基于输出反馈观测器的主动悬架鲁棒模型预测抗扰控制

doi:10.19562/j.chinasae.qcgc.2025.10.013

Abstract

Abstract:

To overcome the nonlinear disturbance such as actuator delay and external random input in Active Suspension System （ASS）， and reduce its dependence on high-cost sensors， an Output Feedback Observer-based Robust Model Predictive Anti-disturbance Control （OB-RMPAC） strategy is proposed. Firstly， the dynamics model of half-car active suspension system is established considering the nonlinear disturbance of actuator delay. Secondly， an output feedback observer which can accurately estimate the state of ASS under external nonlinear input disturbance is constructed by applying the quadratic boundedness condition. Thirdly， the robust model predictive anti-disturbance control strategy that satisfies multiple constraints of ASS is designed by combining invariant set theory， linear matrix inequality and convex optimization techniques. Finally， the recursive feasibility and robust stability of the closed-loop predictive control system are analyzed and proved. The test results show that the OB-RMPAC strategy proposed in this paper can significantly improve the dynamic performance of vehicle equipped with ASS on the basis of accurate estimation of system state.

Key words: active suspension, robust model predictive anti-disturbance control, output feedback observer, nonlinear disturbance

Bing Zhu,Haiqiao Li,Jian Zhao,Zhicheng Chen,Jie Hou,Shiwei Wang,Shuwei Ding. Robust Model Predictive Anti-Disturbance Control for Active Suspension System Based on Output Feedback Observer[J].Automotive Engineering, 2025, 47(10): 1973-1984.

Figures/Tables 13

符号	定义	单位
$z s$	车身垂向位移	$m$
$a / b$	簧载质量部分质心距前/后轴距离	$m$
$θ$	车身俯仰角	$r a d$
$I y$	车身俯仰转动惯量	$k g ? m 2$
$m s$	簧载质量	$k g$
$z s f / z s r$	前/后车身垂向位移	$m$
$z w f / z w r$	前/后簧下质量垂向位移	$m$
$z g f / z g r$	前/后轮路面激励	$m$
$k s f / k s r$	前/后悬架刚度系数	$N / m$
$c s f / c s r$	前/后悬架阻尼系数	$N ? s / m$
$m w f / m w r$	前/后非簧载质量	$k g$
$k t f / k t r$	前/后轮胎刚度系数	$N / m$
$c t f / c t r$	前/后轮胎阻尼系数	$N ? s / m$
$u f r / u r r$	前/后主动悬架执行器实际输出力	$N$
$u f / u r$	前/后主动悬架执行器理想输出力	$N$
$τ 1 / τ 2$	前/后主动悬架执行器时滞参数	$s$

符号	数值	单位
$m s$	700	$k g$
$m w f$	45	$k g$
$m w r$	45	$k g$
$a$	1.4	$m$
$b$	1.4	$m$
$I y$	1 250	$k g ? m 2$
$k s f$	18 000	$N / m$
$k s r$	18 000	$N / m$
$c s f$	1 500	$N ? s / m$
$c s r$	1 500	$N ? s / m$
$k t f$	220 000	$N / m$
$k t r$	220 000	$N / m$
$c t f$	10	$N ? s / m$
$c t r$	10	$N ? s / m$
$S T m a x$	0.1	$m$
$u m a x$	2 500	$N$

参数	$z ¨ s / (m · s - 2)$	$θ ¨ / (r a d · s - 2)$	$z s f - z w f / m$	$z s r - z w r / m$	$z w f - z g f / m$	$z w r - z g r / m$
Passive	0.247 7	0.352 9	0.007 5	0.008 2	0.000 8	0.000 86
$H ∞$	0.107 8	0.200 9	0.005 0	0.005 5	0.000 5	0.000 5
MPC	0.073 2	0.087 2	0.008 4	0.009 2	0.000 19	0.000 19
OB-RMPAC	0.036 7	0.049 7	0.007 0	0.007 1	0.000 16	0.000 19

参数	$z ¨ s / (m · s - 2)$	$θ ¨ / (r a d · s - 2)$	$z s f - z w f / m$	$z s r - z w r / m$	$z w f - z g f / m$	$z w r - z g r / m$
Passive	0.614 5	1.107 5	0.026 3	0.027 5	0.002 9	0.003 0
$H ∞$	0.337 9	0.696 6	0.019 7	0.020 8	0.001 9	0.001 9
MPC	0.264 3	0.314 3	0.032 3	0.034 0	0.000 9	0.000 8
OB-RMPAC	0.138 9	0.197 1	0.026 0	0.026 0	0.000 6	0.000 7

参数	$z ¨ s / (m · s - 2)$	$θ ¨ / (r a d · s - 2)$	$z s f - z w f / m$	$z s r - z w r / m$	$z w f - z g f / m$	$z w r - z g r / m$
Passive	0.247 7	0.352 9	0.007 5	0.008 2	0.000 8	0.000 86
$H ∞$	0.131 8	0.238 1	0.004 8	0.005 2	0.000 6	0.000 60
MPC	0.193 2	0.218 4	0.015 5	0.017 6	0.000 55	0.000 58
OB-RMPAC	0.044 3	0.062 9	0.006 8	0.006 9	0.000 18	0.000 20

参数	$z ¨ s / (m · s - 2)$	$θ ¨ / (r a d · s - 2)$	$z s f - z w f / m$	$z s r - z w r / m$	$z w f - z g f / m$	$z w r - z g r / m$
Passive	0.614 5	1.107 5	0.026 3	0.027 5	0.002 90	0.003 00
$H ∞$	0.438 7	0.787 8	0.018 6	0.019 7	0.002 20	0.002 20
MPC	0.636 4	0.819 6	0.034 4	0.039 6	0.002 30	0.002 30
OB-RMPAC	0.163 7	0.245 9	0.025 1	0.025 3	0.000 66	0.000 76

References 23

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Robust Model Predictive Anti-Disturbance Control for Active Suspension System Based on Output Feedback Observer

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