车辆半主动悬架自适应 LQG 控制

The Adaptive LQG Control for the Semi-active Suspension Vehicle

线性二次型高斯(LQG)随机最优控制理论和卡尔曼滤波器被应用于车辆悬架控制中。通过仿真分析得到了车体振动加速度均方根值随着悬架变形的均方根值的增大而减小的结论。提出了符合一类越野车辆实际需要的半主动悬架自适应控制策略。形成了对路面变化(包含车速)具有自适应能力的LQG控制系统。对自适应控制的效果进行了仿真分析。

The linear quadratic Gaussion stochastic optimal control theory and Kalman filter are applied to the semi-active suspension control systems. The conclusion that the r.m.s. of vertical acceleration is decreased with the increasing of the r.m.s. of suspension travel is drawn by the simulations. An adaptive control strategy for off road vehicle semi-active suspension is presented. A LQG control system adapting to road conditions and vehicle speed varying is constructed. The simulations to verify the adaptive control are carried out.