基于遗传算法的主动悬架LQG控制器设计
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- 英文论文题名：The Design of LQG Controller for Active Suspension Based on Genetic Algorithm
- 论文作者：陈英 ; 庞辉 ; 陈嘉楠 ; 刘凯
- 英文论文作者：Chen Ying ; Pang Hui ; Chen Jianan ; Liu Kai ; School of Mechanical and Precision Instrument Engineering ; XI'AN University of Technology
- 年：2016
- 作者机构：西安理工大学机械与精密仪器工程学院机械设计系;
- 论文关键词：主动悬架 ; LQG控制器 ; 遗传算法 ; 平顺性 ; 操纵稳定性
- 英文论文关键词：active suspension ; LQG controller ; genetic algorithm ; ride comfort ; handling stability
- 会议召开时间：2016-10-26
- 会议录名称：2016中国汽车工程学会年会论文集
- 英文会议录名称：Proceedings of 2016 SAE-China Congress
- 语种：中文
- 分类号：U463.33
- 学会代码：QCGC
- 会议名称：2016中国汽车工程学会年会暨展览会
- 会议地点：中国上海
- 主办单位：中国汽车工程学会
- 学会名称：中国汽车工程学会
- 页数：8
- 文件大小：1308k
- 原文格式：O
- 会议级别：全国
摘要
为研究车辆主动悬架系统的车身垂向加速度、俯仰角加速度、悬架动行程和轮胎动位移各性能评价指标的综合优化问题,提出了一种主动悬架系统线性二次最优(LQG)控制器。首先,建立4自由度1/2车辆主动悬架系统力学模型,接着以均衡车辆行驶平顺性和操纵稳定性为原则设计了车辆主动悬架系统的LQG控制器,重点研究了基于遗传算法对车辆控制器中各性能评价指标加权系数的优化,最后通过仿真分析验证了本文所提出的车辆主动悬架LQG控制器的可行性和有效性。
In order to study the integration optimization problem of vehicle performance indicators such as body acceleration,pitching angular acceleration,suspension dynamic displacement and tire dynamic deflection,a linear quadratic and Gaussian(LQG) for active suspension system is proposed.Firstly,the half vehicle mathematical model of an active suspension system is established,and then the LQG controller for vehicle active suspension is designed for the tradeoff between ride comfort and handling stability.Furthermore,this paper makes key research on the optimization of the weight coefficients of each evaluating indicator in designing the vehicle controller by using genetic algorithm(GA).Finally,a simulation model for the proposed LQG controller of vehicle active suspension is built to verify the feasibility and effectiveness of the controller.
In order to study the integration optimization problem of vehicle performance indicators such as body acceleration,pitching angular acceleration,suspension dynamic displacement and tire dynamic deflection,a linear quadratic and Gaussian(LQG) for active suspension system is proposed.Firstly,the half vehicle mathematical model of an active suspension system is established,and then the LQG controller for vehicle active suspension is designed for the tradeoff between ride comfort and handling stability.Furthermore,this paper makes key research on the optimization of the weight coefficients of each evaluating indicator in designing the vehicle controller by using genetic algorithm(GA).Finally,a simulation model for the proposed LQG controller of vehicle active suspension is built to verify the feasibility and effectiveness of the controller.
引文
[1]余志生.汽车理论[M].北京:机械工业出版社,2009.
[2]王威,薛彦冰,宋玉玲,等.基于GA优化控制规则的汽车主动悬架模糊PID控制[J].振动与冲击,2012,31(22):157-162.
[3]Tang C Y,Zhao G Y,Zhou W,et al.Research on Suspension System Based on Neural Network Algorithm[C]//Measuring Technology and Mechatronics Automation(ICMTMA),2010 International Conference on.IEEE,2010,3:186-189.
[4]Liu D,Chen H,Jiang R,et al.Study of ride comfort of active suspension based on model reference neural network control system[C]//Natural Computation(ICNC),2010 Sixth International Conference on.IEEE,2010,4:1860-1864.
[5]武云鹏,管继富,顾亮,等.车辆半主动悬架自适应预测控制[J].兵工学报,2011,32(2):242-246.
[6]Unger A,Schinunack F,Lohmann B,et al.Application of LQ-based semi-active suspension control in a vehicle[J].Control Engineering Practice,2013,21(12):1841-1850.
[7]Looze D P.Structure of LQG controllers based on a hybrid adaptive optics system model[J].European Journal of Control,2011,17(3):237-248.
[8]DaveCrolla,喻凡.车辆动力学及其控制[M].北京:人民交通出版社,2004.
[9]Butsuen T.The design of semi-active suspensions for automotive vehicles[D].Massachusetts Institute of Technology,1989.
[10]罗鑫源,杨世文.基于AHP的车辆主动悬架LQG控制器设计[J].振动与冲击,2013,32(2):102-106.
[11]张志飞,刘建利,徐中明,等.基于改进层次分析法的半主动悬架LQG控制器的设计[J].汽车工程,2012,34(6):528-533.
[12]拉贾马尼.车辆动力学及控制[M]王国业,江发潮,等译.北京:机械工业出版社,2011.
[13]山东理工大学.汽车主动悬架LQG控制器最优控制力的设计方法:中国,CN201510645787.1[P].2015-12-16.
[14]孟杰,张凯,焦洪,宇等.基于遗传算法优化的汽车主动悬架LQG控制器的设计[J].机械科学与技术,2013,32(6):914-918.
[15]柴陵江,孙涛,冯金芝,等.基于层次分析法的主动悬架LQG控制器设计[J].汽车工程,2010(8):712-718.
[16]陈士安,邱峰,何仁,等.一种确定车辆悬架LQC控制加权系数的方法[J].振动与冲击,2008,27(2):65-68.
[2]王威,薛彦冰,宋玉玲,等.基于GA优化控制规则的汽车主动悬架模糊PID控制[J].振动与冲击,2012,31(22):157-162.
[3]Tang C Y,Zhao G Y,Zhou W,et al.Research on Suspension System Based on Neural Network Algorithm[C]//Measuring Technology and Mechatronics Automation(ICMTMA),2010 International Conference on.IEEE,2010,3:186-189.
[4]Liu D,Chen H,Jiang R,et al.Study of ride comfort of active suspension based on model reference neural network control system[C]//Natural Computation(ICNC),2010 Sixth International Conference on.IEEE,2010,4:1860-1864.
[5]武云鹏,管继富,顾亮,等.车辆半主动悬架自适应预测控制[J].兵工学报,2011,32(2):242-246.
[6]Unger A,Schinunack F,Lohmann B,et al.Application of LQ-based semi-active suspension control in a vehicle[J].Control Engineering Practice,2013,21(12):1841-1850.
[7]Looze D P.Structure of LQG controllers based on a hybrid adaptive optics system model[J].European Journal of Control,2011,17(3):237-248.
[8]DaveCrolla,喻凡.车辆动力学及其控制[M].北京:人民交通出版社,2004.
[9]Butsuen T.The design of semi-active suspensions for automotive vehicles[D].Massachusetts Institute of Technology,1989.
[10]罗鑫源,杨世文.基于AHP的车辆主动悬架LQG控制器设计[J].振动与冲击,2013,32(2):102-106.
[11]张志飞,刘建利,徐中明,等.基于改进层次分析法的半主动悬架LQG控制器的设计[J].汽车工程,2012,34(6):528-533.
[12]拉贾马尼.车辆动力学及控制[M]王国业,江发潮,等译.北京:机械工业出版社,2011.
[13]山东理工大学.汽车主动悬架LQG控制器最优控制力的设计方法:中国,CN201510645787.1[P].2015-12-16.
[14]孟杰,张凯,焦洪,宇等.基于遗传算法优化的汽车主动悬架LQG控制器的设计[J].机械科学与技术,2013,32(6):914-918.
[15]柴陵江,孙涛,冯金芝,等.基于层次分析法的主动悬架LQG控制器设计[J].汽车工程,2010(8):712-718.
[16]陈士安,邱峰,何仁,等.一种确定车辆悬架LQC控制加权系数的方法[J].振动与冲击,2008,27(2):65-68.