阅读说明：本技术 一种电磁式主动悬架作动器节能抗干扰控制系统 (A kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system ) 是由 孙晓东 吴旻凯 陈龙 周卫琪 杨泽斌 李可 于 2019-07-26 设计创作，主要内容包括：本发明公开汽车底盘控制领域中的一种电磁式主动悬架作动器节能抗干扰控制系统,包括节能抗干扰控制器和低速控制器,节能抗干扰控制器由优化控制器、扰动观测器、线性控制器、能量控制器和力矩PI模块组成,电磁作动器的输出端分别连接低速控制器、优化控制器、扰动观测器、线性控制器和能量控制器,电磁作动器的输出端经力矩检测模块连接力矩PI模块的输入端,力矩PI模块输出端分别连接线性控制器和能量控制器和输入端,扰动观测器的输出端连接优化控制器的输入端,能量控制器的输出端连接线性控制器,优化控制器、线性控制器与低速控制器相并联后连接电磁作动器的输入端；对扰动进行有效的抗干扰控制,通过低速控制器实现电机低速时的稳定运行。(The present invention discloses one of automobile chassis control field electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system, including energy saving anti-interference controller and low speed controller, energy saving anti-interference controller is by optimal controller, disturbance observer, linear controller, energy controller and torque PI module composition, the output end of electromagnetic actuator is separately connected low speed controller, optimal controller, disturbance observer, linear controller and energy controller, input terminal of the output end of electromagnetic actuator through moment inspecting module coupling torque PI module, torque PI module output end is separately connected linear controller and energy controller and input terminal, the input terminal of the output end connection optimal controller of disturbance observer, the output end of energy controller connects linear controller, optimal controller, after linear controller and low speed controller are in parallel Connect the input terminal of electromagnetic actuator；Effective antidisturbance control is carried out to disturbance, stable operation when motor low speed is realized by low speed controller.)

1. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system, it is characterized in that: it is defeated with electromagnetic actuator (1) Real speed v, electric current i out_d、i_q, there are also given reference velocity v^*, given reference currentAnd actual torque F and given Torque F^*The torque error e to compare_FAs input, to control voltage u as output comprising energy saving anti-interference controller (3) and low speed controller (26), energy saving anti-interference controller (3) is by optimal controller (23), disturbance observer (4), linear control Device (24), energy controller (25) and torque PI module (29) processed form, and the output end of electromagnetic actuator (1) is separately connected low speed Controller (26), optimal controller (23), disturbance observer (4), linear controller (24) and energy controller (25), electromagnetism are made The output end of dynamic device (1) through the input terminal of moment inspecting module (28) coupling torque PI module (29), torque PI module (29) Output end is separately connected linear controller (24) and energy controller (25) and input terminal, and the output end of disturbance observer (4) connects The input terminal of optimal controller (23) is connect, the output end of energy controller (25) connects linear controller (24), optimal controller (23), the input terminal of electromagnetic actuator (1) is connected after linear controller (24) and low speed controller (26) are in parallel.

2. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 1, it is characterized in that: The input value of the disturbance observer (4) is speed v and electric current i_d、i_q, output valve be disturbance estimated value f；The optimization control The input value of device (23) processed is reference currentDisturb estimated value f, speed v and electric current i_d、i_q, output valve be control voltage u₁； The input value of the moment inspecting module (28) is speed v and electric current i_d、i_q, output valve be actual torque F；The torque Error e_FIt is input to torque PI module (29), the output of torque PI module (29) is torque g；The energy controller (25) Input value is torque g, speed v and electric current i_d、i_q, output valve be energy-saving voltage z: the input value of the linear controller (24) For torque g, energy-saving voltage z, speed v and electric current i_d、i_q, output valve be control voltage u₃: the low speed controller (26) it is defeated Entering value is given reference velocity v^*It is control voltage u with speed v, output valve₂=Kx, K are optimum gain matrix, electromagnetic actuator (1) state variable x=[i_d i_q v]^T, T is matrix transposition；The control voltage u=u₁+u₂+u₃。

3. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 2, it is characterized in that: Low speed controller (26) includes speed determination module (61), integral form PI control module (31), K- means clustering algorithm module (41) and limits of error molding block (51)；Speed determination module (61) determines the size of speed, as given reference velocity v^*It is lower than Preset critical speed v_defWhen, speed determination module (61) exports low velocity v_lSignal, and v_l=v^*；When given reference velocity v^*Greater than or equal to critical speed v_defWhen, speed determination module (61) exports high speed v_hSignal, and v_h=v；Speed determines mould The high speed v of block (61) output_hOr low velocity v_lSpeed error value e is obtained compared with speed v_vIt is controlled as integral form PI The input of module (31), integral form PI control module (31) output control voltage u₂；Using K- means clustering algorithm module (41) Optimum gain matrix K is chosen with limits of error molding block (51).

4. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 3, it is characterized in that: To the speed error value e_vIt quadratures respectively and obtains ∫ e with derivation_v(τ) d τ andTo speed determination module (61) output High speed v_hOr low velocity v_lFirst derivative is sought, is obtainedOrForm the training sample of K- means clustering algorithm module (41) This collectionOrOff-line training obtains To the optimal control voltage u' of clustering algorithm_d2、u'_q2, by optimal control voltage u'_d2、u'_q2With control voltage u_d2、u_q2It compares Obtain voltage error e_ud、e_uq, voltage error e_ud、e_uqIt is input to limits of error molding block (51), limits of error molding block (51) acquires most Excellent gain matrix K.

5. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 2, it is characterized in that: Electromagnetic actuator (1) is made of deck power converter module (2), linear AC motor (14) and electric current coordinate transformation module (15), Deck power converter module (2) is connected on before linear AC motor (14) and electric current coordinate transformation module (15), power inverter Module (2) is sequentially connected in series and is formed by voltage coordinate conversion module (11), PWM module (12) and inverter (13), and voltage coordinate becomes The input for changing the mold block (11) is control voltage u, and the output of linear AC motor (14) is speed v, electric current coordinate transformation module (15) output is electric current i_d、i_q。

6. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 2, it is characterized in that: The disturbance estimated valuef_d、f_qFor time-varying parameter and outside Estimated value, R are disturbed caused by loading moment_sFor motor stator resistance, L_d、L_qFor inductance under the d-q rotating coordinate system of stator, p is Motor pole logarithm, Φ are mover magnetic linkage.

7. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 5, it is characterized in that: The control voltageu_d1、u_q1It is u₁D, q component, R_sIt is fixed Sub- resistance, L_d、L_qFor inductance under the d-q rotating coordinate system of stator, p is motor pole logarithm, and Φ is mover magnetic linkage, f_d、f_qFor when Estimated value is disturbed caused by variable element and external loading torque.

8. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 2, it is characterized in that: The energy-saving voltagej^TZ=0, j are linearisation coefficient matrix, j_d、j_qFor d, q of j Component, T are matrix transposition, and λ (i, v) is linearized function.

9. a kind of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system according to claim 2, it is characterized in that: The control voltageu_d3、u_q3For u₃D under d-q rotating coordinate system, Q component, j are linearisation coefficient matrix, j_d、j_qD, q component of respectively j, λ (i, v) are linearized function.

Technical field

The invention belongs to automobile chassis control fields, are the control systems of vehicle active suspension actuator, are particularly suitable for The high-performance antidisturbance control of electromagnetic type active suspension actuator of electric.

Background technique

Suspension is both an important assembly in automobile and an important component in automobile chassis, it vehicle frame with Wheel flexibly connects, and is related to a variety of service performances of automobile.Passive suspension system in suspension can only guarantee in spy It can be only achieved optimum efficiency under the conditions of fixed form, so the control stability of automobile and ride comfort are poor；Semi-active suspension is not Consider suspension rigidity, only change damping, active role power can not be provided, in terms of ride comfort and handling stability with Active suspension phase Difference is far；Active suspension can be according to the variation of the parameters such as the motion state, pavement behavior and load of automobile, to the rigidity of suspension Dynamically automatic adjusument is carried out with damping, suspension system is made to be in best vibration damping state always.

Air suspension, hydraulic suspension in suspension are asked there is structure is complicated, leakproofness is unreliable, weight is at high cost etc. Topic, under the development of power electronic technique and electromagnetism, the electromagnetic type Active suspension in suspension is developed, and electromagnetic type is actively outstanding Frame to control precision as actuator using permanent-magnet linear motor and the speed of response significantly improves.Utilize electromagnetic induction original Reason, Vehicular vibration energy can be absorbed the electric energy that feedback vehicle can be utilized directly by linear motor, while improving vehicle performance Reduce energy consumption.It, can not for external disturbance and time-varying parameter but currently, in the conventional control methods to electromagnetic type Active suspension It is effectively treated.Therefore, in order to fundamentally control effectively to Active suspension.

Chinese Patent Application No. is 201610556641.4, entitled " a kind of Active suspension electromagnetic actuator is intelligently controlled In the document of the building method of device processed ", only refer to the excellent of the static cost control performance of active suspension actuator of electric and interference free performance Change, the external disturbance accuracy that Disturbance Detection module obtains is insufficient.

Summary of the invention

The purpose of the present invention is for ineffective using permanent-magnetism linear motor as the Active suspension control of actuator at present Defect, provide it is a kind of allow electromagnetic actuator multi-state be in optimum state a kind of electromagnetic type active suspension actuator of electric energy conservation Antidisturbance control system improves the dynamic responding speed, real-time tracking precision and robust control of actuator.

The technical solution adopted by the present invention is that: its real speed v, electric current i for being exported with electromagnetic actuator_d、i_q, there are also given Reference velocity v^*, given reference currentAnd actual torque F and given torque F^*The torque error e to compare_FMake For input, to control voltage u as output comprising energy saving anti-interference controller and low speed controller, energy saving anti-interference controller Be made of optimal controller, disturbance observer, linear controller, energy controller and torque PI module, electromagnetic actuator it is defeated Outlet is separately connected low speed controller, optimal controller, disturbance observer, linear controller and energy controller, electromagnetic activation Input terminal of the output end of device through moment inspecting module coupling torque PI module, the output end of torque PI module are separately connected linearly Controller and energy controller and input terminal, the input terminal of the output end connection optimal controller of disturbance observer, energy hole The output end of device connects linear controller, and connection electromagnetism is made after optimal controller, linear controller and low speed controller are in parallel The input terminal of dynamic device.

The input value of the disturbance observer is speed v and electric current i_d、i_q, output valve be disturbance estimated value f；Described The input value of optimal controller is reference currentDisturb estimated value f, speed v and electric current i_d、i_q, output valve be control voltage u₁；The input value of the moment inspecting module is speed v and electric current i_d、i_q, output valve be actual torque F；The torque is missed Poor e_FIt is input to torque PI module, the output of torque PI module is torque g；The input value of the energy controller be torque g, Speed v and electric current i_d、i_q, output valve be energy-saving voltage z: the input value of the linear controller is torque g, energy-saving voltage z, Speed v and electric current i_d、i_q, output valve be control voltage u₃: the input value of the low speed controller is given reference velocity v^*With Speed v, output valve are control voltage u₂=Kx, K are optimum gain matrix, the state variable x=[i of electromagnetic actuator_d i_q v]^T, T It is matrix transposition；The control voltage u=u₁+u₂+u₃。

The beneficial effects of the present invention are:

1, existing double closed-loop control system is replaced by building optimal controller, transient response spy can be effectively improved Property, the dynamic property of system is improved, effective antidisturbance control is carried out to the disturbance that disturbance observer obtains.

2, stable operation when linear AC motor low speed is realized by low speed controller, ensure that control precision.

3, the response speed under electromagnetic actuator time-varying torque operating condition is improved by linear controller, and energy conservation is believed Number it is converted into voltage signal.

4, external disturbance can precisely be obtained using disturbance observer, interference free performance is further promoted, external energy control The Energy Saving Control effect of device effectively overcomes electric car suspension so that the effect of optimization of whole energy anti-interference controller is more preferably With the defect that permanent-magnetism linear motor energy consumption is big, control effect is bad, design method is simple, and control effect is good, and robust is anti-interference Ability is promoted.

5, optimum gain matrix K is chosen by K- means clustering algorithm module and limits of error molding block, improves low speed The effect of control reduces the workload of manual adjustment parameter, to the full extent optimal control.

6, under time-varying torque and the operating condition of revolving speed, linear controller and energy controller synergy both ensure that most Small energy consumption, and realize the accurate tracking of torque, improve high performance control.

7, required input/output signal is easy to measure in engineering, other signals in control only need software programming real It is existing, it does not need to increase additional measurement hardware device, control quality is improved while reducing cost.

Detailed description of the invention

Fig. 1 is a kind of structural block diagram of electromagnetic type active suspension actuator of electric energy conservation antidisturbance control system of the present invention And the connection schematic diagram with electromagnetic actuator 1, moment inspecting module 28；

Fig. 2 is the isoboles of electromagnetic actuator 1 in Fig. 1；

Fig. 3 is the control principle block diagram of low speed controller 26 in Fig. 1；

In figure: 1. electromagnetic actuators；2. deck power converter module；3. energy saving anti-interference controller；4. disturbance observer； 14. linear AC motor；15. electric current coordinate transformation module；21. speed preset module；22. given value of current module；23. optimization control Device processed；24. linear controller；25. energy controller；26. low speed controller；27. torque gives module；28. moment inspecting mould Block；29. torque PI module；31. integral form PI control module；41.K- means clustering algorithm module；51. limits of error molding block； 61. speed determination module.

Specific embodiment

As shown in Figure 1, the present invention includes energy saving anti-interference controller 3 and low speed controller 26, energy saving anti-interference controller 3 The input terminal of electromagnetic actuator 1 is connected to after being in parallel with low speed controller 26.Electromagnetism is detected using moment inspecting module 28 to make Moment inspecting module 28 is serially connected in the output end and energy saving anti-interference controller 3 of electromagnetic actuator 1 by the actual torque of dynamic device 1 Input terminal between.

Energy saving anti-interference controller 3 is by optimal controller 23, disturbance observer 4, linear controller 24, energy controller 25 It is formed with torque PI module 29.The output end of electromagnetic actuator 1 is separately connected low speed controller 26, optimal controller 23, disturbance Observer 4, linear controller 24 and energy controller 25.The output end of electromagnetic actuator 1 is also connected through moment inspecting module 28 The input terminal of torque PI module 29, the output end of torque PI module 29 are separately connected 25 He of linear controller 24 and energy controller Input terminal.The input terminal of the output end connection optimal controller 23 of disturbance observer 4.The output end connecting line of energy controller 25 Property controller 24.

As shown in Fig. 2, electromagnetic actuator 1 is by deck power converter module 2, linear AC motor 14 and electric current coordinate transform mould Block 15 is constituted, and deck power converter module 2 is connected on before linear AC motor 14 and electric current coordinate transformation module 15, electromagnetic activation The input value of device 1 is control voltageu_d、u_qIt is d, q axis component of u respectively, output valve is for speed v and electric current i_d、 i_q.Deck power converter module 2 is sequentially connected in series and is formed by voltage coordinate conversion module 11, PWM module 12 and inverter 13, realization pair The opened loop control of linear AC motor 14.The input of voltage coordinate conversion module 11 is control voltage u_d、u_qSignal, output are quiet The only stator voltage u under coordinate system_a、u_b、u_c, stator voltage u_a、u_b、u_cAs the input of PWM module 12, PWM module 12 it is defeated It is out switching pulse signal 0 and 1 (respectively represent shutdown and open-minded), as the input of inverter 13, the output of inverter 13 is Variable ratio frequency changer transformation three-phase alternating current i_a、i_b、i_c, three-phase alternating current i_a、i_b、i_cAs the input of linear AC motor 14, exchange is straight The output of line motor 14 is speed v, and the input terminal of electric current coordinate transformation module 15 is three-phase current i_a、i_b、i_c, output end is same Walk electric current i under rotating coordinate system_d、i_q。

The mathematical model equation of electromagnetic actuator 1 be according to its input, input parameters, by analysis, it is equivalent and It derives, considers Parameters variation and external disturbance and obtain, specifically:

In formula, x=[i_d i_q v]^T, u=[u_d u_q T_l]^T, the respectively state variable x of electromagnetic actuator 1 and input become U is measured, by three outputs v, i of electromagnetic actuator 1_d、i_qAs the state variable of system, system input variable is control voltage u_d、 u_qWith load T_l, T is matrix transposition, and A is coefficient of combination matrix, and L is inductance matrix, and B is input coefficient matrix, and M is derivation coefficient Matrix, p are motor pole logarithm, and A, B, L are determined by linear AC motor 14:

As shown in Figure 1, the speed v, the electric current i that are exported to electromagnetic actuator 1_d、i_qIt is acquired, then inputs to respectively excellent Change controller 23, disturbance observer 4, linear controller 24, energy controller 25 and moment inspecting module 28, electromagnetic actuator 1 The speed v signal of output is individually entered to low speed controller 26.

The input value of disturbance observer 4 is speed v and electric current i_d、i_q, output valve is disturbance estimated value f, disturbs estimated value f Input to optimal controller 23.Disturb estimated value f are as follows:

In formula, f_d、f_qTo disturb estimated value, R caused by time-varying parameter and external loading torque_sFor linear AC motor 14 Motor stator resistance, L_d、L_qFor inductance under the rotating coordinate system of the stator of linear AC motor 14, Φ is mover magnetic linkage.

Reference current is given using given value of current module 22Reference currentIt exports to optimal controller 23.In this way, excellent The input value for changing controller 23 is reference currentDisturb estimated value f, speed v and electric current i_d、i_q, output valve is control voltage u₁:

In formula, u_d1、u_q1It is control voltage u₁D, q component, R_sFor the stator resistance of linear AC motor 14, L_d、L_qIt is fixed Inductance under the d-q rotating coordinate system of son, Φ are the mover magnetic linkage of linear AC motor 14, f_d、f_qFor time-varying parameter and external loading Estimation is disturbed caused by torque, is obtained by disturbance observer 4.

Torque gives module 27 and gives torque F^*Signal, the input value of moment inspecting module 28 are speed v and electric current i_d、i_q, The output valve of moment inspecting module 28 is actual torque F, speed v and electric current i_d、i_qActual torque is measured through moment inspecting module 28 F signal.Actual torque F and given torque F^*It compares to obtain torque error e_F, torque error e_FIt is input to torque PI module 29, The electric signal of torque g is obtained through the adjusting of torque PI module 29,μ is torque coefficient,It, should for the first derivative of F Torque g is separately input into linear controller 24 and energy controller 25.

The input of energy controller 25 is torque g, speed v, electric current i_d、i_q, it exports as energy-saving voltage z signal:

In formula, T is matrix transposition, and j is linearisation coefficient matrix, j_d、j_qD, the q of respectively j under d-q rotating coordinate system Component,λ (i, v) is linearized function,a,b,c, D, e are related with the parameter of electric machine, a=64, b=-0.00193, c=-0.0017, d=-2250000, e=0.00396.

The input of linear controller 24 is torque g, energy-saving voltage z, speed v, electric current i_d、i_q, export to control voltage u₃:

In formula, u_d3、u_q3Respectively control voltage u₃D, q component, j be linearisation coefficient matrix, j_qIt is rotated for j in d-q D, q component under coordinate system,λ (i, v) is linearized function.

Speed preset module 21 gives reference velocity v^*Signal, the input of low speed controller 26 are given reference velocity v^*With The speed v that electromagnetic actuator 1 exports, the output of low speed controller 26 are control voltage u₂:

In formula, u_d2、u_q2To control voltage u₂D, q axis component under d-q rotating coordinate system, the low speed that K is 2 × 3 control The optimum gain matrix of device 26, value are selected according to the response characteristic of system.

Low speed controller 26 includes speed determination module 61, integral form PI control module 31, K- means clustering algorithm module 41 and limits of error molding block 51.Under different vehicle working conditions, the given reference velocity v of the output of speed preset module 21^*It is not Disconnected variation, to meet the needs of different operating conditions.The given reference velocity v that speed preset module 21 exports^*Sentence as speed First input of cover half block 61, while the speed v that electromagnetic actuator 1 exports is inputted as the second of speed determination module 61.

Low speed controller 26 realizes the judgement of velocity magnitude by speed determination module 61 first, makes linear AC motor 14 can stable operation in low speed.As given reference velocity v^*Lower than the critical speed v of internal preset_defWhen, speed determination module 61 output low speed signals, low velocity v_lEqual to given reference velocity v^*, it may be assumed that work as v^*<v_def, when, then v_l=v^*.At this point, by low velocity v_lCompared with the speed v that magnetic actuator 1 exports, speed error value e is obtained_v, as the input of integral form PI control module 31, Integrated type PI control module 31 is adjusted, output control voltageThe namely output of low speed controller 26.At this point, Low speed controller 26 then chooses the low speed controller using K- means clustering algorithm module 41 and limits of error molding block 51 26 optimum gain matrix K, specifically: by speed error value e_vIt quadratures respectively and derivation, obtains ∫ e_v(τ) d τ andTo speed Spend the low speed v that determination module 61 exports_lFirst derivative is sought, is obtainedAnd standardization processing is done to signal, form K- mean cluster The training sample set of algoritic module 41 Last off-line training, obtains clustering algorithm Optimal control voltage u'_d2、u'_q2, by optimal control voltage u'_d2、u'_q2Voltage u is controlled with practical_d2、u_q2It compares, obtains voltage Error e_ud、e_uq, voltage error e_ud、e_uqIt is input to limits of error molding block 51, acquires optimum gain matrix through limits of error molding block 51 K, the present invention inThe output voltage signal of limits of error molding block 51 is as follows:

Wherein: u (k) is u_d2、u_q2Discrete form, e (k) be voltage error e_d2、e_q2Discrete form, ε be according to reality The limit of error that the parameter of electric machine obtains, when error is greater than the limit, β=1, to reduce overshoot；When error is less than the limit, β =0, to guarantee systematic steady state precision, K_p、K_iAnd K_dRespectively proportionality coefficient, integral coefficient and differential coefficient, value are respectively 0.01,0.05 and 0.1.

Conversely, as given reference velocity v^*Greater than or equal to critical speed v_defWhen, the output high speed of speed determination module 61 is believed Number, high speed v_hEqual to the speed v that electromagnetic actuator 1 exports, that is, work as v^*≥v_hWhen, then there is v_h=v.At this point, low speed controller 26 Optimum gain matrix K is then chosen using K- means clustering algorithm module 41 and limits of error molding block 51, specifically: speed determines The high speed v that module 61 exports_hSignal obtains speed error value e compared with the speed v that electromagnetic actuator 1 exports_v=0, as product The input of parting PI control module 31, the output of integral form PI control module 31 are that d, q axis control voltage u_d2、u_q2, speed is sentenced The high speed v that cover half block 61 exports_hSignal obtains speed error value e compared with the speed that electromagnetic actuator 1 exports_v=0, by it It quadratures respectively and derivation, obtains ∫ e_v(τ) the d He of τ=0The high speed v that speed determination module 61 is exported_hSignal seeks single order Derivative obtainsAnd standardization processing is done to signal, form the training sample set of K- means clustering algorithm module 41Last off-line training obtains the optimization output of clustering algorithm, that is, the control optimized Voltage u'_d2、u'_q2, by the control voltage u' of optimization_d2、u'_q2With the control voltage u of reality output_d2、u_q2It compares, obtains voltage Error e_ud、e_uq, by voltage error e_ud、e_uqError originated from input limits module 51, the optimum gain acquired by limits of error molding block 51 Matrix K, the present invention in

The output voltage signal formula of limits of error molding block 51 is identical as low-speed stage, due to e_v=0, output voltage signal U (k)=0.

Present system be connected in series by disturbance observer 4 and optimal controller 23, linear controller 24 and energy hole Device 25 is connected in series, then optimal controller 23, linear controller 24, low speed controller 26 are in parallel composition.What the present invention exported It controls voltage u signal and control voltage u is exported by optimal controller 23, low speed controller 26 and linear controller 24₁、u₂、u₃It is added It obtains: u=u₁+u₂+u₃。

Actual speed v, the actual current i that present system is exported with electromagnetic actuator 1_d、i_q, speed preset module 21 gives Fixed reference velocity v^*, the given reference current of given value of current module 22And actual torque F and given torque F^*It compares The torque error e arrived_FAs input, to control voltageFor output, under the operating condition of time-varying torque and speed, energy conservation Voltage z signal reduces power loss caused by due to winding copper loss, ensure that the smallest energy consumption, energy-saving voltage z signal The generation of motor torque is affected, therefore torque g and energy-saving voltage z is in linear controller 24 and 25 synergy of energy controller Under, the accurate tracking of torque is realized, to realize the high-performance robust control to Active suspension electromagnetic actuator 1.