Driving State Adaptive Control of an Active Vehicle Suspension System
Driving State Adaptive Control of an Active Vehicle Suspension System
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DOI：
10.1109/tcst.2013.2240455
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发表时间：
2014
影响因子：
4.8
通讯作者：
Guido Koch;Tobias Kloiber
中科院分区：
文献类型：
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作者：
Guido Koch;Tobias Kloiber
提出了一种新的自适应车辆悬架控制方法，该方法根据当前驾驶状态调整控制器参数，从而能够在动态车轮载荷和悬架挠度保持在安全临界范围内的同时显著提高乘坐舒适性。为此，自适应控制器结构动态地在由动态车轮载荷和悬架偏转支配的不同调谐的线性二次调节器之间插值。考虑到悬架系统的非线性阻尼特性，采用公共李雅普诺夫函数方法分析了自适应控制器结构的稳定性。为了提供一个现实的框架控制器的设计和性能分析，四分之一的汽车试验台的基础上的全地形车辆悬架，已配备了一个电动直线电机实现主动悬架系统，作为试验台的研究。在此试验台上，自适应控制概念的显着性能成功地验证了基准悬架控制器的比较。
A new adaptive vehicle suspension control method is presented that adjusts the controller parametrization to the current driving state and thereby enables to significantly enhance ride comfort while the dynamic wheel load and the suspension deflection remain within safety critical bounds. To this end, the adaptive controller structure dynamically interpolates between differently tuned linear quadratic regulators governed by the dynamic wheel load and the suspension deflection. The stability of the adaptive controller structure is analyzed by means of a common Lyapunov function approach taking into account the nonlinear damper characteristic of the suspension system. In order to provide a realistic framework for the controller design and the performance analysis, a quarter-car test rig based on an all-terrain vehicle suspension that has been equipped with an electrical linear motor to realize an active suspension system, is employed as testbed for the study. On this test rig, the significant performance of the adaptive control concept is successfully validated in a comparison to benchmark suspension controllers.