关键词:
electro-hydraulic energy-regenerative Suspension (EHERS)
improved whale algorithm
LQR Controller
parametric adaptation
摘要:
Electro-hydraulic energy-regenerative Suspension (EHERS) has functions of damping adjustment and energy recovery, balancing Vibration reduction and energy consumption. A reasonable control System design can effectively improve the smoothness and energy consumption level of vehicles. Here, a LQR control strategy considering parametric adaption was proposed for EHERS to realize fast convergence and Performance optimization of EHERS control System. Firstly, due to high dependence of traditional LQR Controllers on experience in parametric selection, the improved whale algorithm was used to realize adaptive optimization of weighting coefficients, and effectively improve computational efficiency of control System. Secondly, changing linear convergence factor to a nonlinear one in traditional whale algorithm could realize a balance between global optimization and local optimization to effectively reduce optimization time. In addition, to solve the problem of existing algorithms easily falling into local Optimum, a strategy combining adaptive weighting coefficients and random difference variants was proposed to replace the individual update strategy in whale algorithm. Finally, a Simulation model for EHER-damper was established based on the Software AMESim, and an experimental platform was built to conduct experiments for damping characteristics. The Simulation results were consistent with experimental data to verify the correctness of EHER-damper model. Then, 3 types of Controllers of LQR, traditional whale algorithm optimized LQR and improved whale algorithm optimized LQR were built based on MATLAB/Simulink. A Joint Simulation model based on MATLAB/AMEsim was constructed for contrastive analyses with 3 types of Controllers on random road surfaces. Simulation results showed that the LQR Controller optimized based on the improved whale algorithm can reduce RMS values of vehicle acceleration and Suspension dynamic displacement by 38. 17% and 74. 71%, respectively, and increa