PHNG PHP IU KHIN TI U TRONG H THNG TREO CH NG T

Nguyn c Ngc
Deng Zhaoxiang
The College of Mechanical Engineering
of Chongqing University, China 400030.
Tm tt: Thng qua vic thit lp xy dng m hnh tng th h thng treo t vi by bc t
do, ng dng l thuyt phng php iu khin ti u thit k b iu khin tuyn tnh kim sot
hot ng h thng treo ca xe. S dng phn mm Matlab xy dng m hnh m phng iu khin
h thng treo. Kt qu m phng so snh vi h thng treo b ng, cho thy vic kim sot h
thng treo ch ng vi b iu khin tuyn tnh ci thin ng k hiu sut ca h thng treo, lm
cho ngui ngi trn xe cm thy thoi mi hn.
1. t vn
i vi mt chic xe t, h thng treo l
mt trong nhng b phn phc tp v rc ri
nht trn xe. H thng treo ng mt vai tr
thit yu trong vic gi n nh xe v gip
ngi s dng cm thy thoi mi. H thng
treo ch ng l mt trong nhng b phn quan
trng nht trn t hin i. u im h thng
treo ch ng: C kh nng t ng iu chnh
cng v c ch hot ng ca h thng treo
p ng vi nghing khung xe khi vo
cua, nhp nh ca mt ng, gi thng
bng khi phanh v khi tng tc t ngt, c kh
nng t ng thch nghi vi ti trng ca xe v
thay i cao gm xe cho ph hp vi iu
kin hnh trnh. Mc ch em li cho xe c mt
h thng treo thch hp v hiu qu nht.
H thng treo ch ng ca t l mt h
thng ng lc hc rung ng phc tp, phn
tch nghin cu n ta cn n gin ha m hnh,
cc m hnh thng c s dng nghin cu
l: M hnh 1/4 h thng treo vi hai bc t do,
vi m hnh n gin, ch c th m t s bin
ha ca vn tc v gia tc rung ng ca thn xe
theo chiu thng. M hnh mt na h thng treo
vi bn bc t do, la chn mt na thn xe theo
ng i xng xy dng m hnh nghin cu,
n phn nh c rung ng thng ng v gc
nghing theo mt phng ca thn xe. M hnh
tng th h thng treo vi by bc t do (hnh1),
vi m hnh ny n phn nh ton b h thng
rung ng ca thn xe v gc nghing ca thn xe
theo ba phng, th hin tng th rung ng ca
thn xe nh vi thc t.
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Trong h thng treo ch ng, phng php

iu khin h thng ng vai tr rt quan trng,
ngy nay vi s pht trin khng ngng ca
ngnh ton tin, hin c rt nhiu phng php
iu khin nh: phng php iu khin ti u
ha, phng php iu khin t thch ng,
phng php iu khin fuzzy logic, phng
php iu khin mng thn kinh,vv.
Bi vit nghin cu tng th h thng treo ch
ng ca t vi by bc t do, s dng phng
php iu khin ti u ha iu khin, y l
phng php iu khin c s dng rng ri.
Mc ch nghin cu l m phng hot ng ca
h thng treo ch ng cho kt qu v dao
ng gi treo, bin dng lp, gia tc dao ng v
lc tc ng ln tng gi treo ca h thng treo
ging vi thc t vn hnh xe trn ng. T kt
qu l thng s phc v vic thit k ch to
gi treo, thit b sinh lc v iu khin h thng
treo ch ng cho t.
2. Xy dng m hnh rung ng tng th
h thng treo t
2.1 Thit lp m hnh by bc t do ca h
thng treo b ng v ch ng
Theo tnh ton cc thng s k thut c bn
xy dng m hnh rung ng xe t: Khi
lng thn xe trn gi treo ms=1170 kg; Khi
lng gi treo ca mt bnh trc mu1=31 kg;
Khi lng gi treo ca mt bnh sau mu2=28
kg; M men qun tnh theo trc Iy=2350 kg.m2;
M men qun tnh theo trc Ix=1100 kg.m2;
Khong cch t trng tm ti trc bnh trc
L1= 1,305m; Khong cch t trng tm ti trc
bnh sau L2=1,140 m; Chiu rng vt bnh xe

w=1,405m; cng gi treo trc

ks1=30000N/m; cng gi treo sau
ks2=31500N/m;

cng
ca
lp
kt=181000N/m; H s gim chn h thng treo
b ng Cs=30000 Ns/m.
T xy dng m hnh gi treo ng lc
hc rung ng cho tng th xe vi by bc t
do, c th hin trn (hnh 1). Trong m hnh:
Hnh trnh dao ng ca gi treo bnh trc bn
tri l (Zs1l Zr1l), ca gi treo bnh trc bn

phi l (Zs1r Zr1r), ca gi treo bnh sau bn

tri l (Zs2l Zr2l), v ca gi treo bnh sau bn
phi l (Zs2r Zr2r).
2.2 Thit lp h phng trnh vi phn
chuyn ng ca h thng treo
Theo phn tch ng lc hc rung ng ca
m hnh ta thit lp c cc phng trinh vi
phn nh sau:
Phng trnh vi phn ca trng tm thn xe
theo phng thng ng:

m s z C s1l (z u1l z s1l ) K s1l (z u1l z s1l ) C s1r (z u1r z s1r ) K s1r ( z u1r z s1r )
C s2l ( z u2l z s2l K s2l (z u2l z s2l ) C s2r (z u2r z s2r ) K s2r ( z u2r z s2r )

(2.1)

UA UB UC UD
Phng trnh vi phn chuyn ng ca cc gc nghing thn xe:
I y C s1l ( z u1l z s1l ) K s1l ( z u1l z s1l ) C s1r ( z u1r z s1r ) K s1r ( z u1r z s1r ) U A U B L 1
C s2l ( z u2l z s2l K s2l ( z u2l z s2l ) C s2r ( z u2r z s2r ) K s2r ( z u2r z s2r ) U C U D L 2
w
2
w
z s2r ) U C U D
2

I x C s1l ( z u1l z s1l ) K s1l ( z u1l z s1l ) C s1r ( z u1r z s1r ) K s1r ( z u1r z s1r ) U A U B
C s2l ( z u2l z s2l K s2l ( z u2l z s2l ) C s2r ( z u2r z s2r ) K s2r ( z u2r

Trong :
ms khi lng thn xe trn gi treo, tng
ng vi z l dao ng ca trng tm thn xe
theo phng thng ng; Cs1l, Cs1r, Cs2l v Cs2r
l h s gim chn gm bnh trc bn tri v
bn phi, bnh sau bn tri v bn phi ca h
thng treo b ng; Ks1l, Ks1r,Ks2l v Ks2r l h s

(2.2)
(2.3)

cng ca gi treo bnh trc bn tri, bn

phi, bnh sau bn tri v bn phi; UA, UB, UC
v UD l lc tng tc cn thit ln gi treo
trc bn tri, bn phi, bnh sau bn tri v
bn phi ca h thng treo ch ng. Ix l m
men qun tnh tng ng vi gc nghing ; Iy
m men qun tnh tng ng vi gc nghing .

Hnh 1: M hnh tng th h thng gi treo rung ng ca t

Phng trnh vi phn chuyn ng thng ng ca bn gi treo bnh xe:
mA zu1l K t1l (z r1l z u1l ) K s1l (z s1l z u1l ) C s1l (z s1l z u1l ) U A

mB zu1r K t1r (z r1r z u1r ) K s1r (z s1r z u1r ) C s1r (z s1r z u1r ) U B
mC zu 2l K t2l (z r2l z u2l ) K s2l (z s2l z u2l ) C s2l (z s2l z u2l ) U C
mD zu 2r K t2r (z r2r z u2r ) K s2r (z s2r z u2r ) C s2r ( z s2r z u2r ) U D

(2.4)
(2.5)
(2.6)
(2.7)
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Trong : mA, mB, mC v mD l khi lng s tiu chun tch phn ti u tuyn tnh, cc
gi treo tng ng bnh trc bn tri, bn phi, tham s ca khu iu khin c chn xut
bnh sau bn tri v bn phi; Kt1l, Kt1r, Kt2l v
Kt2r cng ca lp tng ng vi bnh trc pht t n lc tm cc tiu cho mt hm cht
bn tri, bn phi, bnh sau bn tri v bn phi. lng. Cc tham s
z,z, zu1l, z u1l, zu1r, z u1r, zu2l, zu2l, zu2r, z u2r, ,, ,
thit k h thng iu khin da trn c
T
Ta c: Vector
(2.8)
X z, z , z u1l , z u1l , z u1r , z u1r , z u2l , z u2l , z u2r , z u2r , , , ,

z , z, z , z , z , z , z , z , z , z , , , , T
X
u1l
u1l
u1r
u1r
u2l
u2l
u2r
u2r

Vector iu khin: U U A U B U C U D

(2.9)

(2.10)

Tn hiu nhiu mt ng: W z rx z ry z r1l z r1r z r2l z r2r

(2.11)

t gia tc dao ng ca gi treo, hnh trnh ng ca gi treo, bin dng ca lp l cc gi

tr bin i, ta c Vector (2.12)
Y [ z, , , z s1l z u1l , z s1 r z u1r , z s2 l z u 2l , z s2 r z u 2 r ,

(2.12)

z u1l z r 1l , z u1r z r 1r , z u 2l z r 2 l , z u 2 r z r 2 r ]T
T thit lp c m hnh phng trnh
trng thi X AX BU EW (2.13) v
Y CX DU FW (2.14). Mc ch ca
phng php iu khin ti u h thng treo ch
ng, l nng cao tnh nng iu khin v tnh n

nh ca t, khi xe vn hnh cc tn hiu nhiu

ca mt ng tc ng ln gi treo. H thng treo
ch ng c tc dng lm gim bt dao ng v s
bin dng ca lp, khng ch lc l ca gi treo,
t ta c hm s mc tiu:

1
2
2
2
q 1zs q 2 q 3 q 4 z s1l z u1l q 5 z s1r z u1r q 6 z s2l z u2l

20

q 7 z s2r z u2r q 8 z u1l z r1l q 9 z u1r z r1l q 10 z u2l z r2l

2

(2.15)

q11 z u2r z r2r r1 U 2A r2 U 2B r3 U 2C r4 U 2D dt

2

1
YT QY U T Ru dt

20

Trong : Q qij , ij qij=0 ; R = r. T m

hnh lin tc, ta s dng khu phn hi trng
thi:
u Kx -R -1 BT Px
(2.17)
Trong K l ma trn phn hi, c thit
k sao cho hm cht lng mc tiu l cc tiu.
P thng s tha mn phng trnh:
PA A T P PBR 1BP Q 0
(2.18)
ng dng Matlab tm ma trn phn hi K
theo tiu chun tch phn ti u tuyn tnh:
[K,S,e]=lqry(sys,Q,R[,N])
(2.19)
S dng lnh trn trong Matlab ta xc nh
c kt qu ma trn phn hi K. T cc thng
s gi treo, v la chn cc thng s
q1=100 q2=1 q3=80 q4=q5=q6=
q7=20 q8=q9=q10=q11=1000;
r1=r2=r3=r4=0,00035.

80

(2.16)
3. Xy dng m hnh m phng iu khin
h thng treo ch ng
3.1 Thit k m hnh iu khin ti u h
thng treo ch ng t:
Khi xy dng m hnh cn phi xc nh
c xe ang hot ng trn mi trng mt
ng nh th no, ph hp vi iu kin
giao thng thc t ta xy dng m phng tn
hiu mt ng vi iu kin mt ng cp C
c h s khng bng phng Gq(no)=256x10-6 m3,
vn tc xe V=20m/s, m hnh trn (Hnh 2), tn
hiu mt ng tc ng ln bn bnh xe, c
th hin trn (Hnh 3).
ng dng d liu m hnh SIMULINK trong
phn mm MATLAB thit k m hnh m
phng to thnh mt s iu khin, cn c
theo m hnh ti u ca bi ton iu khin h

thng treo ch ng v b ng ca t, xy
dng m hnh iu khin ti u h thng treo
ch ng ca t s (Hnh 4) v h thng
treo b ng ca t s (Hnh 5).
3.2 Kt qu m phng iu khin ti u
gi treo ch ng v b ng ca t
T m hnh iu khin tin hnh vn hnh
m phng vn hnh h thng iu khin cho ta
kt qu th hin trn (Hnh 6 13). Vi h thng

treo ch ng ch cn tc ng mt lc ln nht
1285N vi gi treo bnh trc v 570N vi gi
treo bnh sau, lm cho gia tc dao ng ca
thn xe gim xung ch cn thay i trong phm
vi t 0,0461m/s2 n 5,7611m/s2, ng thi cc
kt qu v gia tc gc nghing, bin dng lp
ca h thng treo ch ng cng nh hn nhiu
so vi h thng treo b ng.
The C level road spectrum
0.25

0.2

Road spectrum (m)

0.15

0.1

0.05

-0.05

-0.1

Hnh 2: S m phng tn hiu mt ng

Hnh 4: M hnh iu khin h thng treo ch ng

Hnh 6: Kt qu gia tc dao ng thng ng

ca h thng treo ch ng v b ng

5
Time S

10

Hnh 3: Tn hiu mt ng

Hnh 5: M hnh iu khin h thng

treo b ng

Hnh 7: Kt qu gia tc gc nghing ca

h thng treo ch ng v b ng

81

Hnh 8: Kt qu hnh trnh dao ng gi treo

bnh sau bn tri ca h thng treo

Hnh 10: Kt qu hnh trnh dao ng

ca gc thn xe bnh trc bn tri

Hnh 12: Kt qu lc tc ng ln hai

gi treo bnh trc h thng treo ch ng
4. Kt lun:
Kt qu ng dng phng php iu khin
ti u h thng treo ch ng trn cho thy, vic
ng dng h thng treo ch ng trn t em
li nhng li ch tt hn nhiu so vi h thng
treo b ng, vi h thng treo ch ng ch cn
iu khin lc tc ng ch yu trong phm vi
1300N, n lm cho h thng treo ch ng n
nh hn, v bin dng ca lp nh hn so vi
h thng treo b ng.
T kt qu m phng cho bit lc tc ng
cn thit trn tng gi treo, hnh trnh, vn tc
v gia tc dao ng ca gi treo ch ng, t
l c s tin hnh nghin cu thit k ch to

82

Hnh 9: Kt qu bin dng lp bnh trc

bn tri ca h thng treo

Hnh 11: Kt qu hnh trnh dao ng ca gc

thn xe bnh sau bn tri

Hnh 13: Kt qu lc tc ng ln hai gi treo

bnh sau h thng treo ch ng
cc h thng gi treo ch ng c cu to khc
nhau, vi mc ch em li s an ton v thoi
mi cho ngui vn hnh, nh h thng treo ch
ng kh nn, h thng treo ch ng in thy
lc, h thng treo ch ng in t, ...
Vi ng dng MATLAB/SIMULINK
trong vic iu khin ti u, y l mt phng
php iu khin c ng dng rng ri trong
cc lnh vc iu khin t ng, thit ngh vi
kt qu nghin cu ban u ny, c vn dng
v pht trin trong vic nghin cu cc vn
lin quan c nhng kt qu khoa hc tt hn,
s em li nhng li ch to ln cho cng cuc
pht trin t nc.

Ti liu tham kho:

[1] Semiha Turkay and Huseyin Akcay, Aspects of achievable performance for quarter-car
active suspensions, Journal of Sound and Vibration 311 (2008) 440460.
[2] Huseyin Akcay and Semiha Turkay, Influence of tire damping on mixed H2/H synthesis
of half-car active suspensions, Journal of Soundand Vibration 322 (2009) 1528.
[3] Yuping He and John McPhee, Multidisciplinary design optimization of mechatronic
vehicles with active suspensions, Journal of Sound and Vibration 283 (2005) 217241.
[4] Y. He, J. McPhee, Design optimization of rail vehicles with passive and active
suspensions: a combined approach using genetic algorithms and multibody dynamics, Vehicle
System Dynamics 37 (Suppl.) (2002) 397408.
[5] J. Sobieski, J. Kodiyalam, R. Yang, Optimization of car body for noise, vibration and
harshness and crash, in: Proceedings of the 41st AIAA/ASME/AHS/ASC, Structures, Structural
Dynamics, and Materials, Number AIAA- 2001-1273, Atlanta, 2000.
[6] Qin Zhu, Mitsuaki Ishitobi, Chaotic vibration of a nonlinear full-vehicle model,
International Journal of Solids and Structures 43 (2006) 747759.
[7] Hyo-Jun Kim, Hyun Seok Yang, Improving the vehicle performance with active
suspension using road-sensing algorithm, Computers and Structures 80 (2002) 15691577.
Abstract:
OPTIMAL CONTROL OF FULL VEHICLE ACTIVE SUSPENSION SYSTEM
Through the establishment of full vehicle model with seven degrees of freedom and the
application of optimal control theory, a Linear Quadratic Gaussian (LQG) controller of full vehicle
active suspension was designed. The system simulation model based on Matlab environment were
built and used for simulation. Simulation results were compared with passive suspension. The
simulation results demonstrated that the active suspension with a LQG controller could improve
automobile riding comfort performance enormously.

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