基于改进型自适应超螺旋算法的主动悬架控制策略*

doi:10.16731/j.cnki.1671-3133.2026.03.007

摘要/Abstract

摘要： 针对主动悬架的速度量不可获取、集总扰动上界未知的问题,提出了一种基于改进型自适应超螺旋算法的主动悬架控制策略。首先,考虑悬架系统的非线性、参数不确定性和外界扰动的影响,权衡舒适性和安全性,建立了1/4主动悬架动力学模型;其次,设计改进型自适应超螺旋观测器,估计悬架系统状态量时无需系统集总扰动上界的先验知识,即可实现观测误差在有限时间内收敛;然后,结合动态面控制技术,利用反演法设计了改进型自适应超螺旋控制器,只需测量簧载质量块的位移量即可实现跟踪误差在有限时间内收敛;最后,利用Lypunov函数证明了系统稳定性,仿真结果表明,基于改进型自适应超螺旋算法的主动悬架控制策略可以有效实现对预定状态量的跟踪,减小输出控制量的抖振。

关键词: 改进型自适应超螺旋算法, 主动悬架, 改进型自适应超螺旋观测器, 自适应超螺旋控制器, 动态面技术

Abstract: To address the challenges of unmeasurable velocity signals and unknown bounds of lumped disturbances in active suspension systems, a control strategy based on an improved adaptive super-twisting algorithm is proposed. Firstly, considering the nonlinearity of the suspension system, parameter uncertainties, and external disturbances, a quarter-car active suspension dynamic model is established with a balance between ride comfort and safety. Secondly, an improved adaptive super-twisting observer is designed to estimate the system states without requiring prior knowledge of the upper bound of the lumped disturbances, achieving finite-time convergence of observation errors. Then, by integrating dynamic surface control technology and using the backstepping method, an improved adaptive super-twisting controller is developed. It only requires the measurement of the sprung mass displacement to ensure finite-time convergence of the tracking error. Finally, the stability of the system is rigorously proved via Lyapunov analysis. Simulation results demonstrate that the proposed active suspension control strategy based on the improved adaptive super-twisting algorithm can effectively track the desired states while reducing chattering in the control output.

Key words: improved adaptive super twisting algorithm, active suspension, improved adaptive super twisting observer, adaptive super twisting controller, dynamic surface technology

中图分类号:

TH113

韦文扬, 胡立坤. 基于改进型自适应超螺旋算法的主动悬架控制策略^*[J]. 现代制造工程, 2026, 546(3): 55-67.

WEI Wenyang, HU Likun. Control strategy for active suspension based on improved adaptive super twisting algorithm[J]. Modern Manufacturing Engineering, 2026, 546(3): 55-67.

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基于改进型自适应超螺旋算法的主动悬架控制策略^*

Control strategy for active suspension based on improved adaptive super twisting algorithm

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