主动悬架控制策略介绍.docx

主动悬架控制策略介绍【摘要】悬架是现代汽车最重要的组成之一,悬架结构的选用,不但在很大程度上决定了汽车平顺性的优劣,而且随着汽车速度的提高,对于与行驶速度密切相关的操纵稳定性的影响也越来越大。因此,设计优良的悬架系统,对提高汽车产品质量有着极其重要的意义。悬架系统的研究由来已久，悬架系统按照控制原理和控制功能可以分为被动、半主动、主动悬架,这些悬架在性能上有很大的差别。由于主动悬架不但能很好地隔离路面振动,而且能控制车身运动,比如启动和制动时的俯仰、转弯时的侧倾等,另外还可以调节车身的高度,提高轿车在恶劣路面的通过性。因此对主动悬架的研究吸引了一大批工程师对其投入研究，各种控制方法和作动器也被相继研究出来，本文主要对这些方法进行一些简介，以供同行参考研究并对其中的最优控制算法的LQG控制器进行探讨。【关键词】主动悬架 LQG控制器单轮模型Introduction of active suspension control strategyAbstractSuspension is one of the most important parts in the modern automobile, the suspension structure, not only largely determines the quality and ride comfort of the vehicle, with the vehicle speed, closely related to the speed of handling and stability and have greater influence. Therefore, it is very important to design a good suspension system to improve the quality of automotive products. Suspension system has been studied for a long time. The suspension system can be divided into passive, semi-active and active suspension according to the control principle and control function. The active suspension can not only well isolated vibration, but also can control the body motion, such as pitching and turning starting and braking when the roll, also can adjust body height, increase the car in bad road through sex. So the research of active suspension has attracted a large number of engineers for its investment in research, various control methods and actuators have been studied in this paper, some of these methods, for reference and Research on LQG controller on the optimal control algorithm is discussed.Key words Active suspension The LQG controller The single wheel model 1.主动悬架的几种控制策略1.1天棚阻尼器控制方法(Skyhook Control)天棚阻尼器控制理论是由Karnopp提出,在主动悬架的控制系统中被广泛采用。天棚阻尼器控制设想将系统中的阻尼器移至车体与某固定的天棚之间。就主动悬架而言,也就是要求有执行机构产生一个与车体的上下振动绝对速度成比例的控制力来衰减车体的振动。传统的被动悬架可以认为是带阻尼器的双质量振动系统,当考虑到带宽和系统的共振特性时,传统被动悬架性能不能令人满意。但带天棚阻尼器的汽车悬架,只要合理选择参数,可彻底消除系统共振现象。1.2随机最优控制方法(Linear Quadratic Gaussian) 通过建立系统的状态方程式提出控制目标及加权系数,然后应用控制理论求解出所设目标下的最优控制方案。较天棚阻尼器控制方法而言,它对系统中更多的变量的影响加以考虑,因而控制效果更好