具有执行器容错的汽车主动悬架系统有限频率H∞控制

Finite frequency H-infinity control for active vehicle suspension systems subject to actuator faults

本文研究了一类具有执行器容错的主动悬架系统有限频率H_∞控制问题.运用广义的Kalman-Yakubovich-Popov(KYP)引理,设计了有限频率H_∞控制器.该控制器不仅能够最大程度地减少路面在4～8 Hz范围内对乘客的影响,还能够保证汽车的悬架行程和车轮的动静载之比在它们允许的范围内.因此所设计的有限频率H_∞控制器不仅能够保证汽车驾驶的舒适性还能够保证汽车驾驶的安全性.为了解决系统状态不完全可测的问题,本文采用了动态输出反馈控制器策略.除此之外,在控制器的设计过程中还考虑了主动悬架系统的参数不确定性以及执行器随机故障的现象.最后,本文基于四分之一汽车主动悬架系统验证了控制器的有效性.

This paper addresses the problem of infinite frequency H-infinity control for active vehicle suspension systems with actuator faults. The generalized Kalman-Yakubovich-Popov(KYP) lemma is used to develop an H-infinity controller in specific frequency. The designed infinite frequency H-infinity controller not only can minimize the disturbances from road influencing passengers, but also can guarantee the vehicle suspension deflections and relation dynamic tire load in their allow scopes. It can be concluded that the designed infinite frequency H-infinity controller not only obtains passengers ride comfort, but also guarantees the constraints of active vehicle suspension systems. The dynamic output-feedback control approach is used to deal with the problem, which system states are not measured completely. Additionally, the characteristic of uncertain parameters and actuator faults are considered in controller design process. Finally, based on the quarter-vehicle active suspension system, simulations are presented to demonstrate the effectiveness of the designed controller in time and frequency domains.