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This article presents the investigation of performance of a nonlinear quarter-car active suspension system with a stochastic real-valued reinforcement learning control strategy. As an example, a model of a quarter car with a nonlinear suspension spring subjected to excitation from a road profile is considered. The excitation is realised by the roughness of the road. The quarter-car model to be considered here can be approximately described as a nonlinear two degrees of freedom system. The experimental results indicate that the proposed active suspension system suppresses the vibrations greatly. A simulation of a nonlinear quarter-car active suspension system is presented to demonstrate the effectiveness and examine the performance of the learning control algorithm. 相似文献
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本文建立了汽车振动的四分之一车体悬架模型和悬架系统的振动微分方程,并利用Matlab/Simulink软件实现了两自由度主动悬架的仿真模型。应用传递函数方法,对主动悬架在不同路况下的控制策略进行了深入研究,给出了相应的模糊控制策略,并进行仿真实验。仿真结果表明,装备了主动悬架的整车与被动悬架控制相比,前者在很大程度上降低了车身加速度、悬架动挠度和轮胎的相对动载荷,从而有效地提高了汽车的乘坐舒适性和操纵稳定性。 相似文献
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具有输入时滞的主动悬挂系统的减振控制 总被引:1,自引:0,他引:1
研宄具有输入时滞的汽车主动悬挂系统在路面扰动下的减振控制器设计问题.首先根据汽车悬挂系统的特点,从实用性的角度出发化简了悬挂系统的数学模型.然后提出一种变量代换方法,将具有输入时滞的主动悬挂系统转换为形式上不含时滞的系统.针对转换后的无时滞系统,设计出具有输入时滞的主动悬挂系统减振控制器:又从控制器的成本和易实现性出发添加了一个状态观测器.在这种系统结构下,设计出一种具有记忆和积分特性的主动悬挂系统减振控制策略.仿真结果验证了这种设计控制器的方法是有效的. 相似文献
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A class of proportional-integral sliding mode control with application to active suspension system 总被引:4,自引:0,他引:4
Yahaya Md. Sam Johari H. S. Osman M. Ruddin A. Ghani 《Systems & Control Letters》2004,51(3-4):217-223
The purpose of this paper is to present a new robust strategy in controlling the active suspension system. The strategy utilized the proportional-integral sliding mode control scheme. A quarter-car model is used in the study and the performance of the controller is compared to the linear quadratic regulator and with the existing passive suspension system. A simulation study is performed to prove the effectiveness and robustness of the control approach. 相似文献
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分数微积分理论在非线性车辆悬架滑模控制中的应用 总被引:2,自引:2,他引:0
基于分数微积分理论,提出分数阶”天棚”阻尼控制概念,并以它控制的悬架为参考模型,提出一个控制效果理想、鲁棒性好的悬架滑模控制的新策略,并应用于非线性悬架的动力学控制中.文中给出了一种精度较高,收敛稳定的分数阶系统的数值算法,最后对非线性悬架的滑模主动控制进行数值仿真,验证了新控制策略优良的控制效果. 相似文献
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针对具有不确定性与参数时变性的钟摆式喷杆主动悬架系统的运动控制问题,设计出一种基于间接型自适应模糊控制方法的喷杆位姿主动控制器。为一种结构简单、成本低廉且应用广泛的钟摆式喷杆主动悬架系统建立了数学模型,并在此基础上,为了不失一般性,对系统模型进行了输入输出线性化变换。应用间接自适应模糊控制方法克服由于系统不确定性以及外部干扰带来的一些负面影响。此外,应用Lyapunov综合法设计控制器中调整参数的自适应律。仿真结果表明,所提出的控制方法具有快速响应性以及较强的自适应性和鲁棒性。所设计的控制器有利于提高植保机的喷雾均匀性及喷杆的稳定性。 相似文献
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In this paper, a generalized augmented transformation is considered for the quarter active suspension system with uncertainties. Specifically, the model uncertainties are converted to the augmented states and a new proportion differential sliding mode observer is used to estimate state variables and model uncertainties. A differential geometric method is applied to linearize the nonlinear suspension model. In order to weaken the vibration effect of sliding mode control force and reduce energy consumption, a fuzzy sliding mode controller is designed for the active suspension system and the fuzzy controller is applied to adjust switching control gain according to the reaching condition of sliding mode surface. The simulations are conducted to illustrate the effectiveness and advantages of this proposed observer and control strategy. 相似文献
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Qinghua Meng Chih‐Chiang Chen Pan Wang Zong‐Yao Sun Bingji Li 《Asian journal of control》2021,23(1):561-571
In an active suspension system, there is an actuator mounted between the sprung mass and the unsprung mass to change the stiffness and damp of the suspension for ride comfort and handling stability. Because the active suspension control system is an under‐actuated system, the control problem of the active suspension is challenging but interesting. In order to solve this issue, a novel vehicle active suspension control method based on homogeneous domination approach is proposed in this paper. Firstly, a groundhook control model is constructed according to the general active suspension dynamic model. In order to deal with the additional terms of the control system which are harmful for convergence, a homogeneous domination approach is used to construct an active suspension homogeneous controller (ASHC). A useful technical theorem is proposed in the stability analysis to show that the proposed ASHC can guarantee the states of the active suspension system being stabilized. Compared with the SMC method and without any controller (passive suspension), the simulation results indicate that the proposed ASHC is effective. 相似文献
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建立了三轴重载车辆半主动悬架的整车动力学模型,并对该车辆模型平顺性的优化控制进行了研究.应用总成分解法计算整车的转动惯量,建立半主动悬架系统的三轴重载车辆整车动力学模型,采用整体式平衡悬架,并考虑车辆的驾驶室模型以更符合实际;针对半主动悬架系统,以车体垂向速度﹑俯仰角速度和侧倾角速度及其变化率,为输入设计了三个模糊控制器;利用MATLAB/Simulink软件对所建半主动悬架整车车辆模型应用相应控制策略进行模拟仿真,并与被动悬架系统车辆模型的仿真结果作比较;结果表明:半主动悬架车辆模型的车体和驾驶室的振动特性都有了明显的改善,有效地提高了该重载车辆模型的平顺性,对提高驾驶员的驾驶舒适性和减少货物破损率提供理论基础. 相似文献
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建立了三轴重载车辆半主动悬架的整车动力学模型,并对该车辆模型平顺性的优化控制进行了研究.应用总成分解法计算整车的转动惯量,建立半主动悬架系统的三轴重载车辆整车动力学模型,采用整体式平衡悬架,并考虑车辆的驾驶室模型以更符合实际;针对半主动悬架系统,以车体垂向速度﹑俯仰角速度和侧倾角速度及其变化率,为输入设计了三个模糊控制器;利用MATLAB/Simulink软件对所建半主动悬架整车车辆模型应用相应控制策略进行模拟仿真,并与被动悬架系统车辆模型的仿真结果作比较;结果表明:半主动悬架车辆模型的车体和驾驶室的振动特性都有了明显的改善,有效地提高了该重载车辆模型的平顺性,对提高驾驶员的驾驶舒适性和减少货物破损率提供理论基础. 相似文献
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建立了三轴重载车辆半主动悬架的整车动力学模型,并对该车辆模型平顺性的优化控制进行了研究.应用总成分解法计算整车的转动惯量,建立半主动悬架系统的三轴重载车辆整车动力学模型,采用整体式平衡悬架,并考虑车辆的驾驶室模型以更符合实际;针对半主动悬架系统,以车体垂向速度﹑俯仰角速度和侧倾角速度及其变化率,为输入设计了三个模糊控制器;利用MATLAB/Simulink软件对所建半主动悬架整车车辆模型应用相应控制策略进行模拟仿真,并与被动悬架系统车辆模型的仿真结果作比较;结果表明:半主动悬架车辆模型的车体和驾驶室的振动特性都有了明显的改善,有效地提高了该重载车辆模型的平顺性,对提高驾驶员的驾驶舒适性和减少货物破损率提供理论基础. 相似文献
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建立了三轴重载车辆半主动悬架的整车动力学模型,并对该车辆模型平顺性的优化控制进行了研究.应用总成分解法计算整车的转动惯量,建立半主动悬架系统的三轴重载车辆整车动力学模型,采用整体式平衡悬架,并考虑车辆的驾驶室模型以更符合实际;针对半主动悬架系统,以车体垂向速度﹑俯仰角速度和侧倾角速度及其变化率,为输入设计了三个模糊控制器;利用MATLAB/Simulink软件对所建半主动悬架整车车辆模型应用相应控制策略进行模拟仿真,并与被动悬架系统车辆模型的仿真结果作比较;结果表明:半主动悬架车辆模型的车体和驾驶室的振动特性都有了明显的改善,有效地提高了该重载车辆模型的平顺性,对提高驾驶员的驾驶舒适性和减少货物破损率提供理论基础. 相似文献
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三轴重载车辆半主动控制研究 总被引:1,自引:1,他引:0
建立了三轴重载车辆半主动悬架的整车动力学模型,并对该车辆模型平顺性的优化控制进行了研究.应用总成分解法计算整车的转动惯量,建立半主动悬架系统的三轴重载车辆整车动力学模型,采用整体式平衡悬架,并考虑车辆的驾驶室模型以更符合实际;针对半主动悬架系统,以车体垂向速度﹑俯仰角速度和侧倾角速度及其变化率,为输入设计了三个模糊控制器;利用MATLAB/Simulink软件对所建半主动悬架整车车辆模型应用相应控制策略进行模拟仿真,并与被动悬架系统车辆模型的仿真结果作比较;结果表明:半主动悬架车辆模型的车体和驾驶室的振动特性都有了明显的改善,有效地提高了该重载车辆模型的平顺性,对提高驾驶员的驾驶舒适性和减少货物破损率提供理论基础. 相似文献
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作为动力学与控制学科新兴的研究范畴,声学超材料和声子晶体为研究“人为操控弹性介质及结构中振动和波的传播”掀开了崭新的篇章。声学超材料和声子晶体是多种材料或结构周期性排布而成的、具有自然材料所不具备超常波动特性的人工结构或复合材料。声学超材料和声子晶体的优异特性,如吸声隔声、隔振与减振、负折射、超分辨率成像、滤波、隐身、非互易传输、波动主动调控、拓扑波动等,为装备的振动噪声控制、故障诊断、信号处理、 相似文献
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In this article, we propose a novel interconnection and damping assignment passivity-based control (IDA-PBC) design for a quarter car nonlinear active suspension system. As an energy shaping method, IDA-PBC is suitable for applying the main concept of skyhook (SH) control. In addition to the damping term, we utilize the characteristics of the energy shaping method to change the sprung and unsprung masses, thereby strengthening the vibration suppression effect. An IDA-PBC-based controller design for an active suspension system, which includes a nonlinear spring, a nonlinear damper, and mass uncertainty, is proposed. Different from most IDA-PBC applications, which tend to control the position or the velocity, our methods focus on transforming a nonlinear suspension system into a desired linear system with ideal aseismatic properties. Unlike a conventional controller using the SH control strategy, we design a virtual vehicle body and an unsprung mass in addition to the damper coefficients. By deriving the port-Hamiltonian form of the suspension system from its dynamics and rewriting it based on the relative coordinates, we obtain a feedback law that only uses the relative displacement and velocity of the suspension system. We derive the conditions for ensuring the global asymptotical stability of the suspension system and propose the guidelines for parameter selection that can guarantee robust stability against parameter uncertainties. 相似文献
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Shiuh-Jer Huang Wei-Cheng Lin 《Fuzzy Systems, IEEE Transactions on》2003,11(4):550-559
Since the hydraulic actuating suspension system has nonlinear and time-varying behavior, it is difficult to establish an accurate model for designing a model-based controller. Here, an adaptive fuzzy sliding mode controller is proposed to suppress the sprung mass position oscillation due to road surface variation. This intelligent control strategy combines an adaptive rule with fuzzy and sliding mode control algorithms. It has online learning ability to deal with the system time-varying and nonlinear uncertainty behaviors, and adjust the control rules parameters. Only eleven fuzzy rules are required for this active suspension system and these fuzzy control rules can be established and modified continuously by online learning. The experimental results show that this intelligent control algorithm effectively suppresses the oscillation amplitude of the sprung mass with respect to various road surface disturbances. 相似文献
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汽车主动悬架高精度数学模型的计算机仿真 总被引:2,自引:0,他引:2
由于车辆主动悬架在实际应用中存在一些问题,因此需要一个高精度的数学模型来真实地描述实际的系统。该文分别对两个1/4车辆主动悬架系统的数学模型进行描述,并分别对整个悬架系统采用最优控制策略进行仿真,通过比较可以得出建立高精度数学模型对主动悬架系统研究的重要性。 相似文献