摘要
提出一种基于电流变阻尼器的半主动悬架系统,建立了某履带式车辆悬架的1/4车体动力学模型,在此基础上给出了悬架系统的运动方程和状态方程,分析了某种剪切模式电流变阻尼器的阻尼力并作为悬架系统半主动控制的制动器.将随机最优控制理论应用到车辆悬架的控制中,以车身加速度、悬架动行程和轮胎动位移的加权二次型最小为控制性能指标,设计了线性二次型高斯(LQG)控制器,通过被动悬架与LQG控制悬架的仿真比较,在轮胎动位移基本相同的情况下,LQG控制能有效的降低车身加速度,充分利用悬架的工作空间,提高车辆的舒适性和安全性.
A semi-active control of vehicle suspension system with ER damper is presented. A quarter tracked vehicle model with ER damper is constructed. Its motion equation and state space form for the suspension system are derived. The shear mode ER damper is analyzed and is used as actuator for the system. The linear quadratic Gaussian stochastic optimal control theory is applied to the control system. Weighted quadratic performance index related to the body acceleration, the suspension working space and the tyre dynamic displacement is used to design the LQG controller. Simulation results show that, compared with the passive one, the LQG control can reduce the vertical acceleration effectively and the suspension working space can be fully used with the same tyre dynamic displacement. The ride comfort performance and handling stability are both improved.
出处
《动力学与控制学报》
2006年第2期168-171,共4页
Journal of Dynamics and Control
基金
国家部委预研项目(301105)~~
