主动油气悬架电液伺服系统的自适应滑模控制  

Adaptive sliding mode control of active hydro-pneumatic suspension electro-hydraulic servo system

作　　者：刘爽[1] 李硕 赵丁选 高浩 LIU Shuang;LI Shuo;ZHAO Dingxuan;GAO Hao(Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao,Hebei 066004,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao,Hebei 066004,China)

机构地区：[1]燕山大学河北省工业计算机控制工程重点实验室,河北秦皇岛066004 [2]燕山大学机械工程学院,河北秦皇岛066004

出　　处：《燕山大学学报》2019年第6期477-484,共8页Journal of Yanshan University

基　　金：国家重点研发计划资助项目(2016YFC0802900);河北省自然科学基金资助项目(E2017203144)

摘　　要：在主动油气悬架的基础上,针对电液伺服阀的工作特性以及外加未知扰动的情况,采用自适应滑模控制的方法进行控制器设计。该方法针对悬架系统的不确定刚度进行自适应控制,较好的解决了参数不确定性对系统的影响,采用滑模控制的切换控制方法来提高系统对干扰的抑制作用,利用饱和函数代替符号函数的方法来减弱系统抖振带来的不利影响。最后通过仿真对比,主动悬架的车身垂直加速度、悬架动行程和车轮动载荷三项指标较之被动悬架都有了较大改善。The characteristics of the electro-hydraulic servo valves and the addition of unknown disturbance are studied in this paper based on the active hydro-pneumatic suspension.A adaptive sliding mode control is adopted.The problem of uncertain parameters of the system is solved effectively by adaptively controlling the stiffness using this method.The switching control of sliding mode control is used to improve the system′s suppression of interference,and a saturation function is used to replace the symbol function to reduce the adverse effects of system chattering.Finally,it is proved by the simulation comparison that the vertical acceleration,suspension travel and dynamic tire load of the active suspension have been greatly improved when comparing with the passive hydro-pneumatic suspension.

关 键 词：油气悬架 自适应滑模控制 电液伺服阀 外加扰动 

分 类 号：TP15[自动化与计算机技术—控制理论与控制工程]