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| 基于卡尔曼滤波器的半主动悬架仿真和试验 | |
| 引用本文： | 姚嘉凌,张中南,卢锦峰,王明海.基于卡尔曼滤波器的半主动悬架仿真和试验[J].拖拉机与农用运输车,2012,39(5):22-25. |
| 作者姓名： | 姚嘉凌 张中南 卢锦峰 王明海 |
| 作者单位： | 1. 南京林业大学汽车与交通工程学院,南京210037 吉林大学汽车工程学院,长春130022 2. 南京林业大学汽车与交通工程学院,南京,210037 3. 南京林业大学光电机研究所,南京,210037 |
| 基金项目： | 江苏省高校自然科学研究面上资助项目（11KJB580004）;中国博士后科学基金资助项目（2011M500935）;南京林业大学科技创新基金项目（X09-106-3）资助 |
| 摘 要： | 设计了Kalman滤波器来估计悬架的相对速度和绝对速度,采用天棚控制算法,建立了基于观测器的1/4车辆半主动悬架天棚控制器。仿真结果表明,所设计的Kalman滤波器能较好地估计被控悬架的绝对速度和相对速度。建立了1/4车辆半主动悬架测控试验系统,对基于观测器的半主动悬架天棚阻尼控制进行了试验验证。试验表明,观测器可以较好地估计悬架的状态,对比被动悬架,基于观测器的磁流变半主动悬架天棚控制器提高了行驶的平顺性。 |
| 关 键 词： | 半主动悬架 天棚控制 Kalman滤波器 观测器 |
Simulation and Experiment of Semi-active Suspension Control Based on a Kalman Filter |
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| YAO Jia-ling,ZHANG Zhong-nan,LU Jin-feng,WANG Ming-hai.Simulation and Experiment of Semi-active Suspension Control Based on a Kalman Filter[J].Tractor & Farm Transporter,2012,39(5):22-25. | |
| Authors: | YAO Jia-ling ZHANG Zhong-nan LU Jin-feng WANG Ming-hai |
| Institution: | ( 1. College of Automobile and Traffic Engineering, Nanjing Forestry University, Nanjing 210037, China ; 2. College of Automotive Engineering,Jilin University,Changchun 130022,China; 3. Institute of Optical, Electronic and Mechanical Engineering, Nanjing Forestry University, Nanjing 210037, China) |
| Abstract: | A Kalman filter is designed in this paper to estimate the relative speed and absolute speed of the suspension. According to a skyhook control algorithm, a skyhook controller based on the Kalman filter is established for a quarter-car semi-active suspension system. The simulation results show that the observer can estimate the absolute speed and relative velocity of the suspension effectively. An experimental system on a mechanical rig for a quarter-car model is built up. Then observer-based skyhook control for semi-active suspension is tested. Experimental results show that the observer can preferably estimate the state of suspension. Compared with passive suspension, the observer-based skyhook controller for semi- active suspension system using magnetorheological damper can effectively improve the ride performance of the vehicle. |
| Keywords: | Semi-active suspension Skyhook control Kalman filter Observer |
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