Based on modelling and experimental validation of the hydropneumatic spring, a non-linear dynamic model is developed for active hydropneumatic suspensions of a special-purpose vehicle. In order to improve the system response to off-road terrain unevenness and vertical impact force, the non-linear system is transformed into a linear one by means of feedback linearization. Furthermore, a sliding mode control strategy is introduced for the purpose of raising the robustness of the system. The simulation results indicate that the present non-linear controller combining the feedback linearization with the linear control algorithm possesses high control accuracy and strong robustness, and the unique requirements for the special-purpose vehicle are therefore fairly well satisfied.
Feedback linearization and sliding mode control for active hydropneumatic suspension of a special-purpose vehicle
Feedback-Linearisierung und gleitende Regelung bei aktiver hydropneumatischer Federung eines Sonderfahrzeugs
2010
13 Seiten, 14 Bilder, 1 Tabelle, 20 Quellen
Aufsatz (Zeitschrift)
Englisch
gleitende Regelung , robuste Regelung , Anwendung im Fahrzeugbau , Steuerungs- und Regelungsalgorithmus , aktive Federung , Fahrzeugfederung , dynamisches Modell , hydropneumatische Feder , nichtlineares System , lineares System , Rückkopplung , Spezialfahrzeug , Geländegängigkeit , Geländefahrzeug , mathematisches Modell , Simulationsmodellbildung , Simulationsmodell