半主动悬架的滑模变结构控制

Sliding Mode Varying Structure Control for Semi-active Suspension

针对带有电流变液智能阻尼器的半主动汽车悬架模型,运用滑模变结构方法设计了半主动悬架滑模控制器。根据滑模运动方程稳定的Hurwitz判据选择滑模面系数,用指数趋近率改善滑模运动段的动态品质并进一步确定了半主动悬架的实时控制阻尼力。对多种激励信号下隔振质量的响应及半主动悬架系统在系统参数摄动下的鲁棒特性进行了仿真分析。结果表明:变结构控制下半主动悬架系统的隔振效果要远好于最优被动系统,而且对外界扰动有一定的适应性,对系统参数摄动也具有很强的鲁棒性。

A sliding mode controller for semi-active fluid intelligent damper was designed with sliding suspension system with electro-rheological model varying structure control method. Coefficient of sliding mode surface was selected in accordance with Hurwitz stable judgement of sliding mode motion equation. Exponent tendency rate was used to improve dynamic quality of sliding mode motion, furthermore, the controlled damping force in semi-active suspension system was got. The isolated vibration mass response under many kinds of excitations and the robustness of semi-active suspension system with respect to system parameter variations were simulated. The results indicate that isolated vibration effect of semi-active suspension system designed with varying structure control method is remarkably better than that of optimal passive suspension system, moreover, semi-active suspension system has self-adaptability with respect to external disturbances and good robustness with respect to system parameter variations.