HIERARCHICAL INTELLIGENT CONTROL OF AUTOMOBILE MAGNETO-RHEOLOGICAL SUSPENSIONS VIBRATION AND ROAD TEST

摘要

Based on characteristics analyses of Magneto-rheological (MR) damper, to decrease MR suspension model simplification errors and to restrain vertical vibration of vehicles with four independent MR suspensions, a hierarchical intelligent control (HIC) system is proposed. The HIC system consists of control level, parameter adjusting level and coordination level. In the control level, a fuzzy control (FC) controller is designed for each MR suspension system based on a hybrid damping control strategy that restrains vertical vibration of sprung mass and un-sprung mass at the same time. In parameter adjusting level, to online adjust quantization factors and scale factor of FC controller, the human-simulation intelligent (HSI) parameter modifying algorithm is investigated and then is applied to control the four suspensions independently. In the coordination level, the whole vehicle coordination control strategies are discussed to restrain four independent suspensions vibration by adjusting output parameters of four FC controllers according to vehicle running attitude and the system response.To validate the HIC system, a MR suspension test and control system is set up and implemented on a mini vehicle with four controllable MR dampers. Road tests under various conditions indicate that the HIC system can effectively improve the ride comfort and handle stability of automobile, decrease the effect of control system deriving from uncertainty of building model, and show adaptivity and robustness.