具有不确定性的主动悬架鲁棒综合控制研究

Research on Robust Synthetic Control of Active Suspension with Uncertainty

针对因主动悬架控制存在参数不确定导致标称系统控制易出现鲁棒性差问题,考虑了弹簧刚度、减振器阻尼、轮胎刚度、簧载质量及电机作动器的电机常数等参数的不确定性,通过线性分式变换建立了含不确定性的半车悬架动力学模型。基于结构奇异值理论,设计了μ综合控制器,结合某车参数进行了频域与时域仿真,并将μ综合控制与H∞控制进行了对比。仿真结果表明所设计的鲁棒μ综合控制器比H∞控制具有更好的鲁棒性能,能更有效地改善车辆的平顺性、减小悬架的动挠度及车轮动载。

As to the issue that the normal control is prone to be unstable because of parameter perturbation, the parameters, such as uncertainties of spring stiffness, absorber damping, tire stiffness, sprung mass and motor con- stant, were taken into account, and the dynamics model with uncertainty of half - car suspension was established based on linear fractional transformation. A ~ synthesis controller was designed based on the structured singular value theories. Then, the simulation was carried out for μ synthesis controller and H∞ controller in frequency domain and time domain. The results show that the μ synthesis controller has better robust performance than that of the H∞ con- troller, moreover, the presented method can improve vehicle comfort quality more effectively and decrease suspension deflection and road holding performance.