车辆主动悬架舒适性的自抗扰控制

Ride comfort of vehicle active suspension using active disturbance rejection control

针对现有车辆主动悬架控制方法受模型精度影响较大的不足,提出汽车半车模型主动悬架的自抗扰控制方法,设计了主动悬架的自抗扰控制器。为验证自抗扰控制器的有效性,进行了随机路面输入试验,对比分析了自抗扰控制主动悬架、被动悬架以及LQG控制主动悬架的性能。相对于主动悬架常用控制方法,自抗扰控制器设计不需精确数学模型,干扰的抑制也不需扰动模型,控制方法简单。仿真试验结果表明,在所设计的控制器作用下,质心垂向加速度和前、后悬架动挠度均方根值分别下降39.2%,12.7%和14.9%;自抗扰控制器实现对主动悬架的控制,改善了车辆乘坐舒适性,且性能优于LQG控制。

To address the problem of the existing vehicle active suspension control methods greatly influenced by model precision,active disturbance rejection（ADR）control method for a half-vehicle active suspension system was proposed and active disturbance rejection controller（ADRC）of active suspension designed.Random road input experiment was carried out to verify the validity of ADRC and to investigate the performance of ADRC active suspension in comparison with the passive suspension and the LQG（Linear Quadratic Gaussian）control suspension.Compared with the commonly used control method of active suspension,the design of ADRC does not need accurate mathematical model and the interference suppression also does not need disturbance model,and its control method is simple.The simulat on results indicate that under the action of the designed controller,CG vertical acceleration and front and rear suspension deflection RMS（root mean square）decrease 39.2%,12.7%and 14.9%,respectively;that ADRC can implement the control of active suspension,and that the ride comfort of a vehicle is improved with better ADR control performances than LQG control.