The invention belongs to the technical field of inversion control of automobile active suspensions, and particularly relates to a constraint interference suppression method for a nonlinear active suspension with preset attenuation performance. Comprising the following steps: step 1, establishing a 1/4 vehicle nonlinear uncertain active suspension model, and establishing a control equation containing matched disturbing force and unmatched disturbing force; 2, on the basis of compensation matching and mismatching interference of the 1/4 vehicle nonlinear uncertain active suspension model in the step 1, obtaining an error expression of interference estimation through a dynamic surface technology, and constructing a self-adaptive interference updating law of the system by introducing a preset attenuation performance function; and 3, on the basis of the step 2, establishing an inversion control law containing preset attenuation performance in combination with an interference estimation law, and carrying out stability and bounded analysis on the inversion control law. Matching and mismatching interference can be compensated at the same time, transient performance and steady-state performance are coordinated, the control scheme of the active suspension is implemented through a low-cost sensor, and the interference suppression performance of the suspension is improved.
本发明属于汽车主动悬架的反演控制技术领域,具体地涉及一种含预设衰减性能的非线性主动悬架约束干扰抑制方法。包括:步骤1:建立1/4车非线性不确定主动悬架模型,建立包含匹配干扰力和不匹配干扰力的控制方程;步骤2:基于对步骤1的1/4车非线性不确定主动悬架模型补偿匹配和不匹配干扰,通过动态面技术得到干扰估计的误差表达式,通过引入预设衰减性能函数来构建系统的自适应干扰更新律;步骤3:在步骤2的基础上,结合干扰估计律建立含预设衰减性能的反演控制律,并对反演控制律进行稳定性和有界性分析。本发明能够同时地补偿匹配和不匹配的干扰,并协调瞬态和稳态性能,利用低成本传感器实施主动悬架的控制方案,提高悬架的干扰抑制性能。
Nonlinear active suspension constraint interference suppression method with preset attenuation performance
一种含预设衰减性能的非线性主动悬架约束干扰抑制方法
2023-04-14
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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