基于单步法的车辆主动悬架有限频域静态输出反馈控制

Single-step Method Based Finite Frequency Static Output Feedback Control for Vehicle Active Suspension Systems

针对车辆主动悬架系统,提出了基于单步法求解的静态输出反馈有限频域H∞控制器设计方法。由于现有的有限频域H∞控制定理含有双线性项,且全状态反馈控制增益并不满足单步法的充分条件,导致静态输出反馈问题无可行解。文中应用GKYP引理给出了一个新的基于静态输出反馈的有限频域H∞控制定理。该定理可采用单步线性矩阵不等式LMI直接求解,相对于传统的迭代LMI及CCL算法,极大地简化了设计过程。借助状态反馈信息,避免了初始求解的不可行性。最后,通过数值算例及台架试验验证了该方法的可行性。

A static output-feedback based finite frequency H∞controller design method was proposed for vehicle active suspension systems. The static output-feedback controller gain matrix was directly derived via a single-step linear matrix inequality（ LMI） optimization. As the previous finite frequency H∞control theorem did not satisfy the sufficient conditions of single-step method and contained some bilinear terms.The static output-feedback control problem of previous finite frequency H∞control theorem was infeasible.A new static output-feedback based finite frequency H∞control theorem was given by using the generalized Kalman-Yakubovich-Popov（ GKYP） lemma. The initial static output-feedback controller gain matrix can be directly solved by a single-step LMI optimization. Compared with the traditional iterative linear matrix inequality（ ILMI） and cone complementarity linearization（ CCL） algorithms,the design process was greatly simplified. The initial infeasibility issue of the static output-feedback control was resolved by using the state-feedback information. Finally,the effectiveness of the proposed method was validated by numerical and experimental results. The results for different road excitations showed that the finite frequency controlling can improve ride comfort effectively,while keeping suspension dynamic deflection,tire dynamic load and controlling input within allowable values.