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Control of active and semi-active suspension systems for passenger cars
Robust Control
No Control
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Active Motion Stability
Goal : To increase the stability of Transport through control
第七节
主动悬架和半主动悬架
车辆主动悬架系统是在悬架中附加一个可控制作用力装置，通常由四部分组成： 执行机构：执行控制系统指令。如：液压缸、气缸、电动机等。 测量系统：测量系统各状态，为控制系统提供依据。如各种传感器。 控制系统：处理数据，发出各种控制指令。如：电子计算机。 能源系统：为以上各部分提供能源。 主动悬架系统：
油箱 油泵 储压器
全主动悬架（有源主动悬架）：可调节悬架刚度和阻尼。 半主动悬架（无源主动悬架）：只能调节悬架阻尼。
油气弹簧
电动机
微处理机 阀杆
传感器 悬架下支 承摆臂
全主动悬架
半主动悬架
被动悬架工作演示
全主动悬架（有源主动悬架）：可调节悬架刚度和阻尼
半主动悬架：只能调节悬架阻尼
乘用车主动、半主动悬架的控制
• • IWT-project with Tenneco/Monroe Development of robust controller for active suspension of quarter car
– linear model – uncertainty modeling, – H-infinity design
Some measured FRF’s and fitted models
8
Control of active and semi-active suspension systems for passenger cars
Estimated uncertainty
9
Control of active and semi-active suspension systems for passenger cars
Active suspension Active Break System
to minimalize the movement of the centre of gravity through active suspensipon;
Strategy of Control:
Active Motion Stability
5
乘用车主动、半主动悬架的控制
6
Control of active and semi-active suspension systems for passenger cars
7
Control of active and semi-active suspension systems for passenger cars
Results: PDF of body acceleration and tire force, for: passive suspension (blue), constant settings of active suspension (red), and robustly controlled active suspension (green)
Results
Leaning Control
Motion stability
Active Motion Stability
Active Suspension
Goal: Passenger Comfort and motion stability
Hardware-in-loop
Result