半主动油气悬架精确线性化自适应LQG控制

针对油气悬架的非线性特性,建立了矿用汽车1/4车辆半主动油气悬架动力学模型.利用微分几何原理,实现了非线性模型精确线性化;为克服动态系统的不确定性,采用了自适应LQG控制策略.根据矿山路面的实际要求,采用了层次分析法确定LQG控制器各性能指标的加权系数.仿真结果表明层次分析法易于加权系数的合理选择;半主动油气悬架自适应LQG控制能够有效降低车身振动,较被动油气悬架显著提高了平顺性和操稳性,有效地提高了在矿山路面的行驶安全性.

Nonlinear Hydro-pneumatic Suspension Accurate Linearization Adaptive LQG Control

According to the nonlinear characteristic of hydro-pneumatic suspension, the 1/4 vehicle semi-active hydro-pneumatic suspension dynamic model of mine truck was establish. Based on the differential geometry theory, the nonlinear model accurate linearization was realized, and the adaptive LQG control strategy was applied to overcome the uncertainty of dynamic system. According to the actual requirement of the mine road, the performance index weighting coefficient of LQG controller were determined by applying analytic hierarchy process. The simulation results show that the proper selection of the weight numbers with the AHP can be more easily; the body vibration can be reduced effectively by semi-active hydro-pneumatic suspension adaptive LQG control, and the ride comfort and handling stability can be improved significantly passive hydro-pneumatic suspension, the running safety can be improved effectively in mine road.