The Influence And Control Of The Inertial Mass Of The Parallel Energy-feeding Shock Absorber On The Performance Of The Suspension

As the main component of the suspension system,the shock absorber is located between the wheel and the vehicle body.It can not only attenuate the vibration and impact of the road surface on the vehicle body,but also transmit the force and moment between the wheel and the vehicle body.This paper takes the suspension system equipped with parallel mechanism energy-feeding shock absorber as the research object,and studies the influence and control of the inertial mass produced during the working process of the shock absorber on the performance of the suspension system.Taking the root-mean-square value of each performance index of the suspension system as the evaluation standard,quantify the influence of the inertial mass on the suspension system and analyze the optimization degree of the adopted control strategy for the introduction of the inertial mass suspension system.The research process and methods are as follows:Firstly,The kinematics and dynamics analysis of the shock absorber are carried out to determine the mathematical function relationship between the relative distance and the relative rotation angle between the two planes of the parallel mechanism and the Lagrangian dynamic equation of the energy-feeding shock absorber system.Using the integral median theorem,the above distance and the tangent slope of the angle function are equivalently solved,and the moment of inertia of the connecting rod between the two planes of the parallel mechanism relative to the central axis of the mechanism is equivalently calculated.Substituting these two equivalent quantities into the Lagrangian equation of the energy-feeding shock absorber system,the inertial mass of the energy-supply shock absorber of the parallel mechanism is calculated.Secondly,the influence of the introduction of the inertial mass on the performance of the suspension system is studied.In order to study the negative influence of inertial mass on the suspension system with a single variable,it is necessary to eliminate the interference of the main power of the energy feedback damper.The concept of inertial mass ratio is introduced to study the changes of various performance indicators of the suspension system with the change of inertial mass ratio.A MATLAB/Simulink suspension system dynamics simulation model with the introduction of inertial mass ratio is established,and the influence of inertial mass on the performance of the suspension system is analyzed based on the simulation results.Then,the LQG controller of the energy regenerative suspension system is designed.A suspension model equipped with a parallel mechanism energy-feeding shock absorber is established,and a method of dividing the inertial mass according to the motion state is proposed to simplify the system dynamics model.The evaluation index is proposed according to the linear optimal control theory,and the weighting coefficient of each performance index of the suspension system is solved by the analytic hierarchy process,and the optimal feedback gain and optimal control force are obtained,and the design of the LQG controller is completed.Finally,the ADAMS/MATLAB co-simulation model is established to verify the correctness of the dynamic model of the energy regenerative suspension system and the effectiveness of the adopted control strategy.