陆地车辆的磁流变半主动悬架模糊集成控制

分析了陆地车辆的磁流变半主动悬架系统的组成及其系统动力学模型。以平顺性、行驶稳定性与运动姿态控制为目标，讨论了半主动悬架的控制机理。提出了一种基于频率过滤、模糊控制和姿态误差增益控制的半主动悬架集成控制策略。设计的控制系统由外环和内环组成，外环系统设计机械系统的反馈理想阻尼力，内环系统实时计算电流驱动器的控制信号。磁流变减振器根据控制电流信号实时地产生阻尼力实现车辆控制目标。仿真结果表明，所设计的系统控制策略是有效的，同时也表明通过主动改变减振器阻尼力可以实现陆地车辆的性能控制。

Study on Control Strategy of Magnetorheological Semi-Active Suspension for Ground Vehicle

In this paper, the system component of a semi-active suspension with magnetorheological damper is presented, and its dynamics are considered. Taking the ride comfort and road handing and motion attitude of vehicle as system control objective, the system control mechanism is discussed. In the light of the technique of rolling off the damping constants at high frequencies and fuzzy logic control and attitude error gain control, the control strategy of a semi-active suspension is given. The outer target control force is generated by the outer control loop of the control system; the current of the current driver is step-less adjusted by the inner loop control system. The magnetorheological damper generates the damping force to perform the system control objective. The control strategy of semi-active suspension and performance of ground vehicle with semi-active control suspension are demonstrated in simulation.