电磁混合主动悬架多模式协调切换控制

Multi-mode Coordinated Switching Control of Electromagnetic Hybrid Active Suspension

针对直线电机主动悬架输出力相对较小而影响减振性能的问题,设计了电磁混合主动悬架结构和多模式协调切换控制策略。首先,动态调整引力常数提升引力搜索算法的全局搜索能力和局部开发能力,解决了引力搜索算法易早熟收敛、陷入局部最优的问题;其次,根据不同控制目标设立相应的适应度函数,利用改进后的引力搜索算法优化对应目标函数下线性二次型最优(linear quadratic gaussian,简称LQG)控制的加权系数;最后,分析并确定了电磁混合主动悬架在不同车速下的电磁阀最优控制电流,设计电磁混合主动悬架的电流切换控制器,仿真分析悬架的减振性能,并开展台架试验。仿真与试验结果表明:相比LQG控制,多模式协调切换控制的悬架系统低速时簧载质量加速度均方根值减小31.09%,高速时轮胎动载荷均方根值减小32.20%,中速时簧载质量加速度均方根值和轮胎动载荷均方根值分别减小25.28%和23.56%;多模式协调切换控制策略能有效提升车辆的平顺性和操纵稳定性。

Aiming at the problem that the output force of the active suspension of linear motor is relatively small,the hybrid active suspension structure and multi-mode coordinated switching control strategy are designed.The global search ability and local development ability of the gravity search algorithm are improved by dynamically ad-justing the gravity constant,which solves the problem that the gravity search algorithm is prone to premature con-vergence and falling into local optimization The fitness function is set up according to the different control objec-tive,and the weighted coefficients of linear quadratic gaussian(LQG)control are optimized by using the im-proved gravity search algorithm.The optimal control currents of the electromagnetic hybrid active suspension at different vehicle speeds are analyzed and determined;the current switching controller is designed,and the vibra-tion reduction performance of the suspension is simulated and analyzed.The simulation and test results show that compared with the LQG control,the root mean square value of the spring load mass acceleration at low speed and the dynamic tire load at high speed is reduced by 31.09%and 32.20%respectively,the root mean square value value of the mass acceleration of the spring and the dynamic load of the tire are reduced by 25.28%and 23.56%re-spectively,and the control strategy can effectively improve the ride and handling stability of the vehicle.