机械科学与技术2017，Vol.36Issue(10)：1505-1511,7.DOI:10.13433/j.cnki.1003-8728.2017.1005
采用EKF状态观测器及滑模算法结合的半车主动悬架控制
A Study on Half-car Active Suspension Control by Combining EKF State Observation and Sliding Mode Algorithm
摘要
Abstract
Due to the fact that there may be trade-offs among ride comfort,suspension deflection and tire deformation for the active suspension system,and considering the robustness of control system with parameter uncertainties and external disturbances,an active suspension controller based on nonlinear filtering method and the sliding mode variable structure control method was designed in order to comprehensively improve the suspension system performance.According to the previously established control algorithm,implementation of the control system requires real-time access to several key states,a state observer was proposed using the extended Kalman filter method.Subsequently,simulation schemes including random road excitation,sinusoidal road excitation and bump road excitation are carried out to validate the effectiveness of the entire control system.The results of the simulations show that,the proposed control system has good road adaptability,and can effectively improve ride comfort and road holding performance without sacrificing suspension deflection.Therefore,the proposed control system is beneficial to improve the ride quality and handling stability of vehicle.关键词
滑模变结构控制/扩展卡尔曼滤波/状态观测器/主动悬架Key words
sliding mode variable structure control/extended Kalman filter/state observation/active suspension分类
交通工程引用本文复制引用
邱香..采用EKF状态观测器及滑模算法结合的半车主动悬架控制[J].机械科学与技术,2017,36(10):1505-1511,7.基金项目
江西省教育厅科学技术研究项目(GJJ151160)、江西科技学院开放基金项目(16XTKFYB04)、江西省科技厅科技支撑计划项目(20135BBG70010)、南昌市汽车动力学与控制研究知识创新团队及江西省教育厅科技项目重点项目(GJJ161133)资助 （GJJ151160）
