并联机构双作用电机的馈能主动悬架控制

Energy-Regenerative Active Suspension Control with a Parallel Mechanism and Double-action Motor

为降低主动悬架的能耗、提高可靠性,提出一种新的馈能型主动悬架;该系统结构上采用并联机构与双作用直流电机,建立了一种新型主动悬架模型。通过PID和LQG控制算法控制悬架姿态,对电机电枢电路进行PID控制,保证实际控制力与理想控制力的一致性,改善乘坐舒适性。在传统悬架性能评价指标基础上,定义自供能效率为悬架馈能效果评价指标。MATLAB仿真结果显示,该系统在改善车身加速度和降低悬架动行程的同时,可获得超过30%的自供能效率。

In order to decrease the energy consumption and improve the reliability for the suspension control,a novel energy-regenerative active suspension was proposed.This suspension system used a parallel mechanism and a double-acting direct current motor,not only as an actuator but also as an alternator.Based on a 1/4 active suspension model,the new system controlled the suspension attitude by a PID and LQG combined algorithm.The PID module ensured the consistency of the actual control force to the ideal value,while the LQG control improved the suspension responses.Besides the three traditional suspension criteria,the self-energized efficiency was defined as an assessment criterion to describe how much energy the suspension can supplied by itself.Simulations were performed with MATLAB.The results show that this system greatly improved the body acceleration and decreased suspension working space.At the same time,it could also offer more than 30%energy for the control consumption.