车辆半主动悬架模型参考滑模控制.pdfVIP

2 0 0 8年4月 农 业 机 械 学 报 第39卷第4期 车辆半主动悬架模型参考滑模控制* 姚嘉凌 郑加强 蔡伟义 【摘要】 提出采用模型参考滑模控制的半主动悬架系统的鲁棒控制策略，使用四分之一汽车动力学模型作为 研究对象，设计的控制器易于实现，并且不需要测量路面的输入信号和减振器的阻尼力。该控制器用一个改进的 天棚控制系统作为参考模型。并确定了控制律，以使渐近稳定滑模能在实际被控系统和参考模型间的误差动力学 系统中产生。用等速趋近率改善滑模运动段的动态品质。将控制器的性能和被动悬架系统、实际天棚系统以及理 想天棚系统进行了对比。仿真研究证实了控制器的有效性和鲁棒性。 关键词：车辆 半主动悬架 模型参考 滑模控制 中图分类号：U463．33 文献标识码：A Sliding Mode Model-following Control of Automobile Semi-active Suspension System Yao Jialing Zheng Jiaqiang Cai Weiyi (Nanjing Forestry University) Abstract The purpose is to present a new robust strategy in controlling the semi—active suspension system． The strategy utilized the sliding mode model—following control scheme．A quarter-car model was used in the project，and the proposed controller was easy to be implemented，and it was not necessary to measure the road signal and damper force．An approximate ideal skyhook system was used by the controller as a reference mode1．and the control law was determined SO that an asymptotically stable sliding mode would occur in the error dynamics between the plant and the reference model states． A uniform reaching law was adopted to improve the dynamic quality of sliding mode motion．The performance of the controller has been compared with the passive system，the practical skyhook and the ideal skyhook systems．A simulation study was performed to prove the effectiveness and robustness of the control approach． Key words Vehicle，Semi—active suspension，Model—following，Sliding mode control 行驶安全性的矛盾。当前理论上的研究方法很 引言 多[2--3]，但投入实际应用的方法并不多。设计实 汽车半主动悬架系统具有结构简单、能耗小、稳