考虑能耗的电磁主动悬架LQR控制策略  

LQR Control Strategy for Electromagnetic Active Suspension Considering Energy Consumption

作　　者：孙凤[1] 邢大壮 周冉 金俊杰[1] 徐方超[1] SUN Feng;XING Dazhuang;ZHOU Ran;JIN Junjie;XU Fangchao(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870,China)

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《西南交通大学学报》2023年第4期754-760,798,共8页Journal of Southwest Jiaotong University

基　　金：国家自然科学基金(52005345,52005344);国家重点研发计划(2020YFC2006701);辽宁省教育厅项目(LFGD2020002);辽宁省“揭榜挂帅”科技重大专项(2022JH1/10400027)。

摘　　要：为改善车辆电磁主动悬架功率过大的问题,提出一种考虑能耗的改进线性二次型调节器(linear quadratic regulator,LQR)控制策略.首先,介绍电磁主动悬架的结构,由等效磁路法得出直线电机的推力模型,再建立电磁主动悬架的动力学模型;其次,在传统的LQR加权系数优化模型基础上提出增加有关能耗的约束条件,设计了一种改进LQR控制策略;最后,使用MATLAB/Simulink进行仿真,通过主动力大小进行控制器正确性的验证,并对比分析随机路面下的能耗与动力学效果.结果表明:改进LQR控制策略的主动力大小符合优化时约束的概率最低为99.89%;改进LQR控制策略与原LQR控制策略相比,功率均方根降低80.29%,悬架动行程均方根没有明显差别,轮胎动变形均方根优于原LQR控制策略约5%,车身垂向加速度降幅最低仍能达到原LQR控制策略的50%.In order to reduce the excessive power consumption of vehicle electromagnetic active suspension,a modified linear quadratic regulator(LQR)control strategy considering energy consumption was raised.Firstly,the structure of electromagnetic active suspension was introduced.The thrust model of the linear motor was established by the equivalent magnetic circuit method,and the dynamic model of electromagnetic active suspension was built.Secondly,based on the optimization model of weighting coefficients in the original LQR control strategy,a constraint condition considering energy consumption was put forward,and a modified LQR control strategy was designed.Finally,MATLAB/Simulink was adopted for simulations,and the correctness of the controller was verified by active force values.Energy consumption and dynamic performance in random road were compared.The results show that the active force value of the modified LQR control strategy meets the optimization constraint condition with a probability of 99.89%.Compared with the original LQR control strategy,the modified LQR control strategy reduces the root-mean-square(RMS)of power by 80.29%.In addition,there is no significant difference in the RMS of suspension working space,and the RMS of dynamic tyre deformation is 5%lower than that of the original LQR control strategy.The reduction of body vertical acceleration can still reach more than 50%of the original LQR control strategy.

关 键 词：直线电机 悬架 LQR控制 优化 随机路面 

分 类 号：TH122[机械工程—机械设计及理论] U463.33[机械工程—车辆工程]