智能底盘半主动悬架与地面切向力协调控制研究

doi:10.3901/JME.2025.14.233

摘要/Abstract

摘要： 为提高智能电动汽车行驶平顺性，并解决乘客晕动症发病率增加的问题，提出一种结合车轮地面切向力控制的智能底盘协调控制算法。该算法利用悬架导向机构的受力特点，在半主动悬架无法提供所需控制力时，通过改变车轮地面切向力所产生对车身的垂向力效应，实现更好的底盘控制效果。以分布式驱动电动汽车为研究对象，建立半主动悬架动力学模型与晕动症分析模型，针对地面切向力变化对车辆垂向运动的作用机制进行研究，据此提出面向分布式驱动汽车的半主动悬架与地面切向力协调控制算法。仿真结果表明，相比采用经典天棚控制策略的半主动悬架，该算法能有效改善车身垂直振动加速度水平，降低晕动症发病率，提高了智能底盘车辆的驾乘舒适性等综合性能。

关键词: 智能底盘, 半主动悬架, 晕动症, 地面切向力控制, 天棚阻尼控制策略

Abstract: To improve the ride comfort of intelligent electric vehicles and address the increasing incidence of passenger motion sickness, a chassis coordination control algorithm combined with longitudinal wheel force control was proposed. The algorithm utilized the force characteristics of the suspension mechanism to achieve better chassis control effect. It can change the vertical force effect on the vehicle body generated by the ground tangential force of the wheels when the semi-active suspension cannot generate the required force. Took the distributed drive electric vehicle as the research object, the semi-active suspension dynamic model and the motion sickness analysis model are established, and the action mechanism of the ground tangential force change on the vertical motion of the vehicle is studied. Based on this, a coordinated control algorithm of semi-active suspension and tangential force of ground for distributed drive vehicle is proposed. The simulation results show that compared with the semi-active suspension using the skyhook control strategy, the proposed algorithm can effectively reduce the vertical vibration acceleration level of the body and the incidence of motion sickness, and improve the driving and riding comfort of the intelligent chassis vehicle.

Key words: intelligent chassis, semi-active suspension, motion sickness, ground tangential force control, skyhook control

中图分类号:

U463

陈潇凯, 王泓晔, 刘宏宇, 刘向. 智能底盘半主动悬架与地面切向力协调控制研究[J]. 机械工程学报, 2025, 61(14): 233-242.

CHEN Xiaokai, WANG Hongye, LIU Hongyu, LIU Xiang. Research on Coordinated Control of Semi-active Suspension of Intelligent Chassis and Ground Tangential Force[J]. Journal of Mechanical Engineering, 2025, 61(14): 233-242.

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