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Design method of linear quadratic Gaussian (LQG) controller used for vehicle rolling motion safety of active suspension

A linear quadratic, active suspension technology, applied in general control systems, adaptive control, control/regulation systems, etc., can solve problems such as the inability of the controller to work

Active Publication Date: 2017-07-21
JIANGSU UNIV
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Problems solved by technology

[0009] In order to solve the problem of tracking the wrong performance index and det(R)=0 in the conventional LQG controller design method, the controller cannot work, and the selection of roll safety evaluation index

Method used

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  • Design method of linear quadratic Gaussian (LQG) controller used for vehicle rolling motion safety of active suspension
  • Design method of linear quadratic Gaussian (LQG) controller used for vehicle rolling motion safety of active suspension
  • Design method of linear quadratic Gaussian (LQG) controller used for vehicle rolling motion safety of active suspension

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Embodiment Construction

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

[0038] figure 1 For: the 1 / 2 vehicle three-degree-of-freedom vehicle active suspension system applied in the present invention is: in the vertical direction, the left wheel 15 and the right wheel 11 are located below the sprung mass 7 . A left suspension spring 3, a left suspension damper 2 and a left suspension control force generator 1 are connected in parallel between the left wheel 15 and the sprung mass 7. Between the right wheel 11 and the sprung mass 7, a right suspension spring 13, a right suspension damper 12 and a right suspension control force generator 8 are connected in parallel. When the vehicle turns and moves, due to the lateral acceleration generated by the inertial force, the body rolls and the suspension deforms. A front wheel angle sensor 4 , a roll angle...

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Abstract

The invention discloses a design method of a linear quadratic Gaussian (LQG) controller used for vehicle rolling motion safety of an active suspension. The method includes: selecting a lateral-load transfer ratio, a rolling angular acceleration, and a rolling angle to establish a vehicle rolling motion safety comprehensive performance index based on a state equation of a vehicle three-degree-of-freedom steering-rolling motion model; in order to overcome the defect that the conventional LQG controller cannot track a front-wheel steering angle as an interference variable, performing differential deformation on the front-wheel steering angle to satisfy a minimum phase system, assembling an augmented system equation by the front-wheel steering angle after differential deformation and the original system state equation, and rewriting the vehicle rolling motion safety comprehensive performance index with a new state variable; introducing an infinitesimal quantity containing a control item into the new comprehensive performance evaluation index to satisfy the design condition of the LQG controller; and finally, calculating the active control force of the vehicle active suspension according to the conventional design method of the LQG controller aiming at the new state equation and the vehicle rolling motion safety comprehensive performance index.

Description

technical field [0001] The invention belongs to the field of vehicle suspension control, in particular to a method for designing parameters of an LQG controller used for vehicle active suspension. Background technique [0002] Suspension is an important structural and functional part of a car. Its main task is to transmit the force and moment received by the wheels to the body to ensure that the car can run stably. Suspension performance has an important impact on vehicle driving safety. The traditional passive suspension has no external energy input, and its parameters cannot be adjusted, so it cannot better adapt to changes in road excitation and driving conditions. Even after structural optimization, the suspension performance is limited. Active suspension makes up for the shortcomings of passive suspension. The active suspension has a suspension control force generator, which can provide active control force according to the road surface excitation and driving conditi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 陈士安蔡宇萌王建苑磊孙文强
Owner JIANGSU UNIV
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