應用交叉耦合控制設計於強化全車懸吊效能之主動式懸吊控制系統

Application of Cross-Coupling Control Design on Active Suspension Control System for Enhancing Full-Car Suspension Performance

魏本帝(Pen-Ti Wei)

指導教授 ： 李俊賢

國立臺北科技大學/電資學院/電機工程系研究所/碩士(2013年)

https://doi.org/10.6841/NTUT.2013.00475

摘要

在車輛的懸吊系統裡，由於主動式懸吊系統的設計主要基於1/4車垂直動態模型發展獨立主動式懸吊控制系統，因此控制的目標為達到每個1/4車體的最小晃動量，並未考慮全車動態的影響以及整體的乘車舒適度。在1/4車懸吊系統的設計上已有多位學者提出能夠改善舒適度及晃動量的方法，但對於整體車輛來說單一懸吊系統的設計是不夠的，為了提升全車的乘坐舒適度及車身控制的穩定性，因此本論文提出ㄧ套使用交叉耦合控制的控制架構來協調四個獨立的懸吊系統提升全車的控制效能。
初步測試利用PD-type的CCC控制架構設計來協調四個獨立的主動式懸吊系統的運作，透過車體Pitch、Roll及Suspension deflection的動態資訊，以及各個懸吊系統的行程資訊，計算出補償控制力輔助原本四個獨立的主動式懸吊系統達到更好的全車動態穩定性控制。本文所提供之PD-type的CCC控制系統架構設計可以大幅地降低全車懸吊系統設計的複雜度，並確實地能夠提升對車身控制的穩定性，但在部份車速的控制下所得到的舒適度會有所犧牲，因此針對此問題提出Fuzzy-type的CCC控制架構，由於模糊邏輯控制器有較明顯的強健姓，相較於PD控制器能操作在較寬的工作條件下。透過CarSim虛擬車輛動態軟體的模擬驗證，可看到本系統能有效地降低全車車體的晃動量，並能維持主動式懸吊系統較佳的舒適度。

關鍵字

交叉耦合控制 ； 最佳化控制 ； 舒適度 ； 穩定度 ； 1/4車主動式懸吊系統

並列摘要

In conventional vehicle suspension systems, the active suspension control design is mainly based on a quarter-car dynamic model to develop four independent active suspension control systems. As a result, the objective is only to achieve the minimum shaking of each quarter-car without considering the dynamics of the full-car and the overall ride quality. A number of researchers so far have proposed to improve the quality and shaking method in the quarter-car suspension system, but it is limited for an independent suspension system to perform a better full-car ride quality and body control stability. This thesis presents an effective control method using cross-coupling control (CCC) to coordinate four independent suspension systems to enhance the performance of the full-car control.
This study first uses PD-type control architecture of CCC to coordinate the operation of the four independent active suspension systems. Through the dynamic information including the pitch, roll, and suspension deflection, we can calculate the compensation force in order to assist the four independent active suspension system to achieve a better full-car control performance for the vibration attenuation. This thesis provides PD-type control system architecture from the CCC can greatly reduce the design complexity of the full-car suspension system and enhance the full-car motion stability. However, the ride quality will be sacrificed under some vehicle speeds. Due to the evident robustness of fuzzy logic control under a much wider range of operating conditions than PD controllers, this thesis proposes the fuzzy-type control architecture in CCC to solve this problem. The study further uses CarSim to verify the result, and through simulation our system can effectively reduce the vibration of the whole car and still maintain the better ride quality of active suspension systems.

並列關鍵字

Cross-Coupling Control(CCC) ； Optimal control ； Comfort ； Stability ； Quarter-car active suspension system

參考文獻

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