摘要
提出采用模型参考滑模控制的半主动悬架系统的鲁棒控制策略,使用四分之一汽车动力学模型作为研究对象,设计的控制器易于实现,并且不需要测量路面的输入信号和减振器的阻尼力。该控制器用一个改进的天棚控制系统作为参考模型,并确定了控制律,以使渐近稳定滑模能在实际被控系统和参考模型间的误差动力学系统中产生,用等速趋近率改善滑模运动段的动态品质。将控制器的性能和被动悬架系统、实际天棚系统以及理想天棚系统进行了对比。仿真研究证实了控制器的有效性和鲁棒性。
The purpose is to present a new robust strategy in controlling the semi-active suspension system. The strategy utilized the sliding mode model-following control scheme. A quarter-car model was used in the project, and the proposed controller was easy to be implemented, and it was not necessary to measure the road signal and damper force. An approximate ideal skyhook system was used by the controller as a reference model, and the control law was determined so that an asymptotically stable sliding mode would occur in the error dynamics between the plant and the reference model states. A uniform reaching law was adopted to improve the dynamic quality of sliding mode motion. The performance of the controller has been compared with the passive system, the practical skyhook and the ideal skyhook systems. A simulation study was performed to prove the effectiveness and robustness of the control approach.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2008年第4期5-8,38,共5页
Transactions of the Chinese Society for Agricultural Machinery
基金
南京林业大学科技创新基金资助项目(项目编号:CX2004-05)
关键词
车辆
半主动悬架
模型参考
滑模控制
Vehicle, Semi-active suspension, Model-following, Sliding mode control
