摘要
为了提高半主动悬架的平顺性,对1/4半主动悬架模型进行建模,以混合天地棚控制作为参考模型,联合滑膜变结构控制与自适应控制,利用反演的设计理念,创建出自适应反演滑膜控制器。利用Lyapunov函数,在理论上推算出悬架系统渐进平稳的基础,使得实际控制器能够得到混合天地棚模型的控制效果,并获得逐渐平稳的滑膜运动。在MATLAB/SIMULINK中,仿真分析自适应反演滑模控制器对悬架性能的影响。仿真结果表明:自适应反演滑膜控制能够得到混合天地棚模型的控制效果,与被动悬架相比,对提高半主动悬架系统的减震效果更加明显,提高了车辆的平顺性。
In order to improve the smoothness performance of semi-active suspension,a 2-DOF 1/4 vehicle dynamics model of semi-active suspension is established,and an adaptive inversion slip-film controller is designed using the slip-film variable structure method.Taking the hybrid canopy control as the reference model,using the inverse design method and Lyapunov function,the foundation of the asymptotic stability of the suspension system is theoretically calculated,so that the actual controller can get the control effect of the hybrid canopy model and produce asymptotically stable synovial motion.In MATLAB/SIMULINK,the adaptive backstepping sliding mode controller is used to simulate and evaluate the suspension performance.The simulation results show that the adaptive inversion slip film control can achieve the control effect of the reference model,and it is more obvious to improve the shock absorption effect of the semi-active suspension system comparing with the passive suspension system.
作者
刘宇飞
范英
苏伟伟
石磊
LIU Yu-fei;FAN Ying;SU Wei-wei;SHI Lei(School of Transportation and Logistics,Taiyuan University of Science and Technology,Taiyuan 030024,China)
出处
《太原科技大学学报》
2022年第5期433-438,共6页
Journal of Taiyuan University of Science and Technology
基金
山西省重点研发计划(201903D121176)。
关键词
半主动悬架
二自由度模型
滑膜变结构控制
自适应
four-wheel steering
2-DOF model
integrated proportional control
handling stability
