Research on Preview Algorithm for Stiffness Adjustment of Electronically Controlled Air Suspension System
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摘要: 架变刚度控制可以很大程度改善客车乘坐舒适性。本文以电控空气悬架系统（ECAS）为基础，前悬架采用反馈控制方法，后悬架采用预瞄前馈与反馈相结合的控制方法，通过对空气弹簧充放气从而实现悬架刚度调节。在AMESim和Simulink中分别搭建ECAS模型和控制算法，在TruckSim中搭建整车模型，利用三者联合仿真对控制算法进行验证。为了提升高度跟踪精度，采用柔性PID取代传统PID控制策略，结果显示：该控制方法能够准确跟踪目标高度值，并且很好地抑制了"过冲"与"过放"问题。通过对平顺性指标进行测量发现，与无控制车辆相比，车身垂向加速度减小约60%，表明舒适性得到很大改善。Abstract: The ride comfort can be greatly improved thought the control of suspension variable stiffness. Based on the electronically controlled air suspension system (ECAS), the front suspension adopts the feedback control method, and the rear suspension adopts the control method combined with pre-aim feedforward and feedback. The suspension stiffness can be adjusted by filling air spring. The ECAS model and control algorithm are built respectively in AMESim and Simulink, and the vehicle model is built in TruckSim. In order to improve the tracking accuracy, the flexible PID control strategy is adopted. The experimental results demonstrate that the proposed control algorithm in this paper is suit to solve the problem of the over charging and over discharging when the height control is realized. The control algorithm is verified by the combined simulation. By measuring the smoothness index, the acceleration of the body was reduced by 60% compared with the non-control vehicle, indicating that the comfort was greatly improved.
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表 1 柔性PID参数变化规则
调整值|e| Kp Ki Kd |e| > 2A Kpo=Kp1/a 0 Kdo=Kd1/c A < |e| < 2A Kp1 Ki1 Kd1 0.5A < |e| < A Kp2=Kp1/a Ki2=Ki1/b Kd2=c Kd1 |e| < 0.5A Kp3=Kp1/a2 Ki3=mKi1/b2 Kd3=c2Kd1 
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表 2 空气弹簧基本性能参数
囊内气压/MPa 承载能力/kN 弹簧刚度/(kN·m-1) 固有频率/Hz 3 13.10 72 1.18 5 22.25 111 1.11 7 33.66 147 1.07
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表 3 整车基本参数
参数 数值 整备质量 13 000 kg 总质量 18 000 kg 高度 3 790 mm 前轴载荷 70 000 N 长度 12 000 mm 宽度 2 550 mm
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