| In this thesis,the air suspension is taken as the controlled object,and the mean square value of vehicle body vertical acceleration,suspension dynamic deflection and tire dynamic travel is taken as the control target.The binocular stereo vision technology is used to introduce the height information of the road surface into the optimal control method of the air suspension,the pre-sighting air suspension model and LQR controller are established,and the established air suspension control system is simulated and analyzed.The main contents are as follows:(1)Firstly,the binocular vision system was established,and then binocular stereo vision technology was used to obtain the distance information between the camera and the road surface.Finally,the distance information and the internal and external parameters of the binocular camera were used to calculate the height information of the outlet surface.(2)The performance evaluation index of the suspension system is defined,and the two-degree-of-freedom pre-sighting air suspension system model and road excitation model are established.(3)The control principle of LQR is introduced,and the LQR controller is designed according to the established two-degree-of-freedom pre-viewing air suspension mathematical model and the performance index of the suspension system.(4)Carsim and Simulink co-simulation was used to verify the feasibility and effectiveness of the proposed control method by comparing three groups of simulation data.The simulation results show that the optimal control method of air suspension based on road surface recognition proposed in this paper can effectively improve the performance of air suspension system and provide innovative ideas for the study of air suspension system. |
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