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Design Method of Robust Controller for Vehicle Active Suspension with Band-Finite Constraints

A robust controller and active suspension technology, applied in the field of vehicle suspension control, can solve the problem of multi-objective control of the vehicle model, the uncertainty of active suspension parameters, etc.

Active Publication Date: 2019-04-23
GUILIN UNIV OF ELECTRONIC TECH
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Problems solved by technology

[0007] The present invention aims at the multi-objective control of the whole vehicle model, the uncertainty of active suspension parameters and the suppression of vibration within a limited frequency band in the existing active suspension control system, and provides a vehicle active suspension robust controller with a limited frequency band constraint The design method, which can effectively improve the comfort of the vehicle ride

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  • Design Method of Robust Controller for Vehicle Active Suspension with Band-Finite Constraints
  • Design Method of Robust Controller for Vehicle Active Suspension with Band-Finite Constraints
  • Design Method of Robust Controller for Vehicle Active Suspension with Band-Finite Constraints

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Embodiment Construction

[0056] A design method of a robust controller for vehicle active suspension with finite frequency band constraints, such as figure 1 As shown, it specifically includes the following steps:

[0057] Step 1: Establish a vehicle-based active suspension dynamics model.

[0058] according to figure 2 Based on the active suspension model of the whole vehicle, the dynamic characteristics of the vehicle are analyzed, and the dynamic equation of the active suspension model of the vehicle based on the whole vehicle model is established:

[0059]

[0060] Among them, m s represents the sprung mass, is the vertical acceleration of the sprung mass at the center of mass (CG), and are the pitch and roll accelerations of the sprung mass at the center of mass, I p and I r are pitch and roll moments of inertia, respectively, θ and are the pitch and roll angles of the sprung mass at the center of mass, a the distance from the front axle to the center of mass, b the distance from ...

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Abstract

The design method of the vehicle active suspension robust controller with limited frequency band constraints in the present invention firstly analyzes the dynamic characteristics of the vehicle, and establishes an active suspension model based on the whole vehicle; then, according to the parameter changes of vehicle components, establishes a The state equation of the active suspension; for the vibration of the vehicle in the pitch and roll directions, the saturation characteristics of the active suspension actuator, the limit of the suspension stroke, etc., the multi-objective control model of the active suspension is established; considering the specific frequency band of the vertical vibration of the human body (4‑8Hz) sensitivity, establish a robust active suspension control system with limited frequency band constraints, and solve the system controller to effectively control the vehicle state to improve ride comfort.

Description

technical field [0001] The invention relates to the technical field of vehicle suspension control, in particular to a design method of a vehicle active suspension robust controller with limited frequency band constraints. Background technique [0002] The suspension system effectively connects the unsprung mass of the vehicle with the sprung mass, thereby reducing the vibration transmitted from the road to the vehicle body. In recent years, active suspension has been widely studied because of its good control performance, and a series of active control methods have been produced, and certain research results have been achieved, but there are still many problems: [0003] 1. Existing studies mostly use the active suspension model of a quarter of the vehicle to control the vertical motion of the vehicle, or the suspension model of a half of the vehicle to control the vertical and pitch motion of the vehicle, which cannot realize the control of the vertical motion of the vehicl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20G06F2111/04Y02T90/00
Inventor 景晖鲍家定杨运泽匡兵刘夫云张应红
Owner GUILIN UNIV OF ELECTRONIC TECH
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