A novel preview control for MLD models and its neural network approximation for real‐time implementation: Application to semi‐active vibration control of a vehicle suspension
A novel preview control for MLD models and its neural network approximation for real‐time implementation: Application to semi‐active vibration control of a vehicle suspension
复制标题
一种新颖的 MLD 模型预览控制及其实时实现的神经网络逼近：在车辆悬架半主动振动控制中的应用
DOI：
10.1049/cth2.12381
复制
发表时间：
2022
影响因子：
2.6
通讯作者：
K. Sato and K. Hiramoto
中科院分区：
文献类型：
--
作者：
Chihiro Kondo;Masanobu Yoshioka;大澤暢，上道茜;K. Sato and K. Hiramoto
图像处理技术的进步使得在驾驶时测量前方道路的表面形状成为可能。提出了一种新的考虑前方路面形状的半主动悬架控制方法。配备半主动悬架的车辆模型可以表示为混合逻辑动态模型。当可以测量前方道路的形状时，在车辆经历之前，关于未来干扰的信息是可用的。本文将混合逻辑动态模型的有限时间优化问题转化为一个混合整数二次规划问题，并将其与无未来干扰的常规控制问题相类似。然而，混合整数二次规划问题很难在车辆用通用计算机进行真实的实时振动控制所需的控制周期内获得控制动作。在本文中，通过构造所设计的控制器的近似函数来减少计算量。采用神经网络进行逼近。通过仿真对所提出的方法的性能进行了评估。在仿真研究中，与传统的方法相比，该方法在等效悬架行程下获得了更好的乘坐舒适性。
Advances in image processing technology have made it possible to measure the surface shape of the road ahead while driving. A new semi‐active suspension control method considering the forward road surface shape is proposed. A vehicle model equipped with a semi‐active suspension can be expressed as an mixed logical dynamical model. When the shape of the road ahead can be measured, the information on future disturbances is available before the vehicle undergoes. In this paper, the finite time optimization problem for the mixed logical dynamical model is formulated to consider the future disturbances as a mixed integer quadratic programming problem in the same way as the conventional control problem without future disturbance. However, the mixed integer quadratic programming problem is hard to obtain the control action within the control cycle period required in the real‐time vibration control with general computers for vehicles. In this paper, the reduction of the computational load is achieved by constructing an approximation function of the designed controller. A neural network is adopted for the approximation. The performance evaluation of the proposed method is evaluated by simulations. In the simulation study, the proposed method achieves better ride comfort with the equivalent suspension stroke compared to the traditional methods.