Since each tire of a vehicle undergoes excitation from road, the sprung mass vibration couples the vibration of the tires. In order to attenuate the vibration of the vehicle effectively,a nonlinear 1/2 vehicle model was created. Considering the realization of a magnetorheological damper control, a hysteretic polynomial model was adopted. A differential geometry method was used to decouple the nonlinear model and the nonlinear system was separated into several independent linear subsystems, and the vibration of the vehicle was not influenced by road excitation. An attenuation control rule was designed,according to which the control current acted on a magnetorheological damper was calculated, to attenuate the vibration of the decoupled subsystems. The simulation results show that the acceleration of the sprung mass is attenuated greatly, which indicates that the control algorithm is effective and the hysteretic polynomial model is practicable.%由于车辆各个车轮都受路面的激励,故车辆簧上质量的振动耦合了各个车轮引起的振动.为使车辆有效减振,建立了1/2汽车非线性模型.考虑到磁流变阻尼器控制的可实现性,磁流变阻尼器采用了一种磁滞多项式模型.利用微分几何的方法对该非线性模型进行解耦,经过解耦的非线性系统成为独立的互不干扰的线性子系统,且悬架簧上质量的振动不受路面激励的影响.设计了减振控制律,并根据控制律计算出磁流变阻尼器的控制电流,从而对解耦的线性系统进行减振.仿真结果表明,簧上质量振动的加速度大幅衰减,这说明该控制方法是有效的,且阻尼器采用磁滞多项式模型是可行的.
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