基于反馈线性化的非线性悬架系统振动状态观测  

Vibration state estimation of nonlinear suspension system based on feedback linearization

作　　者：陈思忠[1] 卢凡[1] 吴志成[1] 杨林[1] 赵玉壮[1] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《振动与冲击》2015年第20期10-15,共6页Journal of Vibration and Shock

基　　金：国家自然科学基金(51205021)

摘　　要：针对悬架系统非线性特性提出反馈线性化卡尔曼滤波算法。基于微分几何理论,通过求解坐标变换,将车辆非线性振动模型变换成可观测标准型,实现系统精确反馈线性化;采用线性卡尔曼滤波算法,针对变换的线性系统设计观测器,通过坐标逆变换获得原非线性系统的状态观测值。仿真结果表明,该算法能提高车辆振动状态观测精度、降低运算量。Aiming at the nonlinearity of suspension system,a feedback linearization Kalman filter algorithm was proposed. Based on the differential geometry theory,the nonlinear vehicle vibration model was transformed into a certain observable normal form via the change of state coordinates. Based on the obtained linearized system,an observer was designed by using Kalman filter algorithm. Finally the estimated states of the nonlinear system were obtained through inverse transformation. The simulation results show that compared with the extended Kalman observer,the proposed algorithm can improve the observation accuracy of vehicle vibration states and reduce computational complexity.

关 键 词：状态观测 反馈线性化 非线性悬架 振动 

分 类 号：U461.4[机械工程—车辆工程] U463.3[交通运输工程—载运工具运用工程]