引用本文:刘振泽,徐新泽,郭杰,何雨纯,庄晔,于树友.基于Koopman算子的磁流变阻尼器力跟踪控制[J].控制理论与应用,2026,43(1):117~128.[点击复制]
LIU Zhen-ze,XU Xin-ze,GUO Jie,HE Yu-chun,ZHUANG Ye,YU Shu-you.Damping force tracking control of magnetorheological damper based on Koopman operators[J].Control Theory & Applications,2026,43(1):117~128.[点击复制]
基于Koopman算子的磁流变阻尼器力跟踪控制
Damping force tracking control of magnetorheological damper based on Koopman operators
摘要点击 203  全文点击 28  投稿时间：2023-11-15  修订日期：2025-05-18
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DOI编号  10.7641/CTA.2024.30742
  2026,43(1):117-128
中文关键词  磁流变阻尼器  跟踪控制  Koopman算子  扩展动态模式分解  递归神经网络
英文关键词  magnetorheological damper  tracking control  Koopman operators  extended dynamic mode decomposi tion  recurrent neural network
基金项目  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.
作者单位E-mail
刘振泽 吉林大学控制科学与工程系 zzliu@jlu.edu.cn 
徐新泽 吉林大学控制科学与工程系  
郭杰 吉林大学控制科学与工程系  
何雨纯 吉林大学控制科学与工程系  
庄晔 吉林大学汽车仿真与控制国家重点实验室  
于树友* 吉林大学控制科学与工程系 yushuyou@126.com 
中文摘要
      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Koop man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.
英文摘要
      In order to realize a high-precision damping force tracking of magnetorheological damper (MRD), a discrete time 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 the ory and extended dynamic mode decomposition (EDMD) algorithm are used to obtain a high-dimensional model of MRD. Adiscrete-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 pro posed 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.