半主动空气悬架的非线性特性及控制算法研究

在分析空气弹簧刚度特性的基础上,建立了阻尼可调半主动空气悬架1/4车模型。针对系统的非线性特性强的特点,同时兼顾平顺性和操纵稳定性,选取理想的混合天地棚控制器作为参考跟踪模型,设计滑模变结构控制器,以弥补传统控制理论处理非线性问题时的不足。运用广义误差方程控制滑动模态,确定切换面参数,选择趋近律削减抖振现象并推导出实时等效控制力有效跟踪混合天地棚参考模型。最后通过仿真验证滑模控制算法,并与传统的Fuzzy-PID算法和混合天地棚算法进行对比分析。结果表明,该控制器能有效跟踪参考模型,同时改善悬架的操纵稳定性和舒适性,并表现出良好的鲁棒性。

Research on Characteristics and Control Algorithms of the Semi-Active Air Suspension Based on Nonlinear Vibration Model

On the basis of the analysis of the stiffness characteristics of the air suspension,the 1/4 vehicle of semi-active air suspension mathematical model with damping adjustable was established.In view of the strong nonlinear characteristics of the system,the basic idea was to take a control algorithm of mixed sky-hook damping model as a reference model balancing ride comfort and handling stability,this system was designed with the sliding mode variable structure control method to improve the shortcomings of traditional control theory used in the previous treatment of nonlinear problems.Simulation experiments verified the effect of algorithm about sliding mode and Fuzzy-PID on vehicle ride comfort,the results of the simulation showed that the synovium controller acted on nonlinear air suspension with good robustness,stability and tracking,it improved not only the smoothness of the damping adjustable semi-active air suspension,but also improved the control stability and driving safety of the suspension.