汽车磁流变半主动悬架系统自适应反推跟踪控制

针对汽车磁流变半主动悬架系统非线性和模型不确定性所引起的控制稳定性及优化问题，考虑被控悬架综合控制目标的安全约束，建立1/2车辆悬架系统的非线性动力学模型。基于被控悬架系统与参考轨迹之间的跟踪误差，使用自适应反推方法和Lyapunov理论，设计被控悬架系统的磁流变阻尼器控制输入函数，提出基于投影算子的自适应控制律，进而设计一种能够处理安全约束问题的自适应反推控制器；为验证所提出控制策略的可行性和有效性，基于Matlab/Simulink建立磁流变悬架控制系统的仿真模型，并分别在随机路面和凸块路面上对该控制策略进行仿真验证。仿真结果表明，所提出的自适应反推控制策略能使磁流变悬架车辆在行驶稳定性方面具有较好的全局渐进稳定性，并能明显提高车辆行驶平顺性，满足悬架系统各方面的安全约束。

Adaptive Backstepping Tracking Control for Vehicle Semi-active Suspension System with Magnetorheological Damper

As for the control optimization and stability caused by the nonlinearities and uncertainties of vehicle semi-active suspension systems with magnetorheological (MR) damper,a nonlinear dynamics model of one-half vehicle suspension system is established with consideration of the security constraints of comprehensive control objectives for the controlled vehicle semi-active suspension.The tracking error between controlled plant and reference trajectory is constructed,and the corresponding control input functions of controlled plant are designed based on backstepping control method and Lyapunov stability theory.The adaptive control law based on projection operator is investigated,and further a kind of adaptive backstepping controller is developed,which can deal with constraint problem of vehicle suspension system.In order to validate the feasibility and effectiveness of the proposed control algorithm,a control simulation framework of vehicle vibration control system is established based on Matlab/Simulink software,and the proposed adaptive backstepping control algorithm is verified on this control simulation framework under the conditions of random and bump roads.The results show that the proposed control approach has better global asymptotic stability for control stability problem of vehicle semi-active suspension systems,and it can not only obviously improve the performance of ride comfort,but also ensure the various required safety performances of vehicle semi-active suspension.