摘要
基于双横臂悬架的1/4汽车模型,以降低簧载质量振动为目的,提出了具有扰动观测器的滑模控制方法。由1/4汽车模型中簧载质量的受力平衡条件,得到了1/4汽车模型的二阶线性控制系统。在路面激励位移未知时,为了估计二阶线性控制系统输入的扰动力(控制臂的作用力、悬架弹簧力、减振器阻尼力和外界干扰力的总和),给出了基于滑模控制的扰动观测器设计方法。根据扰动观测器的估计值,计算了具有扰动观测器的滑模控制的1/4汽车模型的控制力。当路面激励为阶跃位移时,计算分析了采用无控制、PID控制和滑模控制时1/4汽车模型的簧载质量加速度,结果表明:具有扰动观测器的滑模控制器可以获得更好的控制效果。通过分析不同控制参数和外界干扰力对滑模控制器效果的影响,证明了基于1/4汽车模型的具有扰动观测器的悬架滑模控制设计的有效性。
To reduce the sprung mass acceleration,an algorithm of the sliding mode control with disturbance observer is proposed for a quarter-car model with double-wishbone suspension.The second-order linear control system of a quarter car model is obtained by the equilibrium condition of the forces acting on the sprung mass in a quarter-car model.Due to the unknown information of road excitation,these forces of suspension spring,damper and external disturbance acting on the sprung mass are estimated by using a disturbance observer which is developed based on the sliding mode control.The control force of a quarter-car model with sliding mode control of disturbance observer is obtained by using the estimated values of disturbance observer.Under the road excitation of the step displacement,the controlling performance(sprung mass acceleration)of the double-wishbone active suspension system is calculated with the sliding mode controller and the PID controller.It is shown that the controlling performance using sliding mode controller is better than that of using PID controller under the external disturbance force.By analyzing the influences of the control parameter and the external disturbance force on the controlling performance,the algorithm effectiveness of a sliding mode control with disturbance observer for a double-wishbone active suspension system is confirmed.
作者
秦武
朱钢
上官文斌
Ahmed Waizuddin
QIN Wu;ZHU Gang;SHANGGUAN Wen-bin;WAIZUDDIN Ahmed(School of Mechanical and Automotive Engineering,South China University of Technology,Guangzhou 510641,China;Ningbo Runzhou Auto Parts CO.Ltd.,Ningbo 315800,China)
出处
《振动工程学报》
EI
CSCD
北大核心
2020年第1期158-167,共10页
Journal of Vibration Engineering
基金
国家自然科学基金资助项目(11472107)
广东省自然科学基金资助项目(2019A1515011612)
关键词
滑模控制
双横臂悬架
1/4汽车模型
扰动观测器
sling mode control
double-wish bone suspension
a quarter-car model
disturbance observer
