考虑时滞问题的磁流变阻尼器半主动悬架最优控制  

Optimal control of magnetorheological damper semi-active suspension considering time delay

作　　者：杨程 胡国良 谢淼锦 喻理梵 李刚 YANG Cheng;HU Guo-liang;XIE Miao-jin;YU Li-fan;LI Gang(Key Laboratory of Conveyance and Equipment,Ministry of Education,East China Jiaotong University,Nanchang 330013,China)

机构地区：[1]华东交通大学载运工具与装备教育部重点实验室,江西南昌330013

出　　处：《磁性材料及器件》2023年第6期61-66,共6页Journal of Magnetic Materials and Devices

基　　金：国家自然科学基金项目(52165004);江西省自然科学基金重点项目(20212ACB204002);江西省重点研发计划重点项目(20212BBE51009)。

摘　　要：针对磁流变阻尼器(MRD)的半主动悬架控制问题,建立了双曲正切模型的MRD力学模型,并利用遗传算法对模型各参数进行辨识。引入BUCK降压电路作为驱动电路,实现对MRD输入电流的连续可控。由于MRD在工作中会出现一定程度的响应时滞,对控制性能会造成一定程度的影响。针对此问题,根据泰勒级数展开法,建立了扩展状态空间方程,并结合LQG控制理论,实现对未来时刻理想控制力的预测。最后以凸包路面作为输入,分别对被动悬架、基于LQG控制的半主动悬架以及结合泰勒级数的LQG(TLQG)控制的半主动悬架进行仿真分析。结果表明,在考虑响应时滞的情况下,基于TLQG控制的磁流变半主动悬架具有更好的控制性能。Aiming at the control problem of semi-active suspension based on magneto-rheological damper(MRD),a mechanical model of MRD based on hyperbolic tangent model was established,and the parameters of the model were identified by genetic algorithm.For MRD,BUCK circuit is introduced as the driving circuit to realize the continuous control of MRD input current.Because the traditional control strategy depends on the accurate mathematical model,the MRD will have a certain degree of response delay in the work,which will affect the control performance to a certain extent.To solve this problem,based on Taylor series expansion method,this paper established the extended state space equation,combined with LQG control theory,to achieve the prediction of the future time ideal control force.Finally in this paper,a convex hull road as input to the passive suspension,based on LQG control scheme of magnetorheological semi-active suspension with LQG(TLQG)control scheme based on combination of Taylor series of magnetorheological semi-active suspension simulation analysis,the results show that in the case of considering the response delay,magnetorheological semi-active suspension based on TLQG control has better control performance.

关 键 词：磁流变阻尼器 半主动悬架 双曲正切模型 BUCK电路 泰勒级数展开 LQG控制 

分 类 号：TH703.62[机械工程—仪器科学与技术]