| 张庭芳,邹亮,吴晓建,杨震,付艳恕.融合状态观测的主动悬架微分平坦-滑模自适应控制[J].井冈山大学自然版,2025,(5):91-99 |
| 融合状态观测的主动悬架微分平坦-滑模自适应控制 |
| DIFFERENTIAL PLATNESS-SLIDING MODE ADAPTIVE CONTROL OF ACTIVE SUSPENSION BASED ON FUSION STATE OBSERVATION |
| 投稿时间：2025-03-28 修订日期：2025-04-28 |
| DOI：10.3969/j.issn.1674-8085.2025.05.011 |
| 中文关键词: 主动悬架 粒子滤波 状态观测器 微分平坦 滑模控制 |
| 英文关键词: active suspension particle filter state observer differential flatness sliding mode control |
| 基金项目:国家自然科学基金项目(52262054) |
| 作者 | 单位 | E-mail | | 张庭芳 | 南昌大学先进制造学院, 江西, 南昌 330031 | | | 邹亮 | 南昌大学先进制造学院, 江西, 南昌 330031 | | | 吴晓建 | 南昌大学先进制造学院, 江西, 南昌 330031 | | | 杨震 | 南昌大学先进制造学院, 江西, 南昌 330031 | | | 付艳恕 | 南昌大学先进制造学院, 江西, 南昌 330031 | yshfu@ncu.edu.cn |
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| 中文摘要: |
| 针对主动悬架系统中的参数不确定性问题及其控制算法中的状态获取问题，提出了粒子滤波状态估计与微分平坦-滑模自适应算法相结合的控制方法。首先，以半车悬架系统为对象，将其转化为微分平坦系统，以利用微分平坦的精确化控制优点，并计算平坦输出目标值；在此基础上，考虑系统参数的不确定性，设计跟踪平坦输出目标值的滑模自适应控制律，形成微分平坦-滑模控制器，使系统对参数变化和干扰具有强鲁棒性；同时，构建基于粒子滤波算法的状态观测器，以实时估计控制算法中的状态量；最后，进行正弦路面和凸块路面激励仿真验证。结果显示，所设计主动悬架系统在不牺牲其它性能指标的情况下，能够大幅改善车身平顺性和车身姿态。 |
| 英文摘要: |
| To address the issues of parameter uncertainty and state acquisition in the control algorithm of the active suspension systems, a control method combining particle filter state estimation with a differential platness-sliding mode adaptive algorithm is proposed. Initially, the half-car suspension system is transformed into a differentially flat system to leverage the advantages of differential flatness for accurate control, thereby calculating the target values of the flat outputs. Based on this, considering the uncertainty of system parameters, a sliding mode adaptive control law is designed to track the flat output target values, forming a differential platness-sliding mode controller that provides strong robustness against the parameter variations and disturbances.Simultaneously, a state observer based on the particle filter algorithm is constructed to estimate the state variables in the control algorithm in real time. Finally, simulation verifications are carried out under the sinusoidal road surface and bumpy road surface excitation. The results show that the designed control system can significantly improve the vehicle ride comfort and body posture without sacrificing other performance indicators. |
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