Automotive active suspension control method with dead-zone executer
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A technology of automobile suspension and control method, which is applied in the direction of suspension, elastic suspension, vehicle components, etc., can solve the problems of the actual performance of the system being reduced, and the inability to maintain the comfort controller.
Active Publication Date: 2016-02-03
HARBIN INST OF TECH
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Problems solved by technology
[0009] The purpose of the present invention is to solve the problem that the existing technology cannot meet the requirement of maintaining comfort under uneven road conditions, and the prior art does not consider the design process of the controller, resulting in a decrease in the actual performance of the system. and proposed an active vehicle suspension control method with a dead zone actuator
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specific Embodiment approach 1
[0055] Specific embodiment one: a kind of active vehicle suspension control method with dead zone actuator in this embodiment is prepared according to the following steps:
[0056] The design of the dead zone compensation controller applies the method of adaptive control in modern control theory, and finally applies the principle of Lyapunov stability to verify;
[0057] Step 1, establishing a mathematical model of the actuator dead zone in the active suspension system;
[0058] (1) The mathematical model of the dead zone of the actuator is as follows:
[0059] u = D Z ( ν ) = g r ( ν ) , i ...
specific Embodiment approach 2
[0096] Specific implementation mode two: the difference between this implementation mode and specific implementation mode one is: combining figure 2 In the second step, the 1 / 4 vehicle active suspension model with the dead zone characteristic actuator is established as follows:
[0097] According to the characteristics of the 1 / 4 vehicle active suspension system, the 1 / 4 vehicle active suspension model with the dead zone characteristic actuator is established as follows:
[0098] m s z ·· s = - F d ( z · ...
specific Embodiment approach 3
[0102] Specific embodiment three: the difference between this embodiment and specific embodiment one or two is that in step three, the dead zone compensation controller is designed using 1 / 4 of the dead zone characteristic actuator. The specific process is as follows:
[0103] (1) Define the state variable x of the system 1 = z s , x 3 =z u and Write the equation of state as:
[0104] x · 1 = x 2 x · 2 = θ 1 D Z ( ν...
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Abstract
The invention provides an automotive active suspension control method with a dead-zone executer, which relates to automotive active suspension control methods. The invention is the automotive active suspension control method with the dead-zone executer, which is to solve problems that the prior art cannot meet requirements of keeping comfort under uneven pavement conditions and the lowering of the actual performance is not taken into consideration in the controller designing process of the prior art. The method comprises the following steps of step 1, establishing a mathematical model of a dead zone of the executer in an active suspension system; step 2, establishing a 1 / 4 automotive active suspension module with a dead-zone characteristic executer; step 3, designing a dead-zone compensating controller by means of the 1 / 4 automotive active suspension module with the dead-zone characteristic executer; step 4, verifying a closed-loop system, in which the dead-zone compensating controller is introduced into the 1 / 4 automotive active suspension system, by using an Lyapunoy function; and the like. The automotive active suspension control method with the dead-zone executer, provided by the invention, is applied to the control field of automotive active suspensions.
Description
technical field [0001] The invention relates to an active vehicle suspension control method, in particular to an active vehicle suspension control method with a dead zone actuator. Background technique [0002] Cars have already become an indispensable means of transportation for modern people. With the continuous popularization of automobiles, various latest science and technology are continuously applied to automobiles. Every leap in the automobile industry is improving the overall performance of the automobile and improving the development of the entire automobile industry system. [0003] The car suspension system mainly refers to the device between the car body and the tires. The main functions of the suspension system are firm connection and effective shock absorption, thereby improving the safety of the vehicle and the comfort of the passengers. Automotive suspension systems are generally divided into passive suspension systems, semi-active suspension systems and a...
Claims
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