A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities

Zhang Meng-hua; Liu Qiang; Chen Ji-yang; Lu Quan-li; Zhang Jian-cheng

doi:10.12052/gdutxb.220049

English Version Journal Login

您当前的位置：

首页 >

文章列表页 >

A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities

更新时间：2026-05-27

- A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities
- Vol. 39, Issue 5, Pages: 29-37(2022)
- 作者机构：
  
  1. 济南大学自动化与电气工程学院,山东,济南,250022
  2. 山东鲁软数字科技有限公司智慧能源分公司,山东,济南,250000
  3. 山东正中信息技术股份有限公司,山东,济南,250014
- 作者简介：
- 基金信息：
- DOI：10.12052/gdutxb.220049
  CLC： TB122
- Published：2022
- 稿件说明：
移动端阅览
张梦华, 刘强, 陈纪旸, 鹿全礼, 张建成. 利用有益非线性因素的主动式悬架系统饱和PD-SMC跟踪方法[J]. 广东工业大学学报, 2022, 39(5): 29-37.

Zhang Meng-hua, Liu Qiang, Chen Ji-yang, et al. A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities[J]. 2022, 39(5): 29-37.
张梦华, 刘强, 陈纪旸, 鹿全礼, 张建成. 利用有益非线性因素的主动式悬架系统饱和PD-SMC跟踪方法[J]. 广东工业大学学报, 2022, 39(5): 29-37. DOI： 10.12052/gdutxb.220049.

Zhang Meng-hua, Liu Qiang, Chen Ji-yang, et al. A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities[J]. 2022, 39(5): 29-37. DOI： 10.12052/gdutxb.220049.

摘要

针对具有输入饱和的主动式悬架系统，通过利用所构建的仿生参考模型的非线性刚度和阻尼，设计了一种新颖的饱和PD−滑模控制方法(饱和PD-SMC方法)。所设计的控制方法具有以下几个优点：具有PD控制方法的简单结构；具有SMC方法针对模型不确定性和外部干扰的强鲁棒性；不需要传统SMC方法所要求的精确系统参数；同时充分考虑输入饱和的影响。在所设计的控制方法中，PD部分用于保证主动式悬架系统的稳定，SMC部分用于提供强鲁棒性，并引入饱和函数防止控制输入超过约束范围。利用李雅普诺夫方法保证了相应的稳定性分析。从多个实验结果可以看出，与现有的控制方法相比，所设计的控制方法显著提高了暂态性能，并节省了30.65%的控制能量。

Abstract

Through purposely employing beneficial nonlinear stiffness and damping with a constructed bioinspired reference model

a novel saturated PD with sliding mode control method

(referred to as saturated PD-SMC method)

is designed for active suspension systems under saturated control input constraints. The designed control method has several distinct benefits

including the simple structure of PD control method

strong robustness of SMC method with respect to model uncertainties and external disturbances

without requirements of exact system parameters associated with traditional SMC method

as well as taking input constraints into consideration. In the designed control method

the PD part is employed to stabilize the controlled active suspension system

the SMC part is applied to provide strong robustness

and the saturation functions are introduced to prevent the violation of control input constraints. The corresponding stability analysis is provided by Lyapunov techniques. Several experimental results show that

the designed control method dramatically improves transient performance in comparison with some existing methods

including decreasing control energy by 30.65% and improving ride comfort

which can achieve a satisfactory trade-off between costs and results for suspension system control.

关键词

Keywords

references

KUMAR V, RANA K P S, KUMAR J, et al . Self-tuned robust fractional order fuzzy PD controller for uncertain and nonlinear active suspension system [J ] . Neural Computing and Applications, 2018, 30(6): 1827-1843.

SU Y, ZHENG C. Single saturated PD control for asymptotic attitude stabilization of spacecraft [J]. IET Control Theory and Applications, 2020, 14(19): 3338-3343.

ZHANG Y, KIM D G, ZHAO Y, et al . PD control of a manipulator with gravity and inertia compensation using an RBF neural network [J ] . International Journal of Control, Automation and Systems, 2020, 18(12): 3083-3092.

TENG L, GULL M A, BAI S P. PD-based fuzzy sliding mode control of a wheelchair exoskeleton robot [J]. IEEE/ASME Transactions on Mechatronics, 2020, 25(5): 2546-2555.

KOLATHAYA S. Local stability of PD controlled bipedal walking robots[J]. Automatica, 2020, 114: 108841

ZHENG C, SU Y, MERCORELLI P. A simple nonlinear PD control for faster and high-precision positioning of servomechanisms with actuator saturation [J]. Mechanical Systems and Signal Processing, 2019, 121: 215-226.

DESHPANDE V S, MOHAN B, SHENDGE P D, et al . Disturbance observer based sliding mode control of active suspension systems [J ] . Journal of Sound and Vibration, 2014, 333: 2281-2296.

CHEN H, LIU Y, LIU L, et al. Anti-saturation-based adaptive sliding-mode control for active suspension systems with time-varying vertical displacement and speed constraints[J ] . IEEE Transactions on Cybernetics, in press, doi: 10.1109/TCYB.2020.3042613 .

RAJENDIRAN S, LAKSHMI P. Performance analysis of fractional order terminal SMC for the half car model with random road input [J]. Journal of Vibration Engineering and Technologies, 2020, 8(4): 687-597.

SONG J, NIU Y, ZOU Y. A parameter-dependent sliding mode approach for finite-time bounded control of uncertain stochastic systems with randomly varying actuator faults and its application to parallel active suspension system [J]. IEEE Transactions on Industrial Electronics, 2018, 65(10): 8124-8132.

LI J, JING X, LI Z. Fuzzy adaptive control for nonlinear suspension systems based on a bioinspired reference model with deliberately designed nonlinear damping [J]. IEEE Transactions on Industrial Electronics, 2019, 66(11): 8713-8723.

ZHANG M, JING X. Switching logic-based saturated tracking control for active suspension systems based on disturbance observer and bioinspired X-dynamics [J]. Mechanical Systems and Signal Processing, 2021, 155: 107611.

ZHANG M, JING X, WANG G. Bioinspired nonlinear dynamics-based adaptive neural network control for vehicle suspension systems with uncertain/unknown dynamics and input delay[J ] . IEEE Transactions on Industrial Electronics, in press, doi: 10.1109/TIE.2020.3040667 .

SUN N, FANG Y, CHEN H. Tracking control for magnetic-suspension systems with online unknown mass identification [J]. Control Engineering Practice, 2017, 58: 242-253.

PAN H, SUN W, GAO H, et al . Nonlinear tracking control based on extended state observer for vehicle active suspensions with performance constraints [J ] . M echatronics, 2015, 30: 363-370.

Views

下载量

CSCD

Alert me when the article has been cited

提交

Tools

Publicity Resources

An Optimal Operation Strategy for Community Microgrid Alliances Considering Power Exchange under Multi-package Shared Energy Storage Model

Robust Design for Artificial Noise-assisted UAV Terahertz Secure Communication

Multi-Scale Contrastive Embedding Enhanced Adaptive Intrusion Detection Model

Energy Management Strategy of Hybrid Locomotive Based on Road Condition Parameters

Research and Implementation of a Pulsed Laser Ranging Method Based on Digital Mixing

Related Author

No data

Related Institution

No data

AI问答

⁰