The invention discloses a magneto-rheological semi-active suspension robust control method and system and a controller. The method comprises the following steps: calculating a vehicle suspension system state equation by acquiring vehicle state information; building a magneto-rheological damping model and carrying out nonlinear approximation; building an extreme learning machine inverse model of the magneto-rheological damper, and tracking the inverse model of the magneto-rheological damper based on an extreme learning machine neural network; constructing a system constraint inequality in a finite frequency domain based on a static feedback control strategy, and constructing a controller meeting a system time-delay robustness condition; the static feedback controller is corrected, control robustness of the magneto-rheological semi-active suspension system is achieved, vehicle handling stability and riding comfort are balanced, and meanwhile the problem that the performance of the controller is reduced due to the fact that output force of the magneto-rheological damper is influenced by the service life and external disturbance is solved.
本发明公开了一种磁流变半主动悬架鲁棒控制方法、系统及控制器,通过获取车辆状态信息计算车辆悬架系统状态方程;磁流变阻尼模型搭建及非线性近似;搭建磁流变阻尼器超限学习机逆模型,基于超限学习机神经网络对磁流变阻尼器逆模型进行追踪;基于静态反馈控制策略在有限频域下构建系统约束不等式,构建满足系统时滞鲁棒性条件的控制器;对静态反馈控制器进行修正,实现磁流变半主动悬架系统控制的鲁棒性,权衡了车辆操纵稳定性和乘坐舒适性,同时解决了磁流变阻尼器输出力随使用寿命和外部扰动而导致的控制器性能下降问题。
Robust control method, system and controller for magneto-rheological semi-active suspension
磁流变半主动悬架鲁棒控制方法、系统及控制器
2024-08-23
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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