基于Backstepping和LQG算法的车辆主动悬架控制研究

Research on Automobile Active Suspension Based on Backstepping and LQG Control

针对忽略作动器实际动作及液压系统参数造成目前主动悬架模型精确性低的缺陷,根据液压系统原理,建立包含液压系统参数在内的主动悬架模型.分析LQG控制的原理,确定车身加速度、悬架动挠度、车轮动位移的加权系数矩阵,并以此实现主动悬架LQG控制.采用高低通滤波器对控制信号进行优化,并引入Backstepping(反演控制)对车身加速度、悬架动挠度进行控制.对包含作动器液压系统参数的主动悬架精确模型进行SIMULINK仿真,并将仿真结果进行对比.结果表明,主动悬架LQG控制和Backstepping控制通过主动作动器的能量消耗,有效地提高了车辆的操纵稳定性和乘坐舒适性.

Taking into consideration the fact that current ordinary active suspension models have the disad‐vantage of low accuracy resulting from the neglect of actuator motion and hydraulic parameters ,the au‐thors of this paper have built an active suspension model ,including the hydraulic system parameters , through an analysis of the principle of the hydraulic system .A weighting coefficient matrix of car body ac‐celeration ,suspension deflection and tyre displacement is determined through analyzing the principle of LQG control ,thus realizing the active suspension LQG control .The control signal is optimized through a high‐pass and low‐pass filter .T he body acceleration and the suspension deflection are controlled by the Backstepping control .Simulink simulation is made ,involving this precise model with the hydraulic system parameters ,and the results are compared .The LQG control and Backstepping control are shown to have improved the vehicle control stability and riding comfort thanks to the energy consumption of the active ac‐tuator .