摘要
在1/4车辆动力学模型的基础上,基于李雅普诺夫稳定性理论,以天棚阻尼半主动悬架为参考模型,设计了半主动悬架模型参考自适应控制器。自适应控制器包括可调前置控制器和状态反馈控制器两个部分。推导了自适应控制律与相应的约束条件。仿真结果表明:该控制器对于模型参数的不确定性具有良好的鲁棒特性。自适应控制器不仅明显降低了车身加速度,提高了平顺性,同时也使汽车的行驶安全性获得了改善,悬架动变形稍有增大。
A model reference adaptive controller for semi-active suspension systems in vehicle is designed on the basis of the LYAPUNOV stability theory and the dynamics model of the quarter car and the semi-active suspension system with the sky hook damper is used as the reference model. The proposed controller is composed of a tuning controller before the reference input and a state feedback controller. The adaptive control laws and constrain conditions are derived out. Simulation results show that the controller achieves good robustness against model uncertainties. Numerical simulations illustrate the effectiveness of the controller, especially in ride and handling characteristics improvement.
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2005年第2期99-102,共4页
China Journal of Highway and Transport
基金
国家自然科学基金重点项目(50135030)
重庆大学应用基础研究项目(713411003)
关键词
汽车工程
半主动悬架
模型参考
自适应控制
automobile engineering
semi-active suspension
model reference
adaptive control
