Backstepping-based hydraulic type active suspension control method
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A technology of active suspension and control method, which is applied in the direction of suspension, elastic suspension, transportation and packaging, etc., and can solve problems that are difficult to apply to real vehicle control and parking
Inactive Publication Date: 2011-10-12
NORTH CHINA ELECTRIC POWER UNIV (BAODING) +1
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In addition, the above-mentioned methods mainly stay in the laboratory simulation and are difficult to be applied to real vehicle control
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Embodiment 1
[0040] figure 1 It is a flow chart of the hydraulic active suspension control method based on Backstepping, according to figure 1 Shown, the realization process of the present invention comprises:
[0041] Step 1: Build an active suspension system model.
[0042]In the present invention, first consider the nonlinear term as a hypothetical control variable design constraint H ∞ The controller implements the required performance index requirements.
[0043] To establish the model of the active suspension system, a linear time-invariant (LTI) model is specifically selected, that is,
[0044]
[0045] where x ∈ R n and ξ∈R m are the state variables of the linear subsystem and the nonlinear subsystem respectively, the state variable ξ of the nonlinear subsystem is the input of the linear subsystem, and f and g satisfy g(x,ξ)=diag{g 1 (x, ξ 1 ), g 2 (x, ξ m ), L, g m (x, ξ m )}, and are external input and control input respectively, and Respectively control o...
Embodiment 2
[0069] figure 2 is a schematic diagram of a four-degree-of-freedom half-car model, figure 2 In this paper, aiming at the nonlinear dynamic characteristics of the actuator, the flow control active suspension semi-vehicle system is taken as the design model. Select state variables as follows:
[0070]
[0071] ξ = Q 1 Q s , Q 2 Q s T
[0072]
[0073] Among them, the introduction of hydraulic system rated pressure P s and rated flow Q s The purpose of is to normalize the variables. The state space descrip...
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Abstract
The invention discloses a Backstepping-based hydraulic type active suspension control method in the technical field of control of vibration isolation for automobiles, which is aimed at solving the problems of the traditional hydraulic type active suspension control method. The Backstepping-based hydraulic type active suspension control method comprises the following steps of: modeling an active suspension system model; seeking a state feedback controller for the active suspension system model selected in the step 1; obtaining the control law of the active suspension system based on a Backstepping technology; and calculating the bounds which interfere an inhibitory level and allow interference input energy. According to the Backstepping-based hydraulic type active suspension control method, the nonlinearity of an executing mechanism is effectively processed, and the comfort for riding a vehicle is enhanced on the premise of ensuring control stability.
Description
technical field [0001] The invention belongs to the technical field of automobile vibration reduction control, in particular to a hydraulic active suspension control method based on Backstepping. Background technique [0002] Since Fedrspiel-Labrosse of GM company first proposed the idea of active suspension in suspension design in 1954, domestic and foreign scholars have done a lot of work in the research of vehicle suspension control system. The automobile industry of various countries in the world also lists active and semi-active suspensions as one of the important research objectives. As early as 1982, Lotus Corporation developed an active active suspension system, which was installed on the experimental car of Volvo Corporation in Sweden. Toyota Motor Corporation's Soarer model uses an air suspension that can separately adjust damping and stiffness in three levels. In 1989, the real active hydropneumatic suspension system was installed on the Toyota Celica model. ...
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