基于微分几何法的半主动油气悬架LQR控制  

LQR Control for Vehicle Semi-Active Hydro-Pneumatic Suspension Based on Differential Geometry Theory

作　　者：么鸣涛[1] 李钊[1] 顾亮[1] 

机构地区：[1]北京理工大学机械与车辆学院,北京100081

出　　处：《北京理工大学学报》2011年第5期519-523,共5页Transactions of Beijing Institute of Technology

基　　金：国家部委预研项目(1030020220707)

摘　　要：为了对某工程车辆半主动悬架的油气弹簧进行有效控制,分析了油气弹簧弹性力和阻尼力的非线性特性,建立了车辆半主动油气悬架非线性动力学模型.提出了应用微分几何理论并经过非线性状态反馈变换的方法,对半主动悬架非线性系统进行精确线性化,利用线性二次型调节器实现了非线性状态反馈最优控制,并用Matlab/Simulink编程进行仿真实验.仿真得出半主动油气悬架与被动油气悬架相比,显著地提高了车辆的平顺性.研究结果表明此方法可为车辆悬架控制的研究提供参考.In order to carry out an effective control for a core component of the semi-active suspension of an engineering vehicle, the nonlinear characteristics of the spring force and damping force of the hydro-pneumatic spring were analyzed and a nonlinear dynamics model for vehicle semi-active hydro-pneumatic suspension was established. The method of exact linearization to the nonlinear system of the semi-active suspension was proposed by applying the differential geometry theory and nonlinear state feedback transformation. Furthermore, the optimal control of nonlinear state feedback was realized by using the LQR. The simulation experiment was implemented with Matlab/Simulink programming. The result shows that, compared with the passive hydro-pneumatic suspension, the semi-active hydro-pneumatic suspension enhances the vehicular ride quality markedly. This research may provide some of references for studying the control of vehicle suspension.

关 键 词：半主动悬架 油气弹簧 微分几何 非线性 线性二次型调节器(LQR) 

分 类 号：U463.33[机械工程—车辆工程]