The invention provides active suspension control method based on road surface grade identification and multi-target dynamic optimization, aiming at different requirements of vehicles on multiple targets such as smoothness, collision rubber limiting safety and operation stability under different road surface grades, performing off-line optimization to obtain LQR optimal Q and R weighting matrixes of three evaluation indexes such as vehicle body vertical acceleration (smoothness), suspension dynamic deflection (collision rubber limit probability) and wheel dynamic load (wheel attachment safety) in different weights; using a vehicle-mounted sensor for measuring the vertical dynamic response of a vehicle, and using an intelligent clustering algorithm for carrying out online recognition on the road surface grade so that the optimal Q and R weighting matrixes are switched in a targeted manner according to the current road surface grade, and different-weight multi-target optimal control under different road surface grades is realized.
本发明的一种基于路面等级识别及多目标动态最优的主动悬架控制方法,针对不同路面等级下车辆对平顺性、撞击橡胶限位安全性、操稳性等多目标的不同需求,离线优化得到车身垂向加速度(平顺性)、悬架动挠度(撞击橡胶限位概率)、车轮动载荷(车轮附着安全性)等三项评价指标占不同权重的LQR最优Q和R加权矩阵;通过车载传感器测量车辆垂向动力学响应,采用智能聚类算法对路面等级进行在线识别,从而根据当前路面等级针对性切换最优Q和R加权矩阵,实现不同路面等级下的不同权重多目标最优控制。
Active suspension control method based on road surface grade identification and multi-target dynamic optimization
一种基于路面等级识别的多目标动态最优主动悬架控制方法
2021-09-07
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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