汽车动力总成主动悬置系统分层控制策略研究  

Hierarchical control strategy for active suspension system of automobile powertrain

作　　者：陈哲明[1] 王恒 陈勇[1] 富丽娟[1] CHEN Zheming;WANG Heng;CHEN Yong;FU Lijuan(Key Laboratory of Automotive Parts Manufacturing and Testing Technology,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学,汽车零部件制造及检测技术教育部重点实验室,重庆400054

出　　处：《振动与冲击》2020年第15期200-206,共7页Journal of Vibration and Shock

基　　金：重庆市科委基础与前沿研究计划项目(cstc2018jcyjAX0109);重庆市教委2018研究生导师团队项目;重庆理工大学研究生创新(ycx2018101)。

摘　　要：针对汽车动力总成主动悬置系统结构特点,考虑作动器动态特性对系统控制精度的影响,提出了一种分层控制方法。在对三自由度1/4车主动悬置系统分析的基础上,推导了悬置系统和电磁作动器控制电路的数学模型,采用分层控制策略对悬置部分和作动器电路部分设计了上、下层控制器。上层悬置控制器采用综合性能较好的LQR控制,并利用遗传算法对其性能指标权重系数进行优化;下层作动器电路部分采用简单实用的PID控制,并利用粒子群算法对其参数进行优化。最后,通过对所设计的主动悬置系统设置两种典型工况进行仿真验证。结果表明:相比于传统控制,按照分层控制策略设计的主动悬置系统能够针对汽车不同工况实施更精确的控制,并且具有较强的鲁棒性和力跟踪性。Aiming at structural characteristics of active suspension system of vehicle powertrain, considering effects of actuator’s dynamic characteristics on the vehicle system’s control accuracy, a hierarchical control strategy was proposed. Based on analyzing a 3-DOF 1/4 vehicle active suspension system, mathematical models for the suspension system and the electromagnetic actuator control circuit were derived. The upper-layer and lower-layer controllers were designed for the suspension part and the actuator circuit part, respectively using the hierarchical control strategy. The upper-layer suspension controller adopted LQR control with better comprehensive performance, and the genetic algorithm was used to optimize its performance index weighting coefficient. The lower-layer actuator circuit adopted simple and practical PID control, and the particle swarm optimization algorithm was used to optimize its parameters. Finally, numerical simulation was performed by setting two typical operating conditions to verify the designed active suspension system. Results showed that compared with the traditional control, the active suspension system designed according to the hierarchical control strategy can implement more precise control under different vehicle working conditions, and have stronger robustness and force tracking.

关 键 词：电磁作动器 主动悬置 LQR控制 遗传算法 分层控制 

分 类 号：U464.13[机械工程—车辆工程]