Semi-Active Suspension Control Based on Deep Reinforcement Learning

摘要

The performance of vehicle body vibration and ride comfort of active or semi-active suspension with proper control is better than that with passive suspension. The key to achieve good control effect is that the suspension control system should have strong real-time learning ability according to changes in the road surface and suspension parameters. In the control strategies adopted by previous researchers, the classical neural network controller has some learning ability, but it is mainly based on offline learning with a large number of samples. In this paper, the deep reinforcement learning strategy is used to solve the above problems.Aiming at the continuity of state space and execution action in vehicle active suspension system, the control of the semi-active suspension is realized by using improved DDPG (Deep Deterministic Policy Gradient) algorithm. To overcome the shortcoming of low efficiency of this algorithm in the initial stage of learning, the DDPG algorithm is improved and using empirical samples in the learning method is proposed. Based on Mujoco, the physical model of semi-active suspension is established, and its dynamic characteristics are analyzed under the condition of various road level and vehicle speed. The simulation results show that compared with the passive suspension, the semi-active suspension based on improved DDPG algorithm with learning method using experienced samples can better adapt to various road level, more effectively reduce the vertical acceleration of the vehicle body and the dynamic deflection of the suspension, and further improve the ride comfort.