The invention discloses a vehicle active suspension coordination anti-saturation control method based on command filtering, and belongs to the field of automobile control. The method comprises the following steps of: 1, establishing a two-degree-of-freedom nonlinear active suspension model; 2, reasoning and coordinating a formula required by the anti-saturation controller according to the suspension mathematical model established in the step 1, and performing stability proving; and 3, performing controller parameter adjustment and simulation result comparison. According to the invention, the conflict between the vertical acceleration of the vehicle body and the dynamic travel of the suspension can be solved, and the riding comfort and the operation stability are effectively improved; in addition, the problem of saturation of main power can be solved, and the influence of output saturation of an actuator on a suspension system is effectively solved, so that the overall performance of the suspension is remarkably improved; and the derivative of virtual control is obtained by adopting a command filtering mode, so that the controller is more beneficial to practical application, a better control effect is obtained, and the controller can be applied to the field of suspension control.
本发明公开了一种基于命令滤波的车辆主动悬架协调抗饱和控制方法,属于汽车控制领域,包括以下步骤:步骤一,建立二自由度非线性主动悬架模型;步骤二,根据步骤一所建立的悬架数学模型推理协调抗饱和控制器所需要的公式,并进行稳定性证明;步骤三,进行控制器参数调节和仿真结果对比。本发明可以解决车身垂直加速度和悬架动行程之间的冲突,有效的提高了乘坐舒适性和操作稳定性;本发明还可以解决主动力的饱和问题,有效的解决了执行器输出饱和给悬架系统带来的影响,从而显著提高了悬架的整体性能;并采用命令滤波的方式获取了虚拟控制的导数,使得控制器更有利于实际应用,取得更好的控制效果,能应用于悬架控制领域。
Vehicle active suspension coordination anti-saturation control method based on command filtering
一种基于命令滤波的车辆主动悬架协调抗饱和控制方法
2020-05-19
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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