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| 非道路车辆半主动座椅悬架变指数模糊滑模控制 |
| Variable Exponential Fuzzy Sliding Mode Control of Semi-active Seat Suspension for Off-Road Vehicles |
| 投稿时间：2023-04-12 修订日期：2023-12-11 |
| DOI： |
| 中文关键词: 非道路车辆 人体-座椅悬架 滑模控制 参考天棚模型 变指数趋近律 烦恼率 |
| 英文关键词: Off-Road Vehicle human seat suspension sliding mode control reference skyhook model variable exponential approach law Semi-active seat suspension |
| 基金项目:国家自然科学基金项目（51605023）;北京市教委科研计划项目（SQKM201810016015） |
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| 中文摘要: |
| 为了提高非道路车辆驾驶员的乘坐舒适性，针对五自由度人体-座椅悬架模型，设计一种变指数趋近律的模糊滑模控制器。在传统指数趋近律的等速项中引入一个有关滑模面的函数 得到变指数趋近律，可以在抑制滑模抖振的同时又不降低滑模趋近速度。在改进的模糊滑模控制下，人体-座椅悬架系统与天棚阻尼参考模型之间的误差始终处于稳定滑动模态，提高了系统鲁棒性。仿真实验证明，变指数模糊滑模控制下的座椅悬架的相对位移和人体垂向加速度两个性能均得到了提高，在冲击激励和D级路面下，座椅悬架相对位移相较于被动悬架减小36.02%和34.18%；人体垂向加速度相较于被动悬架减小32.15%和41.37%。驾驶员主观感受也有显著改善，即变指数模糊滑模控制下的驾驶员烦恼率相较于被动控制在冲击工况和D级路面激励下分别下降46.9%和 24%，提高了驾驶员的乘坐舒适性。 |
| 英文摘要: |
| In order to improve the riding comfort of non-road vehicle drivers, a fuzzy sliding mode controller with variable exponential reaching law was designed for the five-degree-of-freedom human-seat suspension model.The variable exponential reaching law is obtained by introducing a function related to the sliding mode plane into the constant velocity term of the traditional exponential reaching law, which can restrain the chattering of sliding mode without reducing the reaching speed.Under the improved fuzzy sliding mode control, the error between the body-seat suspension system and the canopy damping reference model is always in a stable sliding mode, which improves the robustness of the system.The simulation results show that the relative displacement and vertical acceleration of the seat suspension are improved under variable exponential fuzzy sliding mode control. Under impact excitation and D grade road surface, the relative displacement of the seat suspension is reduced by 36.02% and 34.18% compared with that of the passive suspension.Compared with passive suspension, the vertical acceleration of human body decreases by 32.15% and 41.37%.The driver's subjective feelings are also significantly improved, that is, compared with the passive control, the driver's annoyance rate under variable exponential fuzzy sliding mode control decreases by 46.9% and 24% respectively under impact condition and D grade road excitation. Driver's riding comfort is improved. |
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