车辆主动悬架免模型输出反馈控制器设计与实验
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摘要
针对车辆主动悬架的免模型振动控制问题,提出了结合饱和超螺旋算法的实际输出反馈控制策略。在控制设计中,考虑测量噪声和未知动态的影响,采用高阶滑模观测器估计系统的集中不确定性以及状态变量。为了保证二阶滑模有限时间可达、且控制信号连续,采用一个新的饱和超螺旋算法设计系统控制器。该方法无需精确的反馈线性化,仅需测量一个状态变量,减小了控制实施成本及复杂性。通过调节控制增益可保证系统状态的渐近稳定性和有界性。通过硬件回路实验验证了控制策略的有效性,仿真和实验结果表明,该方法相对于传统的比例积分(PD)及线性二次调节器(LQR)控制具有更好的减振效果,控制输出抖振较小。频响结果显示,被动控制的加速度增益峰值为44. 7 dB,LQR控制的加速度增益峰值为29. 4 dB,而所提控制方法的加速度增益峰值仅为13. 5 dB,舒适性得到较大的改善。
A practical output-feedback control strategy using saturated super-twisting algorithm was proposed for the model-free vibration control problem of vehicle active suspension systems. Sensor noises and perturbed unknown dynamics were considered in the control design,and a higher order sliding mode observer was employed to estimate the total disturbance term and system states. To achieve second-order sliding mode using continuous control on the chosen sliding surface in finite time,a novel saturated supertwisting algorithm was used to design the closed-loop regulator. The exact feedback linearization was no longer required,and only one sensor was used to measure the output variable so as to decrease the control cost and complexity in the proposed control scheme. The asymptotical stability and boundedness of the system could be guaranteed by tuning the controller gains. Finally,the experimental validation based on hardware-in-loop test was implemented to demonstrate the effectiveness of the proposed method. The simulation and experimental results for different road excitations showed the proposed control could achieve better ride comfort than the traditional proportion-differentiation( PD) and linear quadratic regulator( LQR) control methods,and the vibration damping performance was accomplished with less control chattering. The frequency response results showed that the maximum acceleration gain of passive control was 44. 7 dB,and that of the LQR control was 29. 4 dB,whereas that of the proposed control method was decreased to 13. 5 dB,thus the ride comfort was significantly improved.
A practical output-feedback control strategy using saturated super-twisting algorithm was proposed for the model-free vibration control problem of vehicle active suspension systems. Sensor noises and perturbed unknown dynamics were considered in the control design,and a higher order sliding mode observer was employed to estimate the total disturbance term and system states. To achieve second-order sliding mode using continuous control on the chosen sliding surface in finite time,a novel saturated supertwisting algorithm was used to design the closed-loop regulator. The exact feedback linearization was no longer required,and only one sensor was used to measure the output variable so as to decrease the control cost and complexity in the proposed control scheme. The asymptotical stability and boundedness of the system could be guaranteed by tuning the controller gains. Finally,the experimental validation based on hardware-in-loop test was implemented to demonstrate the effectiveness of the proposed method. The simulation and experimental results for different road excitations showed the proposed control could achieve better ride comfort than the traditional proportion-differentiation( PD) and linear quadratic regulator( LQR) control methods,and the vibration damping performance was accomplished with less control chattering. The frequency response results showed that the maximum acceleration gain of passive control was 44. 7 dB,and that of the LQR control was 29. 4 dB,whereas that of the proposed control method was decreased to 13. 5 dB,thus the ride comfort was significantly improved.
引文
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[8]汪若尘,俞峰,邵凯,等.集成电磁悬架的轮毂驱动电动车垂向振动抑制方法研究[J/OL].农业机械学报,2018,49(7):382-389.WANG Ruochen,YU Feng,SHAO Kai,et al. Design and performance analysis of electromagnetic suspension based on inwheel motor car[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(7):382-389. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180747&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018.07. 047.(in Chinese)
[9] PAN H,SUN W,GAO H,et al. Nonlinear tracking control based on extended state observer for vehicle active suspensions with performance constraints[J]. Mechatronics,2015,30:363-370.
[10] PAN H,SUN W,JING X,et al. Adaptive tracking control for active suspension systems with non-ideal actuators[J]. Journal of Sound and Vibration,2017,399:2-20.
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[12]薛涛,李伟,杜岳峰,等.大型高地隙喷雾机喷杆主动悬架自适应模糊滑模控制[J].农业工程学报,2018,34(21):47-56.XUE Tao,LI Wei,DU Yuefeng,et al. Adaptive fuzzy sliding mode control of spray boom active suspension for large high clearance sprayer[J]. Transactions of the CSAE,2018,34(21):47-56.(in Chinese)
[13]朱跃,朱思洪,肖茂华.座椅悬架不匹配干扰估计全程滑模控制研究[J].振动工程学报,2014,27(5):654-660.ZHU Yue,ZHU Sihong,XIAO Maohua. The global sliding mode control for seat suspension system based on unmatched disturbance observer[J]. Journal of Vibration Engineering,2014,27(5):654-660.(in Chinese)
[14] LI H,JING X,KARIMI H,et al. Output-feedback-based H∞control for vehicle suspension systems with control delay[J].IEEE Transactions on Industrial Electronics,2014,61(1):436-446.
[15] ZHAO D,YANG D. Model-free control of quad-rotor vehicle via finite-time convergent extended state observer[J].International Journal of Control,2016,14(1):242-254.
[16] WANG H,MUSTAFA G,TIAN Y. Model-free fractional-order sliding mode control for an active vehicle suspension system[J]. Advances in Engineering Software,2018,115:452-461.
[17] PRECUP R,RADAC M,ROMAN R. Model-free sliding mode control of nonlinear systems:algorithms and experiments[J].Information Sciences,2017,381:176-192.
[18] CHALANGA A,KAMAL S,FRIDMAN L,et al. Implementation of super-twisting control:super-twisting and higher order sliding-mode observer-based approaches[J]. IEEE Transactions on Industrial Electronics,2016,63(6):3677-3685.
[19] ANGULO M,MORENO J,FRIDMAN L. Robust exact uniformly convergent arbitrary order differentiator[J]. Automatica,2013,49(8):2489-2495.
[20] GOLKANI M,KOCH S,REICHHARTINGER M,et al. A novel saturated super-twisting algorithm[J]. Systems&Control Letters,2018,119:52-56.
[21] MORENO J,OSORIO M. Strict Lyapunov functions for the super-twisting algorithm[J]. IEEE Transactions on Automatic Control,2012,57(4):1035-1040.
[22] LEVANT A. Higher-order sliding modes,differentiation and output-feedback control[J]. International Journal of Control,2003,76(9/10):924-941.
[2]武秀恒,秦嘉浩,杜岳峰,等.高地隙喷雾机主动空气悬架减振控制与实验[J/OL].农业机械学报,2018,49(6):60-67.WU Xiuheng,QIN Jiahao,DU Yuefeng,et al. Experiments of vibration control for active pneumatic suspension system in high clearance self-propelled sprayer[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(6):60-67. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180607&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018. 06. 007.(in Chinese)
[3] JING H,WANG R,LI C,et al. Robust finite-frequency H∞control of full-car active suspension[J]. Journal of Sound and Vibration,2019,441:221-239.
[4] WANG G,CHADLI M,CHEN H,et al. Event-triggered control for active vehicle suspension systems with network-induced delays[J]. Journal of the Franklin Institute,2019,356(1):147-172.
[5] LI P,LAM J,CHEUNG K. Multi-objective control for active vehicle suspension with wheelbase preview[J]. Journal of Sound and Vibration,2014,333(21):5269-5282.
[6]王刚,陈长征,于慎波.含路面预瞄信息的车辆主动悬架有限频域多目标控制[J/OL].农业机械学报,2015,46(12):294-300.WANG Gang,CHEN Changzheng,YU Shenbo. Finite frequency multi-objective control of vehicle active suspension with road preview information[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2015,46(12):294-300. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20151240&flag=1. DOI:10. 6041/j. issn. 1000-1298.2015. 12. 040.(in Chinese)
[7]宋刚,许长城.考虑控制时滞的车辆主动悬架随机预瞄控制[J/OL].农业机械学报,2013,44(6):1-7.SONG Gang,XU Changcheng. Stochastic optimal preview control of active vehicle suspension with time-delay consideration[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):1-7. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20130601&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2013. 06. 001.(in Chinese)
[8]汪若尘,俞峰,邵凯,等.集成电磁悬架的轮毂驱动电动车垂向振动抑制方法研究[J/OL].农业机械学报,2018,49(7):382-389.WANG Ruochen,YU Feng,SHAO Kai,et al. Design and performance analysis of electromagnetic suspension based on inwheel motor car[J/OL]. Transactions of the Chinese Society for Agricultural Machinery,2018,49(7):382-389. http:∥www. j-csam. org/jcsam/ch/reader/view_abstract. aspx? file_no=20180747&flag=1. DOI:10. 6041/j. issn. 1000-1298. 2018.07. 047.(in Chinese)
[9] PAN H,SUN W,GAO H,et al. Nonlinear tracking control based on extended state observer for vehicle active suspensions with performance constraints[J]. Mechatronics,2015,30:363-370.
[10] PAN H,SUN W,JING X,et al. Adaptive tracking control for active suspension systems with non-ideal actuators[J]. Journal of Sound and Vibration,2017,399:2-20.
[11] WANG G,CHANG Z,YU S. Finite-time sliding mode tracking control for active suspension systems via extended supertwisting observer[J]. Proc. IMechE Part I:J. Systems and Control Engineering,2017,231(6):459-470.
[12]薛涛,李伟,杜岳峰,等.大型高地隙喷雾机喷杆主动悬架自适应模糊滑模控制[J].农业工程学报,2018,34(21):47-56.XUE Tao,LI Wei,DU Yuefeng,et al. Adaptive fuzzy sliding mode control of spray boom active suspension for large high clearance sprayer[J]. Transactions of the CSAE,2018,34(21):47-56.(in Chinese)
[13]朱跃,朱思洪,肖茂华.座椅悬架不匹配干扰估计全程滑模控制研究[J].振动工程学报,2014,27(5):654-660.ZHU Yue,ZHU Sihong,XIAO Maohua. The global sliding mode control for seat suspension system based on unmatched disturbance observer[J]. Journal of Vibration Engineering,2014,27(5):654-660.(in Chinese)
[14] LI H,JING X,KARIMI H,et al. Output-feedback-based H∞control for vehicle suspension systems with control delay[J].IEEE Transactions on Industrial Electronics,2014,61(1):436-446.
[15] ZHAO D,YANG D. Model-free control of quad-rotor vehicle via finite-time convergent extended state observer[J].International Journal of Control,2016,14(1):242-254.
[16] WANG H,MUSTAFA G,TIAN Y. Model-free fractional-order sliding mode control for an active vehicle suspension system[J]. Advances in Engineering Software,2018,115:452-461.
[17] PRECUP R,RADAC M,ROMAN R. Model-free sliding mode control of nonlinear systems:algorithms and experiments[J].Information Sciences,2017,381:176-192.
[18] CHALANGA A,KAMAL S,FRIDMAN L,et al. Implementation of super-twisting control:super-twisting and higher order sliding-mode observer-based approaches[J]. IEEE Transactions on Industrial Electronics,2016,63(6):3677-3685.
[19] ANGULO M,MORENO J,FRIDMAN L. Robust exact uniformly convergent arbitrary order differentiator[J]. Automatica,2013,49(8):2489-2495.
[20] GOLKANI M,KOCH S,REICHHARTINGER M,et al. A novel saturated super-twisting algorithm[J]. Systems&Control Letters,2018,119:52-56.
[21] MORENO J,OSORIO M. Strict Lyapunov functions for the super-twisting algorithm[J]. IEEE Transactions on Automatic Control,2012,57(4):1035-1040.
[22] LEVANT A. Higher-order sliding modes,differentiation and output-feedback control[J]. International Journal of Control,2003,76(9/10):924-941.