参数灵敏度反馈车辆半主动悬架控制

Control of Semi-active Suspension of Vehicles Based on Parameter Sensitivity Feedback

为解决悬架控制器对车辆参数和行驶工况参数变化的适应性问题,不同于以往的自适应、自校正控制方法,将参数灵敏度引入控制系统中,以降低参数灵敏度为目标进行车辆半主动悬架系统控制研究。控制系统的反馈由状态反馈和灵敏度反馈两部分组成。应用该方法在常用车辆参数和行驶工况参数下设计控制器,并与传统的LQR控制器进行比较。研究表明,在车辆参数和行驶工况参数不变情况下,灵敏度反馈方法所得车身加速度和轮胎变形增益比二次型最优方法减小6 d B^8 d B;两种方法所得悬架动挠度基本接近。此外,当路面激励增加、车速提高和车辆载荷减小时,灵敏度反馈方法比二次型最优方法具有较好的鲁棒性。

In order to improve the adaptation of suspension controllers to vehicle and operation parameters, the parameter sensitivity analysis was introduced to the suspension control system to reduce the parameter sensitivity. This method was different from the conventional adaptive and self-tuning methods. The control system was composed of state feedback and sensitivity feedback. Applying this method, the controller was designed with the conventional vehicle and operation parameters used. The results were compared with those of the LQR controller. The research shows that the gains of body acceleration and tire deflection obtained by parameter sensitivity feedback can be decreased by 6-8dB in comparison with the LQR controller. The suspension deflections by the two methods are close to each other. In addition, parameter sensitivity feedback has better robustness than the LQR in strong excitation, high velocity and small load cases.