LQR control of electro-hydraulic energy-regenerative suspension considering parametric adaptation

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Journal of Vibration and Shock ›› 2025, Vol. 44 ›› Issue (9) : 109-118.

VIBRATION THEORY AND INTERDISCIPLINARY RESEARCH

LQR control of electro-hydraulic energy-regenerative suspension considering parametric adaptation

ZOU Junyi1,2, CHENG Jin1,2, ZUO Xinkai1,2, GUO Sijing*3

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Abstract

Electro-hydraulic energy-regenerative suspension(EHERS) has the functions of damping adjustment and energy recovery, which takes into account both vibration damping and energy consumption. And the reasonable control system design can effectively improve the ride comfort of the vehicle and the level of energy consumption, therefore, this paper proposes a LQR control strategy considering parameter adaptation for electro-hydraulic energy-regenerative suspension, aiming at realizing rapid convergence of the control system and optimization of the performance. Firstly, since the traditional LQR controller has a high dependence on experience in parameter selection, this paper utilizes the improved whale algorithm to realize the adaptive optimization of weighting coefficients, which can effectively improve the computational efficiency of the control system; Secondly, the linear convergence factor in the traditional whale algorithm is changed to a nonlinear convergence factor to realize the balance between global and local optimization, which can better reduce the time of optimization; In addition, in order to solve the problem that the existing algorithms are easy to fall into the local optimum, a strategy combining adaptive weight coefficients and stochastic difference variants is proposed to replace the individual update strategy in the whale algorithm. Finally, the simulation model of electro-hydraulic energy-regenerative damper is established based on AMESim, and the experimental bench is built to carry out the experiments of damping characteristics. The simulation results match the experimental data, which verifies the accuracy of theelectro-hydraulic energy-regenerative damper model; On this basis, three kinds of controllers, LQR, traditional whale algorithm optimized LQR and improved whale algorithm optimized LQR, are built based on MATLAB/Simulink respectively, and the co-simulation model of MATLAB/AMESim is constructed for comparative analysis on random road surface. Simulation results show that the improved whale algorithm optimized LQR controller can reduce the root mean square value of body acceleration and suspension dynamic displacement by 38.17% and 74.71%, respectively, and improve the regenerative power of suspension and wheel dynamic displacement by 22.50% and 8.55%, respectively, which verifies the feasibility and effectiveness of the proposed method.

Key words

electro-hydraulic regenerative suspension / LQR controller / parameter adaptation / improved whale algorithm

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ZOU Junyi1, 2, CHENG Jin1, 2, ZUO Xinkai1, 2, GUO Sijing3. LQR control of electro-hydraulic energy-regenerative suspension considering parametric adaptation[J]. Journal of Vibration and Shock, 2025, 44(9): 109-118

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