基于Backstepping 方法的全车液压主动悬挂最优控制设计
Backstepping-based optimal control design of hydraulic active suspension applied to a full-car model
摘要点击 6559  全文点击 3243  投稿时间:2006-01-06  修订日期:2007-01-10
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DOI编号  10.7641/j.issn.1000-8152.2008.1.001
  2008,25(1):1-8
中文关键词  主动悬挂  全车模型  液压装置  最优控制  Backstepping 设计
英文关键词  active suspension  full-car model  hydraulic actuator  optimal control  Backstepping design
基金项目  国家自然科学基金资助项目(60234030); 高等学校优秀青年教师教学科研奖励计划.
学科分类代码  
作者单位
刘震, 祝晓才, 罗成, 胡德文 中国人民解放军63999部队, 北京100094; 国防科技大学机电工程与自动化学院, 湖南长沙410073 
中文摘要
      设计先进的悬挂系统是提高车辆性能的重要途径之一. 本文针对并联式液压主动悬挂系统建立了较为详细的7自由度全车非线性模型, 并根据其结构特点提出了线性二次型最优控制与Backstepping方法相结合的控制策略. 仿真结果证明, 利用该控制策略, 主动悬挂系统既可以满足悬挂行程约束, 又可以有效的提高乘坐舒适性; 而且,与相同条件下的被动悬挂相比, 车辆性能有明显改善.
英文摘要
      It is a main way to improve the performance of the cars by designing advanced suspension systems. The detailed seven degrees-of-freedom nonlinear model of full-car parallel hydraulic active suspension is built. A new active suspension control strategy using the combination of optimal control and backstepping technique is presented based on the system structure characteristic. Simulation results are also given to demonstrate that the control strategy is effective, and the performance of the active suspension is obviously superior to the passive suspension in the same condition.