【摘要】 考虑到汽车主动悬架系统预瞄控制效果容易受车速、悬架参数不确定性及路面信息感知精度等因素影响，提出一种基于改进型自抗扰控制算法的主动悬架预瞄控制方法。综合考虑悬架系统中簧载质量、刚度和阻尼的不确定性，搭建含有不确定性的车辆悬架模型，对自抗扰控制算法中的增益函数进行改进，设计了带前馈补偿的主动悬架预瞄控制系统，分别在随机路面和脉冲路面激励下从测量噪声和信号处理干扰等外部干扰层面对所提方法的控制效果进行仿真分析。搭建硬件在环试验系统对控制系统接近实际部署时的性能进行研究。仿真和试验结果表明：针对系统状态变化和干扰不确定性，所提方法能在较宽泛的车速范围内有效改善车身振动，具有良好的鲁棒性。更多还原

【Abstract】 The preview control effect of the automobile active suspension system is easily affected by factors such as vehicle speed, suspension parameter uncertainty, and road information perception accuracy. To address the issue, an active suspension preview control method based on an improved Active Disturbance Rejection Control(ADRC) algorithm is proposed. This method thoroughly considers the uncertainty of sprung mass, stiffness, and damping in the suspension system, builds a vehicle suspension model with uncertainty, improves the gain function in the ADRC algorithm, and designs an active suspension preview control system with feedforward compensation. Then, the influence of external disturbances such as measurement noise and signal processing interference on the control effect of the proposed method is simulated and analyzed on random road and pulse excitation road. Finally, a hardware-in-the-loop test system is built to validate the performance of the control system in conditions close to actual deployment. Results show the proposed method effectively improves the vehicle body vibration over a wide speed range under system state changes and disturbances, exhibiting fairly good robustness.更多还原