The invention discloses an active-disturbance-rejection control method for an active suspension of a rescue vehicle based on a road surface grade. The method comprises the following steps: dividing a road surface into a low-unevenness road surface and a high-unevenness road surface; judging the condition of the road surface, if the road surface is a low-unevenness road surface, establishing a non-linear active-disturbance-rejection model, calculating a non-linear active-disturbance-rejection output force, and taking the calculated non-linear active-disturbance-rejection output force as a control force; if the road surface is a high-unevenness road surface, a linear active-disturbance-rejection model is established, the linear active-disturbance-rejection model is used when the error is smaller than 1, and a nonlinear active-disturbance-rejection model is used if the error is not smaller than 1; after the control forces of different road surfaces are obtained, the smoothness of the vehicle is evaluated, if the conditions are met, control is ended, and if the conditions are not met, the control parameters are continuously iteratively updated, and the system is controlled again. The adaptive capacity of the rescue vehicle to interference of different road surfaces is enhanced, and the driving smoothness and stability of the rescue vehicle are improved.
本发明公开了一种基于路面等级的救援车辆主动悬架自抗扰控制方法,其包括以下步骤:将路面分为低不平度路面和高不平度路面;判断路面状况,若为低不平度路面则建立非线性自抗扰模型并计算非线性自抗扰输出力,将计算出的非线性自抗扰输出力作为控制力;若为高不平度路面则建立线性自抗扰模型,当误差小于1时使用线性自抗扰模型,若误差不小于1则使用非线性自抗扰模型;得到不同路面的控制力后对车辆平顺性进行评估,若满足条件则结束控制,若不满足条件则继续迭代更新控制参数,重新对系统进行控制。本发明增强了救援车辆对不同路面干扰的适应能力,提高救援车辆的行驶平顺性和稳定性。
Rescue vehicle active suspension active disturbance rejection control method based on pavement grade
基于路面等级的救援车辆主动悬架自抗扰控制方法
2022-11-18
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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