半车主动悬架非线性最优控制

A. M. Kashtiban, N. Pourqorban, G. Alizadeh, I. Hasanzadeh
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引用次数: 11

摘要

本文提出了一种基于二次代价函数的非线性最优控制律,并将其应用于半车主动悬架系统的控制。利用电液作动器的非线性动力学特性和阻尼器和弹簧的动态特性,建立了半车的非线性模型。首先采用泰勒级数展开法对半车模型的状态进行预测,然后通过最小化预测状态与期望状态之间的局部差引入控制律。所导出的控制律具有易于应用的解析形式,并且在优化时不需要在线数值计算。将非线性最优控制器与现有被动悬架系统的性能进行了比较。结果表明,与被动悬架系统相比,所提出的非线性最优控制技术改善了平顺性和悬架行程之间的权衡。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Nonlinear Optimal Control of a Half Car Active Suspension
In this paper, a nonlinear optimal control law based on a quadratic cost function is developed, and applied on a half-car model for the control of active suspension systems. Nonlinear model of half-car is constructed using the nonlinear dynamics of the electro hydraulic actuator and dynamic characteristics of the dampings and springs. The states of half car model are first predicted by Taylor series expansion and then a control law is introduced by minimizing the local differences between the predicted and desired states. The derived control law has an analytical form which is easy to apply and also it is not required online numerical computations in optimization. Performance of the nonlinear optimal controller is compared to the existing passive suspension system. The obtained results demonstrate that use of the proposed nonlinear optimal control technique improves the tradeoff between ride quality and suspension travel compared to the passive suspension system.
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