吉林大学学报(工学版) ›› 2024, Vol. 54 ›› Issue (3): 610-619.doi: 10.13229/j.cnki.jdxbgxb.20220537

• 车辆工程·机械工程 • 上一篇    

基于模型预测反馈技术的救援车辆液压悬挂系统控制方法

李文航1(),倪涛1,2(),赵丁选3,邓英杰3,师小波2   

  1. 1.吉林大学 机械与航空航天工程学院，长春 130022
    2.燕山大学 车辆与能源学院，秦皇岛 066004
    3.燕山大学 机械工程学院，秦皇岛 066004
  • 收稿日期:2022-05-08 出版日期:2024-03-01 发布日期:2024-04-18
  • 通讯作者: 倪涛 E-mail:whli19@mails.jlu.edu.cn;nitao@ysu.edu.cn
  • 作者简介:李文航（1994-），男，博士研究生.研究方向：汽车悬挂控制.E-mail：whli19@mails.jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(52101375);河北省自然科学基金项目(E2021203142);河北省创新群体项目(E2020203174)

Control method on hydraulic suspension systems of rescue vehicles based on model predictive feedback technology

Wen-hang LI1(),Tao NI1,2(),Ding-xuan ZHAO3,Ying-jie DENG3,Xiao-bo SHI2   

  1. 1.School of Mechanical and Aerospace Engineering，Jilin University，Changchun 130022，China
    2.School of Vehicle and Energy，Yanshan University，Qinhuangdao 066004，China
    3.School of Mechanical Engineering，Yanshan University，Qinhuangdao 066004，China
  • Received:2022-05-08 Online:2024-03-01 Published:2024-04-18
  • Contact: Tao NI E-mail:whli19@mails.jlu.edu.cn;nitao@ysu.edu.cn

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摘要：

针对现有救援车辆的液压悬挂系统存在作动器非线性、参数不确定性以及对动力学模型依赖性较强等问题，提出了一种液压主动悬挂系统控制方法——基于扩张状态观测器的模型预测控制方法（ESO-MPC）。首先，通过车载惯性导航系统实时获取车辆位姿信息，并基于位姿偏差方法计算出各个液压作动器的输出位移量。其次，完成救援车辆液压悬挂系统动力学建模，通过扩张状态观测器估计系统中的非线性扰动和未知输出信号。最后，基于扩张状态观测器的模型预测控制方法，使每个液压作动器的输出在限制范围内对期望位移信号进行有效追踪。为验证该控制方法的有效性，搭建了液压悬架整车试验平台，并与被动悬架和传统PID控制方法进行了多种路面对比试验。结果表明，相比于被动悬挂和传统的PID控制方法，本文提出的基于扩张状态观测器的模型预测控制方法可以降低垂向高度均方根值35%，俯仰角度均方根值17%，侧倾角度均方根值23%，显著提升了车辆的行驶平顺性和操纵稳定性。

关键词: 自动控制技术, 液压悬挂系统, 扩张状态观测器, 模型预测控制, 反馈控制

Abstract:

Aiming at the problems of actuator nonlinearity， parameter uncertainty and strong model dependence in the existing hydraulic suspension systems of rescue vehicles， a control method of the hydraulic active suspension system-model predictive control method with an extended state observer was proposed. Firstly， the vehicle's pose information was obtained through the on-board inertial navigation system and used to solve the expected displacement output value of each suspension actuator based on pose deviation method. Secondly， dynamic model of the hydraulic suspension system was completed for rescue vehicles， and the nonlinear disturbance and unknown output signal in the system were estimated through an extended state observer. In view of the limitation of the output for the suspension system， a model predictive controller with an extended state observer was proposed to effectively track the expected displacement value of each hydraulic actuator. The vehicle test platform with hydraulic suspension system was built to verify the effectiveness of the control method， and some road tests were carried out by comparing the passive suspension and traditional PID control methods. The research results show that， compared with the passive suspension and the traditional PID method， the proposed active suspension control method reduced the root mean square value of the vertical displacement by 35%， the pitch angle by 17%， and the roll angle by 23%， which significantly improved the ride comfort and handling stability of the vehicle.

Key words: automatic control technology, hydraulic suspension system, extended state observer, model predictive control, feedback control

中图分类号: 

  • TP273

图1

九自由度车辆模型"

图2

车辆等效替代模型"

图3

液压悬架作动器模型"

表1

主动悬架系统参数"

符号含义值单位
Mc簧上质量31 990kg
mr簧下质量655kg
IXX方向惯性矩115 000kg·m2
IYY方向惯性矩20 500kg·m2
ku悬架刚度系数1×106N/m
cu悬架阻尼系数8×104Ns/m
kr轮胎刚度系数5×106N/m

图4

仿真路面车身位姿变化曲线"

表2

悬架系统均方根值"

路面类型参数PASPIDESO-MPC
拱形垂向/m0.00180.00070.0006
俯仰角/rad0.00110.00040.0003
侧倾角/rad0.00180.00110.0008
随机垂向/m0.01400.00340.0032
俯仰角/rad0.00650.00210.0011
侧倾角/rad0.00670.00340.0031

图5

随机路面车身位姿变化曲线"

图6

实车测试环境"

图7

车辆沿直线行驶车身位姿变化曲线"

图8

车辆单侧车轮压过单边桥障碍时的车身位姿变化曲线"

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