基于半主动悬架鲁棒控制的电动轮汽车平顺性改善研究

Study on Ride Comfort Improvement for Motorized Wheel Driven Electric Vehicle Based on Robust Control of Semi-active Suspension

为解决非簧载质量增加导致电动轮汽车平顺性下降问题,提出了一种与电动汽车相匹配的内置半主动悬架的新型轮边驱动系统。全面分析了该类电动轮汽车半主动悬架系统的不确定性因素及其描述方法,建立了1/4电动轮汽车包含不确定性的半主动悬架增广系统模型。基于线性矩阵不等式和H∞最优控制理论,建立了半主动悬架系统的参数不确定性H∞输出反馈鲁棒控制器。以某型四轮独立驱动电动车为例在随机路面激励下进行仿真,结果表明所设计的H∞鲁棒控制器是可行的,并相对于被动悬架,控制效果更好,能显著抑制在人体振动敏感频率范围内的振动信号,有效改善电动轮汽车的平顺性。

In order to solve the problem of ride comfort deterioration as a result of un- sprung massincrease of the motorized wheel driven electric vehicle, a new motorized wheel driving system includingmagneto- rheological semi- active suspension is proposed. After in- depth study on the method todescribe the variety of system uncertainties, an augmented system model involving some uncertainties forthe vibration system of quarter EV based on the MR semi-active suspension is established. Based on alinear matrix inequality and H∞ optimal control theory, a H∞ output feedback robust controller for thesemi- active suspension system subjected to parametric uncertainty is established. Then ride comfortsimulation under the random road input excitations is analyzed in time domain and frequency domain.Simulating results show that compared with the passive suspension, the H∞ robust controller is morefeasible, and it can effectively suppress the vibration signal in the range of the human body’s sensitivefrequencies to vibration, so it can improve the ride comfort of the motorized wheel driven electric vehiclesignificantly.