CN108312800A - A kind of the structuring control method and control device of Vehicle Active Suspension System - Google Patents
A kind of the structuring control method and control device of Vehicle Active Suspension System Download PDFInfo
- Publication number
- CN108312800A CN108312800A CN201810066275.3A CN201810066275A CN108312800A CN 108312800 A CN108312800 A CN 108312800A CN 201810066275 A CN201810066275 A CN 201810066275A CN 108312800 A CN108312800 A CN 108312800A
- Authority
- CN
- China
- Prior art keywords
- active suspension
- formula
- structuring
- indicate
- vehicle active
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/15—Vehicle, aircraft or watercraft design
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Mathematical Optimization (AREA)
- Computational Mathematics (AREA)
- Mathematical Analysis (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of structuring control methods of Vehicle Active Suspension System, include the following steps：Establish a quarter Vehicle Active Suspension System model；Establish the control targe of Active suspension structuring controller；Design the structuring controller of a quarter Vehicle Active Suspension System；The parameter of the structuring controller is adjusted to realize stability of automobile and pleasant climate.The structuring control method of Vehicle Active Suspension System provided in an embodiment of the present invention can effectively improve control stability, driving stability and the riding comfort of automobile, while the design of simplify control device is with easy to implement.The present invention also provides a kind of structuring control devices of Vehicle Active Suspension System.
Description
Technical field
The present invention relates to technical field of automobile control, the structuring more particularly, to a kind of Vehicle Active Suspension System controls
Method and control device.
Background technology
Currently, suspension system is to the safety of running car, passability, ride comfort, control stability, riding comfort etc.
Multiple performance all has having a significant impact.In recent years, active suspension system is because its control performance has well obtained extensive research and produces
A series of control method is given birth to.
Active suspension can adjust damping and stiffness coefficient simultaneously, and an active forcer is added in suspension, can basis
The states such as the quality of automobile and the excitation on ground automatically generate corresponding power and are balanced with it, therefore active suspension system is in addition to tool
Have support car body weight basic function outside, moreover it is possible to realize isolation Uneven road bring vibrate, make to the greatest extent tire and
Road surface contacts the functions such as the safety to ensure vehicle traveling.In addition, the actuator of Active suspension is laid flat in vehicle body and wheel
Between, it can increase the energy with dissipative system so that active suspension system can stablize body gesture, reduce due to
It is influenced caused by Uneven road, brake and steering etc., to improve riding comfort and control stability.
Active suspension control system is typical multi objective control system, and the performance requirement of Vehicle Active Suspension System is main
Including：A, the comfort level of driving：The shock and vibration that isolation road surface is transmitted to human body are reduced, the comfort driven to user generates
It influences；B, the ground connection property of wheel：Vehicle handling stability is had an impact；C, suspension travel safety：To the work peace of suspension
It has an impact entirely.
In the prior art, in the control design case of Active suspension control system, in addition to system to be ensured internal stability and
External disturbance inhibits outer, also to realize the other control performances and target to system.It is designed for Active suspension control system
Present in can compromise the problem of such as various parameters uncertainty, many Active suspension control methods are suggested.But in classics
In control, the basis of method is that all Nonlinear Dynamics are required for being ignored；In linear system robust control, H∞Control provides
A kind of feasible program of multi objective control, however the model needs handled by it are linear, and at high frequencies, do not build
Mould uncertainty will occur, to cause the error of control；Generally speaking, the control method of existing active suspension system is insufficient
Place mainly has the following：
One, currently in most of active suspension system control method, do not consider the loading capacity variation of automobile, make
Lead to the variation that active suspension system structured parameter occurs with factors such as the time limits；
Two, current vehicle active suspension control is mostly single goal control, and since Riding Stability of Automobile control is one
Multi objective control, driving stability and riding comfort therein are the control targe of a pair of of conflict, how to be controlled by one
Device processed solves the control problem of this kind of multiple targets, should give emphasis consideration；
Three, the design of traditional controller is fixed, can not cope with the influence of extraneous uncertain factor, when ambient conditions become
When change, traditional controller can not adjust its inner parameter, be controlled Riding Stability of Automobile so as to cause it inaccurate.
Invention content
An embodiment of the present invention provides a kind of structuring control methods of Vehicle Active Suspension System, to solve existing master
The control design case of dynamic suspension control system does not consider that systematic parameter is uncertain, control targe is single and cannot achieve dynamic and adjusts
The technical issues of section, to effectively improve control stability, driving stability and the riding comfort of automobile, while simplifying control
The design of device processed is with easy to implement.
In order to solve the above-mentioned technical problem, an embodiment of the present invention provides a kind of structuring controls of Vehicle Active Suspension System
Method processed, includes the following steps：
Establish a quarter Vehicle Active Suspension System model；
Establish the control targe of Active suspension structuring controller；
Design the structuring controller of a quarter Vehicle Active Suspension System；
The parameter of the structuring controller is adjusted to realize stability of automobile and pleasant climate.
Preferably, a quarter Vehicle Active Suspension System model of establishing is specially：
According to Newton's second law, the equation of motion of a quarter Vehicle Active Suspension System is established：
In formula (1),Fs(zs,zu),Ft(zu,zr) as follows：
Wherein, the variable that formula (1) and formula (2) are related to is as follows：
T indicates time, msIndicate the quality of a quarter vehicle active suspension, muIndicate a quarter vehicle active suspension
The quality of lower tire；ksIndicate suspension system spring rate, csIndicate suspension damping coefficient, ktIndicate pneumatic tire
Equivalent stiffness coefficients, ctIndicate that pneumatic tire damped coefficient, u (t) indicate the control force of peripheral control unit input, zsIndicate automobile
Vehicle body vertical displacement, zuIndicate tire vertical displacement under suspension；zrRoad disturbances outside indicating；
Definition status variable：x1(t)=zs, x2(t)=zu,
Then system state variables are：X=[x1x2x3x4]T(3)
According to formula (1), formula (2) and formula (3), it converts the equation of motion to state space equation form：
Preferably, the control targe for establishing Active suspension structuring controller is specially：
The control targe of the Active suspension structuring controller is defined as follows：
The normal acceleration of body of a motor car is
It is with respect to suspension displacement ratio
Opposing tire power is
Preferably, the structuring controller of the design a quarter Vehicle Active Suspension System is specially：
According to for indicating that the state space Lagrange equation of architectural system obtains：
According to uncertain caused by the difference of loading capacity, automobile service life, the tire used time limit and inflated condition, outer
Portion disturbs, then can be obtained according to formula (5)：
Wherein, the variable that formula (5) and formula (6) are related to is as follows：
q∈Rn, u ∈ Rm, w ∈ RωWith z ∈ RpSystem mode, input, disturbance and output, D are indicated respectivelyc、Dk、Bu、Fw、C1
And C2Indicate the scalar architectural system parameter matrix suitably tieed up, Δ Dc、ΔDk、ΔBuWith Δ FwIndicate the time-varying suitably tieed up
Perturbation matrices；
The uneven factor of road is placed in external disturbance, according to formula (6), formula (1) and formula (2), can be obtained：
Then vehicle active suspension structure uncertain system is described as follows：
Z=Cx
Δ B=[0 Δ Bu]T, F=[0Fw]T, C=[C1C2](8)；
Structural uncertainty in formula (9) is described as：
By using weighting singular value decomposition, by matrix Akj, Acj, BjVariation is：
It is as follows further to define matrix：
Enable AF panel index γ>0, robust is with respect to index of stability α>0, there are β, β1And β2, an adjustable matrix Q>0 He
One can dematrix P>0, then meet following Riccati equation：
Wherein, in formula (13), σ (VB) representing matrix VBSingular value；
Riccati equation (13) is solved using Matlab, obtains the value of matrix P, it is as follows to obtain structuring controller：
U=-Kx=-rBTPx(14)
Wherein, the value range of formula controller parameter r is：
Preferably, the structuring controller by the adjusting of parameter r to realize the riding stability to automobile
Adjusting.
Preferably, a quarter Vehicle Active Suspension System model is two degrees of freedom kinetic model.
In order to solve identical technical problem, the present invention also provides a kind of structuring of Vehicle Active Suspension System controls to fill
It sets, including：
First establishes module, for establishing a quarter Vehicle Active Suspension System model；
Second establishes module, the control targe for establishing Active suspension structuring controller；
Design module, the structuring controller for designing a quarter Vehicle Active Suspension System；
Adjustment module, for adjusting the parameter of the structuring controller to realize stability of automobile and pleasant climate.
Preferably, described first module is established, for according to Newton's second law, a quarter automobile to be actively outstanding
The equation of motion of frame system：
In formula (1),Fs(zs,zu),Ft(zu,zr) as follows：
Wherein, the variable that formula (1) and formula (2) are related to is as follows：
T indicates time, msIndicate the quality of a quarter vehicle active suspension, muIndicate a quarter vehicle active suspension
The quality of lower tire；ksIndicate suspension system spring rate, csIndicate suspension damping coefficient, ktIndicate pneumatic tire
Equivalent stiffness coefficients, ctIndicate that pneumatic tire damped coefficient, u (t) indicate the control force of peripheral control unit input, zsIndicate automobile
Vehicle body vertical displacement, zuIndicate tire vertical displacement under suspension；zrRoad disturbances outside indicating；
Definition status variable：x1(t)=zs, x2(t)=zu,
Then system state variables are：X=[x1x2x3x4]T(3)
According to formula (1), formula (2) and formula (3), it converts the equation of motion to state space equation form：
Preferably, described second module is established, be used for the control mesh of the Active suspension structuring controller
Mark is defined as follows：
The normal acceleration of body of a motor car is
It is with respect to suspension displacement ratio
Opposing tire power is
Preferably, the design module, according to the state space Lagrange for indicating architectural system
Formula obtains：
According to uncertain caused by the difference of loading capacity, automobile service life, the tire used time limit and inflated condition, outer
Portion disturbs, then can be obtained according to formula (5)：
Wherein, the variable that formula (5) and formula (6) are related to is as follows：
q∈Rn, u ∈ Rm, w ∈ RωWith z ∈ RpSystem mode, input, disturbance and output, D are indicated respectivelyc、Dk、Bu、Fw、C1
And C2Indicate the scalar architectural system parameter matrix suitably tieed up, Δ Dc、ΔDk、ΔBuWith Δ FwIndicate the time-varying suitably tieed up
Perturbation matrices；
The uneven factor of road is placed in external disturbance, according to formula (6), formula (1) and formula (2), can be obtained：
Then vehicle active suspension structure uncertain system is described as follows：
Z=Cx
Δ B=[0 Δ Bu]T, F=[0Fw]T, C=[C1C2](8)；
Structural uncertainty is described as：
By using weighting singular value decomposition, by matrix Akj, Acj, BjVariation is：
It is as follows further to define matrix：
Enable AF panel index γ>0, robust is with respect to index of stability α>0, there are β, β1And β2, an adjustable matrix Q>0 He
One can dematrix P>0, then meet following Riccati equation：
Wherein, in formula (13), σ (VB) representing matrix VBSingular value；
Riccati equation (13) is solved using Matlab, obtains the value of matrix P, it is as follows to obtain structuring controller：
U=-Kx=-rBTPx(14)
Wherein, the value range of formula controller parameter r is：
Compared with the prior art, the advantageous effect of the embodiment of the present invention is, actively outstanding by establishing a quarter automobile
Frame system model considers the dynamic case of spring and damping, to reach the mesh that running car accurately controls as research object
's；Due to considering not model and extraneous uncertain disturbance, devises structuring controller and travelled with stabilizing cars, changed simultaneously
Kind riding comfort and control stability, to achieve the purpose that running car multi objective control；Pass through designed structuring control
The customized parameter of device processed, and according to the adjusting controls device parameter such as car body weight, travel speed, surface conditions, with utmostly
Ground reduces influence of the external disturbance to car body；When active suspension system is in external disturbance, since vehicle body vertical displacement is bounded
, and this boundary should be as small as possible, in whole driving process so that suspension travel and security performance are constrained and protected
Card, and structuring controller can make active suspension system return to balance point position faster；Structuring controller can be effectively
Solve the multiple targets such as uncertain, the uncertain riding comfort of transport condition and control stability to external disturbance in the prior art
Difficulties, while can efficiently solve that existing Suspension control Technology design model is relatively simple, control targe is single
And the problem of cannot achieve dynamic regulation, to effectively improve control stability, driving stability and the ride comfort of automobile
Property, while the design of simplify control device is with easy to implement.
Description of the drawings
Fig. 1 is the flow chart of the structuring control method of the Vehicle Active Suspension System in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of a quarter Vehicle Active Suspension System model in the embodiment of the present invention；
Fig. 3 is the rate curve schematic diagram of the ground input in the embodiment of the present invention；
Fig. 4 is the control force curve synoptic diagram of the structuring controller in the embodiment of the present invention；
Fig. 5 is the vehicle body normal acceleration curve synoptic diagram in the embodiment of the present invention；
Fig. 6 is the vehicle body vertical displacement curve synoptic diagram in the embodiment of the present invention；
Fig. 7 is that the opposite suspension displacement in the embodiment of the present invention compares curve synoptic diagram；
Fig. 8 is the wheel opposing tire force curve schematic diagram in the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of the structuring control device of the Vehicle Active Suspension System in the embodiment of the present invention.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term "center", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the present invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply opposite
Importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
Can also be electrical connection to be mechanical connection；It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
Referring to Fig. 1, Fig. 1 is the flow of the structuring control method of the Vehicle Active Suspension System in the embodiment of the present invention
Figure；
The preferred embodiment of the present invention provides a kind of structuring control method of Vehicle Active Suspension System, including following step
Suddenly：
S1 establishes a quarter Vehicle Active Suspension System model；
S2 establishes the control targe of Active suspension structuring controller；
S3 designs the structuring controller of a quarter Vehicle Active Suspension System；
S4 adjusts the parameter of the structuring controller to realize stability of automobile and pleasant climate.
In embodiments of the present invention, it is used as research object by establishing a quarter Vehicle Active Suspension System model, examines
The dynamic case for considering spring and damping, to achieve the purpose that running car accurately controls；Due to considering not model with the external world not
It determines disturbance, therefore devises structuring controller and travelled with stabilizing cars, while improving riding comfort and control stability,
To achieve the purpose that running car multi objective control；By designed customized parameter, and according to car body weight, traveling speed
The adjusting controls device parameter such as degree, surface conditions, farthest to reduce influence of the external disturbance to car body；When Active suspension system
In external disturbance, since vehicle body vertical displacement is bounded, and this boundary should be as small as possible system, in whole driving process
In so that suspension travel and security performance constraint are guaranteed, and structuring controller can be such that active suspension system returns faster
To balance point position；Structuring controller can efficiently solve in the prior art that, transport condition uncertain to external disturbance be not
The difficulties of the multiple targets such as determining riding comfort and control stability, while existing suspension control can be efficiently solved
Technology design model processed is relatively simple, control targe is single and the problem of cannot achieve dynamic regulation, to effectively improve vapour
Control stability, driving stability and the riding comfort of vehicle, while the design of simplify control device is with easy to implement.
In the present invention, it should be noted that a quarter Vehicle Active Suspension System model include but not limited to two from
By degree kinetic model.That is, establishing the two degrees of freedom kinetic model of a quarter Vehicle Active Suspension System.As specific
Example, the concrete structure of a quarter Vehicle Active Suspension System model is as shown in Figure 2.
In embodiments of the present invention, relative to usual automobile with the variation of service life, cause its suspension spring and
The components such as damping will produce abrasion and aging, so that coefficient changes, and the weight of vehicle body also can be with load-carrying
The variation of amount and change, the speed of running car also generates strong influence to current stability of automobile and safety.
So having to consider that these Parameter uncertainties problems of automobile itself, design one can be wrapped for the design of vehicle active suspension
The controller for holding these Parameters variations meets the riding comfort of automobile and the requirement of control stability.The automobile of the present embodiment
Structural method in civil engineering is applied to Vehicle Active Suspension System by the structuring control method of active suspension system
It is a kind of application of method in the design of controller, while is also to obtain a kind of controller of brand new, this is one
Money product, can apply in the Active suspension of automobile, the Parameter uncertainties and more mesh which can be to automobile suspension system
Mark control has good control effect.
Preferably, in embodiments of the present invention, the step S1 establishes a quarter Vehicle Active Suspension System model tool
Body is：
According to Newton's second law, the equation of motion of a quarter Vehicle Active Suspension System is established：
In formula (1),Fs(zs,zu),Ft(zu,zr) as follows：
Wherein, the variable that formula (1) and formula (2) are related to is as follows：
T indicates time, msIndicate the quality of a quarter vehicle active suspension, muIndicate a quarter vehicle active suspension
The quality of lower tire；ksIndicate suspension system spring rate, csIndicate suspension damping coefficient, ktIndicate pneumatic tire
Equivalent stiffness coefficients, ctIndicate that pneumatic tire damped coefficient, u (t) indicate the control force of peripheral control unit input, zsIndicate automobile
Vehicle body vertical displacement, zuIndicate tire vertical displacement under suspension；zrRoad disturbances outside indicating；
Definition status variable：x1(t)=zs, x2(t)=zu,
It is different from Legacy Status variable-definition, it is so defined the extraction for being conducive to follow-up each state variable, then system mode
Variable is：X=[x1x2x3x4]T(3)
According to formula (1), formula (2) and formula (3), it converts the equation of motion to state space equation form：
Preferably, in embodiments of the present invention, the step S2, establishes the control targe of Active suspension structuring controller
Specially：
The control targe of the Active suspension structuring controller is defined as follows：
1) due to the normal acceleration degree of correlation highest of riding comfort and body of a motor car, control targe is established：
The normal acceleration of body of a motor car isTo meet the human body pair that International Standards Organization was provided in 1997
The basic demand of the mechanical oscillation and impact evaluation criteria of whole body vibration.
2) since the structure feature of automobile requires automotive suspension stroke in a limited space xrmaxIt is interior, i.e., | x1-2|
<rmax, therefore establish control targe：
It is with respect to suspension displacement ratio
3) it is disturbed caused by uneven for road, wheel is Riding Stability of Automobile with continual contact of road
It is required that this is the guarantee of driving safety, therefore establish control targe：
Opposing tire power is
Preferably, in embodiments of the present invention, the step S3, design a quarter Vehicle Active Suspension System
Structuring controller is specially：
According to the state space Lagrange equation for indicating architectural system
It can obtain：
According to uncertain caused by the difference of loading capacity, automobile service life, the tire used time limit and inflated condition, outer
Portion disturbs, then can be obtained according to formula (5)：
Wherein, the variable that formula (5) and formula (6) are related to is as follows：
q∈Rn, u ∈ Rm, w ∈ RωWith z ∈ RpSystem mode, input, disturbance and output, D are indicated respectivelyc、Dk、Bu、Fw、C1
And C2Indicate the scalar architectural system parameter matrix suitably tieed up, Δ Dc、ΔDk、ΔBuWith Δ FwIndicate the time-varying suitably tieed up
Perturbation matrices；
The uneven factor of road is placed in external disturbance, according to formula (6), formula (1) and formula (2) are rewritten as：
So that vehicle active suspension structure uncertain system is described as follows：
Z=Cx
Δ B=[0 Δ Bu]T, F=[0Fw]T, C=[C1C2](8)；
Structural uncertainty is described as：
By using weighting singular value decomposition, by matrix Akj, Acj, BjVariation is：
It is as follows further to define matrix：
Enable AF panel index γ>0, robust is with respect to index of stability α>0, there are β, β1And β2, an adjustable matrix Q>0 He
One can dematrix P>0, then meet following Riccati equation：
Wherein, in formula (13), σ (VB) representing matrix VBSingular value；
Riccati equation (13) is solved using Matlab, obtains the value of matrix P, it is as follows to obtain structuring controller：
U=-Kx=-rBTPx(14)
Wherein, the value range of formula controller parameter r is：
In embodiments of the present invention, in the step S3, the structuring controller by the adjusting of parameter r to realize
Adjusting to the riding stability of automobile.
In embodiments of the present invention, a quarter Vehicle Active Suspension System model is two degrees of freedom kinetic simulation
Type.
To sum up, first embodiment of the invention provides a kind of structuring control method of Vehicle Active Suspension System, beneficial
Effect is：
(1) it is used as research object by establishing a quarter Vehicle Active Suspension System model, considers spring and damping
Dynamic case, to achieve the purpose that running car accurately controls；
(2) since consideration does not model and extraneous uncertain disturbance, structuring controller is devised with stabilizing cars row
It sails, while improving riding comfort and control stability, to achieve the purpose that running car multi objective control；
(3) by designed customized parameter, and according to adjusting controls such as car body weight, travel speed, surface conditions
Device parameter, farthest to reduce influence of the external disturbance to car body；
(4) when active suspension system is in external disturbance, since vehicle body vertical displacement is bounded, and this boundary should use up
Measure it is small, in whole driving process so that suspension travel and security performance constraint are guaranteed, and structuring controller energy
Active suspension system is set to return to balance point position faster；
(5) it is not true can to efficiently solve, transport condition uncertain to external disturbance in the prior art for structuring controller
The difficulties of the multiple targets such as fixed riding comfort and control stability, while existing Suspension control can be efficiently solved
Technology design model is relatively simple, control targe is single and the problem of cannot achieve dynamic regulation, to effectively improve automobile
Control stability, driving stability and riding comfort, while the design of simplify control device is with easy to implement.
In order to facilitate the understanding of the present invention, below in conjunction with attached drawing, with specific embodiment to the vapour of the embodiment of the present invention
The structuring control method of vehicle active suspension system is described in further detail.
Second embodiment of the invention：
On the basis of first embodiment of the invention, the parameter of a quarter Vehicle Active Suspension System model is as follows
Shown in table 1：
Table 1
In order to examine the effect of controller, consider that the uncertain parameter of system is：Δms=+30%ms, Δ ks=±
5%ks, Δ kt=+30%kt, Δ cs=± 20%cs, Δ ct=± 5%ct, the systematic parameter of initialization system is：Q
=0.05, α=1.5, δ=0.001, β=1, β1=110-9, β2=110-3；
Then the parameter value of controller is：It is as follows to obtain controller by r=500：U (t)=- Kx (t)=- BTPx (t),
Wherein K=rBTP=[25.5134-598.2945 7622.8835 1400,0824].
Specifically, illustratively, Fig. 3 indicates in vehicle travel process that main road disturbance is mass type road disturbance,
Its mathematical description is：
Wherein, A and L is the height and length of road surface input respectively, it is assumed that A=0.1, L=5m, the then travel speed of automobile
For V0=40 (km/h).
Referring to Fig. 4, Fig. 4 indicates that under the mass road disturbance of Fig. 3, the control force that the structuring controller provides is shown
It is intended to.
As shown in Figure 4, under such control force, automobile shows the robust stability in driving process, and in no control
Device situation is compared.Further, from figs. 5 and 6, it can be seen that no matter Active suspension control system goes back from stabilization time
It is in terms of peak value all in the range of control, the normal acceleration of vehicle body and vertical displacement are to weigh referring mainly to for riding comfort
Mark.And as can be seen from Figures 7 and 8, the suspension relative displacement ratio and opposing tire power of method of the invention are all in safe range
It is interior, to ensure that the safety of running car.
Wherein, it should be noted that Fig. 5 is automotive vertical accelerating curve, and solid line indicates that structuring controls situation, dotted line
It indicates without control situation；Fig. 6 is automotive vertical displacement curve, and solid line indicates that structuring controls situation, and dotted line is indicated without control feelings
Condition；Fig. 7 is suspension relative displacement than curve, and solid line indicates that structuring controls situation, and dotted line is indicated without controlling situation.Fig. 8 is phase
To tire force curve, solid line indicates that structuring controls situation, and dotted line is indicated without control situation.
Third embodiment of the invention：
The present embodiment is unlike second embodiment：The load-carrying of vehicle body increases vehicle body msWeight, when measuring vehicle body
Weight changes, and the structuring controller still disclosure satisfy that the control requirement stablized to car body, other content are no longer superfluous
It states.
Fourth embodiment of the invention：
What the present embodiment was different from the third embodiment is：Automobile driving speed V changes, the structuring controller according to
So meet the control requirement stablized to car body, other content repeats no more.
Fifth embodiment of the invention：
The present embodiment is unlike fourth embodiment：The load-carrying of vehicle body increases vehicle body msWeight, while garage
It sails speed V to change, the structuring controller still meets the control requirement for stablizing car body, and other content is no longer superfluous
It states.
Referring to Fig. 9, Fig. 9 is the structure of the structuring control device of the Vehicle Active Suspension System in the embodiment of the present invention
Schematic diagram；
The present invention also provides a kind of structuring control devices of Vehicle Active Suspension System, including：
First establishes module 1, for establishing a quarter Vehicle Active Suspension System model；
Second establishes module 2, the control targe for establishing Active suspension structuring controller；
Design module 3, the structuring controller for designing a quarter Vehicle Active Suspension System；
Adjustment module 4, for adjusting the parameter of the structuring controller to realize stability of automobile and pleasant climate.
In embodiments of the present invention, it establishes module by described first and establishes a quarter Vehicle Active Suspension System model
As research object, the dynamic case of spring and damping is considered, to achieve the purpose that running car accurately controls；Due to considering
It does not model and extraneous uncertain disturbance, therefore module design structuring controller is established with stabilizing cars row by described second
It sails, while improving riding comfort and control stability, to achieve the purpose that running car multi objective control；It is set by described
The customized parameter of module design structuring controller is counted, the adjustment module is according to car body weight, travel speed, surface conditions
Etc. adjusting controls device parameter, farthest to reduce influence of the external disturbance to car body；When active suspension system is disturbed in the external world
When dynamic, since vehicle body vertical displacement is bounded, and this boundary should be as small as possible, in whole driving process so that outstanding
Frame stroke and security performance constraint are guaranteed, and structuring controller can make active suspension system return to balance point faster
It sets；Structuring controller can efficiently solve uncertain, the uncertain seating of transport condition to external disturbance in the prior art
The difficulties of the multiple targets such as comfort and control stability, while existing Suspension control Technology design can be efficiently solved
Model is relatively simple, control targe is single and the problem of cannot achieve dynamic regulation, to which the manipulation for effectively improving automobile is steady
Qualitative, driving stability and riding comfort, while the design of simplify control device is with easy to implement.
Preferably, in embodiments of the present invention, described first module is established, for according to Newton's second law, four/
The equation of motion of one Vehicle Active Suspension System：
In formula (1),Fs(zs,zu),Ft(zu,zr) as follows：
Wherein, the variable that formula (1) and formula (2) are related to is as follows：
T indicates time, msIndicate the quality of a quarter vehicle active suspension, muIndicate a quarter vehicle active suspension
The quality of lower tire；ksIndicate suspension system spring rate, csIndicate suspension damping coefficient, ktIndicate pneumatic tire
Equivalent stiffness coefficients, ctIndicate that pneumatic tire damped coefficient, u (t) indicate the control force of peripheral control unit input, zsIndicate automobile
Vehicle body vertical displacement, zuIndicate tire vertical displacement under suspension；zrRoad disturbances outside indicating；
Definition status variable：x1(t)=zs, x2(t)=zu,
Then system state variables are：X=[x1x2x3x4]T(3)
According to formula (1), formula (2) and formula (3), it converts the equation of motion to state space equation form：
In embodiments of the present invention, described second module is established, be used for the control of the Active suspension structuring controller
Object definition processed is as follows：
4) due to the normal acceleration degree of correlation highest of riding comfort and body of a motor car, control targe is established：
The normal acceleration of body of a motor car isTo meet the human body pair that International Standards Organization was provided in 1997
The basic demand of the mechanical oscillation and impact evaluation criteria of whole body vibration.
5) since the structure feature of automobile requires automotive suspension stroke in a limited space xrmaxIt is interior, i.e., | x1-2|
<rmax, therefore establish control targe：
It is with respect to suspension displacement ratio
6) it is disturbed caused by uneven for road, wheel is Riding Stability of Automobile with continual contact of road
It is required that this is the guarantee of driving safety, therefore establish control targe：
Opposing tire power is
Preferably, in embodiments of the present invention, the design module, according to the state space for indicating architectural system
Lagrange equationIt can obtain：
According to uncertain caused by the difference of loading capacity, automobile service life, the tire used time limit and inflated condition, outer
Portion disturbs, then can be obtained according to formula (5)：
Wherein, the variable that formula (5) and formula (6) are related to is as follows：
q∈Rn, u ∈ Rm, w ∈ RωWith z ∈ RpSystem mode, input, disturbance and output, D are indicated respectivelyc、Dk、Bu、Fw、C1
And C2Indicate the scalar architectural system parameter matrix suitably tieed up, Δ Dc、ΔDk、ΔBuWith Δ FwIndicate the time-varying suitably tieed up
Perturbation matrices；
The uneven factor of road is placed in external disturbance, according to formula (6), formula (1) and formula (2), can be obtained：
Then vehicle active suspension structure uncertain system is described as follows：
Z=Cx
Δ B=[0 Δ Bu]T, F=[0Fw]T, C=[C1C2](8)；
Structural uncertainty in formula (9) is described as：
By using weighting singular value decomposition, by matrix Akj, Acj, BjVariation is：
It is as follows further to define matrix：
Enable AF panel index γ>0, robust is with respect to index of stability α>0, there are β, β1And β2, an adjustable matrix Q>0 He
One can dematrix P>0, then meet following Riccati equation：
Wherein, in formula (13), σ (VB) representing matrix VBSingular value；
Riccati equation (13) is solved using Matlab, obtains the value of matrix P, it is as follows to obtain structuring controller：
U=-Kx=-rBTPx(14)
Wherein, the value range of formula controller parameter r is：
In embodiments of the present invention, the adjustment module 3, the parameter r for adjusting the structuring controller, to realize
Adjusting to the riding stability of automobile.
In embodiments of the present invention, it should be noted that a quarter Vehicle Active Suspension System model be two from
By degree kinetic model.
To sum up, the present invention provides the structuring control devices of Vehicle Active Suspension System, actively outstanding using above-mentioned automobile
The structuring control method of frame system, advantage are：
(1) it establishes module by described first and establishes a quarter Vehicle Active Suspension System model and be used as research object,
The dynamic case for considering spring and damping, to achieve the purpose that running car accurately controls；
(2) since consideration does not model and extraneous uncertain disturbance, module design structure is established by described second
Change controller to travel with stabilizing cars, while improving riding comfort and control stability, to reach running car multiple target
The purpose of control；
(3) by the customized parameter of the design module design structuring controller, the adjustment module is according to vehicle body
The adjusting controls device parameter such as weight, travel speed, surface conditions, farthest to reduce influence of the external disturbance to car body；
(4) when active suspension system is in external disturbance, since vehicle body vertical displacement is bounded, and this boundary should use up
Measure it is small, in whole driving process so that suspension travel and security performance constraint are guaranteed, and structuring controller energy
Active suspension system is set to return to balance point position faster；
(5) it is not true can to efficiently solve, transport condition uncertain to external disturbance in the prior art for structuring controller
The difficulties of the multiple targets such as fixed riding comfort and control stability, while existing Suspension control can be efficiently solved
Technology design model is relatively simple, control targe is single and the problem of cannot achieve dynamic regulation, to effectively improve automobile
Control stability, driving stability and riding comfort, while the design of simplify control device is with easy to implement.
It should be noted that the apparatus embodiments described above are merely exemplary, wherein described be used as separating component
The unit of explanation may or may not be physically separated, and the component shown as unit can be or can also
It is not physical unit, you can be located at a place, or may be distributed over multiple network units.It can be according to actual
It needs that some or all of module therein is selected to achieve the purpose of the solution of this embodiment.In addition, device provided by the invention
In embodiment attached drawing, the connection relation between module indicates there is communication connection between them, specifically can be implemented as one or
A plurality of communication bus or signal wire.Those of ordinary skill in the art are without creative efforts, you can to understand
And implement.
The above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also considered as
Protection scope of the present invention.
Claims (10)
1. a kind of structuring control method of Vehicle Active Suspension System, which is characterized in that include the following steps：
Establish a quarter Vehicle Active Suspension System model；
Establish the control targe of Active suspension structuring controller；
Design the structuring controller of a quarter Vehicle Active Suspension System；
The parameter of the structuring controller is adjusted to realize stability of automobile and pleasant climate.
2. the structuring control method of Vehicle Active Suspension System as described in claim 1, which is characterized in that described to establish four
/ mono- Vehicle Active Suspension System model is specially：
According to Newton's second law, the equation of motion of a quarter Vehicle Active Suspension System is established：
In formula (1),Fs(zs,zu),Ft(zu,zr) as follows：
Wherein, the variable that formula (1) and formula (2) are related to is as follows：
T indicates time, msIndicate the quality of a quarter vehicle active suspension, muIndicate a quarter vehicle active suspension lower whorl
The quality of tire；ksIndicate suspension system spring rate, csIndicate suspension damping coefficient, ktIndicate that pneumatic tire is equivalent
Stiffness coefficient, ctIndicate that pneumatic tire damped coefficient, u (t) indicate the control force of peripheral control unit input, zsIndicate body of a motor car
Vertical displacement, zuIndicate tire vertical displacement under suspension；zrRoad disturbances outside indicating；
Definition status variable：x1(t)=zs, x2(t)=zu,
Then system state variables are：X=[x1 x2 x3 x4]T(3)
According to formula (1), formula (2) and formula (3), it converts the equation of motion to state space equation form：
3. the structuring control method of Vehicle Active Suspension System as claimed in claim 2, which is characterized in that the foundation master
The control targe of dynamic suspension frame structure controller is specially：
The control targe of the Active suspension structuring controller is defined as follows：
The normal acceleration of body of a motor car is
It is with respect to suspension displacement ratio
Opposing tire power is
4. the structuring control method of Vehicle Active Suspension System as claimed in claim 3, which is characterized in that the design four
The structuring controller of/mono- Vehicle Active Suspension System is specially：
According to for indicating that the state space Lagrange equation of architectural system obtains：
It is disturbed according to uncertain, outside caused by the difference of loading capacity, automobile service life, the tire used time limit and inflated condition
It is dynamic, then it can be obtained according to formula (5)：
Wherein, the variable that formula (5) and formula (6) are related to is as follows：
q∈Rn, u ∈ Rm, w ∈ RωWith z ∈ RpSystem mode, input, disturbance and output, D are indicated respectivelyc、Dk、Bu、Fw、C1And C2
Indicate the scalar architectural system parameter matrix suitably tieed up, Δ Dc、ΔDk、ΔBuWith Δ FwIndicate that the time-varying suitably tieed up is taken the photograph
Dynamic matrix；
The uneven factor of road is placed in external disturbance, according to formula (6), formula (1) and formula (2), can be obtained：
Then vehicle active suspension structure uncertain system is described as follows：
Z=Cx
Δ B=[0 Δ Bu]T, F=[0 Fw]T, C=[C1 C2](8)；
Structural uncertainty in formula (9) is described as：
By using weighting singular value decomposition, by matrix Akj, Acj, BjVariation is：
It is as follows further to define matrix：
Enable AF panel index γ>0, robust is with respect to index of stability α>0, there are β, β1And β2, an adjustable matrix Q>0 and one
It can dematrix P>0, then meet following Riccati equation：
Wherein, in formula (13), σ (VB) representing matrix VBSingular value；
Riccati equation (13) is solved using Matlab, obtains the value of matrix P, it is as follows to obtain structuring controller：
U=-Kx=-rBTPx(14)
Wherein, the value range of formula controller parameter r is：
5. the structuring control method of Vehicle Active Suspension System as claimed in claim 4, which is characterized in that the structuring
Controller is by the adjusting of parameter r to realize the adjusting to the riding stability of automobile.
6. such as the structuring control method of Claims 1 to 5 any one of them Vehicle Active Suspension System, which is characterized in that
The a quarter Vehicle Active Suspension System model is two degrees of freedom kinetic model.
7. a kind of structuring control device of Vehicle Active Suspension System, which is characterized in that including：
First establishes module, for establishing a quarter Vehicle Active Suspension System model；
Second establishes module, the control targe for establishing Active suspension structuring controller；
Design module, the structuring controller for designing a quarter Vehicle Active Suspension System；
Adjustment module, for adjusting the parameter of the structuring controller to realize stability of automobile and pleasant climate.
8. the structuring control device of Vehicle Active Suspension System as claimed in claim 7, which is characterized in that described first builds
Formwork erection block, for according to Newton's second law, the equation of motion of a quarter Vehicle Active Suspension System：
In formula (1),Fs(zs,zu),Ft(zu,zr) as follows：
Wherein, the variable that formula (1) and formula (2) are related to is as follows：
T indicates time, msIndicate the quality of a quarter vehicle active suspension, muIndicate a quarter vehicle active suspension lower whorl
The quality of tire；ksIndicate suspension system spring rate, csIndicate suspension damping coefficient, ktIndicate that pneumatic tire is equivalent
Stiffness coefficient, ctIndicate that pneumatic tire damped coefficient, u (t) indicate the control force of peripheral control unit input, zsIndicate body of a motor car
Vertical displacement, zuIndicate tire vertical displacement under suspension；zrRoad disturbances outside indicating；
Definition status variable：x1(t)=zs, x2(t)=zu,
Then system state variables are：X=[x1 x2 x3 x4]T(3)
According to formula (1), formula (2) and formula (3), it converts the equation of motion to state space equation form：
9. the structuring control device of Vehicle Active Suspension System as claimed in claim 8, which is characterized in that described second builds
Formwork erection block, for the control targe of the Active suspension structuring controller to be defined as follows：
The normal acceleration of body of a motor car is
It is with respect to suspension displacement ratio
Opposing tire power is
10. the structuring control device of Vehicle Active Suspension System as claimed in claim 9, which is characterized in that the design
Module, according to for indicating that the state space Lagrange equation of architectural system obtains：
It is disturbed according to uncertain, outside caused by the difference of loading capacity, automobile service life, the tire used time limit and inflated condition
It is dynamic, then it can be obtained according to formula (5)：
Wherein, the variable that formula (5) and formula (6) are related to is as follows：
q∈Rn, u ∈ Rm, w ∈ RωWith z ∈ RpSystem mode, input, disturbance and output, D are indicated respectivelyc、Dk、Bu、Fw、C1And C2
Indicate the scalar architectural system parameter matrix suitably tieed up, Δ Dc、ΔDk、ΔBuWith Δ FwIndicate that the time-varying suitably tieed up is taken the photograph
Dynamic matrix；
The uneven factor of road is placed in external disturbance, according to formula (6), formula (1) and formula (2), can be obtained：
Then vehicle active suspension structure uncertain system is described as follows：
Z=Cx
Δ B=[0 Δ Bu]T, F=[0 Fw]T, C=[C1 C2](8)；
Structural uncertainty in formula (9) is described as：
By using weighting singular value decomposition, by matrix Akj, Acj, BjVariation is：
It is as follows further to define matrix：
Enable AF panel index γ>0, robust is with respect to index of stability α>0, there are β, β1And β2, an adjustable matrix Q>0 and one
It can dematrix P>0, then meet following Riccati equation：
Wherein, in formula (13), σ (VB) representing matrix VBSingular value；
Riccati equation (13) is solved using Matlab, obtains the value of matrix P, it is as follows to obtain structuring controller：
U=-Kx=-rBTPx(14)
Wherein, the value range of formula controller parameter r is：
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066275.3A CN108312800B (en) | 2018-01-23 | 2018-01-23 | structural control method and control device for automobile active suspension system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810066275.3A CN108312800B (en) | 2018-01-23 | 2018-01-23 | structural control method and control device for automobile active suspension system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108312800A true CN108312800A (en) | 2018-07-24 |
| CN108312800B CN108312800B (en) | 2019-12-13 |
Family
ID=62888208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810066275.3A Active CN108312800B (en) | 2018-01-23 | 2018-01-23 | structural control method and control device for automobile active suspension system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108312800B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109334380A (en) * | 2018-11-16 | 2019-02-15 | 燕山大学 | Nonlinear hydro-pneumatic suspension Active Control Method based on parameter uncertainty and external disturbance |
| CN109795277A (en) * | 2018-10-17 | 2019-05-24 | 南京林业大学 | The method of Active suspension Control for Dependability when a kind of network between controller and actuator is by DoS attack |
| CN109895578A (en) * | 2019-03-29 | 2019-06-18 | 燕山大学 | Sliding Mode Adaptive Control method based on non-linear actuator suspension system |
| CN110281725A (en) * | 2019-05-24 | 2019-09-27 | 江西科技学院 | There are the optimal control method of the Active suspension in actuator dead zone and systems |
| CN110321665A (en) * | 2019-07-26 | 2019-10-11 | 广东工业大学 | Control method, device, equipment, medium and the vehicle of vehicle suspension system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072440A (en) * | 2013-01-21 | 2013-05-01 | 哈尔滨工业大学 | Control method for automotive active suspension system |
| CN104972860A (en) * | 2015-01-23 | 2015-10-14 | 江苏大学 | Holographic optimal sliding mode controller used for vehicle active suspension |
| CN107584983A (en) * | 2017-05-19 | 2018-01-16 | 广州大学 | The parametric control method of Vehicle Active Suspension System |
-
2018
- 2018-01-23 CN CN201810066275.3A patent/CN108312800B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103072440A (en) * | 2013-01-21 | 2013-05-01 | 哈尔滨工业大学 | Control method for automotive active suspension system |
| CN104972860A (en) * | 2015-01-23 | 2015-10-14 | 江苏大学 | Holographic optimal sliding mode controller used for vehicle active suspension |
| CN107584983A (en) * | 2017-05-19 | 2018-01-16 | 广州大学 | The parametric control method of Vehicle Active Suspension System |
Non-Patent Citations (1)
| Title |
|---|
| 潘惠惠: "《非线性严格反馈***的约束自适应反步控制及其应用》", 《中国优秀硕士学位论文全文数据库 信息科技辑》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109795277A (en) * | 2018-10-17 | 2019-05-24 | 南京林业大学 | The method of Active suspension Control for Dependability when a kind of network between controller and actuator is by DoS attack |
| CN109334380A (en) * | 2018-11-16 | 2019-02-15 | 燕山大学 | Nonlinear hydro-pneumatic suspension Active Control Method based on parameter uncertainty and external disturbance |
| CN109334380B (en) * | 2018-11-16 | 2020-04-21 | 燕山大学 | Active hydro-pneumatic suspension control method based on parameter uncertainty and external disturbance |
| CN109895578A (en) * | 2019-03-29 | 2019-06-18 | 燕山大学 | Sliding Mode Adaptive Control method based on non-linear actuator suspension system |
| CN110281725A (en) * | 2019-05-24 | 2019-09-27 | 江西科技学院 | There are the optimal control method of the Active suspension in actuator dead zone and systems |
| CN110321665A (en) * | 2019-07-26 | 2019-10-11 | 广东工业大学 | Control method, device, equipment, medium and the vehicle of vehicle suspension system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108312800B (en) | 2019-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108312800A (en) | A kind of the structuring control method and control device of Vehicle Active Suspension System | |
| CN110654195B (en) | Vehicle, vehicle suspension system and adjusting method and device thereof | |
| DE112017004865B4 (en) | suspension control device | |
| EP4101664A1 (en) | Method to control the active shock absorbers of a road vehicle featuring the adjustment of the roll angle and of the pitch angle | |
| CN106647256B (en) | Active suspension control system and control method based on H-infinity PID | |
| US11975581B2 (en) | Method to control the active shock absorbers of a road vehicle featuring the lowering of the center of gravity | |
| CN102131663B (en) | Method and aparratus for controlling semi-active suspension system for motorcycles | |
| CN105824238B (en) | A kind of motor train unit body elasticity modal vibration control method | |
| CN105818633B (en) | It is a kind of based on intelligent network connection multi-state suspension take aim at system and its control method in advance | |
| CN104385873A (en) | Multi-objective optimization method of car suspension system | |
| US10005457B2 (en) | Driving force control device for a vehicle | |
| CN108058562A (en) | A kind of Active suspension device and its control method | |
| CN107220405B (en) | Automobile chassis system integration multi-objective optimization method based on improved cell membrane optimization algorithm | |
| US20210023905A1 (en) | Damper control system, vehicle, information processing apparatus and control method thereof, and storage medium | |
| CN108733917A (en) | A kind of cargo vehicle dynamic modeling method based on transfer matrix | |
| CN102501737A (en) | Intelligent particle swarm fuzzy hybrid control method for automotive semi-active suspension systems | |
| US20230100858A1 (en) | Vehicle control apparatus, vehicle control method, and vehicle control system | |
| CN110321665A (en) | Control method, device, equipment, medium and the vehicle of vehicle suspension system | |
| CN104553660B (en) | The control method of a kind of self adaptation Active suspension and control device | |
| CN107584983A (en) | The parametric control method of Vehicle Active Suspension System | |
| CN113467233B (en) | Time-lag finite frequency domain output feedback control method based on fuzzy model | |
| Wang et al. | Robust control for active suspension system under steering condition | |
| CN110341414A (en) | A kind of continuously linear capricorn bettle lower suspension adaptive optimal conmtrol system and method | |
| CN112487553B (en) | Design method of time lag compensation controller for controllable suspension system | |
| CN107839425A (en) | A kind of endless-track vehicle vertical vibration and pitch vibration cooperative control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |