The invention discloses an automatic driving vehicle active suspension frequency division control method considering motion sickness constraint, the method adopts limited frequency domain H infinity control, the control method establishes a transfer function at the frequency of easy motion sickness of a human body under the condition of satisfying the basic constraint of the suspension, and the transfer function is used for controlling the motion sickness of the human body. Therefore, the vibration of the vehicle in the motion sickness interval can be minimized. And disturbance suppression in a limited frequency domain can be realized, so that vibration is attenuated to the greatest extent in a human body motion sickness sensitive frequency range (0.1-0.5 Hz). Under the condition that safety and efficiency are guaranteed, passengers are prevented from feeling carsickness, and a vehicle is controlled to complete a specified target.
本发明公开了一种考虑晕动约束的自动驾驶车辆主动悬架分频控制方法,该方法采用有限频域H∞控制,该控制方法在满足悬架基本约束的情况下,在人体容易晕车的频率建立一个传递函数,使得车辆在晕动区间的振动最低可以归结为最小化。可以实现在有限频域下的扰动抑制,使振动在人体晕动敏感的频率(0.1~0.5Hz)范围内被最大程度衰减。在保证安全和效率的情况下防止乘车人员感到晕车,控制车辆完成指定目标。
Automatic driving vehicle active suspension frequency division control method considering motion sickness constraint
一种考虑晕动约束的自动驾驶车辆主动悬架分频控制方法
26.01.2024
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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