Multi-target position servo control of hydractive suspension based on extended state observer

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wang bo
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Thu, 07/16/2020 - 04:45
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The half suspension model established in this paper fully considers the non-linear characteristics of single-rod hydraulic actuators, and designs a sliding mode adaptive controller based on the existence of uncertain parameters and possible external uncertain disturbances in the system. Considering that some of the state variables required by the controller are not easy to obtain, an extended state observer is designed to observe the wheel vertical movement speed and the pressure of the rod cavity and non-rod pressure of the hydraulic actuator. The controller designed in this paper estimates the uncertain parameters through the adaptive law, and can still effectively adjust the body attitude when the system has a strong external disturbance signal. Through the simulation results, it can be seen that the controller always satisfies the hard constraints such as driving safety and suspension stroke due to the restricted mechanical structure while improving the ride comfort of the vehicle. Because the model takes into account the widely used asymmetric single-rod hydraulic actuators and external non-linear disturbances, and designs state observers for some unmeasured state variables, the controller designed in this paper is closer to reality.



AUTOMOTIVE suspension is a collective term for all force-transmitting devices between the body and wheels, and is an important prerequisite to ensure safe driving and stable handling. Suspension can be divided into passive suspension, semi-active suspension and active suspension. Passive suspension is composed of springs and dampers to improve ride comfort and handling stability. However, because these two indicators contradict each other and the passive suspension cannot adjust its structure, the passive suspension is very restricted in improving vehicle performance. Semi-active suspensions can usually adjust their stiffness or damping without external energy injection, and their performance is greatly improved compared to passive suspensions. However, semi-active suspensions still have significant limitations when facing complex road conditions REF _Ref12100 \h [1
]- REF _Ref12231 \h [3
]. Active suspension has great potential in improving driving safety and comfort, and has attracted more and more attention in recent years REF _Ref12280 \h .

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