汽车非线性悬架系统的无模型自适应控制方法研究  

Research on model-free adaptive control of automotive nonlinear suspension system

作　　者：王先明 高远[1,2] 龙文 李智健 WANG Xianming;GAO Yuan;LONGWen;LI Zhijian(School of Automation,Guangxi University of Science and Technology,Liuzhou 545616,China;Guangxi Key Laboratory of Automotive Component and Vehicle Technology(Guangxi University of Science and Technology),Liuzhou 545616,China;Technology Center of Passenger Vehicle,Dongfeng Liuzhou Automobile Co.LTD,Liuzhou 545005,China)

机构地区：[1]广西科技大学自动化学院,广西柳州545616 [2]广西汽车零部件与整车技术重点实验室(广西科技大学),广西柳州545616 [3]东风柳州汽车有限公司乘用车技术中心,广西柳州545005

出　　处：《广西科技大学学报》2023年第2期76-82,共7页Journal of Guangxi University of Science and Technology

基　　金：广西自然科学基金项目(2013GXNSFAA019351);广西高校中青年教师基础能力提升项目(2017 KY0360);广西高校工业过程智能控制技术重点实验室基金项目(PICT-2016-05)资助。

摘　　要：针对非线性悬架系统的控制问题,建立1/2车数学模型,提出一种双输入-双输出结构的改进型无模型自适应控制方法。该方法以车身的垂直振动加速度和俯仰角加速度为反馈量,以零加速度为控制期望,前后悬架的作动力为控制器输出。工作从双输入-双输出的紧格式动态线性化模型出发,引入一种加权改进的控制准则函数,推导出控制器数学表达式,并理论分析了悬架控制系统的稳定性。不同路面和车速的控制仿真对比结果表明,该方法相比传统的无模型自适应控制能进一步降低车身垂直振动加速度、动行程、轮胎形变,以及车身的俯仰角加速度,能更好地改善车辆的行驶平顺性和操纵稳定性。Aimed at the control of nonlinear suspension system,this paper establishes a mathematical model of half car,and proposes an improved model-free adaptive control method with a double-input-double-output structure.The vertical vibration acceleration and pitch angular acceleration of the vehicle body are selected as the feedback variables,zero acceleration is used as the control expectation,and the operating forces of the front and rear suspensions are controller outputs.The work starts from the dualinput-double-output compact dynamic linearization model,then derives the mathematical expression of the controller based on a weighted and improved control criterion function,and analyzes the stability of the suspension control system theoretically.The control simulation comparison results of different road surfaces and vehicle speeds show that,compared with the traditional model-free adaptive control,this method can not only further reduce the vertical vibration acceleration of the vehicle body,the dynamic stroke,the tire deformation,and the pitch angular acceleration of the vehicle body,but also improve the performance of the vehicle ride and handling stability.

关 键 词：车辆 非线性悬架系统 垂直振动 俯仰运动 无模型自适应控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] U463.33[自动化与计算机技术—控制科学与工程]