基于序关系分析法的车辆主动悬架控制器仿真研究
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摘要
基于序关系分析法(G1法)进行了车辆主动悬架线性二次型高斯(Linear Quadratic Gaussian,LQG)最优控制器设计.首先对单轮车辆的主被动悬架进行数学建模,确定了系统输入信号模型;其次运用动力学知识建立了系统运动状态空间方程,并结合最优控制理论完成了最优线性控制器设计;结合序关系分析法确定了主被动悬架各性能指标系数的加权系数;最后在Simulink中对模型进行了对比仿真.仿真结果表明,在给定路况下,运用序关系分析法确定合适的权重值,优化了车身加速度、悬架动行程和轮胎动位移,较好地改善了车辆的综合性能,并且将主动控制力控制在了要求范围内.
Based on the order relation analysis method(G1 method),the optimal linear quadratic Gaussian(LQG)of vehicle active suspension is designed.The system of the main and passive suspension of the single wheel vehicle is modeled and the system input signal model is determined.Secondly,the system motion state space equation is established by the kinetic knowledge and the optimal linear controller design is completed with the optimal control theory.The weighting coefficient of the performance index coefficients of the main passive suspension is determined by the relational analysis method.Finally,the model is simulated in Simulink.The simulation results show that:the optimal weight value is determined by using the sequence relation analysis method under the condition of given road conditions,and the vehicle acceleration,suspension stroke and tire motion displacement are optimized to improve the comprehensive performance of the vehicle,and the active control is controlled within the requirements.
Based on the order relation analysis method(G1 method),the optimal linear quadratic Gaussian(LQG)of vehicle active suspension is designed.The system of the main and passive suspension of the single wheel vehicle is modeled and the system input signal model is determined.Secondly,the system motion state space equation is established by the kinetic knowledge and the optimal linear controller design is completed with the optimal control theory.The weighting coefficient of the performance index coefficients of the main passive suspension is determined by the relational analysis method.Finally,the model is simulated in Simulink.The simulation results show that:the optimal weight value is determined by using the sequence relation analysis method under the condition of given road conditions,and the vehicle acceleration,suspension stroke and tire motion displacement are optimized to improve the comprehensive performance of the vehicle,and the active control is controlled within the requirements.
引文
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[10]陈陌,郭亚军,于振明,等.改进型序关系分析法及其应用[J].系统管理学报,2011,20(3):352-355.CHEN M,GUO Y J,YU Z M,et al.An improved method for rank correlation analysis and its application[J].Journal of Systems and Management,2011,20(3):352-355.
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[12]赵文娟,赵丹平,瞿育文,等.基于Matlab/Simulink的主动悬架仿真研究[J].现代制造技术与装备,2015(4):10-13.ZHAO W J,ZHAO D P,QU Y W,et al.The simulation research of the active suspension based on Matlab[J].Modern Manufacturing Technology and Equipment,2015(4):10-13.
[13]马继昌,司景萍,高振刚,等.基于Matlab/Simulink的半主动悬架仿真分析[J].公路与汽运,2015(2):13-17.MA J C,SI J P,GAO Z G,et al.Simulation analysis of semiactive suspension based on Matlab/Simulink[J].Highways and Automotive Applications,2015(2):13-17.
[2]罗鑫源,杨世文.基于AHP的车辆主动悬架LQG控制器设计[J].振动与冲击,2013,32(2):102-106.LUO X Y,YANG S W.Design of a LQG controller for a vehicle active suspension based on AHP[J].Journal of Vibration and Shock,2013,32(2):102-106.
[3]曾理,孙冬梅,周兵,等.基于改进遗传算法的汽车主动悬架控制器设计[J].计算机测量与控制,2016,24(4):58-60,64.ZENG L,SUN D M,ZHOU B.Design of controller of active suspension based on improved genetic algorithms[J].Computer Measurement and Control,2016,24(4):58-60,64.
[4]张海涛.基于人工蜂群算法的车辆主动悬架LQG控制设计[J].噪声与振动控制,2016,36(5):65-69,81.ZHANG H T.Design of the LQG controller for automobile active suspensions based on artificial colony algorithm[J].Noise and Vibration Control,2016,36(5):65-69,81.
[5]李仲兴,黄建宇,刘亚威,等.白噪声路面不平度时域模型的建立与仿真[J].江苏大学学报(自然科学版),2016,37(5):503-506,524.LI Z X,HUANG J Y,LIU Y W,et al.Modeling and simulation on white noise of road roughness in time domain[J].Journal of Jiangsu University(Natural Science Edition),2016,37(5):503-506,524.
[6]阴运宝,房强,白国华,等.加权系数对主动悬架车辆车身振动的影响研究[J].车辆与动力技术,2013(1):24-28.YIN Y B,FANG Q,BAI G H,et al.Study on effect of coefficient to vibration of the vehicle body with active suspension[J].Vehicle and Power Technology,2013(1):24-28.
[7]张志飞,刘建利,徐中明,等.基于改进层次分析法的半主动悬架LQG控制器的设计[J].汽车工程,2012,34(6):528-533.ZHANG Z F,LIU J L,XU Z M,et al.Design of LQG controller for semi-suspension based on improved hierarchy process[J].Automotive Engineering,2012,34(6):528-533.
[8]郑帅,朱龙英,张军,等.基于改进AHP的汽车主动悬架LQG控制研究[J].中国农机化学报,2015,36(2):189-193.ZHENG S,ZHU L Y,ZHANG J.Study of LQG control for vehicle active suspension system based on improved analytic hierarchy process[J].Journal of Chinese Agricultural Mechanization,2015,36(2):189-193.
[9]喻凡.车辆动力学及其控制[M].北京:机械工业出版社,2010.YU F.Vehicle dynamics and its control[M].Beijing:Machinery Industry Press,2010.
[10]陈陌,郭亚军,于振明,等.改进型序关系分析法及其应用[J].系统管理学报,2011,20(3):352-355.CHEN M,GUO Y J,YU Z M,et al.An improved method for rank correlation analysis and its application[J].Journal of Systems and Management,2011,20(3):352-355.
[11]王学军,郭亚军,兰天.构造一致性判断矩阵的序关系分析法[J].东北大学学报(自然科学版),2006,27(1):115-118.WANG X J,GUO Y J,LAN T.Rank correlation analysis of formation of consistent judgment matrix[J].Journal of Northeastern University(Natural Science),2006,27(1):115-118.
[12]赵文娟,赵丹平,瞿育文,等.基于Matlab/Simulink的主动悬架仿真研究[J].现代制造技术与装备,2015(4):10-13.ZHAO W J,ZHAO D P,QU Y W,et al.The simulation research of the active suspension based on Matlab[J].Modern Manufacturing Technology and Equipment,2015(4):10-13.
[13]马继昌,司景萍,高振刚,等.基于Matlab/Simulink的半主动悬架仿真分析[J].公路与汽运,2015(2):13-17.MA J C,SI J P,GAO Z G,et al.Simulation analysis of semiactive suspension based on Matlab/Simulink[J].Highways and Automotive Applications,2015(2):13-17.
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