摘要
针对主动悬架系统非线性特性和系统参数不确定性的问题,提出了一种非线性主动悬架自适应滑模反步控制算法。基于主动悬架非线性特性的问题,建立二自由度1/4非线性主动悬架模型。同时,在考虑主动悬架系统参数不确定性的条件下,在反步控制理论的基础上,结合滑模控制与自适应控制,提出了一种自适应滑模反步控制策略.为了验证本文所提出的自适应滑模反步控制器的控制效果,在Simulink中建立控制器仿真模型,对二自由度1/4非线性主动悬架进行仿真实验。仿真结果表明,与被动悬架相比,本研究所提出的控制策略,车身垂向加速度均方根值减小了70%左右,轮胎动变形均方根值减小了10%左右,结果表明车辆稳定性得到优化,不仅能够解决悬架系统参数不确定性问题,而且有效提高了悬架系统性能,改善了车辆运行过程中的平顺性和乘坐舒适性。该研究对主动悬架的控制研究具有重要意义。
Aiming at the problem of nonlinear characteristics and parameter uncertainty of active suspension system,an adaptive sliding mode backstepping control algorithm for nonlinear active suspension is proposed.Considering the nonlinear characteristics of the active suspension,a two-degree-of-freedom 1/4 nonlinear active suspension model is established.At the same time,considering the parameter uncertainty of the active suspension system,based on the backstepping control theory,combined with sliding mode control and adaptive control,an adaptive sliding mode backstepping control strategy is proposed.In order to verify the control effect of the adaptive sliding mode backstepping controller proposed in this paper,the controller simulation model is established in Simulink,and the simulation experiment of the two-degree-offreedom 1/4 nonlinear active suspension is carried out.The simulation results show that the root mean square value of the control strategy proposed in this study is reduced by about 70%compared with the vertical acceleration of the passive suspension body,and the root mean square value of the tire dynamic deformation is reduced by about 10%,indicating that the vehicle stability is optimized.It can not only solve the parameter uncertainty problem of the suspension system,but also effectively improve the performance of the suspension system,and improve the ride comfort and ride comfort during vehicle operation.This research is of great significance to the control of active suspension.
作者
赵培通
陈培苑
桂永建
严天一
ZHAO Peitong;CHEN Peiyuan;GUI Yongjian;YAN Tianyi(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China;School of Electric Power,Inner Mongolia University of Technology,Hohhot 010080,China)
出处
《青岛大学学报（工程技术版）》
CAS
2023年第4期35-40,50,共7页
Journal of Qingdao University(Engineering & Technology Edition)
基金
山东省自然科学基金面上资助项目(ZR2016EEM49)
国家自然科学基金资助项目(5147524)。
