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[51775426·工程与材料科学·机械设计与制造·机械动力学]AI

项目来源

国家自然科学基金(NSFC)

项目主持人

未公开

项目受资助机构

未公开

立项年度

2017

立项时间

未公开

项目编号

51775426

研究期限

未知 / 未知

项目级别

国家级

受资助金额

60.00万元

学科

工程与材料科学-机械设计与制造-机械动力学

学科代码

E-E05-E0503

基金类别

面上项目

关键词

主动悬架 ; 协调控制 ; 可调阻尼减振器 ; 自供能 ; 电磁直线作动器 ; electro-magnetic linear actuator ; adjustable damper ; self-powered ; active suspension ; coordinated control

参与者

未公开

参与机构

未公开

项目标书摘要：车辆主动悬架在获得良好减振性能的同时，却消耗大量能量。将电磁直线作动器与电磁阀可调减振器集成，提出基于EMLHA(electro-magnetic linear hybrid actuator)电磁直线混合作动器的自供能主动悬架结构。在系统精确建模和参数敏感性分析基础上，利用多目标参数优化法对EMLHA悬架减振与馈能进行协调性优化；设计包含AC-DC同步整流器、双向DC-DC电压变换器、超级电容的可变电压源系统，解决低速时馈能电压较小无法充电问题，提高悬架馈能效率，在控制器作用下实现EMLHA悬架充放电流的双向流动；开展基于功率流分析的EMLHA悬架主动、馈能、半主动、容错模式分层协调切换控制；基于悬架能量平衡条件，实现EMLHA悬架能量自供给。在EMLHA悬架台架试验和实车道路试验基础上，研制集成化、实用化的EMLHA主动悬架样机，为车辆减振性能与能量消耗之间的矛盾问题解决提供新的途径。

Application Abstract: Vehicle active suspension achieves good damping properties,while it consumes a lot of energy.A new kind of self-powered active suspension with electro-magnetic linear hybrid actuator(EMLHA)is proposed to improve the reliability and damping force of active suspension with an electro-magnetic linear actuator,as well as to reduce the suspension cost and demands for the motor rated capacity.Such system consists of EMLHA and variable voltage source system.The EMLHA is composed of an electro-magnetic linear actuator and an adjustable shock absorber with electromagnetic valves.The designed variable voltage source system mainly includes AC-DC synchronous rectifier,bidirectional DC-DC voltage converter and ultra capacitor.The ultra capacitor is used as the electric source to store and release power energy because of some natural advantages such as fast charge and discharge,long life,small size,maintenance-free,easy installation,and so on.When the electro-magnetic linear actuator works as a generator,the induced three-phase AC is transformed into DC through the bridge rectifier.Similarly,when the electro-magnetic linear actuator works as an electric motor,the DC is transformed into the AC through the bridge rectifier again.The DC-DC converter can work in boost and buck modes by means of controlling the power switches.And it overcomes the problem which is that the regenerative suspension doesn’t produce any damping force and the energy isn’t regenerated during low speed motion because of back electro motive voltage being smaller than the power source voltage.As a result,energy regenerative efficiency of the active suspension is improved and bidirectional power flow control is realized.Aiming at the EMLHA active suspension,suspension dynamics models,EMLHA models and control circuit models are separately established.The analyses of the suspension parameter sensitivity are done.By using the multi-objective parameter optimization method,the coordinate optimization for synthetical performance of the EMLHA active suspension is carried out.When the voltage source accepts more energy than it releases,average electric power consumption becomes negative.This is the necessary condition for the proposed self-powered active suspension with EMLHA.Through analyzing the power flow in the EMLHA,the mode switch rules of the EMLHA active suspension are designed.When both actuator output power and electric source power become negative,the electro-magnetic linear actuator acts as a generator,which is regeneration mode.When both actuator output power and electric source power are greater than or equal to zero,the actuator transfers the energy to the suspension from the electric source as active mode.When electric source power is greater than or equal to zero,while actuator output power is less than or equal to zero,the EMLHA accepts energy from the suspension and the electric source.Then,the energy is dissipated in the resistance of the armature and the actuator produces a variable damping force as semi-active mode.The hierarchical coordinated switching controller of the active suspension,which includes inner-loop controller and outer-loop controller,is designed and the coordinated switching control simulations are done.Based on the bench tests and real vehicle tests for the EMLHA active suspension,an integrated and practical prototype of the EMLHA active suspension is developed.It provides a new approach to solving the contradiction between vibration isolation and energy consumption.

项目受资助省

陕西省

项目结题报告(全文)

馈能型主动悬架是汽车悬架技术发展的方向。本项目提出了基于EMLHA(electro-magnetic linear hybrid actuator)电磁直线混合作动器的自供能主动悬架结构。在对电磁直线混合作动器数学建模和有限元建模的基础上，进行了悬架作动器参数敏感性分析和多目标粒子群优化；基于不同行车速度与路面等级构成的行驶工况进行了悬架工作模式划分，开展了不同行驶工况下的天地棚阻尼参数协调性优化分析。进行了超级电容储能装置的参数匹配与测试，设计一种包含AC-DC同步整流器、双向DC-DC电压变换器和超级电容的可变电压源系统，在控制器作用下实现EMLHA悬架充放电流的双向流动，解决低速时无法充电的问题，一定的程度上能够提升了车辆动态性能。当直线电磁作动器出现故障时，可实现EMLHA主动悬架的多模式容错控制；设计了EMLHA主动悬架主动模式、馈能模式、半主动模式分层协调切换控制策略；根据悬架能量平衡条件，可实现EMLHA主动悬架的能量自供给。设计开发了EMLHA主动悬架控制系统和样机，进行了台架试验和实车道路试验，验证了控制策略的有效性，悬架的安全性与舒适性得到提高，为车辆减振性能与能量消耗之间的矛盾问题解决提供新的途径。

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  • 1.Robot Path Planning Based on Grid Map Using Improved Ant Colony Algorithm

    • 关键词：
    • Ant colony optimization;Feedback;Heuristic algorithms;Robot programming;Adaptive adjustment;Angle heuristic function;Ant colonies algorithm;Grid map;Heuristic functions;Improved ant colony algorithm;Local optima;Local optimization strategies;Robot path-planning;Slow convergences
    • Kou, Farong;Xiao, Wei;He, Haiyang;Hu, Kailun
    • 《3rd International Conference on Consumer Electronics and Computer Engineering, ICCECE 2023》
    • 2023年
    • January 6, 2023 - January 8, 2023
    • Guangzhou, China
    • 会议

    For the problems of slow convergence and easy to fall into local optimum of traditional ant colony algorithm (ACO) for robot path planning, An improved ant colony algorithm (IACO)based on grid map is proposed in this paper. Firstly, in order to improve the positive feedback ability of pheromone in the later period, an adaptive adjustment factor is introduced into the heuristic function. Secondly, the rotation function is introduced into the pheromone state transition probability to balance the relationship between path length and angle. Finally, in order to ensure the quality of participating pheromone update nodes, local optimization strategies are designed based on cross optimization and redundant point deletion, and different quality paths are updated with pheromone difference mechanism to achieve convergence of high-quality nodes. The experimental results show that IACO can make the robot obtain the global optimal path, and it will have good stability and environmental adaptability. © 2023 IEEE.

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  • 2.Study on Adaptive Sliding Mode Fault-tolerant Control of 1/4 Vehicle Electromagnetic Suspension

    • 关键词：
    • Acceleration;Active suspension systems;Actuators;Automobile suspensions;Controllers;Fault tolerance;Linear matrix inequalities;Actuator fault;Adaptive sliding mode;Electromagnetic suspension;Electromagnetics;Fault parameters;Fault tolerant controllers;Fault-tolerant;Faults tolerant controls;Nonlinear pressure;Suspension devices
    • Kou, Farong;Chen, ChenRuo;Xiao, Wei;Hu, Kailun
    • 《2022 4th International Conference on Mechanical Engineering and Automation, MEA 2022》
    • 2023年
    • December 9, 2022 - December 11, 2022
    • Virtual, Online, China
    • 会议

    An adaptive sliding mode fault-tolerant manage approach is proposed to remedy the trouble of actuator acquire failure of the electromagnetic hybrid energetic suspension device and the hassle of automobile manipulate balance degradation induced by using the nonlinear pressure of spring and damper. The failure thing is chosen to symbolize the actuator fault size, and the actuator fault parameter mannequin is established. Combining sliding mode manipulate with adaptive control, an adaptive sliding mode fault-tolerant controller for lively suspension primarily based on an correct mannequin is designed. Based on the Lyapunov balance theory, the steadiness of the machine is proved; and the Gravity search algorithm (GSA) and linear matrix inequality (LMIS) are used to optimize the sliding floor parameters, and the most beneficial answer is chosen in accordance to the health function. The simulation effects exhibit that in contrast with passive suspension, the root capability rectangular values of sprung mass acceleration, suspension dynamic deflection, and tire dynamic load underneath adaptive sliding mode fault-tolerant manipulate approach decrease by way of 41.7%, 38.4%, and 36.5% respectively. It suggests that the designed adaptive sliding mode fault-tolerant controller is right and can enhance car experience comfort. © 2023 Institute of Physics Publishing. All rights reserved.

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  • 3.电磁主动悬架作动器不同模式下效率分析

    • 关键词：
    • 轮边驱动;电动汽车;电磁作动器;效率
    • 寇发荣;李阳康;陈晨;洪锋;杨慧杰
    • 《第十三届全国振动理论及应用学术会议》
    • 中国陕西西安
    • 会议

    本文设计了一种用于轮边驱动电动汽车的电磁主动悬架作动器,建立了作动器有限元模型,通过理论计算线圈绕组的反电动势和作动器的力特性试验,验证了模型的正确性。研究了作动器在不同加载条件下的输出效率和馈能效率。结果表明,作动器的输出效率随电流的增大而减小,随三相电流频率的增大而增大,在低电流和高电流频率下效率最高为87.5%;作动器的能量回馈效率随运动速度和负载电阻的增大而增大,高速度和负载电阻时,能量回馈效率最高为27.1%,为作动器的整车装备提供了依据。

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