The invention discloses an active suspension distributed sliding mode control method based on redefined system output, and relates to the field of active suspension system control, and the method comprises the steps: firstly redefining a linear combination of a pitch angle, a roll angle, vertical displacement at a mass center and non-suspension mass vertical motion displacement of a vehicle as system output, and carrying out the feedback linearization through input and output; the system is decomposed into an input and output subsystem and a zero dynamic subsystem; secondly, a multi-agent-based adaptive sliding mode control method is provided for the ith agent of the input and output subsystem, and adaptive estimation is adopted for a sliding mode switching item coefficient; the zero dynamic subsystem is approximately linearized at a balance point, and the design of controller parameters is optimized based on a Q learning genetic algorithm. According to the method, the design difficulty of the active suspension controller is reduced, the algorithm real-time performance is improved, meanwhile, the vertical acceleration, the pitching acceleration and the roll acceleration of the vehicle body are rapidly reduced under different road surface grades, and the comfort and the operation stability of the whole vehicle are effectively improved.

    基于重新定义系统输出的主动悬架分布式滑模控制方法涉及主动悬架系统控制领域,本发明首先重新定义车辆的俯仰角、侧倾角、质心处垂向位移和非悬架质量垂向运动位移的线性组合为系统输出,通过输入输出反馈线性化,将系统分解为输入输出子系统和零动态子系统;然后针对输入输出子系统的第i个智能体,提出基于多智能体的自适应滑模控制方法,滑模切换项系数采用自适应估计;将零动态子系统在平衡点近似线性化,基于Q学习遗传算法优化控制器参数的设计。本发明在降低主动悬架控制器设计难度以及提高算法实时性的同时,实现了不同路面等级下,车身垂向、俯仰和侧倾加速度的快速降低,有效提高了整车的舒适性和操稳性。


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    Title :

    Active suspension distributed sliding mode control method based on redefined system output


    Additional title:

    基于重新定义系统输出的主动悬架分布式滑模控制方法


    Contributors:
    ZHANG NA (author) / WU GUANGYI (author) / LEE JONG-HO (author) / CHEN NAN (author) / GAO LIHUI (author) / ZHANG ZHE (author) / JIANG CHUNXIA (author)

    Publication date :

    2024-10-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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