基于模型预测反馈技术的救援车辆液压悬挂系统控制方法  

Control method on hydraulic suspension systems of rescue vehicles based on model predictive feedback technology

作　　者：李文航 倪涛 赵丁选 邓英杰 师小波 LI Wen-hang;NI Tao;ZHAO Ding-xuan;DENG Ying-jie;SHI Xiao-bo(School of Mechanical and Aerospace Engineering,Jilin University,Changchun 130022,China;School of Vehicle and Energy,Yanshan University,Qinhuangdao 066004,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,China)

机构地区：[1]吉林大学机械与航空航天工程学院,长春130022 [2]燕山大学车辆与能源学院,秦皇岛066004 [3]燕山大学机械工程学院,秦皇岛066004

出　　处：《吉林大学学报（工学版）》2024年第3期610-619,共10页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(52101375);河北省自然科学基金项目(E2021203142);河北省创新群体项目(E2020203174).

摘　　要：针对现有救援车辆的液压悬挂系统存在作动器非线性、参数不确定性以及对动力学模型依赖性较强等问题,提出了一种液压主动悬挂系统控制方法——基于扩张状态观测器的模型预测控制方法(ESO-MPC)。首先,通过车载惯性导航系统实时获取车辆位姿信息,并基于位姿偏差方法计算出各个液压作动器的输出位移量。其次,完成救援车辆液压悬挂系统动力学建模,通过扩张状态观测器估计系统中的非线性扰动和未知输出信号。最后,基于扩张状态观测器的模型预测控制方法,使每个液压作动器的输出在限制范围内对期望位移信号进行有效追踪。为验证该控制方法的有效性,搭建了液压悬架整车试验平台,并与被动悬架和传统PID控制方法进行了多种路面对比试验。结果表明,相比于被动悬挂和传统的PID控制方法,本文提出的基于扩张状态观测器的模型预测控制方法可以降低垂向高度均方根值35%,俯仰角度均方根值17%,侧倾角度均方根值23%,显著提升了车辆的行驶平顺性和操纵稳定性。Aiming at the problems of actuator nonlinearity,parameter uncertainty and strong model dependence in the existing hydraulic suspension systems of rescue vehicles,a control method of the hydraulic active suspension system-model predictive control method with an extended state observer was proposed.Firstly,the vehicle's pose information was obtained through the on-board inertial navigation system and used to solve the expected displacement output value of each suspension actuator based on pose deviation method.Secondly,dynamic model of the hydraulic suspension system was completed for rescue vehicles,and the nonlinear disturbance and unknown output signal in the system were estimated through an extended state observer.In view of the limitation of the output for the suspension system,a model predictive controller with an extended state observer was proposed to effectively track the expected displacement value of each hydraulic actuator.The vehicle test platform with hydraulic suspension system was built to verify the effectiveness of the control method,and some road tests were carried out by comparing the passive suspension and traditional PID control methods.The research results show that,compared with the passive suspension and the traditional PID method,the proposed active suspension control method reduced the root mean square value of the vertical displacement by 35%,the pitch angle by 17%,and the roll angle by 23%,which significantly improved the ride comfort and handling stability of the vehicle.

关 键 词：自动控制技术 液压悬挂系统 扩张状态观测器 模型预测控制 反馈控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]