汽车非线性主动悬架系统的自适应事件触发控制

Active control for vehicle nonlinear suspension systems based on adaptive event-triggered mechanism

针对汽车非线性主动悬架提出一种基于区间二型模糊模型的自适应事件触发控制方法,以实现悬架系统乘坐舒适性和通信资源节约性能的双重提升。建立非线性悬架系统的区间二型模糊模型,准确描述悬架系统弹性元件和阻尼器的非线性特征;引入自适应事件触发通信机制,相比传统的采样通信机制能够有效节约通信资源,同时保证系统良好的控制性能;基于时滞理论构建非线性悬架自适应事件触发控制的闭环系统模型,提出事件触发器和模糊控制器的协同设计方法。结果表明:在保证系统稳定性和性能约束的同时,所提方法的车身加速度降低52.12%,悬架动行程减小45.81%,轮胎动载荷减少31.91%,且事件触发频率降低44.33%。该方法能够有效提升悬架系统的乘坐舒适性,实现通信资源的有效节约。

An adaptive event-triggered control method was presented based on an interval type-2 fuzzy model for vehicle nonlinear active suspensions to simultaneously improve the performance of the ride comfort and saving communication resource.An interval type-2 fuzzy model of nonlinear suspension system was established to accurately characterize the nonlinear characteristics of spring and damper.An adaptive eventtriggered strategy was employed,which can effectively save communication resources and ensure control performance of the system comparing with the traditional sampling communication mechanism.Based on the theory of time delay,the closed-loop system model of adaptive event-triggered control of nonlinear suspension was constructed to obtain a co-design method of the event generator and the fuzzy controller.The results show that the proposed strategy can reduce the body acceleration by 52.12%,suspension dynamic travel by 45.81%,tire dynamic load by 31.91%,and frequency of event trigger by 44.33%while ensuring the system stability and performance constraints.It has better performance and is more effective to improve the ride comfort of suspension and to realize the effective saving of communication resources compared with the existing method.