基于整车卡尔曼观测器的主动悬架控制研究
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摘要
改进天棚控制策略可兼顾乘坐舒适性及轮胎接地性。为了获得改进天棚控制所需的各悬架速度信号,建立了整车七自由度模型,并将整车状态方程进行离散化。基于卡尔曼滤波算法设计了改进天棚控制下的整车卡尔曼观测器。卡尔曼观测器根据整车中加速度信号估计出各悬架顶端的绝对速度以及各悬架的相对速度,通过仿真验证了卡尔曼观测器的估计精度。在此基础上,将卡尔曼观测器估计的速度信号输入至改进天棚控制策略中从而对悬架进行控制,结果表明:带卡尔曼滤波的改进天棚控制能够大幅度提高车辆的乘坐舒适性。
The suspension with modified skyhook control can balance the ride comfort and tire holding. In order to get the speed signal required for the modified skyhook control strategy,the vehicle model with 7-degree-of-freedoms is established and the vehicle state equation was discretized.The vehicle Kalman observer with the modified skyhook control suspension was designed based on Kalman filter algorithm. The absolute velocity and relative velocity of each suspension were estimated by Kalman observer based on acceleration signal of vehicle. The simulation results show that Kalman observer estimates the velocity signal accurately. After that the velocity signal is input to modify skyhook controller to control suspension. The results show that the modified skyhook control with Kalman observer can improve the ride comfort.
The suspension with modified skyhook control can balance the ride comfort and tire holding. In order to get the speed signal required for the modified skyhook control strategy,the vehicle model with 7-degree-of-freedoms is established and the vehicle state equation was discretized.The vehicle Kalman observer with the modified skyhook control suspension was designed based on Kalman filter algorithm. The absolute velocity and relative velocity of each suspension were estimated by Kalman observer based on acceleration signal of vehicle. The simulation results show that Kalman observer estimates the velocity signal accurately. After that the velocity signal is input to modify skyhook controller to control suspension. The results show that the modified skyhook control with Kalman observer can improve the ride comfort.
引文
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[2] GYSEN B L J,PAULODES J J H,JANSSEN J L G,et al.Active Electromagnetic Suspension System for Improved Vehicle Dynamics[J]. IEEE Transactions on Vehicular Technology,2010,59(3):1156-1163.
[3] KARNOPP D C. Design Principles for Vibration Control Systems Using Semi-Active Dampers[J]. Journal of Dynamic Systems Measurement&Control,1990,112(3):445-448.
[4]刘昌宁,陈龙,张孝良,等.可控ISD悬架系统的建模与LQG最优控制[J].中国科技论文,2017,12(4):88-92.
[5]赵强,何法,王鑫,等.基于遗传算法优化的车辆主动悬架模糊PID控制[J].重庆理工大学学报(自然科学),2016,30(2):6-11.
[6]吕科,杨正才,赵宝.递归对角神经网络算法在汽车主动悬架控制系统中的研究[J].燕山大学学报,2017,41(1):27-31.
[7]陈龙,高泽宇,汪若尘,等.基于改进天棚控制策略的主动悬架动力学性能研究[J].汽车工程学报,2016,6(3):176-180.
[8]陈一锴,何杰,张卫华,等.多轴重型货车悬架系统改进天棚控制策略[J].农业机械学报,2011,42(6):16-22.
[9]钟孝伟,陈双,张不扬.基于卡尔曼滤波算法的车辆振动状态估计与最优控制研究[J].汽车技术,2017(5):14-18.
[10]陈双,钟孝伟.汽车主动悬架作动器故障诊断与控制补偿方法[J].汽车技术,2018(2):40-44.
[11]喻凡,郭孔辉.结合卡尔曼滤波器的车辆主动悬架轴距预瞄控制研究[J].汽车工程,1999(2):72-80.
[12]赵珩,卢士富.路面对四轮汽车输入的时域模型[J].汽车工程,1999(2):112-117.