基于逐步后退法的车辆半侧液压主动悬挂最优控制设计与仿真

建立了充分考虑液压装置动力学特性的车辆半侧非线性主动悬挂模型,并提出了线性二次型最优控制与非线性逐步后退法相结合的内外环控制方案。首先根据目标需求在外环设计二次型指标下的最优控制器;然后在内环利用逐步后退法处理因液压装置引入的非线性项。仿真结果表明,使用该设计方案的主动悬挂可以获得比被动悬挂优越的车辆性能。

Backstepping Based Optimal Control Design and Simulation of Hydraulic Active Suspensions Applied to a Half-car Model

An active suspension control scheme using a combination of optimal control and backstepping technique is presented.It is based on a nonlinear half-car model fully considering the dynamics of the hydraulic actuator.The detailed procedure consists of two steps: firstly the linear quadratic optimal controller is designed based on the performance characteristics requirement in outer loop,and then the nonlinear terms caused by the hydraulic actuators are dealt with backstepping method in inner loop.Simulation results show that the car has safe maneuverability and excellent ride comfortability by using the proposed scheme.