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| Active control of nonlinear suspension with fractional order based on a differential geometry method |
| CHANG Yujian1,2, TIAN Wowo2, JIN Ge2, CHEN Enli1, LI Shaohua1 |
1.State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhuang Tiedao University, Shijiazhuang 050043, China;
2.Institute of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang 050043, China |
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Abstract Current research of active suspension is mainly based on the suspension system composed of linear spring and linear damping, but the actual suspension, such as hydro pneumatic suspension, air suspension and magnetorheological suspension, not only has nonlinear characteristics, but also has the characteristics of viscoelastic materials.Therefore, the suspension model with nonlinear stiffness and fractional damping can more accurately describe the dynamic performance of suspension.In this paper, a two-degree of freedom 1 / 4 vehicle model with cubic nonlinear stiffness and fractional damping was studied.The fractional differential in the suspension system was approximately calculated by the oustaloup filter algorithm.The active control of the suspension system was carried out by a PID controller and a LQR controller based on the feedback linearization of differential geometry theory.The results show that the active suspension based on the PID controller and the active suspension based on the feedback linearization LQR controller can effectively improve the comfort and stability of automobile suspension, and the effect of feedback linearization LQR active control is obviously better than PID control.
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Received: 09 September 2019
Published: 28 February 2021
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