基于自适应遗传算法的整车主动悬架自抗扰控制研究

发布时间：2018-05-18 18:50

本文选题：主动悬架 + 自抗扰控制　；参考：《吉林大学》2017年硕士论文

【摘要】：悬架作为车辆底盘的主要组成部分,对车辆行驶的平顺性、稳定性等有很大的影响。目前,道路上行驶的汽车基本搭载的都是传统的被动悬架,即由经典的弹簧-阻尼器构成的悬架系统。由于固定的弹簧、阻尼系数,被动悬架已经无法在复杂多变的环境下满足人们对于车辆的驾驶要求。而车辆主动悬架可以实时地跟据路面及车身姿态信息,利用相应的控制策略控制作动器的输出,减少振动、冲击的同时,实现车身姿态的实时调节。优良的主动悬架控制策略为调整车身姿态、减小振动以及提高车辆的通行能力等具有十分重要的意义。因此,研究、推广车辆主动悬架及其控制策略是我国甚至世界汽车工业的重要课题。本文结合国家重点研发计划课题“高机动应急救援车辆(含消防车辆)专用底盘及悬挂关键技术研究”(2016YFC0802902)和吉林省汽车产业发展基金项目“轿车惯性调控主动悬架研制开发”(20112330),以自制的主动悬架试验样车作为研究对象,对整车主动悬架控制策略进行了研究。本文首先对车辆悬架系统及主动悬架控制策略进行了简要地阐述,通过分析各种控制策略的优缺点,提出了自抗扰控制在整车主动悬架控制上的应用及本文的主要研究内容;建立了简化的整车主动悬架七自由度模型以及随机路面输入模型;通过深入研究自抗扰控制器的理论知识,设计了车辆主动悬架的自抗扰控制器,并针对其参数整定困难的问题,采用自适应遗传算法对其中的部分参数进行了优化。为了验证控制策略的有效性,使用MATLAB/Simulink软件建立整车主动悬架自抗扰控制仿真模型,对随机路面激励下、不同形式悬架的车辆行驶平顺性进行了对比分析。为进一步验证所设计的主动悬架控制器的有效性,利用项目自制的主动悬架试验样车,参照相应的国家标准,通过模拟随机路面输入工况,进行道路试验。由仿真分析以及道路试验结果分析可知:同被动悬架相比,基于自适应遗传算法的整车自抗扰控制主动悬架在减少车身振动、提高车辆行驶平顺性、改善乘坐舒适性等方面效果是显著的。
[Abstract]:As the main component of vehicle chassis, suspension has great influence on ride comfort and stability. At present, the vehicles on the road basically carry the traditional passive suspension, that is, the suspension system composed of the classical spring and damper. Because of the fixed spring and damping coefficient, the passive suspension can not meet the requirements of vehicle driving in complex and changeable environment. The vehicle active suspension can control the output of actuators according to the road surface and body posture information in real time, reduce the vibration and impact, and realize the real-time adjustment of vehicle body attitude. The excellent active suspension control strategy is of great significance to adjust the body posture, reduce the vibration and improve the traffic capacity of the vehicle. Therefore, the research and promotion of vehicle active suspension and its control strategy is an important subject in China and even the world automobile industry. This paper combines with the national key R & D project, "study on the key technology of chassis and suspension for high motorized emergency rescue vehicles (including fire fighting vehicles)" and Jilin Province Automobile Industry Development Fund project "active suspension of car inertia regulation" The self-made active suspension test prototype was used as the research object. The control strategy of active suspension is studied. In this paper, firstly, the vehicle suspension system and active suspension control strategy are briefly described. By analyzing the advantages and disadvantages of various control strategies, the application of auto disturbance rejection control in vehicle active suspension control and the main research contents of this paper are put forward. A simplified model of seven degrees of freedom for active suspension and a random road input model are established, and the active suspension controller is designed by studying the theoretical knowledge of the ADRC. Aiming at the difficulty of parameter tuning, adaptive genetic algorithm (AGA) is used to optimize some of the parameters. In order to verify the effectiveness of the control strategy, the simulation model of vehicle active suspension auto disturbance rejection control was established by using MATLAB/Simulink software. The vehicle ride comfort of different types of suspension under random road excitation was compared and analyzed. In order to further verify the effectiveness of the designed active suspension controller, road tests were carried out by using the self-made active suspension test sample vehicle, referring to the corresponding national standards, by simulating the input conditions of the random road surface. Compared with the passive suspension, the active suspension based on the adaptive genetic algorithm can reduce the vibration of the vehicle body and improve the ride comfort of the vehicle. The effect of improving ride comfort is remarkable.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：U463.33;TP18

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