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考虑控制时滞的车辆主动悬架随机预瞄控制
引用本文:宋刚,许长城.考虑控制时滞的车辆主动悬架随机预瞄控制[J].农业机械学报,2013,44(6):1-7.
作者姓名:宋刚  许长城
作者单位:招商局重庆交通科研设计院有限公司桥梁工程结构动力学国家重点实验室,重庆,400067
基金项目:国家重点基础研究发展计划(973计划)资助项目(2010CB736103、2012CB723807)和国家国际科技合作专项资助项目(2011DFA83300)
摘    要:采用随机预瞄控制策略对存在控制时滞的车辆主动悬架系统进行了研究。路面不平度被看作过滤白噪声随机过程,通过安装在车辆前部的预瞄传感器来量测车轮前方一定距离的路面变化信息。在控制器设计中,采用包含车身加速度、悬架动行程、轮胎动位移和控制力加权的连续形式性能指标,假定只有部分状态变量可以量测,而且量测噪声不能忽略。通过将连续形式的状态方程和性能指标进行离散化,并对状态向量和量测向量进行增维,这种考虑控制时滞的基于输出反馈的随机最优预瞄控制问题可以转换为不显含时滞和预瞄时间的标准LQG控制问题。数值仿真结果表明,对存在时滞的车辆悬架系统进行预瞄控制器设计时,时滞量应该得到重视,尤其是在时滞量较大时。如用不考虑时滞时所设计的控制器对存在时滞的车辆悬架系统进行控制,悬架系统可能发生不稳定现象,而且预瞄时间的增长还可能导致控制效果的恶化。

关 键 词:车辆主动悬架  路面激励  过滤白噪声  时滞控制  预瞄控制

Stochastic Optimal Preview Control of Active Vehicle Suspension with Time-delay Consideration
Song Gang and Xu Changcheng.Stochastic Optimal Preview Control of Active Vehicle Suspension with Time-delay Consideration[J].Transactions of the Chinese Society of Agricultural Machinery,2013,44(6):1-7.
Authors:Song Gang and Xu Changcheng
Institution:China Merchants Chongqing Communications Research and Design Institute Co., Ltd.;China Merchants Chongqing Communications Research and Design Institute Co., Ltd.
Abstract:Stochastic preview control with time-delay consideration was investigated for an active vehicle suspension system with look-ahead sensor. The road roughness height was modeled as a filtered white noise stochastic process and the rate of change in the road profile at some distances in front of the vehicle was measured by the look-ahead sensor. The suspension system was optimized by minimizing the performance index containing the mean-square values of body acceleration, suspension rattle space, tire deflection and control force. Only partial state variables were assumed able to be measured and the measurement noises were taken into consideration. Design of the preview compensator that may be called stochastic optimal, output feedback, preview regulator problem with time-delay consideration was reduced to the classical linear quadratic Gaussian (LQG) control problem, by converting the state equations and the performance index into discrete forms and augmenting the state and output vectors. Simulation results demonstrated that time delay should be considered in the stochastic preview control of an active suspension system, especially when large time delay exited. If the suspension system with time delay was controlled by the optimal controller designed with no consideration of time delay, instability in responses might occur and the control effects possibly got worse with preview time increase.
Keywords:Vehicle active suspension  Road excitation  Filtered white noise  Time-delay control  Preview control
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