Semi-active Suspension Control for Intelligent Vehicles Based on State Feedback and Preview Feedforward

被引：0
|
作者：
Li Z. [1 ]
Pan S. [1 ]
Zhu Y. [1 ]
He B. [1 ]
Xu Y. [1 ]
机构：
[1] The Army Military Transportation University, Tianjin
来源：
Qiche Gongcheng/Automotive Engineering | 2023年 / 45卷 / 05期
关键词：
fuzzy; intelligent vehicles; preview feedforward; semi-active suspension; state feedback; wheel planning trajectory;
D O I：
10.19562/j.chinasae.qcgc.2023.05.003
中图分类号：
学科分类号：
摘要：
In order to improve the comprehensive control performance of intelligent vehicle semi-active suspension，a semi-active suspension control method based on state feedback and preview feedforward is proposed. Firstly，an 11-DOF semi-active suspension model is established with an 8-wheeler as the research object，and an LQR state feedback controller is designed. Then，in order to solve the problems of weak road disturbance resistance ability of the state feedback control and poor applicability of preview feedback control based on fixed timing delay ，a kind of controller based on state feedback and preview feedforward is proposed，establishing the wheel movement planning model and road preview model to calculate the wheel planning trajectory point number of the suspension control system and the control delay response time. Taking road excitation and vertical acceleration as input and feedforward damping force as output，a fuzzy-like preview feedforward controller is designed，and together with the LQR feedback controller to form the proposed controller . Finally，based on the co-simulation platform of MATLAB/ Simulink and Trucksim，the experiments are carried out under the conditions of constant speed steering，variable speed straight line，variable speed steering and constant speed straight line. The results show that the root mean square value of vertical acceleration，pitch angle acceleration and roll angle acceleration is at least reduced by 23.52%，13.59% and 19.35% compared with the passive suspension under four working conditions. Compared with the pre-view feedback control based on fixed time delay，the proposed control method reduces at least 14.04%，8.09% and 13.79% under the first three working conditions. Compared with the control method based on state feedback，the proposed control method reduces by 13.20%，4.96% and 4.12% under the fourth working conditions. The proposed suspension control method can effectively improve vehicle ride comfort under various working conditions. © 2023 SAE-China. All rights reserved.
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页码：735 / 745
页数：10
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