Vehicle semiactive suspension based on double controllable dampers and control method thereof

Abstract

The invention discloses a vehicle semiactive suspension based on double controllable dampers, which is applied to decoupling control of a vehicle semiactive suspension system which is provided with two groups of suspension subsystems. The vehicle semiactive suspension comprises the following decoupling control steps that 1, an unsprung type controllable damper is arranged between a lower control arm and a connecting rod, and the damping force outputted by the unsprung type controllable damper is adjusted through the feedback control of variations of vehicle body pitch angles and accelerations, so as to realize the complete structure decoupling of two 'quarter' vehicle suspension subsystems of the vehicle semiactive suspension system, and improve the properties of the vehicle suspension in the pitch movement; 2, the unsprung controllable damper is arranged on the position of the traditional passive suspension damper, and the decoupled suspension system can directly adopt a relatively matured semiactive control strategy of the 'quarter' vehicle suspension subsystems, so as to ideally improve the properties of the vehicle suspension in the vertical movement.

Description

technical field [0001] The invention relates to the field of vehicle engineering, in particular to an intelligent vehicle suspension system control device using a controllable damper, which is used for decoupling control of a semi-vehicle suspension system with two sets of suspension subsystems. Background technique [0002] Vehicle suspension is the general term for all force transmission devices connecting the body and chassis. It is an important system to ensure the ride comfort and handling safety of the vehicle. The traditional passive suspension cannot meet the comfort and handling requirements at the same time, resulting in controllable Suspension System. The semi-active control suspension based on the controllable damper is one of the hot topics studied by scholars at home and abroad in the past ten years. Due to the strong coupling characteristics between the multiple suspension subsystems of the vehicle, the realization of the vehicle multi-suspension performance t...

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Problems solved by technology

[0003] Scholars at home and abroad have proposed various semi-active control strategies for controllable suspension systems in recent years, and a few scholars have also tried to decouple control of multi-degree-of-freedom suspension systems, but the decoupling methods proposed are too theoretical and difficult to implement in engineering , no feasible solution has been proposed for the coordinated control of multiple controllable suspension subsystems

Taiwanese scholar T.H.S.LI et al. adopted the control method combining linear feedback and neural network feedforward in the multi-input multi-output nonlinear system to realize the approximate decoupling control of the semi-vehicle active suspension system. In order to realize the coordination of the controllable damper The control has laid a certain foundation, but the controller design method is too complicated and difficult to implement, and there is no systematic analysis of the multi-objective suspension performance of the vehicle suspension; Wu Long et al. The layered control method improves the performance of the semi-active suspension system, but its decoupling method has many assumptions and poor real-time performance, so it only achieves theoretical approximate decoupling; In the attitude coordination humanoid intelligent control method, the body motion of the vehicle is divided into eight attitudes, by listing the dynamic equations of the four suspension subsystems to suppress the vertical, pitch and roll motions, and then solving the written equations Four groups of approximately independent damper control forces can be obtained by coupling, and further combined with human-like intelligent control, the performance of the vehicle suspension system is improved. However, this method requires separate At the same time, qualitative analysis of the body attitude is required in advance, so the accuracy of the decoupling control method is not high, the real-time performance is not ideal, and it is difficult to apply it in the actual vehicle

[0004] To sum up, the problem of coordinated control of multiple controllable suspension subsystems of vehicles has not been well resolved. It is a good idea to decouple multiple controllable suspension systems of coupled vehicles to achieve their coordinated control. Very good idea, but the above-mentioned approximate decoupling method under multiple assumptions is quite different from the actual working conditions of the vehicle, and fails to simplify the complexity of the controller design of the controllable suspension system and improve the real-time performance of the control system and other research goals, and most of them are still in the stage of theoretical algorithm research, and there is still a long way to go before they are put into practical application.

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