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作 者:张庭芳[1] 伍磊 吴晓建 ZHANG Tingfang;WU Lei;WU Xiaojian(School of Mechanical and Electrical Engineering,Nanchang University,Nanchang 330031,China)
出 处:《噪声与振动控制》2021年第4期1-6,12,共7页Noise and Vibration Control
基 金:国家自然科学基金资助项目(51875184)。
摘 要:针对目前主动悬架LQR控制器的最优加权矩阵Q和R基本为定值,无法体现车辆以不同车速行驶在不同等级路面时对悬架性能要求的动态变化性,提出一种主动悬架LQR控制系统的最优加权矩阵Q能随路面等级不同而动态调整的控制策略。首先以双质量振动模型为研究对象,设计LQR多目标控制器,同时,采用支持向量机(Support vector machine,SVM)算法构建路面等级聚类识别系统,且综合考虑聚类识别准确性及计算消耗,得到SVM最优特征向量组合,实现路面等级的智能聚类识别;而后通过MATLAB-Isight联合仿真,为不同等级的路面设计满足不同约束条件的最优加权矩阵Q和R,从而根据识别出的路面等级对LQR控制器的加权矩阵实现动态切换。最后,通过一段由不同等级路面组成的随机路面激励仿真验证所提方法的有效性。结果表明:改进后的LQR控制器可针对车辆在不同等级道路行驶特点,动态调整悬架系统各目标权重,综合提高悬架系统性能。In the current active suspension LQR controllers,the optimal weighting matrixes Q and R are basically fixed,which cannot reflect the dynamic suspension performance requirements when vehicles driving on different grade roads at different speeds.In this paper,a control strategy in which the optimal weighting matrix Q of the active suspension LQR control system can be dynamically adjusted according to the road level is thereby proposed.Firstly,an LQR multi-objective controller is designed for the dual-mass vibration model.Meanwhile,the support vector machine(SVM)algorithm is used to construct the road level clustering recognition system.Then,considering the accuracy and computation consumption of clustering recognition,the optimal feature vector combination of SVM is obtained and the intelligent clustering recognition of pavement grade is realized.Subsequently,through the MATLAB-Isight joint simulation,the optimal weighting matrixes Q and R satisfying different constraints are designed for different levels of road,so that the weighting matrixes of LQR controller can be dynamically switched according to the identified road level.Finally,the effectiveness of the proposed method is verified by a random road excitation simulation with different levels of road.The results show that the improved LQR controller can dynamically adjust the objective weights of the suspension system according to the characteristics of vehicles traveling on different levels of roads,and comprehensively improve the performance of the suspension system.
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