主动馈能混合悬架多模式切换系统动态建模与协调监督控制

Vibration energy dissipation of traditional vehicle suspension system consumes a large part of engine power. In view of this problem, a new type of hybrid suspension with active energy regeneration is proposed, where active energy regeneration mechanism, dynamic modeling and coordinated supervisory control of multi-mode switching system are investigated. Based on power flow theory, the statistical model of suspension vibration energy is established to reveal energy distribution characteristics and switching conditions between the motor regeneration mode and consumption mode. Then regulation mechanisms of adjustable damping to the motor operation characteristics are constructed to broaden the operation range of linear motor as a generator. In this way, explicit expression of active regeneration mechanism is further deduced. By analyzing continuous and discrete dynamics of hybrid suspension, dynamical model that describes the continuous behavior, discrete behavior and coupling interaction between the two behaviors is built. Furthermore, control features of the multi-mode switching system are extracted on the basis of the coordination laws of suspension dynamic performance and energy regeneration performance. To improve the working quality during the mode switching process, the coordinated supervisory mechanism of multi-mode switching control system is established, where comfort, safety, energy regeneration and vehicle overall performance can be achieved. Finally, principle prototype is designed and tested. The full vehicle test is conducted to realize the efficient active regeneration of suspension vibration energy and active control of vehicle dynamical performance. The research results can realize the improvement of energy regeneration efficiency, reduction of engine power and coordination of vehicle comprehensive performance, which will provide a new mind and method for vehicle energy conservation.

针对车辆悬架振动能量消耗大、损失发动机功率的难题，提出一种主动馈能混合悬架，研究其主动馈能机理、多模式切换系统动态建模与协调监督控制。基于功率流理论，建立振动能量统计模型，揭示其分布特性，探求直线电机发电与耗电模式的切换条件，构建减振器可调阻尼对直线电机能耗特性的调节机制，扩大直线电机发电模式工作区间，得到混合悬架主动馈能机理的显式表达；分析混合悬架连续与离散动力学行为，建立其连续、离散及包含二者耦合作用的动态模型；研究混合悬架协调车辆动态性能与馈能性能的一般规律，提取多模式切换系统的控制特征，构建包括舒适性、安全性、馈能性及整车综合性能的混合悬架多模式切换协调监督控制系统，提高模式切换过程的工作品质；设计原理样机，进行试验验证，实现混合悬架振动能量的高效主动回收及车辆动态性能的主动控制。研究成果可提高振动能量的回收效率、降低发动机功耗、协调整车综合性能，为车辆节能提供一种新的思路与方法。

本项目在国家自然科学基金委的资助下，采用系统建模、仿真分析和试验研究相结合的方法，以关键问题的机理探索和抽象建模为核心，对混合电磁主动悬架全路况节能机理、节能方法、智能切换控制等问题进行了深入研究。主要研究工作包括：（1）构建了混合电磁主动悬架动力学模型，基于功率流理论分析了振动能量传递机理，研究了振动能量回收的敏感度参数；（2）设计了集成磁流变阻尼器与直线电机的混合电磁作动器，优化了直线电机结构参数，明晰了不同行驶路况下混合电磁主动悬架的控制目标，得到了行驶路况与动力学性能需求的映射关系，分析了不同性能需求下系统能耗的敏感因素，揭示了被动阻尼对系统动力学性能和系统能耗的影响规律，得到了不同行驶路况下被动阻尼力的分配机制；（3）提出了以路面等级与系统状态变量作为切换条件的全路况快-慢切换思想，设计了一种适用于可控悬架、结合多传感器信息融合、考虑多未知输入的路面高程/等级与悬架系统状态变量共同估计方法，以及包含路面功率谱密度估计和路面功率谱密度均方根值计算的路面等级分类方法，确定了智能切换系统控制架构，细化了切换逻辑，分析了切换系统稳定性，优化了系统控制参数；（4）试制了混合电磁作动器实体样机，进行了包含节能性能和动力学性能的混合电磁主动悬架综合性能对比测试，验证了路面高程、系统状态变量和路面等级识别方法的正确性，以及智能切换控制系统的有效性。项目实施过程中，发表学术论文17篇，其中，SCI收录论文6篇、EI收录论文11篇。获中国授权发明专利3件，公开PCT专利2件。培养博士研究生3名，其中已获博士学位2名，在读1名；培养硕士研究生9名，获硕士学位9名。