重庆理工大学学报2025，Vol.39Issue(13)：53-59,7.DOI:10.3969/j.issn.1674-8425(z).2025.07.007
基于前馈LQR算法的机电式主动悬架控制研究
Research on electromechanical active suspension control based on feedforward LQR method
摘要
Abstract
The electromechanical active suspension system adjusts the vehicle's vertical performance by providing motor torque.Due to the moment of inertia property of the electromechanical system,the classic 2-DOF quarter vehicle suspension model fails to describe the motion of this suspension system.Moreover,road information is regarded as a disturbance term in the state-space of the suspension.Since road excitation is not accurately estimated,a multi-dimensional LQR control law considering road excitation cannot be directly formulated.To address the problems above,a novel active suspension feedforward control method(FF-LQR)is designed.In the FF-LQR method,LQR is designed based on 3-DOF quarter vehicle suspension model.The real-time feedback of the suspension working space is realized by building a tire-body motion model.Then,the control law of front feed method is designed with suspension working space.Simulation results show FF-LQR further reduces the RMS values of the vehicle body's vertical acceleration and tire dynamic deformation compared to the LQR algorithm,thus improving vehicles' ride comfort.关键词
主动悬架系统/1/4车悬架模型/前馈控制/LQR算法Key words
active suspension/quarter vehicle suspension model/front feed control/LQR algorithm分类
交通工程引用本文复制引用
王凯正,林棻,狄桓宇,钟国旗..基于前馈LQR算法的机电式主动悬架控制研究[J].重庆理工大学学报,2025,39(13):53-59,7.基金项目
广东省科技计划项目(2023B1212020010) （2023B1212020010）
