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Robust adaptive backstepping sliding mode control for motion mode decoupling of two‐axle vehicles with active kinetic dynamic suspension systems

机译：具有主动动力动力悬架系统的双轴车辆运动模式去耦的强大自适应BackStepping滑模控制

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Summary >A mode decoupling control strategy is proposed for the active Kinetic Dynamic Suspension Systems (KDSS) with electrohydrostatic actuator (EHA) to improve the roll and warp mode performances. A matrix transfer method is employed to derive the modes of body and wheel station motions for full vehicle with active KDSS. The additional mode stiffness produced by the active KDSS is obtained and quantitatively described with the typical physical parameters. A new hierarchical feedback control strategy is proposed for the active KDSS to improve the roll and warp motion performances and simultaneously accounting for nonlinear dynamics of the actuators with hydraulic uncertainties. H∞ static output‐feedback control is employed to obtain the desirable mode forces, and a new projection‐based adaptive backstepping sliding mode tracking controller is designed for EHA to deal with address the nonlinearity and parameters uncertainty. This controller is used to realize the desirable pressure difference of EHA required from the target mode forces. Numerical simulations are presented to compare the roll and warp performances between the active KDSS, conventional spring‐damper suspension, and suspension with antiroll bar under typical excitation conditions. The evaluation indices are normalized and compared with radar chart. The obtained results illustrate that the proposed active KDSS with proposed controller does not produce additional warp motion for vehicle body, and has achieved more reasonable tire force distribution among wheel stations, the roll stability, road holding, and significantly improved ride comfort simultaneously. </abstract> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> <div class="translation abstracttxt"> <span class="zhankaihshouqi fivelineshidden" id="abstract"> <span>机译：</span><Abstract Type =“Main”XML：Lang =“en”> <标题类型=“main”>摘要</ title> <P>一种模式去耦控制策略是针对具有电疏水致动器（EHA）的有源动力悬架系统（KDS）来改善辊子和经纱的性能。采用矩阵传送方法来导出具有活动KDS的全车辆的主体和轮站运动模式。通过典型的物理参数获得由有源KDS产生的附加模式刚度并定量描述。提出了一种新的层级反馈控制策略，用于有效KDSS，以改善辊和经纱运动性能，同时占液压不确定性的致动器的非线性动力学。使用H∞静态输出反馈控制来获得所需的模式力，并且设计了一种新的基于投影的自适应反向滑模滑模跟踪控制器，用于处理非线性和参数不确定性的解决方案。该控制器用于实现目标模式力所需的EHA的理想压力差。提出了数值模拟，以将活性KDS，传统的弹簧阻尼器悬架和悬浮液之间的辊和翘曲性能进行比较，并在典型的激励条件下与反杆子悬架进行。评估指数正常化并与雷达图进行比较。所获得的结果说明了具有所提出的控制器的所提出的活性KDSS不会为车身产生额外的经线动作，并且在车轮站之间实现了更合理的轮胎力分布，滚动稳定性，道路保持，并同时显着提高了乘坐舒适性。</ P> </摘要> </span> <span class="z_kbtn z_kbtnclass hoverxs" style="display: none;">展开▼</span> </div> </div> <div class="record"> <h2 class="all_title" id="enpatent33" >著录项</h2> <ul> <li> <span class="lefttit">来源</span> <div style="width: 86%;vertical-align: text-top;display: inline-block;"> <a href='/journal-foreign-21736/'>《International Journal of Robust and Nonlinear Control》</a> <b style="margin: 0 2px;">|</b><span>2020年第8期</span><b style="margin: 0 2px;">|</b><span>共24页</span> </div> </li> <li> <div class="author"> <span class="lefttit">作者</span> <p id="fAuthorthree" class="threelineshidden zhankaihshouqi"> </p> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zkzz" style="display: none;">展开▼</span> </div> </li> <li> <div style="display: flex;"> <span class="lefttit">作者单位</span> <div style="position: relative;margin-left: 3px;max-width: 639px;"> <div class="threelineshidden zhankaihshouqi" id="fOrgthree"> </div> <span class="z_kbtnclass z_kbtnclassall hoverxs" id="zhdw" style="display: none;">展开▼</span> </div> </div> </li> <li > <span class="lefttit">收录信息</span> <span style="width: 86%;vertical-align: text-top;display: inline-block;"></span> </li> <li> <span class="lefttit">原文格式</span> <span>PDF</span> </li> <li> <span class="lefttit">正文语种</span> <span>eng</span> </li> <li> <span class="lefttit">中图分类</span> <span><a href="https://www.zhangqiaokeyan.com/clc/7742.html" title="自动化系统">自动化系统;</a></span> </li> <li class="antistop"> <span class="lefttit">关键词</span> <p style="width: 86%;vertical-align: text-top;"> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=active kinetic dynamic suspension systems&option=203" rel="nofollow">active kinetic dynamic suspension systems;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=adaptive backstepping sliding mode control&option=203" rel="nofollow">adaptive backstepping sliding mode control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=electrohydrostatic actuator&option=203" rel="nofollow">electrohydrostatic actuator;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=motion mode decoupling control&option=203" rel="nofollow">motion mode decoupling control;</a> <a style="color: #3E7FEB;" href="/search.html?doctypes=4_5_6_1-0_4-0_1_2_3_7_9&sertext=robust H∞ static output‐feedback control&option=203" rel="nofollow">robust H∞ static output‐feedback control;</a> </p> <div class="translation"> 机译：有源动力悬架系统;自适应反向插入滑模控制;电疏水驱动器;运动模式解耦控制;鲁棒H∞静态输出反馈控制; 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href="/patent-detail/06120109718924.html">全车主动悬架系统自适应backstepping控制器设计方法</a> <b>[P]</b> . <span> 中国专利： CN107220416A </span> <span> . 2017-09-29</span> </div> </li> <li> <div> <b>2. </b><a class="enjiyixqcontent" href="/patent-detail/061203687396.html">用于混合动力车辆的变速器、用于具有这种变速器的混合动力车辆的动力总成系统以及用于起动混合动力车辆的方法</a> <b>[P]</b> . <span> 中国专利： CN107850191B </span> <span> . 2020.04.07</span> </div> </li> <li> <div> <b>3. </b><a class="enjiyixqcontent" href="/patent-detail/06130419510083.html">INDUCTION MOTOR CONTROLLING SYSTEM OF ELECTRONIC POWER STEERING IN A VEHICLE, USING ADAPTIVE BACKSTEPPING CONTROLLER, CAPABLE OF IMPROVING CONTROL PERFORMANCE OF A ELECTRONIC POWER STEERING SYSTEM BY PERFORMING ADAPTIVE BACKSTEPPING CONTROL, AND A METHOD THEREOF</a> <b>[P]</b> . <span> 外国专利：  KR20130001049A </span> <span> . 2013-01-03</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：车辆的电子助力转向感应电动机控制系统，使用自适应反步控制器，能够通过执行自适应的反推力控制来改善电子助力转向系统的控制性能，及其方法 </span> </p> </li> <li> <div> <b>4. </b><a class="enjiyixqcontent" href="/patent-detail/06130441435912.html">Regulating vehicle dynamics involves detecting variable system parameter deviation from base value, identifying system parameter, determining identified system model, adapting control gain to model</a> <b>[P]</b> . <span> 外国专利：  DE10254392A1 </span> <span> . 2004-05-27</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：调节车辆动力学特性包括检测变量系统参数与基准值的偏差，识别系统参数，确定已识别的系统模型，使控制增益适应模型 </span> </p> </li> <li> <div> <b>5. </b><a class="enjiyixqcontent" href="/patent-detail/06130500176240.html">VEHICLE MECHANICAL TRANSMISSION (4×4) WITH A CROSS-AXLE VARIABLE DIFFERENTIAL MECHANISM AND A SYSTEM FOR AUTOMATIC CONTROL OF DIFFERENTIAL OPERATION MODES DURING NON-LINEAR MOTION</a> <b>[P]</b> . <span> 外国专利：  RU2749974C1 </span> <span> . 2021-06-21</span> </div> <p class="zwjiyix translation" style="max-width: initial;height: auto;word-break: break-all;white-space: initial;text-overflow: initial;overflow: initial;"> <span>机译：车辆机械传动（4×4）具有交叉轴可变差分机构和用于在非线性运动期间自动控制差分操作模式的系统 </span> </p> </li> </ul> </div> </div> </div> <div class="theme cardcommon" style="overflow: auto;display:none"> <h3 class="all_title" id="enpatent55">相关主题</h3> <ul id="subject"> </ul> </div> </div> </div> </div> <div class="right rightcon"> <div class="details_img cardcommon clearfix" style="margin-bottom: 10px;display:none;" > </div> </div> </div> <div id="thesis_get_original1" class="downloadBth" style="bottom: 19px;z-index: 999;" onclick="ywcd('0704023067822','4',7,2,1,'',this,24)" class="delivery" prompt="010401" title="通过人工服务将文献原文发送至邮箱" >获取原文</div> <div class="journalsub-pop-up" style="display: none"> <div class="journal-sub"> <h2>期刊订阅</h2> <img src="https://cdn.zhangqiaokeyan.com/img/loginclose.png" 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