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为使半主动悬架在名义工况下获得尽可能优的使用性能,保证在变参数/行驶工况下具有良好的鲁棒性,提出一种车辆半主动悬架全息最优滑模控制器设计方法。基于车辆模型分析了现有最优滑模控制器不能使半主动悬架在名义工况下获得较优性能与在变参数/行驶工况下鲁棒性较差的原因。通过对半主动悬架控制系统状态方程进行扩展,构建了不丢失任何系统结构与期望性能信息的滑模流形函数,据此设计了半主动悬架全息最优滑模控制器。通过变参数多工况数值仿真对比了采用现有最优滑模控制器的半主动悬架、采用全息滑模控制器的半主动悬架与被动悬架的性能。分析结果表明:在名义工况下,采用全息最优滑模控制器的半主动悬架的综合性能较采用现有最优滑模控制器的半主动悬架与被动悬架的综合性能分别提高了88.30%、38.33%;在变参数工况下,采用全息最优滑模控制器的半主动悬架、采用现有最优滑模控制器的半主动悬架和被动悬架的综合性能指标的最大波动分别是26.22%、74.42%、46.39%;在变行驶工况下,采用全息最优滑模控制器的半主动悬架、采用现有最优滑模控制器的半主动悬架和被动悬架的综合性能指标的最大波动分别是78.55%、106.22%、115.06%。可见,相比于被动悬架与采用现有最优滑模控制器的半主动悬架,采用全息最优滑模控制器的半主动悬架可获得更好的名义工况使用性能与变工况鲁棒性。
In order to obtain the best possible performance under the condition of nominal operation and ensure the robustness under variable parameters / driving conditions, a semi-active suspension holographic optimal sliding mode controller Design method Based on the vehicle model, the reason why the existing optimal sliding mode controller can not make the semi-active suspension achieve better performance under nominal operating conditions and the robustness under variable parameters / driving conditions is analyzed. By extending the state equation of semi-active suspension control system, a sliding mode manifold function is constructed which does not lose any system structure and expected performance information, and the semi-active suspension holographic optimal sliding mode controller is designed. The performance of semi-active suspension and passive suspension using holographic sliding mode controller is compared with the numerical simulation of variable-parameter multi-conditions. The analysis results show that under the nominal conditions, the overall performance of the semi-active suspension adopting the holographic optimal sliding mode controller is higher than that of the semi-active suspension and passive suspension adopting the existing optimal sliding mode controller respectively 88.30% and 38.33% respectively. Under the condition of variable parameters, the semi-active suspension with holographic optimal sliding mode controller and the semi-active suspension and passive suspension with the existing optimal sliding mode controller The maximum fluctuation is 26.22%, 74.42% and 46.39% respectively. Under the condition of variable driving, the semi-active suspension adopting the holographic optimal sliding mode controller, the semi-active suspension using the existing optimal sliding mode controller and The maximum fluctuation of the comprehensive performance index of passive suspension is 78.55%, 106.22% and 115.06% respectively. It can be seen that semi-active suspension with holographic optimal sliding mode controller can obtain better performance under nominal condition and variable working mode than passive suspension and semi-active suspension with existing optimal sliding mode controller Robustness.