轮毂电机驱动汽车半主动悬架自适应最优控制

Adaptive Optimal Control of Semi-Active Suspension on Hub Motor Driving Vehicle

针对轮毂电机驱动汽车非簧载质量增加和轮毂电机不平衡电磁力带来的振动负效应,提出了一种自适应线性二次型调节器(LQR)半主动悬架控制策略,以提升轮毂电机驱动汽车的性能。考虑路面随机激励与轮毂电机不平衡电磁力的耦合作用,建立了轮毂电机驱动汽车系统的垂向、纵向与扭转振动的动力学模型。以垂向振动性能最优为目标,提出了LQR最优控制策略,将自适应遗传算法应用于确定LQR最优控制权重矩阵,以获取控制器的最优反馈悬架控制力。仿真结果表明:带有自适应LQR控制器的系统能有效提高系统的垂向与纵向性能,对簧载质量垂向与纵向振动加速度均方根值、悬架动行程均方根值、轮毂电机偏心距均方根值、轮胎动载荷均方根值和纵向驱动力波动的改善效果明显,有效提高了车辆的行驶平顺性与乘坐舒适性。

To study the problem of comprehensive vibration caused by the increase in unsprung mass of hub motor driving vehicle systems and the hub motor unbalanced magnetic pull,an adaptive linear quadratic regulator(LQR)control strategy based on semi-active suspension was proposed to enhance the performance of in-wheel electric vehicles.The coupling between random excitation of the road surface evenness and the unbalanced magnetic pull of the wheel motor was considered and a dynamic model considering the vertical,longitudinal and torsional vibrations of the hub motor driven electric vehicle system was developed.The adaptive genetic algorithm was applied to determine the LQR optimal control matrix,in order to obtain the optimal feedback suspension control force of the controller.The simulation results show that the system with the adaptive LQR controller can effectively improve the vertical and longitudinal performance of the system.The improvement on the root mean square(RMS)value of vertical and longitudinal vibration acceleration of the sprung mass,the RMS value of the suspension deflection,the RMS value of the hub motor eccentricity,the RMS value of the tire dynamic load and the longitudinal driving force fluctuation is obvious,which effectively improve the smoothness and ride comfort of the vehicle.