柯欢欢++管继富++黄刚

摘 要：针对油气悬架系统，提出了一种由PID控制器和滑模控制器组成的双闭环控制的车身高度控制策略，外环为高度控制环，内环为力跟踪控制环。外环利用PID控制算法实现对期望高度的精确跟踪，输出一个最优控制力，该最优控制力作为内环的给定。内环的作用是通过油气悬架实现对最优控制力的跟踪，针对建立的油气悬架非线性数学模型，内环采用滑模控制算法，并对滑模控制存在的颤振问题进行了修正。结果表明，该控制器能满足车身高度控制的精度要求，同时具有较好的快速性和稳定性。

关键词：高度控制；油气悬架；非线性控制；滑模控制

中图分类号：TP13 文献标识码：A

The Study of Vehicle Height Control Based on Hydropneumatic Suspension

Ke Huanhuan，Guan Jifu，Huang Gang

（School of Mechanical and Vehicular Engineering， Beijing Institute of Technology， Beijing 100081， China）

Abstract：A control strategy of vehicle height was proposed for the hydropneumatic suspension system， which was a double closed-loop control system composed by PID controller and sliding mode controller（SMC）that the outer loop was the height control loop and the inner loop was the force tracking control loop. The outer loop utilized the PID control as height controller which could output an optimal control force that served as the input of the inner loop to track the desired height. The function of the inner loop was to realize the tracking of the optimal force through the hydropneumatic suspension. The SMC was adopted by the inner loop and the problems of chattering existed in the SMC were corrected for the established nonlinear mathematical model. The results indicate that the control strategy proposed in this paper could satisfy the accuracy requirement of vehicle height control with excellent rapidity and stability.

Key words：height control；hydropneumatic suspension；nonlinear control；sliding mode control

油气悬架系统可以实现充放油控制，只要附加必要的阀组、管路、油泵及油箱等部件，通过所设计的控制器可以实现车辆的高度控制[1-2]。对于以车体高度控制为基础的整车调平系统，能够为军用装甲车辆的火控射击提供一个相对稳定的车体平台。

传统油气悬架的车身高度控制，都是基于一定规则的if-then，if-else软件编程调平。工程实践证明，此种方法在调平到达期望高度时，有明显的振荡。这是由于调节时的液压阀开口面积为定值，只有到达所规定的高度时才完全闭锁；在车体惯性作用下产生振荡，设置不当还会使误差增大。所以需要设计基于模型的控制器。

Akar等人[3]建立了油气悬架的非线性动力学模型，外环通过期望车身高度与实际高度的偏差，利用PID控制算法求出期望力，内环利用滑模控制算法对期望力进行跟踪，通过不断反馈修正控制车身高度。……