自調模糊補償之適應性滑動控制器於車輛懸吊系統避振之控制

Adaptive Sliding Controller with Self-Tuning Fuzzy Compensation for Vehicle Suspension Control

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

《應用聲學與振動學刊》 2卷1期 (2010/04) Pp. 1-13

https://doi.org/10.6282/JASV.2010.2.1.01

摘要

因爲油壓致動之主動式懸吊系統具有非線性時變之特性及複雜之數學模式，所以要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，因此本研究提出不需系統數學模式之適應性滑動模式控制器來抑制車輛因路面巔坡所造成車體之振動。此控制方法是以函數近似法爲基礎來表示系統之未知函數並解除需要系統數學模式之限制，並且結合了具學習能力之模糊控制補償器來進行近似誤差之補償，以增進控制成效以及減少實際控制系統實現之困難度。研究中利用Lyapunov穩定法則來確保控制系統受控過程之穩定性，並藉以獲得系統控制參數之更新律。本研究亦使用系統鑑定方法所估測之未知時變函數來評估函數近似法對未知函數之近似成效。實驗之結果呈現所提出之控制方法能夠有效地抑制車體因路面巔坡所造成之振動，其控制結果比傳統需要系統數學模式之滑動模式控制更佳。

關鍵字

主動式懸吊系統 ； 函數近似法 ； 模糊控制補償

並列摘要

Since the hydraulic actuating 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 update laws for the coefficients of the Fourier series functions and the fuzzy tuning parameters are derived from a Lyapunov function to guarantee the control system stability. The experimental results show that the proposed control scheme effectively suppresses the oscillation amplitude of the vehicle sprung mass corresponding to the road surface variation and external uncertainties, and the control performance is better than that of a traditional model-based sliding mode controller.

並列關鍵字

Active suspension system ； Functional Approximation Technique ； Fuzzy Compensation