基于观测器的半主动悬架仿真和实车控制

Observer Based Semi-active Suspension Simulation and Real Vehicle Control

基于Kalman滤波算法设计了一个状态观测器,利用测得的簧载和非簧载质量加速度信号估计半主动悬架的簧载质量绝对速度以及簧载和非簧载质量之间的相对速度,并且基于这两个速度构建了天棚控制策略。仿真和实车试验表明,该状态观测器能较准确地估计这两个速度信号;与被动悬架相比,天棚控制有效提高了悬架的平顺性。

This paper designs a state observer based on Kalman filter.Using the measured acceleration signals of sprung and unsprung mass,the paper estimates the absolute velocity of the sprung mass and the relative velocity between the sprung and nonsprung mass.Furthermore,a skyhook control scheme is presented based on the two estimated velocities.Both simulation and real vehicle experimental results show that the observer can accurately estimate the two velocities.Compared with passive suspension,skyhook control can effectively improve ride performance of the suspension.