基于微分几何法的车辆半主动悬架控制  

Control for vehicle semi-active suspension based on differential geometry theory

作　　者：么鸣涛[1] 管继富[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：《沈阳工业大学学报》2011年第4期400-404,共5页Journal of Shenyang University of Technology

基　　金：国家部委基金资助项目(1030020220707)

摘　　要：为了对某工程车辆半主动悬架进行有效控制,建立了车辆半主动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线性化,进而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.仿真结果表明:经过微分几何法线性化处理并应用LQR控制的方法,半主动悬架与被动悬架相比,车辆平顺性有了明显的改善,绝大部分平顺性指标都有10%以上的提升.分析结论可为非线性系统的线性化和车辆悬架半主动控制的研究提供参考.In order to carry out an effective control for the semi-active suspension of an engineering vehicle, a nonlinear dynamics model for the vehicle semi-active suspension was established. A method based on the differential geometry theory and nonlinear state feedback transformation was proposed to perform the linearization for the nonlinear system of semi-active suspension. Furthermore, the optimal control of nonlinear state feedback was realized by using linear quadratic regulator （LQR）, and the simulation experiment was conducted with Matlab/Simulink programming. The simulation results show that by adopting the linearization treatment based on differential geometry theory and the linear quadratic regulator （LQR） control, the vehicle ride comfort for semi-active suspension gets enhanced obviously compared with that for passive suspension, and most ride comfort indexes have the promotion of above 10%. The analysis conclusions can provide some references for the studies in both linearization of nonlinear system and semi-active control of vehicle suspension.

关 键 词：半主动悬架 微分几何 线性二次型调节器 非线性 动力学 状态反馈 线性化 平顺性 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置]