A neuron proportion integration (PI) control strategy for semi-active suspension system of tracked vehicle was proposed based on its unique structure and the multiple and complex environment of the driving traffic. An...A neuron proportion integration (PI) control strategy for semi-active suspension system of tracked vehicle was proposed based on its unique structure and the multiple and complex environment of the driving traffic. An adaptive genetic algorithm is used to optimize the parameters of the neuron PI controller. The simulation result of the neuron PI control for semi-active suspension system of tracked vehicle indicates that the vertical amplitude,pitch angle and vertical acceleration of the vehicle are well controlled. The root mean square (RMS) of the vertical amplitude decreases by 37.2%,and 45.2% for the pitch angle,38.6% for the vertical acceleration. The research of neuron PI control experiment for the semi-active suspension system of the tracked vehicle model mining in benthal indicates that the RMS of the weight acceleration vibrating along the vertical direction decreases by 29.5%,the power spectral density resonance peak of the acceleration of the car body decreases by 23.8%.展开更多
A semi-active magneto-rheological （MR） damper was experimentally investigated and compared to an original equipment manufacturer （OEM） damper for a passenger vehicle, by using a quarter car models. A full-scale tw...A semi-active magneto-rheological （MR） damper was experimentally investigated and compared to an original equipment manufacturer （OEM） damper for a passenger vehicle, by using a quarter car models. A full-scale two-degree-of-freedom quarter car experimental set-up was constructed to study the vehicle suspension. On-off skyhook controller and Fuzzy-Lyapunov skyhook controller （FLSC） were employed to control the input current for MR damper so as to achieve the desired damping force. Tests were done to evaluate the ability of MR damper for controlling vehicle vibration. Test results show that the semi-active MR vehicle suspension vibration control system is feasible. In comparison with OEM damper, on-off and FLSC controlled MR dampers can effectively reduce the acceleration of vehicle sprtmg mass by about 15% and 24%, respectively.展开更多
Vehicle suspension design includes a number of compromises to provide good leveling of stability and ride comfort. Optimization of off-road vehicle suspension system is one of the most effective methods, which could c...Vehicle suspension design includes a number of compromises to provide good leveling of stability and ride comfort. Optimization of off-road vehicle suspension system is one of the most effective methods, which could considerably enhance the vehicle stability and controllability. In this work, a comprehensive optimization of an off-read vehicle suspension system model was carried out using software ADAMS. The geometric parameters of suspension system were optimized using genetic algorithm (GA) in a way that ride comfort, handling and stability of vehicle were improved. The results of optimized suspension system and variations of geometric parameters due to road roughness and different steering angles were presented in ADAMS and the results of optimized and conventional suspension systems during various driving maneuvers were compared. The simulation results indicate that the camber angle variations decrease by the optimized suspension system, resulting in improved handling and ride comfort characteristics.展开更多
The present work is aimed at studying the mechanic properties of the extra-wide concrete self-anchored suspension bridge under static and dynamic vehicle loads. Based on the field test using 12 heavy trucks and finite...The present work is aimed at studying the mechanic properties of the extra-wide concrete self-anchored suspension bridge under static and dynamic vehicle loads. Based on the field test using 12 heavy trucks and finite element simulations, the static deformations of different components, stress increments and distributions of the girder, as well as the vibration characteristics and damping ratio of the Hunan Road Bridge were analyzed, which is the widest self-anchored suspension bridge in China at present. The dynamic responses were calculated using the Newmark-β integration method assisted by the simulation models of bridge and vehicles, the influences on the dynamic impact coefficient(DIC) brought by the vehicle parameters, girder width, eccentricity travel and deck flatness were also researched. The spatial effect of the girder is obvious due to the extra width, which performs as the stress increments distribute unevenly along the transverse direction, and the girder deflections and stress increments of the upper plate change as a "V" and "M" shape respectively under the symmetrical vehicle loads affected by the shear lag effect, cross slope and local effect of the wheels, the maximum of stress increments are located in the junctions with the inner webs. The obvious girder torsional deformation and the apparent unevenness of the hanger forces between the two cable planes under the eccentric vehicle loads, together with the mode shapes such as the girder transverse bending and torsion which appear relatively earlier, all reflect the weakened torsional rigidity of the extra-wide girder. The transverse displacements of towers are more obvious than the longitudinal ones. As for the influences on the DIC, the static effect of the heavier vehicles plays a major role when pass through with a higher speed and the changes of vehicle suspension stiffness generate greater impacts than the suspension damp. The values of DIC in the vehicle-running side during the eccentric travel, affected by the restricts from the static effects of the eccentric moving trucks, are significantly smaller than the vehicle-free side, the increase in the road roughness is the most sensitive one among the above influential factors. The results could provide references for the design, static and dynamic response analysis of the similar extra-wide suspension bridges.展开更多
In order to improve ride comfort and handling performance of the vehicle, an adaptive hybrid control algorithm is proposed for semi-active suspension systems. The virtues of sky-hook is combined with ground-hook contr...In order to improve ride comfort and handling performance of the vehicle, an adaptive hybrid control algorithm is proposed for semi-active suspension systems. The virtues of sky-hook is combined with ground-hook control strategies and a more suitable compromise for the suspension systems is chosen. The hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high speed conditions. Damping continuous adjustable absorber is used to continuously control the damping force so as to eliminate the damping force jerk instead of traditional on-off control policy. Based on suspension stroke measured by sensors, unscented Kalman filter is designed to estimate the suspension states in real-time for the realization of hybrid control, which improves the robustness of the control strategy and is adaptive to different types of road profiles. Finally, the proposed control algorithm is validated under the following two typical road profiles: half-sine speed bump road and the random road. The simulation results indicate that the hybrid control algorithm could offer a good coordination between ride comfort and handling of the vehicle.展开更多
A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was establi...A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was established to demonstrate the effectiveness of the new control approach.Magneto-rheological(MR) dampers were designed,manufactured and characterized as available semi-active actuators in the developed semi-active suspension system.The four independent mixed H2/H∞ controllers were devised in order to perform a distributed semi-active control system in the vehicle by which the response velocity and reliability can be improved significantly.The performance of the proposed new approach was investigated in time and frequency domains.A good balance between vehicle's comfort and road holding was achieved.An effective and practical control strategy for semi-active suspension system was thus obtained.This new approach exhibits some advantages in implementation,performance flexibility and robustness compared to existing methods.展开更多
The passive suspension system of tracked vehicle is designed to get its suspension parameters based on a certain common velocity and a certain road surface roughness. Its performance optimization only exists in a cert...The passive suspension system of tracked vehicle is designed to get its suspension parameters based on a certain common velocity and a certain road surface roughness. Its performance optimization only exists in a certain operating mode without far-ranging adaptability. Holding the damper basic frame form and applying semi-active suspension system based on MR (magnetorheological) damper, the vehicle can keep its optimum efficiency between energy dissipation and vibration reduction in all kinds of operating modes. Theoretical analysis and experiments show that the damping performances provided by this MRF(magnetorheological fluids) vane damper are same as those provided by traditional damper, and the new damper has the better controllability and adaptability.展开更多
The controllable suspension system can improve the performances of off-road vehicles both on road and cross-country. So far, four controllable suspensions, that is, body height control, active, semi-active and slow-ac...The controllable suspension system can improve the performances of off-road vehicles both on road and cross-country. So far, four controllable suspensions, that is, body height control, active, semi-active and slow-active suspensions, have been developed. For off-road vehicles, the slow-active suspension and the semi-active suspension which have controllable stiffness, damping and body height are more appropriate to use. For many years, some control methodologies for controllable suspension systems have been developed along with the development of modern control theory, and two or more original control methods are integrated as a new control method. Today, for military or civilian off-road vehicles, the R&D of controllable suspension systems is ongoing.展开更多
Ride and handling are two paramount factors in design and development of vehicle suspension systems. Conflicting trends in ride and handling characteristics propel engineers toward employing multi-objective optimizati...Ride and handling are two paramount factors in design and development of vehicle suspension systems. Conflicting trends in ride and handling characteristics propel engineers toward employing multi-objective optimization methods capable of providing the best trade-off designs compromising both criteria simultaneously. Although many studies have been performed on multi-objective optimization of vehicle suspension system, only a few of them have used probabilistic approaches considering effects of uncertainties in the design. However, it has been proved that optimum point obtained from deterministic optimization without taking into account the effects of uncertainties may lead to high-risk points instead of optimum ones. In this work, reliability-based robust multi-objective optimization of a 5 degree of freedom （5-DOF） vehicle suspension system is performed using method of non-dominated sorting genetic algorithm-II （NSGA-II） in conjunction with Monte Carlo simulation （MCS） to obtain best designs considering both comfort and handling. Road profile is modeled as a random function using power spectral density （PSD） which is in better accordance with reality. To accommodate the robust approach, the variance of all objective functions is also considered to be minimized. Also, to take into account the reliability criterion, a reliability-based constraint is considered in the optimization. A deterministic optimization has also been performed to compare the results with probabilistic study and some other deterministic studies in the literature. In addition, sensitivity analysis has been performed to reveal the effects of different design variables on objective functions. To introduce the best trade-off points from the obtained Pareto fronts, TOPSIS method has been employed. Results show that optimum design point obtained from probabilistic optimization in this work provides better performance while demonstrating very good reliability and robustness. However, other optimum points from deterministic optimizations violate the regarded constraints in the presence of uncertainties.展开更多
针对轮毂电机驱动汽车(hub motor driven vehicle,HMDV)因开关磁阻电机自重和电机气隙偏心导致产生的垂向振动负效应严重恶化车辆的平顺性和操稳性的问题,提出一种基于分数阶滑模控制的HMDV可控动惯性悬架优化设计方法。首先,在轮毂驱...针对轮毂电机驱动汽车(hub motor driven vehicle,HMDV)因开关磁阻电机自重和电机气隙偏心导致产生的垂向振动负效应严重恶化车辆的平顺性和操稳性的问题,提出一种基于分数阶滑模控制的HMDV可控动惯性悬架优化设计方法。首先,在轮毂驱动电机气隙偏心产生的不平衡径向力基础上,建立HMDV 1/4混棚动惯性悬架,理论证明二阶混棚正实网络的优异性能;其次,采用HMDV二阶混棚正实网络作为参考模型,构建基于分数阶滑模控制理论的HMDV协调控制系统,在随机路面下进行平顺性仿真和分析;最后,进行HMDV 1/4悬架台架试验。试验结果表明,HMDV可控动惯性悬架与HMDV传统被动悬架相比,车身加速度均方根值、悬架动行程均方根值以及轮胎动载荷均方根值最大降幅分别为7.72%、30.64%以及11.54%。验证了所设计的HMDV可控动惯性悬架对于由开关磁阻电机造成的垂向振动负效应有优异的抑制性能。展开更多
基金Project(2010GK3091) supported by Industrial Support Project in Science and Technology of Hunan Province, ChinaProject(10B058) supported by Excellent Youth Foundation Subsidized Project of Hunan Provincial Education Department, China
文摘A neuron proportion integration (PI) control strategy for semi-active suspension system of tracked vehicle was proposed based on its unique structure and the multiple and complex environment of the driving traffic. An adaptive genetic algorithm is used to optimize the parameters of the neuron PI controller. The simulation result of the neuron PI control for semi-active suspension system of tracked vehicle indicates that the vertical amplitude,pitch angle and vertical acceleration of the vehicle are well controlled. The root mean square (RMS) of the vertical amplitude decreases by 37.2%,and 45.2% for the pitch angle,38.6% for the vertical acceleration. The research of neuron PI control experiment for the semi-active suspension system of the tracked vehicle model mining in benthal indicates that the RMS of the weight acceleration vibrating along the vertical direction decreases by 29.5%,the power spectral density resonance peak of the acceleration of the car body decreases by 23.8%.
基金Project(51175265) supported by the National Natural Science Foundation of ChinaProject(CX10B_114Z) supported by Jiangsu College Graduate Research and Innovation Program,China+1 种基金Project(BK2008415) supported by the Natural Science Foundation of Jiangsu Province,ChinaProject(Y1110313) supported by the Natural Science Foundation of Zhejiang Province,China
文摘A semi-active magneto-rheological （MR） damper was experimentally investigated and compared to an original equipment manufacturer （OEM） damper for a passenger vehicle, by using a quarter car models. A full-scale two-degree-of-freedom quarter car experimental set-up was constructed to study the vehicle suspension. On-off skyhook controller and Fuzzy-Lyapunov skyhook controller （FLSC） were employed to control the input current for MR damper so as to achieve the desired damping force. Tests were done to evaluate the ability of MR damper for controlling vehicle vibration. Test results show that the semi-active MR vehicle suspension vibration control system is feasible. In comparison with OEM damper, on-off and FLSC controlled MR dampers can effectively reduce the acceleration of vehicle sprtmg mass by about 15% and 24%, respectively.
文摘Vehicle suspension design includes a number of compromises to provide good leveling of stability and ride comfort. Optimization of off-road vehicle suspension system is one of the most effective methods, which could considerably enhance the vehicle stability and controllability. In this work, a comprehensive optimization of an off-read vehicle suspension system model was carried out using software ADAMS. The geometric parameters of suspension system were optimized using genetic algorithm (GA) in a way that ride comfort, handling and stability of vehicle were improved. The results of optimized suspension system and variations of geometric parameters due to road roughness and different steering angles were presented in ADAMS and the results of optimized and conventional suspension systems during various driving maneuvers were compared. The simulation results indicate that the camber angle variations decrease by the optimized suspension system, resulting in improved handling and ride comfort characteristics.
基金Project(51278104)supported by the National Natural Science Foundation of ChinaProject(2011Y03)supported by Jiangsu Province Transportation Scientific Research Programs,China+1 种基金Project(20133204120015)supported by the Research Fund for the Doctoral Program of Higher Education of ChinaProject(12KJB560003)supported by Jiangsu Province Universities Natural Science Foundation,China
文摘The present work is aimed at studying the mechanic properties of the extra-wide concrete self-anchored suspension bridge under static and dynamic vehicle loads. Based on the field test using 12 heavy trucks and finite element simulations, the static deformations of different components, stress increments and distributions of the girder, as well as the vibration characteristics and damping ratio of the Hunan Road Bridge were analyzed, which is the widest self-anchored suspension bridge in China at present. The dynamic responses were calculated using the Newmark-β integration method assisted by the simulation models of bridge and vehicles, the influences on the dynamic impact coefficient(DIC) brought by the vehicle parameters, girder width, eccentricity travel and deck flatness were also researched. The spatial effect of the girder is obvious due to the extra width, which performs as the stress increments distribute unevenly along the transverse direction, and the girder deflections and stress increments of the upper plate change as a "V" and "M" shape respectively under the symmetrical vehicle loads affected by the shear lag effect, cross slope and local effect of the wheels, the maximum of stress increments are located in the junctions with the inner webs. The obvious girder torsional deformation and the apparent unevenness of the hanger forces between the two cable planes under the eccentric vehicle loads, together with the mode shapes such as the girder transverse bending and torsion which appear relatively earlier, all reflect the weakened torsional rigidity of the extra-wide girder. The transverse displacements of towers are more obvious than the longitudinal ones. As for the influences on the DIC, the static effect of the heavier vehicles plays a major role when pass through with a higher speed and the changes of vehicle suspension stiffness generate greater impacts than the suspension damp. The values of DIC in the vehicle-running side during the eccentric travel, affected by the restricts from the static effects of the eccentric moving trucks, are significantly smaller than the vehicle-free side, the increase in the road roughness is the most sensitive one among the above influential factors. The results could provide references for the design, static and dynamic response analysis of the similar extra-wide suspension bridges.
基金Projects(51375046,51205021)supported by the National Natural Science Foundation of China
文摘In order to improve ride comfort and handling performance of the vehicle, an adaptive hybrid control algorithm is proposed for semi-active suspension systems. The virtues of sky-hook is combined with ground-hook control strategies and a more suitable compromise for the suspension systems is chosen. The hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high speed conditions. Damping continuous adjustable absorber is used to continuously control the damping force so as to eliminate the damping force jerk instead of traditional on-off control policy. Based on suspension stroke measured by sensors, unscented Kalman filter is designed to estimate the suspension states in real-time for the realization of hybrid control, which improves the robustness of the control strategy and is adaptive to different types of road profiles. Finally, the proposed control algorithm is validated under the following two typical road profiles: half-sine speed bump road and the random road. The simulation results indicate that the hybrid control algorithm could offer a good coordination between ride comfort and handling of the vehicle.
基金Project(50775225) supported by the National Natural Science Foundation of ChinaProjects(CSTC, 2008AC6097, 2008BA6025) supported by National Natural Science Foundation of Chongqing, China
文摘A new semi-active suspension control strategy through mixed H2/H∞ robust technique was developed due to its flexibility and robustness to model uncertainties.A full car model with seven degrees of freedom was established to demonstrate the effectiveness of the new control approach.Magneto-rheological(MR) dampers were designed,manufactured and characterized as available semi-active actuators in the developed semi-active suspension system.The four independent mixed H2/H∞ controllers were devised in order to perform a distributed semi-active control system in the vehicle by which the response velocity and reliability can be improved significantly.The performance of the proposed new approach was investigated in time and frequency domains.A good balance between vehicle's comfort and road holding was achieved.An effective and practical control strategy for semi-active suspension system was thus obtained.This new approach exhibits some advantages in implementation,performance flexibility and robustness compared to existing methods.
文摘The passive suspension system of tracked vehicle is designed to get its suspension parameters based on a certain common velocity and a certain road surface roughness. Its performance optimization only exists in a certain operating mode without far-ranging adaptability. Holding the damper basic frame form and applying semi-active suspension system based on MR (magnetorheological) damper, the vehicle can keep its optimum efficiency between energy dissipation and vibration reduction in all kinds of operating modes. Theoretical analysis and experiments show that the damping performances provided by this MRF(magnetorheological fluids) vane damper are same as those provided by traditional damper, and the new damper has the better controllability and adaptability.
文摘The controllable suspension system can improve the performances of off-road vehicles both on road and cross-country. So far, four controllable suspensions, that is, body height control, active, semi-active and slow-active suspensions, have been developed. For off-road vehicles, the slow-active suspension and the semi-active suspension which have controllable stiffness, damping and body height are more appropriate to use. For many years, some control methodologies for controllable suspension systems have been developed along with the development of modern control theory, and two or more original control methods are integrated as a new control method. Today, for military or civilian off-road vehicles, the R&D of controllable suspension systems is ongoing.
文摘Ride and handling are two paramount factors in design and development of vehicle suspension systems. Conflicting trends in ride and handling characteristics propel engineers toward employing multi-objective optimization methods capable of providing the best trade-off designs compromising both criteria simultaneously. Although many studies have been performed on multi-objective optimization of vehicle suspension system, only a few of them have used probabilistic approaches considering effects of uncertainties in the design. However, it has been proved that optimum point obtained from deterministic optimization without taking into account the effects of uncertainties may lead to high-risk points instead of optimum ones. In this work, reliability-based robust multi-objective optimization of a 5 degree of freedom （5-DOF） vehicle suspension system is performed using method of non-dominated sorting genetic algorithm-II （NSGA-II） in conjunction with Monte Carlo simulation （MCS） to obtain best designs considering both comfort and handling. Road profile is modeled as a random function using power spectral density （PSD） which is in better accordance with reality. To accommodate the robust approach, the variance of all objective functions is also considered to be minimized. Also, to take into account the reliability criterion, a reliability-based constraint is considered in the optimization. A deterministic optimization has also been performed to compare the results with probabilistic study and some other deterministic studies in the literature. In addition, sensitivity analysis has been performed to reveal the effects of different design variables on objective functions. To introduce the best trade-off points from the obtained Pareto fronts, TOPSIS method has been employed. Results show that optimum design point obtained from probabilistic optimization in this work provides better performance while demonstrating very good reliability and robustness. However, other optimum points from deterministic optimizations violate the regarded constraints in the presence of uncertainties.
