基于路面识别的主动悬架自适应预瞄H_(∞)控制  

Adaptive Preview H_(∞)Control of Active Suspension Based on Road Recognition

作　　者：崔明辉 付志军 Subhash Rakheja 甄冉 刘业刚 Cui Minghui;Fu Zhijun;Rakheja Subhash;Zhen Ran;Liu Yegang(School of Mechanical and Electrical Engineering,Zhengzhou University of Light Industry,Zhengzhou 450002;Shandong Meichen Industrial Group Co.,Ltd.,Zhucheng 262200)

机构地区：[1]郑州轻工业大学机电工程学院,郑州450002 [2]山东美晨工业集团有限公司,诸城262200

出　　处：《汽车工程》2025年第3期508-518,507,共12页Automotive Engineering

基　　金：国家自然科学基金(62073298);河南省杰出外籍科学家工作室项目(GZS2023011);河南省2024年科技发展计划项目(242102241049)资助。

摘　　要：针对未知路面输入对主动悬架控制效果造成的影响,本文提出了一种基于振动式路面不平度识别的自适应轴距预瞄鲁棒H_(∞)控制方法。通过实车实验采集车轮的振动加速度响应,根据前轮的振动式路面不平度检测方法识别出纵向路面不平度信息,设计了速度自适应轴距预瞄方法,以得到车辆前后轮所受到的路面激励的延时关系,为后轮悬架的轴距预瞄控制提供实车数据。在此基础上,设计了一种考虑晕动约束的多目标速度自适应轴距预瞄鲁棒H_(∞)控制方法,通过多目标遗传算法(MOGA)实现线性矩阵不等式(LMI)中的参数最优解以提高控制精度。实验与仿真结果表明,本文所提出的方法能够精确识别路面不平度信息并能有效改善悬架性能指标和车身振动频率,有效抑制晕动症敏感的车身振动频率范围内的振动,在满足行驶平顺性的基础上又兼顾了乘员驾乘体验。同时,该方法也为多轴车辆的垂向振动控制提供一种新的途径。In this paper,an adaptive wheelbase preview robust H_(∞)control method is proposed based on vibration based road roughness recognition to address the impact of unknown road surface input on the control effect of active suspension.By collecting the vibration acceleration response of the wheels through real vehicle experiments,the longitudinal road surface roughness information is identified based on the vibration based road surface roughness detection method of the front wheels.A speed adaptive wheelbase preview method is designed to obtain the delay relationship of the road surface excitation received by the front and rear wheels of the vehicle,providing real vehicle data for the wheelbase preview control of the rear wheel suspension.On this basis,a multi-objective speed adaptive wheelbase preview robust H_(∞)control method considering motion constraints is designed,and the optimal solution of parameters in linear matrix inequality(LMI)is achieved through multi-objective genetic algorithm(MOGA)to improve control accuracy.The experimental and simulation results show that the method proposed in this paper can accurately identify road roughness information and effectively improve suspension performance indicators and vehicle vibration frequency,effectively suppress vibration within the frequency range sensitive to motion sickness,and balance passenger driving experience while meeting driving smoothness requirements.Meanwhile,this method also provides a new approach for vertical vibration control of multi axle vehicles.

关 键 词：路面不平度识别 主动悬架 自适应轴距预瞄 鲁棒H_(∞)控制 晕动症 

分 类 号：U463.33[机械工程—车辆工程]