基于SAC深度强化学习的车辆主动悬架系统控制
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U463.33

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国家自然科学基金(51975299)


Control of vehicle active suspension system using SAC deep reinforcement learning
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    摘要:

    车辆悬架系统对提升驾驶舒适性、操控性和安全性至关重要,而传统悬架控制方法在应对复杂路况和系统参数变化时存在局限性.为此设计了一种基于Soft Actor-Critic(SAC)算法的车辆主动悬架高效自适应控制器,利用最大熵强化学习,在优化策略收益的同时增强探索的随机性,从而在不同路况下表现出更强的适应性.通过建立1/4主动悬架系统模型,结合随机路面仿真环境,对比分析了SAC算法、传统天棚控制算法和DDPG算法的性能表现.结果表明,基于SAC算法的控制器显著降低了车身垂直加速度、悬架动挠度和轮胎动载荷等关键性能指标,在不同路况和车速下展现出更优越的稳定性和控制效果.本研究验证了SAC算法在主动悬架控制领域的强大潜力和实用性,为车辆悬架系统的智能化提供了新的方向.

    Abstract:

    Vehicle suspension system is crucial for enhancing driving comfort,maneuverability and safety. However,traditional suspension control methods have limitations in dealing with complex road conditions and variations in system parameters. To address this,an efficient adaptive controller for vehicle active suspension system is designed based on Soft Actor-Critic (SAC) algorithm. This controller utilizes maximum entropy reinforcement learning to optimize the stochasticity and gain of the strategy,demonstrating improved adaptability under different road conditions. The performance of SAC algorithm is compared and analyzed with traditional skyhook control and Deep Deterministic Policy Gradient (DDPG) algorithm by establishing a quarter-car active suspension model and incorporating a stochastic road simulation environment. The results show that the SAC-based controller significantly reduces key performance indices such as body vertical acceleration,suspension dynamic deflection and tire dynamic load. It also exhibits superior stability and control effect across various road conditions and vehicle speeds. This study verifies the strong potential and practicality of SAC algorithm in the field of active suspension control,providing a new direction for the intelligent development of vehicle suspension systems.

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彭普民,姚嘉凌.基于SAC深度强化学习的车辆主动悬架系统控制[J].南京信息工程大学学报(自然科学版),2026,18(4):522-532
PENG Pumin, YAO Jialing. Control of vehicle active suspension system using SAC deep reinforcement learning[J]. Journal of Nanjing University of Information Science & Technology, 2026,18(4):522-532

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  • 收稿日期:2025-03-03
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  • 在线发布日期: 2026-07-14
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