基于EGA优化的农用UTV半主动悬架最优控制  

Optimal Control of Agricultural UTV Semi-Active Suspension Based on EGA

作　　者：夏长高[1] 张凡 韩江义[1] XIA Chang-gao;ZHANG Fan;HAN Jiang-yi(School of Automobile and Traffic Engineering,Jiangsu University,Jiangsu Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《机械设计与制造》2024年第6期91-95,101,共6页Machinery Design & Manufacture

基　　金：江苏省重点研发计划(现代农业)项目(BE2018343-1)。

摘　　要：针对UTV在恶劣路面行驶引起的车辆振动,以某款农用UTV悬架系统为对象,建立包含俯仰的四自由度(4-DOF)半车半主动悬架动力学模型,并提出一种EGA-LQR复合控制策略,设计满足物理约束的悬架系统自适应最优控制器。利用EGA算法的全局寻优与快速收敛特性,对LQR最优控制器的权重矩阵寻优,输出悬架系统最优控制阻尼力。在Matlab/Simulink中搭建UTV的路面与悬架模型进行时域仿真,仿真分析结果表明,EGA-LQR控制显著减小了车体质心垂向振动加速度、车体俯仰角加速度、前后轮动位移以及前后悬架动行程的均方根值,有效保证了UTV在农田路面下行驶的舒适性与安全性。Aiming at the vehicle vibration caused by UTV driving on harsh roads,a four-degree-of-freedom(4-DOF)semi-ac-tive suspension dynamic model including pitch is established.And propose an EGA-LQR compound control strategy,design the adaptive optimal controller that satisfies physical constraints of the suspension system,and use the global optimization and fast convergence characteristics of the EGA to optimize the weight matrix of the LQR to output the damping force.The road model and suspension model of agricultural UTV was built in Matlab/Simulink for time domain simulation.The results show that the EGA-LQR control significantly reduces the root mean square value of sprung mass acceleration,pitch angular acceleration,the front and rear wheel dynamic tyre deformation and the front and rear suspension working space,it effectively guarantees the comfort and safety of the UTV driving on farmland roads.

关 键 词：UTV 半主动悬架 动力学模型 精英遗传算法 最优控制 

分 类 号：TH16[机械工程—机械制造及自动化]