Receipt date: 
01.11.2020
Year: 
2020
Journal number: 
УДК: 
62-567.7
DOI: 

10.26731/2658-3704.2020.3(8).29-44

Article File: 
Pages: 
29
44
Abstract: 

Based on the analysis of a number of works devoted to car suspensions, a brief classification is given, in particular, the classification of suspension control systems for cars and other vehicles. Their advantages and disadvantages are given. The main disadvantages of the existing systems and those considered in the literature are their inability to function under the current uncertainty of the parameters of the suspension, vehicle and external disturbances, as well as the impossibility of promptly countering disturbances. A new adaptive suspension control algorithm is being formed, capable of functioning under the conditions of the current uncertainty of the specified parameters. It is built on the basis of the current restructuring of the control system on the basis of the parametric identification of the mathematical model of the control object, carried out at the current time of the control system functioning, and an implicit reference model. As a controlled element, an adjustable degree of damping of the suspension shock absorber using a magnetorheological fluid is used. On the example of a single-mass suspension model "a quarter of a car", a model study of the efficiency of the obtained algorithm was carried out, as well as its comparison with the one that is closest in terms of the task at hand - the method of instantaneous switching of the degree of suspension damping.

List of references: 

 

1.       Belousov B.N., Merkulov I.V., Fedotov I.V. Upravlyaemye podveski avtomobilej [Controlled car suspensions]. Avtomobil'naya promyshlennost' [Automotive industry], 2004, № 1. − pp. 23-24.

2.       YUrlin D.V., Bahmutov S.V., Kulagin V.A. Bazovye algoritmy upravleniya zhyostkost'yu pnevmoelementov podveski avtomobilya [Basic algorithms for controlling the stiffness of pneumatic elements of a car's suspension] Trudy NAMI. [Proceedings of NAMI] – 2020. – № 1 (280). – pp. 20–35.

3.       ZHilejkin M. M., Mardeeva L. R., Verzhbickij A. N. Razrabotka adaptivnogo relejnogo zakona upravleniya dempfirovaniem podveski mnogoosnyh kolesnyh mashin s cel'yu protivodejstviya prodol'no-uglovym kolebaniyam korpusa [Development of an adaptive relay law for controlling the damping of the suspension of multi-axle wheeled vehicles in order to counteract the longitudinal-angular vibrations of the body] Nauka i obrazovanie. MGTU im. N.E.Baumana. Elektron. zhurn. [Science and Education. Moscow State Technical University N.E.Bauman.] 2013, №8, 2013. Access mode: http://technomag.bmstu.ru/doc/567732.html.

4.       ZHilejkin M. M. Sravnitel'nyj analiz effektivnosti raboty nepreryvnoj i relejnoj sistem upravleniya podveskoj mnogoosnyh kolesnyh mashin [Comparative analysis of the efficiency of continuous and relay control systems for the suspension of multi-axle wheeled vehicles] Nauka i obrazovanie. MGTU im. N.E.Baumana. Elektron. zhurn. [Science and Education. Moscow State Technical University N.E.Bauman.], 2012, №3. Access mode: http://technomag.edu.ru/doc/347783.html.

5.       Mashkov I.I. Sintez sistemy upravleniya podveskoj avtomobilya, postroennoj na osnove magnitoreologicheskogo amortizatora. [Synthesis of a car suspension control system based on a magnetorheological shock absorber.] Avtoreferat diss. na soisk. uch. st. k.t.n. Moskovskij gosudarstvennyj institut radiotekhniki, elektroniki i avtomatiki. [Abstract dissertation. for a job. uch. Art. Ph.D. Moscow State Institute of Radio Engineering, Electronics and Automation.], 2004. 20p.

6.       Kalinin P.S., Gorelov V.A., ZHilejkin M.M. Analiz parametricheskih  modelej magnitoreologicheskih dempfiruyushchih ustrojstv dlya kolesnoj transportnoj tekhniki [Analysis of the parameters of models of magnetorheological damping devices for wheeled transport equipment.] Izvestiya vysshih uchebnyh zavedenij. Mashinostroenie. [Izvestiya of higher educational institutions. Mechanical engineering.], 2012. № 2. pp. 25-31.

7.       Sistemy sovremennogo avtomobilya: sajt. [Systems of a modern car: website] – URL: http://systemsauto.ru/pendant/adaptive_chassis.html (data obrashcheniya: 20.04.2020).

8.       Besekerskij V.A., Popov E.P. Teoriya avtomaticheskogo upravleniya. [Automatic control theory.] – S.Peterburg: Professiya [S. Petersburg: Profession], 2003. 747 p.

9.       Mashkov I.I. Sintez sistemy upravleniya podveskoj avtomobilya, postroennoj na osnove magnitoreologicheskogo amortizatora. [Synthesis of a car suspension control system based on a magnetorheological shock absorber.] Avtoreferat diss. na soisk. uch. st. k.t.n. Moskovskij gosudarstvennyj institut radiotekhniki, elektroniki i avtomatiki. [Abstract dissertation. for a job. uch. Art. Ph.D. Moscow State Institute of Radio Engineering, Electronics and Automation.], 2004. 20s.

10.     SHelginskih I.N. Racional'noe dempfirovanie v sisteme podressorivaniya dlya obespecheniya ustojchivosti avtomobilya pri vysokoskorostnom manevrirovanii [Rational damping in the suspension system to ensure vehicle stability during high-speed maneuvering] Trudy NAMI. [Proceedings of NAMI] – 2019. – № 1 (276). – pp. 55-63.

11.     Keyan A.K., Sopin P.K. Algoritm upravleniya elektromagnitnoj podveskoj [Control algorithm of electromagnetic suspension] Sbornik statej vserossijskoj nauchno-prakticheskoj konferencii dlya aspirantov, studentov i molodyh uchyonyh «Sovremennye tekhnologii: problemy i perspektivy». [Collection of articles of the All-Russian-practical conference for graduate students, students and young scientists "Modern technologies: problems and prospects.] 2019. pp. 161-167.

12.     ZHilejkin M. M. Sintez adaptivnoj dinamicheskoj nepreryvnoj sistemy gasheniya kolebanij korpusa mnogoosnyh kolesnyh mashin [Synthesis of an adaptive dynamic body of a continuous vibration damping system for multi-axle wheeled machines.] Nauka i obrazovanie. MGTU im. N.E.Baumana. Elektron. zhurn. [Science and Education. Moscow State Technical University N.E.Bauman.] 2011, №10. Access mode: http://technomag.edu.ru/doc/347169.html.

13.     ZHilejkin M.M., Fedotov I.V. Algoritm kompleksnogo optimal'nogo upravleniya dempfirovaniem v podveske kolesnyh mashin [Algorithm of complex optimal control of damping in the suspension of wheeled vehicles] Izvestiya vysshih uchebnyh zavedenij. Mashinostroenie. Transportnoe i energeticheskoe mashinostroenie. [Izvestiya vysshikh uchebnykh zavod. Mechanical engineering. Transport and power engineering.], 2017, №8. pp.46-53.

14.     Andreev M.A., Semenov S.E. Sistema upravleniya adaptivnoj pnevmogidravlicheskoj ressornoj kolesnoj mashiny s izmenyaemoj uprugoj harakteristikoj [Control system of an adaptive pneumohydraulic spring wheeled machine with a variable elastic characteristic] Nauka i obrazovanie. MGTU im. N.E.Baumana. Elektron. zhurn. [Science and Education. Moscow State Technical University N.E.Bauman.], 2013, №11. Access mode: http://technomag.bmstu.ru/doc/645542.html.

15.     Nikiforov P.A., Burakov M.V. Upravlenie aktivnoj podveskoj avtomobilya [Control of the active suspension of the car] Problemy i perspektivy studencheskoj nauki, Nauchno-issledovatel'skij centr «MashinoStroenie» [Problems and prospects of student science, Research Center "MashinoStroyenie"], 2018, №2(4). – pp. 57-59.

16.     Kuz'min V.A., Godzhaev Z.A. Sravnitel'naya ocenka effektivnosti vibrozashchity aktivnoj sistemy podressorivaniya s PID-regulyatorom [Evaluation of the effectiveness of vibration protection of a comparative suspension system with a PID controller] Traktory i sel'hozmashiny. №3. [Tractors and agricultural machines. Number 3.], 2018. − pp. 62-67.

17.     Popov A.V. Modelirovanie i upravlenie sistemoj podressorivaniya avtomobilya v srede Matlab-Simulink: Magisterskaya dissertaciya. – S.Peterburg: SPU Petra Velikogo [Popov A.V. Modeling and control of a vehicle suspension system in the Matlab-Simulink environment: Master's thesis. - St. Petersburg: SPU Peter the Great], 2018. −53p.

18.     CHernyshov K.V. Uluchshenie vibrozashchitnyh svojstv i stabil'nosti harakteristik pnevmogidravlicheskih ressor. [Chernyshov K.V. Improvement of vibration-protective properties and characteristics of pneumohydraulic springs.] Avtoreferat diss. na soisk. uch. st. k.t.n. Volgogradskij GTU. [Abstract dissertation. for a job. uch. Art. Ph.D. Volgograd GTU], 1999. 22p.

19.     ZHdanov A.A., Lipkevich D.B. AdCAS sistema avtonomnogo adaptivnogo upravleniya aktivnoj podveskoj avtomobilya [AdCAS system of autonomous adaptive control of the active suspension of the car] Trudy instituta sistemnogo programmirovaniya RAN. [Proceedings of the Institute for System Programming], 2004, t.7, pp. 119-159.

20.     Rynkevich S.A. Adaptivnye sistemy upravleniya ATS [Adaptive control systems for automatic telephone exchange] Avtomobil'naya promyshlennost' [Automotive industry], 2005, № 6. − pp. 36-38.

21.     Godzhaev Z.A., Sen'kevich S.E., Kuz'min V.A. Vibrozashchita gidravlicheskoj sistemy podressorivaniya mobil'nyh mashin [Vibration protection of the hydraulic suspension system of mobile machines] V sbornike: Innovacionnye idei molodyh issledovatelej dlya agropromyshlennogo kompleksa Rossii. Sbornik materialov Mezhdunarodnoj nauchno-prakticheskoj konferencii molodyh uchenyh. [In the collection: Innovative ideas of young researchers for the agro-industrial complex of Russia. Collection of materials of the scientific-practical conference of young scientists.], 2019. − pp. 60-63.

22.     Ogryzkov S.V. Ekstremal'naya sistema regulirovaniya plavnosti hoda avtomobilya [Extreme control system for the smoothness of the vehicle] Vіsnik SevNTU: zb. nauk. pr. Vip. 134/2012. Serіya: Mashinopriladobuduvannya ta transport. − Sevastopol' [Bulletin of SevNTU: collection of articles. sciences. Ave Vip. 134/2012. Seria: Machinery and equipment for transport. - Sevastopol], 2012. – pp. 71-74.

23.     CHernyshov K.V., Pozdeev A.V., Ryabov I.M. Vibrozashchitnye svojstva podveski avtomobilya pri optimal'nom mgnovennom regulirovanii dempfirovaniya v cikle kolebanij [Vibration-protective properties of a car suspension with optimal instantaneous damping regulation in a vibration cycle] Prom-Inzhiniring: trudy V vserossijskoj nauchno-tekhnicheskoj konferencii. – CHelyabinsk: Izdatel'skij centr YUUrGU [Prom-Engineering: Proceedings of the V All-Russian Scientific and Technical Conference. - Chelyabinsk: SUSU Publishing Center], 2019. − pp.57-62.

24.     Zakovyrin I.A., Kruglov S.P. Vopros o realizacii samonastrojki v sisteme upravleniya adaptivnoj poluaktivnoj podveski transportnogo sredstva [Elektronnyj resurs] [The question of the implementation of self-tuning in the control system of the adaptive semi-active vehicle suspension] Molodaya nauka Sibiri: elektron. nauch. zhurn. [Young Science of Siberia], – 2020. –No2(8)  – Access mode: –http://mnv.irgups.ru/toma/28-20, svobodnyj. –Zagl. s ekrana. –YAz. rus., angl. (Accessed: 3.07.2020).

25.     CHernyshov K. V. Obzor osnovnyh algoritmov regulirovaniya dempfirovaniya v podveske avtomobilya [Review of the main algorithms for damping regulation in the vehicle suspension] Simvol nauki. [Symbol of Science] – 2016. №4, ch.3. – pp. 140-144.

26.     Ljung L. System Identification: Theory for the User, University of Linkoping. Sweden. 1991.

27.     Kruglov S.P. Modifikatsii rekurrentnogo metoda naimen'shikh kvadratov s faktorom zabyvaniya dlya funktsional'noy ustoychivosti tekushchego parametricheskogo otsenivaniya dinamicheskikh protsessov [Modifications of the rekkurent method of least squares with forgetting factor for the functional stability of the current parametrical estimation of dynamic processes] // Informacionnye tehnologii i matematicheskoe modelirovanie v upravlenii slozhnymi sistemami: eh-lektronnyj nauchnyj zhurnal [Information technology and mathematical modeling in the manage-ment of complex systems: electronic scientific journal], 2019. No. 1. P. 1-12. [Accessed 22.09.20].

28.     Kruglov S.P. Adaptivnaya avtomatizaciya pilotirovaniya samoletom na bol`shix uglax ataki na osnove uproshhenny`x uslovij adaptiruemosti [Adaptive automation of aircraft piloting at high angles of attack based on simplified adaptability conditions], Monograph. Irkutsk, Irkutskij filial Moskovskogo gosudarstvennogo universiteta grazhdanskoj aviacii [Irkutsk branch of the Moscow State University of Civil Aviation], 2012. 248 p.