论文部分内容阅读
针对主动悬架线性二次高斯控制(linear-quadratic-Gaussian control,LQG)控制器,提供一种快速确定其最佳控制加权系数及最优控制力的方法。通过车辆行驶平顺性评价指标分析,利用无量纲归一化思想建立主动悬架最优控制目标函数,给出平顺性加权系数与控制加权系数间的关系;根据主动悬架力学模型,利用Newmark-β显式积分法,建立平顺性加权系数仿真分析模型。以路面不平度作为输入激励,以轮胎动位移和悬架动挠度为约束条件,借鉴交替迭代思想建立交替迭代优化算法,建立主动悬架LQG控制加权系数及控制力的优化方法。通过与现有LQG控制器设计方法的对比分析,对本设计方法的先进性和可靠性进行仿真验证,结果表明设计的LQG控制器能够显著改善车辆的乘坐舒适性。
Aiming at the active-suspension linear quadratic-Gaussian control (LQG) controller, a method of quickly determining its optimal control weight coefficient and optimal control force is provided. According to the evaluation index of ride comfort, the objective function of active suspension optimal control is established by dimensionless normalization, and the relationship between ride comfort weighting coefficient and control weighting coefficient is given. According to active suspension mechanical model, β explicit integral method to establish the simulation model of ride comfort coefficient. Taking the road roughness as the input excitation and the dynamic displacement of the tire and the dynamic deflection of the suspension as the constraint conditions, the alternate iteration optimization algorithm is established based on the idea of alternate iteration to establish the optimization method of LQG control weighting coefficient and control force. By comparing with the existing LQG controller design method, the simulation and verification of the advanced and reliability of the design method show that the designed LQG controller can significantly improve the ride comfort of the vehicle.