考虑参数不确定性的汽车主动悬架鲁棒H_∞控制研究

Robust H_∞ Control of Vehicle Active Suspension with Parameter Uncertainty

研究了汽车主动悬架系统存在的振动控制问题。首先,建立了1/4汽车主动悬架模型,考虑了系统中存在的参数不确定性以及汽车悬架设计的几项性能指标;其次,基于Lyapunov泛函方法设计出满足闭环系统H_∞性能指标的状态反馈控制器,并给出了控制器参数线性矩阵不等式(LMIs)解的形式;最后,将采用鲁棒H_∞控制器的主动悬架与被动悬架进行了时域仿真对比。结果表明,前者能够获得更好的控制效果。

The vibration control of the active suspension system is investigated in this paper. Firstly, a quarter-car with an active suspension is modeled, where the parameter uncertainties and several important performance indexes existed in suspension design are ful ly considered. Based on the Lyapunov functional method, a state feedback controller which guarantees H ∞ performance index of the closed-loop system is designed, and the controller parameters are given in terms of linear matrix inequalities （ LMIs）. Finally, the active suspension with robust H∞ controller is compared with the passive suspension via numerical example simulation, where the results show that the former can obtain better control effect.