磁流变半主动悬架的泰勒级数-LQG时滞补偿控制方法

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摘要提出一种泰勒级数-LQG控制方法进行磁流变半主动悬架时滞补偿控制。该方法利用泰勒级数对LQG控制求取的理想控制力进行时滞补偿，以使磁流变减振器的实际输出力逼近理想半主动控制力。首先，在解析直接结合泰勒级数的LQG控制不能正常工作原因的基础上，提出了一种实用的泰勒级数-LQG控制设计方法，使得LQG控制结合泰勒级数之后LQR函数能够顺利运行。其次，针对时滞较大时泰勒级数对控制的放大现象，并考虑到磁流变减振器性能和成本之间的平衡，以满足99%的减振控制要求确定磁流变减振器库伦阻尼力的幅值。最后，以Smith Predictor-LQG(SLQG)控制方法为比较对象，通过仿真实例验证了泰勒级数-LQG控制方法具有良好的磁流变半主动悬架时滞补偿效果。

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关键词 ：磁流变半主动悬架, 时滞补偿, LQG, 泰勒级数

Abstract：A Taylor series-LQG approach for magneto-rheological semi-active suspension system was presented to compensate time delay.First,the reason for the failure of conventional combination Taylor series with LQG control to compensate time delay was uncovered by theoretical derivations and a new Taylor series-LQG control for time delay compensation was developed to satisfy LQR operating conditions.Second,considering Taylor series amplifying the control and balance between performance and cost of magneto-rheological damper,a strategy was presented to determine the range of the actual semi-active control force so as to satisfy 99% control demand.Finally,compared with Smith Predictor-LQG (SLQG) control,simulation results verify the proposed approach can obtain better control effect for time delay compensation of a magneto-rheological semi-active suspension system.

Key words： magneto-rheological semi-active suspension time delay compensation LQG Taylor series

收稿日期: 2015-11-30 出版日期: 2017-04-15

引用本文:

陈士安，祖广浩，姚明，张晓娜. 磁流变半主动悬架的泰勒级数-LQG时滞补偿控制方法[J]. 振动与冲击, 2017, 36(8): 190-196.
CHEN Shi’an1,2,ZU Guanghao2,YAO Ming2,ZHANG Xiaona2. Taylor series-LQG control for time delay compensation of magneto-rheological semi-active suspension. JOURNAL OF VIBRATION AND SHOCK, 2017, 36(8): 190-196.

链接本文:

http://jvs.sjtu.edu.cn/CN/ 或 http://jvs.sjtu.edu.cn/CN/Y2017/V36/I8/190

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