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

张梦华; 刘强; 陈纪旸; 鹿全礼; 张建成

doi:10.12052/gdutxb.220049

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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

更新时间：2026-05-27

- 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
- A Saturated PD-SMC Tracking Method for Active Suspension Systems by Employing Beneficial Nonlinearities
- 广东工业大学学报 2022年39卷第5期页码：29-37
- 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：
  
  张梦华(1988−)，女，副教授，博士，硕士生导师，主要研究方向为机电系统非线性控制方法设计，E-mail：zhangmenghua@mail.sdu.edu.cn
- 基金信息：
  
  国家自然科学基金青年基金资助项目(61903155)
- DOI：10.12052/gdutxb.220049
  中图分类号： TB122
- 纸质出版：2022
- 稿件说明：
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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

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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.

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