時滯對半主動懸架不同控制策略的影響

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中圖分類號：U461.1 文獻標志碼：A

DOI： 10.7652/xjtuxb202506020 文章編號：0253-987X（2025）06-0198-11

The Influence of Time Delay on Different Control Strategies of Semi-Active Suspension

YU Yuewei，SONG Yunpeng，LI Bo，ZHAO Leilei，JIAO Guokai （Schoolof Transportationand VehicleEnginering，Shandong UniversityofTechnology，Zibo，Shandong2550oo，China）

Abstract： In order to reveal the influence of time delay on the continuous damping control （CDC） suspension system’s control strategy and facilitate the selection of control strategies， the differences between different control strategies for CDC semi-active suspensions under time delay effect were explored by combining theoretical analysis， simulation and experimental research. Firstly，a mechanical constitutive model for CDC dampers was established based on data-driven modeling method，and the model was verified through bench test. Then，based on the two degrees of freedom vehicle semi-active suspension model， four representative control strategies were developed， including the sky-hook damping control， linear quadratic optimal control，sliding mode variable structure control，and fuzzy control. Finally，a vehicle simulation model of CDC semi-active suspension closed-loop control system with time delay effect was established by using Matlab/Simulink and CarSim joint simulation，and the dynamic characteristics of different control strategies of CDC semi-active suspension under time delay effect were analyzed. The results showed that when the time delay was small，the four control strategies could still effectively control the system. With the increase of time delay，the sky-hook damping control and sliding mode variable structure control obviously deteriorated，while the linear quadratic optimal control and fuzzy control changed little. Overall， the comprehensive performance of the fuzzy control strategy is optimal under the effect of time delay factors.

Keywords： semi-active suspension; continuous damping control damper; mechanical constitutive model;control strategy;time delay effect

阻尼連續(xù)可調(diào)（CDC）半主動懸架能夠根據(jù)行駛工況實時、連續(xù)調(diào)節(jié)懸架阻尼，既能夠有效解決被動懸架中存在的乘坐舒適性與行駛安全性之間的固有矛盾，又能以較高的性價比媲美主動懸架，在汽車智能底盤與集成控制領(lǐng)域得到了廣泛關(guān)注，成為車輛半主動懸架研究領(lǐng)域的熱點[1-3]]

近年來，為了有效提升CDC半主動懸架的實際控制效果，諸多學者在其控制策略方面開展了大量研究，但大都沒有考慮時滯因素的影響[4-7]。（剩余15258字）