%0 Journal Article
%T Control algorithm for vehicle height adjustable system of hydro-pneumatic suspension based on LuGre model<br>Control algorithm for vehicle height adjustable system of hydro-pneumatic suspension based on LuGre model
%A 赵丰
%A 管继富
%A 顾亮
%A 李毅
%A 刘锐
%A 张华
%J 北京理工大学学报（自然科学中文版)
%D 2016
%R 10.15918/j.jbit1004-0579.201625.0108
%X In order to control the vehicle body position precisely, 1/4 nonlinear mathematical model of hydro-pneumatic suspension is established, and the influence of the frictional force in a hydraulic cylinder is analyzed. The friction characteristics are described based on the LuGre model when the piston of a hydraulic actuator is operated at a low speed. Due to the fact parameters of the friction model are effected by the system condition, an adaptive friction compensation (AFC) controller is designed through the Backstepping method, and a dual-observer has been implemented to estimate the friction state. The global asymptotic convergence of a closed-loop system is proven by the Lyapunov theorem. The simulation results show that the positional accuracy of the adaptive friction compensation yiedls a significant improvement in the vehicle height adjustment as compared to the PID control, demonstrating the effectiveness of the adaptive fiction compensation method in the vehicle height adjustable system of the hydro-pneumatic suspension.<br>In order to control the vehicle body position precisely, 1/4 nonlinear mathematical model of hydro-pneumatic suspension is established, and the influence of the frictional force in a hydraulic cylinder is analyzed. The friction characteristics are described based on the LuGre model when the piston of a hydraulic actuator is operated at a low speed. Due to the fact parameters of the friction model are effected by the system condition, an adaptive friction compensation (AFC) controller is designed through the Backstepping method, and a dual-observer has been implemented to estimate the friction state. The global asymptotic convergence of a closed-loop system is proven by the Lyapunov theorem. The simulation results show that the positional accuracy of the adaptive friction compensation yiedls a significant improvement in the vehicle height adjustment as compared to the PID control, demonstrating the effectiveness of the adaptive fiction compensation method in the vehicle height adjustable system of the hydro-pneumatic suspension.
%K LuGre model friction compensation dual-observer hydro-pneumatic suspension&lt
%K br&gt
%K LuGre model friction compensation dual-observer hydro-pneumatic suspension
%U http://journal.bit.edu.cn/yw/bjlgyw/ch/reader/view_abstract.aspx?file_no=20160108&flag=1