车辆主动悬架的全息最优滑模控制器设计方法

发布时间：2019-03-28 06:57

【摘要】：随着人们对车辆平顺性及操纵稳定性的要求越来越高,主动悬架受到了越来越多的关注。控制方法是主动悬架的核心技术之一,对包含平顺性及操纵稳定性在内的悬架综合性能都有着重大的影响。名义工况下的最优性能和变工况(变参数工况与变行驶工况)下的鲁棒性能是评价控制系统工作效果的2个重要方面。为使主动悬架获得名义最优性能以及变参数/行驶工况下的良好鲁棒性,在提出一种全息最优滑模控制方法的基础上,研究了该方法在主动悬架上的运用,本文所做的主要研究工作如下:首先,针对线性1/2车4自由度车辆模型,根据现有的最优滑模控制方法为车辆主动悬架设计了现有最优滑模控制器,并通过理论分析揭示了现有最优滑模控制方法不能使主动悬架在名义工况下获得最优性能,以及在变参数/行驶工况下鲁棒性较差的原因。其次,发明了“一种用于车辆主动悬架的全息最优滑模控制器”(专利申请号:2015100343754)的方法,该方法通过对主动悬架控制系统状态方程进行扩展,构建不丢失任何系统结构与期望性能信息的滑模流形函数,并据此设计了主动悬架全息最优滑模控制器。再次,针对悬架不可避免的非线性特性,基于1/4车2自由度车辆模型,给出了非线性主动悬架用全息最优滑模控制器设计方法。该方法主要通过根据前馈反馈线性化方法进行控制系统线性化、为线性化后控制系统设计全息最优滑模控制器及控制反线性化等三个环节来实现非线性主动悬架全息最优滑模控制器的设计。最后,基于上述理论分析,考虑悬架非线性特征的情况下,通过数值仿真分析了主动悬架全息最优滑模控制器,模糊逻辑滑模控制器(在考虑非线性特征时,选用现有的最优滑模控制方法设计的控制器无法正常工作,用模糊逻辑滑模控制器代替)以及被动悬架在变参数/行驶工况下的悬架性能及鲁棒性的优劣。本文关于主动悬架全息最优滑模控制方法的研究成果,可为主动悬架及半主动悬架控制技术的后续理论与试验研究提供参考,具有一定的理论及实际工程价值。
[Abstract]:With the increasing demand for vehicle ride comfort and handling stability, active suspension has attracted more and more attention. The control method is one of the core technologies of active suspension, which has a great influence on the overall performance of suspension, including ride comfort and handling stability. The optimal performance under nominal operating conditions and robust performance under variable parameters and variable driving conditions are two important aspects of evaluating the working effect of the control system. In order to make active suspension obtain nominal optimal performance and good robustness under variable parameters / driving conditions, based on a holographic optimal sliding mode control method, the application of this method in active suspension is studied. The main research work in this paper is as follows: firstly, according to the existing optimal sliding mode control method, the existing optimal sliding mode controller for vehicle active suspension is designed for the 4-degree-of-freedom vehicle model of a linear 1-2 vehicle, which is based on the existing optimal sliding mode control method. The theoretical analysis shows that the existing optimal sliding mode control method can not make the active suspension obtain the optimal performance under the nominal condition and the reason for the poor robustness under variable parameters / driving conditions. Secondly, a method of "holographic optimal sliding mode controller for vehicle active suspension" (patent application number: 2015100343754) is invented, which extends the state equation of active suspension control system. A sliding mode manifold function with no loss of any information of system structure and expected performance is constructed, and a holographic optimal sliding mode controller for active suspension is designed on the basis of this function. Thirdly, aiming at the inevitable nonlinear characteristics of suspension, a holographic optimal sliding mode controller design method for nonlinear active suspension is presented based on the 2-DOF vehicle model of 1-4 vehicles. This method is based on the feedforward feedback linearization method to linearize the control system. The holographic optimal sliding mode controller is designed for the linearized post-control system and the control inverse linearization is used to realize the holographic optimal sliding mode controller design for the nonlinear active suspension. Finally, based on the above theoretical analysis and considering the nonlinear characteristics of suspension, the holographic optimal sliding mode controller and fuzzy logic sliding mode controller for active suspension are analyzed by numerical simulation. The controller designed with the existing optimal sliding mode control method can not work properly, so the fuzzy logic sliding mode controller is used instead of the fuzzy logic sliding mode controller, and the suspension performance and robustness of the passive suspension under variable parameters / driving conditions are good or bad. The research results of holographic optimal sliding mode control for active suspension can provide reference for the follow-up theoretical and experimental research of active suspension and semi-active suspension control technology, and have certain theoretical and practical engineering value.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.33

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