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

Abstract

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

CLC Number:

U461.4

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.

Figures/Tables 15

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Table1

Basic parameters of active suspension system"

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

Table1

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

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