基于参考模型的主动悬架反演控制设计  

Reference model-based backstepping control for an active suspension system

作　　者：李连正 秦志昌 郭宗和[1] 李瑞先[1] 荆栋[1] LI Lianzheng;QIN Zhichang;GUO Zonghe;LI Ruixian;JING Dong(School of Transportation and Vehicle Engineering,Shandong University of Technology,Zibo 255049,China)

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255049

出　　处：《山东理工大学学报（自然科学版）》2021年第5期53-61,共9页Journal of Shandong University of Technology:Natural Science Edition

基　　金：山东省自然科学基金项目(ZR2018LA009);山东省重点研发计划项目(公益类科技攻关)(2019GGX104070);淄博市校城融合发展计划项目(2019ZBXC288)。

摘　　要：为减小车身垂直加速度以及轮胎变形量,从而提高车辆的乘坐舒适性和行驶稳定性,采用一种基于参考模型的反演控制设计方法,对汽车悬架进行主动减振控制研究。建立了1/4车辆二自由度主动悬架试验台架的动力学模型,并基于天棚-地棚阻尼控制方法建立了一种理想的被动控制悬架系统模型,将其作为后续反演控制设计的参考模型;将路面激励下理想的被动控制悬架系统的输出作为参考信号,基于李雅普诺夫理论设计一种模型参考反演控制算法,并将其应用于实际悬架系统的主动减振控制,以此实现对理想被动悬架系统减振性能的逼近;选取一种典型的路面激励形式,对所提出的主动减振控制方法进行仿真研究。仿真结果表明,基于参考模型的反演控制策略能有效抑制车身垂直运动,减小车身垂直加速度,同时在一定程度上减小了轮胎变形量,改善了汽车的乘坐舒适性和行驶稳定性。To reduce the vertical acceleration of the vehicle body and the deformation of the tires,thereby improving the ride comfort and driving stability of the vehicle,this paper proposes a reference model-based backstepping control design method to carry out active vibration reduction control research on a quarter car suspension.Firstly,we establish the dynamic model of the quarter car two-degree-of-freedom active suspension test bench according to Newton′s second law.Secondly,based on the skyhook and groundhook damping control method,we build an ideal passive control suspension system model,which serves as a reference model for the following backstepping control design.Then,we propose a reference model-based backstepping control algorithm based on the Lyapunov stability theory by taking the output of the ideal passive control suspension system under road excitation as a reference signal.This method aims to achieve the approximate vibration reduction performance of the ideal passive reference model by the real active suspension system under the same road excitation.Finally,we select a typical form of road excitation to test the proposed active vibration control method.The simulation results show that the reference model-based backstepping control strategy can effectively suppress the vertical acceleration of the vehicle body by increasing the dynamic travel of the suspension within certain limits and simutaneously reduce the tire deformation to a certain extent,which improves the car′s riding comfort and driving stability.

关 键 词：主动悬架 主动减振 模型参考反演控制 天棚-地棚阻尼 

分 类 号：U461.1[机械工程—车辆工程]