CN105487384B - A kind of vehicle suspension control system and its design method based on event trigger mechanism - Google Patents
A kind of vehicle suspension control system and its design method based on event trigger mechanism Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The present invention relates to a kind of vehicle suspension control systems based on event trigger mechanism, the vehicle suspension includes four Active suspensions, the control system includes sequentially connected event trigger device, state observer, controller and zero-order holder, vehicle suspension output terminal connection event trigger device, the zero-order holder is connected to vehicle suspension input terminal and forms control loop, the event trigger device includes the trigger for corresponding to four Active suspensions respectively, each trigger triggers work according to the trigger conditions of setting, corresponding Active suspension output information is transmitted to state observer, the status information of observation is transmitted to controller by state observer, controller exports corresponding control force according to the status information that state observer is observed, and then control corresponding Active suspension work.Compared with prior art, the present invention have many advantages, such as that data transfer number is few, economize on resources, control cost it is low, it is highly practical, safe.
Description
Technical field
The present invention relates to a kind of vehicle suspension control system and its design methods, are triggered more particularly, to one kind based on event
The vehicle suspension control system and its design method of mechanism.
Background technology
Due to suspension system to vehicle running smoothness, department multiply the various aspects such as comfort and drive safety have it is very important
Effect, so it plays key player and research hotspot in recent years in automotive performance control aspect.Suspension control system
System mainly includes three kinds of control modes：Passive control, semi- active control and active control.Passive type suspension because its is cheap,
Structural reliability is high and is widely used, but its damping capacity only relies upon system spring and the self-characteristic of damping, works as road surface
When disturbance is not in scope of design, control effect is just undesirable.Semi-active suspension system on the basis of passive suspension system,
Immutable damping element is substituted for adaptive damping element so that it can control and plan suspension by certain control input power
System, so as to have certain adaptability to the road disturbance of variation, because it only needs less energy input to be also referred to as nothing
Source active suspension system.Active suspension system increases active power generating means so that it can by appropriate control law
Executing agency's secondary suspension movement is driven, and then reaches estimated performance.Active suspension control is because of its good control effect
And be widely noticed, but there is also many Research Challenges, include how balanced car ride comfort, drive safety and suspension travel limit
These conflicting performance requirements such as system etc..
While controlling vehicle running smoothness, it is also necessary to consider the range of automobile suspension system, vapour
The restrictive conditions such as vehicle driving safety (i.e. wheel will contact ground always) and controller saturation.In recent years, it is many good to occur
Achievement in research, in order to reach better effect, it is also desirable to design controller, such as linear quadratic with reference to other control technologies
Gauss control, self adaptive control, fuzzy control, sliding formwork control and H∞Control etc..
On the other hand, most of achievement in research is all few in the effect for focus on control automobile ride at present
People's Focus Control cost, but control cost is also the importance that can not be ignored.Traditional control mode include continuous control and
Period controls.Although period control mode is easier to analyze and design, its controlling cycle can not be with current system
State and adjust in real time, from it is resource-effective and reduce data traffic angle for, the period control effect not to the utmost such as
People's will.Particularly more and more control systems tend to leak through network communication and digital platform to complete control task, this
Under trend, reducing data traffic is just particularly important, this also makes tremendous contribution to economizing on resources.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide one kind based on event triggering
The vehicle suspension control system and its design method of mechanism.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of vehicle suspension control system based on event trigger mechanism, the vehicle suspension are hanged including four actives
Frame, the control system include sequentially connected event trigger device, state observer, controller and zero-order holder, vehicle and hang
Frame output terminal connection event trigger device, the zero-order holder are connected to vehicle suspension input terminal and form control loop, institute
The event trigger device stated includes the trigger for corresponding to four Active suspensions respectively, and each trigger triggers item according to the event of setting
Part triggers work, corresponding Active suspension output information is transmitted to state observer, state observer believes the state of observation
Breath is transmitted to controller, and controller exports corresponding control force, and then control pair according to the status information that state observer is observed
The Active suspension work answered.
A kind of design method of the vehicle suspension control system based on event trigger mechanism, this method include the following steps：
(1) vehicle suspension control system state-space model is established, it is as follows：
Wherein, x be vehicle condition variable, F=[f1 f2 f3 f4]T, wherein each element is denoted as fi, fiDevice is to i-th in order to control
A Active suspension exports control force, i=1,2,3,4, ω=[yo1 yo2 yo3 yo4]T, wherein each element is denoted as yoi, yoiIt is i-th
The road disturbance that a Active suspension is subject to, i=1,2,3,4, v=[v1 v2 v3 v4]T, wherein each element is denoted as vi, viIt is i-th
A Active suspension output information, i=1,2,3,4,Target variable in order to control, y are the vertical concussion position of vehicle body
It moving, θ is vehicle body pitch angle,For vehicle body or so roll angle, z2=[Δ y1 Δy2 Δy3 Δy4], wherein each member
Element is denoted as Δ yi, Δ yiFor the mechanical trip of i-th of Active suspension, i=1,2,3,4, A be vehicle condition variable parameter matrix, B
Device output control force parameter matrix in order to control, BωFor road disturbance parameter matrix, C1For suspension output information transmission matrix, C2For
Control targe variable exports transmission matrix, C3Transmission matrix is exported for active suspension displacement offset；
(2) set each trigger event trigger condition as：
Wherein i=1,2,3,4 represent i-th of Active suspension,It is last for i-th of Active suspension
The difference of the output information of event generation time and current output information, vi(t) the current output letter for i-th of Active suspension
Breath,For the output information of i-th of Active suspension last time event generation time, ΦiFor the weight matrix of i-th of trigger,
δiActivation threshold value parameter for i-th of trigger；
(3) vehicle Suspension control is established based on vehicle suspension control system state-space model and each trigger trigger condition
System closed-loop control model, it is as follows：
Wherein,For state observer observation error,For the observation of x (t),
For suspension system last time event triggering moment output information and the difference of current information,For suspension system last time event
Triggering moment output information, v (t) are the current output information of suspension system, and L is observer gain matrix, K device gain squares in order to control
Battle array, C are to be suitble to the normal matrix of dimension；
(4) according to vehicle suspension control system closed loop control framework, system is established using Liapunov stability analytic approach
The linear matrix inequality for stabilization of uniting；
(5) constraints of vehicle suspension (1) is established；
(6) it calculates the linear matrix inequality that can meet system stabilization simultaneously than γ according to given Disturbance Rejection and hangs
The systematic parameter of frame system constraints includes the activation threshold value parameter δ of i-th of triggeri, i-th trigger weight square
Battle array Φi, observer gain matrix L and controller gain matrix K.
Step (4) specifically includes following sub-step：
(401) according to positive definite matrixEstablishing liapunov function is：
Wherein V1(x (t))=xTP1X, V2(e (t))=eTP2e；
(402) it to liapunov function derivation, acquires so that liapunov function derivative is less than 0 MATRIX INEQUALITIES
For：
Wherein,Φ=diag { Φ1,Φ2,Φ3,
Φ4, Ω2=ATP2+P2A-CTLTP2-P2LC, ΛiFor with the relevant diagonal matrix of i-th of trigger, wherein on diagonal with triggering
The relevant element values of device i are 1, remaining is 0；
(403) X=P is enabled1BK, Y=P2L linearizes formula (5), obtains the linear matrix inequality of system stabilization：
Wherein,Ω'2=ATP2+P2A-CTYT-YC。
The constraints of suspension system includes in step (5)：
(a) suspension travel constraints：
(b) controller performs power output constraints：
(c) ride safety of automobile constraints：
fibd＜ Ni (9)
Wherein,For the maximum machine stroke of i-th of Active suspension, M is constant,Device is to i-th in order to control
The maximum control force of Active suspension output, fibadFor the upper limit threshold of the upward active force of i-th of Active suspension, NiIt is mechanical in automobile
Device is to i-th of Active suspension down force.
Step (6) includes following sub-step：
(601) the arbitrarily activation threshold value parameter δ of i-th of trigger of selectioniThe weight square of ∈ (0,1) and i-th of trigger
Battle array Φi＞ 0；
(602) by γ, δiAnd ΦiFormula (6) is brought into, if there are feasible solution X, Y, P for inequality1And P2, then controller gain square
Battle array be：K=(P1B)+X, observer gain matrix are：And step (603) is continued to execute, otherwise return to step
(604)；
(603) by controller gain matrix K, positive definite matrix P1And P2Formula (7), formula (8) and formula (9) are brought into respectively, if simultaneously
Meet the constraints of suspension system, then preserve current design parameter δi、Φi, L and K, otherwise perform step (604)；
(604) assignment δi=δi+Δ1, Φi=Φi+Δ2, and return to step (602), wherein Δ1For threshold parameter iteration
Step-length, Δ2For weight matrix iteration step length.
After step (6) calculates systematic parameter, judge whether the system can occur Zeno phenomenon, be if need to redesign
System parameter, otherwise the system is effective, and specific decision procedure is as follows：
Judge formula：
With the presence or absence of normal solution, if then Zeno phenomenon will not occur for the system, Zeno phenomenon otherwise can occur, wherein, hiIt is i-th
Trigger minimum event time interval,
J ∈ { 1,2,3,4 }/i represents the new set that the element in removal set { 1,2,3,4 } equal to i is formed,It is state variableThe norm upper bound,For the upper bound of road disturbance ω,λ4=λmax(M) for matrix M's
Maximum eigenvalue,υ=λmax(AT+ A), For ΛiThe matrix of row composition that middle diagonal element is 1,For matrix (I- Λi) in diagonal element be 1 row composition square
Battle array, ρj=δj||ΛjCk||2,
When meeting trigger conditions establishment in step (2), event occurs, and automobile suspension system is defeated in event generation time
Go out information to update as follows：
WhereinRepresent the kth of i-th of Active suspensioniSecondary event generation time,ForMoment suspension system exports
Information updated value,ForThe current output information of moment suspension system,ForWhen a upper event at moment occurs
Carve suspension system output information updated value.
Compared with prior art, the invention has the advantages that：
(1) present invention requires control object simple, adaptable, design method provided by the invention require nothing more than know by
The output information of object, that is, Active suspension is controlled, and the output information of Active suspension is easy to obtain from sampling sensor, without
It is required that the state of object is considerable, this enhances the applicability of strategy of the invention from the requirement largely relaxed to object.
(2) present invention fully takes into account the constraint item of automobile suspension system in practical application during controller is designed
Part enhances the practicability of control strategy, and controller design strategy provided by the invention not only meets good controller performance,
The physical constraints such as the constraint of automotive suspension range, actuator saturation and vehicle safety can also be met simultaneously, enhanced
The practicability of strategy of the invention and safety.
(3) strategy of the present invention combines event triggering controlling mechanism, reduces data transfer number, saves control cost, only
Have that when meeting trigger conditions, the current output information of Active suspension can just be passed to observer, and observer is promoted to observe
Current value is used for controller, and compared with traditional continuous control, event triggering control can be in the premise for not influencing control effect
Under, limited reduction data transfer number economizes on resources, and reduces control cost.
(4) for the inside and outside disturbances such as road disturbance, systematic sampling error and data transmission disturbance, present invention strategy
Using control strategy, robustness, antijamming capability and the adaptability to various disturbance types of strategy of the invention are improved.
(5) in view of in whole vehicle model it is possible that four suspension systems by road disturbance degree is different, type not
Square one, four suspension systems, which are respectively controlled, may reach better control effect, and the present invention devises distribution
Formula event triggers control strategy.Output information sampling is individually carried out to each suspension system, and judges its transmission time, this hair
The bright control problem for solving whole vehicle model, and to whole vehicle model each wheel the individually designed control strategy of suspension system, spirit
It is active strong.
Description of the drawings
Fig. 1 is the vehicle suspension control system structure diagram the present invention is based on event trigger mechanism；
Fig. 2 is whole vehicle model structure diagram；
Automotive vertical vibration suppressioning effect figure when Fig. 3 is disturbed for road surface mass；
Automobile side rolling inhibition figure when Fig. 4 is disturbed for road surface mass；
Automobile pitch inhibition figure when Fig. 5 is disturbed for road surface mass；
Fig. 6 is the amplitude curve figure that controller exports control force when road surface mass disturbs；
Fig. 7 is that left wheel Active suspension updates the Event Sequence Diagram of output information before triggering when road surface mass disturbs；
Fig. 8 is the Event Sequence Diagram that triggering front right wheel Active suspension updates output information when road surface mass disturbs；
Fig. 9 is that left wheel Active suspension updates the Event Sequence Diagram of output information after triggering when road surface mass disturbs；
Figure 10 is the Event Sequence Diagram that triggering rear right wheel Active suspension updates output information when road surface mass disturbs；
Automotive vertical vibration suppressioning effect figure when Figure 11 is road surface random perturbation；
Automobile side rolling inhibition figure when Figure 12 is road surface random perturbation；
Automobile pitch inhibition figure when Figure 13 is road surface random perturbation；
Controller exports the amplitude curve figure of control force when Figure 14 is road surface random perturbation.
Wherein 1 is vehicle suspension, and 2 be event trigger device, and 3 be state observer, and 4 devices in order to control, 5 keep for zeroth order
Device.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of vehicle suspension control system based on event trigger mechanism, the vehicle suspension 1 include
Four Active suspensions, the control system include sequentially connected event trigger device 2, state observer 3, controller 4 and zeroth order
Retainer 5,1 output terminal connection event trigger device 2 of vehicle suspension, the zero-order holder 5 are connected to vehicle suspension 1 and input
End forms control loop, and the event trigger device 2 includes the trigger for corresponding to four Active suspensions respectively, each trigger root
Work is triggered according to the trigger conditions of setting, corresponding Active suspension output information is transmitted to state observer 3, State Viewpoint
It surveys device 3 and the status information of observation is transmitted to controller 4, the status information the output phase that controller 4 is observed according to state observer 3
The control force answered, and then control corresponding Active suspension work.
A kind of design method of the vehicle suspension control system based on event trigger mechanism, includes the following steps：
(1) 7 degree of freedom whole vehicle models of shown simplification according to fig. 2, establish vehicle suspension control system state space mould
Type is as follows：
Wherein, x is vehicle condition variable,Y is hanging down for vehicle body
Straight concussion displacement, θ are vehicle body pitch angle,For vehicle body or so roll angle, yiIt is the vertical of unsprung mass (tire)
Displacement, wherein i=1,2,3,4, respectively y in fig. 21、y2、y3、y4, F=[f1 f2 f3 f4]T, wherein each element is denoted as fi,
fiDevice exports control force, i=1,2,3,4, ω=[y to i-th of Active suspension in order to controlo1 yo2 yo3 yo4]T, wherein each element
It is denoted as yoi, yoiFor the road disturbance that i-th of Active suspension is subject to, i=1,2,3,4, v=[v1 v2 v3 v4]T, wherein each element
It is denoted as vi, viFor i-th of Active suspension output information, i=1,2,3,4,Target variable in order to control, z2=
[Δy1 Δy2 Δy3 Δy4], wherein each element is denoted as Δ yi, Δ yiFor the mechanical trip of i-th of Active suspension, i=1,2,
3,4, A be vehicle condition variable parameter matrix, and device exports control force parameter matrix, B to B in order to controlωFor road disturbance parameter matrix,
C1For suspension output information transmission matrix, C2Target variable output transmission matrix in order to control, C3It is defeated for active suspension displacement offset
Go out transmission matrix, specifically
E=diag { M, Iy,Ix,m1,m2,m3,m4, M is body quality, IyRotary inertia is moved for vehicle body pitch,
IxFor the rotary inertia of vehicle body or so rolling movement, m1、m2、m3、m4The unsprung mass of four suspension systems, B are represented respectivelyp=
diag{B1,B2,B3,B4, Kt=diag { kt1,kt2,kt3,kt4, kt1、kt2、kt3、kt4Represent the coefficient of elasticity of tire),k1、k2、k3、k4Represent the original coefficient of elasticity of suspension system, B1,B2,B3,B4It represents respectively outstanding
The damped coefficient of frame system,A, b, c, d represent the arm of force of four suspension systems respectively,G1=-F2KT-[0 F1], G2=-F2BT, C2=[I30], C3=[T 0].
(2) set each trigger event trigger condition as：
Wherein i=1,2,3,4 represent i-th of Active suspension,It is last for i-th of Active suspension
The difference of the output information of event generation time and current output information, vi(t) the current output letter for i-th of Active suspension
Breath,For the output information of i-th of Active suspension last time event generation time, ΦiFor the weight matrix of i-th of trigger,
δiActivation threshold value parameter for i-th of trigger；Under this trigger condition, the more new state of sampling error isWherein ΛiTo couple diagonal matrix, the diagonal element value related with i-th of Active suspension is 1,
Residual value is 0；
(3) vehicle Suspension control is established based on vehicle suspension control system state-space model and each trigger trigger condition
System closed-loop control model, it is as follows：
Wherein,For state observer observation error,For the observation of x (t),
For suspension system last time event triggering moment output valve and the difference of current system output valve, L is observer gain matrix, and K is
Controller gain matrix, C are to be suitble to the normal matrix of dimension.
(4) according to vehicle suspension control system closed loop control framework, system is established using Liapunov stability analytic approach
The linear matrix inequality for stabilization of uniting；
(5) constraints of suspension system is established；
(6) it calculates the linear matrix inequality that can meet system stabilization simultaneously than γ according to given Disturbance Rejection and hangs
The systematic parameter of frame system constraints includes the activation threshold value parameter δ of i-th of triggeri, i-th trigger weight square
Battle array Φi, observer gain matrix L and controller gain matrix K.
Step (4) specifically includes following sub-step：
(401) according to positive definite matrixEstablishing liapunov function is：
Wherein V1(x (t))=xTP1X, V2(e (t))=eTP2e；
(402) it to liapunov function derivation, acquires so that liapunov function derivative is less than 0 MATRIX INEQUALITIES
For：
Wherein,Φ=diag { Φ1,Φ2,Φ3,
Φ4, Ω2=ATP2+P2A-CTLTP2-P2LC；
(403) X=P is enabled1BK, Y=P2L linearizes formula (5), obtains the linear matrix inequality of system stabilization：
Wherein,Ω'2=ATP2+P2A-CTYT-YC。
It must also consider the mechanical restriction of actual conditions lower suspension system for automobile suspension system design controller, perform
The constraintss such as device saturation and vehicle driving safety.Since suspension travel is limited in automotive system, suspension travel must assure that
In maximum travel limit, specific constraints is：|Δyi| ＜ Δs yi,max, wherein Δ yiMechanical row for i-th of Active suspension
Journey, Δ yi,maxFor the maximum machine stroke of i-th of Active suspension, i=1,2,3,4, for the ease of subsequent analysis, need this
Condition is converted into the form of MATRIX INEQUALITIES, then just needs to use equivalence transformation, MATRIX INEQUALITIES amplification rule and Shu Er benefits
The mathematical skills such as theorem are amplified by a series of equivalent transformation and MATRIX INEQUALITIES, and above-mentioned constraints can use its abundant item
The form of part is expressed as
Wherein,Representing matrixMaximum eigenvalue, utilize Shu Er complement fixed
Reason, above formula can be exchanged into MATRIX INEQUALITIES form to get to suspension travel constraints：
For this constraints of actuator saturation, it would be desirable to which providing the size of controller output control force will perform
In the range of device maximum implementation capacity, i.e., | | fi(t)||≤fi,max, fi,maxIt is that controller is maximum to i-th of Active suspension output to control
Power.In order to ensure ride safety of automobile, it is necessary to assure wheel wants the moment to be contacted with ground in vehicle traveling process, mathematical description
For kti(yi-yoi)≤Ni, wherein i=1,2,3,4, NiIt is mechanical device in automobile to i-th Active suspension down force, Ni
It is acquired by following linear equation group：
Equally using equivalence transformation, MATRIX INEQUALITIES amplification rule and Shu Er complement fixed reason, constraints is converted, is obtained
To the matrix representation of its adequate condition, i.e.,：
Controller performs power output constraints：
Ride safety of automobile constraints：
fibd＜ Ni (9)
Wherein, Δ yi,maxFor the maximum machine stroke of i-th of Active suspension, M is constant, fi,maxDevice is to i-th in order to control
The maximum control force of Active suspension output, fibadFor the upper limit threshold of the upward active force of i-th of Active suspension, NiIt is mechanical in automobile
Device is to i-th of Active suspension down force.
The step (6) includes following sub-step：
(601) the arbitrarily activation threshold value parameter δ of i-th of trigger of selectioniThe weight square of ∈ (0,1) and i-th of trigger
Battle array Φi＞ 0；
(602) by γ, δiAnd ΦiFormula (6) is brought into, if there are feasible solution X, Y, P for inequality1And P2, then controller gain square
Battle array be：Observer gain matrix is：K=(P1B)+X, and continue to execute step (503), otherwise return to step
(604)；
(603) by controller gain matrix K, positive definite matrix P1And P2Formula (7), formula (8) and formula (9) are brought into respectively, if simultaneously
Meet the constraints of suspension system, then preserve current design parameter δi、Φi, L and K, otherwise perform step (604)；
(604) assignment δi=δi+Δ1, Φi=Φi+Δ2, and return to step (602), wherein Δ1For threshold parameter iteration
Step-length, Δ2For weight matrix iteration step length.
After step (6) calculates systematic parameter, judge whether the system can occur Zeno phenomenon, be if need to redesign
System parameter, otherwise the system is effective, and specific decision procedure is as follows：
Judge formula：
With the presence or absence of normal solution, if then Zeno phenomenon will not occur for the system, Zeno phenomenon otherwise can occur, wherein, hiIt is i-th
A trigger minimum event time interval,
J ∈ { 1,2,3,4 }/i represents the new set that the element in removal set { 1,2,3,4 } equal to i is formed,It is state variableThe norm upper bound,For the upper bound of road disturbance ω,λ4=λmax(M) for matrix M's
Maximum eigenvalue,υ=λmax(AT+ A), For ΛiThe matrix of row composition that middle diagonal element is 1, i.e., by matrix ΛiThe element column that middle diagonal bits element is 1 is extracted out
And it forms For matrix (I- Λi) in diagonal element be 1 row composition matrix,
When meeting trigger conditions establishment in step (2), event occurs, and automobile suspension system is defeated in event generation time
Go out information to update as follows：
WhereinRepresent the kth of i-th of Active suspensioniSecondary event generation time,ForMoment suspension system exports
Information updated value,ForThe current output information of moment suspension system,ForWhen a upper event at moment occurs
Carve suspension system output information updated value.
Using ChangAn Automobile as research object, parameter is as shown in table 1, parameter and vehicle Suspension control in table 1
System state space model (1) obtains each parameter matrix A, B and B of modelω。
1 ChangAn Automobile design parameter of table
Road disturbance is because actual conditions can be divided into two major class, first, for prompting the road surface mass of vehicle deceleration, either
Other high protrusions, another kind of is the random perturbation being likely to occur at any time on road surface, in order to verify layout strategy of the present invention
Generality, this example are tested respectively for two kinds of disturbance：
(1) road surface mass is disturbed：The disturbance can using mathematical description as：
Wherein h2=0.02m is the maximum height of mass protrusion, is stablized by matlab Simulation Experimental Platforms solving system
Linear matrix inequality (6), and ask to obtain observer gain matrix L and controller gain matrix K is respectively：
The observer gain matrix L and controller gain matrix K that acquire are updated to system model and controller mould
In type, the control effect figure based on event trigger data transmission mechanism is obtained, as shown in Fig. 3~10.Fig. 3, Fig. 4, Fig. 5 give successively
Gone out automobile encounter mass disturbance when vertical vibration, side rolling and pitch movement inhibition figure, and with quilt
The control effect of dynamic control strategy compares.Fig. 6 describes automobile controller output control force when encountering mass disturbance
Amplitude curve figure, it can be seen that maximum output control force amplitude is not above actuator maximum implementation capacity range.Fig. 7~Figure 10 according to
The secondary thing for giving four triggers and triggering four Active suspension update output informations respectively according to the trigger conditions of setting
Part triggers sequence diagram, it can be seen that and control information is only just had when system is disturbed and needs control and is transmitted, automobile balance
When driving, then damping is carried out by the damping characteristic of automobile suspension system itself.Rate of information transmission is thus effectively reduced, is saved
About control cost.
(2) for road surface random perturbation：When disturbance size influences riding comfort, then control loop work can be triggered
Make, perform control task, when automobile within lasting a period of time by random perturbation when, can it is such disturbance use
A series of mutually independent random variablesIt represents, wherein, G0Represent the coefficient of roughness on road surface, n0It represents
Reference frequency.Related document is consulted, learns and works as n0When=0.1, G0=256 × 10-6m3.It is emulated again by matlab real
It tests platform and obtains suitable observer gain matrix L and controller gain matrix K, which is not described herein again.Simulated effect such as Figure 11
Shown in~14, Figure 11~13 give what is moved in random perturbation vertical vibration, side rolling and pitch successively
Inhibition figure, and compared with the control effect of passive control strategy, it can be seen that the control system that the present invention designs
Inhibition is preferable.Figure 14 gives the amplitude curve figure of controller control force in the case of random perturbation, it can be seen that maximum defeated
Go out control force amplitude and be not above actuator maximum implementation capacity range.
Claims (6)
1. a kind of design method of the vehicle suspension control system based on event trigger mechanism, the vehicle suspension (1) include
Four Active suspensions, the control system include sequentially connected event trigger device (2), state observer (3), controller
(4) connect with zero-order holder (5), vehicle suspension (1) output terminal connection event trigger device (2), the zero-order holder (5)
It is connected to vehicle suspension (1) input terminal and forms control loop, the event trigger device (2) is hanged including corresponding to four actives respectively
The trigger of frame, each trigger trigger work according to the trigger conditions of setting, and corresponding Active suspension output information is passed
State observer (3) is transported to, the status information of observation is transmitted to controller (4), controller (4) basis by state observer (3)
The status information of state observer (3) observation exports corresponding control force, and then controls corresponding Active suspension work, feature
It is, the design method includes the following steps：
(1) vehicle suspension control system state-space model is established, it is as follows：
Wherein, x be vehicle condition variable, F=[f1 f2 f3 f4]T, wherein each element is denoted as fi, fiDevice leads i-th in order to control
Dynamic suspension output control force, i=1,2,3,4, ω=[yo1 yo2 yo3 yo4]T, wherein each element is denoted as yoi, yoiFor i-th of master
The road disturbance that dynamic suspension is subject to, i=1,2,3,4, v=[v1 v2 v3 v4]T, wherein each element is denoted as vi, viFor i-th of master
Dynamic suspension output information, i=1,2,3,4,Target variable in order to control, y are that the vertical of vehicle body shakes displacement, θ
For vehicle body pitch angle,For vehicle body or so roll angle, z2=[Δ y1Δy2Δy3Δy4], wherein each element is denoted as Δ
yi, Δ yiFor the mechanical trip of i-th of Active suspension, i=1,2,3,4, A be vehicle condition variable parameter matrix, B devices in order to control
Export control force parameter matrix, BωFor road disturbance parameter matrix, C1For suspension output information transmission matrix, C2Target in order to control
Variable exports transmission matrix, C3Transmission matrix is exported for active suspension displacement offset；
(2) set each trigger event trigger condition as：
Wherein i=1,2,3,4 represent i-th of Active suspension,For i-th of Active suspension last time event
The output information at moment and the difference of current output information, v occursi(t) the current output information for i-th of Active suspension,
For the output information of i-th of Active suspension last time event generation time, ΦiFor the weight matrix of i-th of trigger, δiIt is i-th
The activation threshold value parameter of a trigger；
(3) vehicle suspension control system is established based on vehicle suspension control system state-space model and each trigger trigger condition
Closed loop control framework, it is as follows：
Wherein,For state observer observation error,Observation,For
The difference of suspension system last time event triggering moment output information and current information,It is touched for suspension system last time event
Send out moment output information, v (t) is the current output information of suspension system, and L is observer gain matrix, K device gain squares in order to control
Battle array, C are to be suitble to the normal matrix of dimension；
(4) according to vehicle suspension control system closed loop control framework, it is steady that system is established using Liapunov stability analytic approach
Fixed linear matrix inequality；
(5) constraints of vehicle suspension (1) is established；
(6) linear matrix inequality and suspension system that can meet system stabilization simultaneously are calculated than γ according to given Disturbance Rejection
The systematic parameter for constraints of uniting includes the activation threshold value parameter δ of i-th of triggeri, i-th trigger weight matrix Φi、
Observer gain matrix L and controller gain matrix K.
2. a kind of design method of vehicle suspension control system based on event trigger mechanism according to claim 1,
It is characterized in that, step (4) specifically includes following sub-step：
(401) according to positive definite matrixEstablishing liapunov function is：
Wherein V1(x (t))=xTP1X, V2(e (t))=eTP2e；
(402) it to liapunov function derivation, acquires so that MATRIX INEQUALITIES of the liapunov function derivative less than 0 is：
Wherein,Φ=diag { Φ1,Φ2,Φ3,Φ4,
Ω2=ATP2+P2A-CTLTP2-P2LC, ΛiFor with the relevant diagonal matrix of i-th of trigger, wherein on diagonal with trigger i phases
The element value of pass is 1, remaining is 0；
(403) X=P is enabled1BK, Y=P2L linearizes formula (5), obtains the linear matrix inequality of system stabilization：
Wherein,
3. a kind of design method of vehicle suspension control system based on event trigger mechanism according to claim 2,
It is characterized in that, the constraints of suspension system includes in step (5)：
(a) suspension travel constraints：
(b) controller performs power output constraints：
(c) ride safety of automobile constraints：
fibd＜ Ni (9)
Wherein, Δ yi,maxFor the maximum machine stroke of i-th of Active suspension, M is constant, fi,maxDevice is to i-th of active in order to control
The maximum control force of suspension output, fibadFor the upper limit threshold of the upward active force of i-th of Active suspension, NiFor mechanical device in automobile
To i-th of Active suspension down force.
4. a kind of design method of vehicle suspension control system based on event trigger mechanism according to claim 3,
It is characterized in that, step (6) includes following sub-step：
(601) the arbitrarily activation threshold value parameter δ of i-th of trigger of selectioniThe weight matrix Φ of ∈ (0,1) and i-th of triggeri
＞ 0；
(602) by γ, δiAnd ΦiFormula (6) is brought into, if there are feasible solution X, Y, P for inequality1And P2, then controller gain matrix be：
K=(P1B)+X, observer gain matrix are：L=P2 -1Y, and continue to execute step (603), otherwise return to step (604)；
(603) by controller gain matrix K, positive definite matrix P1And P2Formula (7), formula (8) and formula (9) are brought into respectively, if meeting simultaneously
The constraints of suspension system then preserves current design parameter δi、Φi, L and K, otherwise perform step (604)；
(604) assignment δi=δi+Δ1, Φi=Φi+Δ2, and return to step (602), wherein Δ1For threshold parameter iteration step length,
Δ2For weight matrix iteration step length.
5. a kind of design method of vehicle suspension control system based on event trigger mechanism according to claim 2,
It is characterized in that, after step (6) calculates systematic parameter, judges whether the system can occur Zeno phenomenon, if needing to redesign
Systematic parameter, otherwise the system is effective, and specific decision procedure is as follows：
Judge formula：
With the presence or absence of normal solution, if then Zeno phenomenon will not occur for the system, Zeno phenomenon otherwise can occur, wherein, hiFor i-th of triggering
Device minimum event time interval,
J ∈ { 1,2,3,4 }/i represents the new set that the element in removal set { 1,2,3,4 } equal to i forms,It is state variableThe norm upper bound,For the upper bound of road disturbance ω,λ4=λmax(M) it is matrix M
Maximum eigenvalue,υ=λmax(AT+ A), For ΛiThe matrix of row composition that middle diagonal element is 1,For matrix (I- Λi) in diagonal element be 1 row composition square
Battle array, ρj=δj||ΛjCk||2,
6. a kind of design method of vehicle suspension control system based on event trigger mechanism according to claim 1,
It is characterized in that, when trigger conditions are set up in step (2), event occurs, and automobile suspension system is exported in event generation time
Information updates as follows：
WhereinRepresent the kth of i-th of Active suspensioniSecondary event generation time,ForMoment suspension system output information
Updated value,ForThe current output information of moment suspension system,ForA upper event generation time at moment hangs
Frame system output information updated value.
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