基于ISD悬架动惯性效应的重型车辆道路友好性与平顺性协调机理及控制研究

Due to the road damage problem of the heavy vehicle, this program aims to carry out the research on the coordinate mechanism between ride comfort and road friendliness of heavy vehicle, semi-active synthesis between mechanical network and electric network and the dynamic coordinate control based on the inertia adjustment in the vertical direction of the dynamic inertia effect of ISD suspension. The dynamic behavior of ISD suspension and its impact on the full car performance are analyzed in order to acquire the influence mechanism of the dynamic inertia effect on ride comfort and road friendliness. Then, a new hydraulic-electric inerter is designed and the dynamic mechanical-electric-hydraulic coupling model of the ISD suspension is built. A new structure design theory is proposed and the structure design can be changed to the optimization of the transfer function and the semi-active synthesis between the mechanical network and electric network. The coupling mechanism between a fixed mechanical network and a variable electric network is explored during the network synthesis. The dynamic control problem of the suspension is inducted to the compromise problem between the input impedance and the system impedance. A control system is designed by considering the performance compromise, stability of system, switching smooth and matching impedance on the basis of the coordinate mechanism between ride comfort and road friendly of the heavy vehicle. At last, the prototype is designed and experiments are carried out in order to improve the high efficient compromise between the dynamic tire load and the acceleration of vehicle body of the heavy vehicle. The research achievements can improve the road friendliness, ride comfort, coordinate the full car performance, and provide a new research idea and method for the suspension of heavy vehicle.

针对重型车辆行驶过程引发的道路损伤难题，拟运用ISD悬架动惯性效应对车辆垂向运动惯性的调节作用，开展重型车辆道路友好性与平顺性协调机理、机电网络半主动综合及协调控制研究。分析ISD悬架动力学行为及对整车性能影响，获得动惯性效应对道路友好性与平顺性作用机理；设计新型液电惯容器，构建ISD悬架机电液系统耦合动态模型，创新提出动态结构设计理论，将其转化为目标传递函数的鲁棒优化及机电网络半主动综合，探讨综合过程中固定机械网络与可变电路网络的耦合作用规律；将悬架控制问题归纳为输入阻抗对系统阻抗的匹配问题，构建重型车辆道路友好性与平顺性协调机制，设计包含性能协调、系统稳定性、切换平稳性及阻抗匹配的协调控制系统；研制原理样机，进行试验验证，实现重型车辆ISD悬架轮胎动载荷与车身加速度高效协调。研究成果可改善重型车辆道路友好性、提高平顺性、协调整车综合性能，为重型车辆悬架理论研究提供一种新的思路与方法。

重型车辆的载重量大，行驶过程中的轮胎动载荷对路面损伤严重，成为道路损坏的主要因素。因此降低重型车辆对道路的损伤，成为车辆领域与公路部门关注的焦点。重型车辆高效协调道路友好性与平顺性受到“弹簧-阻尼器”固有结构的限制，性能提升遇到了理论瓶颈。因此，突破固有的悬架结构成为协调重型车辆道路友好性与平顺性，以及悬架创新发展的核心问题。惯容器的提出使悬架形成了“惯容器-弹簧-阻尼器”的新型机械网络，其具有丰富的拓扑特性满足重型车辆的性能需求。本项目重点完成了以下研究：.（1）研究重型车辆动惯性作用机理，建立三轴重型车辆的半车ISD悬架模型，分析在不同参数对悬架性能的影响，运用多目标遗传算法优化模型参数，验证了ISD悬架对改善重型车辆平顺性与道路友好性的有效性。建立包含ISD悬架的全车模型，选择鱼钩转向输入等分析车辆的横向稳定性。.（2）提出了一种新型HEI液电惯容器装置，得到了其等效机械网络模型。对基于液压活塞副的复杂非线性模型中的非线性因素进行仿真与试验。分析重型车辆ISD悬架机械网络结构和外端负载电路网络结构耦合机制，并对比分析其频域下以及随机路面下的动态响应。.（3）构建了基于ADD一阶与二阶正实网络的车辆ISD悬架动态模型，优化得出正实网络的车辆ISD悬架传递函数。构建GSH控制悬架的四分之一车辆动力学模型，研究参数变化对悬架性能的影响规律。基于车辆机电网络耦合模型，分析被动控制车辆悬架设计一般性方法及其性能特点。 .（4）搭建了ISD悬架的控制系统，实现对应用新型液电惯容器的车辆ISD悬架进行动态协调控制。搭建四分之一可控ISD悬架试验系统，在不同的路面输入条件下进行台架试验，验证了可控ISD悬架在提升重型车辆道路友好性与平顺性方面的性能优势。.（5）发表和录用论文17篇，其中，SCI 检索论文8篇，EI 检索论文7篇；申请国家发明专利20件，已授权6 件；培养博士3名，硕士10名。