考虑主动时滞的汽车悬架系统控制特性研究

以汽车悬架系统为研究对象,采用理论和试验相结合的方法对考虑主动时滞的悬架系统控制特性进行分析。首先建立含时滞悬架系统动力学模型,分析系统的控制稳定性。理论和仿真结果均表明,采用传统二次型最优控制律不能保证含时滞系统的稳定性。系统时滞量存在稳定区间,时滞超出稳定区间时系统将失稳发散;为了保证控制系统的稳定性,采用状态变换法设计了含时滞系统的主动控制律,计算表明,该控制律可以保证系统稳定性。研究还发现,时滞量的变化会使系统振动幅值产生较大改变,为此在控制系统中引入主动时滞,研究主动时滞对系统振动特性的影响,计算表明,合理的主动时滞可以降低系统振动幅值;为验证结果的正确性,搭建了悬架时滞主动控制试验平台,通过对相同工况下仿真结果与试验结果进行对比,发现两者具有较好的一致性;而由于悬架受到的路面激励具有随机性,采用含时滞系统的主动控制律对路面随机激励下的悬架系统进行控制分析,发现当主动时滞为0.04 s时,车身加速度均方根值比无主动时滞降低了39.4%,说明主动时滞对悬架控制的有效性。本文研究对时滞主动控制的理论研究具有重要的促进作用。     

Order Reduction of Parametrically Excited Nonlinear Systems: Techniques and Applications

The basic problem of order reduction of nonlinear systems with time periodic coefficients is considered in state space and in direct second order (structural) form. In state space order reduction methods, the equations of motion are expressed as a set of first order equations and transformed using the Lyapunov–Floquet (L–F) transformation such that the linear parts of new set of equations are time invariant. At this stage, four order reduction methodologies, namely linear, nonlinear projection via singular perturbation, post-processing approach and invariant manifold technique, are suggested. The invariant manifold technique yields a unique ‘reducibility condition’ that provides the conditions under which an accurate nonlinear order reduction is possible. Unlike perturbation or averaging type approaches, the parametric excitation term is not assumed to be small. An alternate approach of deriving reduced order models in direct second order form is also presented. Here the system is converted into an equivalent second order nonlinear system with time invariant linear system matrices and periodically modulated nonlinearities via the L–F and other canonical transformations. Then a master-slave separation of degrees of freedom is used and a nonlinear relation between the slave coordinates and the master coordinates is constructed. This method yields the same ‘reducibility conditions’ obtained by invariant manifold approach in state space. Some examples are given to show potential applications to real problems using above mentioned methodologies. Order reduction possibilities and results for various cases including ‘parametric’, ‘internal’, ‘true internal’ and ‘true combination resonances’ are discussed. A generalization of these ideas to periodic-quasiperiodic systems is included and demonstrated by means of an example.     

含时滞的LQ控制车辆悬架的研究

研究时滞对具有LQ最优控制的1／4汽车线性悬架模型的动特性影响。首先采用了广义的Sturm序列判断准则给出了不同控制增益下单自由度车模型全时滞稳定区,以及在给定时滞情况下绘出了控制增益稳定区;其次,给出了两自由度车模型的全时滞稳定区以及系统在给定的增益下临界时滞的值。此外,讨论了全状态反馈下的稳定性以及稳定性切换问题;最后研究了时滞对系统动力学行为的影响。     

含时滞的参数不确定主动悬架离散系统鲁棒控制

针对主动悬架存在传输时滞和参数不确定性的控制问题,设计了含时滞的参数不确定鲁棒控制器。首先,运用线性分式变换方法推导出含时滞的参数不确定主动悬架状态空间方程,采用零阶保持器取值处理和双线性变换,建立主动悬架离散控制系统模型。其次,以车身垂向加速度为车辆悬架系统的最优化输出目标,采用Lyapunov泛函方法,推导出系统渐进稳定的鲁棒控制器充分条件,得到满足最优H_∞性能指标约束的反馈控制律,再通过求解线性矩阵不等式获得控制器参数。最后,进行数值算例仿真,结果表明,相较于只考虑时滞的控制器,含时滞的参数不确定鲁棒控制器具有更好的控制效果和鲁棒性,且受采样周期与不确定参数的耦合影响较小。     

考虑时滞的主动悬架系统控制策略对比研究全文替换

本文以二自由度四分之一汽车悬架系统为研究对象,采用不同控制策略对考虑时滞的悬架系统控制特性进行研究,并对控制效果进行对比分析．首先,采用第二类拉氏方程建立考虑时滞的二自由度悬架控制系统的动力学模型;然后分别基于状态变换法和H_∞控制理论,设计系统的时滞反馈控制律．其中状态变换法主要通过系统状态变量的转换,将系统时滞控制方程转换成不显含时滞的动力学方程,然后采用传统的二次型最优控制方法对系统进行控制．H_∞控制主要通过使用Lyapunov-Krasovskii泛函和自由权矩阵法,设计考虑时滞的H_∞控制律;最后在Matlab/Simulink平台上对控制系统进行仿真分析,并在相同时滞下对两种控制结果进行对比．研究表明,两种控制策略在考虑时滞的情况下均可保证系统的稳定性,且H_∞控制相比于状态变换法有更好的控制效果．     

A New Trajectory Reversing Method for Estimating Stability Regions of Autonomous Nonlinear Systems

A new method is presented for estimating regions of asymptoticstability for autonomous nonlinear dynamical systems. The underlyinganalysis uses a combination of Lyapunov theory, simulation and sometopological properties of the stability boundary. The advantages of themethod are the accuracy of estimation of the true stability boundary,its numerical robustness and its applicability to wide classes ofdynamical systems. The main limitation is that a global Lyapunovfunction for the system must be available.     

时程稳定性系数确定的边坡逐孔起爆孔间微差降振时间

为了获得边坡逐孔爆破最佳降振微差时间,以某个实际边坡逐孔微差爆破施工现场为原型,先利用ANSYS建立二维静态模型,借助有限元折减法确定自然状态下的潜在滑动面和静态安全系数;基于已确定的二维潜在滑动面重新建立同尺寸同性质的三维逐孔微差爆破动态模型,利用LS-DYAN进行动力分析,整个过程分别设置同排3个炮孔0、17、25、42和65 ms等5种不同孔间微差起爆方式;同时,对该施工现场进行排、孔间(25 ms,17 ms)、(25 ms,25 ms)、(25 ms,42 ms)、(25 ms,65 ms)等4种微差时间控制的等比例相似小炮测振实验。提取模拟结果中3个炮孔同时起爆时滑面单元的应力数值代入极限平衡法计算公式,绘制了冲击载荷作用下边坡稳定性系数曲线,通过对曲线的理论分析发现,最佳降振微差时间约为48 ms;而三维数值模拟和测振实验结果均显示,孔间微差时间取42 ms时降振效果较佳。这说明,边坡稳定性系数曲线给出的微差时间与模拟和实验结果较为接近,可为今后边坡逐孔微差爆破降振研究提供参考。     

Identification of Nonlinear Dynamic Systems: Time-Frequency Filtering and Skeleton Curves

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Sufficient Conditions for the Practical and Technical Stability of Quasilinear Impulsive Systems

New sufficient conditions for the practical and technical stability of a quasilinear impulsive system are established and illustrated by a numerical example__________Translated from Prikladnaya Mekhanika, Vol. 41, No. 1, pp. 135–142, January 2005.     

An Eigenvalue Method for Calculation of Stability and Limit Cycles in Nonlinear Systems

In the calculation of periodic oscillations of nonlinear systems –so-called limit cycles – approximative and systematic engineeringmethods of linear system analysis are known. The techniques, working inthe frequency domain, perform a quasi-linearization of the nonlinear system,replacing nonlinearities by amplitude-dependent describing functions.Frequently, the resulting equations for the amplitude and frequency ofpresumed limit cycles are solved directly by a graphical procedure in aNyquist plane or by solving the nonlinear equations or a parameteroptimization problem. In this paper, an indirect numerical approach isdescribed which shows that, for a system of nonlinear differentialequations, the eigenvalues of the quasi-linear system simply indicateall limit cycles and, additionally, yield stability regions for thelinearized case. The method is applicable to systems with multiplenonlinearities which may be static or dynamic. It is demonstrated foran example of aircraft nose gear shimmy dynamics in the presence ofdifferent nonlinearities and the results are compared with those fromsimulation.     

二自由度耦合非线性随机系统的最大Lyapunov指数和稳定性

利用摄动方法讨论了一类耦合二自由度非线性系统，在小强度白噪声参数激励下系统运动模态的稳定性，获得了系统扩散过程的稳态概率密度的渐近表达式，由此获得了系统运动模态几乎必然稳定的充分必要条件。     

Energy Method for Computing Periodic Solutions of Strongly Nonlinear Autonomous Systems with Multi-Degree-of-Freedom

In this paper with the use of conservation of average energy, a newmethod for computing the periodic solutions of strongly nonlinearautonomous systems with multi-degree-of-freedom is suggested. Thismethod cannot only decide the existence, but also give the approximateexpressions of the periodic solutions.     

LAGRANGE'S THEOREM FOR A CLASS OF NONHOLONOMICSYSTEMS AND ITS APPLICATION

I.IntroductionSinceE.T.Whittaker.proposedfoestabilit}'problellll'lofnonholononlicsystemsin1904forthefirsttime,thescholarsathomeandabroad11a\'emadealotofresearchesontheequilibriunlstabilityoflinearand11olllinearnonllolollolnicsystems,andhaveobtainedaseriesofimportantresultslZ--7].Hobbled'er,theexpositionandapplicationrelatedtoLagrange'stheorenlinthestabilityanalysisfornonholonomicsystemsisseldonlseenuptonow.Althoughitwasmentionedinreference[3].aspecialdiscussionhasnotbeencarriedoutyet.Asafam…     

Solving Stress Problems for Elastic Systems of Anisotropic Shells of Revolution with Regard for Transverse Shear and Reduction

An approach is proposed for refined solution of stress problems for elastic systems consisting of coaxial shells of revolution. Transverse shear and reduction are taken into account. Multivariant calculations made for orthotropic cylindrical shells with elliptical end-plates allow us to analyze the influence of the semiaxis ratio and intermediate supports on the stress–strain state of the shell systems under consideration     

A mixed explicit-implicit antidiffusive method of navier-stokes equations for supersonic and hypersonic separated flows

The supersonic and hypersonic.laminar and turbulent vi-scous separated flows over two and three-dimensional com-pression corners are solved by the antidissipative explicit-implicit difference scheme presented in this paper.The re-sults obtained show that a high accuracy has been achieved bythis method and the time needed for computation is greatlyreduced.     

强非线性动力系统周期解分析

给出一类强非线性动力系统周期解存在性，唯一性和稳定性的简易差别法以及周期解的摄动法。本差别法把问题归结为干扰力在相应的未扰系统振动周期上的功函数及其导数的讨论，其限制条件比现有结果弱。本摄动法可以认为是经典Ｌｉｎｄｓｔｅｄｔ－Ｐｏｉｎｃａｒｅ（Ｌ－Ｐ）法在强非线性振动系统的推广。它与Ｌ－Ｐ法的主要区别在于假设系统的振动频率为相角的非线性函数。     

惯性测量系统中实时估计方法的耦合分析与比较

一本文通过对不同精度惯性系统的仿真，根据不同的载体和应用条件，分别实施考虑通道耦合和不考虑通道耦合的实时卡尔曼滤波估计，得到耦合因素对估计误差影响不大的结论。最后利用改装的俄制и－２１惯性系统在北京郊区的实际跑车数据，分别实施卡尔曼滤波和曲线拟合处理，对其估计误差进行了分析和比较。     

爆破振动持时分析及微差爆破延期时间优选

爆破振动持续时间以及微差爆破延期时间分别是爆破振动危害客观评价与主动控制的重要指标,对振动持时影响因素和延期时间优选方法进行深入探究极为必要。结合量纲分析理论,探讨了爆破振动持时影响因素,推导出爆破振动持时预测公式,该公式线性相关性达到89.7%;基于地震波线性叠加原理,通过MATLAB 7.0编程,计算得到毫秒微差爆破不同爆心距处合理延时区间。结果表明,爆破振动信号能量与振动持续时间相关性高,在振动持时预测公式中引入信号能量,可提高预测精度;振动持续时间与比例速度负相关,与比例药量正相关;合理孔间延期时间往往不是某一具体值,而是一个或多个时间区间;不同爆心距处合理延期时间值不同。工程应用表明,给出的爆破振动持时预测公式与微差爆破延时优选方法切实可行。     

The Existence Stability and Approximate Expressions of Periodic Solutions of Strongly Nonlinear Nonautonomous Systems with Multi-Degree-of-Freedom

Based upon the conservation of average energy a theorem about the periodic solutions of strongly nonlinear nonautomous systems with multi-degree-of freedom is proved. This theorem can not only decide the existence and stability of the periodic solutions, but at the same time can also give their first-order and second-order approximate expressions.     

化爆冲击波在T型通道内到时规律的实验研究

对空气冲击波在T型坑道内传播的到时规律及其影响因素进行了实验研究,在量纲一分析基础上建立了简化的工程模型。通过对实验数据拟合建立了可以对高能炸药在T型坑道内爆炸产生的空气冲击波到达时间进行预估的公式,利用该公式可以估算空气冲击波在T型坑道内的传播速度。