Design And Implementation Of The Control System For Magnetorheological Suspension Of All-terrain Vehicle

All-terrain Vehicle(ATVs)are widely used in a variety of combat situations due to their fast,maneuverable and flexible features.Compared with the traditional passive suspension damping parameter fixing and the expensive cost of the active suspension,the magnetorheological suspension has the characteristics of simple structure,adjustable damping,safety and reliability,and remarkable vibration damping effect.I got a higher attention.In the all-terrain vehicle suspension control system,the accuracy of vehicle body state information acquisition and the hardware and software implementation of the system have an important impact on the damping effect of the control system.In view of these problems in the suspension control system,research is carried out from the following aspects:(1)According to the 1/4 vehicle suspension model and the ceiling control principle,the canopy damping model is established.The acceleration of the sprung mass acceleration under sine wave excitation is analyzed by computer simulation.For the suspension control system,a large amount of data acquisition,processing and control real-time requirements are needed.The control circuit with TMS320F28335 chip as the core is designed to ensure the acquisition of sensor signals and the real-time performance of the system.(2)For the problems of zero drift,high frequency interference and noise of the sensor,the real-time and filtering effects of analog filter and digital filtering such as FIR,IIR and FFT are analyzed.The simulation results are compared with different filtering methods,indicating the frequency.Filtering can effectively filter out interference signals and achieve better control effects.Combined with system requirements,a method combining analog anti-aliasing filter and frequency filtering is proposed.In the process of acceleration integral and displacement differential,due to the influence of high and low frequency interference and trend term of the signal,the calculus in the time domain is prone to shift and generate large error.It is proposed to use the method of frequency calculus combined with frequency domain filtering to thoroughly filter.In addition to the interference signal,more accurate speed information is obtained.(3)Use the CCS development environment to complete the software development of the system,and realize the functions of data acquisition,processing and control signal output.At the same time,in view of the low efficiency of traditional software development,a more efficient model-based development method is proposed,which solves the problems of insufficient validation of the model algorithm and low code quality in the software development process,and accelerates the research and development speed.(4)A certain type of ATV in China was modified by using the independently designed magnetorheological damper,and the test system was set up and road test was carried out.According to the experimental results,the system ran well and the acceleration RMS at the driver cushion was significantly reduced.