基于整车的半主动油气悬架滑模控制研究

Investigation of Sliding Mode Control for Semi-Active Hydro-Pneumatic Suspension Based on A Full Vehicle Model

以提高平顺性为目的,针对油气悬架整车设计了以天棚阻尼为参考模型的滑模控制系统,对4个悬架的阻尼力分别进行控制,建立了非线性半主动油气悬架的七自由度整车模型,使被控车辆振动响应能够跟随参考模型.在Matlab环境中对滑模控制系统的性能进行了验证,仿真车辆以54km/h的速度行驶于D级路面,与被动油气悬架相比,模型参考滑模控制系统能够有效衰减簧载质量的垂向振动、俯仰振动和侧倾振动.结果表明,基于油气悬架整车的模型参考滑模控制系统对路面激励和车辆参数变化具有较强的鲁棒性,适合应用于非线性油气悬架阻尼控制.

A 7-DOF nonlinear full vehicle model with semi-active hydro-pneumatic suspension was established. Aiming to improve the ride comfort ability, a sliding mode controller with sky-hook reference model was designed based on the nonlinear full vehicle model. The damping force on each suspension unit was controlled individually by the controller so that the responses of the controlled vehicle could follow those of the reference model. The performance of the designed controller was validated in the Matlab simulation environment. The simulated vehicle was subjected to a class-D road profile at 54 km/h. Simulation results show that, compared with passive suspension, the sliding model controller can effectively decrease the vertical, pitch and roll vibration of the sprung mass. The model reference sliding mode control has a strong robustness on road disturbance and parameter variety, and it is eligible for the nonlinear hydropneumatic suspension control.