考虑系统不确定性的车辆主动悬架自适应模糊滑模控制

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摘要针对车辆主动悬架系统模型不确定性所引起的控制稳定性问题，提出了一种非线性主动悬架自适应模糊滑模控制策略。为提高车辆平顺性、确保汽车行驶安全性能，建立基于Takagi-Sugeno(T-S)模糊方法的四分之一车辆悬架系统非线性动力学模型，将滑模控制与自适应理论结合设计合适的滑模面函数和滑模控制律，进而基于Lyapunov稳定性理论对所提出控制器稳定性进行分析。最后，在三种不同路面激励下的数值仿真结果表明，所提出的自适应模糊滑模控制器使被控悬架在外界路面扰动下具有更好的扰动抑制能力，车辆悬架综合性能得到明显改善。

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	庞辉
	梁军
	王建平
	刘凡

关键词 ：系统不确定性, 主动悬架, T-S模糊模型, 自适应控制, 滑模控制

Abstract：Aiming at control stability problems caused by model uncertainties of vehicle active suspension systems, a novel adaptive fuzzy sliding mode control (AFSMC) strategy was proposed for nonlinear active suspension systems. Firstly, to improve the vehicle ride comfort and ensure the vehicle safety performance, the nonlinear dynamic model for a 1/4 vehicle suspension system was built based on T-S fuzzy model. Then, an appropriate sliding mode surface function and a sliding mode control law were designed through combining the sliding mode control and the adaptive control theory. Furthermore, the stability of the proposed controller was analyzed based on Lyapunov stability theory. Finally, the simulation results under three different road surface excitations demonstrated that the proposed adaptive fuzzy sliding mode controller can make the controlled suspension have a better disturbance control capability under external road surface disturbances; the comprehensive performances of vehicle suspension systems are significantly improved.

Key words： system uncertainty active suspension Takagi-Sugeno (T-S) fuzzy model adaptive control sliding mode control

收稿日期: 2017-03-24 出版日期: 2018-07-28

引用本文:

庞辉，梁军，王建平，刘凡 . 考虑系统不确定性的车辆主动悬架自适应模糊滑模控制[J]. 振动与冲击, 2018, 37(15): 261-269.
PANG Hui,LIANG Jun,WANG Jianping,LIU Fan. Adaptive fuzzy sliding mode control for vehicle active suspension systems considering system uncertainty. JOURNAL OF VIBRATION AND SHOCK, 2018, 37(15): 261-269.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2018/V37/I15/261

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