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工程设计学报
工程设计学报  2020, Vol. 27 Issue (2): 191-198    DOI: 10.3785/j.issn.1006-754X.2020.00.024
保质设计     
基于剪切式磁流变减振器的车辆侧倾与平顺性协调控制
姚嘉凌, 唐郑, 柏亚男
南京林业大学 汽车与交通工程学院， 江苏 南京 210037
Coordinated control of roll and smoothness of vehicle based on shear magnetorheological damper
YAO Jia-ling, TANG Zheng, BAI Ya-nan
College of Automobile and Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China
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摘要： 车辆转向时，由于普通磁流变减振器在低速下无法提供较大的阻尼力，难以有效对车辆进行侧倾控制，针对此问题，设计了一种具有低速大阻尼特性的剪切式磁流变减振器，以提升车辆的抗侧倾性能。对剪切式磁流变减振器的结构和磁场进行设计，并建立剪切式磁流变减振器阻尼力模型；通过Simulink仿真得到该减振器的输出特性曲线，并建立磁流变减振器多项式数学模型；建立车辆六自由度转向-侧倾动力学模型，基于限幅最优控制设计车辆侧倾和平顺性协调控制器，并运用MATLAB软件对磁流变半主动悬架限幅最优控制双移线工况进行动力学仿真。仿真结果表明：当车辆转弯时，相较于常规模式，抗侧倾模式下车身侧倾角和横向载荷转移率显著减小，同时车身加速度、轮胎动载荷及悬架动挠度等参数有一定的改善。研究表明剪切式磁流变减振器能够有效抑制车辆转弯时的车身侧倾，改善车身姿态，同时使车辆保持良好的平顺性，提升了车辆的弯道通行能力，防止车辆侧翻事故发生。研究结果可为磁流变半主动悬架在车辆侧倾控制中的应用提供理论支持。
关键词： 磁流变减振器;  多项式数学模型;  半主动悬架;  限幅最优控制    
Abstract: It is difficult to effectively control roll of vehicle during steering because the ordinary magnetorheological damper (MRD) can not provide a larger damping force at low velocity. In order to solve this problem, a sheer MRD with large damping force at low velocity was designed to improve the anti-rolling performance of vehicle. The structure and magnetic field design of sheer MRD were carried out, the damping force model of sheer MRD was built. The output characteristic curve of the damper was obtained through the Simulink simulation, and the polynomial mathematical model of the MRD was established. In addition, a dynamics six-degree-of-freedom steering-roll model of vehicle was established, and the optimal control of limiting amplitude was used to design the roll and smoothness coordination controller. The dynamics simulation of MR semi-active suspension limiter optimal control under the condition of double lane change with the software of MATLAB was carried out, and the simulation results showed that compared with the conventional MRD, vehicle body roll angle and lateral load transfer rate (LLRT) had a significant reduction under anti-rolling mode during steering, at the same time, parameters includeing the body acceleration, tire dynamic load and suspension dynamic deflection had some improvement. The research showed that the shear MRD could effectively inhibit the vehicle body roll during steering, improve body posture, and keep the vehicle in good smoothness. Besides, it could effectively improve turning capacity of vehicle and prevent the vehicle from rollover. The research result provides some theoretical supports for the application of MR semi-active suspension in the vehicle roll control.
Key words: magnetorheological damper    polynomial mathematical model    semi-active suspension    clipped optimal control
收稿日期: 2019-09-09 出版日期: 2020-04-28
:  U 463.335  
基金资助: 国家自然科学基金资助项目（51975299）；国家留学基金资助项目(201808320051)；江苏省自然科学基金资助项目（BK20181403）；江苏省“六大人才高峰”高层次人才选拔培养资助项目(2015-JXQC-005)
作者简介: 姚嘉凌（1967—），男，湖南长沙人，教授，博士，从事车辆系统动力学与控制研究，E-mail:yjlcqf@njfu.edu.cn，http://orcid.org/0000-0002-0474-9858
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引用本文:

姚嘉凌, 唐郑, 柏亚男. 基于剪切式磁流变减振器的车辆侧倾与平顺性协调控制[J]. 工程设计学报, 2020, 27(2): 191-198.

YAO Jia-ling, TANG Zheng, BAI Ya-nan. Coordinated control of roll and smoothness of vehicle based on shear magnetorheological damper. Chinese Journal of Engineering Design, 2020, 27(2): 191-198.

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https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2020.00.024    或    https://www.zjujournals.com/gcsjxb/CN/Y2020/V27/I2/191

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