Model-Free Adaptive Sliding Controller for Automotive Active Suspensions

適應性滑動控制器於汽車主動式懸吊系統之控制

陳宏毅(Hung-Yi Chen) ； 黃緒哲(Shiuh-Jer Huang)

《中國機械工程學刊》 29卷1期 (2008/02) Pp. 21-27

https://doi.org/10.29979/JCSME.200802.0003

摘要

汽車主動式懸吊系統可提供良好的乘座舒適性與駕駛操控性，然而因為主動式懸吊系統具有非線性時變之特性，所以要針對其動態特性建立確切之系統數學模式，以進一步進行需要系統數學模式之控制器設計是不容易的，因此本文提出不需系統數學模式，以函數近似法為基礎，並結合模糊控制補償之適應性滑動模式控制方法，針對車輛主動式懸吊系統進行控制。其中函數近似法被用來代表系統動態模式中之未知函數，如此能夠去除滑動模式控制需要系統數學模式之限制，另外加入具即時自調能力之模糊控制補償器來進行有限項函數近似誤差之補償，以進一步改善控制效果及減少實際控制系統實現之困難度。將本研究所設計之控制器應用在四分之一車主動式懸吊系統之控制上，從電腦模擬與實驗之結果可以得知，本文所提出之控制方法可以有效抑制車輛在行經巔坡路面時之車體振動量。

並列摘要

Automotive active suspensions are designed to provide better ride comfort and handling capability. Since the active suspension system has nonlinear and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller. Here, an adaptive sliding controller with fuzzy compensation is proposed for an active suspension system. The functional approximation technique is employed to represent the unknown functions, which releases the model-based requirement of the sliding mode control. In addition, a fuzzy scheme with online learning ability is employed to compensate for the modeling error of the functional approximation with finite number of terms for reducing the implementation difficulty. The proposed controller is employed on a quarter-car active suspension system. The simulation and experimental results both show that the proposed controller suppresses the oscillation amplitude of the suspension system effectively.

並列關鍵字

Automotive active suspensions ； adaptive sliding controller ； fuzzy compensation