汽车半主动悬架的滑模变结构控制

The Sliding Model Control with Varying Structure for Semi-Active Suspensions in Vehicle

在 1/4汽车动力学模型的基础上 ,运用滑模变结构方法设计了汽车半主动悬架滑模控制器。基本思想是以半主动悬架的近似天棚阻尼系统作为参考模型 ,把被控系统和参考模型间的广义误差动力学引入渐近稳定的滑动模态中 ;采用极点配置法确定滑模切换面参数 ;用等速趋近率改善滑模运动段的动态品质 ;根据滑模面上的等效控制力 ,确定半主动悬架的实时控制阻尼力。仿真结果表明 :该滑模控制器性能稳定 ,具有较好的鲁棒性和跟踪性 ,对模型参数的变化和外界扰动有一定的适应性。

A new sliding mode controller for semi active suspension systems in v ehicle is designed on the basis of the dynamic model of a quarter car in this paper. The basic idea is to chose a semi active suspension based on the skyhoo k damper system as a reference model and to force the tracking error dynamics b etween the reference model and the plant in an asymptotically stable sliding mod e. In the proposed controller, the parameters of the switching surface are deter mined by the method of pole assignment. An equal near rate is used to improve th e dy namic quality of sliding mode motion. The damping force from the sliding mode c ontroller is determined based on the equivalent control force. Numerical simul ations illustrate that the proposed controller is stable and achieves a high rob ustness against model parameter uncertainties and disturbances. Numerical simula tions also demonstrate the effectiveness of the controller.