非线性悬架系统建模与仿真研究

●VehicleEngineering710086、。MAT-LAB/SIMULINK。。U463．33A1674－2192201103－0063－05ModelingandSimulationofNonlinearAutomibileSuspensionSystemChengJieEquipmentTransportationDepartmentEngineeringCollegeofArmedPoliceForceXi’an710086ChinaAbstractThispaperstudiedthedynamicperformanceoftraditionallinear－passivesuspensionnon－linear－passivesus-pensionandnon－linear－activesuspension．Itestablisheddynamicmodelofsuspensionsystemanalyzedthesolutionofnon－linearspringsuspensionbasedonstatisticlinearizationmethodandthenMATLAB/Simulinksimulationwasappliedtosimulatethesuspensionmodel．Simulationresultsshowthatannon－linearspringsuspensionmodelsuitsvibrationreal-itybetterthanalinearonenon－linearactivecontrolsuspensionthatuseslinearquadraticoptimalcontrolregularitycanprovidethebetterridingcomfortandhandlingstability．Keywordsnon－linearstatisticlinearizationactivesuspensionsimulation2010－11－042010－12－03．1976—．。、。。。。。、。13320113JournalofMilitaryTransportationUniversityVol．13No．3March201111．11/4。。－1Fs=k·x+ε·kx31Fskxεε=0。－1。1－2。2m2m1k1c2z2z1z0Fz2－z1。m2¨z2+c2z2－z1+kz2－z1+ε·kz2－z13=0m1¨z1+c2z1－z2+k1z1－z0－kz2－z1－ε·kz2－z13=02z2¨z2z1¨z1。x1=z2－z1x2=z2x3=z1x4=z1X=x1x2x3x4T。x1=x2－x43x2=－c2m2x2+c2m2x4+1m2Fz2－z14x3=x45x4=c2m1x2－k1m1x3－c2m1x4+k1m1z0+1m1Fz2－z16、、3y1=x2y2=x3－z0y3=x1Y=y1y2y3T。x3－z0=z1－z0k1x1=z2－z1。2。2MZ¨+CZ·+KZ+F=Y7C=c－c－[]ccF=－εkz2－z13εkz2－z1[]3Y=k1z0t[]0。Z=ΦNu8u=u1u()2。7ΦTNΦTNMΦN¨u+ΦTNCΦNu+ΦTNKΦNu+ΦTNF=ΦTNY9ΦNMKC。8¨u1+β1u1+ω21u1+G1=Q1t¨u2+β2u2+ω22u2+G2=Q2t{10β1=A1－12cD21β2=A2－12cD22G1=－A1－1D1ε·ku31G2=A2－1D2ε·ku32Q1=k1D1z0tQ2=k1D2z0t。46133A1A22D1D2。2。G1≈λ*11+λ*21u10G2≈λ*12+λ*22u20λii=123。λ*11=εk1－A1D1mu13σ2u1+m2u1λ*21=3εk1－A1D1σ2u1+m2u1{11λ*12=εkA2－1D2mu23σ2u2+m2u2λ*22=3εkA2－1D2σ2u2+m2u2{129¨u10+β1u10+ω21u10+mu1+λ*21u10+λ*11=k1D1z＇0t+mz0¨u20+β2u20+ω22u20+mu2+λ*22u20+λ*12=k1D2z＇0t+mz013mz0z0tz＇0t。u10u20。1．23。U。33。4。ke=EFy1y2y1y2yEy214。J=∫∞0a1·z22+a2·z2－z12+a3·z1－z02+r·ut2dt15a1a2a3。Y=¨z2z1－z0z2－z1J=∫∞0YTQY+utTRutdt16QQ=a1000a2000a3RQRYut。Y=CX+DUt16J=∫∞0XTCTQCX+2XTCTQDut+utTR+DTQDut17Qm=CTQCNm=CTQDRm=R+DTQD17J=∫∞0XTQmX+utTRmut+2XTNmut18u=－KXt19K=－R－1mBTP+Nm20KPRiccatiATP+PA－PB+NmR－1mBTP+Nm+Qm=021KKRiccati。MATLABLQR。562011325。50m/sMAT-LABBT=0．024。43MATLABSIMULINK、5。4MATLABm2=1091．49kgm1=162．51kgc2=3235Ns/mk=94835N/mk2=1164593N/mε=0．1。。MATLAB/Simulink6～8。、。6～8。561。6～816613378。9400N。1/m·s－21．45261．42890．4711/m0．02920．02160．010895、。。。1．J．2001135649－651．2．M．1986251－255．3．MATLAB/SimulinkM．2002165－172．4．MATLAB7．0M．200679－82．5．J．20043529－12．7620113