论文部分内容阅读
针对传统车辆被动悬架抗干扰性差的缺点,基于1/4车辆悬架系统,建立了车辆悬架动力学模型,以车身垂向加速度、悬架动扰度、轮胎变形量为控制指标,采用线性二次型(LQR)最优方法设计控制器。鉴于性能指标中加权矩阵难于确定的问题,提出基于振型分解法来优化选择加权矩阵,根据各振型分量的不同重要性,赋予各振型分量不同的权重,通过优化选择悬架系统的加权矩阵,获得最优反馈增益及最优控制力,从而抑制高频噪声和高阶计算模型误差对输出控制力的影响,提高了车辆悬架系统的抗干扰能力,并通过李雅普诺夫稳定性理论证明了系统的稳定性。最后,以二自由度车辆悬架系统在路面模拟输入作用下的动态响应为例,通过与被动悬架进行对比,证明了所提方法的正确性和有效性。
Aiming at the shortcomings of poor anti-interference of traditional vehicle passive suspension, the dynamic model of vehicle suspension is established based on 1/4 vehicle suspension system. The vehicle body vertical acceleration, suspension disturbance and tire deformation are used as control indexes. Linear Quadratic (LQR) Optimal Method Design Controller. In view of the difficulty of determining the weighting matrix in the performance index, this paper proposes to optimize the selection weighting matrix based on the modal decomposition method. According to the different importance of each mode component, different weights are assigned to each mode component, and the weight of the suspension system is optimized Matrix to obtain the optimal feedback gain and the optimal control force so as to suppress the influence of the high frequency noise and high order model error on the output control force and improve the anti-interference ability of the vehicle suspension system. Based on the Lyapunov stability theory Proved the stability of the system. Finally, taking the dynamic response of two-degree-of-freedom vehicle suspension system under pavement analog input as an example, the correctness and effectiveness of the proposed method are proved by comparing with passive suspension.