适用于非线性主动悬架滑模控制的线性干扰观测器

doi:10.13229/j.cnki.jdxbgxb20200642

摘要/Abstract

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

龙江启,向锦涛,俞平,王骏骋. 适用于非线性主动悬架滑模控制的线性干扰观测器[J]. 吉林大学学报(工学版), 2021, 51(4): 1230-1240.

Jiang-qi LONG,Jin-tao XIANG,Ping YU,Jun-cheng WANG. Linear disturbance observer suitable for sliding mode control of nonlinear active suspension[J]. Journal of Jilin University(Engineering and Technology Edition), 2021, 51(4): 1230-1240.

图/表 15

图3

表1

主动悬架系统的基本参数"

参数	数值	参数	数值
$m s$ /kg	2.5	$k$	1.3
$m u s$ /kg	1	$b n$	-3
$k s 1 / (N ? m - 1)$	980	$b p$	2
$k s 2 / (N ? m - 3)$	15 000	$c s 2 / (N ? s 2 ? m - 2)$	100
$c s 1 / (N ? s ? m - 1)$	80	$k s t / (N ? m - 1)$	2500
$c s t / (N ? s ? m - 1)$	10	$z r$ /m	0.035
$m s 0$ /kg	2	$c 1$	2
$k s 0 / (N ? m - 1)$	950	$k 1$	20
$c s 0 / (N ? s ? m - 1)$	80	$α$	600
$k 0$	1	$μ 0$	0

表1

图4

图5

图6

图7

图8

图9

图10

图11

图12

图13

图14

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