汽车悬架系统的主动振动控制
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摘要
汽车悬架系统是车辆中极其重要的组件,一个设计优良的悬架系统可以提升车辆底盘的整体性能、改善乘坐舒适度、保证行车安全。随着人们对汽车性能要求的日益提高,传统的被动悬架系统以及半主动悬架系统已逐渐不能满足司乘人员对车辆舒适性和安全性的要求,尤其在较为恶劣的路面环境下。相比之下,汽车主动悬架系统在改善乘坐舒适度以及车辆操作性方面具有较大优势,是汽车悬架设计的主要趋势。在主动悬架系统中,执行机构被放置在车身与车架之间,平行于悬架组件,能增加和衰减系统中的能量,以协助悬架系统控制车身姿态、降低刹车的不良影响,进而增加乘坐舒适度和行车安全性能。本论文针对汽车主动悬架系统设计中的核心问题——控制算法设计进行理论研究与实验验证,分别针对四分之一主动悬架系统、不确定半车主动悬架系统以及带有液压执行器的全车主动悬架系统进行相应的控制算法设计,改善乘坐舒适度和行车安全性能,主要研究内容可概括为：
有别于经典的汽车主动悬架系统全频域H∞控制方法,本文针对四分之一主动悬架系统,将人体生理结构考虑到控制器设计当中,提出特定频率段下的H∞控制器设计方法,针对性地抑制人体敏感频域段内的扰动,提升乘坐的舒适性。通过对H∞基础理论的研究和发展,避免了传统权重函数法在处理有限频域问题上的复杂性和高度经验依赖性。同全频域H∞控制相比较,有限频域H∞控制方法从扰动到控制输出的H∞性能指标在所设计频域范围内更小,针对性更强,扰动抑制效果明显,同时,悬架行程约束以及车辆安全性能约束也都在控制器设计过程中得到保证。考虑到实际应用中可能存在执行器输入时滞问题,本文提出了输入时滞情况下的主动悬架系统有限频域H∞控制器设计方法,在控制器设计过程中考虑到输入时滞的影响,保证闭环系统即使存在输入时滞的情况下,有限频域H∞性能指标依然能够得到保证。进一步,为处理实际控制中测量信号的不完全可测问题,基于动态输出反馈的有限频域H∞控制器设计方法被提出,弥补全状态反馈过于依赖信号测量的缺陷。
本文进一步针对非线性不确定半车主动悬架系统进行振动抑制算法研究,提出一种多目标自适应backs tepping控制策略,使得闭环系统即使在含有不确定参数的情况下,车身垂直动态和俯仰角动态均可快速维持稳定,进而提升司乘人员乘坐的舒适性,同时悬架行程约束、安全性能约束以及执行器幅值约束等悬架设计需满足的约束条件也均可得到保证,实现对非线性不确定半车主动悬架系统的多目标振动抑制控制研究,此外,通过选取一个特殊的衰减多项式作为参考轨迹,所提出的多目标自适应backstepping控制策略可以保证闭环系统最终稳定在预设的时间内。
对主动悬架控制而言,对于执行机构的依赖性使得主动悬架系统的可靠性是非常重要的问题之一,在主动控制中,执行器可能存在饱和、卡死以及失效等现象,这些现象会严重造成闭环系统性能衰减,甚至不稳定。此外,任何的机械系统,除参数不确定外,还常常伴随有未建模动态、摩擦扰动以及未知干扰等不确定的非线性项,本文针对上述现象,分别提出抗饱和自适应鲁棒控制策略和容错自适应鲁棒控制策略,针对执行器饱和问题和执行器故障现象进行主动控制,降低系统发生执行器幅值饱和和故障时的性能衰减,增强系统的可靠性。
当前主动悬架控制系统的研究,大都忽略执行机构的动态,即假定执行机构为理想力发生机构,此种假设通常导致控制器设计的不精确。针对此情况,本文将实际中常用的液压执行机构的动态性能考虑到控制算法设计过程中,提出了多目标自适应backstepping控制器设计方法,并且为克服标准backstepping控制中带来的“级数爆炸”现象,发展了一种基于滤波器的自适应backstepping控制方法,避免了对虚拟控制导数的求取,简化设计过程的复杂性。此外,针对七自由度液压全车主动悬架系统,结合H∞控制与自适应鲁棒控制各自的优势,提出一种基于自适应鲁棒技术的H∞控制策略,使得闭环系统对液压执行机构中含有的参数不确定性具有自适应能力,对执行器的非线性不确定项具有鲁棒能力,同时车身系统的H∞性能指标以及时域约束均可能得到满足,后续的仿真结果验证了所提出算法的有效性。
理论设计完成之后,本文将应用四分之一主动悬架振动实验台,对上述提出的两类控制算法——有限频域H∞控制算法和自适应鲁棒控制算法进行物理实验验证,通过实验结果的分析和比较,验证所提出控制算法的有效性,并同上述相应的理论分析结果相吻合,进一步佐证算法设计的合理性和实际应用价值。
Vehicle suspension systems are of vital importance for signifcantly improving pas-senger comfort and handling characteristics. A well-designed suspension system can pro-mote the whole performances of automobile chassis. With increased requirements forvehicle performances, traditional passive suspensions or semi-active suspensions are in-adequate in improving ride comfort or road holding, especially under those extreme poorroad conditions. In contrast, active suspension systems have a potential to improve theride comfort and vehicle maneuverability. In active suspensions, actuators are placed be-tween the car body and wheel-axle parallel to the suspension elements, and are able toboth add and dissipate energy from the system, which enables the suspension to controlthe attitude of the vehicle, to reduce the efects of braking and the vehicle roll duringcornering maneuvers to increase ride comfort and vehicle road handling. The present dis-sertation focuses on the control law design for vehicle active suspensions to improve ridecomfort and ride safety, where quarter-car model, half-car model and full-car model areestablished successively to be the control plants. The main researches are summarized asfollows.
The control problem for quarter-car active suspensions in fnite frequency domain isinvestigated. Diferent from the traditional H_∞control approaches which design the con-trollers within the full frequency domain, this dissertation handles the H_∞control problemfor active vehicle suspensions in specifc frequency domain. By developing fundamentaltheory of disturbance attenuation control, the H_∞norm is reduced in concerned frequencyband to improve the drivers’ and passengers’ comfort. Compared with the full frequen-cy H_∞control technology, the proposed approach suppresses the road disturbances moreefectively for the concerned frequency range. Moreover, the necessary performance con-straints within the active suspension design are guaranteed in the whole time domain.Next, in view of the possible actuator input delay, the fnite frequency method is devel-oped to deal with the problem of suspension control with actuator input delay. In addition,state feedback control, which depends on the premise that all the state variables are on-line measurable, usually leads into higher cost and additional complexity, and sometimes,not all the state variables can be measured on-line. To response this situation, a dynamicoutput feedback control algorithm is proposed in this dissertation according to part of themeasured states.
This dissertation proposes an adaptive backstepping control strategy for half-car un-certain active suspensions with hard constraints. An adaptive backstepping controller isdesigned to stabilize the attitude of vehicle and meanwhile improve ride comfort in thepresence of parameter uncertainties, where suspension spaces, dynamic tire loads and ac-tuator saturations are considered as time domain constraints. Furthermore, a referencetrajectory is planned to keep the vertical and pitch motions of car body to stabilize in pre-determined time, which helps adjust accelerations accordingly to high or low levels forimproving ride comfort.
In response to the possible actuator saturation and actuator failures, the saturatedadaptive robust control strategy and the fault tolerant adaptive robust control approachare proposed to deal with the problems of actuator saturation and fault accommodationof active suspension systems. Comparative simulation studies are then given to verify theefectiveness of the proposed control approaches, in which one can see that the designedanti-windup controller and fault tolerant controller can reach good performances eventhough actuator saturation or failures happen.
Difering from the existing results, in most of which the efect of actuator dynamic isneglected, this dissertation considers the electro-hydraulic systems as actuators to supplythe active forces into suspension systems. Furthermore, to overcome the explorationof terms problem existing in standard backstepping, a flter-based backstepping controlstrategy is subsequently proposed. Based on the above analysis and design, the problemof vibration suppression for full-car active suspension systems is investigated, whose aimis to stabilize the attitude of vehicle and meanwhile improve ride comfort. A full-carmodel is adopted and electro-hydraulic actuators with highly nonlinear characteristics areconsidered to form the basis of accurate control. In this part, the H_∞performance is in-troduced to realize the disturbance suppression by selecting the actuator forces as virtualinputs, and an adaptive robust control technology is further used to design controllerswhich help real force inputs track virtual ones. The resulting controllers are robust a-gainst both actuator parametric uncertainties and actuator uncertain nonlinearities, andthe following stability analysis for the closed-loop system is given within the Lyapunovframework.
Experimental verifcations for quarter-car active suspensions are given to show thepractical application of the proposed control algorithms (fnite frequency H_∞control andadaptive robust control), from which the efectiveness and practical merits of the proposedmethod are verifed.
有别于经典的汽车主动悬架系统全频域H∞控制方法,本文针对四分之一主动悬架系统,将人体生理结构考虑到控制器设计当中,提出特定频率段下的H∞控制器设计方法,针对性地抑制人体敏感频域段内的扰动,提升乘坐的舒适性。通过对H∞基础理论的研究和发展,避免了传统权重函数法在处理有限频域问题上的复杂性和高度经验依赖性。同全频域H∞控制相比较,有限频域H∞控制方法从扰动到控制输出的H∞性能指标在所设计频域范围内更小,针对性更强,扰动抑制效果明显,同时,悬架行程约束以及车辆安全性能约束也都在控制器设计过程中得到保证。考虑到实际应用中可能存在执行器输入时滞问题,本文提出了输入时滞情况下的主动悬架系统有限频域H∞控制器设计方法,在控制器设计过程中考虑到输入时滞的影响,保证闭环系统即使存在输入时滞的情况下,有限频域H∞性能指标依然能够得到保证。进一步,为处理实际控制中测量信号的不完全可测问题,基于动态输出反馈的有限频域H∞控制器设计方法被提出,弥补全状态反馈过于依赖信号测量的缺陷。
本文进一步针对非线性不确定半车主动悬架系统进行振动抑制算法研究,提出一种多目标自适应backs tepping控制策略,使得闭环系统即使在含有不确定参数的情况下,车身垂直动态和俯仰角动态均可快速维持稳定,进而提升司乘人员乘坐的舒适性,同时悬架行程约束、安全性能约束以及执行器幅值约束等悬架设计需满足的约束条件也均可得到保证,实现对非线性不确定半车主动悬架系统的多目标振动抑制控制研究,此外,通过选取一个特殊的衰减多项式作为参考轨迹,所提出的多目标自适应backstepping控制策略可以保证闭环系统最终稳定在预设的时间内。
对主动悬架控制而言,对于执行机构的依赖性使得主动悬架系统的可靠性是非常重要的问题之一,在主动控制中,执行器可能存在饱和、卡死以及失效等现象,这些现象会严重造成闭环系统性能衰减,甚至不稳定。此外,任何的机械系统,除参数不确定外,还常常伴随有未建模动态、摩擦扰动以及未知干扰等不确定的非线性项,本文针对上述现象,分别提出抗饱和自适应鲁棒控制策略和容错自适应鲁棒控制策略,针对执行器饱和问题和执行器故障现象进行主动控制,降低系统发生执行器幅值饱和和故障时的性能衰减,增强系统的可靠性。
当前主动悬架控制系统的研究,大都忽略执行机构的动态,即假定执行机构为理想力发生机构,此种假设通常导致控制器设计的不精确。针对此情况,本文将实际中常用的液压执行机构的动态性能考虑到控制算法设计过程中,提出了多目标自适应backstepping控制器设计方法,并且为克服标准backstepping控制中带来的“级数爆炸”现象,发展了一种基于滤波器的自适应backstepping控制方法,避免了对虚拟控制导数的求取,简化设计过程的复杂性。此外,针对七自由度液压全车主动悬架系统,结合H∞控制与自适应鲁棒控制各自的优势,提出一种基于自适应鲁棒技术的H∞控制策略,使得闭环系统对液压执行机构中含有的参数不确定性具有自适应能力,对执行器的非线性不确定项具有鲁棒能力,同时车身系统的H∞性能指标以及时域约束均可能得到满足,后续的仿真结果验证了所提出算法的有效性。
理论设计完成之后,本文将应用四分之一主动悬架振动实验台,对上述提出的两类控制算法——有限频域H∞控制算法和自适应鲁棒控制算法进行物理实验验证,通过实验结果的分析和比较,验证所提出控制算法的有效性,并同上述相应的理论分析结果相吻合,进一步佐证算法设计的合理性和实际应用价值。
Vehicle suspension systems are of vital importance for signifcantly improving pas-senger comfort and handling characteristics. A well-designed suspension system can pro-mote the whole performances of automobile chassis. With increased requirements forvehicle performances, traditional passive suspensions or semi-active suspensions are in-adequate in improving ride comfort or road holding, especially under those extreme poorroad conditions. In contrast, active suspension systems have a potential to improve theride comfort and vehicle maneuverability. In active suspensions, actuators are placed be-tween the car body and wheel-axle parallel to the suspension elements, and are able toboth add and dissipate energy from the system, which enables the suspension to controlthe attitude of the vehicle, to reduce the efects of braking and the vehicle roll duringcornering maneuvers to increase ride comfort and vehicle road handling. The present dis-sertation focuses on the control law design for vehicle active suspensions to improve ridecomfort and ride safety, where quarter-car model, half-car model and full-car model areestablished successively to be the control plants. The main researches are summarized asfollows.
The control problem for quarter-car active suspensions in fnite frequency domain isinvestigated. Diferent from the traditional H_∞control approaches which design the con-trollers within the full frequency domain, this dissertation handles the H_∞control problemfor active vehicle suspensions in specifc frequency domain. By developing fundamentaltheory of disturbance attenuation control, the H_∞norm is reduced in concerned frequencyband to improve the drivers’ and passengers’ comfort. Compared with the full frequen-cy H_∞control technology, the proposed approach suppresses the road disturbances moreefectively for the concerned frequency range. Moreover, the necessary performance con-straints within the active suspension design are guaranteed in the whole time domain.Next, in view of the possible actuator input delay, the fnite frequency method is devel-oped to deal with the problem of suspension control with actuator input delay. In addition,state feedback control, which depends on the premise that all the state variables are on-line measurable, usually leads into higher cost and additional complexity, and sometimes,not all the state variables can be measured on-line. To response this situation, a dynamicoutput feedback control algorithm is proposed in this dissertation according to part of themeasured states.
This dissertation proposes an adaptive backstepping control strategy for half-car un-certain active suspensions with hard constraints. An adaptive backstepping controller isdesigned to stabilize the attitude of vehicle and meanwhile improve ride comfort in thepresence of parameter uncertainties, where suspension spaces, dynamic tire loads and ac-tuator saturations are considered as time domain constraints. Furthermore, a referencetrajectory is planned to keep the vertical and pitch motions of car body to stabilize in pre-determined time, which helps adjust accelerations accordingly to high or low levels forimproving ride comfort.
In response to the possible actuator saturation and actuator failures, the saturatedadaptive robust control strategy and the fault tolerant adaptive robust control approachare proposed to deal with the problems of actuator saturation and fault accommodationof active suspension systems. Comparative simulation studies are then given to verify theefectiveness of the proposed control approaches, in which one can see that the designedanti-windup controller and fault tolerant controller can reach good performances eventhough actuator saturation or failures happen.
Difering from the existing results, in most of which the efect of actuator dynamic isneglected, this dissertation considers the electro-hydraulic systems as actuators to supplythe active forces into suspension systems. Furthermore, to overcome the explorationof terms problem existing in standard backstepping, a flter-based backstepping controlstrategy is subsequently proposed. Based on the above analysis and design, the problemof vibration suppression for full-car active suspension systems is investigated, whose aimis to stabilize the attitude of vehicle and meanwhile improve ride comfort. A full-carmodel is adopted and electro-hydraulic actuators with highly nonlinear characteristics areconsidered to form the basis of accurate control. In this part, the H_∞performance is in-troduced to realize the disturbance suppression by selecting the actuator forces as virtualinputs, and an adaptive robust control technology is further used to design controllerswhich help real force inputs track virtual ones. The resulting controllers are robust a-gainst both actuator parametric uncertainties and actuator uncertain nonlinearities, andthe following stability analysis for the closed-loop system is given within the Lyapunovframework.
Experimental verifcations for quarter-car active suspensions are given to show thepractical application of the proposed control algorithms (fnite frequency H_∞control andadaptive robust control), from which the efectiveness and practical merits of the proposedmethod are verifed.
引文
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