预瞄主动悬架自抗扰控制
Preview Control Active Suspension Based on Active Disturbance Rejection Control
摘要: 预瞄主动悬架系统可获得车辆前方的路面不平度，这使悬架控制系统能够提前应对即将到来的路面激励。为了使预瞄主动悬架控制系统能够适应不同的车速，同时考虑轮胎对路面的滤波效应，本文提出了一种预瞄主动悬架的控制方法。该方法使用轮胎弹性滚子接触模型计算路面不平度的有效路形。基于主动退让路面冲击或支撑车身的控制策略，将预瞄路面的有效路形作为控制器的控制参考信号。以1/4车辆模型为被控对象设计自抗扰控制器，使悬架动行程根据预知的有效路形变化，从而实现预瞄控制。分别在5~60 km/h和5~100 km/h的车速条件下进行了脉冲输入路面仿真和随机路面仿真。结果表明，预瞄控制系统能明显减小车身垂向振动，在脉冲输入下的最高有效车速是30 km/h，在随机输入下的最高有效车速是50 km/h。因此该预瞄控制方法能够适应不同的车速。
Abstract: The preview system on active suspensions can obtain road irregularities in front of the vehicle, so that the suspension control system can prepare for the oncoming road excitation. In order to improve the adaptability of the preview system on active suspensions to different speeds, also taking into account the filter effect of tires to pavements, a preview control method of active suspension is proposed in this paper. The preview control method uses the tire flexible roller contact model to calculate the effective road input of road irregularities. The control strategy is receding the road impact or supporting the vehicle body actively. Based on the strategy, the effective road input is the control reference signal of the controller. An active disturbance rejection controller is designed to control a quarter vehicle model, making the suspension deflection follow the effective road input of the preview road. Simulation experiments were carried out under impulse input and random input at speed range of 5~60 km/h and 5~100 km/h respectively. The simulation results demonstrate that the preview control system can reduce the vehicle body vibration effectively. The maximum effective speed of impulse input and random input is 30 km/h and 50 km/h respectively. The preview control method can adapt to different speeds.
文章引用：杨国, 黄俊明, 杨蓉. 预瞄主动悬架自抗扰控制[J]. 动力系统与控制, 2020, 9(4): 232-244. https://doi.org/10.12677/DSC.2020.94023

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