汽车半主动悬架的模型参考滑模控制器设计与分析  

Design and Analysis for Sliding Mode-following Controller of Semi-active Suspension System

作　　者：梁军[1] 庞辉[1] 王建平[1] 陈嘉楠[1] 

机构地区：[1]西安理工大学机械与精密仪器工程学院,西安710048

出　　处：《机械科学与技术》2017年第7期1022-1028,共7页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51305342);陕西省自然科学基金项目(2014JQ7240);校科研基金项目(2015cx004)资助

摘　　要：为提高车辆行驶平顺性并减小轮胎对路面的动载荷,建立二自由度半主动悬架动力学模型,以理想天棚阻尼控制系统作为参考模型,在实际被控悬架与参考模型系统之间建立误差动力学系统,采用极点配置法设计滑模面。基于Lyapunov理论推导出被控悬架系统渐进稳定条件,并用指数趋近律消减系统抖振,使实际被控系统能够达到理想天棚模型的控制效果并产生渐进稳定的滑模运动。最后,建立基于理想天棚模型的半主动悬架滑模变结构控制仿真模型,并进行仿真验证。结果表明:滑模控制可以很好达到参考模型的控制效果,具有良好的适应性和鲁棒性。In order to improve the vehicle ride conffort and reduce the tire dynamic load, the 2-DOF mathematical reference model of semi-active suspension system with ideal sky-hook damping is established, and then the error dynamic system is built between the actual controlled system and the reference model system. The sliding mode surface is designed with pole assignment method. Moreover, the asymptotic stability condition of suspension system is derived based on the Lyapunov theory, and the system chattering is reduced with the index control law, which makes the actual controlled system can achieve the control effect of the ideal reference model and produce the asymptotically stable sliding motion. Finally, the sliding mode variable structure control model is built based on the ideal sky-hook damping model of the semi-active suspension. Numerical simulation verification is conducted and results indicate that the sliding mode control has a good control effect of the reference model system with good adaptability and robustness.

关 键 词：参考模型 半主动悬架 滑模变结构控制 天棚阻尼控制 

分 类 号：U463.3[机械工程—车辆工程]