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Control method for automotive active suspension system

A technology of active suspension and control method, applied in the field of control, can solve the problems of being unable to deal with external uncertain disturbances and unmodeled dynamics

Active Publication Date: 2015-04-22
哈尔滨工业大学高新技术开发总公司
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] In order to solve the problem that the design model of the existing suspension control technology is relatively simple, and most of them are single-objective control, which cannot cope with external uncertain interference and unmodeled dynamics, the present invention further proposes a control method for the active suspension system of automobiles

Method used

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  • Control method for automotive active suspension system
  • Control method for automotive active suspension system
  • Control method for automotive active suspension system

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Experimental program
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specific Embodiment approach 1

[0053] Specific implementation mode one: combine Figure 1 to Figure 3 Describe this embodiment, the concrete steps of the control method of a kind of automobile active suspension system described in this embodiment are as follows:

[0054] Step 1. Establish a nonlinear active suspension model. According to Newton's second law, the dynamic equation of the suspension system is:

[0055] m s z · · s + F d + F s = u + F l - - - ( 1 ) ,

[0056] m u z · · u - ...

Embodiment

[0102] The vehicle active suspension system parameter is the total mass of the vehicle body: m s =320kg; unsprung mass: m u =40kg; spring linear rigidity coefficient: k s1 =15000N / m; Spring nonlinear rigidity coefficient: k n1 =1000N / m; tire elastic coefficient: k f =10000N / m; tire damping coefficient: b f =2000Ns / m; Suspension damping coefficient: b e =1500Ns / m; b c =1200Ns / m; vehicle forward speed: V=20m / s.

[0103] Selection of control law parameters: system initial value condition initial displacement of vehicle body x 1 (0) = 1cm; x 2 (0)=x 3 (0)=x 4 (0)=0;k 1 =k 2 =10; both the nonlinear robust control gain and the energy attenuation gain are selected as 10.

[0104] The effect of the control law:

[0105] During the driving process of the vehicle, the main road disturbance is the lumpy road disturbance, and its mathematical description is as follows:

[0106] z o 1 = ...

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Abstract

The invention relates to a control method, in particular to a control method for an automotive active suspension system. The problem that design models are simple, and single-target control is mainly adopted in the conventional suspension control technologies, so that external uncertain disturbance and unmodeled dynamics cannot be coped with is solved. The control method specifically comprises the following steps of: establishing a nonlinear active suspension model; designing a nonlinear robust controller; and regulating gains k1, k2, epsilon1 and epsilon2 to ensure that all constraints are limited within a permissible range, namely to realize constraint control. The control method is used for the control and the stabilization of the automotive active suspension system.

Description

technical field [0001] The invention relates to a control method, in particular to a control method for an automobile active suspension system. Background technique [0002] Automotive active suspension system is a research hotspot in recent years. Its basic function is to improve driving comfort and enhance vehicle handling. Generally speaking, automobile suspension can be divided into three categories: passive suspension, semi-active suspension and active suspension. Passive suspension consists of basic springs and dampers placed between the body and the axle. Since the ability to improve driving comfort or enhance vehicle handling is a pair of performances that restrict each other, passive suspension can only improve one of the two performance indicators, and its ability is limited. Semi-active suspension systems have variable damping characteristics and can provide great improvements in controllability, however, due to passive operation, the improvement capabilities ar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60G17/00
Inventor 孙维超高会军
Owner 哈尔滨工业大学高新技术开发总公司
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