存在测量数据丢失的主动悬架系统鲁棒控制

Robust Control of Active Suspension System with Loss of Measurement Data

测量数据丢失现象使得主动悬架系统的控制精度降低,影响车辆乘坐舒适性和操纵稳定性。考虑传感器和网络通信导致的数据丢失问题,建立1/4车体主动悬架系统动力学模型,并将其转换成状态空间方程。通过伯努利序列分布描述数据丢失率,构建带有动态观测器的状态反馈闭环主动悬架系统,根据悬架系统的均方指数稳定性要求,推导含观测器与反馈控制器的线性矩阵不等式稳定性条件。对控制输入系数矩阵进行奇异值分解,求解满足最小稳定性能指标的线性矩阵不等式,获得主动悬架系统的观测器与鲁棒控制器。最后,采用MATLAB软件开展仿真研究,结果表明,所设计的控制算法可以降低数据丢失对系统簧载质量的振动幅值;当δ在[0,10%]和β在(0,20%]范围内时,控制器对悬架系统控制效果较为明显;随机激励作用下,主动悬架系统表现出较好的鲁棒性。本研究可以改善主动悬架系统的控制精度,为高性能、高可靠性悬架系统的研发提供一定参考。

The loss of measurement data reduces the control accuracy of active suspension system,and affects the ride comfort and handling stability of vehicle.Considering the problem of data loss caused by sensor and network communication,the dynamic model of active suspension system for 1/4 vehicle body is established and transformed into the state-space equation.The Bernoulli sequence distribution is used to describe the data loss rate.The closed-loop active suspension system of state feedback with dynamic observer is constructed.Based on exponential mean-square stability of suspension system,the stability condition of Linear Matrix Inequality with observer and feedback controller is derived.The controlled input coefficient matrix is carried out by singular value decomposition.Then,the Linear Matrix Inequality satisfying minimum stable performance index is solved.The observer and robust controller of active suspension system are obtained.Finally,the MATLAB software was used to carry out simulation research.The results show that the control algorithm can reduce the vibration amplitude of system’ssprung mass caused by data loss.When are in the range ofδ[0,10%]andβ(0,20%)respectively,the controller has obvious control effect on the system.The active suspension system has good robustness under the random excitation.This study can improve the control precision of active suspension system and provide reference for the research and development of high-performance and high-reliability suspension system.