳性的问题,提出一种基于分数阶滑模控制的HMDV可控动惯性悬架优化设计方法。首先,在轮毂驱...针对轮毂电机驱动汽车(hub motor driven vehicle,HMDV)因开关磁阻电机自重和电机气隙偏心导致产生的垂向振动负效应严重恶化车辆的平顺性和操稳性的问题,提出一种基于分数阶滑模控制的HMDV可控动惯性悬架优化设计方法。首先,在轮毂驱动电机气隙偏心产生的不平衡径向力基础上,建立HMDV 1/4混棚动惯性悬架,理论证明二阶混棚正实网络的优异性能;其次,采用HMDV二阶混棚正实网络作为参考模型,构建基于分数阶滑模控制理论的HMDV协调控制系统,在随机路面下进行平顺性仿真和分析;最后,进行HMDV 1/4悬架台架试验。试验结果表明,HMDV可控动惯性悬架与HMDV传统被动悬架相比,车身加速度均方根值、悬架动行程均方根值以及轮胎动载荷均方根值最大降幅分别为7.72%、30.64%以及11.54%。验证了所设计的HMDV可控动惯性悬架对于由开关磁阻电机造成的垂向振动负效应有优异的抑制性能。展开更多
This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driv...This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection Control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition process.Firstly,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed.Subsequently,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed.Next,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal parameters.Finally,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs.Simulation results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency range.Under random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire load.This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration isolation performance.展开更多
基金the National Natural Science Foundation of China(Grant Numbers 52072157,52002156,52202471)Natural Science Foundation of Jiangsu Province(Grant Number BK20200911)+2 种基金Chongqing Key Laboratory of Urban Rail Transit System Integration and Control Open Fund(Grant Number CKLURVIOM_KFKT_2023001)Jiangsu Funding Program for Excellent Postdoctoral Talent(Grant Number 2022ZB659)State Key Laboratory of Advanced Design and Manufacturing Technology for Vehicle,Hunan University(Grant Number 82315004).
文摘This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection Control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition process.Firstly,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed.Subsequently,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed.Next,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal parameters.Finally,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs.Simulation results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency range.Under random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire load.This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration isolation performance.
