车辆主动座椅悬架的天棚反步控制器设计-噪声与振动控制.PDF

第38 卷 第4 期 噪 声 与 振 动 控 制 Vol 38 No.4 2018 年8 月 NOISE AND VIBRATION CONTROL Aug. 2018 文章编号：1006-1355(2018)04-0012-06 车辆主动座椅悬架的天棚反步控制器设计 赵 强，张 娜 （东北林业大学 交通学院，哈尔滨 150040 ） 摘 要：为提高车辆的乘坐舒适度，针对车辆主动座椅悬架提出一种新的基于近似天棚阻尼参考模型的反步控制 方法。在建立并分析1/4 车辆座椅悬架动力学模型的基础上，把近似天棚阻尼系统作为参考模型，将实际被控系统和 参考模型之间的动态误差引入到反步的思想中，在保证系统达到一致渐进稳定的前提下，通过反步设计方法完成控制 器设计,最终获得基于加速度反馈的实时作动力。最后通过与PID 和被动悬架仿真结果的对比，证明该系统的动态误 差是指数渐近稳定的，且该方法可明显增强车辆座椅悬架系统减振效果，所提出的反步控制方法对于座椅悬架的实际 控制具有参考价值。 关键词：振动与波；主动座椅悬架；天棚反步控制器；误差动力学；稳定性 中图分类号：TB53 文献标志码：A DOI 编码：10.3969/j.issn. 1006-1355.2018.04.003 Design of the Skyhook Back-stepping Controller for Vehicle Active Seat Suspensions ZHAO Qiang , ZHANG Na ( Traffic College, Northeast Forestry University, Harbin 150040, China ) Abstract : In order to improve the comfort of the vehicle, a new approximate skyhook-based back-stepping control method for the vehicle active seat suspension is proposed. The dynamics model of a quarter of the vehicle seat suspension system is established with the approximate skyhook damping system as the reference model. The dynamic error between the actual controlled system and the reference model is introduced to the back-stepping procedure. On the basis of ensuring the system to be uniformly and asymptotically stable, the back-stepping method is used to complete the controller design and the real-time actuating force is obtained. Finally, the dynamic error of the system is proved to be asymptotically stable by comparing with the simulation results of PID and passive suspension. The proposed method has a significant improvement