电磁复合式馈能悬架半主动控制研究

Research on semi-active control of electromagnetic hybrid energy-fed suspension

针对以直线电机为作动器的馈能型半主动悬架现有控制方法存在缺陷且电磁阻尼力小等问题,设计了电磁复合式馈能悬架结构,建立了包括电磁复合式作动器(electro-magnetic linear hybrid actuator,EMLHA)的车辆二自由度悬架模型。提出一种由主环与内环构成的半主动控制策略,其中主环通过线性二次高斯(linear quadratic Gaussian,LQG)控制策略得出理想半主动力,并利用蚁群优化算法确定其控制参数。在此基础上,为减小过大电磁阻尼力对半主动控制的扰动,通过分析悬架馈能电路提出电机绕组限流策略,结合减振器阻尼力补偿控制方法共同实现内环控制。最后对所设计的复合悬架及其控制方法进行动力学性能与馈能性能仿真,并与传统直线电机悬架与被动悬架进行对比分析。结果表明:复合悬架能够有效改善悬架动态性能,并且直线电机回馈能量的72.5%被储存至超级电容,说明复合悬架及其半主动控制策略能够在提升悬架舒适性与安全性的基础上回收部分振动能量。

In order to overcome the shortcomings of the existing control methods of the energy-fed semi-active suspension with linear motor as actuator and the small electromagnetic damping force,a structure of the electromagnetic hybrid energy-fed suspension was designed,and a vehicle suspension model of two degree of freedom including a electro-magnetic linear hybrid actuator(EMLHA)was established.A semi-active control strategy consisting of main loop and inner loop was proposed.The main loop obtained the ideal semi-active force through linear quadratic Gaussian(LQG)control strategy,as well as using ant colony optimization algorithm to determine its control parameters.On this basis,in order to reduce the disturbance of excessive electromagnetic damping force to semi-active control,the current limiting strategy of motor winding was proposed by analyzing the suspension energy feeding circuit,and the inner loop control was realized by combining the damping force compensation control method of damper.Finally,the dynamic performance and energy-fed performance of the hybrid suspension and its control method were simulated and compared with the traditional lim suspension and passive suspension.The results show that the dynamic performance of the hybrid suspension is effectively improved,and 72.5%of the feedback energy of the linear motor is stored in the super-capacitor,which shows that the hybrid suspension and its semi-active control strategy can recover part of the vibration energy on the basis of improving the comfort and safety of the suspension.