An actuator input saturation control method for an 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 of inability to meet the control performance of the suspension system and the influence of the control performance of the system, so as to improve the driving comfort. degree, to meet the control performance, to improve the effect of comfort

Active Publication Date: 2016-07-06
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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  • An actuator input saturation control method for an automobile active suspension system
  • An actuator input saturation control method for an automobile active suspension system
  • An actuator input saturation control method for an automobile active suspension system

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specific Embodiment approach 1

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

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

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

[0026] Step 3: Adjusting the control gain parameters of the adaptive backstep recursive controller, namely, completing an actuator input saturation control method for an automotive active suspension system, such as: figure 1 shown.

[0027] Effects of this implementation:

[0028] This embodiment proposes an actuator input saturation control method for an active suspension system. Considering the uncertainty of actuator parameters in the actual vehicle and the vertical dynamic response of the vehicle body, an adaptive backstep recursion based on command filter is proposed. The control method...

specific Embodiment approach 2

[0030] Embodiment 2: The difference between this embodiment and Embodiment 1 is that: Step 1 establishes a nonlinear uncertain time-delay active suspension system model as follows:

[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 ( t ) ...

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; nonlinear stiffness coefficient of 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 in the first or second embodiment.

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Abstract

The invention relates to an actuator input saturation control method of an automobile active suspension system, and the invention relates to an actuator input saturation control method. The invention aims to solve the problem that the design model is relatively simple; the actuator saturation control of the automobile suspension system cannot be satisfied; and the influence of uncertain parameters cannot be dealt with, so an actuator input saturation control method of the automobile active suspension system is proposed. The method is through step 1, establishing a nonlinear uncertain time-delay active suspension system model; step 2, deriving an adaptive backstepping recursive controller based on command filter; step 3, adjusting the adaptive backstepping recursive controller The control gain parameters and other steps are completed. The invention is applied in 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 occupant (isolated irregular road surface transmits the body vibration of the occupant), but also has a 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, the motor or hydraulic system and other actuators are usually placed between the frame and the vehicle body. By dissipating and increasing the disturbance energy of the system, the posture of the vehicle body is stabilized and the driving comfort is improved. [0003] However, while we enjoy the advantages of active suspension system control, possible actuator saturation is one of the issues that we need to take serio...

Claims

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Application Information

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