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在实际工程中，主动悬架性能会受到多种非线性环节的影响。首先，建立考虑饱和、时滞的非线性主动悬架动力学模型，进一步地分别采用随机线性化方法和积分状态变换处理饱和与时滞非线性环节，通过最优控制将得到的拟线性系统转化为带约束的最优化问题，并利用拉格朗日乘数法求解，进而得到非线性主动悬架最优控制的反馈控制率。最后，通过Quanser1/4主动悬架试验台开展实验研究。结果表明：与传统二次型最优控制器相比，本文设计的非线性最优控制器能保证主动悬架的稳定性，且随着时滞量增加和饱和度的下降，具有一定的鲁棒性。
Abstract：Active suspension performance was affected by a variety of nonlinear links in practice.Firstly,the dynamic model of nonlinear active suspension considering saturation and time delay were established,and the saturation and time-delay nonlinear links are further processed by stochastic linearization method and integral state transformation,and the resulting quasilinear system was converted into the optimization problem with constraints through optimal control,and the Lagrange multiplier method was used to solve the problem,and then the feedback control rate of the optimal control of the nonlinear active suspension was obtained. Finally,the experimental research was carried out on the Quanser1/4 active suspension test bench. The results show that,compared with the traditional quadratic optimal controller,the nonlinear optimal controller designed in this paper can ensure the stability of the active suspension,and have certain robustness with the increase of time delay and the decrease of saturation.
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基本信息:
DOI：10.15999/j.cnki.311926.2025.04.017
中图分类号:TP273;U463.33
引用信息:
[1]高小林,曹青松,汝春波.考虑时滞和饱和的非线性主动悬架最优控制[J].中国工程机械学报,2025,23(04):580-585.DOI:10.15999/j.cnki.311926.2025.04.017.
基金信息:
国家自然科学基金资助项目(51765021); 江西科技学院协同中心开放基金项目(XTCX2101)