A hybrid approach to modeling and control of vehicle height for electronically controlled air suspension

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• 作者：Xiaoqiang Sun ; Yingfeng Cai ; Shaohua Wang…
• 关键词：electronically controlled air suspension ; vehicle height control ; hybrid system ; mixed logical dynamical ; model predictive control
• 刊名：Chinese Journal of Mechanical Engineering
• 出版年：2016
• 出版时间：January 2016
• 年：2016
• 卷：29
• 期：1
• 页码：152-162
• 全文大小：1,177 KB
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• 作者单位：Xiaoqiang Sun (1)
  Yingfeng Cai (2)
  Shaohua Wang (1)
  Yanling Liu (2)
  Long Chen (2)
  
  1. School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang, 212013, China
  2. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, China
  
• 刊物主题：Mechanical Engineering; Theoretical and Applied Mechanics; Manufacturing, Machines, Tools; Engineering Thermodynamics, Heat and Mass Transfer; Power Electronics, Electrical Machines and Networks; Electronics and Microelectronics, Instrumentation;
• 出版者：Springer Berlin Heidelberg
• ISSN：2192-8258

文摘

The control problems associated with vehicle height adjustment of electronically controlled air suspension (ECAS) still pose theoretical challenges for researchers, which manifest themselves in the publications on this subject over the last years. This paper deals with modeling and control of a vehicle height adjustment system for ECAS, which is an example of a hybrid dynamical system due to the coexistence and coupling of continuous variables and discrete events. A mixed logical dynamical (MLD) modeling approach is chosen for capturing enough details of the vehicle height adjustment process. The hybrid dynamic model is constructed on the basis of some assumptions and piecewise linear approximation for components nonlinearities. Then, the on-off statuses of solenoid valves and the piecewise approximation process are described by propositional logic, and the hybrid system is transformed into the set of linear mixed-integer equalities and inequalities, denoted as MLD model, automatically by HYSDEL. Using this model, a hybrid model predictive controller (HMPC) is tuned based on online mixed-integer quadratic optimization (MIQP). Two different scenarios are considered in the simulation, whose results verify the height adjustment effectiveness of the proposed approach. Explicit solutions of the controller are computed to control the vehicle height adjustment system in realtime using an offline multi-parametric programming technology (MPT), thus convert the controller into an equivalent explicit piecewise affine form. Finally, bench experiments for vehicle height lifting, holding and lowering procedures are conducted, which demonstrate that the HMPC can adjust the vehicle height by controlling the on-off statuses of solenoid valves directly. This research proposes a new modeling and control method for vehicle height adjustment of ECAS, which leads to a closed-loop system with favorable dynamical properties. Keywords electronically controlled air suspension vehicle height control hybrid system mixed logical dynamical model predictive control