摘要
为了实现磁流变阻尼器(MRD)的高精度阻尼力跟踪控制,本文提出了一种基于Koopman算子的离散时间线性二次型最优跟踪(DLQT)控制策略.采用递归神经网络(RNN)建立MRD的非线性模型.采取Koopman算子理论及扩展动态模式分解法(EDMD)将MRD的RNN模型“全局”线性化,保留MRD系统的非线性特性.利用基于Koopman算子理论得到的高阶线性模型设计了DLQT控制器.通过仿真实验实现对不同频率的期望信号进行跟踪,验证了算法的有效性.采用搭载了MRD的二自由度四分之一悬架实验台进行硬件在环实验.实验结果表明该算法可以实现对参考信号的高精度跟踪.
In order to realize a high-precision damping force tracking of magnetorheological damper(MRD),a discretetime linear quadratic tracking(DLQT)control strategy based on Koopman operators is proposed.Aiming at the hysteresis nonlinearity of MRD,a nonlinear recurrent neural network(RNN)model of MRD is established.Koopman operators theory and extended dynamic mode decomposition(EDMD)algorithm are used to obtain a high-dimensional model of MRD.A discrete-time linear quadratic tracking controller is designed by using the high-dimensional linear model.The expected signals of different frequencies are tracked through simulation experiments,which verifies the effectiveness of the proposed scheme.Furthermore,physics experiments are conducted on a 2-degree-of-freedom quarter suspension experimental system equipped with a MRD,which show that the strategy can achieve high-precision tracking of signals.
作者
刘振泽
徐新泽
郭杰
何雨纯
庄晔
于树友
LIU Zhen-ze;XU Xin-ze;GUO Jie;HE Yu-chun;ZHUANG Ye;YU Shu-you(Department of Control Science and Engineering,Jilin University,Changchun Jilin 130012,China;Key Laboratory of Industrial Internet of Things and Networked Control,Chongqing University of Posts and Telecommunications,Chongqing 400065,China;State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun Jilin 130012,China)
出处
《控制理论与应用》
北大核心
2026年第1期117-128,共12页
Control Theory & Applications
基金
工业物联网与网络化控制重点实验室项目(2019FF01)
吉林省自然科学基金项目(YDZJ202101ZYTS169)
国家自然科学基金项目(U1964202)资助。
