The invention belongs to the field of automobile active suspension control, and discloses an automobile active suspension control method based on a self-adaptive inversion fast terminal sliding mode, which comprises the following steps of: 1, establishing a nonlinear semi-automobile active suspension model; 2, determining ideal vertical and pitching motion trails of the vehicle; 3, establishing a non-singular integral sliding mode surface, and establishing a state space model based on the selected sliding mode surface; 4, designing a vehicle vertical motion virtual control force control law based on an inversion sliding mode control method; 5, designing a sliding mode robust item adaptive control law based on an adaptive control method; 6, repeating the steps 4-5, and designing a vehicle pitching motion virtual control moment control law; and 7, calculating the output forces of the left and right active suspension actuators. According to the method, the problems of nonlinearity and uncertainty existing in a control model can be effectively solved, and the vertical movement and the pitch angle movement of the vehicle body can reach a stable state within a short time.

    本发明属于汽车主动悬架控制领域,公开了基于自适应反演快速终端滑模的汽车主动悬架控制方法,包括以下步骤:步骤一、建立非线性半车主动悬架模型;步骤二、确定车辆理想垂向及俯仰运动轨迹;步骤三、建立非奇异积分滑模面,同时建立基于选定滑模面的状态空间模型;步骤四、基于反演滑模控制方法设计车辆垂向运动虚拟控制力控制律;步骤五、基于自适应控制方法设计滑模鲁棒项自适应控制律;步骤六、重复步骤四‑五,设计车辆俯仰运动虚拟控制力矩控制律;步骤七、计算左、右主动悬架作动器输出力。本发明可有效应对控制模型存在的非线性和不确定性问题,使车身的垂向运动及俯仰角运动在较短时间内达到稳定状态。


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    Title :

    Automobile active suspension control method based on adaptive inversion fast terminal sliding mode


    Additional title:

    基于自适应反演快速终端滑模的汽车主动悬架控制方法


    Contributors:
    LI DANYANG (author) / ZHAO YOUQUN (author) / YU ZHIHAO (author) / LIN FEN (author)

    Publication date :

    2023-08-04


    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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