Anti-saturation adaptive control method and a system of a nonlinear active suspension

Abstract

The invention discloses an anti-saturation adaptive control method and a system of a nonlinear active suspension. The method and system fully consider the non-linearity of stiffness and damping in suspension control process, establish the non-linearity suspension model before and after suspension control, solve the problem that the existing suspension design model is relatively simple, and make the model more accurate; And aiming at the actuator saturation problem existing in the actual vehicle, The method of input error saturation amplification is adopted, and a stable auxiliary system is introduced to realize the compensation of control saturation, which not only ensures the consistency and boundedness of output error, but also has good smoothness and easy to select parameter value, so that the suspension system successfully achieves the goal of anti-saturation. Further, the method and the adaptive backstepping control method proposed by the system of the invention effectively solvethe influence of parameter uncertainty on the suspension system, and improve the ride comfort, ride comfort and operation safety.

Description

technical field [0001] The invention relates to the technical field of nonlinear suspension control, in particular to an anti-saturation adaptive control method and system of a nonlinear active suspension. Background technique [0002] Suspension has a very important influence on the smoothness of vehicle driving, ride comfort and operating safety. At present, automobile suspension systems mostly use linear models, and their stiffness and damping coefficients are mostly constants, which are generally the results of people's experience summary and optimal design derivation. When studying some conventional behavioral characteristics of the system, they can often get satisfactory results. result. But for the suspension system, vehicle vibration often leads to the occurrence of complex nonlinear dynamic behavior, and its nonlinear characteristics cannot be accurately described by linear models, so it is often more practical to study the control of nonlinear suspension. [0003...

AI Technical Summary

Problems solved by technology

The ideal spring elements, dampers, and tire stiffness are mostly constant, and the design is simple and the effect is remarkable. However, for the actual system, due to the generation of complex behavioral dynamics, the error between the actual system and the linear ideal model is relatively large. As a result, the error in the process of controlling the suspension is relatively large, so the reference value of the ideal linearized mathematical model is too low

[0008] 2. Unable to meet the influence of actuator saturation and parameter uncertainty of automobile suspension

For the automotive suspension system, when the actuator is saturated, it may lead to the deterioration of the performance of the closed-loop system, and even cause the instability of the closed-loop system, and the dynamic parameters of the suspension will change over time. , which brings difficulties to the design of the control strategy

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