考虑作动器动力学的半车主动互联悬架抗侧倾控制研究

A study on anti-roll control of half-car model active interconnected suspension with consideration of actuator dynamics

为提高车辆的侧倾稳定性及抗侧翻能力,开展了考虑液压作动器动力学特性的主动互联悬架控制研究。首先建立了主动液压互联悬架动力学模型及液体连续方程,然后以车身侧倾角为控制目标,采用backstepping非线性控制方法完成了抗侧倾控制器设计及其稳定性分析,通过构造控制目标跟踪函数使控制系统平稳过渡并追踪期望的侧倾角度。角阶跃转向工况抗侧倾模拟分析表明:所设计的控制系统能使车身侧倾角跟踪期望的角度值,有效控制车身侧倾姿态,降低载荷转移率,提高抗侧倾性能及侧翻极限;同时,主动互联抗侧倾控制还能有效改善悬架动挠度及车轮动载,综合提升车辆性能。

To improve vehicle roll stability and anti-rollover capability, a nonlinear control method for antiroll active hydraulically interconnected suspension （HIS） was developed with considering actuator dynamics. Firstly , the dynamics model and the liquid continuity equations of HIS were established. The nonlinear controller which was aimed at alleviating the roll angle to improve the antiroll performance was completed based on the backstepping algorithm. Then, an objective function was constructed to ensure a smooth transition and desired-fixed value tracking for roll angle. Finally, a simulation was carried out on the condition of step steering to validate the effectiveness of the control system. The result shows that the method succeeds in controlling body rolling posture and decreasing the load transfer ratio, and thus improves the antiroll performance and rollover limit. Moreover, the antiroll active HIS control system can also effectively enhance the suspension deflection and wheel load holding performance.