基于遗传算法的履带车辆电磁悬挂LQR控制优化  

Optimization of Electromagnetic Suspension LQR Control for Military Tracked Vehicle Using Genetic Algorithm

作　　者：岳杰[1] 张进秋[1] 彭志召[1] 张磊[1] 

机构地区：[1]装甲兵工程学院装备试用与培训大队,北京100072

出　　处：《机械设计与制造》2015年第2期229-232,237,共5页Machinery Design & Manufacture

基　　金：军队科研计划项目

摘　　要：提出采用遗传算法对电磁悬挂LQR控制算法进行优化的方法。针对被动悬挂不可控、半主动悬挂不能主动出力和主动悬挂耗能过大等问题,提出并设计了基于电磁作动器和磁流变阻尼器相复合的履带车辆电磁悬挂结构方案,并依据其简化模型设计了LQR控制器。提出采用主、被动悬挂性能评价指标的均方根比值之和作为适应度函数进行LQR权系数优化的方法。仿真结果很好的证明了采用集成优化的电磁悬挂LQR控制能够较大地提高履带车辆的行驶平稳性,并且该优化方法也同样适用于汽车悬架。Proposed a method of using genetic algorithm （GA） to optimize LQR control for electromagnetic suspension. For passive suspension is uncontrollable, semi-active suspension can not give force out actively and active suspension costs energy excessively, a novel electromagnetic suspension structure is proposed that the hydraulic shock absorber is replaced by megnetorheological damper （MRD） and electromagnetic actuator （EA） with the traditional spring element in parallel is adopted. And LQR controller is designed based on the simplified model. The fitness function for LQR weights optimization is the sum of the RMS ratio of each performance evaluation index of active and passive suspension. The simulation results well prove that electromagnetic suspension LQR control of the integrated optimization can greatly improve the tracked vehicle driving stability, and the optimization method is also suitable for automobile suspension.

关 键 词：履带车辆 电磁悬挂 磁流变阻尼器 电磁作动器 遗传算法 LQR控制 

分 类 号：TH16[机械工程—机械制造及自动化] TB381[一般工业技术—材料科学与工程]