EHA半主动悬架自适应Smith预估时变时滞补偿控制

(西安科技大学 机械工程学院,陕西 西安 710054)

电动静液压作动器; 半主动悬架; 时变时滞; 自适应Smith预估补偿

Adaptive Smith predictive time-varying delay compensation control of semi-active suspension with EHA
KOU Fa-rong,LI Dong,XU Jia-nan,FANG Tao

(College of Mechanical and Engineering,Xi'an University of Science and Technology,Xi'an 710054,China)

Electro Hydrostatic Actuator; semi-active suspension; time-varying delay; adaptive Smith predictive compensation

DOI: 10.13800/j.cnki.xakjdxxb.2018.0618

备注

由于传统Smith预估补偿控制对采用电动静液压作动器(Electro Hydrostatic Actuator,EHA)半主动悬架只能进行临界时滞时间的补偿,设计了一种自适应Smith预估时变时滞补偿控制器。通过计算含时滞半主动悬架系统的临界时滞,结合小时滞下悬架系统不会发生失稳的条件,得到了含时滞EHA半主动悬架时滞的时变特性,并验证了该时滞补偿控制器对时变时滞补偿的有效性。利用模糊控制算法求取了含时滞EHA悬架的半主动控制力,并进行了时变时滞补偿。建立了含自适应Smith预估时变时滞补偿控制的EHA半主动悬架仿真模型,并进行了对比仿真分析。结果 表明,当时滞为0.05 s和0.1 s时,自适应Smith预估时变时滞补偿控制下的悬架簧载质量加速度和轮胎动载荷的均方根值分别改善了14.6%,5.5%和29.5%,15.5%; 相比于传统Smith预估时滞补偿控制,时滞补偿效果分别提高了39.7%,41%和18%,55%.

In light of that the traditional Smith predictive compensation control can only compensate the critical time delay for the semi-active suspension with time delay,an adaptive Smith predictive with time-varying delay compensation controller is designed.By calculating the critical time delay of a semi-active suspension system with time delay,the time-varying characteristic of the EHA semi-active suspension with time delay is obtained based on the condition that the suspension system with small time delay does not cause instability.Effectiveness of time delay compensation controller for time-varying delay compensation is proved.The semi-active force obtained by fuzzy control under the time-varying delay compensation is achieved.An EHA semi-active suspension simulation model with adaptive Smith predictive compensation control based on time-varying delay compensation is established and the comparable simulation analysis were carried out.The results show that when the time delay is 0.05s and 0.1s,under the adaptive Smith predictive compensation control,the RMS of the sprung mass acceleration and the tire dynamic load are improved by 14.6% and 5.5%,and 29.5% and 15.5%,respectively.Compared with the traditional Smith predictive time delay compensation control,the time delay compensation effect is improved by 39.7% and 41%,and 18% and 55%,respectively.