基于扰动观测器的主动悬架切换控制算法研究

Suspension control requires good balance between ride comfort and driving stability，while con⁃ sidering system uncertainties，which is a complex task. In this paper，a disturbance observer-based suboptimal-non⁃ singular terminal sliding mode switching control algorithm（DOB-SNTSM）is proposed，with considerations of sus⁃ pension dynamic performance indicators，algorithm robustness，and cost factors. Firstly，using spring mass acceler⁃ ation information as input and by Kalman filter design，effective estimation of suspension deflection and spring mass velocity is achieved. Subsequently，a disturbance observer is devised to estimate uncertainties within the suspension system，with the disturbance estimation serving as feedforward compensation. Next，based on the sliding mode sur⁃ face function，a suboptimal-nonsingular terminal sliding mode switching control algorithm is proposed，integrating with the feedforward compensation from the disturbance observer to formulate a novel active suspension control strat⁃ egy. Finally，simulation and bench tests are conducted on both convex road surfaces and smooth random road surfac⁃ es. The results show that the introduction of disturbance observers can significantly improve the ride comfort index of the suspension. Compared to the SNTSM algorithm with the classical sky-hook control，the ideal state LQR method and without disturbance observer，the new algorithm not only effectively balances various suspension performance indicators but also achieves control effect close to the ideal state LQR using solely spring mass acceleration informa⁃ tion. Additionally，the controller switching scheme significantly enhances algorithm robustness.