轮毂驱动电动汽车主动悬架的时滞控制

Time-delay H∞Control for Active Suspension System of Wheel-driven Electric Vehicles

以轮毂驱动电动汽车主动悬架为研究对象,采用理论与数值模拟相结合的方法对主动悬架系统的时滞反馈特性进行研究。首先建立考虑控制时滞的轮毂驱动电动汽车4自由度主动悬架模型;然后基于H∞控制理论,通过采用Lyapunov-Krasovskii泛函和自由权矩阵法,提出一种考虑时滞的H∞控制策略;对电动汽车悬架系统在路面随机激励下的振动控制进行仿真分析,并与传统不考虑时滞的H∞控制策略的控制结果进行对比。研究发现,时滞H∞控制策略能够对时滞系统实现有效控制,不会引起系统发散。

The active suspension of the wheel-driven electric vehicles is taken as the research object.The time-delay feedback characteristics of the active suspension system is studied by combining the theoretical and simulation method.Firstly,a 4-DOF active suspension model of a wheel-driven electric vehicle considering the control time-delay is established.Then,using Lyapunov theory and linear matrix inequality approach,an H∞control strategy considering the time delay is proposed.The time-delay H∞control strategy is used to simulate the vibration control of the suspension system under random road excitation.The simulation results are compared with those of H∞control strategy without considering time delay.It is found that the proposed control strategy can realized the effective control for time-delay systems.