考虑输入约束的半主动悬架非线性自适应控制
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摘要
针对具有输入约束及参数不确定性问题的汽车半主动悬架系统,提出一种考虑输入饱和的非线性自适应Backstepping控制器.该方法引入一个辅助系统,通过设计新的误差变量,实现对控制饱和的补偿,解决控制输入的幅值约束问题.同时,考虑到悬架系统的参数不确定性问题,采用映射自适应算法设计自适应律,通过构造适当的Lyapunov函数,保证悬架系统的稳定性.仿真结果表明,所设计的控制器具有良好的隔振性能,而且能够有效降低输入约束和不确定参数对系统性能的影响.
A controller design method based on nonlinear adaptive Backstepping is proposed for the vehicle semiactive suspension system containing parameter uncertainties and input saturation problem. This method realizes the compensation of the control saturation by introducing an auxiliary system and designing a new error variable, which solves the problem of amplitude constraint of the control input. Considering the parameter uncertainty of the suspension system, a control law is designed using a projection adaptive algorithm, and the stability of the suspension system is ensured by constructing the appropriate Lyapunov function. The simulation results show that the controller has good vibration isolation performance and can effectively reduce the influence of input constraint and uncertain parameters.
A controller design method based on nonlinear adaptive Backstepping is proposed for the vehicle semiactive suspension system containing parameter uncertainties and input saturation problem. This method realizes the compensation of the control saturation by introducing an auxiliary system and designing a new error variable, which solves the problem of amplitude constraint of the control input. Considering the parameter uncertainty of the suspension system, a control law is designed using a projection adaptive algorithm, and the stability of the suspension system is ensured by constructing the appropriate Lyapunov function. The simulation results show that the controller has good vibration isolation performance and can effectively reduce the influence of input constraint and uncertain parameters.
引文
[1]周辰雨,张硕,武丽颖.基于Backstepping和LQG算法的车辆主动悬架控制研究[J].西南大学学报:自然科学版, 2015, 37(4):138-146.(Zhou C Y, Zhang S, Wu L Y. Study on control system of active suspension based on Backstepping and LQG[J]. J of Southwest University:Natural Science Edition, 2015,37(4):138-146.)
[2]Sunwoo M, Cheok K A C, Huang N T. Model reference adaptive control for vehicle active suspension systems[J].IEEE Trans on Industrial Electronics, 1991, 38(3):217-222.
[3]管成,朱善安.液压主动悬架的非线性自适应控制[J].汽车工程, 2004, 26(6):691-695.(Guan C, Zhu S A. Nonlinear adaptive control of hydraulic active suspension[J]. Automotive Engineering, 2004,26(6):691-695.)
[4]王靖岳,王浩天,张勇.基于模糊PID控制的汽车主动悬架研究[J].机械科学与技术, 2009, 28(8):1047-1051.(Wang J Y, Wang H T, Zhang Y. A study of automobile active suspension based on fuzzy PID control[J].Mechanical Scienceand Technology for Aerospace Engineering, 2009, 28(8):1047-1051.)
[5]朱思洪,吕宝占,王辉,等.汽车半主动空气悬架的神经网络控制方法[J].交通运输工程学报, 2006, 6(4):66-70.(Zhu S H, Lv B Z, Wang H, et al. Neural network control method of automotive semi-active air suspension[J]. J of Traffic and Transportation Engineering, 2006, 6(4):66-70.)
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[7]方一鸣,许衍泽,李建雄.具有输入饱和的电液伺服位置系统自适应动态面控制[J].控制理论与应用, 2014,31(4):511-518.(Fang Y M, Xu Y Z, Li J X. Adaptive dynamic surface control for electro-hydraulic servo position system with input saturation[J]. Control Theory&Applications, 2014,31(4):511-518.)
[8]孙丽颖,赵军.考虑输入约束的发电机汽门非线性自适应控制[J].控制理论与应用, 2009, 26(6):601-606.(Sun L Y, Zhao J. Nonlinear adaptive control for the turbine steam valve with input constraints[J]. Control Theory&Applications, 2009, 26(6):601-606.)
[9]程盈盈,都海波,何怡刚.输入饱和受限下的刚体飞行器姿态系统的有限时间镇定[J].控制与决策, 2015,30(8):1386-1392.(Cheng Y Y, Du H B, He Y G. Finite-time attitude stabilization of rigid spacecraft under input saturation[J].Control and Decision, 2015, 30(8):1386-1392.)
[10]赵和平,黄宏成,习纲,等.非线性弹簧汽车悬架动态特性研究[J].机械强度, 2001, 23(2):165-167.(Zhao H P, Huang H C, Xi G, et al. Dynamic characteristics of vehicle suspension with non-linear springs[J]. J of Mechanical Strength, 2001, 23(2):165-167.)
[11]Jung-Shan Lin, Ioannis Kanellakopoulos. Nonlinear design of active suspensions[J]. IEEE Control Systems,1997, 17(3):45-59.
[12]Bechlioulis C P, Rovithakis G A. Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance[J]. IEEE Trans on Automatic Control, 2008, 53(9):2090-2099.
[13]Xu L, Yao B. Adaptive robust control of mechanical systems with non-linear dynamic friction compensation[J]. Int J of Control, 2008, 81(2):167-176.
[14]Jean-Jacques E Slotine, Weiping Li.应用非线性控制[M].北京:机械工业出版社, 2006.(Jean-Jacques E Slotine, Weiping Li. Applied nonlinear control[M]. Beijing:China Machine Press, 2006.)
[2]Sunwoo M, Cheok K A C, Huang N T. Model reference adaptive control for vehicle active suspension systems[J].IEEE Trans on Industrial Electronics, 1991, 38(3):217-222.
[3]管成,朱善安.液压主动悬架的非线性自适应控制[J].汽车工程, 2004, 26(6):691-695.(Guan C, Zhu S A. Nonlinear adaptive control of hydraulic active suspension[J]. Automotive Engineering, 2004,26(6):691-695.)
[4]王靖岳,王浩天,张勇.基于模糊PID控制的汽车主动悬架研究[J].机械科学与技术, 2009, 28(8):1047-1051.(Wang J Y, Wang H T, Zhang Y. A study of automobile active suspension based on fuzzy PID control[J].Mechanical Scienceand Technology for Aerospace Engineering, 2009, 28(8):1047-1051.)
[5]朱思洪,吕宝占,王辉,等.汽车半主动空气悬架的神经网络控制方法[J].交通运输工程学报, 2006, 6(4):66-70.(Zhu S H, Lv B Z, Wang H, et al. Neural network control method of automotive semi-active air suspension[J]. J of Traffic and Transportation Engineering, 2006, 6(4):66-70.)
[6]孙维超.汽车悬架系统的主动振动控制[D].哈尔滨:哈尔滨工业大学航天学院, 2013.(Sun W C. Active vibration control for vehicle suspension systems[D]. Harbin:School of Astronautics, Harbin Institute of Technology, 2013.)
[7]方一鸣,许衍泽,李建雄.具有输入饱和的电液伺服位置系统自适应动态面控制[J].控制理论与应用, 2014,31(4):511-518.(Fang Y M, Xu Y Z, Li J X. Adaptive dynamic surface control for electro-hydraulic servo position system with input saturation[J]. Control Theory&Applications, 2014,31(4):511-518.)
[8]孙丽颖,赵军.考虑输入约束的发电机汽门非线性自适应控制[J].控制理论与应用, 2009, 26(6):601-606.(Sun L Y, Zhao J. Nonlinear adaptive control for the turbine steam valve with input constraints[J]. Control Theory&Applications, 2009, 26(6):601-606.)
[9]程盈盈,都海波,何怡刚.输入饱和受限下的刚体飞行器姿态系统的有限时间镇定[J].控制与决策, 2015,30(8):1386-1392.(Cheng Y Y, Du H B, He Y G. Finite-time attitude stabilization of rigid spacecraft under input saturation[J].Control and Decision, 2015, 30(8):1386-1392.)
[10]赵和平,黄宏成,习纲,等.非线性弹簧汽车悬架动态特性研究[J].机械强度, 2001, 23(2):165-167.(Zhao H P, Huang H C, Xi G, et al. Dynamic characteristics of vehicle suspension with non-linear springs[J]. J of Mechanical Strength, 2001, 23(2):165-167.)
[11]Jung-Shan Lin, Ioannis Kanellakopoulos. Nonlinear design of active suspensions[J]. IEEE Control Systems,1997, 17(3):45-59.
[12]Bechlioulis C P, Rovithakis G A. Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance[J]. IEEE Trans on Automatic Control, 2008, 53(9):2090-2099.
[13]Xu L, Yao B. Adaptive robust control of mechanical systems with non-linear dynamic friction compensation[J]. Int J of Control, 2008, 81(2):167-176.
[14]Jean-Jacques E Slotine, Weiping Li.应用非线性控制[M].北京:机械工业出版社, 2006.(Jean-Jacques E Slotine, Weiping Li. Applied nonlinear control[M]. Beijing:China Machine Press, 2006.)