基于路面识别的电磁混合式悬架自适应模糊控制

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摘要为改善不同路面等级上主动悬架动态性能与馈能特性适应性差的问题，设计了一种基于路面等级识别的电磁混合式悬架自适应模糊控制。采用天牛须搜索 (beetle antennae search ,BAS) 算法优化了神经网络权值阈值，建立了BAS-BP路面识别模型；设计了自适应模糊PID控制器，针对不同路面等级设计了三种目标函数并引入了主动力反馈调整论域；仿真分析了悬架动态性能与馈能特性，并进行了台架试验。仿真结果表明：相比于模糊PID控制，自适应模糊控制的悬架系统在A、B级路面簧载质量加速度均方根值分别降低了13.28%、13.84%，在B、C、D级路面轮胎动载荷均方根值分别降低了9.09%、16.07%、15.54%，并实现了42.8W的振动能量回收。试验结果表明：与仿真分析相比，各路面等级上时域、频域的相对误差均在16%以内，验证了仿真结果的正确性和系统的实用性。

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	寇发荣
	贺嘉杰
	李孟欣
	许家楠
	武大鹏

关键词 ：电磁混合式悬架, 路面识别, 目标函数, 自适应模糊PID控制

Abstract：In order to improve the poor adaptability of dynamic performance and energy regenerative characteristics of active suspension on different road levels, an adaptive fuzzy control of electromagnetic hybrid suspension based on road level recognition was designed. The BAS-BP road recognition model was established by optimizing the neural network weight threshold with BAS algorithm. An adaptive fuzzy PID controller is designed. Three objective functions are designed for different pavement levels and the main dynamic feedback adjustment theory domain is introduced. The dynamic performance and energy regenerative characteristics of suspension were analyzed by simulation and bench test was carried out. Simulation results show that: Compared with fuzzy PID control, the root mean square of sprung mass acceleration of the suspension system with adaptive fuzzy control is reduced by 13.28% and 13.84% on grade A and B road surface, and the root mean square of dynamic load of the tire on grade B, C and D road surface is reduced by 9.09%, 16.07% and 15.54% respectively, and 42.8W vibration energy recovery is achieved. The experimental results show that, compared with the simulation analysis, the relative errors in time domain and frequency domain are within 16%, which verifies the correctness of the simulation results and the practicability of the system.

Key words： Electromagnetic hybrid suspension；road recognition；objective function adaptive fuzzy PID control

收稿日期: 2021-09-23 出版日期: 2023-01-28

引用本文:

寇发荣，贺嘉杰，李孟欣，许家楠，武大鹏. 基于路面识别的电磁混合式悬架自适应模糊控制[J]. 振动与冲击, 2023, 42(2): 303-311.
KOU Farong， HE Jiajie， LI Mengxin， XU Jia’nan， WU Dapeng. Adaptive fuzzy control of an electromagnetic hybrid suspension based on road recognition. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(2): 303-311.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I2/303

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