The invention discloses a vehicle height and damping cooperative control method for an air suspension. The method comprises the following steps: establishing a vehicle dynamics model of the air suspension, and carrying out linearization processing and discretization processing; selecting a Kalman observer as a whole vehicle observer, and processing the whole vehicle state information by using the Kalman observer; sending the observation data to the MPC controller; formulating a control target and a cost function of the MPC controller by combining the discretized whole vehicle state equation and the observation data, and outputting a suspension force F according to the control target and the cost function; setting constraint of the control quantity of the MPC, and if the obtained suspension force meets the constraint, outputting the suspension force as the optimal target suspension force of the suspension system; and according to the optimal target suspension force output by the MPC controller, determining specific actions of the adjustable damping shock absorber and the vehicle height inflation and deflation electromagnetic valve and feeding back to act on the whole vehicle, and then vehicle height and damping cooperative control is achieved.
本发明公开了一种空气悬架的车高和阻尼协同控制方法,建立空气悬架整车动力学模型并进行线性化处理以及离散化处理;选取卡尔曼观测器作为整车观测器,利用卡尔曼观测器对整车状态信息进行处理;并将观测数据发送至MPC控制器;结合离散化的整车状态方程和观测数据制定MPC控制器的控制目标和成本函数,根据控制目标和成本函数输出悬架力F;设置MPC控制器控制量的约束,若得到的悬架力满足约束,则将该悬架力输出为悬架系统的最优目标悬架力;根据MPC控制器输出的最优目标悬架力,确定可调阻尼减振器和车高充放气电磁阀的具体动作并反馈作用于整车,进而实现车高和阻尼协同控制。
Vehicle height and damping cooperative control method for air suspension
一种空气悬架的车高和阻尼协同控制方法
2022-02-18
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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