垂向與側向路面不平度影響下的汽車分層建模振動控制研究

Hierarchical Modeling Control Method for a Car under Vertical and Lateral Road Roughness

吳龍(Long Wu)；陳志鏗(Chih-Keng Chen)

分層建模 ； 振動控制 ； 四分之一車輛 ； 懸吊 ； 彈簧承載質量 ； 解耦分析 ； 垂向 ； 側向 ； 路面不平度 ； Hierarchical modeling ； vibration control ； quarter vehicle ； suspension ； sprung mass ； decoupling analysis ； vertical ； lateral ； road roughness

科學與工程技術期刊

9卷1期（2013 / 03 / 01）

1 - 15

繁體中文

傳統汽車模型只考慮路面垂向激勵影響下車身有限的姿態振動。本文考慮在路面垂向與側向雙重激勵影響下，以十五個自由度傳統整車模型為背景，對其彈簧承載質量進行空間動力學分析，借助四個輪系方位與彈簧承載質量質心處的運動學關係，研究車體垂向、側向、俯仰角、側傾角和橫擺角這五種姿態振動，進而推導得到整車與四個四分之一車輛系統間的動力耦合定量關係，並作為中央控制層。以四分之一車輛為底層控制單元，建立分層建模振動控制架構，並借助於MATLAB 中成熟的控制策略進行驗證。模擬結果表明：由於實現了四個四分之一車輛振動控制量的平行解算，可加快系統回應，改善汽車乘坐舒適性和行駛平穩性，為今後汽車振動控制的研究提供了新的思路。

In a traditional car model, few body vibrations can be produced under vertical road excitation. In this study, under the influence of vertical and lateral road roughness and in the background of a traditional car model with 15 degrees of freedom, suspension sprung mass was investigated based on force analysis in space. Using the kinetics relations between the locations of the four wheels and the mass center of the sprung mass, five body vibrations-vertical, lateral, pitch, roll, and yaw motions -were studied, and the ratio relationships of the coupling dynamics between a whole vehicle and four one-quarter vehicles were deduced, forming a center control level. Based on the four local control levels that were each constructed by a one-quarter vehicle, a hierarchical modeling control frame was constructed and verified by sophisticated control strategies in a Matlab software environment. Simulation results showed that system response was quickened and that ride comfort and handling properties were improved using parallel computation realization for the four local control parameters. The control method in this study provides a new orientation for future vibration control in vehicle fields.