复合式空气悬架多模式切换终端滑模控制  

Terminal sliding mode control for multi-mode switching of composite air suspension

作　　者：寇发荣 杨旭东 李盛霖 KOU Farong;YANG Xudong;LI Shenglin(School of Electrical and Control Engineering,Xi’an University of Science and Technology,Xi’an 710054,China;School of Mechanical Engineering,Xi’an University of Science and Technology,Xi’an 710054,China)

机构地区：[1]西安科技大学电气与控制工程学院,西安710054 [2]西安科技大学机械工程学院,西安710054

出　　处：《振动与冲击》2024年第11期83-93,共11页Journal of Vibration and Shock

基　　金：国家自然科学基金项目(51775426);西安市科技计划项目(21XJZZ0039);咸阳市重点研发计划项目(2021ZDYF-GY-0027)。

摘　　要：针对车辆空气悬架系统在复杂工况下车身高度与悬架阻尼难以协调的问题,提出一种复合式空气悬架多模式切换终端滑模控制策略。考虑悬架系统非线性及外界干扰的影响,建立复合式空气悬架非线性动力学模型;设计多模式切换控制器以确定不同车身高度下的最优阻尼控制模式;采用未知输入观测器估计悬架系统状态量,并设计一种基于径向基神经网络的非奇异快速终端滑模控制器,控制直线电机输出对应模式下的电磁推力;最后,对多模式切换终端滑模控制策略下的悬架动态性能进行仿真与台架试验。仿真结果表明:该控制策略可有效协调车身高度与悬架阻尼,提高车辆在复杂工况下的平顺性和操稳性。试验结果表明:相比于被动悬架,系统的簧载质量加速度在时域和频域内分别降低了32.5%和33.7%,验证了该控制策略的有效性。Here,aiming at the problem of difficult coordination between vehicle body height and suspension damping under complex working conditions of vehicle air suspension system,a composite air suspension multi-mode switching terminal sliding mode control strategy was proposed.Considering the nonlinearity of suspension system and effects of external disturbances,the nonlinear dynamic model of composite air suspension was established.A multi-mode switching controller was designed to determine the optimal damping control mode under different vehicle body heights.An unknown input observer was used to estimate state variables of suspension system,and a non-singular fast terminal sliding mode controller was designed based on radial basis function neural network to control electromagnetic thrust corresponding to linear motor output mode.Finally,simulation and bench tests were conducted for suspension dynamic performance under multi-mode switching terminal sliding mode control strategy.The simulation results showed that the proposed control strategy can effectively coordinate vehicle body height and suspension damping,and improve the smoothness and handling stability of vehicle under complex working conditions.Test results showed that compared to passive suspension,the sprung mass acceleration of the system decreases by 32.5%and 33.7%in time domain and frequency domain,respectively to verify the effectiveness of the proposed control strategy.

关 键 词：复合式空气悬架 多模式切换 未知输入观测器 径向基神经网络 非奇异快速终端滑模控制 

分 类 号：U463.33[机械工程—车辆工程]