吉林大学学报(工学版) ›› 2021, Vol. 51 ›› Issue (4): 1230-1240.doi: 10.13229/j.cnki.jdxbgxb20200642

• 车辆工程·机械工程 • 上一篇    

适用于非线性主动悬架滑模控制的线性干扰观测器

龙江启1(),向锦涛1,俞平1(),王骏骋2   

  1. 1.温州大学 机电工程学院,浙江 温州 325000
    2.浙江理工大学 机械与自动控制学院,杭州 310018
  • 收稿日期:2020-08-20 出版日期:2021-07-01 发布日期:2021-07-14
  • 通讯作者: 俞平 E-mail:longjiangqi@163.com;yuping55@zju.edu.cn
  • 作者简介:龙江启(1974-),男,教授,博士. 研究方向:车辆系统动力学与优化设计. E-mail:longjiangqi@163.com
  • 基金资助:
    国家自然科学基金项目(51905383)

Linear disturbance observer suitable for sliding mode control of nonlinear active suspension

Jiang-qi LONG1(),Jin-tao XIANG1,Ping YU1(),Jun-cheng WANG2   

  1. 1.College of Mechanical and Electrical Engineering,Wenzhou University,Wenzhou 325000,China
    2.Faculty of Mechanical Engineering and Automation,Zhejiang Sci-Tech University,Hangzhou 310018,China
  • Received:2020-08-20 Online:2021-07-01 Published:2021-07-14
  • Contact: Ping YU E-mail:longjiangqi@163.com;yuping55@zju.edu.cn

摘要:

基于参考天棚模型主动悬架中存在力的非线性特性、参数不确定以及执行器非理想性等问题,为了削弱这些问题对控制效果的影响,提出一种用于估计非线性参量以及参数不确定、非理想执行器所引起的不确定量的线性干扰观测器,结合滑模控制建立了带有干扰观测器的控制系统;分析了天棚阻尼系数和不确定量对主动悬架控制效果的影响,给出了最优天棚阻尼的选取方法,验证了干扰观测器的有效性;最后,仿真模拟了所提出的控制算法在凸块以及C级路面行驶工况下的控制效果,结果显示:相比于传统没有观测器的基于参考天棚模型的滑模控制,所设计的含有观测器的基于参考天棚模型滑模控制算法在舒适性、稳定性以及安全性方面都有所提升。

关键词: 车辆工程, 主动悬架, 线性干扰观测器, 参考天棚模型, 滑模控制

Abstract:

The active suspension based on the reference sky-hook model has problems such as nonlinear force, parameters uncertainty, and actuator non-ideality. To weaken the influence of these problems on the control effect, a linear disturbance observer (LDO) was proposed for estimating the uncertainties caused by the actuator imperfections, the nonlinear and uncertain parameters in the active suspension. Combined with sliding mode control (SMC) a control system is established. The influences of the sky-hook damping coefficient and uncertain parameters on the control effect are analyzed. After that, the method for selecting the sky-hook damping coefficient is proposed and the effectiveness of the observer is proved. Finally, the performance indexes of active suspension system with LDO-SMC based on reference skyhook model (LDO-SMCRSM) and SMC based on reference sky-hook model (SMCRSM) are calculated and compared in a bump and class-C road running condition. Simulation results shows that a better suspension performance can be obtained by using the proposed LDO-SMCRSM.

Key words: vehicle engineering, active suspension, linear disturbance observer, reference skyhook model, sliding mode control

中图分类号: 

  • U461.4

图1非线性二自由度主动悬架模型"

图2改进的二自由度天棚模型"

图3

带有干扰观测器的控制系统的控制原理图"

表1

主动悬架系统的基本参数"

参数数值参数数值
ms/kg2.5k1.3
mus/kg1bn-3
ks1/(N?m-1)980bp2
ks2/(N?m-3)15 000cs2/(N?s2?m-2)100
cs1/(N?s?m-1)80kst/(N?m-1)2500
cst/(N?s?m-1)10zr/m0.035
ms0/kg2c12
ks0/(N?m-1)950k120
cs0/(N?s?m-1)80α600
k01μ00

图4

凸块路面位移变化"

图5

C级路面位移变化"

图6

带有观测器控制系统的仿真结构图"

图7

含有干扰观测器的控制系统中主动悬架性能指标的峰值"

图8

不含干扰观测器的控制系统中主动悬架性能指标的峰值"

图9

悬架性能指标随簧载质量的变化"

图10

存在死区现象情况下悬架的性能指标"

图11

不含观测器控制系统的控制原理图"

图12

不含观测器控制系统的仿真结构图"

图13

凸块模型激励下主动悬架性能指标"

图14

C级路面模型激励下悬架性能指标"

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