Automobile active suspension H-infinity switching control method based on T-S fuzzy model

A fuzzy model, active suspension technology, applied in suspension, elastic suspension, motor vehicles, etc., can solve problems such as poor control effect and insufficient H∞ control performance, and achieve improved safety, comfort and safety. , the effect of improving the response speed

Active Publication Date: 2021-09-24
QIQIHAR UNIVERSITY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the problem that the standard H∞ control performance of the current active suspension is insufficient and the control effect is poor, the present invention provides a vehicle active suspension H based on the T-S fuzzy model ∞Switch the control method to make the active suspension controlled by this method have better performance

Method used

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  • Automobile active suspension H-infinity switching control method based on T-S fuzzy model
  • Automobile active suspension H-infinity switching control method based on T-S fuzzy model
  • Automobile active suspension H-infinity switching control method based on T-S fuzzy model

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Embodiment 1

[0070] Embodiment 1: as figure 1 , 2 , as shown, the core of the present invention is to provide a kind of H∞ switching control method of automobile active suspension based on T-S fuzzy model, this method utilizes the local linear processing advantage of T-S fuzzy model, complex nonlinear system is converted into linear system, The control process is greatly simplified; at the same time, a state feedback and output feedback control switching mechanism is proposed, so that the active suspension can have better performance in complex road conditions.

[0071] Step 1: The process of establishing the active suspension t-s model is as follows: According to Newton's second law, the following expression is derived

[0072]

[0073] where m s Spring load mass, m u is the unsprung mass (tyres, wheels, brake calipers, suspension linkages, etc.), u is the active control force of the actuator. k s and c s are the stiffness and damping of the suspension spring, respectively, k t ...

Embodiment 2

[0113] Embodiment 2: Taking the active suspension of a vehicle as an example, the following values ​​are selected:

[0114] m s =350kg,m u =120kg,k s =25000N / m,c s =900N / m,k t =210000N / m,c t =120N / m,z max= 0.2m. The parameter matrix of the system is obtained as follows:

[0115] B 1 =[0 -1 0 1] T ,

[0116] C 1 =[-71.4 0 -2.5 2.5] T ,

[0117] Assuming that the state of the suspension system is measurable, the switching controller will switch to state feedback control, and the required controller is obtained by the following steps:

[0118] Construct the LMI as follows:

[0119]

[0120] Set constant matrix in toolbox

[0121] A=[0,0,1,-1; 0,0,0,1;-71.4,0,-2.6,2.6;208,-1750,7.5,-6.5];

[0122] B = [0; 0; 1 / 350; -1 / 120];

[0123] B1=[0;-1;0;1];

[0124] C1 = [-71.4; 0; -2.5; 2.5];

[0125] D1=1 / 350;

[0126] set matrix variables

[0127] setlmis([])

[0128] X = lmivar(1,[4,1]);

[0129] Y=lmivar(1,[4,1]);

[0130] Q = lmivar(1,[4,1]);

[0131]...

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Abstract

The invention provides an automobile active suspension H-infinity switching control method based on a T-S fuzzy model. The control method comprises the following steps of 1, establishing an active suspension T-S fuzzy model; 2, proposing an active suspension H-infinity control law based on the T-S fuzzy model; and 3, designing a control switcher. When the state is measurable, the switcher is controlled to be switched to the state feedback H-infinity controller; and when the state is unmeasurable, the controller is switched to an output feedback H-infinity controller. The method has the advantages that the T-S fuzzy model is used for describing the active suspension, local linear conversion is conducted on a nonlinear suspension system, meanwhile, the H-infinity controller is combined with the T-S fuzzy model, a state feedback and output feedback control switching mechanism is designed, and the comfort and safety of the active suspension under the complex road condition are effectively improved.

Description

technical field [0001] The invention relates to the technical field of automobiles, in particular to an H∞ switching control method of an active suspension of an automobile based on a T-S fuzzy model. Background technique [0002] As an important part of automobile manufacturing, automobile suspension has played an important role in the upgrading and transformation of the automobile industry in recent years, and active suspension has gradually become the focus of traditional automobile upgrading and transformation. With the popularization of electric vehicles, the response is fast, Active suspension with low energy consumption reappears in ordinary passenger cars; especially with the transformation of the national energy strategy, electric vehicles are widely promoted, and the inherent advantages of electric vehicles make active suspension and electric vehicles The combination of energy consumption and responsiveness complements each other. [0003] Active suspensions mount...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60G17/018B60G17/019
CPCB60G17/018B60G17/019Y02T10/62Y02T90/00
Inventor 韩春松解恺吴庆涛邵会
Owner QIQIHAR UNIVERSITY
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