衬套弹簧式二级减振主动悬架及其半车非线性LQG控制器设计

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摘要针对作动器较大等效惯性质量放大需求控制力，阻碍旋转电机式主动悬架性能改善问题，提出了一种衬套弹簧式主动悬架二级减振结构方案。根据多工况实测力学特性，提出包含“反S型”刚度及“准饱和”阻尼特性的衬套弹簧力学模型，并据此建立了衬套弹簧式二级减振主动悬架半车非线性动力学模型；在增加衬套弹簧虚拟阻尼项保证系统稳定的基础上，对刚度的高次非线性项、“准饱和”阻尼非线性项进行前馈反馈线性化，设计出非线性LQG（linear-quadratic-Gaussian）控制器；为获得最优的悬架工作效果，对衬套弹簧虚拟阻尼进行了优化。结果表明：除能获得与传统理想主动悬架非常接近的悬架综合性能外，衬套弹簧式二级减振主动悬架还具有较好的变行驶工况鲁棒性。

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	陈士安1
	赵翔1
	王骏骋2
	薛梦笛1

关键词 ：衬套弹簧, 二级减振, 主动悬架, 虚拟阻尼, 半车非线性LQG控制

Abstract：The performance of active suspensions using rotary-motor actuator is not improved subjected to the fact that the required control force is amplified by the overlarge equivalent inertia mass of the actuator. To cope with the above problem, a novel bushing spring based dual vibration reduction structure scheme for active suspensions using rotary-motor actuator is presented. Based on results of multiple-working-conditioned mechanical testing, a model including “inverse S-shaped” stiffness and “quasi-saturation” damping characteristics for the bush spring is developed, and the corresponding half vehicle nonlinear dynamic model of the featured dual vibration reduction structured active suspension is established. Besides that a virtual damping term is added to the bushing spring to ensure the stability of the system, the high-order nonlinear term of the stiffness, the nonlinear term of the “quasi-saturation” damping and the deduction of the virtual damping are feedforward and feedback linearized, the nonlinear LQG（linear-quadratic-Gaussian） controller for the newly presented active suspension is developed. The virtual damping parameter of the bushing spring is optimized to achieve the optimal active suspension working effect. The results show that the dual vibration reduction structure active suspension featured by bush spring not only obtain the suspension comprehensive performance very close to the traditional ideal active suspension, but also has better robustness under varying driving conditions.

Key words： Bushing Spring Dual vibration reduction Active suspension Virtual damping Half Vehicle Nonlinear LQG control

收稿日期: 2022-08-16 出版日期: 2023-08-15

引用本文:

陈士安1，赵翔1，王骏骋2，薛梦笛1. 衬套弹簧式二级减振主动悬架及其半车非线性LQG控制器设计[J]. 振动与冲击, 2023, 42(15): 144-155.
CHEN Shian1, ZHAO Xiang1, WANG Juncheng2, XUE Mengdi1. Design for bushing spring type two-stage damped active suspension and its half-vehicle nonlinear LQG controller. JOURNAL OF VIBRATION AND SHOCK, 2023, 42(15): 144-155.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2023/V42/I15/144

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