电动静液压主动悬架双滑模控制研究
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摘要
为了抑制电动静液压作动器(EHA)主动悬架作动器输出主动力的脉动,改善车辆的动态性能,提出了一种EHA主动悬架双滑模控制策略。建立了EHA主动悬架动力学模型,设计了基于模型参考的外环滑模控制器和电机内环滑模控制器,仿真分析了不同路面激励下该悬架的输出主动力特性和车辆动态特性,并开展了台架试验测试。结果表明,双滑模控制策略能够抑制电机输出主动力所产生的脉动,使实际输出主动力有效跟踪理想主动力,提高了EHA主动悬架的动态特性。
In order to restrain the pulsations of the main power outputs from the actuators of the EHA active suspension and to improve the dynamic performance of the vehicles, a dual-sliding mode control strategy for the EHA active suspensions was proposed. The dynamics model of EHA active suspensions was established, and the outer loop sliding mode controllers and the motor inner loop sliding mode controllers were designed based on the model reference. The main dynamic characteristics of the suspensions and the dynamic characteristics of the vehicles under different road excitations were simulated and analyzed. The bench tests were carried out. The simulation and experimental results show that, the dual sliding mode control strategy may restrain the pulsations produced by the main power outputs of the motor, make the actual output main forces track the ideal main power effectively, and improve the dynamic characteristics of the EHA active suspensions.
In order to restrain the pulsations of the main power outputs from the actuators of the EHA active suspension and to improve the dynamic performance of the vehicles, a dual-sliding mode control strategy for the EHA active suspensions was proposed. The dynamics model of EHA active suspensions was established, and the outer loop sliding mode controllers and the motor inner loop sliding mode controllers were designed based on the model reference. The main dynamic characteristics of the suspensions and the dynamic characteristics of the vehicles under different road excitations were simulated and analyzed. The bench tests were carried out. The simulation and experimental results show that, the dual sliding mode control strategy may restrain the pulsations produced by the main power outputs of the motor, make the actual output main forces track the ideal main power effectively, and improve the dynamic characteristics of the EHA active suspensions.
引文
[1] YAN S, SUN W. Self-powered Suspension Criterion and Energy Regeneration Implementation Scheme of Motor-driven Active Suspension [J]. Mechanical Systems & Signal Processing, 2017, 94:297-311.
[2] WANG G. Finite-time Sliding Mode Tracking Control for Active Suspension Systems via Extended Super-twisting Observer[J]. Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems &Control Engineering, 2017, 231(6):459-470.
[3] KILICASLAN S. Control of Active Suspension System Considering Nonlinear Actuator Dynamics[J]. Nonlinear Dynamics, 2018, 91(2):1383-1394.
[4] PAN H, SUN W, JING X, et al. Adaptive Tracking Control for Active Suspension Systems with Non-ideal Actuators[J]. Journal of Sound & Vibration, 2017, 399: 2-20.
[5] 高远,范健文,潘盛辉,等.汽车非线性主动悬架系统的分数阶模糊控制[J].中国机械工程,2015,26(10):1403-1408.GAO Yuan, FAN Jianwen, PAN Shenghui, et al. Fractional-prder Fuzzy Control Method for Vehicel Nonlinear Active Suspension [J]. China Mechanical Engineering, 2015,26(10):1403-1408.
[6] 汪若尘,钱禹辰,丁仁凯,等.基于LQG的混合电磁悬架阻尼-刚度设计及试验研究[J].振动与冲击,2018,37(3):61-65.WANG Ruochen, QIAN Yuchen, DING Renkai, et al. Design and Tests for Damping-stiffness of a Hybrid Electromagnetic Suspension Based on LQG[J]. Vibration and Impact, 2018,37(3):61-65.
[7] 寇发荣,魏冬冬,梁津,等.一种馈能型混合悬架的多模式协调控制[J].中国机械工程,2018,29(11):1356-1363.KOU Farong, WEI Dongdong, LIANG Jin,et al. Multi-mode Coordination Control of a Kind of Regenerative Energy Hybrid Suspensions. [J]. China Mechanical Engineering, 2018, 29(11):1356-1363.
[8] 谷成,殷珺,陈辛波.摇臂推杆式电磁主动悬架的鲁棒控制与优化[J].汽车工程,2018,40(1):34-40.GU Cheng, YIN Jun, CHEN Xinbo. Robust Control and Optimization of a Rocker-pushrod Electromagnetic Active Suspension [J]. Automotive Engineering, 2008,40(1):34-40.
[9] 汪若尘,马晓炜,丁仁凯,等.基于模型参考的混合悬架多模式切换控制研究[J].农业机械学报,2017,48(7):353-360.WANG Ruochen, MA Xiaowei, DING Renkai, et al. Multi-mode Switching Control System for Hybrid Suspension Based on Model Reference [J]. Journal of agricultural Machinery,2017,48(7):353-360.
[10] 汪少华,窦辉,孙晓强,等.电控空气悬架车高调节与整车姿态控制研究[J].农业机械学报,2015,46(10):335-342.WANG Shaohua, DOU Hui, SUN Xiaoqiang, et al. Vehicle Height Adjustment and Attitude Control of Electronically Controlled Air Suspension[J]. Journal of agricultural machinery,2015,46(10):335-342.
[11] 梁军,庞辉,王建平,等.汽车半主动悬架的模型参考滑模控制器设计与分析[J].机械科学与技术,2017,36(7):1022-1028.LIANG Jun, PANG Hui, WANG Jianping, et al. Design and Analysis for Sliding Mode-following Controller of Semi-active Suspension System [J]. Mechanical science and technology, 2017,36(7):1022-1028.
[12] 庞辉,梁军,王建平,等.考虑系统不确定性的车辆主动悬架自适应模糊滑模控制[J].振动与冲击,2018,37(15):261-269. ()() PANG Hui, LIANG Jun, WANG Jianping, et al. Adaptive Fuzzy Sliding Mode Control for Vehicle Active Suspension Systems Considering System Uncertainty [J]. Vibration and Impact, 1988,37(15):261-269.
[13] 刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007(3):407-418.LIU Jinkun, SUN Fuchun. Research and Development on Theory and Algorithms of Sliding Mode Control[J]. Control Theory and Application,2007(3):407-418.
[14] 高远,范健文,谭光兴,等.汽车悬架系统混沌运动的自适应反演滑模控制[J].中国机械工程,2013,24(11):1531-1537.GAO Yuan, FAN Jianwen, TAN Guangxing, et al. Control for Chaos in Automobile Suspension System Based on Back-stepping Design Adaptive Sl;iding Mode Controller[J]. China Mechanical Engineering, 2013, 24(11):1531-1537.
[15] 李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制[J].中国电机工程学报,2014,34(3):431-437.LI Zheng, HU Guangda, CUI Jiarui, et al. Sliding-mode Variable Structure Control with Integral Action for Permanent Magnet Synchronous Motor[J]. Chinese Journal of Electrical Engineering, 2014,34(3):431-437.
[16] 寇发荣,王哲,杜嘉峰,等.电动静液压作动器主动悬架力跟踪控制研究[J].中国机械工程,2017,28(24):2964-2970.KOU Farong, WANG Zhe, DU Jiafeng, et al. Study on Force Tracking of EHA Active Suspension[J]. China Mechanical Engineering,2017,28(24):2964-2970.
[2] WANG G. Finite-time Sliding Mode Tracking Control for Active Suspension Systems via Extended Super-twisting Observer[J]. Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems &Control Engineering, 2017, 231(6):459-470.
[3] KILICASLAN S. Control of Active Suspension System Considering Nonlinear Actuator Dynamics[J]. Nonlinear Dynamics, 2018, 91(2):1383-1394.
[4] PAN H, SUN W, JING X, et al. Adaptive Tracking Control for Active Suspension Systems with Non-ideal Actuators[J]. Journal of Sound & Vibration, 2017, 399: 2-20.
[5] 高远,范健文,潘盛辉,等.汽车非线性主动悬架系统的分数阶模糊控制[J].中国机械工程,2015,26(10):1403-1408.GAO Yuan, FAN Jianwen, PAN Shenghui, et al. Fractional-prder Fuzzy Control Method for Vehicel Nonlinear Active Suspension [J]. China Mechanical Engineering, 2015,26(10):1403-1408.
[6] 汪若尘,钱禹辰,丁仁凯,等.基于LQG的混合电磁悬架阻尼-刚度设计及试验研究[J].振动与冲击,2018,37(3):61-65.WANG Ruochen, QIAN Yuchen, DING Renkai, et al. Design and Tests for Damping-stiffness of a Hybrid Electromagnetic Suspension Based on LQG[J]. Vibration and Impact, 2018,37(3):61-65.
[7] 寇发荣,魏冬冬,梁津,等.一种馈能型混合悬架的多模式协调控制[J].中国机械工程,2018,29(11):1356-1363.KOU Farong, WEI Dongdong, LIANG Jin,et al. Multi-mode Coordination Control of a Kind of Regenerative Energy Hybrid Suspensions. [J]. China Mechanical Engineering, 2018, 29(11):1356-1363.
[8] 谷成,殷珺,陈辛波.摇臂推杆式电磁主动悬架的鲁棒控制与优化[J].汽车工程,2018,40(1):34-40.GU Cheng, YIN Jun, CHEN Xinbo. Robust Control and Optimization of a Rocker-pushrod Electromagnetic Active Suspension [J]. Automotive Engineering, 2008,40(1):34-40.
[9] 汪若尘,马晓炜,丁仁凯,等.基于模型参考的混合悬架多模式切换控制研究[J].农业机械学报,2017,48(7):353-360.WANG Ruochen, MA Xiaowei, DING Renkai, et al. Multi-mode Switching Control System for Hybrid Suspension Based on Model Reference [J]. Journal of agricultural Machinery,2017,48(7):353-360.
[10] 汪少华,窦辉,孙晓强,等.电控空气悬架车高调节与整车姿态控制研究[J].农业机械学报,2015,46(10):335-342.WANG Shaohua, DOU Hui, SUN Xiaoqiang, et al. Vehicle Height Adjustment and Attitude Control of Electronically Controlled Air Suspension[J]. Journal of agricultural machinery,2015,46(10):335-342.
[11] 梁军,庞辉,王建平,等.汽车半主动悬架的模型参考滑模控制器设计与分析[J].机械科学与技术,2017,36(7):1022-1028.LIANG Jun, PANG Hui, WANG Jianping, et al. Design and Analysis for Sliding Mode-following Controller of Semi-active Suspension System [J]. Mechanical science and technology, 2017,36(7):1022-1028.
[12] 庞辉,梁军,王建平,等.考虑系统不确定性的车辆主动悬架自适应模糊滑模控制[J].振动与冲击,2018,37(15):261-269. ()() PANG Hui, LIANG Jun, WANG Jianping, et al. Adaptive Fuzzy Sliding Mode Control for Vehicle Active Suspension Systems Considering System Uncertainty [J]. Vibration and Impact, 1988,37(15):261-269.
[13] 刘金琨,孙富春.滑模变结构控制理论及其算法研究与进展[J].控制理论与应用,2007(3):407-418.LIU Jinkun, SUN Fuchun. Research and Development on Theory and Algorithms of Sliding Mode Control[J]. Control Theory and Application,2007(3):407-418.
[14] 高远,范健文,谭光兴,等.汽车悬架系统混沌运动的自适应反演滑模控制[J].中国机械工程,2013,24(11):1531-1537.GAO Yuan, FAN Jianwen, TAN Guangxing, et al. Control for Chaos in Automobile Suspension System Based on Back-stepping Design Adaptive Sl;iding Mode Controller[J]. China Mechanical Engineering, 2013, 24(11):1531-1537.
[15] 李政,胡广大,崔家瑞,等.永磁同步电机调速系统的积分型滑模变结构控制[J].中国电机工程学报,2014,34(3):431-437.LI Zheng, HU Guangda, CUI Jiarui, et al. Sliding-mode Variable Structure Control with Integral Action for Permanent Magnet Synchronous Motor[J]. Chinese Journal of Electrical Engineering, 2014,34(3):431-437.
[16] 寇发荣,王哲,杜嘉峰,等.电动静液压作动器主动悬架力跟踪控制研究[J].中国机械工程,2017,28(24):2964-2970.KOU Farong, WANG Zhe, DU Jiafeng, et al. Study on Force Tracking of EHA Active Suspension[J]. China Mechanical Engineering,2017,28(24):2964-2970.