| 全状态扰动观测下的汽车沟渠路面行驶主动悬架LQG控制方法 |
投稿时间：2025-12-20 修订日期：2026-01-12  点此下载全文 |
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| 基金项目:2023年度陕西高等职业教育教学改革研究项目“高职院校制造类专业多元协同文化育人的探索与实践”（项目编号：23GY076） |
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| 中文摘要:在汽车于沟渠路面行驶的过程中，半主动悬架调度来实现预期控制目标难以有效关联限制扰动条件，有效性不足。为此，本文提出对全状态扰动观测下汽车在沟渠路面行驶时主动悬架LQG控制方法的设计分析。构建1/4汽车动力学模型，并向模型中输入激励条件，以完善模型的基础控制环境。在模型控制环境下，通过设计全状态扰动观测器，分析新型扰动形式与真实扰动之间的关系，基于扰动变动规律制定控制律及扰动限制条件，进而输出主动悬架LQG的初始控制结果。融合DOB自适应调整机制，对初始控制结果展开前馈补偿，完成最终控制。实验结果表明：新提出方法输出的轮胎动载荷值在7.5~9.5kN之间，未出现载荷断裂情况，说明控制有效性提升，凸显其优越的性能价值。 |
| 中文关键词:全状态扰动 扰动观测 沟渠路面 行驶状态 主动悬架 LQG控制 |
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| LQG Control Method for Active Suspension of Vehicles on Trench Roads Based on Full-State Disturbance Observation |
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| Abstract:During the process of driving on ditch roads, semi-active suspension scheduling is difficult to effectively link and restrict disturbance conditions to achieve expected control objectives, and its effectiveness is insufficient. Therefore, this article proposes a design analysis of the active suspension LQG control method for vehicles driving on ditch roads under full state disturbance observation. Build a 1/4 car dynamics model and input excitation conditions into the model to improve the basic control environment of the model. In the model control environment, by designing a full state disturbance observer, the relationship between the new disturbance form and the real disturbance is analyzed. Based on the disturbance variation law, control laws and disturbance restriction conditions are formulated, and the initial control result of the active suspension LQG is output. Integrating DOB adaptive adjustment mechanism, performing feedforward compensation on the initial control results to complete the final control. The experimental results show that the newly proposed method outputs tire dynamic load values between 7.5 and 9.5 kN without any load fracture, indicating an improvement in control effectiveness and highlighting its superior performance value. |
| keywords:Full-State Disturbance Disturbance Observation Trench Road Driving State Active Suspension LQG Control |
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