列车垂向振动的混合灵敏度H_∞鲁棒控制

Mixed-sensitivity H_∞ robust control of train vertical vibration

为有效抑制车辆振动,提出一种列车主动悬挂H_∞鲁棒控制器的设计方法。通过合理简化,建立车辆垂向振动动力学模型,同时,考虑到名义对象的不确定性和系统的性能要求,选用合适的权函数,设计出基于混合灵敏度PS/T广义模型的输出反馈式H_∞鲁棒控制器,并运用DGKF法给出控制器存在的充分条件。仿真结果表明:混合灵敏度H_∞鲁棒控制器能有效抑制车体的垂向振动,保证列车的乘坐舒适性和运行平稳性。

Presented an approach to design H∞ robust control of active suspension of train, it reduced the vibration of vehicle effectively. It established the dynamic model of vehicle vertical vibration based on a reasonable simplification. Taking the uncertainty in the name object and the performance requirements into account,it selected appropriate weighting functions to design the H∞ output feedback robust controller based on the mixed-sensitivity PS/T generalized model, and used DGKF law to develop the sufficient conditions for the existence of controller. The results show that the mixed-sensitivity H∞ robust controller can suppress the vertical vibration of car body effectively and ensure the riding comfortability and the running stability of train.