Vehicle active suspension coordination anti-saturation control method based on command filtering
A technology of active suspension and control method, which is applied in the direction of suspension, elastic suspension, vehicle components, etc. It can solve the problems of actuator output saturation, vertical acceleration and suspension stroke conflict, so as to improve ride comfort and suspension The effect of the racking stroke
Active Publication Date: 2020-05-19
YANSHAN UNIV
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Problems solved by technology
[0009] The technical problem to be solved in the present invention is to provide a vehicle active suspension coordinated anti-saturation control method based on command filtering, which takes into account the uncertain parameters in the suspension system, and effectively solves the problem by designing an anti-saturation compensation system and controller In the active suspension system, the actuator output saturation problem and the conflict between the vertical acceleration of the vehicle body and the suspension travel, the adaptive method is used to solve the influence of the uncertain parameters on the system
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[0177] Combine below Figure 1~7 And the examples further illustrate the present invention in detail:
[0178] Step 1: Establish a two-degree-of-freedom non-linear active suspension model: including establishing a dynamic model of the suspension according to Newton's second law and abstracting the dynamic model into a mathematical model of the suspension;
[0179] Ⅰ: Establish a two-degree-of-freedom nonlinear active suspension dynamic model;
[0180] Such as figure 2 Shown is the model diagram of the suspension system. In the suspension dynamics model, m s Indicates the sprung mass of the suspension, m u Indicates the unsprung mass of the suspension, F c Represents the nonlinear damping force of the suspension, F k Indicates the nonlinear stiffness of the suspension, F t Indicates the stiffness of the tire, F b Indicates the damping of the tire, u z Indicates the output force of the active suspension, k k Indicates the linear stiffness coefficient of the suspension, k kn Represents ...
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The invention discloses a vehicle active suspension coordination anti-saturation control method based on command filtering, and belongs to the field of automobile control. The method comprises the following steps of: 1, establishing a two-degree-of-freedom nonlinear active suspension model; 2, reasoning and coordinating a formula required by the anti-saturation controller according to the suspension mathematical model established in the step 1, and performing stability proving; and 3, performing controller parameter adjustment and simulation result comparison. According to the invention, the conflict between the vertical acceleration of the vehicle body and the dynamic travel of the suspension can be solved, and the riding comfort and the operation stability are effectively improved; in addition, the problem of saturation of main power can be solved, and the influence of output saturation of an actuator on a suspension system is effectively solved, so that the overall performance of the suspension is remarkably improved; and the derivative of virtual control is obtained by adopting a command filtering mode, so that the controller is more beneficial to practical application, a better control effect is obtained, and the controller can be applied to the field of suspension control.
Description
Technical field [0001] The invention relates to the technical field of automobile control, in particular to a coordinated anti-saturation control method of a vehicle active suspension based on command filtering. Background technique [0002] Because the active suspension can control the output of the main power through the control algorithm, the design of the main power can effectively reduce the vertical acceleration of the vehicle body, the suspension dynamic stroke and the dynamic and static load ratio of the tires. Compared with passive suspension and semi-active suspension, Active suspension can effectively improve the ride comfort and driving safety of vehicles. Therefore, active suspension gradually replaced passive suspension and semi-active suspension in the automotive field. [0003] With the continuous popularization of active suspension, the problems it brings are worthy of further study. Considering the main power output by active suspension, due to many uncertain fact...
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CPCB60G17/0182
Inventor 刘爽郝若兰赵丁选巩明德倪涛
Owner YANSHAN UNIV
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