文献类型：期刊文献

中文题名：车辆主动悬架免模型输出反馈控制器设计与实验

英文题名：Design and Experiment of Model-free Output-feedback Control for Vehicle Active Suspensions

作者：王刚 周知进 陈海虹

第一作者：王刚

通信作者：Zhou, Zhijin

机构：[1]贵州理工学院机械工程学院

第一机构：贵州理工学院机械工程学院

年份：2019

卷号：50

期号：7

起止页码：389-397

中文期刊名：农业机械学报

外文期刊名：Transactions of the Chinese Society for Agricultural Machinery

收录：CSTPCD;;EI(收录号：20194307589134);Scopus(收录号：2-s2.0-85073811830);北大核心:【北大核心2017】；CSCD:【CSCD2019_2020】；

基金：国家自然科学基金项目(51479073);黔科合平台人才项目([2017]5789-11)

语种：中文

中文关键词：车辆;主动悬架;二阶滑模;输出反馈控制;滑模观测器

外文关键词：vehicle;active suspensions;second-order sliding mode;output-feedback control;sliding mode observer

摘要：针对车辆主动悬架的免模型振动控制问题,提出了结合饱和超螺旋算法的实际输出反馈控制策略。在控制设计中,考虑测量噪声和未知动态的影响,采用高阶滑模观测器估计系统的集中不确定性以及状态变量。为了保证二阶滑模有限时间可达、且控制信号连续,采用一个新的饱和超螺旋算法设计系统控制器。该方法无需精确的反馈线性化,仅需测量一个状态变量,减小了控制实施成本及复杂性。通过调节控制增益可保证系统状态的渐近稳定性和有界性。通过硬件回路实验验证了控制策略的有效性,仿真和实验结果表明,该方法相对于传统的比例积分(PD)及线性二次调节器(LQR)控制具有更好的减振效果,控制输出抖振较小。频响结果显示,被动控制的加速度增益峰值为44.7dB,LQR控制的加速度增益峰值为29.4dB,而所提控制方法的加速度增益峰值仅为13.5dB,舒适性得到较大的改善。
A practical output-feedback control strategy using saturated super-twisting algorithm was proposed for the model-free vibration control problem of vehicle active suspension systems.Sensor noises and perturbed unknown dynamics were considered in the control design,and a higher order sliding mode observer was employed to estimate the total disturbance term and system states.To achieve second-order sliding mode using continuous control on the chosen sliding surface in finite time,a novel saturated super-twisting algorithm was used to design the closed-loop regulator.The exact feedback linearization was no longer required,and only one sensor was used to measure the output variable so as to decrease the control cost and complexity in the proposed control scheme.The asymptotical stability and boundedness of the system could be guaranteed by tuning the controller gains.Finally,the experimental validation based on hardware-in-loop test was implemented to demonstrate the effectiveness of the proposed method.The simulation and experimental results for different road excitations showed the proposed control could achieve better ride comfort than the traditional proportion-differentiation(PD)and linear quadratic regulator(LQR)control methods,and the vibration damping performance was accomplished with less control chattering.The frequency response results showed that the maximum acceleration gain of passive control was 44.7 dB,and that of the LQR control was 29.4 dB,whereas that of the proposed control method was decreased to 13.5 dB,thus the ride comfort was significantly improved.