基于路面激励预瞄范围切换的主动悬架滑模控制

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (13) : 237-247.

论文

寇发荣,陈奕晓,张新乾,王倩磊,刘朋涛

作者信息 +

ctive suspension sliding mode control based on road excitation preview range switching

KOU Farong, CHEN Yixiao, ZHANG Xinqian, WANG Qianlei, LIU Pengtao

Author information +

文章历史 +

摘要

针对不同行驶工况下悬架控制力与实际路面激励反馈的不匹配问题，提出一种切换路面激励预瞄范围的主动悬架滑模控制方法。搭建由激光雷达、惯性测量单元和GPS (Global Positioning System) 组成的路面预瞄系统，采集原始路面信息并完成数据坐标转换；建立车轮运动轨迹数学模型，根据该数学模型设计了预瞄范围切换的路面激励识别方法；以理想天棚模型为参考模型，设计主动悬架滑模控制器；仿真分析了直线工况和转向工况下的悬架动态性能。仿真结果表明，直线工况下，预瞄范围切换的主动悬架与预瞄范围固定的主动悬架系统动态性能一致；转向工况下，相比于预瞄范围固定的悬架，预瞄范围切换的悬架系统在簧载质量加速度均方根值和轮胎动载荷均方根值分别降低了8.42%和8.76%，验证了所提出控制方法对悬架动态性能提升的有效性。

Abstract

Aiming at the matching of suspension control force and actual road excitation under different driving conditions, a sliding mode control method of active suspension based on switching preview range of pavement excitation was designed. The road preview system composed of lidar, inertial measurement unit and GPS (Global Positioning System) was set up to collect the original road information and complete the data coordinate transformation; the mathematical model of wheel trajectory was established, and the road surface excitation identification method of switching preview range was designed according to the mathematical model; taking the ideal sky-hook model as the reference model, the sliding mode controller of active suspension was designed; the dynamic performance of suspension under linear and steering conditions was simulated and analyzed. The simulation results show that under linear conditions, the dynamic performance of the active suspension with preview range switching is consistent with the active suspension system with fixed preview range; and under the steering condition, compared with the sliding mode control with fixed preview range, the RMS of spring mass acceleration and tire dynamic load of the suspension system with switching preview range are reduced by 8.42% and 8.76%, respectively. The effectiveness of the control method to improve the dynamic performance of the suspension is verified.

导出引用

寇发荣,陈奕晓,张新乾,王倩磊,刘朋涛. 基于路面激励预瞄范围切换的主动悬架滑模控制[J]. 振动与冲击, 2024, 43(13): 237-247

KOU Farong, CHEN Yixiao, ZHANG Xinqian, WANG Qianlei, LIU Pengtao. ctive suspension sliding mode control based on road excitation preview range switching[J]. Journal of Vibration and Shock, 2024, 43(13): 237-247

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