CN106183689B - A kind of robust control system and its control method of air suspension of automobile - Google Patents

A kind of robust control system and its control method of air suspension of automobile Download PDF

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CN106183689B
CN106183689B CN201610604674.1A CN201610604674A CN106183689B CN 106183689 B CN106183689 B CN 106183689B CN 201610604674 A CN201610604674 A CN 201610604674A CN 106183689 B CN106183689 B CN 106183689B
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robust
control
air
ecas
suspension
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CN106183689A (en
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袁春元
潘秀杰
周宏根
景旭文
王新彦
李志昌
杨兵
王凯丽
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Jiangsu University of Science and Technology
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Jiangsu University of Science and Technology
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
    • B60G17/052—Pneumatic spring characteristics
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/50—Pressure
    • B60G2400/51—Pressure in suspension unit
    • B60G2400/512—Pressure in suspension unit in spring
    • B60G2400/5122—Fluid spring
    • B60G2400/51222—Pneumatic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2500/00—Indexing codes relating to the regulated action or device
    • B60G2500/20—Spring action or springs
    • B60G2500/22—Spring constant

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

The invention discloses a kind of robust control system of air suspension of automobile and its control methods, including sensor group, GPS navigation module, control module and executing agency, the signal of control module receiving sensor group and GPS navigation module acquisition, robust controller K is solved by establishing ECAS kinetic models, with the minimum target of the sum of suspension dynamic deflection, wheel vertical acceleration and vehicle body vertical acceleration three weighting, rigidity needed for air spring is obtained, and adjusts the rigidity of air spring by the opening and closing of volume solenoid valve.The augmentation ECAS car models that the present invention establishes combine the variations such as load, rigidity, road disturbance and ECAS automobile dynamics nominal models, and it introduces structured singular value μ theories and small gain theorem and analysis and synthesis is carried out to the augmentation model, the robust controller K solved can make ECAS systems have robust performance while keeping robust stability, it can be under conditions of inheriting original system overwhelming majority hardware, the controlling of air suspension is greatly improved.

Description

A kind of robust control system and its control method of air suspension of automobile
Technical field
The present invention relates to a kind of field of automobile electronic control, and in particular to a kind of robust control system of air suspension and its Control method.
Background technology
Air suspension (Air Suspension) is born at the end of the 19th century, compared with Leaf Spring Suspension, has anti-" S " rigid Curve characteristic is spent, the advantages that vehicle ride comfort can be improved and bodywork height can be made to remain unchanged.Therefore, in American-European automobile work Industry developed country, air suspension is widely used in coach luxury coach, heavy goods vehicle, medium truck, trailer, special vehicle, and (vibration isolation is wanted Ask high measuring truck, ambulance etc.) and luxurious passenger car.To 20th century the eighties, with the development of electron controls technology, There is the electronic control air suspension of comparative maturity, compared with conventional air suspension, it is comprehensive further to promote vehicle Energy；And compared with full Active suspension, because it uses compressed air as working media, with simple in structure, low energy consumption and uses The features such as at low cost.Department of Transportation of China formulated in 2010《Operating passenger car Type division and ranking》Middle regulation is advanced Car must configure air suspension, it can be predicted that the successful application with air suspension on China's coach luxury coach, it will It is extended on heavy truck, semitrailer, cargo vehicle, anti-vibration performance requirement high special vehicle or even high-grade car, controlling party Face must also be gone on electronic, intelligentized track.For Automobile Industry in China circle, air suspension not only has wide Wealthy application prospect, it is often more important that can comparatively fast promote class, technical merit and the market competitiveness of domestic automobile, development electricity Son control air suspension technology is to promoting China's automotive engineering, economy and social development to have important practical significance and far-reaching shadow It rings.
Currently, ECAS, although having reached initial purpose of design, there are still some technical problems to need to solve, Performance and function are urgently further perfect, and especially for China's automotive suspension circle, ECAS key technology research and application push away Extensively there is considerably long road to walk, wherein one of problem is, ECAS automobiles automobile load and suspension rate etc. in actual operation Often variation, is also influenced by external interferences such as beam wind, road stones.Therefore, true ECAS automotive systems are collection ginsengs The complicated nonlinear system that number variation and external interference composite factor influence.From the point of view of document discloses report, currently without maturation Nonlinear uncertain complication system control theory and method may be directly applied to ECAS systems, this will seriously affect and make The development of about ECAS automobiles.Therefore, research model Parameters variation, unmodeled dynamiocs, time variation and external interference are to ECAS vapour The influence of vehicle system performance is of great significance to the automotive engineering level for promoting China.
The influence to complex control system such as model parameter variation, unmodeled dynamiocs and external interference, causes wide already The concern of big scientific worker.But it is multifarious due to control object, unified, ripe theory is not set up also.Just For the electronic control process of ECAS, aerodynamics, Engineering Thermodynamics, automobile dynamics, electronics and modern times are related to The subjects theories such as control theory, along with model parameter variation, the influence of external interference and unmodeled dynamiocs so that it controls system Designing and developing for system becomes extremely complex.Key be how by road disturbance, model parameter variation and non-linear ECAS automobiles system System nominal model is associated reconstruct, and the influence of all perturbations (containing road disturbance, Parameters variation) can be isolated, and can solve Adaptable feedback controller therewith.This is to ensure that ECAS systems have the premise of robust stability and robust performance, this is also It is solved the problems, such as required for the present invention.
Invention content
Goal of the invention：In view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide a kind of Shandong of air suspension of automobile Rod control system and its control method enable air suspension automobile to inhibit the influence of the factors such as load change, road agitation, ECAS The robustness of system is greatly improved.
Technical solution：A kind of robust control system of air suspension of automobile, including sensor group, GPS navigation module, control Module and executing agency, the sensor group and GPS navigation module are connected with the input port of control module respectively, control module Output port connect executing agency, the executing agency be by volume solenoid valve control air spring；The control module The signal of receiving sensor group and GPS navigation module acquisition solves robust controller K acquisitions by establishing ECAS kinetic models Air spring is adjusted in rigidity needed for air spring, control volume solenoid valve.
Further, the sensor group includes air spring baroceptor, wheel vertical acceleration sensor, automobile speed Sensor, vehicle body vertical acceleration sensor and suspension dynamic deflection sensor are spent, each sensor acquisition signal passes to control Module；The air spring baroceptor acquires air spring air pressure signal, the wheel vertical acceleration sensor acquisition Wheel vertical acceleration, the automotive speed sensor acquire automobile driving speed, and the vehicle body vertical acceleration sensor is adopted Collect vehicle body vertical acceleration signal, the suspension dynamic deflection sensor acquires suspension dynamic deflection signal.
Further, the air spring includes two different accessory air-spaces of volume and a main air chamber, two accessory air-spaces point It is not connected with main air chamber by volume solenoid valve I and volume solenoid valve II, the air spring is in different initial gas pressures When, rigidity needed for air spring is reached by the opening and closing of volume adjusted solenoid valve I and volume solenoid valve II.
A kind of control method of the robust control system of air suspension of automobile, includes the following steps：
(1) when automobile starting, air suspension robust control system powers on；
(2) after running car, sensor group carries out signal sampling, while GPS navigation module carries out driving positioning and determines vehicle It is compared with the standard path of storage for road where, control module, determines pavement of road grade；
(3) control module goes out wheel road excitation using automobile driving speed and pavement of road rating calculation, establishes ECAS Kinetic model solves robust controller K, is weighted with suspension dynamic deflection, wheel vertical acceleration and vehicle body vertical acceleration three The sum of minimum target, solve and vehicle driving state coordinate matched target suspension rate；
(4) it determines the target open and-shut mode of volume solenoid valve according to target suspension rate, and works as with volume solenoid valve Preceding state, which is compared, obtains respective state deviation, and is adjusted；
(5) sensor group and GPS navigation module enter next sampling period, control module repeat it is above-mentioned regulated and controled Journey, and recycled with this, until running car stops.
Further, the structure of the robust controller K includes the following steps：
1. establishing a quarter ECAS Vehicle system dynamics models using Lagrangian method, there is following feature：
In formula：msFor spring carried mass, x2For spring charge material heart displacement, F is air spring force, and c is shock absorber damping, mu For unsprung mass, x1For barycenter displacement, K under springtFor tire stiffness, x0For road excitation, maFor gaseous mass in air spring, R Gas constant, T air kelvin ratings；
It is tested according to 1996 automobile test standards of GB/T4970-, comparative experiments knot under the conditions of identical road excitation Fruit and simulation result verify the accuracy and validity of a quarter ECAS Vehicle system dynamics models with this；
2. establishing the seven freedom ECAS Full Vehicle Dynamics differential equations with Newton method, and the differential equation passes through state space It realizes
In formula：A, coefficient matrix, x are state variable in order to control by B, C, D,For the first derivative of state variable, y is that can survey ECAS automotive performance variables, u input variables in order to control；
On the basis of ECAS whole vehicle models, the opened loop control generalized model P (s) under frequency domain is built, i.e.,
P (s)=C (sI-A)-1B
Introducing Δ (s) uncertainty matrix and its W (s) weight functions, control, which is input to the transmission function that control exports and uses, to be added Method uncertainty is described, that is, has
Tyu={ P (s)+W (s) Δs (s)：&#124;&#124;Δ(s)&#124;&#124;∞ < 1 }
In addition, being introduced back into performance uncertainty function Δf(s) and its weight function Wf(s)；Meanwhile introducing robust control to be solved Device K processed constitutes closed-loop control system by closed-loop forming, and transfer function matrix M (s) has following form：
It is matrix M that control system, which has the sufficient and necessary condition of robust stability and robust performance,11In uncertain matrix Δ It acts on lower structure singular value μ and is less than 1 and matrix M in uncertain matrix ΔPIt acts on lower structure singular value μ and is less than 1, that is, have
μΔ(M11) < 1
Wherein
3. in order to solve robust controller K, scale matrix D is introduced, and its initial value is unit matrix
By D-K iterative methods, a robust controller K (s) is found, satisfaction is made
Solve the robust controller K of ECAS automotive systems.
Further, according to the target suspension rate of the actual measurement atmospheric pressure value of air spring and calculating gained, control in step (4) The spring under the different open and-shut modes of volume solenoid valve I, II is corresponded to when the air spring difference initial gas pressure stored in control module Rigidity is traversed, and is determined and the immediate air spring rigidity of rigidity needed for suspension, thus clear volume solenoid valve I and II Target open and-shut mode and be adjusted.
Advantageous effect：The augmentation ECAS car models that the present invention establishes combine the variations such as load, rigidity, road disturbance and ECAS automobile dynamics nominal models, and introduce structured singular value μ theories and small gain theorem and the augmentation model is analyzed With synthesis, the robust controller K solved can make ECAS systems have robust performance while keeping robust stability, can Under conditions of inheriting original system overwhelming majority hardware, the controlling of air suspension is greatly improved.
Description of the drawings
Fig. 1 is control system architecture schematic diagram of the present invention；
Fig. 2 is the air spring rigidity performance plot of the present invention；
Fig. 3 is that the GPS of the present invention determines road surface model figure；
Fig. 4 is that the analysis of the present invention does not know ECAS automotive system robust stability figures；
Fig. 5 is that the analysis of the present invention does not know ECAS automotive system robust performance figures；
Fig. 6 is the solution flow chart of the robust controller K of the present invention；
Fig. 7 is control method flow chart of the present invention.
Specific implementation mode
Technical solution of the present invention is described in detail below, but protection scope of the present invention is not limited to the implementation Example.
Embodiment：A kind of robust control system of air suspension of automobile, as shown in Figure 1, sensor group and GPS navigation module It is connected respectively with the input terminal of control module, the output end of control module connects execution machine by controlling signal power amplifying circuit Structure.Wherein, sensor group includes air spring baroceptor, wheel vertical acceleration sensor, automotive speed sensor, vehicle Body vertical acceleration sensor and suspension dynamic deflection sensor；Air spring baroceptor acquires air spring air pressure signal, Wheel vertical acceleration sensor acquires wheel vertical acceleration, and automotive speed sensor acquires automobile driving speed, and vehicle body hangs down Vehicle body vertical acceleration signal is acquired to acceleration transducer, suspension dynamic deflection sensor acquires suspension dynamic deflection signal；More than The signal of sensor acquisition and the positioning signal of GPS navigation module pass to control module by the input terminal of control module, Control module includes sequentially connected ADC, CPU and DAC.
Executing agency is by the air spring of volume solenoid valve control, which is characterized as：By two secondary gas Room and a main air chamber are constituted, and accessory air-space I is connected by volume solenoid valve I with main air chamber, accessory air-space II passes through volume solenoid valve II is connected with main air chamber, and I volume of accessory air-space and II volume size of accessory air-space are unequal.Volume solenoid valve is controlled by off and on I and volume solenoid valve II, air spring volume can be divided into 4 kinds of states.Therefore, it is kept in air spring initial gas pressure Under permanence condition, by combinatorial regulation volume solenoid valve I, volume solenoid valve II, air spring has 4 kinds of different mechanics bent Line, as shown in Fig. 2, 1. curve is the spring performance that volume solenoid valve I and volume solenoid valve II are turned off, 2. curve is volume electricity 3. the spring performance that magnet valve I is opened and volume solenoid valve II is closed, curve are that volume solenoid valve I is closed and volume solenoid valve II is opened 4. the spring performance opened, curve are the spring performance that volume solenoid valve I and volume solenoid valve II are opened.It is according to spring rate The spring characteristic curve of air spring is converted to its rigidity by the derivative relation of elastic characteristic and displacement for the ease of storage, and WithIndicate, wherein subscript Pa indicates initial gas pressure in air spring, subscript I, II indicate volume solenoid valve I and II open or Off status, 0 indicates to close, and 1 indicates to open.Test gas pressure from 2bar, 2.1bar ..., under the conditions of 5.9bar and 6bar Spring performance by being converted into spring rate shown in table 1, and is stored in controller.
1 spring air pressure of table, volume solenoid valve I, II state and spring rateRelation table
Vehicle power supply by power cord respectively with sensor group, control module, control signal power amplifying circuit and volume Solenoid valve I, volume solenoid valve II are connected, and power cord positive and negative anodes are connected to the positive terminal of automobile starting power switch control Terminal and negative terminal.
The control method of the robust control system of above-mentioned air suspension of automobile, process are as follows：
(1) when automobile key insertion startup power supply switchs and turns to the positions ON, robust control system powers on.
(2) after running car, sensor group carries out sampled signal, while GPS navigation module carries out driving positioning, sensor Signal and GPS signal are conveyed to CPU.
(3) as shown in figure 3, GPS navigation module determines vehicle traveling place road and is sent to control system, control system Standard in its road model library with storage is compared, determines that pavement of road grade, CPU are sensed using car speed The automobile driving speed and pavement grade that device measures calculate wheel road excitation, establish ECAS kinetic models and solve robust Controller K.
Concrete operations are as follows：
A, a quarter ECAS Vehicle system dynamics models are established with Lagrangian method：
In formula：mgSpring carried mass, x2Spring charge material heart displacement, F air spring forces, c shock absorber dampings, muUnsprung mass, x1Barycenter displacement under spring, ktTire stiffness, x0Road excitation, maGaseous mass in air spring, R gas constants, T air are absolute Temperature value, V are air spring volume, and A is air spring effective area.
B, according to 1996 automobile test standards of GB/T4970-, the examination of two-freedom a quarter ECAS car models is carried out It tests, and is compared with the simulation result under the conditions of identical excitation, verification a quarter ECAS Vehicle system dynamics models Validity.
C, seven freedom ECAS Full Vehicle Dynamics nominal plant model P are established by Newton method, state space is passed through by the differential equation It realizes：
In formula：A, B, C, D coefficient matrix in order to control, x are state variable, u input variables in order to control.
As shown in figure 4, by dynamics nominal plant model P and diagonal arrangement uncertainty block Δ (s) and its weight function W (s) into Row association reconstruct, builds the ECAS feedback control systems P with uncertain Δ (s)；Specifically, enabling ECAS Full Vehicle Dynamics moulds To describe, i.e., type transmission function meets addition functor
Tyu={ P (s)+W (s) Δs (s)：&#124;&#124;Δ(s)&#124;&#124;∞< 1 }
In formula：P (s)=C (sI-A)-1B, Δ (s) are uncertain block, and W (s) is weight function.
In addition, as shown in figure 5, being re-introduced into uncertain block Δf(s) and its weight function Wf(s) it is diagonal to build an increase block Structure ΔP, meanwhile, robust controller K is introduced, closed-loop control system is constituted, there are transfer function matrix M (s), and exist
The robust stability of feedback control system P is analyzed using structured singular value μ, what analysis was made of P and K feedback controls Transfer function matrix M is in block diagonal arrangement ΔPRobust performance under perturbation, determines structured singular value μ with robust stability With the infimum and supremum of robust performance, it is knot that control system, which has the sufficient and necessary condition of robust stability and robust performance, Structure singular value μ meets following relationship
μΔ(M11) < 1
Wherein
By D-K iterative methods, a robust controller K (s) is found, its satisfaction is made
The specific solution procedurees of robust controller K as shown in fig. 6, introduce scale matrix D, and initial value be unit to angular moment Battle array, i.e.,
D is first fixed, is asked∞ control problems obtain initial K (s)；
K is fixed again, is askedConvex optimization problem obtains D1；
Compare D and D1, if the difference of the two meets required precision, the controller K 2. obtained by step is robust control Otherwise device processed enables D=D1, back to the 2. step continue iteration, until finding result.
(4) as shown in fig. 7, the adjustment process for being equipped with the ECAS suspensions of robust controller K is：By GPS module signal, vapour Vehicle speed sensor signal, vehicle body vertical acceleration signal, suspension dynamic deflection sensor signal and vehicle bridge acceleration transducer letter Number as control input signal, based on the ECAS Full Vehicle Dynamics models that step c is established, robust controller K will be scratched so that suspension is dynamic The minimum object function of the sum of degree, dynamic wheel load and barycenter vertical acceleration three weighting, using suspension rate as unknown variable It is solved, obtains the required rigidity value of suspension.With the surveyed atmospheric pressure value of air spring baroceptor, required suspension rate value Table 1 is traversed by look-up table, it may be determined that go out and the immediate air spring rigidity of rigidity needed for suspensionAgain withThe dbjective state of volume solenoid valve I and volume solenoid valve II is specified, is for example 00,01,10 or 11.Then, by volume electricity The dbjective state of magnet valve I and volume solenoid valve II is stored in the current state of CPU with it and is compared, if complete consistent, holds Product solenoid valve I and volume solenoid valve II are maintained the statusquo；If it is inconsistent, regulating and controlling to volume solenoid valve devious, example If current state is 00, and dbjective state requires to be 10, then controller can make volume solenoid valve I switch to open by former closed state And keep, and volume solenoid valve II keeps former closed state；Other situations are similar with this, do not repeat one by one.
(5) after unified regulation and control end cycle of above-mentioned ECAS suspension systems, sensor group will enter next sampling period, control After new variation occurs for input signal processed, the robust controller K courses of work as regulation process described in step (4), then The secondary state to volume solenoid valve I and volume solenoid valve II is adjusted, and is moved in circles with this, is until automobile stops traveling Only.

Claims (5)

1. a kind of control method of the robust control system of air suspension of automobile, it is characterised in that：Robust control system includes passing Sensor group, GPS navigation module, control module and executing agency, the sensor group and GPS navigation module respectively with control module Input port be connected, the output port of control module connects executing agency, and the executing agency is by volume solenoid valve control Air spring；The signal of the control module receiving sensor group and GPS navigation module acquisition, by establishing ECAS dynamics Model solution robust controller K obtains rigidity needed for air spring, and air spring is adjusted in control volume solenoid valve；
Control method includes the following steps：
(1) when automobile starting, air suspension robust control system powers on；
(2) after running car, sensor group carries out signal sampling, while GPS navigation module carries out driving positioning and determines vehicle institute In road, it is compared control module with the standard path of storage, determines pavement of road grade；
(3) control module goes out wheel road excitation using automobile driving speed and pavement of road rating calculation, establishes ECAS power Model solution robust controller K is learned, with the sum of suspension dynamic deflection, wheel vertical acceleration and vehicle body vertical acceleration three weighting Minimum target solves and coordinates matched target suspension rate with vehicle driving state；
(4) determine the target open and-shut mode of volume solenoid valve according to target suspension rate, and with the current shape of volume solenoid valve State, which is compared, obtains respective state deviation, and is adjusted；
(5) sensor group and GPS navigation module enter next sampling period, and control module repeats the regulation and control of step (2)-(4) Process, and recycled with this, until running car stops.
2. the control method of the robust control system of air suspension of automobile according to claim 1, it is characterised in that：It is described Sensor group include air spring baroceptor, wheel vertical acceleration sensor, automotive speed sensor, vehicle body it is vertical plus Velocity sensor and suspension dynamic deflection sensor, each sensor acquisition signal pass to control module；The air spring gas Pressure sensor acquires air spring air pressure signal, and the wheel vertical acceleration sensor acquires wheel vertical acceleration, described Automotive speed sensor acquires automobile driving speed, the vehicle body vertical acceleration sensor acquisition vehicle body vertical acceleration letter Number, the suspension dynamic deflection sensor acquires suspension dynamic deflection signal.
3. the control method of the robust control system of air suspension of automobile according to claim 1, it is characterised in that：It is described Air spring includes two different accessory air-spaces of volume and a main air chamber, and two accessory air-spaces pass through I He of volume solenoid valve respectively Volume solenoid valve II is connected with main air chamber, and the air spring passes through volume adjusted electromagnetism in different initial gas pressures The opening and closing of valve I and volume solenoid valve II reaches rigidity needed for air spring.
4. the control method of the robust control system of air suspension of automobile according to claim 1, it is characterised in that：It is described The structure of robust controller K includes the following steps：
1. establishing a quarter ECAS Vehicle system dynamics models using Lagrangian method, there is following feature：
In formula：msFor spring carried mass, x2For spring charge material heart displacement, F is air spring force, and c is shock absorber damping, muFor spring Lower quality, x1For barycenter displacement, K under springtFor tire stiffness, x0For road excitation, maFor gaseous mass in air spring, R gases Constant, T air kelvin ratings, P are gas pressure, and V is air spring volume, and A is air spring effective area；
Tested according to GB/T4970-1996 automobile test standards, under the conditions of identical road excitation comparative experiments result with Simulation result verifies the accuracy and validity of a quarter ECAS Vehicle system dynamics models with this；
2. establishing the seven freedom ECAS Full Vehicle Dynamics differential equations with Newton method, and the differential equation passes through state space realization
In formula：A, coefficient matrix, x are state variable in order to control by B, C, D,For the first derivative of state variable, y is measurable ECAS automotive performance variables, u input variables in order to control；
On the basis of ECAS whole vehicle models, the opened loop control generalized model P (s) under frequency domain is built, i.e.,
P (s)=C (sI-A)-1B
Introduce the uncertain matrix of Δ (s) and its W (s) weight functions, control is input to the transmission function of control output with addition not Certainty is described, that is, has
Tyu={ P (s)+W (s) Δs (s)：&#124;&#124;Δ(s)&#124;&#124;∞< 1 }
In formula, TyuIndicate the transmission function of control input variable u to automotive performance output variable y；
In addition, being introduced back into performance uncertainty function Δf(s) and its weight function Wf(s)；Meanwhile introducing robust controller to be solved K constitutes closed-loop control system by closed-loop forming, and transfer function matrix M (s) has following form：
It is matrix M that control system, which has the sufficient and necessary condition of robust stability and robust performance,11It is acted in uncertain matrix Δ Lower structure singular value μ is less than 1 and matrix M in uncertain matrix ΔPIt acts on lower structure singular value μ and is less than 1, that is, have
μΔ(M11) < 1
Wherein
3. in order to solve robust controller K, scale matrix D is introduced, and its initial value is unit matrix
By D-K iterative methods, a robust controller K (s) is found, satisfaction is made
Solve the robust controller K of ECAS automotive systems.
5. the control method of the robust control system of air suspension of automobile according to claim 1, it is characterised in that：Step (4) according to the target suspension rate of the actual measurement atmospheric pressure value of air spring and calculating gained in, the sky stored in control module is compareed The spring rate corresponded to when gas spring difference initial gas pressure under the different open and-shut modes of volume solenoid valve I, II is traversed, and is determined With the immediate air spring rigidity of rigidity needed for suspension, thus the target open and-shut mode of clear volume solenoid valve I and II go forward side by side Row is adjusted.
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