Active Suspension Control of Full-Car Systems Without Function Approximation
Active Suspension Control of Full-Car Systems Without Function Approximation
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DOI：
10.1109/tmech.2019.2962602
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发表时间：
2020-04-01
影响因子：
6.4
通讯作者：
Li, Guang
中科院分区：
文献类型：
--
作者：
Na, Jing;Huang, Yingbo;Li, Guang
本文提出了一种针对非线性未知的整车主动悬架系统的新控制方法。这种方法的主要优点是可以在不使用任何函数逼近器（例如神经网络和模糊逻辑系统）以及相关的在线自适应的情况下处理系统中的不确定性和非线性。因此，可以弥补繁重的计算成本和缓慢的学习阶段以实现收敛。为了保持瞬态和稳态悬架响应，采用具有规定性能函数的坐标悬架误差变换。然后开发无近似控制来实现变换系统的稳定性，从而保留预定义的悬架响应。极值定理与李亚普诺夫定理一起证明了闭环控制系统的稳定性和收敛性。为了验证所提出的方法并展示其实际适用性，使用商用车软件 Carsim 构建了动态模拟器，其中配置了 E-SUV 型车辆来描述真实的车辆动力学。仿真结果表明，与一些现有方法相比，所提出的控制可以实现更好的悬架性能，并且需要更少的模型信息。
This article proposes a new control approach for full-car active suspension systems with unknown nonlinearities. The main advantage of this approach is that the uncertainties and nonlinearities in the system can be handled without using any function approximator (e.g., neural networks and fuzzy logic systems), and the associated online adaptation. Hence, the heavy computational costs and sluggish learning phase to achieve convergence can be remedied. To maintain the transient and steady-state suspension responses, a coordinate suspension error transformation with prescribed performance functions is adopted. Then an approximation-free control is developed to achieve stabilization of the transformed system so as to retain a predefined suspension response. Extreme Value Theorem is used together with the Lyapunov theorem to prove the stability and convergence of the closed-loop control system. To validate the proposed method and show its practical applicability, a dynamic simulator is built by using a commercial vehicle software, Carsim, where an E-SUV type vehicle is configured to describe realistic vehicle dynamics. Simulation results reveal that the proposed control can achieve better suspension performance and require less model information compared with some existing approaches.