Design method of holographic optimal sliding mode controller for semi-active suspension of vehicle
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摘要: 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。Abstract: To obtain both better comprehensive performance of semi-active suspension under the nominal running condition and the enhanced robustness under the variation parameters/running condition, a design method of holographic optimal sliding mode (HOSM) controller for the semiactive suspension of vehicle was developed.First, when the current optimal sliding mode (COSM) controller was applied, the poorer reasons of the comprehensive performance of semiactive suspension under the nominal running condition and the robustness under the variation parameters/running condition were analyzed.Second, the state equations of control system for the semi-active suspension were augmented, a sliding mode manifold function considering all ofstructural and expected information of suspension was established, and a novel HOSM controller was designed.Finally, based on the numerical simulation, the control result of the proposed controller was compared with the control result of COSM controller and the performance of passive suspension.Analysis result shows that the comprehensive performance of semi-active suspension controlled by the HOSM controller increases by 88.30% and 38.33% compared with the values of the semi-active suspension controlled by the COSM controller and the passive suspension in the nominal running condition; under the variation parameter condition, the maximum fluctuations of comprehensive performance indexes of the suspensions controlled by the HOSM controller and the COSM controller and the passive suspension are 26.22%, 74.42%, and 46.39%, respectively; under the variation running condition, the maximum fluctuations of comprehensive performance indexes of the suspensions controlled by the HOSM controller and the COSM controller and the passive suspension are 78.55%, 106.22%, and 115.06%, respectively.Therefore, using the HOSM controller can not only achieve better comprehensive performance of semi-active suspension under the nominal running condition, but also achieve better robustness compared with the HOSM controller and the passive suspension.
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图 3 名义工况下簧载质量加速度功率谱密度与频率曲线
Figure 3. Curves of power spectral density of sprung mass acceleration and frequency under nominal running condition
图 4 名义工况下悬架综合性能指标与时间曲线
Figure 4. Curves of suspension comprehensive performance index and time under nominal running condition
图 5 名义工况下俯仰角加速度与时间曲线
Figure 5. Curves of pitch angle acceleration and time under nominal running condition
图 6 参数状态1下簧载质量加速度功率谱密度与频率曲线
Figure 6. Curves of power spectral density of sprung mass acceleration and frequency under parameter condition 1
图 7 参数状态1下悬架综合性能指标与时间曲线
Figure 7. Curves of suspension comprehensive performance index and time under parameter condition 1
图 8 参数状态2下簧载质量加速度功率谱密度与频率曲线
Figure 8. Curves of power spectral density of sprung mass acceleration and frequency under parameter condition 2
图 9 参数状态2下悬架综合性能指标与时间曲线
Figure 9. Curves of suspension comprehensive performance index and time under parameter condition 2
图 10 参数状态3下簧载质量加速度功率谱密度与频率曲线
Figure 10. Curves of power spectral density of sprung mass acceleration and frequency curves under parameter condition 3
图 11 参数状态3下悬架综合性能指标与时间曲线
Figure 11. Curves of suspension comprehensive performance index and time under parameter condition 3
图 12 参数状态4下簧载质量加速度功率谱密度与频率曲线
Figure 12. Curves of power spectral density of sprung mass acceleration and frequency under parameter condition 4
图 13 参数状态4下悬架综合性能指标与时间曲线
Figure 13. Curves of suspension comprehensive performance index and time under parameter condition 4
图 14 参数状态5下簧载质量加速度功率谱密度与频率曲线
Figure 14. Curves of power spectral density of sprung mass acceleration and frequency under parameter condition 5
图 15 参数状态5下悬架综合性能指标与时间曲线
Figure 15. Curves of suspension comprehensive performance index and time under parameter condition 5
图 16 行驶工况1下悬架综合性能指标与时间曲线
Figure 16. Curves of suspension comprehensive performance index and time under running condition 1
图 17 行驶工况2下悬架综合性能指标与时间曲线
Figure 17. Curves of suspension comprehensive performance index and time under running condition 2
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