基于键合图理论的主动悬架LQG控制  

LQG Control of Active Suspension Based on Bond Ggraph Theroy

作　　者：肖志勤[1] 王仲范[1] 

机构地区：[1]武汉理工大学汽车工程学院,武汉430070

出　　处：《武汉理工大学学报（交通科学与工程版）》2004年第5期706-709,共4页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：教育部重点项目资助 (批准号 :0 2 175 )

摘　　要：基于键合图理论建立了四自由度 1 /2车辆主动悬架的振动模型并推导出状态方程 ,以车身垂直振动、纵向角振动及控制总能量最小为目标函数 ,采用随机线性二次型高斯 ( LQG)控制 ,得到了主动悬架的最优控制增益和 Kalman滤波增益 .进行对照仿真 ,结果表明采用A four-degree-of-freedom vehicle vibration model is set up based on bond-graph theory and the state equations are deduced. Selecting the minimum sum energy of vertical and pitching vibration and the energy needed to provide control force as the objective function, adopting the Linear Quadratic Gaussian(LQG) control strategy, the optimal control plus and the Kalman filter plus are obtained. The simulation with the B-grade road surface input is carried out, the results indicate the active suspension with the LQG control can improve vehicle's ride performance greatly.

关 键 词：键合图 主动悬架LOG最优控制 纵向角振动 KALMAN滤波器 

分 类 号：U463.33[机械工程—车辆工程]