考虑时滞作用下的车辆主动座椅悬架鲁棒H∞控制

Robust H∞ Control for Vehicle Active Seat Suspension with Input Delay

利用鲁棒H∞控制理论为车辆座椅悬架模型设计输出反馈控制器,并且考虑了模型的不确定性和控制输入的时滞问题.建立了车辆座椅的三自由度运动微分方程,并转化为包括参数变化和控制延迟的状态方程和包括控制指标在内的控制模型.分析了系统可通过输出反馈鲁棒镇定的充分条件,并将该充分条件转化为线性矩阵不等式(LMI)问题,通过Matlab求解出用LMI构造的输出反馈控制律.建立仿真模型并以白噪声作为路面激励与被动控制、PID控制对比验证了在路面输入扰动作用下鲁棒控制器的有效性.

This paper designed an output feedback controller for vehicle seat suspension with robust H∞ theory,which considered the model uncertainties and control input dely.This paper first established the three-DOF motion differential equations,converted them into the state equations including parameter variations and control delay,and presented the standard control model including performance indices.This paper further analyzed the sufficient condition for the robust stabilizability of the system by output feedback.The sufficient condition is transformed into a Linear Matrix Inequality （LMI） problem and the control law is constructed by solving LMI through Matlab.Finally,simulation models are built with white noise as road excitations,and passive control and PID control as comparisons.The effectiveness of the robust controller is verified by the simulation results compared with those of passive and PID controls under road surface disturbance.