摘要
针对主动悬架LQR控制策略中性能指标的权重系数依靠经验选取的不足,提出一种改进人工蜂群算法对LQR控制器的权重系数进行优化。对于标准人工蜂群算法存在的收敛速度慢、易陷入局部最优的缺点,在跟随蜂阶段引入三种解搜索策略,并对选择策略进行调整,从而更好地平衡所提出算法的全局搜索能力和局部搜索能力。在MATLAB/Simulink环境中建立主动悬架的1/4车辆模型并进行仿真,通过与传统LQR控制器的结果对比,证明所设计的基于改进人工蜂群算法的LQR控制器能兼顾悬架整体性能的提升,显著改善车辆的行驶平顺性和操纵稳定性。
An improved artificial bee colony(ABC)algorithm is proposed to optimize the weighted coefficients of the traditional LQR controller.Aiming at the disadvantages of slow convergence and getting into local optimal trap easily of the traditional ABC algorithm,three solution searching methods in the onlooker bee stage are proposed and a new selection strategy is introduced to balance the global searching and local searching capabilities of the proposed algorithm.Then,a simulation model of the active suspension system of the vehicle is built in Matlab/Simulink environment,and the simulation is carried out to examine the effectiveness of the designed controller.The results are compared with those of the traditional LQR controller.The simulation results demonstrate that the LQR controller based on the improved artificial bee colony can improve the performance of the whole suspension as well as the smoothness and stability of vehicle operations.
作者
王雅璇
罗建南
罗小桃
杨晓青
喻凡
WANG Yaxuan;LUO Jiannan;LUO Xiaotao;YANG Xiaoqing;YU Fan(State Key Laboratory of Mechanical System and Vibration,Shanghai Jiaotong University,Shanghai 200240,China;School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China;Shanghai Institute of Aerospace System Engineering,Shanghai 201109,China)
出处
《噪声与振动控制》
CSCD
北大核心
2021年第3期61-66,共6页
Noise and Vibration Control
关键词
振动与波
主动悬架
线性二次型控制器
人工蜂群算法
参数优化
vibration and wave
active suspension
linear quadratic regulator(LQR)
artificial bee colony algorithm
parameter optimization
