[1]周辰雨,余 强,张 凯.基于滤波技术的非线性Backstepping主动悬架控制[J].长安大学学报(自然科学版),2017,37(02):115-126.
　ZHOU Chen-yu,YU Qiang,ZHANG Kai.Nonlinear Backstepping control of active suspension based on filter techniques[J].Journal of Chang’an University (Natural Science Edition),2017,37(02):115-126.
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基于滤波技术的非线性Backstepping主动悬架控制()
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长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]

卷:
第37卷
期数:
2017年02期
页码:
115-126
栏目:
汽车与机械工程
出版日期:
2017-03-31

文章信息/Info

Title:
Nonlinear Backstepping control of active suspension based on filter techniques
作者:
周辰雨; 余 强; 张 凯
长安大学 汽车学院，陕西 西安 710064
Author(s):
ZHOU Chen-yu;  YU Qiang;  ZHANG Kai
School of Automobile, Chang’an University, Xi’an 710064, Shaanxi, China
关键词:
汽车工程; 七自由度整车模型; 主动悬架; Backstepping控制; 自适应滤波
Keywords:
automobile engineering;  7 DOF full vehicle model;  active suspension;  Backstepping control;  adaptive filter
分类号:
U463.33
文献标志码:
A
摘要:
为了提升车辆的乘坐舒适性，降低在恶劣道路环境下悬架撞击限位块的概率，建立七自由度非线性主动悬架模型，采用滤波技术对主动悬架控制器进行优化研究。构建线性滤波Backstepping主动悬架控制器，对其进行零动态特性分析，以保证系统的稳定性。针对此类控制器不能调节低通带宽从而无法实现根据车辆运行工况对控制目标进行调整的缺陷，构建滤波参数可调的非线性滤波控制器，通过对低通范围的自适应调节，实现对悬架动挠度及车身加速度均衡控制。通过对正弦路面和随机路面进行仿真分析，对比研究自适应滤波、线性滤波主动悬架及被动悬架加速度参数及右前车轮悬架动挠度，分析其对车辆舒适性和操纵稳定性的影响。研究结果表明：在小激励时基于线性滤波及非线性滤波的主动悬架减振效果相似，相比被动悬架可以将加速度参数降低80%以上；在大激励极限工况时，线性滤波控制器对加速度参数的改善更加显著，而非线性滤波控制器降低了悬架动挠度。对比车轮动位移参数可知，主动悬架2种滤波器皆有效降低了轮胎脱离路面的概率。基于自适应滤波的非线性Backstepping控制是提升车辆舒适性和操纵稳定性的有效方法。
Abstract:
In order to improve ride comfort and reduce the probability of suspension hitting limited blocks under malevolent road condition, the active suspension controller was researched and modified by building a 7 degree of freedom (DOF) nonlinear active suspension model and employing filter technique. The system stability was confirmed by using zero dynamics analysis and constructing linear filter active suspension controller based on Backstepping control method. In the light of defect that the control objective could not be adjusted according to automobile operation condition since the low pass range was out of control to this kind of controller, a nonlinear filter controller with adjustable filter parameters was built to achieve the goal of balanced tradeoff between suspension dynamic deflection and body acceleration by changing the low pass bandwidth. According to the simulation analysis of sinusoidal road excitation and random road excitation, a comparative research of acceleration and right front suspension deflection was made from passive suspension, linear active suspension and adaptive filter to analyze its effect on ride comfort and vehicle handling stability. The results show that the vibration isolation effect of linear filter is similar to nonlinear filter when under mild stimulation. It can reduce the acceleration parameters more than 80% contrasted to the passive suspension. When under powerful road input, the linear filter controller obviously improves the acceleration parameters, while the nonlinear filter controller reduces the suspension dynamic deflection. Both of linear and nonlinear filter controller reduce the probability of the tyre hopping contrasted to the dynamic displacement of wheel. Adaptive filter based nonlinear Backstepping active suspension control is an effective method to improve ride comfort and vehicle handling stability.

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更新日期/Last Update: 2017-04-07