七自由度主动空气悬架最优控制的研究

Study on optimal control of seven-DOF active air suspension

在深入研究空气悬架特性的基础上,应用汽车系统动力学理论建立了新型七自由度主动空气悬架整车模型。控制方法是整个主动空气悬架控制技术的核心,对主动空气悬架的特性有着举足轻重的影响。根据二次型最优控制器的设计原理设计了主动空气悬架二次型最优控制器(LQR),同时建立了随机路面的四轮输入模型。仿真结果表明:与被动空气悬架相比,最优控制的主动空气悬架能有效控制车身垂直加速度、车身侧倾角加速度和车身俯仰角加速度。

A new active air suspension model with Seven-DOF is established by applying the dynamics theory,based on analyzing air spring inflation and deflation characters.Since the control strategies,which are the kernel of technology for active air formance,the linear quadratic regulato suspension control system,have great influence on the suspension per-r（LQR）controller of active air suspension is designed based on the the-ory of linear quadratic optimal control,meanwhile a random road input model of four wheels is develapecLA c-cording to the simulation results,compared with passive air suspension,the optimal control of active suspen-sion can control effectively the vertical vibration acceleration.roll and pitch acceleration of body.