The invention discloses a sliding mode adaptive control method of a nonlinear active hydraulic suspension system, and belongs to the technical field of vehicle suspensions. The sliding mode adaptive control method comprises the following steps of: 1, establishing a nonlinear active suspension model by considering an asymmetric single-rod hydraulic actuator; 2, deriving a sliding mode adaptive controller by considering system uncertainty parameters and external disturbance; 3, designing an expansion state observer, and designing a state observer for the suspension system to observe the wheel movement speed and the pressure in a hydraulic cylinder cavity; and 4, adjusting system parameters. According to the invention, the state observer is designed for observing the state quantity required by the controller, so that even if external uncertain disturbance exists in the system and the vertical movement speed of the wheels and the pressure in the hydraulic cylinder cavity cannot be measured, the vertical displacement acceleration and the pitch angle acceleration of the vehicle body can still well isolate the influence brought by road surface excitation, and the system reaches a stable state.

    本发明公开了一种非线性主动液压悬架系统的滑模自适应控制方法,属于车辆悬架技术领域,包括以下步骤:步骤一、建立考虑非对称单出杆液压执行器非线性主动悬架模型;步骤二、推导考虑系统不确定参数及外界扰动的滑模自适应控制器;步骤三、设计扩张状态观测器,为悬架系统设计状态观测器用来观测车轮运动速度以及液压缸腔内压力;步骤四、调节系统参数。本发明针对控制器所需的状态量设计状态观测器进行观测,从而达到即使系统存在外部不确定扰动和车轮垂直运动速度及液压缸腔内压力不可测的情况下,车身的垂直位移加速度及俯仰角加速度仍可以较好地隔离路面激励带来的影响,系统达到稳定状态。


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    Title :

    Sliding mode adaptive control method of nonlinear active hydraulic suspension system


    Additional title:

    一种非线性主动液压悬架系统的滑模自适应控制方法


    Contributors:
    LIU SHUANG (author) / ZHENG TIAN (author) / ZHAO DINGXUAN (author) / GONG MINGDE (author) / YAN CHAOYANG (author)

    Publication date :

    2020-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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