汽车悬架系统混沌运动的自适应反演滑模控制

中国机械工程 ›› 2013, Vol. 24 ›› Issue (11): 1531-1537.

汽车悬架系统混沌运动的自适应反演滑模控制

高远1,2,3;范健文2,3;谭光兴2;罗文广2,3

1.武汉理工大学,武汉,430070
2.广西工学院,柳州,545006
3.广西汽车零部件与整车技术重点实验室,柳州,545006

出版日期:2013-06-10 发布日期:2013-06-04
基金资助:
广西自然科学基金资助项目 (2013GXNSFAA019351, 2010GXNSFA013024, 2010GXNSFA013126)；广西教育厅科研项目(201202ZD068, 201204LX657)

Guangxi Provincial Natural Science Foundation of China（No. 2013GXNSFAA019351, 2010GXNSFA013024, 2010GXNSFA013126）;
Guangxi Provincial Scientific Research Project of Ministry of Education of China（No. 201202ZD068, 201204LX657）

Control for Chaos in Automobile Suspension System Based on Back-stepping Design Adaptive Sliding Mode Controller

Gao Yuan1,2,3;Fan Jianwen2,3;Tan Guangxing2;Luo Wenguang2,3

1.Wuhan University of Technology,Wuhan,430070
2.Guangxi University of Technology,Liuzhou,Guangxi,545006
3.Guangxi Key Laboratory of Automobile Components and Vehicle Technology,Liuzhou,Guangxi,545006

Online:2013-06-10 Published:2013-06-04
Supported by:

Guangxi Provincial Natural Science Foundation of China（No. 2013GXNSFAA019351, 2010GXNSFA013024, 2010GXNSFA013126）;
Guangxi Provincial Scientific Research Project of Ministry of Education of China（No. 201202ZD068, 201204LX657）

摘要/Abstract

摘要：

从存在干扰作用的不确定性汽车悬架系统出发,结合反演设计理论,提出悬架系统混沌运动的自适应滑模控制方法。该方法利用自适应律对系统所受不确定性因素进行估计,采用Lyapunov函数理论证明该控制器的渐进稳定性。仿真结果表明：即使存在悬架系统参数时变、模型不确定以及不同等级路面激励干扰情况,该控制方法也能对悬架系统混沌运动进行有效控制,使无序的振动位移和速度向稳定状态转变,且其数值大幅降低,同时悬架系统的垂直振动加速度也明显减小,车辆行驶的平顺性和安全性提高。由于控制器不依赖汽车悬架系统模型中的非线性项,且控制器中的自适应干扰估计能有效抵消不确定性因素所带来的影响,具有良好的自适应性和鲁棒性,因此研究结果可望为设计汽车可控悬架系统、提高乘坐舒适性,提供有用的控制方法参考。

关键词: 汽车悬架, 混沌, 不确定性, 反演设计, 滑模控制, 干扰估计

Abstract:

A self-adaptive sliding mode control method based on back-stepping design theory was presented, which was used to control chaos in the uncertain automobile suspension system with extern disturbance. The total uncertain factors in the system were estimated by self-adaptive algorithm. The asymptotic stability of controller was proved by Lyapunov theory. Simulation results demonstrate that even if suspension system exists time-variable parameters, uncertain mathematical model and different grade roads interference, this method can realize control chaotic vibration to the steady state, reduce vertical displacement, velocity and acceleration of suspension vibration very much, improve comfort and safety of driving evidently. The presented controller is independent of nonlinear term of the suspension model, and can offset the uncertain influences by adaptive estimating of disturbances. Hence, the control method has better adaptability and robustness. The research results provide a useful reference for design the controllable suspension system with good vehicle ride comfort.

Key words: automobile suspension, chaos, uncertainty, back-stepping design, sliding mode control, interference estimation

中图分类号:

U463.33

高远1, 2, 3, 范健文2, 3, 谭光兴2, 罗文广2, 3. 汽车悬架系统混沌运动的自适应反演滑模控制[J]. 中国机械工程, 2013, 24(11): 1531-1537.

GAO Yuan-1, 2, 3, FAN Jian-Wen-2, 3, TAN Guang-Xin-2, LUO Wen-An-2, 3. Control for Chaos in Automobile Suspension System Based on Back-stepping Design Adaptive Sliding Mode Controller[J]. China Mechanical Engineering, 2013, 24(11): 1531-1537.

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