车辆主动油气悬架系统分层控制策略的研究

A Study on the Hierarchical Control Strategy for Active Hydro-pneumatic Suspension System of Vehicles

基于虚拟样机技术构建了工程车主动油气悬架控制系统的数字开发平台。针对工程车行驶路况的不确定性、部分参数的时变性和油气悬架系统的强非线性,提出了有限带宽主动油气悬架系统分层控制策略,并设计了基于遗传算法的模糊PID上层力控制器和基于模型的下层电压控制器。将该控制算法集成到悬架控制系统数字开发平台中进行联合仿真。结果表明,所研制的有限带宽主动悬架分层控制器可显著改善车辆的行驶平顺性。

A digital development platform for the active hydro-pneumatic suspension control .system of a construction vehicle is built based on virtual prototyping technology. In view of the uncertainty of road conditions the construction vehicle runs on, the time-varying feature of some parameters and the high nonlinearity of hydro-pneu- matic suspension system, a hierarchical control strategy for active hydro-pneumatic suspension system with finite bandwidth is proposed, and the genetic algorithm-based fuzzy-PID force controller in upper layer and the model- based voltage controller in bottom layer are designed. The control algorithms developed are integrated into the digital development platform for suspension control system and a co-simulation is conducted. The results show that the hier- archical controllers developed for active suspension with finite bandwidth can significantly improve the ride comfort of vehicles.