非线性二自由度主动悬架滑模控制方法的研究

doi:10.3901/JME.2020.01.058

机械工程学报 ›› 2020, Vol. 56 ›› Issue (1): 58-68.doi: 10.3901/JME.2020.01.058

非线性二自由度主动悬架滑模控制方法的研究

秦武, 上官文斌, 吕辉

华南理工大学机械与汽车工程学院广州 510641

收稿日期:2019-01-22 修回日期:2019-08-15 出版日期:2020-01-05 发布日期:2020-03-09
通讯作者: 上官文斌(通信作者),男,1963年出生,博士,教授,博士研究生导师。主要研究方向为汽车悬架系统、振动噪声分析与控制、橡胶减振系统。E-mail:sgwb@scut.edu.cn
作者简介:秦武,男,1991年出生,博士研究生。主要研究方向为汽车悬架系统振动控制。E-mail:1053445585@qq.com
基金资助:
国家自然科学基金（51975217，51605167，11472107）、广州市科技计划（201804010092）和中央高校基本科研业务费（2019MS058）资助项目。

Research on Sliding Mode Control for Nonlinear Active Suspension System with Two Degrees of Freedom

QIN Wu, SHANGGUAN Wenbin, Lü Hui

School of Mechanical and Automotive Engineering, South China University of Technology, Guangzhou 510641

Received:2019-01-22 Revised:2019-08-15 Online:2020-01-05 Published:2020-03-09

摘要/Abstract

摘要： 以非线性二自由度主动悬架模型为研究对象，分析与验证了基于参考天棚模型的滑模控制算法在非线性悬架控制中的有效性。根据参考天棚模型和非线性二自由度模型中簧载质量位移和速度相等，利用滑模控制方法，给出了非线性二自由度主动悬架的控制力的计算方法。试验测试了有无控制时非线性二自由度主动悬架系统中簧载质量的加速度，验证了主动悬架的控制力的计算方法的有效性。给出了参考天棚模型中天棚阻尼系数的选择方法，研究了控制参数对非线性二自由度主动悬架控制效果的影响。基于非线性二自由度主动悬架模型，计算分析了滑模控制和线性二次型最优（Linear quadratic regulator，LQR）控制的主动悬架性能指标。结果表明：对于非线性二自由度悬架系统，基于参考天棚滑模控制的主动悬架系统可以获得更优的性能指标。

关键词: 非线性二自由度主动悬架模型, 参考天棚模型滑模控制算法, 天棚阻尼系数, 悬架性能指标

Abstract: Based on the nonlinear model of two degrees of freedom (2DOF), the sliding mode control (SMC) algorithm based on reference sky-hook model for active suspension system is proposed. The effectiveness of the algorithm applied in the nonlinear 2DOF control system of active suspension is validated by the active suspension plant. In the reference sky-hook model and the nonlinear 2DOF control model of active suspension, the displacement and the velocity of sprung mass assumed to be equal by using the control force. The calculation method for control force of active suspension is developed by using the SMC algorithm based on reference sky-hook model. Through the measured acceleration of sprung mass in nonlinear 2DOF model with SMC, the effectiveness of the calculated method for the control force is verified. The method for selecting damping coefficient in reference sky-hook model is proposed. The influence of the selected parameters in reference sky-hook model on the controlling performance of the nonlinear 2DOF control system of active suspension is analyzed. Based on the nonlinear 2DOF suspension model, the performance indexes of active suspension system with SMC and linear quadratic regulator (LQR) control are calculated and compared. It is shown that the nonlinear active suspension control system with SMC based on reference sky-hook model can obtain the better performance indexes.

Key words: nonlinear 2DOF suspension model, SMC algorithm, sky-hook damping, performance indexes

中图分类号:

U463

秦武, 上官文斌, 吕辉. 非线性二自由度主动悬架滑模控制方法的研究[J]. 机械工程学报, 2020, 56(1): 58-68.

QIN Wu, SHANGGUAN Wenbin, Lü Hui. Research on Sliding Mode Control for Nonlinear Active Suspension System with Two Degrees of Freedom[J]. Journal of Mechanical Engineering, 2020, 56(1): 58-68.

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非线性二自由度主动悬架滑模控制方法的研究

Research on Sliding Mode Control for Nonlinear Active Suspension System with Two Degrees of Freedom

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