The half-car suspension has the coupling of pitch angle and front and rear suspension. Especially when the suspension model has a series of uncertainties, the traditional linear control method is difficult to be applied to the half-car suspension model. At present, there is no systematic method to solve the suspension power. According to the energy storage characteristics of the elastic components of the suspension, the power calculation formula is proposed in this paper. This paper proposes a composite adaptive backstepping control scheme for the half-car active suspension systems. In this method, the correlation information between the output error and the parameter estimation error is used to construct the adaptive law. According to the energy storage characteristics of the elastic components of the suspension, the power calculation formula is introduced. The compound adaptive law and the ordinary adaptive law have good disturbance suppression, both of which can solve the pitching angle problem of the semi-car suspension, but the algorithm of the compound adaptive law is superior in effect. In terms of vehicle comfort, the algorithm of the general adaptive law can achieve stability quickly, but compared with the composite adaptive law, its peak value and jitter are higher, while the algorithm of the composite adaptive law is relatively gentle and has better adaptability to human body. In terms of vehicle handling, both control algorithms can maintain driving safety under road excitation, and the compound adaptive algorithm appears to have more advantages. Compared with the traditional adaptive algorithm, the power consumption of the composite adaptive algorithm is relatively lower than that of the former in the whole process. The simulation results show that the ride comfort, operating stability and safety of the vehicle can be effectively improved by the composite adaptive backstepping controller, and the composite adaptive algorithm is more energy-saving than the conventional adaptive algorithm based on projection operator.
Robust sliding mode observer design for interconnected systems
