Human Simulated Intelligent Control Of Automobile Magnetorheological Semi-active Suspension

With the rapid development of speedway and increase of vehicle velocity, people have made more demands on the comfort and security of automobiles. Suspension of vehicle is the key component that has great influence on performance of vehicle. The intelligent suspension that can improve ride comfort and stability of vehicle according to actual situation of real time is promising. In recent years, because of its rapid response, wide bandwidth, low consumption of energy and simple structure, the semi-active suspension based on magneto-rheological (MR) fluids has attracted much more attention in the research domain of intelligent structure. There are two key technologies including development of MR dampers and selection of control strategy. With the great progress made in some key technologies of MR dampers, the selection and implementation of control strategy have become crucial factors to make use of excellent MR suspension. Due to the nonlinearity, time-delay and uncertainty of MR suspension system, the design of control strategy is very challengeable. Though some semi-active control algorithms can achieve some control performances for particular characteristics, there are still some limitations that the coupling and harmony of full car suspension model are scarcely considered. Therefore, with the idea of human simulation and life-form simulation in this work, a saloon car made in China with four MR dampers is selected as research object, the modeling of MR suspension, the design and implementation of semi-active suspension system based on human simulated intelligent control (HSIC) theory are studied via theory analysis, numerical simulations and road tests. The main contributions of the dissertation include the following:(1) A full nonlinear dynamic car model considering heave vibration, pitch motion and roll motion has been established. The dynamic characteristic of suspension and the error of model are investigated. During modeling, nonlinearity of MR dampers is considered. Some model parameters of dynamical model are measured by experimental method. The effect of damping coefficient on transfer characteristic of MR suspension is discussed. The error of dynamical model is studied according to measuring results of actual road tests and the cause of error is analyzed also, with the purpose of providing the basis for the design of control algorithm.(2) An accurate control model of MR damper is established after the measurement of MR dampers'working characteristic. In accordance with national standard and the...