ILC-H∞控制下车辆液压减振特性分析

Analysis of Vehicle Hydraulic Damping Characteristics Under ILC-H∞ Control

为进一步提高复杂路况下车辆半主动悬架系统的减振性能,提出一种基于迭代学习(Iterative Learning Control,ILC)改进的H∞控制(ILC-H∞Control)策略。首先,提取自适应阻尼减振器(Adaptive Damping System,ADS减振器)的阻尼特性实验数据,利用Sigmoid模型对阻尼参数进行辨识拟合;引入P型迭代学习控制器弥补传统H∞控制中权函数的盲目性,构建期望回路增益,将模型匹配问题转化为迭代学习中期望回路函数的路径跟踪问题,提高悬架阻尼调节的灵活性与自适应性。结果表明:在B级随机路面和冲击路面激励下,与被动悬架和H∞传统控制下的半主动悬架相比,该控制方法的性能提高了近49.04%。

To further improve the damping performance of the semi-active suspension system under complex road conditions,an Iterative Learning Control(ILC)-based improved H∞ control(ILC-H∞ Control) strategy is proposed.First,the experimental data of the damping characteristics of the Adaptive Damping System(ADS damper) are extracted and the damping parameters are identified and fitted using the Sigmoid model;the P-type Iterative Learning Controller is introduced to compensate for the blindness of the weight function in the traditional H∞ control,and the desired loop gain is constructed to transform the model matching problem into the desired path tracking problem of the loop function in iterative learning to improve the flexibility and adaptiveness of suspension damping adjustment.The results show that the performance of this control method is improved by nearly 49.04% under B-level random road and impact road excitation,compared with the semi-active suspension under passive suspension and H∞ conventional control.