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Multi-target control method of automobile driving suspension system

An active suspension and control method technology, applied in the field of control, can solve the problems such as the inability to meet the multi-objective control performance of the suspension system and the inability to deal with the influence of the control performance.

Active Publication Date: 2013-12-11
哈尔滨工业大学人工智能研究院有限公司
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Problems solved by technology

[0008] The present invention provides an active suspension system for automobiles to solve the problem that the design model of the existing suspension control technology is relatively simple and cannot satisfy the multi-objective control performance of the suspension system, and cannot cope with the influence of external uncertain parameters on the system control performance. multi-objective control method

Method used

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  • Multi-target control method of automobile driving suspension system
  • Multi-target control method of automobile driving suspension system
  • Multi-target control method of automobile driving suspension system

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specific Embodiment approach 1

[0024] Specific implementation mode one: combine figure 2 Describe the present embodiment, the multi-objective control method of the automobile active suspension system of the present embodiment is realized according to the following steps:

[0025] Step 1, establishing a nonlinear uncertain quarter active suspension system model;

[0026] Step 2. Deriving an adaptive backstepping recursive controller;

[0027] Step 3, adjusting the control gain parameters of the adaptive backstepping recursive controller.

[0028] figure 2 The specific parameters of the active suspension system are as follows: Body mass: m s =600kg; Maximum body weight: m smax =700kg; minimum body weight: m smin =550kg; wheel assembly mass: m u =60kg; linear stiffness coefficient of the spring assembly: k s =18000N / m; the nonlinear stiffness coefficient of the spring assembly: Elongation damping coefficient of spring assembly damper: b e =2500Ns / m; Compression damping coefficient of spring assembl...

specific Embodiment approach 2

[0038] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: the establishment of a nonlinear uncertain quarter active suspension system model described in step one is specifically:

[0039] According to Newton's second law, the dynamic equation of a quarter active suspension system can be expressed as:

[0040] m s z · · s + F d ( z · s , z · u , t ) + F s ( z s , z ...

specific Embodiment approach 3

[0066] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that the design of the self-adaptive backstepping recursive controller described in step two includes the following five parts:

[0067] (1) Design the virtual control function α such that the tracking error e 1 =x 1 -x 1r as small as possible, where x 1r is the reference track signal. Combining formulas (7) and (8), we can get

[0068] x · 1 = x 2 - x · 1 r - - - ( 13 )

[0069] choose x 2 As a virtual control input for the error dynamics (13), its ideal function is α, define e 2 as actual state x 2 Same as dummy input x 2 The error between, that is, e 2 =x 2 -α, t...

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Abstract

The invention discloses a multi-target control method of an automobile driving suspension system, relates to a control method, and particularly relates to the a multi-target control method of an the automobile driving suspension system, which aims. In order to solve the problems that the a design model in the existing suspension control technology is simpler, and can not meet the multi-target control performance of the a suspension system and can not eliminate the influence of external uncertain parameters on the control performance of the system, the invention provides a multi-target control method of the automobile driving suspension system. The multi-target control method is implemented by the following steps of: (1) establishing a quarter of non-linear uncertain driving suspension system model; (2) deducing a self-adaptive back-stepping recursive controller; and (3) adjusting a control gain parameter of the self-adaptive back-stepping recursive controller. The multi-target control method disclosed by the invention is applied to in the field of automobile driving suspension control.

Description

technical field [0001] The invention relates to a control method, in particular to a multi-objective control method of an automobile active suspension system. Background technique [0002] With the development of the automobile industry, the automobile active suspension system has attracted the attention of many researchers, and people are committed to improving the ride comfort and driving controllability. Using advanced sensors and micro-actuators to obtain real-time road information, active suspension systems have the ability to continuously adjust themselves to changing road conditions. The active suspension system not only includes the function of supporting the weight of the vehicle body, but also undertakes to isolate the vibration of the vehicle body caused by the uneven road surface of the driver and passengers, and to maximize the contact between the tires and the road surface to ensure the safety of the vehicle. [0003] In the active suspension system, the actua...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G17/015B60G17/0165B60G23/00
Inventor 潘惠惠高会军孙维超徐宁召
Owner 哈尔滨工业大学人工智能研究院有限公司
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