| 考虑输入约束的半主动悬架非线性自适应控制 |
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| 引用本文： | 孙丽颖,王新,白锐.考虑输入约束的半主动悬架非线性自适应控制[J].控制与决策,2018,33(11):2099-2103. |
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| 作者姓名： | 孙丽颖 王新 白锐 |
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| 作者单位： | 辽宁工业大学电气工程学院，辽宁锦州121001,辽宁工业大学电气工程学院，辽宁锦州121001,辽宁工业大学电气工程学院，辽宁锦州121001 |
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| 基金项目： | 国家自然科学基金项目(61773189)；辽宁省教育厅重大科技平台项目(JP2016012). |
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| 摘 要： | 针对具有输入约束及参数不确定性问题的汽车半主动悬架系统,提出一种考虑输入饱和的非线性自适应Backstepping控制器.该方法引入一个辅助系统,通过设计新的误差变量,实现对控制饱和的补偿,解决控制输入的幅值约束问题.同时,考虑到悬架系统的参数不确定性问题,采用映射自适应算法设计自适应律,通过构造适当的Lyapunov函数,保证悬架系统的稳定性.仿真结果表明,所设计的控制器具有良好的隔振性能,而且能够有效降低输入约束和不确定参数对系统性能的影响.
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| 关 键 词： | 输入约束 半主动悬架 饱和补偿 Backstepping 自适应控制 |
Nonlinear adaptive control for semi-active suspension with input constraints |
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| SUN Li-ying,WANG Xin and BAI Rui.Nonlinear adaptive control for semi-active suspension with input constraints[J].Control and Decision,2018,33(11):2099-2103. |
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| Authors: | SUN Li-ying WANG Xin and BAI Rui |
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| Affiliation: | College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China,College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China and College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China |
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| Abstract: | A controller design method based on nonlinear adaptive Backstepping is proposed for the vehicle semi-active suspension system containing parameter uncertainties and input saturation problem. This method realizes the compensation of the control saturation by introducing an auxiliary system and designing a new error variable, which solves the problem of amplitude constraint of the control input. Considering the parameter uncertainty of the suspension system, a control law is designed using a projection adaptive algorithm, and the stability of the suspension system is ensured by constructing the appropriate Lyapunov function. The simulation results show that the controller has good vibration isolation performance and can effectively reduce the influence of input constraint and uncertain parameters. |
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