考虑人体坐姿模型的汽车主动悬架最优控制

Optimal Control of Active Suspension in Consideration of Human Body Sitting Posture Model

根据ISO 5982:2001(E)推荐使用的人体坐姿低频振动模型,基于1/4汽车垂向振动模型,建立了车辆-人体振动系统的力学与数学模型。采用最优控制理论,设计了汽车主动悬架线性二次型调节控制器。在Matlab/Simulink环境下分别对被动悬架与主动悬架的性能进行仿真,时域和频域仿真结果对比表明,所建立的车辆-人体振动系统动力学模型能很好地反映人体振动特性,设计的主动悬架线性二次型调节控制器使汽车平顺性得到明显改善。

Based on the biodynamic model of the seated human body recommended by ISO 5982：2001 （E） in low frequency vibration, and combined with the quarter automotive vertical vibration model, the mechanical and mathematical models of vehicle-human vibration system are established. Then, an active suspension with Linear Quadratic Regulator （LQR） controller is designed by applying the optimal control theory. The performance of the passive and active suspension systems is simulated in Matlab/Simulink and compared on frequency and time domain. The simulation results show that the vibration property of the human body can be well reflected by vehicle-human dynamics model, and the ride comfort of automobile with the active suspension with LQR is improved obviously.