Adaptive control method of vehicle active suspension system considering time lag interference

Abstract

The invention discloses an adaptive control method of a vehicle active suspension system considering time lag interference, which comprises the following steps: establishing a nonlinear active suspension system model with input time lag, and obtaining a kinetic equation of an active suspension according to a Newton second law; designing a self-adaptive backstepping controller capable of resistingtime lag interference; analyzing the influence of the time lag on the system, calculating the critical time lag of the controlled suspension system, and obtaining the controllable time lag range of the self-adaptive backstepping controller; selecting proper gains k1 and k2 and feedback coefficients l1, l2, ls and lc, so that all constraints of the nonlinear system can be limited within a reasonable range under the influence of a certain time lag range, and control indexes are met; according to the method, the problems that an existing vehicle nonlinear suspension model is simple, a control target is single and the like are solved, and the problems of controller time lag interference, sprung mass uncertainty and model dynamic stability under the vehicle driving condition are also solved.

Description

technical field [0001] The invention belongs to the technical field of anti-jamming and self-adaptive control of a suspension system, in particular to an adaptive control method of a vehicle active suspension system considering time-delay interference. Background technique [0002] The suspension system is an important part of the bottom structure of the vehicle. Its main function is to isolate, absorb and dissipate the vibration caused by uneven roads, thereby effectively improving the comfort, stability and safety of the vehicle. Active suspension can produce instantaneously different active control forces according to the vehicle's motion state and road surface excitation at each moment, and the key issue in the development of active suspension controllers involves the trade-off between driving quality and road handling stability, which is the subject of many studies. focus of scholars. Aiming at this key issue, researchers have applied many control strategies to it. Fo...

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Problems solved by technology

However, the current research methods are mostly based on the 1 / 4 car model with a simple structure, and the initial value of the controlled system can be selected in a small range, the control method is conservative, and there are few cases where the controller has a time lag. However, such a controller design method is too idealized. Therefore, the present invention considers the nonlinearity and uncertainty of the system model, and proposes a control method that can resist time-delay interference and self-adaptive backstepping, which has certain practical sex and effectiveness

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