电磁阀半主动悬架线性变参数μ综合鲁棒控制

Linear variable parameterμsynthesis robust control of solenoid valve semi-active suspension

针对电磁阀半主动悬架系统中的非线性和不确定性问题以及多个性能目标之间的矛盾,设计了一种线性变参数(linear parameter varying,LPV)μ综合鲁棒控制器。建立电磁阀非线性阻尼力力学模型并开展台架试验验证模型的准确性,构建了七自由度悬架系统的非线性LPV模型;对悬架参数不确定性和系统建模误差进行分析,并考虑传感器测量噪声的影响,设计了一种基于非线性和混合不确定性的LPV-μ综合鲁棒控制器;最后进行整车电磁阀悬架系统仿真和实车试验。仿真结果表明:在随机扰动下该控制器使车身垂向加速度均方根值降低46.47%,俯仰角加速度降低46.47%,侧倾角加速度降低50.68%,具有良好的抗干扰能力和可控性。试验结果表明:LPV-μ综合控制下车身垂向加速度、俯仰角加速度和侧倾角加速度均方根值分别降低36.6%、30.14%和39.47%,并且保证悬架动挠度小于0.06 m,验证了该控制策略的有效性。

A linear parameter varying(LPV)μsynthesis robust controller was designed for the nonlinearity,uncertainty problem,and the contradiction between multiple performance objectives in solenoid valve semi-active suspension systems.A nonlinear damping force dynamics model of the solenoid valve was established and performed on a bench test to verify the accuracy of the model.A nonlinear LPV model for a seven-degree-of-freedom suspension system was constructed.An LPV-μsynthesis robust controller based on nonlinear and mixed uncertainties was designed with analysis of suspension parameter uncertainties and system modeling errors and consideration of the effects of sensor measurement noise.Finally,the full vehicle solenoid suspension system simulation and real vehicle test were conducted.Simulation results show that the controller reduces the root mean square value of body vertical acceleration for 46.47%,the pitch angle acceleration for 46.47%,and the roll angle acceleration for 50.68%under random disturbance.It has excellent anti-jamming ability and controllability.The test results show that the root mean square values of the vertical acceleration,pitch angle acceleration,and roll angle acceleration are reduced by 36.6%,30.14%,and 39.47%,respectively,under the LPV-μsynthesis control.In addition,the dynamic deflection of the suspension is ensured to be less than 0.06 m,which verifies the effectiveness of the control strategy.