As a critical component of transportation vehicles, active suspension systems (ASSs) have widely attracted attention for their outstanding capability of improving the riding comfort and the maneuverability. However, due to the effects of the suspension kinematic structure and the rubber elements containing bushings and top mount, the practical double-wishbone ASS cannot achieve the desired performance resulting from the control design based on a simple 2-degree-of-freedom (DOF) model. In this paper, a sliding mode control (SMC) based on an equivalent 2-DOF model is proposed to suppress the sprung mass vibration of a double-wishbone ASS, which is to improve the riding comfort of vehicle. The SMC for a double-wishbone ASS is designed in four steps. First, an equivalent 2-DOF model of a double-wishbone ASS, which considers suspension kinematic structure and rubber properties, is established. The parameter values of an equivalent 2-DOF model are identified by using least square method. Second, an SMC is designed for an equivalent 2-DOF model, and the effect of the parameter value of the 2-DOF model on the riding comfort is investigated by experimental results. Third, a control compensator for a double-wishbone ASS is developed by considering the suspension kinematic structure. Four, the control for double-wishbone ASS is obtained by integrating the compensator into the SMC based on the equivalent 2-DOF model. The numerical simulation results show that the control can effectively suppress the sprung mass vibration of the double-wishbone ASS when the SMC design is based on an equivalent 2-DOF model.

中文翻译：

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基于等效2自由度模型的双横臂主动悬架系统滑模控制

作为交通工具的重要组成部分，主动悬架系统（ASSs）以其卓越的提升乘坐舒适性和机动性的能力受到广泛关注。然而，由于悬挂运动结构和包含衬套和顶部安装的橡胶元件的影响，基于简单的2自由度（DOF）的控制设计，实用的双横臂ASS无法达到预期的性能。 ） 模型。本文提出了一种基于等效2-DOF模型的滑模控制(SMC)来抑制双横臂ASS的簧载质量振动，从而提高车辆的乘坐舒适性。双横臂 ASS 的 SMC 设计分为四个步骤。首先，双横臂 ASS 的等效 2-DOF 模型，建立了考虑悬架运动学结构和橡胶性能的方法。采用最小二乘法确定等效二自由度模型的参数值。其次，针对等效的2-DOF模型设计了SMC，并通过实验结果研究了2-DOF模型的参数值对乘坐舒适性的影响。第三，考虑悬架运动学结构，研制了双横臂ASS的控制补偿器。四、双横臂ASS的控制是基于等效的2-DOF模型通过将补偿器集成到SMC中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。采用最小二乘法确定等效二自由度模型的参数值。其次，针对等效的2-DOF模型设计了SMC，并通过实验结果研究了2-DOF模型的参数值对乘坐舒适性的影响。第三，考虑悬架运动学结构，研制了双横臂ASS的控制补偿器。四、双横臂ASS的控制是基于等效的2-DOF模型通过将补偿器集成到SMC中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。采用最小二乘法确定等效二自由度模型的参数值。其次，针对等效的2-DOF模型设计了SMC，并通过实验结果研究了2-DOF模型的参数值对乘坐舒适性的影响。第三，考虑悬架运动学结构，研制了双横臂ASS的控制补偿器。四、双横臂ASS的控制是基于等效的2-DOF模型通过将补偿器集成到SMC中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。并通过实验结果研究了2-DOF模型参数值对乘坐舒适性的影响。第三，考虑悬架运动学结构，研制了双横臂ASS的控制补偿器。四、双横臂ASS的控制是基于等效的2-DOF模型通过将补偿器集成到SMC中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。并通过实验结果研究了2-DOF模型参数值对乘坐舒适性的影响。第三，考虑悬架运动学结构，研制了双横臂ASS的控制补偿器。四、双横臂ASS的控制是基于等效的2-DOF模型通过将补偿器集成到SMC中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。双横臂 ASS 的控制是通过基于等效 2-DOF 模型将补偿器集成到 SMC 中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。双横臂 ASS 的控制是通过基于等效 2-DOF 模型将补偿器集成到 SMC 中获得的。数值仿真结果表明，当SMC设计基于等效2-DOF模型时，该控制能够有效抑制双叉臂ASS的簧载质量振动。