摘要
从油气弹簧建模与试验验证出发,建立了特种车辆主动油气悬架的非线性模型.为满足特种车辆的工况要求,应用微分几何理论,通过微分同胚变换与非线性状态反馈将原非线性系统进行全局精确线性化,并对其设计线性PID控制算法.仿真结果表明,该非线性系统的控制策略具有算法设计简单、控制效果良好等特点.
Based on the modeling and experimental validation of the hydropneumatic spring, a nonlinear model of special vehicle active hydropneumatic suspension was developed. To meet the special operating condition of special vehicle, the nonlinear system was transformed into a linear one by means of homeomorphic transformation and nonlinear state feedback. Furthermore, the PID control approach was applied for the solution to the system of equations. The simulation results indicate that the present nonlinear controller is characterized by its simple structure and good performance.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2009年第10期1521-1525,共5页
Journal of Shanghai Jiaotong University
关键词
主动油气悬架
微分几何
反馈线性化
PID控制
active hydropneumatic suspension
differential geometry
feedback linearization
proportionintegral differential （PID） control
