重型车辆主动悬架的滑模控制器设计及优化

Design and optimization of sliding mode controller for active suspension of heavy vehicle

为提高重型车辆的乘坐舒适性、操纵稳定性以及货物完整性,以四自由度1/2重型车辆主动悬架系统模型为对象,分析并实现悬架系统的模型解耦,结合Lyapunov稳定性理论和滑模控制方法对重型车辆主动悬架进行控制器设计及稳定性验证。以前后悬架动行程、控制器控制力输出要求为约束,以车身质心垂直加速度、前后悬架轮胎动位移以及俯仰角加速度为控制目标,对滑模控制器参数进行优化设计。结果表明,采用优化后的主动悬架能使重型车辆各项性能都有明显提高和改善。

In order to improve the ride comfort, steering stability and cargo integrity of heavy vehicles, the model of the active suspension system of 4-DOF 1/2 heavy vehicles is analyzed and decoupled. The controller design and stability verification of the active suspension of heavy vehicles are carried out by combining Lyapunov stability theory and sliding mode control method. The parameters of sliding mode controller are optimized by taking the suspension dynamic travel and the output of control force as constraints, and considering the vertical acceleration of body mass center, the dynamic displacement of suspension tire and the pitch angular acceleration as control objectives. The results show that the optimized active suspension has a significant improvement on the performance of heavy vehicles.