基于TS模糊模型和扰动观测器的集成悬架控制系统设计  

Design of an integrated suspension control system based on TS fuzzy model and disturbance observer

作　　者：夏祥军 宁东红 郑敏毅 张农 XIA Xiangjun;NING Donghong;ZHENG Minyi;ZHANG Nong(School of Automobile and Traffic Engineering,Hefei University of Technology,Hefei 230009,China;Automotive Research Institute,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学汽车与交通工程学院,安徽合肥230009 [2]合肥工业大学汽车工程技术研究院,安徽合肥230009

出　　处：《合肥工业大学学报（自然科学版）》2021年第1期21-30,共10页Journal of Hefei University of Technology：Natural Science

基　　金：国家重点研发资助项目(2018YFB0105505-03);国家自然科学基金资助项目(51675152)。

摘　　要：由于汽车负载质量变化的非线性和摩擦力等扰动因素的存在,传统方法设计的主动悬架性能会受到较大影响。文章设计了一个集成悬架主动控制系统,建立1/4车三自由度振动模型,利用TS模糊模型对非线性的负载质量建模,从而提升控制器的鲁棒性;由于悬架迟滞特性对汽车平顺性能影响较大,使用MTS试验台对悬架进行了力特性分析,建立了精确的悬架摩擦力模型,并设计了一个扰动观测器来估计由实际摩擦力引起的扰动,对摩擦力进行补偿;以人体加速度、悬架动行程和车轮动载荷为控制目标,设计了一个基于TS模糊模型和扰动观测器的集成悬架H_∞状态反馈鲁棒控制器。时域和频域的分析结果表明:与被动悬架、主动汽车悬架、主动座椅悬架相比,该文设计的主动集成悬架能够有效提升汽车平顺性;且在BUMP激励下,集成悬架系统可以快速降低冲击载荷,具有良好的鲁棒稳定性。The performance of traditional active vehicle suspension will be affected to a certain extent because of the change of load quality and the influence of disturbance.In this paper,an integrated vehicle suspension control strategy is proposed.A three-degree-of-freedom vibration model of 1/4 vehicle is established,and the TS fuzzy model is used to reflect the influence of load quality changes,so as to improve the robust performance of the controller.Because the hysteresis characteristic of suspension has a great influence on vehicle ride comfort performance,MTS test-bed is used to analysis the force characteristic of suspension,and an accurate suspension friction model is established.A disturbance observer is designed to determine the disturbance caused by the actual friction in order to compensate the friction.An integrated suspension H∞state feedback robust controller based on TS fuzzy model and disturbance observer is designed with human acceleration,suspension travel and wheel load as control objectives.Simulation results show that the integrated suspension system can effectively improve vehicle ride comfort compared with passive suspension,active vehicle suspension and active seat suspension in time domain and frequency domain.Moreover,under the BUMP excitation,the integrated suspension system can rapidly reduce the impact load,and has good robust stability.

关 键 词：集成悬架系统 TS模糊模型 扰动观测器 状态反馈 多目标控制 

分 类 号：U461.4[机械工程—车辆工程]