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Abstract. The air suspension has the characteristics of nonlinear variable spring rate. To improve
vehicle handling stability and ride comfort, the characteristic curve can be designed to comply with
the vehicle vibration. In this paper, air suspension and whole vehicle were selected as research
object; vehicles mathematical model was established based on vehicle dynamic theory, the state
space expression and suspension system frequency response function of mathematical model were
derived. Fuzzy control was adopted as air suspension control strategy; vehicles ride comfort was
analyzed and simulated using MATLAB/Simulink. The body vertical acceleration, the body pitch
angular acceleration and the suspension deflections are obtained. Simulation results show that the
mathematical model is reasonable. The fuzzy controller has a good performance to meet the actual
demand. Vehicles ride comfort is improved.
Introduction
Suspension is an important assembly; it joins elastic frames and axles. The suspension system
can markedly reduce the vibration and shock caused by uneven road, expeditiously attenuate
vibration of the body and axle, transfer the forces and moments between the wheels and the
automobiles frame. To ensure that the car ride comfort and handling stability, driving safety.With
the development of society and the continuous improvement of people's living standards, the
automobile riding comfort has to meet more strict demands. The passive suspension system has
been difficult to meet the more strict demands for the ride comfort and handling stability, so the
better performance of the air suspension is one of the solutions. The air suspension can effectively
resist the body vertical vibration caused by the uneven road[1,2], and therefore can greatly improve
the ride comfort of the vehicle in the uneven road. For example, when turning, the air suspension
can automatically provide the functions of the body anti-roll[3,4].
In this paper, according to the kinetic theory, establishing vehicle vibration model of 7 degrees
by analysis of vehicle systems and simplified, derivation of spatial expression of the mathematical
model of the vehicle. In MATLAB fuzzy control system, to determine the input and output
linguistic variables and membership of function type, fuzzification, defuzzification method and
fuzzy control rules. Ride comfort simulation of the mathematical model using fuzzy controller.
system with nonlinear stiffness and linear damping coefficient; (2) Sprung mass and unsprung
weight is rigid, and perpendicular to the vertical surface; (3) Sum of the front axle and front wheel
quality is front unsprung mass, Quality of rear wheels and rear axle is rear unsprung mass. Under
the assumption of above, vehicle vibration differential equation expressed in the following matrix
form:
[ M ][ x] + [c][ x ] + [k ][ x] = [ F ] = [k q ][Q ] (1)
In equation (1), the physical meaning of symbols is: [x]=[z,,,zt1,zt2,zt3,zt4]T,[Q]=[q1,q2,q3,q4]T
in which, z,,,zt1,zt2,zt3,zt4 is vertical displacement, pitch angle, roll angle and vertical displacement
of four wheels, respectively; q1,q2,q3,q4 is road roughness of four wheels respectively. [M] is mass
matrix; [C] is the damping matrix; [k] is stiffness matrix.
The vibration differential equations of 7 freedoms for the whole vehicle are built based on
Newton's second law. The equations are as follows.
mb z + (Cd1 + Cd 2 + Cd 3 + Cd 4 )z + (-L1Cd1-L1Cd 2-L2Cd 3-L2Cd 4 ) + (b1Cd1-b1Cd 2 + b2Cd 3-b2Cd 4 )-
zt1Cd1-zt 2Cd 2-zt 3Cd 3-zt 4Cd 4 + (ks1 + ks 2 + ks3 + ks4 )z + (-L1ks1-L1ks 2-L2ks3-L2ks4 ) +
(b1ks1-b1ks 2 + b2ks3-b2ks 4 )-zt1ks1-zt 2ks 2-zt 3ks3-zt 4ks4 = 0
I y + (-L1Cd1-L1Cd 2 + L2Cd 3 + L2Cd 4 ) z + (L12Cd1 + L12Cd 2 + L22Cd 3 + L22Cd 4 ) + (-b1L1Cd1 + b1L1Cd 2 + b2 L2Cd 3-
b2 L2Cd 4 ) + zt1L1Cd1 + zt 2 L1Cd 2-zt 3 L2Cd 3-zt 4 L2Cd 4 + (-L1ks1-L1ks 2 + L2ks3 + L2ks 4 ) z + (L12ks1 + L12ks2 +
L22ks3 + L22ks4 ) + (-b1L1ks1 + b1L1ks2 + b2 L2ks3-b2 L2ks 4 ) + zt1L1ks1 + zt 2 L1ks2-zt 3 L2ks3-zt 4 L2ks 4 = 0
I x + (b1Cd1-b1Cd 2 + b2Cd 3-b2Cd 4 ) z + (-L1b1Cd1 + L1b1Cd 2 + L2b2Cd 3-L2b2Cd 4 ) + (b1 Cd1 + b1 Cd 2 + b2 Cd 3 +
2 2 2
(2)
b2 Cd 4 )-zt1b1Cd1 + zt 2b1Cd 2-zt 3b2Cd 3 + zt 4b2Cd 4 + (b1ks1-b1ks2 + b2ks3-b2ks 4 ) z + (-b1L1ks1 + b1L1ks 2 +
2
In which, Gxy (n) is cross-amplitude spectra of x(I) and y(I); xy (n) is phase spectrum of x(I)
and y(I).
The input power spectral density matrix for four-wheeled vehicles is:
1 coh(n) e - j 2nL coh(n)e - j 2nL
coh(n) coh(n)e - j 2nL e - j 2nL
[ ]
Gq (n) = j 2nL
1
Gq (n)
e coh(n)e j 2nL 1 coh(n)
coh(n)e j 2 nL
e j 2 nL
coh(n) 1
coh xy (n) is coefficient of coherence of two wheels, it can be solved approximate by the curve
fitting.
Scope8
1/z
1
-K- 30
s -K-
Band-Limited Gain2 Integrator Gain Saturation3
Rate Transition Gain4
White Noise Scope
Fuzzy Logic
Controller
du/dt 0.2
Derivative Gain1Saturation4
Scope1
1/z
1
-K- 30
s -K-
Band-Limited Gain12 Integrator6 Gain14 Saturation5
Rate Transition6 Gain13
White Noise6
Fuzzy Logic x' = Ax+Bu Scope2
Controller2 y = Cx+Du
du/dt 0.2
State-Space Memory
Derivative2 Gain15 Saturation7
1/z Scope3
1
-K- 30
s -K-
Band-Limited Gain16 Integrator7 Gain18 Saturation6
Rate Transiti on7 Gain17
White Noise7
Fuzzy Logic
Controller3
du/dt 0.2 Scope4
Derivative3 Gain19 Saturation8
1/z
1
-K- Scope5
s
Band-Limited Gain3 Integrator1
Rate Transition1
White Noise1
1/z
1
-K-
s x' = Ax+Bu Scope6
Band-Limited Gain5 Integrator2 y = Cx+Du
Rate Transition2
White Noise2 State-Space2
1/z
1
-K-
s
Scope7
Band-Limited Gain6 Integrator3
Rate Transition3
White Noise3
1/z
1
-K- Scope10
s
Band-Limited Gain7 Integrator4
Rate Transition4
White Noise4
stability. In short, air suspension with fuzzy control improves ride comfort and safety of the vehicle.
Fig.5 Left front suspension deflections Fig.6 Right front suspension deflections
Fig.7 Left rear suspension deflections Fig.8 Right rear suspension deflections
Summary
In this paper, the dynamic model of whole vehicle is established for MATLAB/Simulink
simulation. Amount of time-domain response of vehicle ride comfort evaluation is obtained. From
the simulation results, the body acceleration and suspensions dynamic deflection with air
suspension using fuzzy control have good attenuation properties; significantly reduce the vehicle
vibration, and can greatly improve vehicle ride comfort and safety, and indicated the rightness of
the mathematical model of seven degrees for vehicle and the reliability of the fuzzy controller.
References
[1] GUO Wenguan, SHI Baijun: Machine Tool & Hydraulics, Vol.36(2008), p.350
[2] Gonez, M. Oscar: International Journal of Heavy Vehicle Systems, Vol.14(2007), p.98
[3] LI Zhongxing, YU Guangqiang, JIANG Hong and SHA Ou: Journal of Highway and
Transportation Research and Development, Vol.27(2010), p.124
[4] ZHENG Mingjun, LIN Yi and CHEN Xiaokai: Noise and Vibration Control, Vol.27(2007),
No.3, p.86
[5] PAN Gongyu, REN Pingli: Journal of System Simulation, Vol.21(2009), p. 4516