摘要
从存在干扰作用的不确定性汽车悬架系统出发,结合反演设计理论,提出悬架系统混沌运动的自适应滑模控制方法。该方法利用自适应律对系统所受不确定性因素进行估计,采用Lyapunov函数理论证明该控制器的渐进稳定性。仿真结果表明:即使存在悬架系统参数时变、模型不确定以及不同等级路面激励干扰情况,该控制方法也能对悬架系统混沌运动进行有效控制,使无序的振动位移和速度向稳定状态转变,且其数值大幅降低,同时悬架系统的垂直振动加速度也明显减小,车辆行驶的平顺性和安全性提高。由于控制器不依赖汽车悬架系统模型中的非线性项,且控制器中的自适应干扰估计能有效抵消不确定性因素所带来的影响,具有良好的自适应性和鲁棒性,因此研究结果可望为设计汽车可控悬架系统、提高乘坐舒适性,提供有用的控制方法参考。
A self-adaptive sliding mode control method based on back--stepping design theory was presented, which was used to control chaos in the uncertain automobile suspension system with extern disturbance. The total uncertain factors in the system were estimated by self--adaptive algo- rithm. The asymptotic stability of controller was proved by Lyapunov theory. Simulation results demonstrate that even if suspension system exists time-variable parameters, uncertain mathematical model and different grade roads interference, this method can realize control chaotic vibration to the steady state, reduce vertical displacement, velocity and acceleration of suspension vibration very much, improve comfort and safety of driving evidently. The presented controller is independent of nonlinear term of the suspension model, and can offset the uncertain influences by adaptive estimating of disturbances. Hence, the control method has better adaptability and robustness. The research re- sults provide a useful reference for design the controllable suspension system with good vehicle ride comfort.
出处
《中国机械工程》
CAS
CSCD
北大核心
2013年第11期1531-1537,共7页
China Mechanical Engineering
基金
广西自然科学基金资助项目(2013GXNSFAA019351,2010GXNSFA013024,2010GXNSFA013126)
广西教育厅科研项目(201202ZD068,201204LX657)
关键词
汽车悬架
混沌
不确定性
反演设计
滑模控制
干扰估计
automobile suspension
chaos
uncertainty
back- stepping design
sliding mode con-trol
interference estimation
