Research On Control Strategy Of Energy Regenerative Active Suspension System With Double Actuators

Suspension is an indispensable part of the vehicle system,which is mainly used to attenuate the vibration of the vehicle body caused by the uneven road surface,and also can realize the transmission of force between the vehicle body and the wheel.The traditional suspension converts the vibration energy into heat energy to achieve the purpose of vibration attenuation,while the energy regenerative suspension can recover vibration energy and improve the endurance of electric vehicles.Therefore,improving the dynamic performance and endurance of the vehicle are two important issues in the research of regenerative suspension.In this paper,the control strategy of the energy regenerative active suspension with double actuators is studied,so as to improve the dynamic performance and energy recovery performance of the vehicle.The main contents of this paper are as follows:Firstly,the energy regenerative active suspension with double actuators is modeled,and the indexes to evaluate the performance of the suspension are given.In order to optimize the dynamic performance and energy recovery performance of the vehicle,the equivalent mathematical models of the active control system and energy recovery system of energy regenerative active suspension were established.Secondly,in order to improve the quality of recovered power,the PI feedforward model prediction method of double closed loop control is proposed.The voltage outer loop uses the PI controller combined with feedforward compensation to calculate the reference current,and the current inner loop uses the model predictive control algorithm to calculate the output optimal duty cycle to control the energy recovery system to improve the quality of the recovered power.In addition,the disturbance observer is designed to avoid the disturbance of the system affecting the energy regenerative effect.Simulation results show that the control method proposed in this paper can effectively improve the quality of electric energy recovery,and at the same time,it also has a certain regulation effect on the dynamic performance of the vehicle.Finally,combined with the dynamic performance evaluation index of energy regenerative active suspension,the optimal control strategy combined with genetic algorithm is given,and the optimal control force is obtained.The torque tracking control strategy based on model prediction is proposed,and the multi-step predictive control is realized through the least square method to simplify the calculation,so that the output torque of permanent magnet synchronous motor can be effectively controlled,the accurate output of the optimal control force can be achieved,and the suspension dynamic performance can be significantly improved.The simulation results show that the proposed method can effectively control the output torque of permanent magnet synchronous motor,produce ideal control force on the suspension system,and significantly improve the ride comfort and handling stability of the vehicle.