汽车半主动悬架的模型参考滑模控制器设计与分析

梁军; 庞辉; 王建平; 陈嘉楠

doi:10.13433/j.cnki.1003-8728.2017.0707

汽车半主动悬架的模型参考滑模控制器设计与分析

doi: 10.13433/j.cnki.1003-8728.2017.0707

1.
西安理工大学机械与精密仪器工程学院, 西安 710048

基金项目:

国家自然科学基金项目（51305342）、陕西省自然科学基金项目（2014JQ7240）及校科研基金项目（2015cx004）资助

详细信息

作者简介:
梁军(1991-),硕士研究生,研究方向为车辆控制理论与车辆动力学、悬架控制,467309779@qq.com

通讯作者:
庞辉(联系人),副教授,博士,huipang@163.com

计量
- 文章访问数: 241
- HTML全文浏览量: 42
- PDF下载量: 14
- 被引次数: 0
出版历程
- 收稿日期: 2016-04-06
- 刊出日期: 2017-07-05

Design and Analysis for Sliding Mode-following Controller of Semi-active Suspension System

1.
School Of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China

摘要

摘要: 为提高车辆行驶平顺性并减小轮胎对路面的动载荷，建立二自由度半主动悬架动力学模型，以理想天棚阻尼控制系统作为参考模型，在实际被控悬架与参考模型系统之间建立误差动力学系统，采用极点配置法设计滑模面。基于Lyapunov理论推导出被控悬架系统渐进稳定条件，并用指数趋近律消减系统抖振，使实际被控系统能够达到理想天棚模型的控制效果并产生渐进稳定的滑模运动。最后，建立基于理想天棚模型的半主动悬架滑模变结构控制仿真模型，并进行仿真验证。结果表明：滑模控制可以很好达到参考模型的控制效果，具有良好的适应性和鲁棒性。
- 参考模型 /
- 半主动悬架 /
- 滑模变结构控制 /
- 天棚阻尼控制
Abstract: In order to improve the vehicle ride comfort and reduce the tire dynamic load, the 2-DOF mathematical reference model of semi-active suspension system with ideal sky-hook damping is established, and then the error dynamic system is built between the actual controlled system and the reference model system. The sliding mode surface is designed with pole assignment method. Moreover, the asymptotic stability condition of suspension system is derived based on the Lyapunov theory, and the system chattering is reduced with the index control law, which makes the actual controlled system can achieve the control effect of the ideal reference model and produce the asymptotically stable sliding motion. Finally, the sliding mode variable structure control model is built based on the ideal sky-hook damping model of the semi-active suspension. Numerical simulation verification is conducted and results indicate that the sliding mode control has a good control effect of the reference model system with good adaptability and robustness.
- reference model /
- semi-active suspension /
- sliding mode control /
- sky-hook damping control

HTML全文

参考文献(17)

[1]	付振,楼少敏,许沧粟,等.基于参考模型的半主动悬架滑模控制[J].汽车工程,2009,31(6):552-556,560 Fu Z, Lou S M, Xu C S, et al. Sliding mode control of semi-active suspension based on reference model[J]. Automotive Engineering, 2009,31(6):552-556,560(in Chinese)
[2]	刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007,24(3):407-418 Liu J K, Sun F C. Research and development on theory and algorithms of sliding mode control[J]. Control Theory & Applications, 2007,24(3):407-418(in Chinese)
[3]	寇发荣,方宗德.能量可再生的新型汽车半主动悬架系统研究[J].机械科学与技术,2007,26(7):935-939 Kou F R, Fang Z D. Study of a novel semi-active suspension system of an energy-regenerative vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2007,26(7):935-939(in Chinese)
[4]	El Majdoub K, Ghani D, Giri F, et al. Adaptive semi-active suspension of quarter-vehicle with magnetorheological damper[J]. Journal of Dynamic Systems, Measurement, and Control, 2015, 137(2):021010
[5]	Choi J Y. High tunable control algorithm for semi-active suspension by a normal type CDC damper[J]. Journal of Institute of Control, Robotics and Systems, 2010, 16(11):1096-1103
[6]	Ha S H, Seong M S, Choi S B. Design and vibration control of military vehicle suspension system using magnetorheological damper and disc spring[J]. Smart Materials and Structures, 2013, 22(6):065006
[7]	褚端峰,李刚炎.半主动悬架汽车防侧翻控制的研究[J].汽车工程,2012,34(5):399-402,432 Chu D F, Li G Y. A research on anti-rollover control for vehicles with semi-active suspension[J]. Automotive Engineering, 2012,34(5):399-402,432(in Chinese)
[8]	方子帆,邓兆祥,郑玲,等.汽车半主动悬架系统研究进展[J].重庆大学学报,2003,26(1):104-108 Fang Z F, Deng Z X, Zheng L, et al. A review of recent advances in research and development on vehicle semi-active suspension systems[J]. Journal of Chongqing University, 2003,26(1):104-108(in Chinese)
[9]	郑玲,邓兆祥,李以农.汽车半主动悬架的滑模变结构控制[J].振动工程学报,2003,16(4):457-462 Zheng L, Deng Z X, Li Y N. The sliding model control with varying structure for semi-active suspensions in vehicle[J]. Journal of Vibration Engineering, 2003,16(4):457-462(in Chinese)
[10]	Chen B C, Shiu Y H, Hsieh F C. Sliding-mode control for semi-active suspension with actuator dynamics[J]. Vehicle System Dynamics, 2011,49(1-2):277-290
[11]	陈帝伊,申滔,马孝义.滑模变结构法实现旋转圆盘混沌振动的控制[J].振动与冲击,2011,30(9):248-252 Chen D Y, Shen T, Ma X Y. Sliding mode control of chaotic vibrations of spinning disks[J]. Journal of Vibration and Shock, 2011,30(9):248-252(in Chinese)
[12]	赵永胜,刘志峰,蔡力钢,等.基于模型参考的主动空气悬架模糊自适应滑模控制[J].机械科学与技术,2010,29(1):12-16 Zhao Y S, Liu Z F, Cai L G, et al. A fuzzy adaptive sliding mode controller for active air suspension based on a reference model[J]. Mechanical Science and Technology for Aerospace Engineering, 2010,29(1):12-16(in Chinese)
[13]	Liu S B, Zhou H Y, Luo X X, et al. Adaptive sliding fault tolerant control for nonlinear uncertain active suspension systems[J]. Journal of the Franklin Institute, 2016,353(1):180-199
[14]	董小闵,余淼,廖昌荣,等.具有非线性时滞的汽车磁流变悬架系统自适应模糊滑模控制[J].振动与冲击,2009,28(11):55-60 Dong X M, Yu M, Liao C R, et al. Adaptive fuzzy sliding mode control for magneto-rheological suspension system considering nonlinearity and time delay[J]. Journal of Vibration and Shock, 2009,28(11):55-60(in Chinese)
[15]	姚嘉凌,郑加强,蔡伟义.车辆半主动悬架模型参考滑模控制[J].农业机械学报,2008,39(4):5-8,38 Yao J L, Zheng J Q, Cai W Y. Sliding mode model-following control of automobile semi-active suspension system[J]. Transactions of the Chinese Society for Agricultural Machinery, 2008,39(4):5-8,38(in Chinese)
[16]	田杰,陈宁,羊玢,等.主动四轮转向车辆的分数阶滑模控制[J].机械科学与技术,2015,34(9):1438-1441 Tian J, Chen N, Yang B, et al. Fractional order sliding mode control of active four-wheel steering vehicle[J]. Mechanical Science and Technology for Aerospace Engineering, 2015,34(9):1438-1441(in Chinese)
[17]	余志生.汽车理论[M].5版.北京:机械工业出版社,2009 Yu Z S. Theory of automobile[M]. 5th ed. Beijing:China Machine Press, 2009(in Chinese)