基于值域博弈的主动悬架系统H_∞可拓控制

H_∞ extension control for active suspension system based on value domains game

建立7自由度整车主动悬架系统模型,并设计H_∞控制器。在此基础上,选取特征量,划分三种不同的值域,经过关联函数计算,建立其H_∞可拓控制器;在不同方案下以经典域和可拓域为博弈双方构造博弈矩阵,获得值域划分纳什平衡点,采用模糊控制规则动态整定可拓域和经典域边界,优化悬架H_∞可拓控制系统的控制性能。最后利用MATLAB/Simulink软件进行仿真,并对其仿真结果进行比较.仿真结果表明,H_∞可拓控制较H_∞控制能更好地改善主动悬架性能,而通过值域博弈的H_∞可拓控制器进一步提高了悬架系统的控制性能。

The model of 7-degree-of-freedom full-vehicle active suspension system was established, and the controller was then designed. On this basis, the characteristic variables was selected, and the three different domains were then divided. Through correlated function calculation, the H∞ extension controller was built. Under different schemes, the classic and extension domains were chosen as players for constructing the game matrices to obtain Nash equilibrium point of value domain division. The fuzzy control rules were utilized to dynamically adjust the classical and extension domains＇ boundaries to optimize the control performance of suspension H∞ extension control system. The MATLAB/Simulink was utilized to carry out the simulation and the simulation results were then compared. The simulation results show that compared with H∞ control, H∞ extension control could better improve the performance of active suspension system; H∞ extension controller by the value domain game could further improve the control performance of suspension system.