车辆主动悬架解耦及其遗传优化控制研究

A Research on Decoupling of Active Suspension of Cars and its Genetic Optimization Control

车辆簧上质量受到四轮激励引起的振动是一个非线性的耦合过程。为了有效减振,根据达朗贝尔原理建立整车七自由度主动悬架模型,在左右轮迹相干函数的基础上建立四轮路面激励时域模型,采用微分几何解耦方法,对整车悬架系统进行解耦控制得到状态反馈,通过对反馈控制器中二阶系统仿真,运用遗传算法对其二阶系数进行全局寻优并获得最优解。仿真结果表明:与被动悬架相比整车悬架经解耦遗传控制后,悬架垂向加速度、俯仰角加速度均方根值大幅衰减,达到了理想的预期。

The vibration caused by the four-wheel excitation of the sprung mass of the vehicle is a nonlinear coupling process.In order to effectively reduce vibration,a seven-degree-of-freedom active suspension model of the vehicle is established according to the D’Alembert principle,and a four-wheel road excitation time domain model is established based on the left and right wheel coherence functions.The decoupling control method was used to decouple the entire vehicle suspension system to obtain the state feedback through the feedback controller.Second-order system simulation,the use of genetic algorithms for global optimization of its second-order coefficients and obtain the optimal solution.The simulation results show that the vertical acceleration of the suspension and the RMS acceleration of the pitching angle are greatly attenuated after the decoupling genetic control of the vehicle suspension compared with the passive suspension,and the ideal expectation is achieved.