Leonardo Valero Pereira, Walter Jesus Paucar Casas, Herbert Martins Gomes, Luis Roberto Centeno Drehmer, Emanuel Moutinho Cesconeto
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The active control is implemented in an eight degrees of freedom (8-DOF) vehicle suspension model, subjected to a standard ISO road profile. 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引用次数: 0
摘要
设计/方法/途径 对于经典设计的线性二次调节器(LQR)控制,振动衰减性能取决于加权矩阵 Q 和 R。本文提出了一种方法,利用遗传算法确定这些矩阵的最佳元素,以提高控制器性能。主动控制在一个八自由度(8-DOF)车辆悬架模型中实现,该模型受标准 ISO 道路轮廓的影响。研究结果 使用 12 个 Q 和 R 优化参数的控制器提供了最佳的振动衰减效果,显著降低了驾驶员座椅和车身的均方根加速度。研究局限性/意义 该研究对各类主动控制系统,尤其是基于 LQR 的系统具有积极意义,这一点已在论文中测试的多体动态系统中得到验证。
Vibration control enhancement in a full vehicle dynamic model by optimization of the controller’s gain parameters
Purpose
In this paper, improvements in reducing transmitted accelerations in a full vehicle are obtained by optimizing the gain parameters of an active control in a roughness road profile.
Design/methodology/approach
For a classically designed linear quadratic regulator (LQR) control, the vibration attenuation performance will depend on weighting matrices Q and R. A methodology is proposed in this work to determine the optimal elements of these matrices by using a genetic algorithm method to get enhanced controller performance. The active control is implemented in an eight degrees of freedom (8-DOF) vehicle suspension model, subjected to a standard ISO road profile. The control performance is compared against a controlled system with few Q and R parameters, an active system without optimized gain matrices, and an optimized passive system.
Findings
The control with 12 optimized parameters for Q and R provided the best vibration attenuation, reducing significantly the Root Mean Square (RMS) accelerations at the driver’s seat and car body.
Research limitations/implications
The research has positive implications in a wide class of active control systems, especially those based on a LQR, which was verified by the multibody dynamic systems tested in the paper.
Practical implications
Better active control gains can be devised to improve performance in vibration attenuation.
Originality/value
The main contribution proposed in this work is the improvement of the Q and R parameters simultaneously, in a full 8-DOF vehicle model, which minimizes the driver’s seat acceleration and, at the same time, guarantees vehicle safety.
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