摘要
主动悬架系统中非线性因素直接影响车辆行驶平顺性和操纵稳定性。考虑弹簧、阻尼器和轮胎等多种非线性因素,建立1/4车体非线性主动悬架系统动力学模型,并将其转换成一种仿射非线性系统。应用微分几何理论,对非线性动力学模型进行线性化处理,得到主动悬架系统作动器的控制律,再采用最优控制方法获得系统的最优反馈增益。通过MATLAB软件仿真研究非线性因素对悬架系统的影响,分析基于微分几何理论的最优控制器对非线性主动悬架的控制效果。结果表明:非线性参数c_(2)、ε和k_(tt)导致系统出现较严重的分岔现象,降低系统的稳定性;所设计的控制器能够有效改善主动悬架系统的响应特性,减少非线性因素对系统的不良影响。研究结论可为非线性主动悬架系统的研究提供一定的理论参考。
The ride comfort and handling stability of vehicle are affected by nonlinear characteristics of active suspension system directly.The dynamic model of 1/4 vehicle body nonlinear active suspension system was established by considering the nonlinear factors of spring,damper and tire,and the system was transformed into an affine nonlinear system.The nonlinear dynamics model was linearized based on differential geometry theory,and the control law of the actuator for the active suspension system was obtained,then the optimal control method was used to obtain the system’s optimal feedback gain.The influences of nonlinear factors on the suspension system and the control effect of the optimal controller based on the differential geometry theory on the nonlinear active suspension system were studied by MATLAB simulation.The results show that the nonlinear parameter c_(2),ε and k_(tt) lead to serious bifurcation,which reduce the stability of the system;the designed controller can effectively improve the response characteristics of the active suspension system,and reduce the adverse effects of nonlinear factors on the system.The research conclusion can provide some theoretical reference for the research of nonlinear active suspension system.
作者
易星
曹青松
YI Xing;CAO Qingsong(School of Intelligent Engineering,Jiangxi University of Technology,Nanchang Jiangxi 330098,China)
出处
《机床与液压》
北大核心
2021年第13期60-64,共5页
Machine Tool & Hydraulics
基金
国家自然科学基金地区科学基金项目(51765021)
江西省科技厅重点研发项目(20181BBE50012)。
关键词
主动悬架系统
多种非线性因素
微分几何理论
最优控制
Active suspension system
Multiple nonlinearity factors
Differential geometry theory
Optimal control
