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Non-linear expansion state observer-based active suspension output feedback control method

An extended state observation, active suspension technology, applied in adaptive control, general control system, control/regulation system, etc. It can improve the stability of the body posture and ride comfort, save the measurement cost, and achieve the effect of fast convergence speed.

Active Publication Date: 2019-12-20
YANSHAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0015] The technical problem to be solved by the present invention is to provide an active suspension output feedback control method based on a nonlinear extended state observer, which solves the problem that the existing technology is based on a simplified model, and the lack of consideration of the nonlinearity and uncertainty of the suspension system leads to the performance of the controller. decline, and the existing control methods ignore the availability of information used by the controller, it is difficult to apply to practical problems, while improving the convergence speed and control accuracy of the controller, and further improving the performance of the suspension system

Method used

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  • Non-linear expansion state observer-based active suspension output feedback control method
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specific Embodiment approach 1

[0040] Such as figure 1 As shown, the active suspension output feedback control method based on the nonlinear extended state observer is implemented in the following steps:

[0041] Step 1, establishing a general uncertain nonlinear 1 / 2 vehicle active suspension system model;

[0042] Step 2, design the nonlinear extended state observers for vertical motion and pitch motion respectively;

[0043] Step 3, design the control rate of the output feedback stable controller based on the unmeasurable state and uncertain disturbance estimation obtained by the nonlinear extended state observer;

[0044] Step 4, adjust the design parameters of the output feedback stabilization controller until the expected control effect is achieved.

[0045] This embodiment proposes an active suspension output feedback control method based on a nonlinear extended state observer, and a general active suspension system model is established considering the complex nonlinearity and many uncertain factors...

specific Embodiment approach 2

[0048] The difference between this embodiment and the specific embodiment one is: the establishment of the general uncertain nonlinear 1 / 2 vehicle active suspension system model described in step one is specifically:

[0049] combine figure 2 The provided 1 / 2 vehicle active suspension system model, according to Newton's second law, the dynamics of the active suspension system can be expressed as:

[0050]

[0051] Among them, M represents the sprung mass of 1 / 2 vehicle active suspension system, I represents the moment of inertia of the pitching motion of the vehicle body, m u1 represents the unsprung mass of the front wheel, m u2 represents the unsprung mass of the rear wheel, F s1 and F d1 represent the spring force and damping force in the front suspension components, respectively, F s2 and F d2 denote the spring force and damping force in the rear suspension assembly respectively, F t1 and F b1 represent the elastic force and damping force generated by the front ...

specific Embodiment approach 3

[0062] The difference between this embodiment and the specific embodiment one or two is that the design of the nonlinear expansion state observer for vertical motion and pitch motion described in step two specifically includes the following two parts:

[0063] (1) Separately design vertical and pitch motion nonlinear expansion state observers

[0064] Define the active suspension system state variable x 1 =z c , x 4 = φ, The output of the active suspension system is y 1 =x 1 =z c ,y 2 =x 4 = φ. The observer designed in the present invention only uses the output signal of the active suspension system, and the output signal can be easily measured by inertial components such as gyroscopes.

[0065]

[0066]

[0067] in

[0068]

[0069] In the actual environment, the sprung mass will change with the number of passengers and the weight of the cargo, and the linear stiffness coefficient and linear damping coefficient of the suspension components will change wi...

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Abstract

The invention discloses a non-linear expansion state observer-based active suspension output feedback control method, and belongs to the field of vehicle active suspension control. The non-linear expansion state observer-based active suspension output feedback control method comprises the following steps of 1, building a universal uncertainty non-linear one second vehicle active suspension systemmodel; 2, respectively designing a vertical motion non-linear expansion state observer and a pitching motion non-linear expansion state observer; 3, designing control rate of an output feedback stablecontroller according to unmeasured state and uncertainty distribution estimation which are obtained by the non-linear expansion state observer; and 4, adjusting a design parameter of the output feedback stable controller until an expected control effect is achieved. By the non-linear expansion state observer-based active suspension output feedback control method, the problem that the consideration of non-linearity and uncertainty of a suspension system is not enough by a simplification model in the prior art to cause that the performance of the controller is reduced, the accessibility of information used by the controller is neglected by an existing control method and the control method is difficult to apply to practice are solved, meanwhile, the convergence speed and the control accuracyof the controller can be improved, and the performance of the suspension system is further improved.

Description

technical field [0001] The invention relates to the field of vehicle active suspension control, in particular to an active suspension output feedback control method based on a nonlinear expansion state observer. Background technique [0002] The suspension system is an important assembly of the vehicle chassis, which plays the role of isolating the vibration of the vehicle body caused by uneven road surfaces, supporting the weight of the vehicle body, and helping to maintain continuous contact between the tires and the ground. Due to the addition of actuators, the active suspension system has greater potential than passive suspension and semi-active suspension in improving the ride comfort, handling stability and driving safety of the vehicle, so it has become a research hotspot in recent years. [0003] The actuator increases and dissipates the energy in the system according to the instructions of the control strategy, so that the suspension system is in the best vibration ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵丁选杜苗苗杜松王丽丽杨梦珂陈浩韩明远
Owner YANSHAN UNIV
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