| 引用本文: | 刘震,祝晓才,罗成,等.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.[J].国防科技大学学报,2006,28(4):115-120.[点击复制] |
| LIU Zhen,ZHU Xiaocai,LUO Cheng,et al.Backstepping Based Optimal Control Design and Simulation of Hydraulic Active Suspensions Applied to a Half-car Model[J].Journal of National University of Defense Technology,2006,28(4):115-120[点击复制] |
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| 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 |
| 刘震, 祝晓才, 罗成, 胡德文 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 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。 |
| 关键词: 车辆半侧模型 主动悬挂 液压执行机构 最优控制 逐步后退法 |
| DOI： |
| 投稿日期：2006-02-17 |
| 基金项目:国家自然科学基金资助项目(60234030) |
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| Backstepping Based Optimal Control Design and Simulation of Hydraulic Active Suspensions Applied to a Half-car Model |
| LIU Zhen, ZHU Xiaocai, LUO Cheng, HU Dewen |
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(College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China)
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| Abstract: |
| 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. |
| Keywords: half-car model active suspension hydraulic actuator optimal control backstepping design |
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