| With the rapid development of highway traffic and road transportation industry,heavy vehicles as the main equipment of highway freight transport,its production,marketing scale and ownership are growing.However,with the trend of heavy-duty freight transport,the problem of road damage caused by the large tire dynamic load of heavy vehicles during the driving process has gradually become prominent.It has important theoretical significance and engineering application value of heavy vehicles to comprehensively coordinate the ride comfort and road friendliness.The ISD suspension composed of "Inerter-Spring-Damper" breaks through the limitation of the traditional "Spring-Damper" inherent structure,and opens up a new direction for the efficient coordination of ride comfort and road friendliness for heavy vehicles.Based on the ISD suspension model of heavy vehicle,this paper studies the mechanism of heavy vehicle variable loads condition on ride comfort and road friendliness,and constructs an ideal reference model of hybrid damping strategy that has both body acceleration and road damage coefficient performance improvement capabilities.The controllable ISD suspension with the mechatronic inerter is used as the actual controlled model,and the coordinated control of the controllable ISD suspension model is realized based on the model predictive control method.Finally,a mechatronic inerter is developed and the ISD suspension system test prototype for heavy vehicles is built,which provides reference for the coordinated control of heavy vehicle on ride comfort and road friendliness.Firstly,the half vehicle suspension model of heavy vehicle is constructed.The evaluation indexes change rule of ride comfort and road friendliness for heavy vehicles under the condition of varying vehicle loads is simulated and analyzed from the time and frequency domain respectively,and its mechanism is expounded.The half vehicle model of heavy vehicle ISD suspension is established.Based on the improved ant colony optimization algorithm,the unified objective function is established with the optimization objectives of the root mean square(RMS)of body acceleration,suspension working space,dynamic tire load and road damage coefficient,and the optimal parameters of heavy vehicle ISD suspension system components are obtained.The simulation results show that,the RMS values of the mass center acceleration of the heavy vehicle ISD suspension and the average value of the road damage coefficient are improved by15.08% and 14.21% respectively compared with the traditional passive suspension.The heavy vehicle ISD suspension has certain advantages in the comprehensive coordination and improvement of ride comfort and road friendliness.Secondly,based on the study of the ideal damping strategy control characteristics,combined with the comprehensive performance requirements of heavy vehicle ride comfort and road friendliness,an ideal reference model for heavy vehicle with body acceleration and road damage coefficient performance improvement capabilities is constructed.And the controllable ISD suspension model with mechatronic inerter is used as the controlled model for heavy vehicle coordinated control system.Based on the model predictive control method,the performance tracking of the controlled model to the reference model is realized,and the problem of heavy vehicle coordinating ride comfort and road friendliness is transformed into the performance output of the controlled model tracking the reference model.Through the model prediction,rolling optimization and feedback correction process,the current and future system control values are calculated,so that the predicted output can meet the set value.The model predictive control system is built through MATLAB,and the performance simulation of the coordinated control system controlled model is completed based on the heavy vehicle parameters.The results show that compared with the traditional passive suspension under the random road input conditions of 10m/s,20m/s and 30m/s speed,the RMS values of body acceleration is improved by 27.95%,29.07% and 29.92% respectively,and the values of road damage coefficient is improved by 21.61%,22.08% and 20.64% respectively.From the perspective of frequency domain,the power spectral density of body acceleration and dynamic tire load of the controllable ISD suspension are lower than those of the traditional passive suspension,which effectively improves the ride comfort and road friendliness of heavy vehicle.Finally,the equipment selection and parameter design of the inerter and rotating motor equipment are carried out,and the mechatronic inerter principle prototype is developed.The mechanical performance of the inerter is tested on the Instron 8800 servo hydraulic vibration exciter to verify the theoretical requirements.The controllable ISD suspension prototype is further built for bench test,and the performance of the suspension system is tested under different inputs.The test results show that,the RMS values of the body acceleration and dynamic tire load of the controllable ISD suspension is smaller than the traditional passive and passive ISD suspension under the sinusoidal road inputs of 0.1-15 Hz.Under the random road input of 20m/s,compared with the traditional passive suspension,the controllable ISD suspension has improved the RMS value of the body acceleration by 26.61%,and the road damage coefficient has been improved by 20.13%.The test results show that the controllable ISD suspension based on the hybrid damping strategy has better ride comfort and road friendliness than those of the traditional passive and passive ISD suspension.In conclusion,this paper summarizes the mechanism of variable loads conditions on ride comfort and road friendliness,and analyzes the performance advantages of heavy vehicle ISD suspension compared with traditional passive suspension under the condition of variable vehicle loads.Combined with the control characteristics of skyhook and groundhook strategy,an ISD suspension predictive control method based on the reference model of hybrid damping strategy is proposed,which significantly improved the coordination control ability of heavy vehicle ride comfort and road friendliness. |
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