车辆液压主动悬挂系统建模与控制
|
摘要
主动悬挂凭借其巨大的技术优势、广阔的应用前景,从诞生之初就倍受青睐,被称为代表未来车辆悬挂趋势的技术。特别是近些年来,它更是成为汽车工业领域的研究热点。同时,主动悬挂技术本身面临着巨大的技术挑战,在动力学、控制与应用方面有很多问题等待研究。
本文针对车辆液压主动悬挂的建模与控制的相关问题进行了较为系统和深入的研究,包括液压主动悬挂的模型建立、最优控制与Backstepping方法相结合的级联控制、悬挂系统不确定性的自适应控制以及引入乘客-座椅模块后的悬挂系统分析。主要研究成果如下:
1、车辆液压主动悬挂系统的非线性模型的建立。本文在深入研究液压作动器动力学的基础上,为了全面分析主动悬挂性能,从简单到复杂依次建立了详尽的二自由度1/4车辆悬挂模型、四自由度半车(1/2车)俯仰悬挂模型、七自由度全车悬挂模型以及考虑了乘客-座椅的六自由度半车俯仰悬挂模型。
2、根据悬挂系统的结构特点,将系统分为外环和内环两个部分。在线性的外环,利用最优控制来实现对车体垂直振动加速度、悬挂行程以及轮胎动载荷的多目标控制需求;在内环则利用Backstepping方法对液压作动器所带来的非线性项进行补偿。从而提出了最优控制与Backstepping方法相结合的级联控制策略,并通过在所建立的主动悬挂模型上进行的仿真验证了其有效性。
3、考虑到建模误差是不可避免的,对模型参数不确定性带来的影响进行了研究。并以作动器时间常数作为未知参数,在系统的内环采用自适应Backstepping方法设计了新的控制律以及参数更新律,有效的解决了非线性和参数不确定同时存在的问题,文中的理论证明和仿真结果都很好的验证了这一点。
4、采用自适应增益调度控制策略设计了路面输入自适应控制器。该策略利用系统加速度的变化来估计路面输入,从而选择预先离线计算的相应路面输入的控制增益。仿真结果表明,它可以很好的满足变化的路面状况要求,进一步改善了悬挂性能。
5、分析了乘客-座椅模块带来的影响,首先利用前面所提出的级联控制策略进行了控制设计与仿真,并在其基础上对轴距预见控制进行了研究。结果表明:在系统中引入乘客-座椅动力学使得模型更贴近实际的车辆,在控制设计中可以直接用乘客的运动响应来体现乘坐舒适性,性能评价指标更加明确;利用轴距预见控制则可以进一步提升主动悬挂性能,特别是对后悬挂作用明显。
总之,本文以理论分析与仿真计算相结合的方式,对车辆液压主动悬挂的动力学、模型建立与控制设计进行了有益的研究和探讨,提出了若干解决液压主动悬挂控制与实际问题的方法,对于其它类型主动悬挂的相关研究也具有借鉴意义,希望能为主动悬挂技术的理论研究和实际应用提供一定的技术参考。
For its advantages in technology and vast field of application, active suspension has been a hot point since it appeared and is called as a kind of technology representing the developing trend of vehicle suspensions. At the same time, there are a lot of challenges in dynamics, control and application of the active suspension systems.
This dissertation systematically discusses some issues related to the modeling and control of the vehicle hydraulic active suspensions. These issues include the modeling of active suapension systems based on considering hydraulic actuator dynamics, combining control of the optimal control and the backstepping method, and adaptive control on the problems of uncertainties. What's more, there is a discussion on the passenger-seat dynamics included in active suspension system. The main contributions are as follows:
1. The nonlinear models of the vehicle hydraulic active suspension system are built based on hydraulic actuator dynamics analysis. For better evaluating the performance of the active suspension system, we choose two degrees-of-freedom quarter-car model of active suspension, four degrees-of-freedom half-car model of active suspension, seven degrees-of-freedom whole-car model of active suspension, and six degrees-of-freedom half-car model of active suspension including passenger-seat dynamics in the dissertation.
2. The control strategy using a combination of the optimal control and the nonlinear backstepping technique is provided for the active suspension system, which is divided into two parts: the linear part (outer loop) and the nonlinear part caused by hydraulic actuator (inner loop). The detailed procedure is also divided into two steps: firstly the linear quadratic optimal controller is designed based on the performance requirements in the outer loop, and then the nonlinear terms are dealt with the backstepping method in the inner loop. Simulation results show the effectiveness of the proposed strategy.
3. Considering the variations in the parameters of the active suspension, we study the sensitivity of the control strategy proposed in the third chapter. Aiming at the uncertainty of the time constant, the control law and parameter update law are designed in the inner loop using adaptive backstepping method in this dissertation. The verifying in theory and simulation results demonstrate that the uncertainty can be dealt effectively.
4. In order to realize the full potential of active suspensions the controller should have the capability of adapting to changing road environments. We present a gain scheduling control strategy for vehicle suspension design. The control gains of the optimal controller in the outer loop are adapted to the changes of the road input by acceleration feedback. Thus, optimal suspension performance can be obtained in different conditions. Simulations show that the control strategy provides superior passenger comfort over the whole range of road conditions.
5. An analytical investigation of the nonlinear half-car model including passenger-seat dynamics is examined. The simulation results demonstrate that the control strategy based on the combination of the optimal control and the backstepping technique, when including passenger acceleration in the performance index, retains both excellent ride comfort and road handling characteristics. Furthermore, the potential improvements through wheelbase preview control are investigated.
In conclusion, by analyzing and simulating, it mainly studies the problems in dynamics, modeling and control of the vehicle hydraulic active suspension in the dissertation and proposes some methods on the control design and the practical problems, which can provide ideas for the study of the active suspension in other kinds, and be of some help to the development of active suspensions.
本文针对车辆液压主动悬挂的建模与控制的相关问题进行了较为系统和深入的研究,包括液压主动悬挂的模型建立、最优控制与Backstepping方法相结合的级联控制、悬挂系统不确定性的自适应控制以及引入乘客-座椅模块后的悬挂系统分析。主要研究成果如下:
1、车辆液压主动悬挂系统的非线性模型的建立。本文在深入研究液压作动器动力学的基础上,为了全面分析主动悬挂性能,从简单到复杂依次建立了详尽的二自由度1/4车辆悬挂模型、四自由度半车(1/2车)俯仰悬挂模型、七自由度全车悬挂模型以及考虑了乘客-座椅的六自由度半车俯仰悬挂模型。
2、根据悬挂系统的结构特点,将系统分为外环和内环两个部分。在线性的外环,利用最优控制来实现对车体垂直振动加速度、悬挂行程以及轮胎动载荷的多目标控制需求;在内环则利用Backstepping方法对液压作动器所带来的非线性项进行补偿。从而提出了最优控制与Backstepping方法相结合的级联控制策略,并通过在所建立的主动悬挂模型上进行的仿真验证了其有效性。
3、考虑到建模误差是不可避免的,对模型参数不确定性带来的影响进行了研究。并以作动器时间常数作为未知参数,在系统的内环采用自适应Backstepping方法设计了新的控制律以及参数更新律,有效的解决了非线性和参数不确定同时存在的问题,文中的理论证明和仿真结果都很好的验证了这一点。
4、采用自适应增益调度控制策略设计了路面输入自适应控制器。该策略利用系统加速度的变化来估计路面输入,从而选择预先离线计算的相应路面输入的控制增益。仿真结果表明,它可以很好的满足变化的路面状况要求,进一步改善了悬挂性能。
5、分析了乘客-座椅模块带来的影响,首先利用前面所提出的级联控制策略进行了控制设计与仿真,并在其基础上对轴距预见控制进行了研究。结果表明:在系统中引入乘客-座椅动力学使得模型更贴近实际的车辆,在控制设计中可以直接用乘客的运动响应来体现乘坐舒适性,性能评价指标更加明确;利用轴距预见控制则可以进一步提升主动悬挂性能,特别是对后悬挂作用明显。
总之,本文以理论分析与仿真计算相结合的方式,对车辆液压主动悬挂的动力学、模型建立与控制设计进行了有益的研究和探讨,提出了若干解决液压主动悬挂控制与实际问题的方法,对于其它类型主动悬挂的相关研究也具有借鉴意义,希望能为主动悬挂技术的理论研究和实际应用提供一定的技术参考。
For its advantages in technology and vast field of application, active suspension has been a hot point since it appeared and is called as a kind of technology representing the developing trend of vehicle suspensions. At the same time, there are a lot of challenges in dynamics, control and application of the active suspension systems.
This dissertation systematically discusses some issues related to the modeling and control of the vehicle hydraulic active suspensions. These issues include the modeling of active suapension systems based on considering hydraulic actuator dynamics, combining control of the optimal control and the backstepping method, and adaptive control on the problems of uncertainties. What's more, there is a discussion on the passenger-seat dynamics included in active suspension system. The main contributions are as follows:
1. The nonlinear models of the vehicle hydraulic active suspension system are built based on hydraulic actuator dynamics analysis. For better evaluating the performance of the active suspension system, we choose two degrees-of-freedom quarter-car model of active suspension, four degrees-of-freedom half-car model of active suspension, seven degrees-of-freedom whole-car model of active suspension, and six degrees-of-freedom half-car model of active suspension including passenger-seat dynamics in the dissertation.
2. The control strategy using a combination of the optimal control and the nonlinear backstepping technique is provided for the active suspension system, which is divided into two parts: the linear part (outer loop) and the nonlinear part caused by hydraulic actuator (inner loop). The detailed procedure is also divided into two steps: firstly the linear quadratic optimal controller is designed based on the performance requirements in the outer loop, and then the nonlinear terms are dealt with the backstepping method in the inner loop. Simulation results show the effectiveness of the proposed strategy.
3. Considering the variations in the parameters of the active suspension, we study the sensitivity of the control strategy proposed in the third chapter. Aiming at the uncertainty of the time constant, the control law and parameter update law are designed in the inner loop using adaptive backstepping method in this dissertation. The verifying in theory and simulation results demonstrate that the uncertainty can be dealt effectively.
4. In order to realize the full potential of active suspensions the controller should have the capability of adapting to changing road environments. We present a gain scheduling control strategy for vehicle suspension design. The control gains of the optimal controller in the outer loop are adapted to the changes of the road input by acceleration feedback. Thus, optimal suspension performance can be obtained in different conditions. Simulations show that the control strategy provides superior passenger comfort over the whole range of road conditions.
5. An analytical investigation of the nonlinear half-car model including passenger-seat dynamics is examined. The simulation results demonstrate that the control strategy based on the combination of the optimal control and the backstepping technique, when including passenger acceleration in the performance index, retains both excellent ride comfort and road handling characteristics. Furthermore, the potential improvements through wheelbase preview control are investigated.
In conclusion, by analyzing and simulating, it mainly studies the problems in dynamics, modeling and control of the vehicle hydraulic active suspension in the dissertation and proposes some methods on the control design and the practical problems, which can provide ideas for the study of the active suspension in other kinds, and be of some help to the development of active suspensions.
引文
[1]Federspiel-Labrosse J M.Beitrag zum stadium und zur ver-vollkommung der aufhangung der fahrzeuge.ATZ,Marz,1955,3(2):57-72.
[2]鲁家文.汽车主动悬架的发展及其最新技术.汽车与配件,2002(14).
[3]王磊.汽车主动悬架控制策略的研究.浙江工业大学硕士论文,2003.
[4]周云山,钟勇,等编著.汽车电子控制技术.北京:机械工业出版社,2004,7.
[5]喻凡,林逸.汽车系统动力学.北京:机械工业出版社,2005,7.
[6]Hedrick J K,Wormley D N.Active suspension for ground transportation vehicle-a state of the art review.Mechanics of Transportation System,ASME,AMD,1975,15:21-40.
[7]Goodall R M,Kortum W.Active controls in ground transportation-a review of the state of the art and future potential.Vehicle System Dynamics,1983,12:225-257.
[8]Sharp R S,Crolla D A.Road vehicle suspension design-a review.Vehicle System Dynamics,1987,16:167-192.
[9]余强,郑慕桥.汽车悬架控制技术的发展.汽车技术,1994,9:1-6.
[10]孙求理,张洪欣.主动悬架的发展和技术现状.世界汽车,1996,5:4-6.
[11]Hrovat D.Survey of advanced suspension developments and related optimal control applications.Automatics,1997,33(10):1781-1817.
[12]李军,成思源,卢海峰.汽车主动悬架控制方法的现状与发展.渝州大学学报(自然科学版),1999,16(4):58-61.
[13]曹民,范永法.汽车悬架技术的进展和预测.上海汽车,2000,7:16-19.
[14]孙建民,陈玉强.现代控制理论在汽车悬架控制中的应用现状.汽车研究与开发,2000,5:19-22.
[15]刘少军,饶大可,黄中华.车辆主动悬架系统及其控制方法.湘潭大学自然科学学报,2003,25(2):65-69.
[16]张玉春,王良曦,丛华.汽车主动悬挂控制的研究现状和未来挑战.控制理论与应用,2004,21(1):139-144.
[17]万钢,秦明,吴宪.轿车悬架技术现状及发展趋势.上海汽车,2004,7:26-29.
[18]Karnopp D,Crosby M J.Vibration control using semi-active force generators.J of Engineering for Industry,Trans of the ASME,1974,5(2):619-626.
[19]翁建生,张文丰,胡海岩,等.时滞“天棚”阻尼控制的车辆悬架系统特性研究.南京建筑工程学院学报,1999,3:1-6.
[20]Thompson A G.An active suspension with optimal linear state feedback.Vehicle System Dynamics,1976,5:187-203.
[21]Hrovat D.Optimal active suspension structures for quarter-car vehicle models.Automatica,1990,26:845-860.
[22]Hrovat D.Applications of optimal control to advanced automotive suspension design.Transactions of the ASME,Journal of Dynamic Systems,Measurement and Control,1993,115:328-342.
[23]兰波,喻凡.车辆主动悬架LQG控制器的设计与仿真分析.农业机械学报,2004,1:13-17.
[24]曾志华,章一鸣.车辆主动悬挂的最优控制研究.振动工程学报,1992,5(1):48-52.
[25]孙骏,桂龙.基于最优控制的汽车主动悬架.安徽工学院学报,1996,15(4):74-78.
[26]陈无畏,沈云鹤,张启群.汽车主动悬架的最优控制及计算机仿真.振动与冲击,1996,15(4):53-58.
[27]Liu S J.Optimal Control of An Active Suspension System Employing High Speed ON/OFF solenoid Valve.J.Cest South Univ Technol,1997,4(4):36-40.
[28]黄英,张以忱.工程机械驾驶员座椅主动悬架最优控制.东北大学学报(自然科学版),2001,22(4):409-412.
[29]韩波,王庆丰,路甬祥.基于LQG理论的液压主动悬架仿真研究.机械工程学报,1998,34(6):59-65.
[30]Thompson A G.Optimal and suboptimal linear active suspension for road vehicle.Vehicle System Dynamics,1984,13:61-72.
[31]冯志鹏,张益群,冯志鸿.主动悬架系统随机次优控制.昆明理工大学学报,2001,26(1):80-83.
[32]张玉春,王良曦,丛华.车辆主动悬架系统的随机控制及计算机仿真研究.公路交通科技,2003,12:134-138.
[33]张玉春,王良曦,丛华.汽车主动悬挂系统的次优控制及仿真.系统仿真学报,2003,15(8):1095-1097.
[34]Doyle J C,Stein G.Mnltivariable feedback design concepts for a classic/modern synthesis.IEEE Trans on Automatic Control,1981,26(1):4-16.
[35]黄兴惠,赵六奇.汽车主动悬梁的实验研究及系统鲁棒稳定性分析与设计.北京:清华大学博士论文,1999.
[36]Sunwoo M,Check K A C,Huang N T.Model reference adaptive control for vehicle active suspension systems.IEEE Trans on Industrial Electronics,1991,38(3):217-222.
[37]李霆,姜节胜.车辆系统的自适应控制.振动工程学报,1995,8(4):369-376.
[38]刘新亮,张建武,陈兆熊.汽车主动悬架的自校正控制.汽车工程,1998,20(3):165-170.
[39]丁科,侯朝桢.车辆主动悬架的自适应控制研究.北京理工大学学报,2001,21(6):706-709.
[40]马宝山,刘志刚,孙建民,赵振宇.自适应滤波技术在汽车悬架振动控制中的应用.黑龙江工程学院学报,2002,16(4):54-56.
[41]孙建民,杨清梅,陈玉强.LMS自适应主动控制汽车悬架系统试验研究.中国机械工程,2003,14(24):2153-2156.
[42]喻凡,郭孔辉.自适应主动悬架对车辆性能改进的潜力.中国机械工程,1998,9(6):67-69.
[43]喻凡,郭孔辉.车辆主动悬架的最优自适应与自校正控制.汽车工程,1998,20(4):193-200,205.
[44]喻凡,罗哲.车辆自适应悬架控制方法的研究.农业工程学报,1998,14(6):38-42
[45]Chantranuwathana S,Peng H.Practical adaptive robust controllers for active suspension.Dynamic Systems and Control,2000,69(1):255-262.
[46]Bu F P,Yao B.Desired compensation adaptive robust control of single rod electro-hydraulic actuator,www:.
[47]Ray L R.Robust linear-optimal control laws for active suspension systems.Advanced Automotive Technologies-1991 American Society of Mechanical Engineers,Design Engineering Division,1991,40:291-302.
[48]Michelberger P,Palkovics L,Boker J.Robust design of active suspension system.Int.J.of Vehicle Design,1993,14:145-165.
[49]Moran A,Nagai M.Analysis and design of active suspensions by H_∞ robust control theory.ASME Int.J.Series Ⅱ,1992,35:427-437.
[50]Yamashita M,Fujimori K,Uhlik C,Kawatani R and Kimura H.H_∞ control of an automotive active suspension.Proceedings of the 29th Conference on Decision and Control,1990:2244-2250.
[51]Yamashita M,et al.Application of H_∞ ontrol to active suspension system.Automatica,1994,30(11):1717-1729.
[52]Toshiaki,et al.H_∞ control of railroad vehicle active suspension.Automatica,1995,31(1):13-24.
[53]Takehiko F,Yoshihide N,Uichiro K.H_∞ control for active suspension of maglev vehicles.日本机械学会论文集(C编),1996,62卷,593号:149-154.
[54]戴焕云,张汉全.车辆主动悬挂的鲁棒稳定性及鲁棒性能研究.铁道学报,1998,20(A04):50-55.
[55]Dai H Y,Shen Z Y.Actively Controlled Forced-Steering Bogie and Its H_∞Controller,5th Mini Conference on Vehicle System Dynamics,Budapest,Hungary,1996,2.
[56]Kashani R,Kiriczi S.Robust stability analysis of LQG-controlled active suspension with model uncertainty using structured singular value μ Method.Vehicle System Dynamics,1992,21:361-384.
[57]Kiriczi S,Kashani R.Robust control of active car suspension with parameter uncertainty and non-white road unevenness disturbance input.SAE Paper,1990,No.902283.
[58]张汉全,戴焕云,周斌.H_∞与μ鲁棒控制方法在车辆主动悬挂中应用.铁道学报,1997,19(5):121-128.
[59]Dai H Y,Zhang H Q,Zhang W H.Robust performance analysis of active suspension with model uncertainty using structured singular value,μapproach,Vehicle System Dynamics Supplement,1998,28:635-647.
[60]戴焕云.车辆主动悬挂的鲁棒控制研究.西南交通大学博士学位论文,1998.
[61]陈虹.汽车悬架系统的鲁棒性分析与综合.吉林大学机械工程博士后流动站研究工作报告,2000.
[62]赵桂军.四分之一车主动悬架的鲁棒控制和在线自适应控制.吉林大学硕士学位论文,2002.
[63]陈虹,赵桂军,孙鹏远,郭孔辉.H_2和H_∞主动悬架统一的理论框架与比较.汽车工程,2003,25(1):1-6.
[64]余志生.汽车理论.北京:机械工业出版社,1981.
[65]Alleyne A,Hedrick J K.Nonlinear control of a quarter car active suspension.Proceeding of the 1992 American Control Conference,Chicago IL,1992:21-25.
[66]Lin J S,Kanellakopoulos I.Nonlinear design of active suspensions.IEEE Control Systems,1997,17(3):45-59.
[67]Huang C J,Lin J S.Nonlinear Active Suspension Design for Half-car Models.Proceedings of the 2002 International Conference on Control and Automation,Xiamen,P.R.China,June 2002,pp.1436-1440.
[68]Yu H,Feng Z J,Wang X Y.Nonlinear control for a class of hydraulic servo system.J Zhejiang Univ,2004,5(11):1413-1417.
[69]管成,朱善安。液压主动悬架的非线性自适应控制.汽车工程,2004,26(6):691-695.
[70]刘新亮,张建武,林忠钦.主动汽车悬架的非线性控制.汽车工程,1997,19(3):175-179.
[71]陈志林,金达锋,黄兴惠,赵六奇,马国新.油气主动悬架车身高度非线性 控制仿真和试验研究.机械工程学报,2000,11(11):1228-1231.
[72]Lin J S,Kanellakopoulos I.Road-adaptive nonlinear design of active suspensions.Proceeding of the 1997 American Control Conference,Albuquerque,NM,June 1997,pp.714-718.
[73]Fialho I,Balas G.Adaptive vehicle suspension design using LPV methods.Proceeding of the 37th Conference on Decision & Control,Tampa,Florida USA,1998:469-474.
[74]Bender E K.Optimal linear preview control with application to vehicle suspension.Journal of Basic Engineering,June 1968:212-211.
[75]Tompson A G,Davis B R,Pearce C E.An optimal linear active suspension with finite road preview.SAE Paper 800520,1980.
[76]Hac A.Optimal linear preview control of active vehicle suspension.Vehicle System Dynamics,1992,21:167-195.
[77]Sharp R S.Preview control of active suspension.Proceedings of the EURMOTOR Seminar on Smart Vehicles,Swets & Zeitlinger Publishers,Delft,Feb,1995:166-182.
[78]Sharp R S,Pilbeam C.On the ride comfort benefits available from road preview with slow-active car suspension.Proceeding of the 13th IAVSD symposium,Cheng Du,China,1993.
[79]EI-Demerdash S M,Crolla D A.Hydro-pneumatic slow-active suspension with and without preview control.Vehicle System Dynamics,1996,25:369-386.
[80]Fruhauf F,Kasper R,Luckel J.Design of an active suspension for a passenger vehicle model using input processes with time delays.Proceeding of the 9th IAVSD symposium on the Dynamics of Vehicles on roads and Tracks,Linkoping,Sweden,1985:126-138.
[81]Yu F,Zhang J W,Crolla D A.A study of a Kalman filter active suspension system with using the correlations of front and rear wheel inputs.Proceeding of IMechE(Part D),Journal of automotive Engineering,2000,214(D5):493-502.
[82]喻凡.车辆悬架控制系统的研究.吉林工业大学博士后研究工作报告,1999.
[83]董波.主动悬架最优控制整车模型的研究.汽车工程,2002,24(5):422-425.
[84]刘少军.基于高速开关阀技术的液压主动隔振系统及控制策略研究.中南工业大学博士学位论文,1997.
[85]刘少军,钟掘,郭淑娟.最优预见控制设计及在汽车主动悬架系统中的应用.中南工业大学学报,1997,28(2):67-70.
[86]Yeh E C,Tsao Y J.A fuzzy Preview Control Scheme of Active Suspension for Rough Road.Int.Journal of Vehicle Design,1994,100:166-180.
[87]Cherry A S,Jones R P.Fuzzy logic control of an automotive suspension system.Control Theory and Applications,IEE Proceedings,1995,142(2):149-160.
[88]Viassolo D E.Fuzzy control for active suspensions.Mechatronics.2000,8(10):897-920.
[89]邵瑛.车辆主动悬架自适应模糊PID控制.汽车科技,2004,5:11-13.
[90]屈文忠,邱阳,等.汽车主动悬架系统的自适应模糊控制方法.汽车工程,2001,23(1):9-12.
[91]孙建民.基于LMS自适应滤波的模糊控制主动悬架研究.汽车工程,2004,26(4):472-475.
[92]余强,魏朗.主动悬架系统的连续模糊控制.汽车技术,1999,1:9-12.
[93]黄中华,刘少军,朱浩.汽车液压主动悬架系统模糊控制研究.汽车工程,2003,25(5):471-474.
[94]宋晓琳,王运龙.汽车主动悬架系统的模糊控制.专用汽车,2000,3:18-20.
[95]宋晓琳,方其让,查正邦,李嫩.采用模糊理论的七自由度汽车主动悬架控制系统.湖南大学学报(自然科学版),2003,30(6):56-59.
[96]Moran A,Nagai M.Optimal preview control of rear suspension using nonlinear neural networks.AVEC'92(1992.9).
[97]Watanabe Y,Sharp R S.Neural network learning control active suspension International Journal of automotive of Vehicle Design.1999,21(2-3):124-147.
[98]王磊,佘翊妮,孟彬,沈季胜.神经网络控制在汽车主动悬架中的应用.重庆工学院学报,2006,20(5):15-18,50.
[99]陈无畏,王其东,王志君,等.汽车半主动悬架的非线性神经网络自适应控制研究.机械工程学报,2000,36(1):75-78.
[100]邢向丰,李凤兰,权龙,周文.汽车液压主动悬架的PID控制.太原理工大学学报,2000,31(3):240-243.
[101]Sam Y M,Osman J H S.Robust controller for active suspension with hydraulic dynamics.5th Asian Control Conference,July 2004,1:598-603.
[102]Yagiz N,Ozbulur V,Inanc N.Sliding mode control of active suspension.IEEE,12th IEEE Int Symposium on Intelligent Control,Istanbul,Turkey:IEEE Press,1997:373-378.
[103]Chen P C,Huang A C.Adaptive sliding control of active suspension systems with uncertain hydraulic actuator dynamics.Vehicle System Dynamics,2006,44(5):357-368.
[104]Ikanaga S,Lewis F L,et al.Active suspension control using a novel strut and active filtered feedback:design and implementation.Proceedings of the 1999IEEE International Conference on Control Applications,1999,2:1502-1508.
[105]张玉春,王良曦,丛华,杨班权.电液主动悬架滤波输出反馈控制器的设计及仿真实现.汽车工程,2004,26(3):325-330.
[106]Hagopian J D,Gaudiller L.Hierarchical control of hydraulic active suspensions of a fast all-terrain military vehicle.Journal of Sound and Vibration,1999,222(5):723-752.
[107]吴龙,陈花玲.车辆悬架的分层预测控制及仿真.农业机械学报,2006,37(4):12-16.
[108]李云超,王良曦,张玉春.电磁主动悬架的建模及仿真研究.装甲兵工程学院学报,2004,18(1):66-69,78.
[109]孟爱红.主动悬架液压伺服控制系统仿真.北京:装甲兵工程学院硕士论文,2003.
[110]陈跃勇,丛华.主动悬架系统中作动器模型的建立及性能分析.装甲兵工程学院学报,2004,18(4):32-34.
[111]余强,陈荫三.在主动悬架系统中作用力产生装置模型的建立及性能分析.西安公路交通大学学报,2001,21(1):103-105.
[112]Merritt H E.Hydraulic Control Systems.New York:John Wiley & Sons,1967.
[113]Ikenaga S,Lewis F L,Campos J,Davis L.Active suspension control of ground vehicle based on a full-vehicle model.Proceedings of the American Control Conference(ACC),Chicago,IL,June 2000.
[114]Li J,Chen S G.Computer simulation of active suspension based on the full-vehicle model.Journal of Chongqing University-Eng.Ed.,Decemeber 2002,1(2):24-27.
[115]周云山,于秀敏.汽车电控系统理论与设计.北京理工大学出版社,1999.
[116]祁建城,李若新,刘志国,等.汽车主动悬架最优控制.汽车工程,1999,21(1):15-20.
[117]高跃奎.最优控制理论在车辆主动悬架中的应用.重型汽车,2000,4:8-10.
[118]Kokotovic P V.The Joy of Feedback:Nonlinear and Adaptive.IEEE Control Systems,1992,June:7-17.
[119]Kokotovic P V,Krstie M,Kanellakopoulos I.Backstepping to passivity:recursive design of adaptive systems.Proceedings of the 31st IEEE Conference on Decision and Control,1992,4:3276-3280.
[120]Kristic M,Kanellakopoulos I,Kokotovic P.Nonlinear and Adaptive Control Design.Wiley Inter-Science,1995.
[121]罗成,胡德文,祝晓才,董国华.基于LQR和模糊插值的五级倒立摆控制研究.控制与决策,2005,20(4):392-397.
[122]Taghirad H D,Esmallzadeh E.Automobile passenger comfort assured through LQG/LQR active suspension.Vibration and Control,1998,4(4):603-618.
[123]杨俊华,吴捷,胡跃明.反步方法原理及在非线性鲁棒控制中的应用.控制与决策,2002,17(B11):641-647,653.
[124]陈善本.线性二次型指标下的最优输出反馈.控制理论与应用,1993,10(1): 93-98.
[125]李世玲.线性二次型调节器最优输出反馈律的研究.电子技术参考,1999,1:14-24.
[126]冯纯伯,张侃建,编著.非线性系统的鲁棒控制.科学出版社,2003.
[127]Kanellakopoulos I,Kokotovic P V,Morse A S.Systematic design of adaptive controllers for feedback linearizable systems.IEEE Trans on Automatic Control,1991,36(11):1241-1253.
[128]Jiang Z P,Praly L.Design of robust adaptive controllers for nonlinear system with dynamatic uncertainties.Automatica,1998,34(7):825-840.
[129]Koshkouei A J,Zinober A S I.Adaptive backstepping control of nonlinear systems with unmatched uncertainty.Proceedings of the 39th IEEE Conference on Decision and Control,2000,5:4765-4770.
[130]Steinberg M L,Anthony P B.Nonlinear adaptive flight control with a backstepping design approach.AIAA Guidance,Navigation and Control Conference and Exhibit.Boston:American Institute of Aeronautics and Astronautics,1998:728-738.
[131]Calisel A J,Lee S,Sharma M.Direct adaptive reconfigurable control of a tailless fighter aircraft.AIAA-98-4108.
[132]H(a|¨)rkegard O,Glad S T.Flight control design using backstepping.Technical Report LiTH-ISY-R-2323,Department of Electrical Engineering,link(o|¨)pings universitet,SE-581 83 link(o|¨)ping,Sweden,Dec.2000.
[133]胡云安,晋玉强,郭晓军.导弹自适应反演控制器设计.航天控制,2002,20(78):23-28.
[134]Ki-Seok K,Youdan K.Robust backstepping control for slew maneuver using nonlinear tracking function.IEEE Transactions on Control Systems Technology,2003,11(6):822-829.
[135]Lin J S,Kanellakopoulos I.Adaptive nonlinear design of active suspensions.Preprints of the 13~(th) IFAC World Congress,San Francisco,CA,July 1996,F:341-346.
[136]乔宇,王江.基于反向递推法的汽车主动悬架控制器设计.天津大学学报(自然科学与工程技术版),2001,34(1):5-8.
[137]Takanori F,Akira Y,Norihiko A.Nonlinear and H_∞ control of active suspension systems with hydraulic actuators.Proceedings of the 38th Conference on Design & Control,Phoenix,Arizona USA,December 1999:5125-5128.
[138]董文瀚,孙秀霞,林岩.反推自适应控制的发展及应用.控制与决策,2006,21(10):1081-1086.
[139]秦民,董波,马天飞,赵伟东.基于轴间预瞄的主动悬架研究.汽车工程, 2004,26(2):193-196.
[140]赵文峰,等编著.控制系统设计与仿真.西安电子科技大学出版社,2002.
[141]庄德军,喻凡,林逸.汽车主动悬架多点预瞄控制算法设计.中国机械工程,2006,17(12):1316-1319.
[2]鲁家文.汽车主动悬架的发展及其最新技术.汽车与配件,2002(14).
[3]王磊.汽车主动悬架控制策略的研究.浙江工业大学硕士论文,2003.
[4]周云山,钟勇,等编著.汽车电子控制技术.北京:机械工业出版社,2004,7.
[5]喻凡,林逸.汽车系统动力学.北京:机械工业出版社,2005,7.
[6]Hedrick J K,Wormley D N.Active suspension for ground transportation vehicle-a state of the art review.Mechanics of Transportation System,ASME,AMD,1975,15:21-40.
[7]Goodall R M,Kortum W.Active controls in ground transportation-a review of the state of the art and future potential.Vehicle System Dynamics,1983,12:225-257.
[8]Sharp R S,Crolla D A.Road vehicle suspension design-a review.Vehicle System Dynamics,1987,16:167-192.
[9]余强,郑慕桥.汽车悬架控制技术的发展.汽车技术,1994,9:1-6.
[10]孙求理,张洪欣.主动悬架的发展和技术现状.世界汽车,1996,5:4-6.
[11]Hrovat D.Survey of advanced suspension developments and related optimal control applications.Automatics,1997,33(10):1781-1817.
[12]李军,成思源,卢海峰.汽车主动悬架控制方法的现状与发展.渝州大学学报(自然科学版),1999,16(4):58-61.
[13]曹民,范永法.汽车悬架技术的进展和预测.上海汽车,2000,7:16-19.
[14]孙建民,陈玉强.现代控制理论在汽车悬架控制中的应用现状.汽车研究与开发,2000,5:19-22.
[15]刘少军,饶大可,黄中华.车辆主动悬架系统及其控制方法.湘潭大学自然科学学报,2003,25(2):65-69.
[16]张玉春,王良曦,丛华.汽车主动悬挂控制的研究现状和未来挑战.控制理论与应用,2004,21(1):139-144.
[17]万钢,秦明,吴宪.轿车悬架技术现状及发展趋势.上海汽车,2004,7:26-29.
[18]Karnopp D,Crosby M J.Vibration control using semi-active force generators.J of Engineering for Industry,Trans of the ASME,1974,5(2):619-626.
[19]翁建生,张文丰,胡海岩,等.时滞“天棚”阻尼控制的车辆悬架系统特性研究.南京建筑工程学院学报,1999,3:1-6.
[20]Thompson A G.An active suspension with optimal linear state feedback.Vehicle System Dynamics,1976,5:187-203.
[21]Hrovat D.Optimal active suspension structures for quarter-car vehicle models.Automatica,1990,26:845-860.
[22]Hrovat D.Applications of optimal control to advanced automotive suspension design.Transactions of the ASME,Journal of Dynamic Systems,Measurement and Control,1993,115:328-342.
[23]兰波,喻凡.车辆主动悬架LQG控制器的设计与仿真分析.农业机械学报,2004,1:13-17.
[24]曾志华,章一鸣.车辆主动悬挂的最优控制研究.振动工程学报,1992,5(1):48-52.
[25]孙骏,桂龙.基于最优控制的汽车主动悬架.安徽工学院学报,1996,15(4):74-78.
[26]陈无畏,沈云鹤,张启群.汽车主动悬架的最优控制及计算机仿真.振动与冲击,1996,15(4):53-58.
[27]Liu S J.Optimal Control of An Active Suspension System Employing High Speed ON/OFF solenoid Valve.J.Cest South Univ Technol,1997,4(4):36-40.
[28]黄英,张以忱.工程机械驾驶员座椅主动悬架最优控制.东北大学学报(自然科学版),2001,22(4):409-412.
[29]韩波,王庆丰,路甬祥.基于LQG理论的液压主动悬架仿真研究.机械工程学报,1998,34(6):59-65.
[30]Thompson A G.Optimal and suboptimal linear active suspension for road vehicle.Vehicle System Dynamics,1984,13:61-72.
[31]冯志鹏,张益群,冯志鸿.主动悬架系统随机次优控制.昆明理工大学学报,2001,26(1):80-83.
[32]张玉春,王良曦,丛华.车辆主动悬架系统的随机控制及计算机仿真研究.公路交通科技,2003,12:134-138.
[33]张玉春,王良曦,丛华.汽车主动悬挂系统的次优控制及仿真.系统仿真学报,2003,15(8):1095-1097.
[34]Doyle J C,Stein G.Mnltivariable feedback design concepts for a classic/modern synthesis.IEEE Trans on Automatic Control,1981,26(1):4-16.
[35]黄兴惠,赵六奇.汽车主动悬梁的实验研究及系统鲁棒稳定性分析与设计.北京:清华大学博士论文,1999.
[36]Sunwoo M,Check K A C,Huang N T.Model reference adaptive control for vehicle active suspension systems.IEEE Trans on Industrial Electronics,1991,38(3):217-222.
[37]李霆,姜节胜.车辆系统的自适应控制.振动工程学报,1995,8(4):369-376.
[38]刘新亮,张建武,陈兆熊.汽车主动悬架的自校正控制.汽车工程,1998,20(3):165-170.
[39]丁科,侯朝桢.车辆主动悬架的自适应控制研究.北京理工大学学报,2001,21(6):706-709.
[40]马宝山,刘志刚,孙建民,赵振宇.自适应滤波技术在汽车悬架振动控制中的应用.黑龙江工程学院学报,2002,16(4):54-56.
[41]孙建民,杨清梅,陈玉强.LMS自适应主动控制汽车悬架系统试验研究.中国机械工程,2003,14(24):2153-2156.
[42]喻凡,郭孔辉.自适应主动悬架对车辆性能改进的潜力.中国机械工程,1998,9(6):67-69.
[43]喻凡,郭孔辉.车辆主动悬架的最优自适应与自校正控制.汽车工程,1998,20(4):193-200,205.
[44]喻凡,罗哲.车辆自适应悬架控制方法的研究.农业工程学报,1998,14(6):38-42
[45]Chantranuwathana S,Peng H.Practical adaptive robust controllers for active suspension.Dynamic Systems and Control,2000,69(1):255-262.
[46]Bu F P,Yao B.Desired compensation adaptive robust control of single rod electro-hydraulic actuator,www:
[47]Ray L R.Robust linear-optimal control laws for active suspension systems.Advanced Automotive Technologies-1991 American Society of Mechanical Engineers,Design Engineering Division,1991,40:291-302.
[48]Michelberger P,Palkovics L,Boker J.Robust design of active suspension system.Int.J.of Vehicle Design,1993,14:145-165.
[49]Moran A,Nagai M.Analysis and design of active suspensions by H_∞ robust control theory.ASME Int.J.Series Ⅱ,1992,35:427-437.
[50]Yamashita M,Fujimori K,Uhlik C,Kawatani R and Kimura H.H_∞ control of an automotive active suspension.Proceedings of the 29th Conference on Decision and Control,1990:2244-2250.
[51]Yamashita M,et al.Application of H_∞ ontrol to active suspension system.Automatica,1994,30(11):1717-1729.
[52]Toshiaki,et al.H_∞ control of railroad vehicle active suspension.Automatica,1995,31(1):13-24.
[53]Takehiko F,Yoshihide N,Uichiro K.H_∞ control for active suspension of maglev vehicles.日本机械学会论文集(C编),1996,62卷,593号:149-154.
[54]戴焕云,张汉全.车辆主动悬挂的鲁棒稳定性及鲁棒性能研究.铁道学报,1998,20(A04):50-55.
[55]Dai H Y,Shen Z Y.Actively Controlled Forced-Steering Bogie and Its H_∞Controller,5th Mini Conference on Vehicle System Dynamics,Budapest,Hungary,1996,2.
[56]Kashani R,Kiriczi S.Robust stability analysis of LQG-controlled active suspension with model uncertainty using structured singular value μ Method.Vehicle System Dynamics,1992,21:361-384.
[57]Kiriczi S,Kashani R.Robust control of active car suspension with parameter uncertainty and non-white road unevenness disturbance input.SAE Paper,1990,No.902283.
[58]张汉全,戴焕云,周斌.H_∞与μ鲁棒控制方法在车辆主动悬挂中应用.铁道学报,1997,19(5):121-128.
[59]Dai H Y,Zhang H Q,Zhang W H.Robust performance analysis of active suspension with model uncertainty using structured singular value,μapproach,Vehicle System Dynamics Supplement,1998,28:635-647.
[60]戴焕云.车辆主动悬挂的鲁棒控制研究.西南交通大学博士学位论文,1998.
[61]陈虹.汽车悬架系统的鲁棒性分析与综合.吉林大学机械工程博士后流动站研究工作报告,2000.
[62]赵桂军.四分之一车主动悬架的鲁棒控制和在线自适应控制.吉林大学硕士学位论文,2002.
[63]陈虹,赵桂军,孙鹏远,郭孔辉.H_2和H_∞主动悬架统一的理论框架与比较.汽车工程,2003,25(1):1-6.
[64]余志生.汽车理论.北京:机械工业出版社,1981.
[65]Alleyne A,Hedrick J K.Nonlinear control of a quarter car active suspension.Proceeding of the 1992 American Control Conference,Chicago IL,1992:21-25.
[66]Lin J S,Kanellakopoulos I.Nonlinear design of active suspensions.IEEE Control Systems,1997,17(3):45-59.
[67]Huang C J,Lin J S.Nonlinear Active Suspension Design for Half-car Models.Proceedings of the 2002 International Conference on Control and Automation,Xiamen,P.R.China,June 2002,pp.1436-1440.
[68]Yu H,Feng Z J,Wang X Y.Nonlinear control for a class of hydraulic servo system.J Zhejiang Univ,2004,5(11):1413-1417.
[69]管成,朱善安。液压主动悬架的非线性自适应控制.汽车工程,2004,26(6):691-695.
[70]刘新亮,张建武,林忠钦.主动汽车悬架的非线性控制.汽车工程,1997,19(3):175-179.
[71]陈志林,金达锋,黄兴惠,赵六奇,马国新.油气主动悬架车身高度非线性 控制仿真和试验研究.机械工程学报,2000,11(11):1228-1231.
[72]Lin J S,Kanellakopoulos I.Road-adaptive nonlinear design of active suspensions.Proceeding of the 1997 American Control Conference,Albuquerque,NM,June 1997,pp.714-718.
[73]Fialho I,Balas G.Adaptive vehicle suspension design using LPV methods.Proceeding of the 37th Conference on Decision & Control,Tampa,Florida USA,1998:469-474.
[74]Bender E K.Optimal linear preview control with application to vehicle suspension.Journal of Basic Engineering,June 1968:212-211.
[75]Tompson A G,Davis B R,Pearce C E.An optimal linear active suspension with finite road preview.SAE Paper 800520,1980.
[76]Hac A.Optimal linear preview control of active vehicle suspension.Vehicle System Dynamics,1992,21:167-195.
[77]Sharp R S.Preview control of active suspension.Proceedings of the EURMOTOR Seminar on Smart Vehicles,Swets & Zeitlinger Publishers,Delft,Feb,1995:166-182.
[78]Sharp R S,Pilbeam C.On the ride comfort benefits available from road preview with slow-active car suspension.Proceeding of the 13th IAVSD symposium,Cheng Du,China,1993.
[79]EI-Demerdash S M,Crolla D A.Hydro-pneumatic slow-active suspension with and without preview control.Vehicle System Dynamics,1996,25:369-386.
[80]Fruhauf F,Kasper R,Luckel J.Design of an active suspension for a passenger vehicle model using input processes with time delays.Proceeding of the 9th IAVSD symposium on the Dynamics of Vehicles on roads and Tracks,Linkoping,Sweden,1985:126-138.
[81]Yu F,Zhang J W,Crolla D A.A study of a Kalman filter active suspension system with using the correlations of front and rear wheel inputs.Proceeding of IMechE(Part D),Journal of automotive Engineering,2000,214(D5):493-502.
[82]喻凡.车辆悬架控制系统的研究.吉林工业大学博士后研究工作报告,1999.
[83]董波.主动悬架最优控制整车模型的研究.汽车工程,2002,24(5):422-425.
[84]刘少军.基于高速开关阀技术的液压主动隔振系统及控制策略研究.中南工业大学博士学位论文,1997.
[85]刘少军,钟掘,郭淑娟.最优预见控制设计及在汽车主动悬架系统中的应用.中南工业大学学报,1997,28(2):67-70.
[86]Yeh E C,Tsao Y J.A fuzzy Preview Control Scheme of Active Suspension for Rough Road.Int.Journal of Vehicle Design,1994,100:166-180.
[87]Cherry A S,Jones R P.Fuzzy logic control of an automotive suspension system.Control Theory and Applications,IEE Proceedings,1995,142(2):149-160.
[88]Viassolo D E.Fuzzy control for active suspensions.Mechatronics.2000,8(10):897-920.
[89]邵瑛.车辆主动悬架自适应模糊PID控制.汽车科技,2004,5:11-13.
[90]屈文忠,邱阳,等.汽车主动悬架系统的自适应模糊控制方法.汽车工程,2001,23(1):9-12.
[91]孙建民.基于LMS自适应滤波的模糊控制主动悬架研究.汽车工程,2004,26(4):472-475.
[92]余强,魏朗.主动悬架系统的连续模糊控制.汽车技术,1999,1:9-12.
[93]黄中华,刘少军,朱浩.汽车液压主动悬架系统模糊控制研究.汽车工程,2003,25(5):471-474.
[94]宋晓琳,王运龙.汽车主动悬架系统的模糊控制.专用汽车,2000,3:18-20.
[95]宋晓琳,方其让,查正邦,李嫩.采用模糊理论的七自由度汽车主动悬架控制系统.湖南大学学报(自然科学版),2003,30(6):56-59.
[96]Moran A,Nagai M.Optimal preview control of rear suspension using nonlinear neural networks.AVEC'92(1992.9).
[97]Watanabe Y,Sharp R S.Neural network learning control active suspension International Journal of automotive of Vehicle Design.1999,21(2-3):124-147.
[98]王磊,佘翊妮,孟彬,沈季胜.神经网络控制在汽车主动悬架中的应用.重庆工学院学报,2006,20(5):15-18,50.
[99]陈无畏,王其东,王志君,等.汽车半主动悬架的非线性神经网络自适应控制研究.机械工程学报,2000,36(1):75-78.
[100]邢向丰,李凤兰,权龙,周文.汽车液压主动悬架的PID控制.太原理工大学学报,2000,31(3):240-243.
[101]Sam Y M,Osman J H S.Robust controller for active suspension with hydraulic dynamics.5th Asian Control Conference,July 2004,1:598-603.
[102]Yagiz N,Ozbulur V,Inanc N.Sliding mode control of active suspension.IEEE,12th IEEE Int Symposium on Intelligent Control,Istanbul,Turkey:IEEE Press,1997:373-378.
[103]Chen P C,Huang A C.Adaptive sliding control of active suspension systems with uncertain hydraulic actuator dynamics.Vehicle System Dynamics,2006,44(5):357-368.
[104]Ikanaga S,Lewis F L,et al.Active suspension control using a novel strut and active filtered feedback:design and implementation.Proceedings of the 1999IEEE International Conference on Control Applications,1999,2:1502-1508.
[105]张玉春,王良曦,丛华,杨班权.电液主动悬架滤波输出反馈控制器的设计及仿真实现.汽车工程,2004,26(3):325-330.
[106]Hagopian J D,Gaudiller L.Hierarchical control of hydraulic active suspensions of a fast all-terrain military vehicle.Journal of Sound and Vibration,1999,222(5):723-752.
[107]吴龙,陈花玲.车辆悬架的分层预测控制及仿真.农业机械学报,2006,37(4):12-16.
[108]李云超,王良曦,张玉春.电磁主动悬架的建模及仿真研究.装甲兵工程学院学报,2004,18(1):66-69,78.
[109]孟爱红.主动悬架液压伺服控制系统仿真.北京:装甲兵工程学院硕士论文,2003.
[110]陈跃勇,丛华.主动悬架系统中作动器模型的建立及性能分析.装甲兵工程学院学报,2004,18(4):32-34.
[111]余强,陈荫三.在主动悬架系统中作用力产生装置模型的建立及性能分析.西安公路交通大学学报,2001,21(1):103-105.
[112]Merritt H E.Hydraulic Control Systems.New York:John Wiley & Sons,1967.
[113]Ikenaga S,Lewis F L,Campos J,Davis L.Active suspension control of ground vehicle based on a full-vehicle model.Proceedings of the American Control Conference(ACC),Chicago,IL,June 2000.
[114]Li J,Chen S G.Computer simulation of active suspension based on the full-vehicle model.Journal of Chongqing University-Eng.Ed.,Decemeber 2002,1(2):24-27.
[115]周云山,于秀敏.汽车电控系统理论与设计.北京理工大学出版社,1999.
[116]祁建城,李若新,刘志国,等.汽车主动悬架最优控制.汽车工程,1999,21(1):15-20.
[117]高跃奎.最优控制理论在车辆主动悬架中的应用.重型汽车,2000,4:8-10.
[118]Kokotovic P V.The Joy of Feedback:Nonlinear and Adaptive.IEEE Control Systems,1992,June:7-17.
[119]Kokotovic P V,Krstie M,Kanellakopoulos I.Backstepping to passivity:recursive design of adaptive systems.Proceedings of the 31st IEEE Conference on Decision and Control,1992,4:3276-3280.
[120]Kristic M,Kanellakopoulos I,Kokotovic P.Nonlinear and Adaptive Control Design.Wiley Inter-Science,1995.
[121]罗成,胡德文,祝晓才,董国华.基于LQR和模糊插值的五级倒立摆控制研究.控制与决策,2005,20(4):392-397.
[122]Taghirad H D,Esmallzadeh E.Automobile passenger comfort assured through LQG/LQR active suspension.Vibration and Control,1998,4(4):603-618.
[123]杨俊华,吴捷,胡跃明.反步方法原理及在非线性鲁棒控制中的应用.控制与决策,2002,17(B11):641-647,653.
[124]陈善本.线性二次型指标下的最优输出反馈.控制理论与应用,1993,10(1): 93-98.
[125]李世玲.线性二次型调节器最优输出反馈律的研究.电子技术参考,1999,1:14-24.
[126]冯纯伯,张侃建,编著.非线性系统的鲁棒控制.科学出版社,2003.
[127]Kanellakopoulos I,Kokotovic P V,Morse A S.Systematic design of adaptive controllers for feedback linearizable systems.IEEE Trans on Automatic Control,1991,36(11):1241-1253.
[128]Jiang Z P,Praly L.Design of robust adaptive controllers for nonlinear system with dynamatic uncertainties.Automatica,1998,34(7):825-840.
[129]Koshkouei A J,Zinober A S I.Adaptive backstepping control of nonlinear systems with unmatched uncertainty.Proceedings of the 39th IEEE Conference on Decision and Control,2000,5:4765-4770.
[130]Steinberg M L,Anthony P B.Nonlinear adaptive flight control with a backstepping design approach.AIAA Guidance,Navigation and Control Conference and Exhibit.Boston:American Institute of Aeronautics and Astronautics,1998:728-738.
[131]Calisel A J,Lee S,Sharma M.Direct adaptive reconfigurable control of a tailless fighter aircraft.AIAA-98-4108.
[132]H(a|¨)rkegard O,Glad S T.Flight control design using backstepping.Technical Report LiTH-ISY-R-2323,Department of Electrical Engineering,link(o|¨)pings universitet,SE-581 83 link(o|¨)ping,Sweden,Dec.2000.
[133]胡云安,晋玉强,郭晓军.导弹自适应反演控制器设计.航天控制,2002,20(78):23-28.
[134]Ki-Seok K,Youdan K.Robust backstepping control for slew maneuver using nonlinear tracking function.IEEE Transactions on Control Systems Technology,2003,11(6):822-829.
[135]Lin J S,Kanellakopoulos I.Adaptive nonlinear design of active suspensions.Preprints of the 13~(th) IFAC World Congress,San Francisco,CA,July 1996,F:341-346.
[136]乔宇,王江.基于反向递推法的汽车主动悬架控制器设计.天津大学学报(自然科学与工程技术版),2001,34(1):5-8.
[137]Takanori F,Akira Y,Norihiko A.Nonlinear and H_∞ control of active suspension systems with hydraulic actuators.Proceedings of the 38th Conference on Design & Control,Phoenix,Arizona USA,December 1999:5125-5128.
[138]董文瀚,孙秀霞,林岩.反推自适应控制的发展及应用.控制与决策,2006,21(10):1081-1086.
[139]秦民,董波,马天飞,赵伟东.基于轴间预瞄的主动悬架研究.汽车工程, 2004,26(2):193-196.
[140]赵文峰,等编著.控制系统设计与仿真.西安电子科技大学出版社,2002.
[141]庄德军,喻凡,林逸.汽车主动悬架多点预瞄控制算法设计.中国机械工程,2006,17(12):1316-1319.