Journal of Vibration Engineering & Technologies ( IF 2.7 ) Pub Date : 2021-04-23 , DOI: 10.1007/s42417-021-00303-z Gang Wang , Hui Jing , Chunyue Huang
Purpose
This paper presents a novel disturbance estimation-triggered control solution for the robust tracking problem of active suspensions.
Methods
A disturbance estimation-triggered mechanism based on a nonlinear disturbance observer (NDO) combined with a disturbance effect indicator (DEI) is introduced to reject detrimental disturbances while preserving beneficial disturbances. To simultaneously deal with the exogenous and endogenous uncertainties, an uncertain nonlinear model is adopted in the control design. Unlike previous results, which required a measure of the sprung mass vertical displacement, the proposed strategy requires only the measure of the suspension deflection and facilitates the practical implementation. A linear oscillator with high-static-low-dynamic stiffness is proposed to generate the dynamic reference trajectory.
Results
The proposed active suspension control system is rigorously proven to be input-to-state stable (ISS) by virtue of Lyapunov stability theory. Finally, the proposed controller is used in experimental and numerical environments and compared with classical disturbance-rejection controllers.
Conclusion
Detailed results with various road conditions are provided to demonstrate the improved transient and steady-state tracking performances of the proposed control framework.
中文翻译:
主动悬架系统基于扰动估计的非线性扰动观测器控制
目的
针对主动悬架的鲁棒跟踪问题,本文提出了一种新颖的扰动估计触发控制方法。
方法
引入了一种基于非线性干扰观测器(NDO)与干扰效果指示符(DEI)相结合的干扰估计触发机制,以在保留有益干扰的同时拒绝有害干扰。为了同时处理外源性和内源性不确定性,控制设计中采用了不确定性非线性模型。与先前的结果不同,该结果需要测量簧上质量的垂直位移,而所提出的策略仅需要测量悬架的挠度,从而便于实际实施。提出了一种具有高静低动态刚度的线性振荡器来产生动态参考轨迹。
结果
借助李雅普诺夫稳定性理论,所提出的主动悬架控制系统已被严格证明为输入到状态稳定(ISS)。最后,所提出的控制器用于实验和数值环境,并与经典的干扰抑制控制器进行了比较。
结论
提供了各种路况的详细结果,以证明所提出的控制框架具有改进的瞬态和稳态跟踪性能。