Nonlinear Backstepping control of active suspension based on filter techniques(PDF)
长安大学学报（自然科学版）[ISSN:1006-6977/CN:61-1281/TN]
- Issue:
- 2017年02期
- Page:
- 115-126
- Research Field:
- 汽车与机械工程
- Publishing date:
Info
- Title:
- Nonlinear Backstepping control of active suspension based on filter techniques
- Author(s):
- ZHOU Chen-yu; YU Qiang; ZHANG Kai
- School of Automobile, Chang’an University, Xi’an 710064, Shaanxi, China
- Keywords:
- automobile engineering; 7 DOF full vehicle model; active suspension; Backstepping control; adaptive filter
- PACS:
- U463.33
- DOI:
- -
- 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.
Last Update: 2017-04-07