Relying on the semi-intelligent tanning air spring frame program and its discussion
The semi-active control strategy control core is to select a certain method to determine the appropriate control amount, so that the dynamic performance of the system reaches a satisfactory level. With the development of industrial production and the advancement of computer technology, the optimal control method is gradually applied to engineering design. The optimal control is: select the control function u(t), so that a certain performance index of the system reaches the minimum or maximum value, so that the dynamic performance of the control system is optimal <3-5>. The target functional of the system adopts the cross term. The quadratic form, the linear combination of the random vibration acceleration variance of the vehicle body and the deformation variance of the first and second suspension springs under random disturbance is used as an index for evaluating the performance of the suspension system: J=12∫∞0 (XTQX+2XTNu+ uTRu+2XTQ1w+wTQ2w)dt=12∫∞0dt where: λ1, λ2 are weighting coefficients, which represent the proportion of the deformation variance of the primary and secondary suspension springs; Q=λ20K2M2+λ1-CK2M2CK2M20-CK2M2C2M2-C2M20CK2M2-C2M2C2M2 ;N=0-K2M2CM2-CM2; R=1M2; Q1=0; Q2=0.
The implementation of the control strategy is seen by the control strategy described in Section 2. The semi-active control of the system is primarily the control of the damping of the air spring system. The equivalent damping C+C' of the semi-active air suspension system is: C+C' = 2μM2K2 (7) where: μ is the equivalent damping coefficient of the air spring suspension system.
System Block Diagram The semi-active control air spring suspension system includes a controlled object, a data acquisition system consisting of acceleration and pressure sensors, a computer control system composed of a calculation unit and a control unit, and an actuation system composed of actuators. The state X of the entire system detected by the sensor is calculated by the above equation and the error control signal is then used to drive the actuator.
Since the actual effect of the optimal controller is largely determined by the weighting matrix selected, even if all the parameters and working conditions of the semi-active suspension system are exactly the same, the performance may be completely due to the different weighting matrix selected. different. It can be known from the above optimal control control strategy that if all parameters of the suspension system are certain, the weighting matrix should be reasonably selected in order to properly select the weighting coefficients λ1 and λ2 in the performance index. The value of λ2 is 10000, and the value of λ1 is The acceleration of the sprung mass of the semi-active suspension system over time is 100, 1000, 10000, 100000, respectively. It can be seen that when λ1 takes 100 and 1000, the acceleration values ​​are almost equal, but when λ1 is greater than 1000, the acceleration increases with the increase of λ1, and the running comfort deteriorates.
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