基于摄动解析与辐角原理的时滞半主动惯容悬架系统失稳机理与补偿控制研究

The semi-active inerter-based suspension system can improve the vehicle ride comfort and handling stability, but the time-delay factor and instability phenomenon influence its application and development, this project conducts the research on instability mechanism and compensation control of time-delayed semi-active inerter-based suspension system based on perturbation analytic method and argument principle. The 1/4 vehicle passive inerter-based suspension system is constructed based on the “inerter-spring-damper” three elements parallel structures, the groundhook-inerter and skyhook-groundhook-inerter hybrid control methods are proposed, the dynamic model of the time-delayed semi-active inerter-based suspension system is established, the dynamic response is obtained using the average method based on the perturbation analytic method and the dynamic performance is investigated. The stability of the system is analyzed using the integral judge method based on the argument principle, the instability mechanism is revealed, the characteristic roots distribution rule is investigated and the rightmost characteristic root is obtained. The LMNN-Smith time-delay compensation control method based on the neural network identification is proposed, the influence law of the time-delay compensation controller on the dynamic performance of the system is elucidated and the anti-interference ability of the time-delay compensation controller corresponding to the error of the system model parameters is studied. The prototype is designed and the experiment is carried out to verify the stability and reliability of the system. This project researches can provide the theoretical basis and technical support for the analysis and application of the semi-active inerter-based suspension system and also promote the development of the new technology for the vehicle intelligent suspension system.

半主动惯容悬架能提高汽车的乘坐舒适性和操纵稳定性，但时滞因素与失稳现象影响其应用与发展，本项目基于摄动解析与辐角原理，开展时滞半主动惯容悬架系统失稳机理与补偿控制研究。基于“惯容—弹簧—阻尼”三元件并联结构，构建1/4车辆被动惯容悬架系统，提出地棚惯容以及天棚—地棚惯容混合控制方法，建立时滞半主动惯容悬架系统动力学模型，采用基于摄动解析的平均法求解系统的动态响应，研究系统的动态性能；依据基于辐角原理的定积分判别法分析系统的稳定性，揭示系统的失稳机理，研究系统特征根分布规律，确定最大实部特征根；提出基于神经网络辨识的LMNN-Smith时滞补偿控制方法，揭示时滞补偿控制器对系统动态性能的影响规律，研究其对系统模型误差参数的抗干扰能力；搭建原理样机，进行试验研究，验证系统的稳定性与可靠性。本项目研究可为半主动惯容悬架系统的分析与应用提供理论基础与技术支撑，也可促进汽车智能悬架系统新技术的发展。

本项目针对半主动惯容悬架系统中存在的时滞因素与失稳现象，对其进行动力学特性分析、稳定性研究与时滞补偿控制，旨在研究一种考虑时滞效应的，稳定可靠高效的半主动惯容悬架系统。基于“惯容—弹簧—阻尼”三元件并联结构，构建1/4车辆被动惯容悬架系统，根据半主动惯容器的力学特性，提出基于加速度—速度切换的半主动惯容控制方法，建立时滞半主动惯容悬架系统的动力学模型，采用基于摄动解析的平均法求解系统的动态响应，研究系统的动态性能，揭示惯质系数及时滞对系统动态性能的影响规律；依据基于辐角原理的定积分判别法分析系统的稳定性，揭示系统的失稳机理，研究系统的特征根分布规律，确定系统的最大实部特征根，判定系统稳定时的收敛速度与失稳时的发散速度；提出基于神经网络辨识的LMNN-Smith时滞补偿控制方法，建立含时滞补偿控制器的半主动惯容悬架系统动力学模型，分析时滞补偿控制器对系统动态性能的影响规律，并研究其对系统模型误差参数的抗干扰能力；采取理论和试验相结合的手段，验证时滞半主动惯容悬架系统的稳定性与可靠性，为半主动惯容悬架系统分析与应用提供理论基础和技术支撑。本项目的研究内容符合当前汽车电动化的发展方向，契合汽车“更舒适、更安全”的未来发展需求，研究成果可推广应用到汽车半主动悬架系统，提高悬架系统减振性能以改善汽车动力学性能，具有广阔的应用前景，对于推动汽车智能悬架系统设计与控制领域前瞻技术的自主开发能力具有重要的促进作用。本项目共发表学术论文15篇，其中SCI检索论文8篇，EI检索论文5篇，北大中文核心论文2篇，申请国家发明专利8项，协助培养博士研究生3名，硕士研究生1名，独立培养硕士研究生5名，1名硕士研究生获得国家奖学金。