动态减振轮毂驱动电动车半主动悬架系统优化控制

Optimal Control for Semi-active Suspension Systems of in-wheel Motor Driven Electric Vehicles with Dynamic Damping

为抑制轮毂电机所导致的电动车悬架系统振动负效应问题,基于动态减振半主动悬架构型,在最优控制理论框架下,分别设计全状态反馈二次最优(LQR)控制器和部分状态反馈H∞最优控制器,并分别以簧上质量加速度、电机所受最大动态力、电机垂向振动加速度、悬架位移和轮胎动载荷最小为目标,利用非支配排序遗传算法(NSGA-II)对加权系数进行优化。仿真分析结果表明:通过合理参数优化设计,部分状态反馈H∞最优控制可具有与全状态反馈LQR控制基本相当的控制性能。

The problem to suppress the negative effect of the suspension system vibration of the electric vehicle caused by the in-wheel motor was studied.Under the framework of the optimal control theory,the full state feedback quadratic optimal LQR controller and the partial state feedback H∞optimal controller were designed respectively based on the semi-active suspension of the in-wheel motor driven electric vehicle with dynamic damping.The weighting coefficients were optimized by the non-dominated sorting genetic algorithm(NSGA-II)with the least sprung mass acceleration,the least maximum dynamic force of the motor,the least vertical vibration acceleration of the motor,the least suspension displacement and the minimum tire dynamic load as the goal.The simulation results show that through reasonable parameter optimization design,the partial state feedback H∞optimal controller has almost the same performance as the full state feedback LQR controller.