考虑控制时滞的主动悬架离散系统最优控制  

Optimal Control of Active Suspension Discrete Systems with Control Delay

作　　者：高小林[1] 曹青松 GAO Xiaolin;CAQ Qingsong(The Center of Collaboration and Innovation, Jiangxi University of Technology, Nanchang 330098, Chin)

机构地区：[1]江西科技学院协同创新中心,南昌330098

出　　处：《噪声与振动控制》2018年第A01期326-329,共4页Noise and Vibration Control

基　　金：国家自然科学基金资助项目(51765021);江西省重大自然科学基金资助项目(20152ACB21020);江西省教育厅科学技术研究资助项目(GJJ161133)

摘　　要：主动悬架实质上是一个含有时滞的离散控制系统。针对1/4汽车主动悬架系统模型,考虑到时滞量未必是采样周期的整数倍,采用时滞量一般性描述模型。对含时滞主动悬架连续系统进行离散化,将作动器输入转化成部分状态变量,扩展系统状态变量,建立含时滞主动悬架离散系统扩展状态空间模型。选取悬架动行程、车轮动载荷、垂向加速度及作动器能耗作为优化目标,设计了主动悬架离散系统最优控制器。最后,采用MATLAB/SIMULINK软件建立实例仿真模型,分析含时滞主动悬架离散控制系统对随机白噪声路面与阶跃输入的响应特性,结果表明采用最优控制的主动悬架系统响应速度快、控制效果好,时滞量对主动悬架离散系统具有明显的影响,且影响程度与采样周期有关。The active suspension is essentially a discrete control system with time delay. For the one-fourth vehicle active suspension system model, considering that the time delay is not necessarily the integer multiples of the sample time, a general description model of time delay is adopted. The active suspension continuous system with time-delay is discretized.The actuator input is translated into parts of the state variables to extend the system state variables, and then the extended state space model of the active suspension discrete systems with time delay is established. The optimal controller of the active suspension discrete system is designed by selecting suspension dynamic travel, wheel dynamic load, vertical acceleration and actuator energy consumption as the optimization objectives. Finally, as an example, the simulation model based on MATLAB/SIMULINK software is established to analyze the response characteristics of the active suspension discrete control system with time-delay to the random white noise pavement and step input. The results show that the optimal control of the active suspension system has quick response and great control effect. The control delay has obvious influence on the active suspension discrete system. And the extent of influence is related to the sampling time.

关 键 词：振动与波 主动悬架 时滞 离散系统 最优控制 

分 类 号：U461.4[机械工程—车辆工程]