The invention provides a self-adaptive progressive backstepping control method for a vehicle hydraulic active suspension system. The self-adaptive progressive backstepping control method comprises the following steps: S1, acquiring state data of the vehicle hydraulic active suspension system; s2, constructing a two-degree-of-freedom dynamic model of the hydraulic active suspension; s3, constructing an adaptive progressive backstepping control optimization method to obtain a model control quantity; and S4, controlling the two-degree-of-freedom dynamic model of the hydraulic active suspension to realize self-adaptive progressive backstepping control of the vehicle hydraulic active suspension system. According to the self-adaptive progressive backstepping control method for the hydraulic active suspension system of the vehicle, it can be guaranteed that the vertical displacement of the vehicle is in the safety constraint, the problem that the control gain is uncertain is solved through the Nussbaum operator, the integral bounded function is added into the control law, progressive convergence of the control error is guaranteed, the control precision is improved, and the control precision is improved. The stability and safety of the active vehicle suspension system are guaranteed, and the overall control precision of the vehicle suspension system is improved.
本发明提供一种用于车辆液压主动悬架系统的自适应渐进反步控制方法,其包括:S1、获取车辆液压主动悬架系统的状态数据;S2、构建液压主动悬架的二自由度动力学模型;S3、构建自适应渐进反步控制优化方法,获得模型控制量;S4、控制液压主动悬架的二自由度动力学模型,实现车辆液压主动悬架系统的自适应渐进反步控制。本发明能够通过车辆液压主动悬架系统的自适应渐进反步控制方法保证了车辆垂直位移处于安全约束中,使用Nussbaum算子解决了控制增益不确定的问题,在控制律中加入积分有界函数,保证控制误差渐进收敛,提升了控制精度,保证了主动车辆悬架系统的稳定性和安全性,并提高了车辆悬架系统的整体控制精度。
Self-adaptive progressive backstepping control method for vehicle hydraulic active suspension system
用于车辆液压主动悬架系统的自适应渐进反步控制方法
2023-11-17
Patent
Electronic Resource
Chinese
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