【摘要】 针对半车油气悬架系统,提出了一种由车身姿态控制器和力跟踪控制器组成双闭环控制系统的车身姿态控制策略。外环利用Backstepping控制算法作为姿态控制器实现对期望姿态的精确跟踪,输出一个最优控制力、力矩;分析了内动态对系统的影响,并通过引入地棚阻尼控制进行修正。设计了输出解耦使最优控制力及力矩分配到前后悬架力,作为内环的给定。内环采用滑模控制算法设计了力跟踪控制器。仿真分析表明,对凸起路面、正弦路面及C级路面提出的控制策略能满足半车悬架的控制要求。更多还原

【Abstract】 A control strategy of vehicle attitude is proposed for the hydro-pneumatic suspension system,which is a double closed-loop control system composed by height controller and force tracking controller. Furthermore,the outer loop utilizes the control algorithm of backstepping as attitude controller which could output an optimal control force that serves as the input of the inner loop to make the accuracy tracking for the desired attitude come true. Analyzed the inner dynamic effect of the system,and introduced the ground-hook control to amend the optimal force. Output decoupling madethe optimal control force and torque distribution to front and rear suspension force.Moreover,the sliding mode control algorithm was adopted by the force tracking controller corrected for the established nonlinear mathematical model. The simulation and analysis indicate that for bump road,sine pavement and C level road the control strategy proposed could satisfy the requirement of vehicle attitude control.更多还原