SIMULATION AND ROAD TEST OF FULL CAR MAGNETORHEOLOGICAL SUSPENSION CONSIDERING NONLINEARITY AND TIME-DELAY

摘要

A new control strategy, Human Simulated Intelligent Control (HSIC), is proposed to control magnetorheological(MR) suspension system considering nonlinearity and time-delay of MR damper. After constructing the full car dynamic model with four MR dampers, eight motion attitudes of vehicle on the road are identified. Then HSIC controller with a three-level hierarchical structure is designed. As the lowest level of HSIC, running level, eight sensor-motor intelligent schemas (SMIS) are proposed to control directly corresponding attitude according to the characteristic mode. The second level, parameters correction level, adjusts the parameters of running level. As the third level, task adaptive level, compensates the saturation non-linearity of MR dampers and solve the time-delay of MR dampers according to smith pre-estimation theory. To compare our approach, velocity skyhook controller is also designed. Numerical simulation and road test with two control strategies are carried out to validate our effort. The results of road test are similar to those of numerical simulation. The semi-active suspension using HSIC can avoid the effect of nonlineartiy and time-delay and can achieve better ride comfort and stability compared to passive suspension, and its control performance is better than skyhook.