重型车辆半主动磁流变悬架系统动态逆自抗扰控制器设计  

Design of dynamic inverse active disturbance rejection controller for semi-active MR suspension system of heavy vehicles

作　　者：甄亮 冯永保[1] 李淑智 何祯鑫 韩小霞 ZHEN Liang;FENG Yongbao;LI Shuzhi;HE Zhenxin;HAN Xiaoxia(Missile Engineer College,Rocket Force University Engineering,Xi’an 710025,China;Gansu Key Laboratory of Solar Power Generation Systen Project,Jiuquan Vocational and Technical College,Jiuquan 735000,China)

机构地区：[1]火箭军工程大学导弹工程学院,西安710025 [2]酒泉职业技术学院甘肃省太阳能发电系统重点实验室,甘肃酒泉735000

出　　处：《振动与冲击》2024年第15期117-125,共9页Journal of Vibration and Shock

基　　金：甘肃省太阳能发电系统重点实验室开放基金项目(2023SPKL04)。

摘　　要：针对现有重型车辆半主动磁流变悬架系统控制方法受模型中存在非仿射问题和控制增益不确定等问题,提出了一种引入动态逆的线性自抗扰控制器的设计方法。设计了线性扩张状态观测器和动态逆控制器,线性扩张状态观测器估计系统的状态和总和扰动,动态逆用以求解非仿射情况下的控制律。通过仿真试验表明,悬架系统所要求的性能指标明显改善,定量分析得到半主动动态逆线性自抗扰磁流变悬架的车体垂直加速度均方根值与被动悬架和半主动线性自抗扰磁流变悬架相比,分别下降了38.9%、17.8%,悬架动行程下降了7.8%、1.8%,车轮动变形下降了26.5%、11.5%,半主动动态逆线性自抗扰磁流变悬架性能明显优于被动悬架和半主动线性自抗扰磁流变悬架。因此,动态逆线性自抗扰控制技术既解决了重型车辆半主动磁流变悬架系统模型中存在的非仿射问题,同时也避免了经典线性自抗扰控制中控制增益标称值选取困难的问题,可以广泛应用于实际工程中。Here,aiming at problems of non-affine and uncertain control gain in existing model of semi-active MR suspension system control methods for heavy vehicles,the design method for dynamic inversion linear active disturbance rejection controller was proposed.A linear extended state observer and a dynamic inverse controller were designed,the former was used to estimate the system’s state and total disturbance,and the latter was used to solve the control law in non-affine situations.With simulation tests,it was shown that the performance indexes required by the suspension system are obviously improved;through quantitative analysis,comparing RMS value of vertical acceleration of vehicle with semi-active MR suspension using dynamic inverse linear active disturbance rejection controller to that of vehicle with passive MR suspension and that of vehicle with semi-active MR suspension using linear active disturbance rejection controller,respectively,it decreases by 38.9%and 17.8%,respectively,suspension dynamic stroke decreases by 7.8%and 1.8%,and wheel dynamic deformation decreases by 26.5%and 11.5%,the performance of the semi-active MR suspension using dynamic inverse linear active disturbance rejection controller is obviously better than that of passive suspension and that of the semi-active MR suspension using linear active disturbance rejection controller;the proposed dynamic inverse linear active disturbance rejection control technology can not only solve non-affine problem in semi-active MR suspension system model of heavy vehicles,but also avoid the difficulty in selecting the nominal value of control gain in classical linear active disturbance rejection control,so it can be widely applied in practical engineering.

关 键 词：车辆半主动悬架系统 磁流变阻尼器 动态逆自抗扰控制 非仿射系统 

分 类 号：TB535.1[理学—物理]