汽车工程 ›› 2023, Vol. 45 ›› Issue (7): 1200-1211.doi: 10.19562/j.chinasae.qcgc.2023.07.011
所属专题: 底盘&动力学&整车性能专题2023年
收稿日期:
2023-01-03
修回日期:
2023-02-16
出版日期:
2023-07-25
发布日期:
2023-07-25
通讯作者:
陈志勇
E-mail:chen_zy@jlu.edu.cn
基金资助:
Xiao Wu,Wenku Shi,Zhiyong Chen()
Received:
2023-01-03
Revised:
2023-02-16
Online:
2023-07-25
Published:
2023-07-25
Contact:
Zhiyong Chen
E-mail:chen_zy@jlu.edu.cn
摘要:
针对固定状态观测器难以保证路面自适应悬架状态观测精度的问题,本文中在交互式多模型卡尔曼滤波(IMMKF)的基础上,建立了悬架状态观测器与控制器。首先基于LQG算法与模糊控制算法建立了路面自适应主动悬架系统。结合谐波叠加法,生成A-B-D-C级空间域路面不平度模型,作为仿真系统的输入。其次以各级路面的最优LQG模型为子模型建立了3种IMMKF悬架状态观测器与控制器。仿真对比表明:14模型的IMMKF悬架状态观测器相对于普通卡尔曼滤波观测器的观测精度最大可提升98.17%,并可用于识别路面等级,并且基于14模型IMMKF的自适应主动悬架控制器的车身加速度相对于被动悬架降低了75.99%、相对于普通LQG主动悬架降低了47.16%,验证了模型的优越性。
吴骁, 史文库, 陈志勇. 基于交互式多模型卡尔曼滤波的主动悬架控制[J]. 汽车工程, 2023, 45(7): 1200-1211.
Xiao Wu, Wenku Shi, Zhiyong Chen. Active Suspension Control Based on Interacting Multiple Model Kalman Filter[J]. Automotive Engineering, 2023, 45(7): 1200-1211.
表4
各级路面仿真结果误差对比 %"
观测量 | 模型 | A | B | D | C |
---|---|---|---|---|---|
IMMKF14 | 10.25 | 11.98 | 18.61 | 16.63 | |
IMMKF7 | 22.71 | 14.79 | 18.34 | 16.71 | |
IMMKF4 | 48.51 | 24.43 | 21.15 | 19.73 | |
KF A | 63.79 | 36.24 | 38.06 | 37.98 | |
KF C | 70.17 | 46.06 | 25.33 | 27.62 | |
IMMKF14 | 3.40 | 1.69 | 0.32 | 0.58 | |
IMMKF7 | 10.40 | 7.15 | 2.33 | 3.89 | |
IMMKF4 | 21.56 | 13.30 | 5.00 | 7.98 | |
KF A | 29.60 | 23.56 | 17.52 | 19.44 | |
KF C | 34.65 | 20.90 | 6.82 | 12.32 | |
IMMKF14 | 15.91 | 17.38 | 16.01 | 12.65 | |
IMMKF7 | 18.86 | 18.03 | 16.75 | 13.27 | |
IMMKF4 | 30.29 | 21.78 | 17.81 | 13.99 | |
KF A | 41.48 | 32.61 | 35.49 | 31.56 | |
KF C | 61.41 | 31.91 | 21.34 | 18.15 | |
IMMKF14 | 4.09 | 1.93 | 3.19 | 2.87 | |
IMMKF7 | 22.63 | 7.13 | 4.12 | 4.93 | |
IMMKF4 | 66.79 | 16.54 | 6.81 | 13.14 | |
KF A | 98.71 | 32.34 | 18.20 | 28.75 | |
KF C | 70.99 | 34.50 | 11.61 | 26.33 |
表7
各级路面仿真结果对比"
输出量 | 模型 | A | B | D | C |
---|---|---|---|---|---|
被动 | 0.733 9 | 1.484 8 | 5.892 7 | 2.788 8 | |
主动 | 0.320 4 | 0.652 7 | 2.677 2 | 1.247 5 | |
IMMKF | 0.286 2 | 0.483 5 | 1.414 7 | 0.800 3 | |
被动 | 0.012 1 | 0.024 6 | 0.097 8 | 0.047 0 | |
主动 | 0.003 4 | 0.006 8 | 0.027 5 | 0.013 4 | |
IMMKF | 0.003 3 | 0.007 4 | 0.038 0 | 0.016 5 | |
被动 | 0.000 4 | 0.000 8 | 0.003 2 | 0.001 7 | |
主动 | 0.000 8 | 0.001 6 | 0.006 4 | 0.003 0 | |
IMMKF | 0.000 7 | 0.001 4 | 0.005 9 | 0.002 8 |
附表1
各级路面下的控制参数的平均值及QRV"
编号 | ||||
---|---|---|---|---|
1.600 7 1.582 2 1.556 6 1.525 2 1.516 3 1.496 4 1.457 5 1.435 1 1.413 1 1.393 9 1.344 7 1.314 2 1.302 9 1.286 9 1.243 8 1.217 9 1.174 1 | 597 625 664 711 724 754 812 846 879 908 981 1 027 1 044 1 068 1 133 1 172 1 237 | 0.041 8 0.055 2 0.069 8 0.083 1 0.094 4 0.105 1 0.128 4 0.169 8 0.194 6 0.216 5 0.275 7 0.345 2 0.382 7 0.432 9 0.570 8 0.678 7 0.862 4 |
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