Research On Vibration Reduction Control Of Active Suspension Based On Data-driven Control And Backstepping Control

Automobile suspension system is an important vibration damping component of the vehicle.Compared with passive suspension and semi-active suspension system,the active suspension system is more flexible and effective.Therefore,the active suspension system has been extensively and deeply studied by scholars at home and abroad.However,in most literature,the design of active suspension controller is often based on the established linear or nonlinear model.In fact,the suspension system is a typical nonlinear system,and in the actual operation process of the suspension system,its suspension parameters will change in a certain range,the uncertainty of these parameters will affect the performance of the designed controller.Therefore,it is very important to study how to overcome the influence of the nonlinear characteristics and uncertainty of the suspension system on the control effect of the controller in the design process of the active suspension controller.Aiming at many problems in the design of active suspension control,this paper on the basis of the automobile suspension system,with Canada Quanser company 1/4 vehicle active suspension experiment platform for important reference,by Jane into the deep of the active vibration control of suspension method,finally puts forward a model of data driven without control of active suspension controller.The specific research work is as follows:(1)After summarizing the research on active suspension vibration reduction control at home and abroad,and analyzing the advantages and disadvantages of each control strategy,a data-driven model free active suspension vibration reduction control method was proposed.And according to the controller design needs of 1/4 vehicle active suspension system dynamics analysis.(2)After the linear 2-DOF 1/4 vehicle active suspension system model is obtained.In view of the established linear suspension system model,the LQR control design method and inversion method are used to design the active suspension vibration damping controller.After the numerical simulation analysis and experimental simulation analysis of the designed controller are carried out.It is found that the nonlinear characteristics and uncertainty of the suspension system have great influence on the control effect of the controller.(3)Through the analysis results of the controller numerical simulation and experimental simulation based on the linear model,it is necessary to establish the nonlinear suspension system model.Then,the inverse method is used to design the vibration control of the nonlinear 1/4 vehicle active suspension system model.Through numerical simulation and experimental simulation analysis of the designed controller,it is found that the performance of the designed controller considering the nonlinear characteristics of the model is better than that of the control based on the linear model.However,the influence of the nonlinear characteristics of the suspension system and the uncertainty on the control effect of the controller has not been completely overcome.(4)After studying the controller based on model design,it is difficult to establish an accurate mathematical model for the suspension system,which ultimately affects the control effect of the controller.This paper presents a method of damping control design for data-driven active suspension without model control based on differential estimation.The simulation and verification of the designed data driven model-free controller show that the designed controller can make the output signal of the suspension system track the ideal signal effectively,so as to achieve the purpose of damping control of the suspension system.And it can effectively overcome the influence of the nonlinear characteristics and uncertainty in the suspension system on the control effect.The full study and simulation experiments show that the nonlinear characteristics and uncertainties of the suspension system will affect the control performance of the controller in the experiment to a certain extent.Through design will be based on the nonlinear model of active suspension controller and model reference inverse control based on differential estimate of data driven without control model of active suspension controller to a contains the random noise signal in the suspension of simulation as you can see,based on the model of active suspension controller is designed under the influence of random noise signal,The RMS of the vehicle body vertical acceleration increases by 39.46% under the impact road surface excitation,and by 30.83% under the sinusoidal road surface excitation.On the contrary,the control performance of the data-driven modelless active suspension controller based on differential estimation is not affected by the added random noise signals.The results show that the data driven modelless controller can effectively overcome the influence of uncertainty and nonlinearity in the suspension system on the actual performance of active suspension controller.However,as the control design is based on data,it has higher requirements for the accuracy of the measurement data,so it is still a difficulty to obtain relatively accurate measurement data.In general,the vibration reduction control design of the data-driven active suspension without model control can play a certain reference significance in the vibration reduction control design of active suspension.