Designing method of self-adaption backstepping controller of full vehicle active suspension system

A technology of adaptive control and active suspension, applied in design optimization/simulation, instrumentation, calculation, etc., can solve problems such as increasing vehicle cost

Inactive Publication Date: 2017-09-29
TONGJI UNIV
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  • Abstract
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AI Technical Summary

Problems solved by technology

[0004] A normal running car often requires hundreds of embedded electronic devices with computing and storage ca

Method used

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  • Designing method of self-adaption backstepping controller of full vehicle active suspension system
  • Designing method of self-adaption backstepping controller of full vehicle active suspension system
  • Designing method of self-adaption backstepping controller of full vehicle active suspension system

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Embodiment

[0092] Such as figure 1 As shown, a method for designing an adaptive backstepping controller for an active suspension system of a whole vehicle, the method includes the following steps:

[0093] (1) Establish a nonlinear model of the active suspension of the whole vehicle;

[0094] (2) Determine the adaptive backstepping controller, the adaptive backstepping controller includes a front right suspension controller, a front left suspension controller, a rear right suspension controller and a rear left suspension controller, each controller Connect the actuators of the corresponding suspensions respectively;

[0095] (3) Determine the adaptive control target;

[0096] (4) The control law of the adaptive backstepping controller is determined by combining the nonlinear model of the whole vehicle active suspension and the adaptive control objective.

[0097] The non-linear model of the active suspension of the whole vehicle is:

[0098]

[0099]

[0100]

[0101]

...

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Abstract

The invention relates to a designing method of a self-adaption backstepping controller of a full vehicle active suspension system. The method comprises the following steps of 1, building a full vehicle active suspension non-linear model; 2, determining the self-adaption backstepping controller, wherein the self-adaption backstepping controller comprises a front right suspension controller, a front left suspension controller, a rear right suspension controller and a rear left suspension controller and all the controllers are connected to actuators corresponding to suspensions respectively; 3, determining a self-adaption control target; 4, determining a control law of the self-adaption backstepping controller by combining the full vehicle active suspension non-linear model and the self-adaption control target. Compared with the prior art, according to the designing method of the self-adaption backstepping controller of the full vehicle active suspension system, the driving comfort of vehicles is improved, meanwhile the vehicle driving safety, the suspension travel, the actuator saturation phenomenon and the like can all be satisfied, and the controllers of the design perform control more precisely and more reliably.

Description

technical field [0001] The invention relates to a method for designing an adaptive backstepping controller, in particular to a method for designing an adaptive backstepping controller for an active suspension system of a whole vehicle. Background technique [0002] With the rapid development of the automobile industry, people have higher and higher requirements for car driving comfort and safety, and car suspension systems are closely related to car driving comfort and safety. The active suspension system has a great potential to improve the driving comfort of the car, so it has attracted the attention of experts at home and abroad in recent years. The automobile suspension system is composed of rigid springs, dampers and actuators, and these devices have nonlinear characteristics. In addition, the mutual coupling of the up and down vibration of the car body, the left and right turning motion, and the front and rear pitching motion will cause the car suspension system to be...

Claims

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Application Information

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IPC IPC(8): G06F17/50
CPCG06F30/15G06F30/20
Inventor 张皓郑晓园王祝萍陈启军
Owner TONGJI UNIV
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