车辆悬架的分层预测控制及仿真

提出了一种可以在不依赖悬架质量分配系数的前提下,将一个4自由度车辆悬架看作是两个2自由度悬架组合的分层建模预测控制方法。在该方法中,悬架前后轮系均看作是相互独立的底层2自由度系统,推导出协调底层关系的上层关联动力学方程,结合轴距预测和H∞控制方法,以簧载质量质心处的垂直加速度和俯仰加速度为上层控制目标进行协调,得到所需的控制力。仿真计算结果表明,该方法在线计算量少,前后轮系易于采用不同的控制策略以提高控制效果,同时该方法对于多轮系车辆的振动控制也提供了一个新的思路。

Hierarchical Preview Control and Simulation of Vehicle Suspension

A hierarchical modeling preview control method was put forward. Preconditioning independence of the allocation proportion, the method could be acted a 4-DOF vehicle suspension as a combination of two 2-DOF suspensions. In this method, the front and rear suspensions of the vehicle were all dealt with two independent local 2-DOF systems, and some associated central dynamic equations that coordinated local relations were deduced. The wheelbase preview control was combined with a algorithm. The vertical acceleration and pitch acceleration of the suspension center were acted as center control objects to assort with the two suspensions, so the control forces could be obtained. A 4-DOF vehicle model was given and the results of simulation showed that the control strategy has less calculating time and it is convenient to adopt different control strategies for front and rear suspensions respectively. The given method provided a new thought for the vibration control of multi-wheel vehicles.