基于模型参考方法的车辆非线性主动悬架反推控制

Backstepping Controller Design for Nonlinear Active Vehicle Suspension Based on Model Reference Control

针对车辆悬架系统存在的参数不确定性,提出一种基于模型参考控制的车辆非线性主动悬架反推控制器设计方法。建立悬架系统非线性模型,引入高低通滤波器,根据悬架动行程改变高低通滤波器的通频带宽,设计一种理想的模型参考系统。在此基础上,构造被控悬架系统与模型参考系统之间的车身位移和速度跟踪误差,基于反推控制方法和Lypaunov理论设计了误差跟踪反推控制器。通过仿真实验验证了所提出的误差跟踪反推控制器的有效性和跟踪精度。

The parameter uncertainties of vehicle suspension system are studied,and a novel backstepping controller design method based on model reference control（ MRC） is proposed for nonlinear active vehicle suspension A nonlinear dynamics model of the suspension system is established,and high-pass and low-pass filters are introduced. The pass bandwidths of the high-pass and low-pass filters are changed according to suspension dynamic deflection. An ideal MRC system is designed. On this basis,both the tracking errors of vehicle body displacement and vertical velocity are constructed for the controlled suspension system and MRC system,and a backstepping controller of tracking error is proposed based on backstepping technique and Lyapunov stability theory. The effectiveness and tracking accuracy of the proposed approach are verified through numerical simulation.