并联复合式电磁悬挂模型参考多模式切换控制研究

doi:10.3969/j.issn.1000-1093.2019.01.003

兵工学报 ›› 2019, Vol. 40 ›› Issue (1): 19-28.doi: 10.3969/j.issn.1000-1093.2019.01.003

并联复合式电磁悬挂模型参考多模式切换控制研究

彭虎¹，张进秋²，张建²，黄大山³，韩朝帅⁴

（1.陆军装甲兵学院装备保障与再制造系，北京 100072； 2.陆军装甲兵学院车辆工程系，北京 100072；3.78638部队，四川什邡 618408； 4.63960部队，北京 102205）

收稿日期:2018-04-24 修回日期:2018-04-24 上线日期:2019-03-12
通讯作者: 张进秋（1963—），男，教授，博士生导师 E-mail:zhangjq@163.com
作者简介:彭虎（1989—），男，博士研究生。 E-mail: p233201222007h@126.com
基金资助:
总装备部创新工程项目（2015YY04）

Research on Model Reference Multi-mode Switching Control of Parallel Composite Electromagnetic Suspension

PENG Hu¹， ZHANG Jinqiu²， ZHANG Jian²， HUANG Dashan³， HAN Chaoshuai⁴

(1.Departmentof Equipment Support and Remanufacturing， Army Academy of Armored Force， Beijing 100072， China; 2.Department of Vehicle Engineering， Army Academy of Armored Force， Beijing 100072， China; 3.Unit 78638 of PLA， Shifang 618408， Sichuan， China; 4. Unit 63960 of PLA， Beijing 102205， China)

Received:2018-04-24 Revised:2018-04-24 Online:2019-03-12

摘要/Abstract

摘要： 传统馈能悬挂难以平衡减振和馈能之间的矛盾关系，针对该问题提出由电磁作动器和磁流变减振器组成的并联复合式电磁悬挂结构方案。为提高并联复合式电磁悬挂对不同路况的适应能力，考虑其具备不同工作模式的特点，设计了模型参考多模式切换控制器，并以提高乘坐舒适性为目标确定了切换指标、阈值及相应的控制参数。针对切换指令的离散特性和悬挂系统状态变化的连续特性，基于Stateflow软件设计了多模式切换控制系统，并确定了相应的切换规则和切换流程。对模型参考多模式切换控制器的性能进行了仿真和试验验证。结果表明：该模型参考多模式切换控制器可有效地实现并联复合式电磁悬挂各工作模式之间的切换，提高了并联复合式电磁悬挂对不同路况和驾驶需求的适应性，有效平衡了减振及馈能之间的矛盾关系。

关键词: 并联复合式电磁悬挂, 模型参考, 多模式切换控制, 磁流变减振器, 电磁作动器

Abstract: In order to solve the problem that the traditional energy-regenerative suspension is difficult to balance the contradiction between the vibration reduction and energy-regeneration， a parallel composite electromagnetic suspension structure consisting of electromagnetic actuator and magneto-rheological damper is proposed. A model reference multi-mode switch controller is designed to improve the adaptability of parallel composite electromagnetic suspension to different road conditions， in which the characteristics of different working modes are considered， and the switching index， threshold value and corresponding control parameters are determined for the purpose of improving ride comfort. A multi-mode switching control system is designed based on Stateflow for the discrete character of switching instruction and the continuous character of state change of suspension system. The performance of model reference multi-mode switch controller are simulated and tested . The results show that the model reference multi-mode switch controller can be used to effectively implement the switching between working modes of parallel composite electromagnetic suspension， which improves its adaptability to different road conditions， and effectively balances the contradiction between vibration reduction and energy-regeneration. Key

Key words: parallelcompositeelectromagneticsuspension, modelreference, multi-modeswitchingcontrol, magneto-rheologicaldamper, electromagneticactuator

中图分类号:

彭虎，张进秋，张建，黄大山，韩朝帅. 并联复合式电磁悬挂模型参考多模式切换控制研究[J]. 兵工学报, 2019, 40(1): 19-28.

PENG Hu， ZHANG Jinqiu， ZHANG Jian， HUANG Dashan， HAN Chaoshuai. Research on Model Reference Multi-mode Switching Control of Parallel Composite Electromagnetic Suspension[J]. Acta Armamentarii, 2019, 40(1): 19-28.

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2019 年1月兵工学报ACTA
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并联复合式电磁悬挂模型参考多模式切换控制研究

Research on Model Reference Multi-mode Switching Control of Parallel Composite Electromagnetic Suspension

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