汽车主动悬架LQR控制研究  

Research on LQR Control of Vehicles Active Suspension

作　　者：丁芳[1] 王波[1] 刘明岩[1] DING Fang;WANG Bo;LIU Mingyan(College of Automobile and Rail,Anhui Technical College of Mechanical and Electrical Engineering,Wuhu Anhui 241002,China)

机构地区：[1]安徽机电职业技术学院汽车与轨道学院,安徽芜湖241002

出　　处：《机械设计与研究》2020年第4期52-56,共5页Machine Design And Research

基　　金：安徽高校自然科学研究资助项目(KJ2019A1154);安徽省省级高水平专业(2018ylzy187);安徽省省级教学创新团队(2019cxtd087)资助项目。

摘　　要：为解决主动悬架LQR控制器中加权矩阵Q和R参数需要手动设计存在的人为因素干扰,提高优化结果的精度,提出基于自适应多种群遗传算法汽车主动悬架LQR控制策略,该策略融合了自适应遗传算法和多种群遗传算法的优点。其利用自适应遗传算法的参数自适应调整提高控制器参数的收敛速度;利用多种群遗传算法的多个种群协同进化提高控制器参数的收敛精度。研究结果表明,自适应多种群遗传算法相比自适应遗传算法以及多种群遗传算法所得寻优结果更优,可有效降低悬架在垂直方向的振动幅度,减缓路面对车体的冲击,进一步改善汽车的行驶平顺性和乘坐舒适性。In order to solve the interference of human factors in the weighted matrix Q and R parameters of LQR(Linear Quadratic Regulator)controller of vehicle active suspension which need to be manually designed,and improve the accuracy of optimization results,an LQR control strategy of automobile active suspension based on adaptive multigroup genetic algorithm(AMPGA)is proposed,which combines the advantages of adaptive genetic algorithm(AGA)and multi-group genetic algorithm(MPGA),Whichuses the parameter adaptive adjustment of theAGA to improve the convergence speed of the controller parameters,and uses the multi population co-evolution of the MPGA to improve the convergence accuracy of the controller parameters.The results show that the AMPGA is better than the AGA and the MGPA,which can effectively reduce the vibration amplitude of the suspension in the vertical direction,reduce the impact of the road on the car body,and further improve the ride comfort of the vehicle.

关 键 词：汽车 主动悬架 遗传算法 线性二次最优(LQR)控制 

分 类 号：U463.33[机械工程—车辆工程]