Executor input saturation control method of automobile active suspension system

A technology of active suspension and control method, applied in suspension, elastic suspension, transportation and packaging, etc., can solve the problems such as the inability to meet the control performance of the suspension system, the inability to deal with the influence of the system control performance, etc., so as to improve the driving comfort. degree, to meet the control performance, to improve the effect of comfort

Active Publication Date: 2014-01-22
哈尔滨工业大学高新技术开发总公司
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Problems solved by technology

[0009] The purpose of the present invention is to solve the problem that the design model of the existing suspension control technology is relatively simple, cannot meet the control performance of the suspension system, and cannot cope with the influence of system uncertain parameters and actuator input saturation on the system control performance, and provides a Actuator Input Saturation Control Method for Automotive Active Suspension System

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  • Executor input saturation control method of automobile active suspension system
  • Executor input saturation control method of automobile active suspension system
  • Executor input saturation control method of automobile active suspension system

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specific Embodiment approach 1

[0023] Specific Embodiment 1: The actuator input saturation control method of an active suspension system of an automobile according to this embodiment is specifically prepared according to the following steps:

[0024] Step 1, establishing a nonlinear uncertain time-delay active suspension system model;

[0025] Step 2, deriving an adaptive backstepping recursive controller based on the instruction filter;

[0026] Step 3, adjusting the control gain parameters of the adaptive backstepping recursive controller, that is, completing a control method for actuator input saturation of an active suspension system of an automobile, as follows: figure 1 shown.

[0027] The effect of this implementation mode:

[0028] This embodiment proposes an input saturation control method for the actuator of the active suspension system. Considering the uncertainty of the actuator parameters in the actual vehicle and the vertical dynamic response of the vehicle body, an adaptive backstepping rec...

specific Embodiment approach 2

[0030] Specific embodiment 2: The difference between this embodiment and specific embodiment 1 is that the establishment of the nonlinear uncertain time-delay active suspension system model in step 1 is:

[0031] According to Newton's second law, the dynamic equation of the active suspension system can be expressed as:

[0032] m s z . . 1 + F d ( z . 1 , t ) + F s ( z 1 , t ) = u ( t ) + F l ( ...

specific Embodiment approach 3

[0047] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the specific parameters of formulas (1) to (7) for establishing a nonlinear uncertain time-delay active suspension system model are as follows: sprung mass: m s =100kg; Linear stiffness coefficient of spring assembly: k s1 =1500N / m; the nonlinear stiffness coefficient of the spring assembly: Damping coefficient of spring assembly damper: c m =1095Ns / m; the maximum output force of the actuator is u max =500N. Other steps and parameters are the same as those in Embodiment 1 or Embodiment 2.

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Abstract

An executor input saturation control method of an automobile active suspension system relates o executor input saturation control methods. The executor input saturation control method of the automobile active suspension system mainly solves the problems that existing design models are too simple to meet the requirements of executor saturation control of automobile suspension systems or cope with the influence of uncertain parameters and comprises the steps such as, firstly, establishing a nonlinear uncertain time-delay active suspension system model; secondly, deducting a self-adaption back stepping recurrence controller based on an instruction filter; thirdly, adjusting control gain parameters of the self-adaption back stepping recurrence controller. The executor input saturation control method of the automobile active suspension system is applicable to the field of automobile active suspension control.

Description

technical field [0001] The invention relates to an actuator input saturation control method. Background technique [0002] Active suspension systems play an important role in the automotive industry. A well-designed suspension system can not only improve the comfort of the driver and passengers (isolate the body vibration transmitted from the irregular road surface to the driver and passengers), but also have good grip. Today's active suspension system has been widely used in the automotive industry because of its advantages such as light weight and small size. In the active suspension system, actuators such as motors or hydraulic systems are usually placed between the frame and the vehicle body to stabilize the posture of the vehicle body and improve driving comfort by dissipating and increasing the disturbance energy of the system. [0003] However, while we enjoy the advantages brought by the control of the active suspension system, the possible actuator saturation prob...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G17/015
Inventor 潘惠惠孙维超高会军
Owner 哈尔滨工业大学高新技术开发总公司
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